void log(string prefix,SphericalOccupancyMap&SOM)
{
Mat vis_r, vis_t, vis_z, vis_match,message,vis_raw_z;
Mat zSlice = imclamp(SOM.get_OM(),t.z_min,t.z_max);
// vis
vis_raw_z = eq(SOM.get_OM());
vis_r = eq(r);
vis_t = eq(t.t);
vis_z = eq(zSlice);
Mat vis_t_full(vis_z.rows,vis_z.cols,DataType<Vec3b>::type,Scalar::all(255));
{
Mat src_roi = imroi(vis_t,Rect(Point(0,0),bb.size()));
Mat dst_roi = imroi(vis_t_full,bb);
src_roi.copyTo(dst_roi);
}
vis_match = im_merge(
imroi(vis_r,Rect(Point(0,0),vis_z.size())),
vis_z,
vis_t_full);
cv::rectangle(vis_match,bb.tl(),bb.br(),toScalar(BLUE));
message = image_text(safe_printf("resp = %",extrema(r).max));
vector<Mat> vs{vis_r,vis_t,vis_z,vis_match,vis_raw_z,message};
log_im(prefix,tileCat(vs));
}
void LibHandMetadata::log_metric_bb() const
{
// draw the metric bb
Mat metric_viz = imageeq("",Z.clone(),false,false);
Point bl(handBB.tl().x,handBB.br().y);
Point tr(handBB.br().x,handBB.tl().y);
cv::line(metric_viz,handBB.tl(),bl,toScalar(RED));
cv::line(metric_viz,handBB.br(),bl,toScalar(GREEN));
// compute edge lengths using law of cosines
double z = medianApx(Z,handBB,.5);
double t1 = camera.distance_angular(handBB.tl(),bl);
double d1 = camera.distance_geodesic(handBB.tl(),z,bl,z);
double t2 = camera.distance_angular(handBB.br(),bl);
double d2 = camera.distance_geodesic(handBB.br(),z,bl,z);
Mat text = vertCat(image_text(safe_printf("% cm % rad",d1,t1),RED),
image_text(safe_printf("% cm % rad",d2,t2),GREEN));
text = vertCat(text,image_text(safe_printf("% cm",z)));
log_im("MetricBBSides",vertCat(metric_viz,text));
}
Mat DynVolNN::show(const string&title)
{
return image_text("DynVolNN");
}
static void egd_drv_output(ErlDrvData handle, char *buffer, int n) {
egd_data* d = (egd_data*)handle;
int command = 0;
unsigned char error_code[4];
/* Error Control */
/* get command */
command = decode(&buffer); n -= 2;
switch(command) {
case IM_CREATE:
image_create(d, buffer, n);
break;
case IM_PIXEL:
image_pixel(d, buffer, n);
break;
case IM_LINE:
image_line(d, buffer, n);
break;
case IM_RECTANGLE:
image_rectangle(d, buffer, n);
break;
case IM_FILLEDRECTANGLE:
image_filled_rectangle(d, buffer, n);
break;
case IM_POLYGON:
image_polygon(d, buffer, n);
break;
case IM_FILLEDPOLYGON:
image_filled_polygon(d, buffer, n);
break;
case IM_COLOR:
image_color(d, buffer, n);
break;
case IM_ARC:
image_arc(d, buffer, n);
break;
case IM_FILLEDARC:
image_filled_arc(d, buffer, n);
break;
case IM_FILLEDELLIPSE:
image_filled_ellipse(d, buffer, n);
break;
case IM_TEXT:
image_text(d, buffer, n);
break;
case IM_TEXTUP:
image_text_up(d, buffer, n);
break;
case IM_FONT_SIZE:
image_font_size(d, buffer, n);
break;
case IM_FILL:
image_fill(d, buffer, n);
break;
/* Resampling och Rotate */
case IM_RESAMPLE:
image_resample(d, buffer, n);
break;
case IM_ROTATE:
image_rotate(d, buffer, n);
break;
/* Fetching images */
case IM_GIF:
image_gif(d,buffer,n);
break;
case IM_JPEG:
image_jpeg(d,buffer,n);
break;
case IM_PNG:
image_png(d,buffer,n);
break;
default:
driver_output(d->port, (char *)encode((char *)error_code, 1), 4);
break;
}
}