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  • Storing an subtitle on an annotation with NSUserDefualts

    - by Krismutt
    Hey everybody! Basically: what i try to do is to save the street address of an annotation so that when I quit the application and launch it again the street address still will be there...see the following code: SavePosition.m -(NSString *)subtitle{ if (!subtitle) { return @"Ingen gata i närheten"; } else { return subtitle; } } -(NSString *)title{ return @"Sparad Position"; } -(id)initWithCoordinate:(CLLocationCoordinate2D) coor{ self.coordinate=coor; NSLog(@"%f,%f",coor.latitude,coor.longitude); return self; } - (void)setCoordinate:(CLLocationCoordinate2D)koor { MKReverseGeocoder *geocoder = [[[MKReverseGeocoder alloc] initWithCoordinate:koor] autorelease]; geocoder.delegate = self; coordinate = koor; [geocoder start]; } - (void)reverseGeocoder:(MKReverseGeocoder *)geocoder didFailWithError:(NSError *)error { NSLog(@"fail %@", error); } - (void)reverseGeocoder:(MKReverseGeocoder *)geocoder didFindPlacemark:(MKPlacemark *)placemark { self.subtitle = [placemark.addressDictionary valueForKey:@"Street"]; } -(void)applicationWillTerminate:(UIApplication *)application { NSUserDefaults *userDef = [NSUserDefaults standardUserDefaults]; [userDef setValue:subtitle forKey:@"SavedAddress"]; [userDef setBool:YES forKey:@"Street"]; [userDef synchronize]; } @end mainViewController.m -(void)viewDidLoad { [super viewDidLoad]; NSUserDefaults *userDef = [NSUserDefaults standardUserDefaults]; if ([userDef boolForKey:@"sparadKoordinat-existerar"]) { CLLocationCoordinate2D savedCoordinate; savedCoordinate.latitude = [userDef doubleForKey:@"sparadKoordinat-latitud"]; savedCoordinate.longitude = [userDef doubleForKey:@"sparadKoordinat-longitud"]; SparaPosition *position=[[SparaPosition alloc] initWithCoordinate:savedCoordinate]; [mapView addAnnotation:position]; savedPosition = savedCoordinate; raderaSparad.enabled=YES; skickaMaps.enabled=YES; mStoreLocationButton.enabled=NO; friZoom = NO; NSString *savedAddress = [[NSUserDefaults standardUserDefaults] objectForKey:@"SavedAddress"]; if (savedAddress) { savedAddress.subtitle = [userDef valueForKey:@"Street"]; // what code should I add here? } MKCoordinateRegion region; region.center.latitude = savedCoordinate.latitude; region.center.longitude= savedCoordinate.longitude; MKCoordinateSpan span; span.latitudeDelta = 0.01; span.longitudeDelta = 0.01; region.span = span; region = [mapView regionThatFits:region]; [mapView setRegion:region animated:YES]; [mapView setRegion:region animated:TRUE]; }

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  • Start one functon after another finished iphone

    - by user295944
    I have a function that updates the gps coordinate lat and long then sends a tweet with the lat and long info attached. I want the function to wait until the lat and long are filled before the tweet goes through but it seems to do both at the same time so the lat and long don't get filled in. How do I make the gps location update first?

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  • Draw 2.5D or 3D Map with C# from lines.

    - by VOX
    I'm developing a turn-by-turn navigation software for Windows Mobile using C# and .NET CF. I'm able to draw a 2D maps by drawing lines. My problem is I would like to get a 2.5D map like in the picture. I tried non-affine transformation on the 2D rendered image but it is too slow for the Windows Mobile device we are targeting. Could anyone give me a clue on my problem? example image

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  • programmatically updating iTunes track location

    - by Ben Clifford
    I would like to modify the filesystem path for tracks on itunes programmatically, so that I can apply a string transformation to some of the tracks locations (which are now stored in a different places on the filesystem). I've tried using AppleScript to update the location property of the relevant tracks but I get an end-of-file error when calling "set mytrack's location to ..." I've seen various other hacks online that involve exporting the entire track db, modifying it in XML, and then reimporting it - but that seems to lose too much metadata (such as playlists).

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  • iPhone Gps logging inaccurate

    - by Martijn
    I'm logging gps points during a walk. Below it shows the function that the coordinates are saved each 5 seconds. i Did several tests but i cannot get the right accuracy i want. (When testing the sky is clear also tests in google maps shows me that the gps signal is good). here is the code: -(void)viewDidAppear:(BOOL)animated{ if (self.locationManager == nil){ self.locationManager = [[[CLLocationManager alloc] init] autorelease]; locationManager.delegate = self; // only notify under 100 m accuracy locationManager.distanceFilter = 100.0f; locationManager.desiredAccuracy= kCLLocationAccuracyBest; [locationManager startUpdatingLocation]; } } - start logging [NSTimer scheduledTimerWithTimeInterval:5 target:self selector:@selector(getData) userInfo:nil repeats:YES]; </code> <code> -(void)getData{ int distance; // re-use location. if ([ [NSString stringWithFormat:@"%1.2f",previousLat] isEqualToString:@"0.00"]){ // if previous location is not available, do nothing distance = 0; }else{ CLLocation *loc1 = [[CLLocation alloc] initWithLatitude:previousLat longitude:previousLong]; CLLocation *loc2 = [[CLLocation alloc] initWithLatitude:latGlobal longitude:longGlobal]; distance = [loc1 getDistanceFrom: loc2]; } // overwrite latGlobal with new variable previousLat = latGlobal; previousLong = longGlobal; // store location and save data to database // this part goes ok } - (void)locationManager:(CLLocationManager *)manager didUpdateToLocation:(CLLocation *)newLocation fromLocation:(CLLocation *)oldLocation { // track the time to get a new gps result (for gps indicator orb) lastPointTimestamp = [newLocation.timestamp copy]; // test that the horizontal accuracy does not indicate an invalid measurement if (newLocation.horizontalAccuracy < 0) return; // test the age of the location measurement to determine if the measurement is cached // don't rely on cached measurements NSTimeInterval locationAge = -[newLocation.timestamp timeIntervalSinceNow]; if (locationAge > 5.0) return; latGlobal = fabs(newLocation.coordinate.latitude); longGlobal= fabs(newLocation.coordinate.longitude); } I have taken a screenshot of the plot results (the walk takes 30 minutes) and an example of what i'am trying to acomplish: http://www.flickr.com/photos/21258341@N07/4623969014/ i really hope someone can put me in the right direction.

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  • MATLAB image corner coordinates & referncing to cell arrays

    - by James
    Hi, I am having some problems comparing the elements in different cell arrays. The context of this problem is that I am using the bwboundaries function in MATLAB to trace the outline of an image. The image is of a structural cross section and I am trying to find if there is continuity throughout the section (i.e. there is only one outline produced by the bwboundaries command). Having done this and found where the is more than one section traced (i.e. it is not continuous), I have used the cornermetric command to find the corners of each section. The code I have is: %% Define the structural section as a binary matrix (Image is an I-section with the web broken) bw(20:40,50:150) = 1; bw(160:180,50:150) = 1; bw(20:60,95:105) = 1; bw(140:180,95:105) = 1; Trace = bw; [B] = bwboundaries(Trace,'noholes'); %Traces the outer boundary of each section L = length(B); % Finds number of boundaries if L > 1 disp('Multiple boundaries') % States whether more than one boundary found end %% Obtain perimeter coordinates for k=1:length(B) %For all the boundaries perim = B{k}; %Obtains perimeter coordinates (as a 2D matrix) from the cell array end %% Find the corner positions C = cornermetric(bw); Areacorners = find(C == max(max(C))) % Finds the corner coordinates of each boundary [rowindexcorners,colindexcorners] = ind2sub(size(Newgeometry),Areacorners) % Convert corner coordinate indexes into subcripts, to give x & y coordinates (i.e. the same format as B gives) %% Put these corner coordinates into a cell array Cornerscellarray = cell(length(rowindexcorners),1); % Initialises cell array of zeros for i =1:numel(rowindexcorners) Cornerscellarray(i) = {[rowindexcorners(i) colindexcorners(i)]}; %Assigns the corner indicies into the cell array %This is done so the cell arrays can be compared end for k=1:length(B) %For all the boundaries found perim = B{k}; %Obtains coordinates for each perimeter Z = perim; % Initialise the matrix containing the perimeter corners Sectioncellmatrix = cell(length(rowindexcorners),1); for i =1:length(perim) Sectioncellmatrix(i) = {[perim(i,1) perim(i,2)]}; end for i = 1:length(perim) if Sectioncellmatrix(i) ~= Cornerscellarray Sectioncellmatrix(i) = []; %Gets rid of the elements that are not corners, but keeps them associated with the relevent section end end end This creates an error in the last for loop. Is there a way I can check whether each cell of the array (containing an x and y coordinate) is equal to any pair of coordinates in cornercellarray? I know it is possible with matrices to compare whether a certain element matches any of the elements in another matrix. I want to be able to do the same here, but for the pair of coordinates within the cell array. The reason I don't just use the cornercellarray cell array itself, is because this lists all the corner coordinates and does not associate them with a specific traced boundary.

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  • Using drawAtPoint with my CIImage not doing anything on screen

    - by Adam
    Stuck again. :( I have the following code crammed into a procedure invoked when I click on a button on my application main window. I'm just trying to tweak a CIIMage and then display the results. At this point I'm not even worried about exactly where / how to display it. I'm just trying to slam it up on the window to make sure my Transform worked. This code seems to work down through the drawAtPoint message. But I never see anything on the screen. What's wrong? Thanks. Also, as far as displaying it in a particular location on the window ... is the best technique to put a frame of some sort on the window, then get the coordinates of that frame and "draw into" that rectangle? Or use a specific control from IB? Or what? Thanks again. // earlier I initialize a NSImage from JPG file on disk. // then create NSBitmapImageRep from the NSImage. This all works fine. // then ... CIImage * inputCIimage = [[CIImage alloc] initWithBitmapImageRep:inputBitmap]; if (inputCIimage == Nil) NSLog(@"could not create CI Image"); else { NSLog (@"CI Image created. working on transform"); CIFilter *transform = [CIFilter filterWithName:@"CIAffineTransform"]; [transform setDefaults]; [transform setValue:inputCIimage forKey:@"inputImage"]; NSAffineTransform *affineTransform = [NSAffineTransform transform]; [affineTransform rotateByDegrees:3]; [transform setValue:affineTransform forKey:@"inputTransform"]; CIImage * myResult = [transform valueForKey:@"outputImage"]; if (myResult == Nil) NSLog(@"Transformation failed"); else { NSLog(@"Created transformation successfully ... now render it"); [myResult drawAtPoint: NSMakePoint ( 0,0 ) fromRect: NSMakeRect ( 0,0,128,128 ) operation: NSCompositeSourceOver fraction: 1.0]; //100% opaque [inputCIimage release]; } }

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  • Expandable list with animated effect

    - by Naveen Chauhan
    I am using this animation class to create the animation when i shrink and expand the list on some click event import android.view.View; import android.view.animation.Animation; import android.view.animation.Transformation; import android.widget.LinearLayout.LayoutParams; public class ExpandAnimation extends Animation{ private View mAnimatedView; private LayoutParams mViewLayoutParams; private int mMarginStart, mMarginEnd; private boolean mIsVisibleAfter = false; private boolean mWasEndedAlready = false; public ExpandAnimation(View view, int duration){ setDuration(duration); mAnimatedView = view; System.out.println(view.getVisibility()); mViewLayoutParams = (LayoutParams)view.getLayoutParams(); mIsVisibleAfter = (view.getVisibility() == View.VISIBLE); System.out.println("mIsVisibleAfter:- "+ mIsVisibleAfter); mMarginStart = mViewLayoutParams.bottomMargin; System.out.println("mMarginStart:- "+ mMarginStart); mMarginEnd = (mMarginStart == 0 ?(0 - view.getHeight()):0); System.out.println("mMarginEnd:- "+mMarginEnd); view.setVisibility(View.VISIBLE); } @Override protected void applyTransformation(float interpolatedTime, Transformation t){ super.applyTransformation(interpolatedTime, t); System.out.println("mMarginEnd:- "+interpolatedTime); if(interpolatedTime<1.0f){ System.out.println("Inside if true"); mViewLayoutParams.bottomMargin = mMarginStart + (int) ((mMarginEnd - mMarginStart)*interpolatedTime); System.out.println("mViewLayoutParams.bottomMargin:- "+mViewLayoutParams.bottomMargin); mAnimatedView.requestLayout(); }else if(!mWasEndedAlready){ mViewLayoutParams.bottomMargin = mMarginEnd; mAnimatedView.requestLayout(); System.out.println("mIsVisibleAfter:- "+mIsVisibleAfter); if(mIsVisibleAfter){ mAnimatedView.setVisibility(View.GONE); } mWasEndedAlready = true; } } } i am using following lines on some click event in my activity class to create the object of my animation class View toolbar = (View) findViewById(R.id.toolbar1); ExpandAnimation expandani = new ExpandAnimation(toolbar,500); toolbar.startAnimation(expandani); My probem is that when click event occurs, my list expand and then shrink but it must stop when it grows completely and shrink when i click on up image. please let me know that how my animation class is working. i have also tried myself by using SOP statements which you can see in my animation class.

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  • Placing an embedded google map marker with Selenium

    - by Isaac
    I have an asp.net website which as part of a wizard uses an embedded google map to select a location by clicking on the map to place a marker. How do I automate this with Selenium? In particular I've tried: ClickAt DoubleClickAt MouseDownAt MouseUpAt In all cases passing the map div id as the locator and "100,100" as the coordinate. I don't care where on the map the marker is placed, as long as I can place that marker.

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  • about TranslateTransform and RenderTransformOrigin

    - by George2
    Hello everyone, I am using Silverlight 3.0 + .Net 3.5 + VSTS 2008 + C# to silverlight application. I want to learn TranslateTransform and RenderTransformOrigin, could anyone recommend me some tutorials? I am a newbie of this area. And I did not find anything which is good to learn for a newbie from MSDN (correct me if there are some good stuff). :-) BTW: I am headache about the coordination transformation matrix, it is great if the tutorial could cover this topic. thanks in advance, George

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  • Multi-Column Primary Key in MySQL 5

    - by Kaji
    I'm trying to learn how to use keys and to break the habit of necessarily having SERIAL type IDs for all rows in all my tables. At the same time, I'm also doing many-to-many relationships, and so requiring unique values on either column of the tables that coordinate the relationships would hamper that. How can I define a primary key on a table such that any given value can be repeated in any column, so long as the combination of values across all columns is never repeated exactly?

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  • VS 2010 Web.config transformations for debugging

    - by Dirk
    I’m a fan of the new VS 2010 Web.config transformations. I use this feature for deployment purposes and wondered if it is possible to use them for debugging too. I think of using them in the IDE: I want to create different built configuration (with linked transformation configurations); choose one of them; start the web site in the IDE and debug the different configuration this way.

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  • Reach the end of the tableview without using 'numberOfRowsInSection' delegate method iphone sdk

    - by neha
    Hi all, I want to add a view after the last cell of tableview. I need to define the frame for it. If I want to add something before the first cell, then I can set the frame as refreshHeaderView = [[EGORefreshTableHeaderView alloc] initWithFrame:CGRectMake(0.0f, 0.0f - self.view.bounds.size.height,320.0f, self.view.bounds.size.height)]; But how to find the y coordinate of the frame of view to be set after the last cell. Thanx in advance.

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  • .NET Extension Objects with XSLT -- how to iterate over a collection?

    - by Pandincus
    Help me, Stackoverflow! I have a simple .NET 3.5 console app that reads some data and sends emails. I'm representing the email format in an XSLT stylesheet so that we can easily change the wording of the email without needing to recompile the app. We're using Extension Objects to pass data to the XSLT when we apply the transformation: <xsl:stylesheet version="1.0" xmlns:xsl="http://www.w3.org/1999/XSL/Transform" xmlns:msxsl="urn:schemas-microsoft-com:xslt" exclude-result-prefixes="msxsl" xmlns:EmailNotification="ext:EmailNotification"> -- this way, we can have statements like: <p> Dear <xsl:value-of select="EmailNotification:get_FullName()" />: </p> The above works fine. I pass the object via code like this (some irrelevant code omitted for brevity): // purely an example structure public struct EmailNotification { public string FullName { get; set; } } // Somewhere in some method ... var notification = new Notification("John Smith"); // ... XsltArgumentList xslArgs = new XsltArgumentList(); xslArgs.AddExtensionObject("ext:EmailNotification", notification); // ... // The part where it breaks! (This is where we do the transformation) xslt.Transform(fakeXMLDocument.CreateNavigator(), xslArgs, XmlWriter.Create(transformedXMLString)); So, all of the above code works. However, I wanted to get a little fancy (always my downfall) and pass a collection, so that I could do something like this: <p>The following accounts need to be verified:</p> <xsl:for-each select="EmailNotification:get_SomeCollection()"> <ul> <li> <xsl:value-of select="@SomeAttribute" /> </li> </ul> <xsl:for-each> When I pass the collection in the extension object and attempt to transform, I get the following error: "Extension function parameters or return values which have Clr type 'String[]' are not supported." or List, or IEnumerable, or whatever I try to pass in. So, my questions are: How can I pass in a collection to my XSLT? What do I put for the xsl:value-of select="" inside the xsl:for-each ? Is what I am trying to do impossible?

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  • Unexpected ArrayIndexOutOfBoundsException in JavaFX application, refering to no array

    - by Eugene
    I have the following code: public void setContent(Importer3D importer) { if (DEBUG) { System.out.println("Initialization of Mesh's arrays"); } coords = importer.getCoords(); texCoords = importer.getTexCoords(); faces = importer.getFaces(); if (DEBUG) { System.out.println("Applying Mesh's arrays"); } mesh = new TriangleMesh(); mesh.getPoints().setAll(coords); mesh.getTexCoords().setAll(texCoords); mesh.getFaces().setAll(faces); if (DEBUG) { System.out.println("Initialization of the material"); } initMaterial(); if (DEBUG) { System.out.println("Setting the MeshView"); } meshView.setMesh(mesh); meshView.setMaterial(material); meshView.setDrawMode(DrawMode.FILL); if (DEBUG) { System.out.println("Adding to 3D scene"); } root3d.getChildren().clear(); root3d.getChildren().add(meshView); if (DEBUG) { System.out.println("3D model is ready!"); } } The Imporeter3D class part: private void load(File file) { stlLoader = new STLLoader(file); } public float[] getCoords() { return stlLoader.getCoords(); } public float[] getTexCoords() { return stlLoader.getTexCoords(); } public int[] getFaces() { return stlLoader.getFaces(); } The STLLoader: public class STLLoader{ public STLLoader(File file) { stlFile = new STLFile(file); loadManager = stlFile.loadManager; pointsArray = new PointsArray(stlFile); texCoordsArray = new TexCoordsArray(); } public float[] getCoords() { return pointsArray.getPoints(); } public float[] getTexCoords() { return texCoordsArray.getTexCoords(); } public int[] getFaces() { return pointsArray.getFaces(); } private STLFile stlFile; private PointsArray pointsArray; private TexCoordsArray texCoordsArray; private FacesArray facesArray; public SimpleBooleanProperty finished = new SimpleBooleanProperty(false); public LoadManager loadManager;} PointsArray file: public class PointsArray { public PointsArray(STLFile stlFile) { this.stlFile = stlFile; initPoints(); } private void initPoints() { ArrayList<Double> pointsList = stlFile.getPoints(); ArrayList<Double> uPointsList = new ArrayList<>(); faces = new int[pointsList.size()*2]; int n = 0; for (Double d : pointsList) { if (uPointsList.indexOf(d) == -1) { uPointsList.add(d); } faces[n] = uPointsList.indexOf(d); faces[++n] = 0; n++; } int i = 0; points = new float[uPointsList.size()]; for (Double d : uPointsList) { points[i] = d.floatValue(); i++; } } public float[] getPoints() { return points; } public int[] getFaces() { return faces; } private float[] points; private int[] faces; private STLFile stlFile; public static boolean DEBUG = true; } And STLFile: ArrayList<Double> coords = new ArrayList<>(); double temp; private void readV(STLParser parser) { for (int n = 0; n < 3; n++) { if(!(parser.ttype==STLParser.TT_WORD && parser.sval.equals("vertex"))) { System.err.println("Format Error:expecting 'vertex' on line " + parser.lineno()); } else { if (parser.getNumber()) { temp = parser.nval; coords.add(temp); if(DEBUG) { System.out.println("Vertex:"); System.out.print("X=" + temp + " "); } if (parser.getNumber()) { temp = parser.nval; coords.add(temp); if(DEBUG) { System.out.print("Y=" + temp + " "); } if (parser.getNumber()) { temp = parser.nval; coords.add(temp); if(DEBUG) { System.out.println("Z=" + temp + " "); } readEOL(parser); } else System.err.println("Format Error: expecting coordinate on line " + parser.lineno()); } else System.err.println("Format Error: expecting coordinate on line " + parser.lineno()); } else System.err.println("Format Error: expecting coordinate on line " + parser.lineno()); } if (n < 2) { try { parser.nextToken(); } catch (IOException e) { System.err.println("IO Error on line " + parser.lineno() + ": " + e.getMessage()); } } } } public ArrayList<Double> getPoints() { return coords; } As a result of all of this code, I expected to get 3d model in MeshView. But the present result is very strange: everything works and in DEBUG mode I get 3d model is ready! from setContent(), and then unexpected ArrayIndexOutOfBoundsException: File readed Initialization of Mesh's arrays Applying Mesh's arrays Initialization of the material Setting the MeshView Adding to 3D scene 3D model is ready! java.lang.ArrayIndexOutOfBoundsException: Array index out of range: 32252 at com.sun.javafx.collections.ObservableFloatArrayImpl.rangeCheck(ObservableFloatArrayImpl.java:276) at com.sun.javafx.collections.ObservableFloatArrayImpl.get(ObservableFloatArrayImpl.java:184) at javafx.scene.shape.TriangleMesh.computeBounds(TriangleMesh.java:262) at javafx.scene.shape.MeshView.impl_computeGeomBounds(MeshView.java:151) at javafx.scene.Node.updateGeomBounds(Node.java:3497) at javafx.scene.Node.getGeomBounds(Node.java:3450) at javafx.scene.Node.getLocalBounds(Node.java:3432) at javafx.scene.Node.updateTxBounds(Node.java:3510) at javafx.scene.Node.getTransformedBounds(Node.java:3350) at javafx.scene.Node.updateBounds(Node.java:516) at javafx.scene.Parent.updateBounds(Parent.java:1668) at javafx.scene.SubScene.updateBounds(SubScene.java:556) at javafx.scene.Parent.updateBounds(Parent.java:1668) at javafx.scene.Parent.updateBounds(Parent.java:1668) at javafx.scene.Parent.updateBounds(Parent.java:1668) at javafx.scene.Parent.updateBounds(Parent.java:1668) at javafx.scene.Parent.updateBounds(Parent.java:1668) at javafx.scene.Scene$ScenePulseListener.pulse(Scene.java:2309) at com.sun.javafx.tk.Toolkit.firePulse(Toolkit.java:329) at com.sun.javafx.tk.quantum.QuantumToolkit.pulse(QuantumToolkit.java:479) at com.sun.javafx.tk.quantum.QuantumToolkit.pulse(QuantumToolkit.java:459) at com.sun.javafx.tk.quantum.QuantumToolkit$13.run(QuantumToolkit.java:326) at com.sun.glass.ui.InvokeLaterDispatcher$Future.run(InvokeLaterDispatcher.java:95) at com.sun.glass.ui.win.WinApplication._runLoop(Native Method) at com.sun.glass.ui.win.WinApplication.access$300(WinApplication.java:39) at com.sun.glass.ui.win.WinApplication$3$1.run(WinApplication.java:101) at java.lang.Thread.run(Thread.java:724) Exception in thread "JavaFX Application Thread" java.lang.ArrayIndexOutOfBoundsException: Array index out of range: 32252 at com.sun.javafx.collections.ObservableFloatArrayImpl.rangeCheck(ObservableFloatArrayImpl.java:276) at com.sun.javafx.collections.ObservableFloatArrayImpl.get(ObservableFloatArrayImpl.java:184) The stranger thing is that this stack doesn't stop until I close the program. And moreover it doesn't point to any my array. What is this? And why does it happen?

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  • Place image over PDF

    - by Eric Acevedo
    How can I place an image over an existing PDF file at an specific coordinate location. The pdf represents a drawing sheet with one page. The image will be scaled. I'm checking ReportLab but can't find the answer. Thanks.

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  • Align 2 sets of 2D point clouds

    - by user108088
    From what I gather, there are two major methods to perform alignment on point clouds, Iterative Closest Point (ICP) and Particle Filtering. What are the advantages of each method? And can someone point me some good tutorials. For what I am currently doing, I think ICP would be easier, I can't seem to find any simple reference implementations online for 2d point sets. Has anyone seen (psuedo)code for ICP with details on the transformation step? Thanks in advance.

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