public GeometricCalibrator(GeometricCalibrator.Settings settings, MarkerDetector.Settings detectorSettings, MarkedPlane markedPlane, ProjectiveDevice projectiveDevice)
{
base.\u002Ector();
GeometricCalibrator geometricCalibrator1 = this;
this.allObjectMarkers = new LinkedList();
this.allImageMarkers = new LinkedList();
this.tempImage = (object) null;
this.lastDetectedMarkers = (Marker[]) null;
GeometricCalibrator geometricCalibrator2 = this;
throw new NoClassDefFoundError("com.googlecode.javacv.cpp.opencv_core$CvMat");
}
/**
* Report the facets of this Simplex.
* Each facet is a set of vertices.
* @return an Iterable for the facets of this Simplex
*/
public List facets()
{
List theFacets = new java.util.LinkedList();
for (Iterator it = this.iterator(); it.hasNext(); )
{
Object v = it.next();
Set facet = new HashSet(this);
facet.remove(v);
theFacets.add(facet);
}
return theFacets;
}
/**
* Report the facets of this Simplex.
* Each facet is a set of vertices.
* @return an Iterable for the facets of this Simplex
*/
public List facets()
{
List theFacets = new java.util.LinkedList();
for (Iterator it = this.iterator(); it.hasNext();)
{
Object v = it.next();
Set facet = new HashSet(this);
facet.remove(v);
theFacets.add(facet);
}
return(theFacets);
}
/**
* Place a new point site into the DT.
* @param site the new Pnt
* @return set of all new triangles created
*/
public Set delaunayPlace(Pnt site) {
Set newTriangles = new HashSet();
Set oldTriangles = new HashSet();
Set doneSet = new HashSet();
LinkedList waitingQ = new LinkedList();
// Locate containing triangle
if (debug) Console.WriteLine("Locate");
Simplex triangle = locate(site);
// Give up if no containing triangle or if site is already in DT
var triangle_null = triangle == null;
if (triangle_null || triangle.contains(site)) return newTriangles;
// Find Delaunay cavity (those triangles with site in their circumcircles)
if (debug) Console.WriteLine("Cavity");
waitingQ.add(triangle);
while (!waitingQ.isEmpty()) {
triangle = (Simplex) waitingQ.removeFirst();
if (site.vsCircumcircle((Pnt[]) triangle.toArray(new Pnt[0])) == 1) continue;
oldTriangles.add(triangle);
Iterator it = this.neighbors(triangle).iterator();
for (; it.hasNext();) {
Simplex tri = (Simplex) it.next();
if (doneSet.contains(tri)) continue;
doneSet.add(tri);
waitingQ.add(tri);
}
}
// Create the new triangles
if (debug) Console.WriteLine("Create");
for (Iterator it = Simplex.boundary(oldTriangles).iterator(); it.hasNext();) {
Set facet = (Set) it.next();
facet.add(site);
newTriangles.add(new Simplex(facet));
}
// Replace old triangles with new triangles
if (debug) Console.WriteLine("Update");
this.update(oldTriangles, newTriangles);
// Update mostRecent triangle
if (!newTriangles.isEmpty()) mostRecent = (Simplex) newTriangles.iterator().next();
return newTriangles;
}
public virtual void run()
{
if (Loader.loadedLibraries.isEmpty())
return;
IOException ioException;
try
{
LinkedList linkedList = new LinkedList();
linkedList.add((object) new StringBuilder().append(System.getProperty("java.home")).append("/bin/java").toString());
linkedList.add((object) "-classpath");
linkedList.add((object) System.getProperty("java.class.path"));
linkedList.add((object) ((Class) ClassLiteral<Loader>.Value).getName());
linkedList.addAll(Loader.loadedLibraries.values());
new ProcessBuilder((List) linkedList).start();
return;
}
catch (IOException ex)
{
int num = 1;
ioException = (IOException) ByteCodeHelper.MapException<IOException>((Exception) ex, (ByteCodeHelper.MapFlags) num);
}
Throwable.instancehelper_printStackTrace((Exception) ioException);
}
public DashboardPanel(DashboardFrame frame, ITable table)
{
base.\u002Ector();
DashboardPanel dashboardPanel = this;
this.backPane = new JPanel();
this.elements = new LinkedList();
this.fields = (Map) new HashMap();
this.hiddenFields = (Set) new HashSet();
this.editable = false;
this.listener = new DashboardPanel.RobotListener(this, (DashboardPanel.\u0031) null);
this.subsystems = new ArrayList();
this.frame = frame;
this.table = table;
this.glassPane = new GlassPane(frame, this);
((Container) this).add((Component) this.glassPane);
((Container) this).add((Component) this.backPane);
((Container) this.backPane).setLayout((LayoutManager) new DashboardPanel.DashboardLayout(this, (DashboardPanel.\u0031) null));
((Component) this.backPane).setFocusable(true);
((Container) this).setLayout((LayoutManager) new DashboardPanel.DashboardLayout(this, (DashboardPanel.\u0031) null));
this.setEditable(this.editable);
table.addTableListener((ITableListener) this.listener, true);
table.addSubTableListener((ITableListener) this.listener);
}
public virtual double[] calibrate(bool useCenters, bool calibrateCameras, int cameraAtOrigin)
{
int num1 = calibrateCameras ? 1 : 0;
int num2 = useCenters ? 1 : 0;
GeometricCalibrator geometricCalibrator = this.cameraCalibrators[cameraAtOrigin];
if (num1 != 0)
{
for (int index = 0; index < this.cameraCalibrators.Length; ++index)
{
this.cameraCalibrators[index].calibrate(num2 != 0);
if (this.cameraCalibrators[index] != geometricCalibrator)
geometricCalibrator.calibrateStereo(num2 != 0, this.cameraCalibrators[index]);
}
}
LinkedList allObjectMarkers1 = this.projectorCalibrator.getAllObjectMarkers();
LinkedList allImageMarkers1 = new LinkedList();
LinkedList allObjectMarkers2 = new LinkedList();
LinkedList allObjectMarkers3 = new LinkedList();
Iterator iterator = ((AbstractSequentialList) allObjectMarkers1).iterator();
Iterator[] iteratorArray = new Iterator[this.cameraCalibrators.Length];
for (int index = 0; index < this.cameraCalibrators.Length; ++index)
iteratorArray[index] = ((AbstractSequentialList) this.allImagedBoardMarkers[index]).iterator();
while (iterator.hasNext())
{
int index1 = 0;
if (index1 < this.cameraCalibrators.Length)
{
double num3 = this.settings.prewarpUpdateErrorMax * (double) (this.cameraCalibrators[index1].getProjectiveDevice().imageWidth + this.cameraCalibrators[index1].getProjectiveDevice().imageHeight) / 2.0;
Marker[] markerArray1 = (Marker[]) iteratorArray[index1].next();
Marker[] markerArray2 = (Marker[]) iterator.next();
Marker[] markerArray3 = new Marker[markerArray1.Length];
Marker[] markerArray4 = new Marker[markerArray2.Length];
for (int index2 = 0; index2 < markerArray1.Length; ++index2)
{
Marker[] markerArray5 = markerArray3;
int num4 = index2;
Marker marker1 = markerArray1[index2].clone();
int index3 = num4;
Marker[] markerArray6 = markerArray5;
Marker marker2 = marker1;
markerArray6[index3] = marker1;
Marker marker3 = marker2;
marker3.corners = this.cameraCalibrators[index1].getProjectiveDevice().undistort(marker3.corners);
}
for (int index2 = 0; index2 < markerArray2.Length; ++index2)
{
Marker[] markerArray5 = markerArray4;
int num4 = index2;
Marker marker1 = markerArray2[index2].clone();
int index3 = num4;
Marker[] markerArray6 = markerArray5;
Marker marker2 = marker1;
markerArray6[index3] = marker1;
Marker marker3 = marker2;
marker3.corners = this.cameraCalibrators[index1].getProjectiveDevice().undistort(marker3.corners);
}
MarkedPlane markedPlane = this.boardPlane;
object obj = this.boardWarp;
throw new NoClassDefFoundError("[Lcom.googlecode.javacv.cpp.opencv_core$CvMat;");
}
}
this.projectorCalibrator.setAllObjectMarkers(allObjectMarkers2);
double[] numArray1 = this.projectorCalibrator.calibrate(num2 != 0);
LinkedList allObjectMarkers4 = geometricCalibrator.getAllObjectMarkers();
LinkedList allImageMarkers2 = geometricCalibrator.getAllImageMarkers();
geometricCalibrator.setAllObjectMarkers(allObjectMarkers3);
geometricCalibrator.setAllImageMarkers(allImageMarkers1);
double[] numArray2 = geometricCalibrator.calibrateStereo(num2 != 0, this.projectorCalibrator);
this.projectorCalibrator.setAllObjectMarkers(allObjectMarkers1);
geometricCalibrator.setAllObjectMarkers(allObjectMarkers4);
geometricCalibrator.setAllImageMarkers(allImageMarkers2);
double[] numArray3 = new double[4];
int index4 = 0;
double num5 = numArray1[0];
numArray3[index4] = num5;
int index5 = 1;
double num6 = numArray1[1];
numArray3[index5] = num6;
int index6 = 2;
double num7 = numArray2[0];
numArray3[index6] = num7;
int index7 = 3;
double num8 = numArray2[1];
numArray3[index7] = num8;
return numArray3;
}
public virtual void setAllImageMarkers(LinkedList allImageMarkers)
{
this.allImageMarkers = allImageMarkers;
}
public virtual void setAllObjectMarkers(LinkedList allObjectMarkers)
{
this.allObjectMarkers = allObjectMarkers;
}
private void doMethods([In] Class obj0)
{
Properties properties = (Properties) obj0.getAnnotation((Class) ClassLiteral<Properties>.Value);
int num1 = 0;
if (properties != null)
{
Platform[] platformArray = properties.value();
int length = platformArray.Length;
for (int index = 0; index < length; ++index)
{
if (this.checkPlatform(platformArray[index]))
num1 = 1;
}
}
else if (this.checkPlatform((Platform) obj0.getAnnotation((Class) ClassLiteral<Platform>.Value)))
num1 = 1;
if (num1 == 0)
return;
this.generatedSomethingUseful = true;
LinkedList linkedList = (LinkedList) this.members.get((object) obj0);
if ((!obj0.isAnnotationPresent((Class) ClassLiteral<Opaque>.Value) || obj0 == ClassLiteral<Pointer>.Value) && (!((Class) ClassLiteral<FunctionPointer>.Value).isAssignableFrom(obj0) && !obj0.isAnnotationPresent((Class) ClassLiteral<NoOffset>.Value)))
{
if (linkedList == null)
this.members.put((object) obj0, (object) (linkedList = new LinkedList()));
if (!linkedList.contains((object) "sizeof"))
linkedList.add((object) "sizeof");
}
Class[] declaredClasses = obj0.getDeclaredClasses(Generator.__\u003CGetCallerID\u003E());
for (int index = 0; index < declaredClasses.Length; ++index)
{
if (((Class) ClassLiteral<Pointer>.Value).isAssignableFrom(declaredClasses[index]) || ((Class) ClassLiteral<Pointer.Deallocator>.Value).isAssignableFrom(declaredClasses[index]))
this.doMethods(declaredClasses[index]);
}
Method[] declaredMethods = obj0.getDeclaredMethods(Generator.__\u003CGetCallerID\u003E());
bool[] flagArray1 = new bool[declaredMethods.Length];
Method method = this.doFunctionDefinitions(obj0, flagArray1);
for (int index1 = 0; index1 < declaredMethods.Length; ++index1)
{
if (this.checkPlatform((Platform) declaredMethods[index1].getAnnotation((Class) ClassLiteral<Platform>.Value)))
{
Generator.MethodInformation methodInformation = Generator.getMethodInformation(declaredMethods[index1]);
if (methodInformation != null)
{
string str1 = new StringBuilder().append(Generator.mangle(obj0.getName())).append("_").append(Generator.mangle(methodInformation.name)).toString();
if ((methodInformation.memberGetter || methodInformation.memberSetter) && (!methodInformation.noOffset && linkedList != null) && (!Modifier.isStatic(methodInformation.modifiers) && !linkedList.contains((object) methodInformation.memberName)))
linkedList.add((object) methodInformation.memberName);
if (flagArray1[index1])
this.doCallback(obj0, method, str1);
[email protected](new StringBuilder().append("JNIEXPORT ").append(Generator.getJNITypeName(methodInformation.returnType)).append(" JNICALL Java_").append(str1).toString());
if (methodInformation.overloaded)
[email protected](new StringBuilder().append("__").append(Generator.mangle(Generator.getSignature(methodInformation.parameterTypes))).toString());
if (Modifier.isStatic(methodInformation.modifiers))
[email protected]("(JNIEnv *e, jclass c");
else
[email protected]("(JNIEnv *e, jobject o");
for (int index2 = 0; index2 < methodInformation.parameterTypes.Length; ++index2)
[email protected](new StringBuilder().append(", ").append(Generator.getJNITypeName(methodInformation.parameterTypes[index2])).append(" p").append(index2).toString());
[email protected](") {");
if (flagArray1[index1])
{
this.doCallbackAllocator(obj0, method, str1);
}
else
{
if (!Modifier.isStatic(methodInformation.modifiers) && !methodInformation.allocator && (!methodInformation.arrayAllocator && !methodInformation.deallocator))
{
string cppTypeName = Generator.getCPPTypeName(obj0);
string str2 = !methodInformation.bufferGetter || !String.instancehelper_equals("void*", (object) cppTypeName) ? cppTypeName : "char*";
[email protected](new StringBuilder().append(" ").append(str2).append(" pointer = (").append(str2).append(")").append("jlong_to_ptr(e->GetLongField(o, JavaCPP_addressFieldID));").toString());
[email protected](" if (JavaCPP_checkNull(e, (uintptr_t)pointer)) {");
[email protected](new StringBuilder().append(" return").append(methodInformation.returnType != Void.TYPE ? " 0;" : ";").toString());
[email protected](" }");
if (!obj0.isAnnotationPresent((Class) ClassLiteral<Opaque>.Value) || methodInformation.bufferGetter)
{
[email protected](" jint position = e->GetIntField(o, JavaCPP_positionFieldID);");
if (((Class) ClassLiteral<FunctionPointer>.Value).isAssignableFrom(obj0))
[email protected](new StringBuilder().append(" pointer = position == 0 ? pointer : (").append(str2).append(")((uintptr_t)pointer + position);").toString());
else
[email protected](" pointer += position;");
}
}
bool[] flagArray2 = new bool[methodInformation.parameterTypes.Length];
bool[] flagArray3 = new bool[methodInformation.parameterTypes.Length];
this.doParametersBefore(methodInformation, flagArray2, flagArray3);
string str3 = this.doReturnBefore(obj0, methodInformation);
int num2 = this.doMainOperation(obj0, methodInformation, str3, flagArray2) ? 1 : 0;
this.doReturnAfter(obj0, methodInformation, num2 != 0);
this.doParametersAfter(methodInformation, num2 != 0, flagArray3);
if (methodInformation.returnType != Void.TYPE)
[email protected](" return r;");
[email protected]("}");
}
}
}
}
[email protected]();
}
