// Need a better value for pi
// Used by Extract eyebrow feat to calculate L1, L2, L3, L4, A1, A2
std::vector<float> frame::get_feats(std::vector<point> const &lndmarks)
{
std::vector<float> feat_point;
feat_point.push_back( dist_between(lndmarks[5], lndmarks[0]) );
feat_point.push_back( dist_between(lndmarks[8], lndmarks[4]) );
float a1 = atan( (lndmarks[0].y - lndmarks[5].y)/ (lndmarks[0].x - lndmarks[5].x) ) *180/3.14;
if (a1 < 0)
a1 += 180;
feat_point.push_back(a1);
float a2 = atan( (lndmarks[4].y - lndmarks[8].y)/ (lndmarks[4].x - lndmarks[8].x) )*180/3.14;
if (a2 < 0)
a2 += 180;
feat_point.push_back(a2);
feat_point.push_back( dist_between(lndmarks[5], lndmarks[8]) );
// Calculate L4
float x_avg, y_avg;
x_avg = pow( ((lndmarks[9].x + lndmarks[10].x)/2 - (lndmarks[6].x + lndmarks[7].x)/2), 2);
y_avg = pow( ((lndmarks[9].y + lndmarks[10].y)/2 - (lndmarks[6].y + lndmarks[7].y)/2), 2);
feat_point.push_back( sqrt(x_avg + y_avg) );
return feat_point;
}
int
astar(start, goal)
{
int k, min, ind, m;
Fscore = g_score(start) + Hcost(start, goal) //Estimated total cost from start to goal.
openset[i] = start;
i++;
m=i;
neighbor[4] = {0,0,0,0};
while(m != -1)
{
min = F_score[m-1]
for(k=m-2; k>=0; k--)
{
if(min > F_score[k])
{
min = F_score[k];
ind = k;
}
}
current = openset[ind];
if(current == goal)
return reconstruct_path(goal);
i--;
closedset[l] = current;
l++;
neighbor[0] =
neighbor[1] =
neighbor[2] =
neighbor[3] =
alpha
for(k=0; k<alpha; k++)
{
tentative_g_score = g_score(current) + dist_between(current, neighbor);
tentative_f_score = tentative_g_score + Hcost(neighbor, goal)
neighbor_f_score = g_score(neighbor[i]) + Hcost(neighbor[i], goal);
if((search(closedset, neighbor[i]) == 1) && (tentative_f_score >= neighbor_f_score))
continue;
if((search(openset,neighbor[i],) == 0) || (tentative_f_score < neighbor_f_score))
{
came_from[] = current;
if(search(openset, neighbor[i]) == 0)
openset[] = neighbor[i];
}
}
}
return 0;
}
