bool AStar::judgeSurround(const ASCOORD& coord,const ASCOORD& parentCoord,int G)
{
if(!isInList(m_closeList,coord) && !m_mark.isMask(coord._y,coord._x))
{
StepData* pSD = findFromList(m_openList,coord);
if (pSD && pSD->_g > G)
{
pSD->_g = G;
pSD->_parentCoord = parentCoord;
}
else if(!pSD)
{
StepData newSD(coord);
newSD._g = G;
newSD._h = computeH(coord);
newSD._parentCoord = parentCoord;
m_openList.push_back(newSD);
if(newSD._coord == m_start)
return true;
}
}
return false;
}
bool AStar::GetRoute(std::vector<ASCOORD>* list)
{
list->clear();
StepData* sd = findFromList(m_openList,m_start);
int size = m_openList.size();
if(sd!=NULL)
{
list->push_back(sd->_coord);
sd = findFromList(m_closeList,sd->_parentCoord);
while(sd->_coord!=m_target)
{
list->push_back(sd->_coord);
sd = findFromList(m_closeList,sd->_parentCoord);
}
list->push_back(sd->_coord);
return true;
}
return false;
}
void DataSetVOC::loadBox(const FileNode &fn, vector<Vec4i> &boxes, vecI &clsIdx){
string isDifficult;
fn["difficult"]>>isDifficult;
if (isDifficult == "1")
return;
string strXmin, strYmin, strXmax, strYmax;
fn["bndbox"]["xmin"] >> strXmin;
fn["bndbox"]["ymin"] >> strYmin;
fn["bndbox"]["xmax"] >> strXmax;
fn["bndbox"]["ymax"] >> strYmax;
boxes.push_back(Vec4i(atoi(_S(strXmin)), atoi(_S(strYmin)), atoi(_S(strXmax)), atoi(_S(strYmax))));
string clsName;
fn["name"]>>clsName;
clsIdx.push_back(findFromList(clsName, classNames));
CV_Assert_(clsIdx[clsIdx.size() - 1] >= 0, ("Invalidate class name\n"));
}
