void Link::normalizeToDegree( const float& pos, const bool fw, const int id )
{
if( id == linkId ) {
linkRotate = pos;
emit toProcess( linkRotate, id );
}
else {
qDebug() << "Link::normalizeToDegree -> id != linkId\t";
}
}
double full_minimization(vector<double>& coeffs)
{
#pragma omp parallel for num_threads(NUM_PARALLEL)
for (int i=0; i < all_threads.size(); i++)
{
vector<Vector3d> points;
vector<double> twist_angles;
Thread toProcess(all_threads[i]); //must make a copy!
toProcess.set_coeffs_normalized(coeffs[0], coeffs[1], coeffs[2]);
toProcess.minimize_energy();
toProcess.get_thread_data(points, twist_angles);
scores_each_thread[i] = 0.0;
for (int j=0; j < points.size(); j++)
{
scores_each_thread[i] += (points[j] - orig_points[i][j]).squaredNorm();
}
scores_each_thread[i] = sqrt(scores_each_thread[i]);
angle_scores_each_thread[i] = abs(twist_angles[twist_angles.size()-2] - orig_twist_angles[i][twist_angles.size()-2]);
//std::cout << "point score: " << scores_each_thread[i] << std::endl;
//std::cout << "angle score: " << angle_scores_each_thread[i] << std::endl;
}
double fx = 0.0;
for (int i=0; i < all_threads.size(); i++)
{
//fx += scores_each_thread[i];
fx += angle_scores_each_thread[i];
}
fx /= (double)scores_each_thread.size();
return fx;
}
/**
Input: 1-Channel Grayscale Image
Output: 1-Channel 8UC1 Inverted Binary Image
**/
cv::Mat Auvsi_Ocr::prepareTrainingImage(cv::Mat image, bool isShape, std::string imgPath)
{
cv::Mat toProcess(image.size(),CV_8UC1);
toProcess = image < 128;
toProcess = Auvsi_Recognize::ProcessShape(toProcess);
bool pathIsValid = imgPath.length() > 0;
if (pathIsValid)
{
cv::Mat aClone = toProcess.clone();
cv::circle(aClone, cv::Point(31,31), 32, cv::Scalar(128));
IplImage imageIpl = aClone;
cvSaveImage((imgPath + "_debug.jpg").c_str(), &imageIpl);
}
//cv::imshow("img",toProcess);
//cv::waitKey(10);
if (!Auvsi_Recognize::checkImage(toProcess))
printf("WARNING: bad image in Auvsi_Ocr.cpp"); // this may not show up in Skynet
return toProcess;
}
double oneStepDistance(vector<double>& coeffs)
{
#pragma omp parallel for num_threads(NUM_PARALLEL)
for (int i=0; i < all_threads.size(); i++)
{
double step_size = 0.01;
vector<Vector3d> points;
vector<double> twist_angles;
Thread toProcess(all_threads[i]); //must make a copy!
toProcess.set_coeffs_normalized(coeffs[0], coeffs[1], coeffs[2]);
toProcess.one_step_project(step_size);
toProcess.get_thread_data(points, twist_angles);
scores_each_thread[i] = 0.0;
for (int j=0; j < points.size(); j++)
{
scores_each_thread[i] += (pow((points[j] - orig_points[i][j]).norm(),2));
}
scores_each_thread[i] = sqrt(scores_each_thread[i])/step_size;
}
double fx = 0.0;
for (int i=0; i < all_threads.size(); i++)
{
fx += scores_each_thread[i];
}
fx /= (double)scores_each_thread.size();
return fx;
}
void Link::setLinkRotate( float f_value )
{
linkRotate = f_value;
emit toProcess( linkRotate, linkId );
}
