public static void Draw <C>(AccelMsg message, Drawing3d drawing, Color color, GameObject origin, float lengthScale = 1, float sphereRadius = 1, float thickness = 0.01f) where C : ICoordinateSpace, new()
{
Vector3 originPos = (origin == null) ? Vector3.zero : origin.transform.position;
drawing.DrawArrow(originPos, originPos + message.linear.From <C>() * lengthScale, color, thickness);
VisualizationUtils.DrawAngularVelocityArrow(drawing, message.angular.From <C>(), originPos, color, sphereRadius, thickness);
}
public override Action CreateGUI(AccelWithCovarianceMsg message, MessageMetadata meta)
{
return(() =>
{
message.accel.GUI();
VisualizationUtils.GUIGrid(message.covariance, 6, ref m_ViewCovariance);
});
}
public override Action CreateGUI(MagneticFieldMsg message, MessageMetadata meta)
{
return(() =>
{
message.header.GUI();
message.magnetic_field.GUI("Magnetic field (Tesla)");
VisualizationUtils.GUIGrid(message.magnetic_field_covariance, 3, "Covariance", ref m_ViewCovariance);
});
}
public override Action CreateGUI(PoseWithCovarianceStampedMsg message, MessageMetadata meta)
{
return(() =>
{
message.header.GUI();
message.pose.pose.GUI();
VisualizationUtils.GUIGrid(message.pose.covariance, 6, ref m_ViewCovariance);
});
}
public static void Draw <C>(PoseMsg message, Drawing3d drawing, float size = 0.1f, bool drawUnityAxes = false)
where C : ICoordinateSpace, new()
{
VisualizationUtils.DrawAxisVectors <C>(
drawing,
new Vector3Msg(message.position.x, message.position.y, message.position.z),
message.orientation,
size,
drawUnityAxes
);
}
public override void Draw(Drawing3d drawing, PointMsg msg, MessageMetadata meta)
{
// If the user doesn't specify a color, SelectColor helpfully picks one
// based on the message topic.
Color finalColor = VisualizationUtils.SelectColor(m_Color, meta);
// Most of the default visualizers offer static drawing functions
// so that your own visualizers can easily send work to them.
PointDefaultVisualizer.Draw <FLU>(msg, drawing, finalColor, m_Size);
// You can also directly use the drawing functions provided by the Drawing class
drawing.DrawLabel(m_Label, msg.From <FLU>(), finalColor, m_Size);
}
public override Action CreateGUI(ImuMsg message, MessageMetadata meta)
{
return(() =>
{
message.header.GUI();
message.orientation.GUI("Orientation");
message.angular_velocity.GUI("Angular velocity");
message.linear_acceleration.GUI("Linear acceleration");
VisualizationUtils.GUIGrid(message.orientation_covariance, 3, "Orientation covariance", ref m_ViewOrientation);
VisualizationUtils.GUIGrid(message.angular_velocity_covariance, 3, "Angular velocity covariance", ref m_ViewAngular);
VisualizationUtils.GUIGrid(message.linear_acceleration_covariance, 3, "Linear acceleration covariance", ref m_ViewAccel);
});
}
public override Action CreateGUI(CameraInfoMsg message, MessageMetadata meta, Texture2D tex)
{
return(() =>
{
message.header.GUI();
GUILayout.Label($"Height x Width: {message.height}x{message.width}\nDistortion model: {message.distortion_model}");
GUILayout.Label($"Distortion parameters: {string.Join(", ", message.d)}");
VisualizationUtils.GUIGrid(message.k, 3, "K", ref m_ViewK);
VisualizationUtils.GUIGrid(message.r, 3, "R", ref m_ViewR);
VisualizationUtils.GUIGrid(message.p, 3, "P", ref m_ViewP);
GUILayout.Label($"Binning X: {message.binning_x}\nBinning Y: {message.binning_y}");
message.roi.GUI(tex);
});
}
public override Texture2D CreateTexture(CameraInfoMsg message)
{
// False if ROI not used, true if subwindow captured
if (!message.roi.do_rectify)
{
return(null);
}
ITextureVisual imageVisual = VisualizationUtils.GetVisual(ImageTopic) as ITextureVisual;
if (imageVisual == null)
{
return(null);
}
return(message.roi.RegionOfInterestTexture(imageVisual.GetTexture()));
}
public void AddMessage(Message message)
{
if (!VisualizationUtils.AssertMessageType <OccupancyGridMsg>(message, m_Topic))
{
return;
}
m_Message = (OccupancyGridMsg)message;
m_TextureIsDirty = true;
if (m_IsDrawingEnabled && Time.time > m_LastDrawingFrameTime)
{
Redraw();
}
m_LastDrawingFrameTime = Time.time;
}
public virtual void AddMessage(Message message)
{
if (!VisualizationUtils.AssertMessageType <ImageMsg>(message, m_Topic))
{
return;
}
this.message = (ImageMsg)message;
m_Texture2D = null;
m_CheapTexture2D = null;
m_Width = (int)this.message.width;
m_Height = (int)this.message.height;
m_Encoding = this.message.encoding;
//m_CheapTextureMaterial.SetFloat("_gray", this.message.GetNumChannels() == 1 ? 1.0f : 0.0f);
m_CheapTextureMaterial.SetFloat("_convertBGR", this.message.EncodingRequiresBGRConversion() ? 1.0f : 0.0f);
// if anyone wants to know about the texture, notify them
if (m_OnChangeCallbacks.Count > 0)
{
GetTexture();
}
}
static void Main(string[] args)
{
// load documents
Utils.VerboseLine("Loading documents ...");
string[] docs = File.ReadAllLines("C:\\newwork\\testclustering\\data\\yahoofinance.txt");
BowSpace bowSpace = new BowSpace();
bowSpace.StopWords = StopWords.EnglishStopWords;
bowSpace.Stemmer = new PorterStemmer();
bowSpace.WordWeightType = WordWeightType.TfIdf;
RegexTokenizer tokenizer = new RegexTokenizer();
tokenizer.IgnoreUnknownTokens = true;
bowSpace.Tokenizer = tokenizer;
bowSpace.Initialize(docs);
// compute layout
SemanticSpaceLayout semSpc = new SemanticSpaceLayout(bowSpace);
Vector2D[] coords = semSpc.ComputeLayout();
// build spatial index
//Utils.VerboseLine("Building spatial index ...");
//SpatialIndex2D spatIdx = new SpatialIndex2D();
//spatIdx.BuildIndex(coords);
//spatIdx.InsertPoint(9000, new Vector2D(1000, 1000));
//ArrayList<IdxDat<Vector2D>> points = spatIdx.GetPoints(new Vector2D(0.5, 0.5), 0.1);
//Utils.VerboseLine("Number of retrieved points: {0}.", points.Count);
ArrayList <Vector2D> tmp = new ArrayList <Vector2D>(coords);
tmp.Shuffle();
//tmp.RemoveRange(1000, tmp.Count - 1000);
// compute elevation
StreamWriter writer = new StreamWriter("c:\\elev.txt");
LayoutSettings ls = new LayoutSettings(800, 600);
ls.AdjustmentType = LayoutAdjustmentType.Soft;
ls.StdDevMult = 2;
ls.FitToBounds = true;
ls.MarginVert = 50;
ls.MarginHoriz = 50;
double[,] zMtx = VisualizationUtils.ComputeLayoutElevation(tmp, ls, 150, 200);
VisualizationUtils.__DrawElevation__(tmp, ls, 300, 400).Save("c:\\elev.bmp");
for (int row = 0; row < zMtx.GetLength(0); row++)
{
for (int col = 0; col < zMtx.GetLength(1); col++)
{
writer.Write("{0}\t", zMtx[row, col]);
}
writer.WriteLine();
}
writer.Close();
// output coordinates
StreamWriter tsvWriter = new StreamWriter("c:\\layout.tsv");
for (int i = 0; i < coords.Length; i++)
{
//if (i < points.Count)
//{
// tsvWriter.WriteLine("{0}\t{1}\t{2}\t{3}", coords[i].X, coords[i].Y, points[i].Dat.X, points[i].Dat.Y);
//}
//else
{
tsvWriter.WriteLine("{0}\t{1}", coords[i].X, coords[i].Y);
}
}
tsvWriter.Close();
//// get document names
//int k = 0;
//ArrayList<Pair<string, Vector2D>> layout = new ArrayList<Pair<string, Vector2D>>();
//foreach (string doc in docs)
//{
// string[] docInfo = doc.Split(' ');
// layout.Add(new Pair<string, Vector2D>(docInfo[0], coords[k++]));
//}
//Console.WriteLine(coords.Length);
//Console.WriteLine(layout.Count);
//StreamWriter writer = new StreamWriter("c:\\vidCoords.txt");
//foreach (Pair<string, Vector2D> docPos in layout)
//{
// writer.WriteLine("{0}\t{1}\t{2}", docPos.First, docPos.Second.X, docPos.Second.Y);
//}
//writer.Close();
}
public static void Draw <C>(GridCellsMsg message, Drawing3d drawing, Color color, float radius = 0.01f)
where C : ICoordinateSpace, new()
{
VisualizationUtils.DrawPointCloud <C>(message.cells, drawing, color, radius);
}
public static void Draw <C>(ImuMsg message, Drawing3d drawing, Color color, float lengthScale = 1, float sphereRadius = 1, float thickness = 0.01f) where C : ICoordinateSpace, new()
{
QuaternionDefaultVisualizer.Draw <C>(message.orientation, drawing);
drawing.DrawArrow(Vector3.zero, message.linear_acceleration.From <C>() * lengthScale, color, thickness);
VisualizationUtils.DrawAngularVelocityArrow(drawing, message.angular_velocity.From <C>(), Vector3.zero, color, sphereRadius, thickness);
}
