int main(int argc, char **argv) {
InitVars(argc, argv, "../heh.cfg");
// Read image
ImageRGB<byte> imagergb;
ImageF image;
ReadImage(argv[1], imagergb);
ImageCopy(imagergb, image);
// Run segmentation
MatI seg(image.GetHeight(), image.GetWidth());
if (argc >= 3) {
ReadMatrix(argv[2], seg);
} else {
FHSegmenter segmenter(image.GetWidth(), image.GetHeight());
segmenter.Compute(image, seg, 1, 50, 150);
}
//DREPORT(seg);
// Compute features
HehFeatureGen gen;
gen.Compute(imagergb, image, seg);
for (int i = 0; i < gen.features.size(); i++) {
DREPORT(i);
SCOPED_INDENT;
const HehFeature& f = gen.features[i];
DLOG << f;
}
return 0;
}
static inline void innerColMultiply( const BlockT* blocks, const IndexT &index,
const typename IndexT::Index outerIdx, const RhsT& rhs, ResT& res, ScalarT alpha )
{
typedef Segmenter< BlockDims< BlockT, Transpose >::Rows, ResT, typename IndexT::Index > ResSegmenter ;
ResSegmenter segmenter( res, index.innerOffsetsData() ) ;
for( typename IndexT::InnerIterator it( index, outerIdx ) ; it ; ++ it )
{
typename ResSegmenter::ReturnType res_seg(segmenter[ it.inner() ] ) ;
mv_add< Transpose >( blocks[ it.ptr() ], rhs, res_seg, alpha ) ;
}
}
int main( int argc, const char* argv[])
{
if (argc <= 1 || std::strcmp( argv[1], "-h") == 0 || std::strcmp( argv[1], "--help") == 0)
{
printUsage( argc, argv);
return 0;
}
else if (argc < 2)
{
std::cerr << "ERROR too few parameters" << std::endl;
printUsage( argc, argv);
return 1;
}
else if (argc > 2)
{
std::cerr << "ERROR too many parameters" << std::endl;
printUsage( argc, argv);
return 1;
}
try
{
g_errorhnd = strus::createErrorBuffer_standard( 0, 2);
if (!g_errorhnd)
{
throw std::runtime_error("failed to create error buffer object");
}
char rulefile[ 256];
snprintf( rulefile, sizeof(rulefile), "%s%c%s", argv[1], strus::dirSeparator(), "rules.txt");
char inputfile[ 256];
snprintf( inputfile, sizeof(inputfile), "%s%c%s", argv[1], strus::dirSeparator(), "input.tsv");
char expectedfile[ 256];
snprintf( expectedfile, sizeof(expectedfile), "%s%c%s", argv[1], strus::dirSeparator(), "expected.txt");
char outputfile[ 256];
snprintf( outputfile, sizeof(outputfile), "%s%c%s", argv[1], strus::dirSeparator(), "output.txt");
std::auto_ptr<strus::SegmenterInterface> segmenter( strus::createSegmenter_tsv( g_errorhnd));
if (!segmenter.get()) throw std::runtime_error("failed to create segmenter");
std::auto_ptr<strus::SegmenterInstanceInterface> segmenterInstance( segmenter->createInstance());
if (!segmenterInstance.get()) throw std::runtime_error("failed to create segmenter instance");
strus::analyzer::DocumentClass dclass( segmenter->mimeType(), "UTF-8");
std::string rulesrc;
unsigned int ec = strus::readFile( rulefile, rulesrc);
if (ec) throw std::runtime_error( std::string("error reading rule file ") + rulefile + ": " + ::strerror(ec));
std::vector<RuleDescription> rulear = parseRuleDescriptions( rulesrc);
std::vector<RuleDescription>::const_iterator ri = rulear.begin(), re = rulear.end();
for (; ri != re; ++ri)
{
if (ri->endIdx)
{
segmenterInstance->defineSubSection( ri->startIdx, ri->endIdx, ri->expression);
#ifdef STRUS_LOWLEVEL_DEBUG
std::cout << "SECTION " << ri->startIdx << ":" << ri->endIdx << " " << ri->expression << std::endl;
#endif
}
else
{
segmenterInstance->defineSelectorExpression( ri->startIdx, ri->expression);
#ifdef STRUS_LOWLEVEL_DEBUG
std::cout << "MATCH " << ri->startIdx << " " << ri->expression << std::endl;
#endif
}
}
std::auto_ptr<strus::SegmenterContextInterface> segmenterContext( segmenterInstance->createContext( dclass));
if (!segmenterContext.get()) throw std::runtime_error("failed to create segmenter context");
std::string inputsrc;
ec = strus::readFile( inputfile, inputsrc);
if (ec) throw std::runtime_error( std::string("error reading input file ") + inputfile + ": " + ::strerror(ec));
#ifdef STRUS_LOWLEVEL_DEBUG
std::cout << "INPUT" << std::endl << inputsrc << std::endl;
#endif
std::size_t chunksize = 100;
std::size_t chunkpos = 0;
for (; chunkpos + chunksize < inputsrc.size(); chunkpos += chunksize)
{
segmenterContext->putInput( inputsrc.c_str() + chunkpos, chunksize, false);
#ifdef STRUS_LOWLEVEL_DEBUG
std::cout << "PUT INPUT" << std::endl << std::string( inputsrc.c_str() + chunkpos, chunksize) << std::endl;
#endif
}
chunksize = inputsrc.size() - chunkpos;
segmenterContext->putInput( inputsrc.c_str() + chunkpos, chunksize, true);
#ifdef STRUS_LOWLEVEL_DEBUG
std::cout << "PUT INPUT" << std::endl << std::string( inputsrc.c_str() + chunkpos, chunksize) << std::endl;
#endif
int id = 0;
strus::SegmenterPosition pos;
const char* segment;
std::size_t segmentsize;
std::ostringstream out;
while (segmenterContext->getNext( id, pos, segment, segmentsize))
{
out << "[" << id << "] " << std::string(segment,segmentsize) << std::endl;
}
std::cout << out.str();
if (g_errorhnd->hasError())
{
throw std::runtime_error( g_errorhnd->fetchError());
}
ec = strus::writeFile( outputfile, out.str());
if (ec) throw std::runtime_error( std::string("error writing output file ") + outputfile + ": " + ::strerror(ec));
std::string expectedsrc;
ec = strus::readFile( expectedfile, expectedsrc);
if (ec) throw std::runtime_error( std::string("error reading expected file ") + expectedfile + ": " + ::strerror(ec));
if (out.str() != expectedsrc)
{
throw std::runtime_error("output not as expected");
}
std::cerr << "OK" << std::endl;
delete g_errorhnd;
return 0;
}
catch (const std::bad_alloc&)
{
std::cerr << "ERROR memory allocation error" << std::endl;
}
catch (const std::runtime_error& e)
{
std::cerr << "ERROR " << e.what() << std::endl;
}
catch (const std::exception& e)
{
std::cerr << "EXCEPTION " << e.what() << std::endl;
}
if (g_errorhnd)
{
delete g_errorhnd;
}
return -1;
}
int main( int argc, const char* argv[])
{
if (argc <= 1 || std::strcmp( argv[1], "-h") == 0 || std::strcmp( argv[1], "--help") == 0)
{
printUsage( argc, argv);
return 0;
}
else if (argc < 5)
{
std::cerr << "ERROR too few parameters" << std::endl;
printUsage( argc, argv);
return 1;
}
else if (argc > 5)
{
std::cerr << "ERROR too many parameters" << std::endl;
printUsage( argc, argv);
return 1;
}
try
{
g_errorhnd = strus::createErrorBuffer_standard( 0, 2);
if (!g_errorhnd)
{
throw std::runtime_error("failed to create error buffer object");
}
std::string inpfile( argv[1]);
std::string tagfile( argv[2]);
std::string outfile( argv[3]);
std::string expfile( argv[4]);
std::auto_ptr<strus::SegmenterInterface> segmenter( strus::createSegmenter_textwolf( g_errorhnd));
if (!segmenter.get()) throw std::runtime_error("failed to create segmenter");
std::auto_ptr<strus::SegmenterInstanceInterface> segmenterInstance( segmenter->createInstance());
if (!segmenterInstance.get()) throw std::runtime_error("failed to create segmenter instance");
std::string tagsrc;
unsigned int ec;
ec = strus::readFile( tagfile, tagsrc);
if (ec) throw std::runtime_error( std::string("error reading markup file ") + tagfile + ": " + ::strerror(ec));
std::vector<MarkupDescription> markups = parseMarkupDescriptions( tagsrc);
std::string inpsrc;
ec = strus::readFile( inpfile, inpsrc);
if (ec) throw std::runtime_error( std::string("error reading markup file ") + inpfile + ": " + ::strerror(ec));
std::auto_ptr<strus::DocumentClassDetectorInterface> detector( strus::createDetector_std( g_errorhnd));
if (!detector.get()) throw std::runtime_error("failed to create document class detector");
strus::analyzer::DocumentClass dclass;
if (!detector->detect( dclass, inpsrc.c_str(), inpsrc.size())) throw std::runtime_error("failed to detect document class of input source");
std::ostringstream outstr;
std::auto_ptr<strus::SegmenterMarkupContextInterface> segmenterMarkupContext( segmenterInstance->createMarkupContext( dclass, inpsrc));
if (!segmenterMarkupContext.get()) throw std::runtime_error("failed to create markup segmenter context");
strus::SegmenterPosition segpos = 0;
const char* segment;
std::size_t segmentsize;
outstr << "Input document:" << std::endl;
while (segmenterMarkupContext->getNext( segpos, segment, segmentsize))
{
outstr << segpos << ": " << segmenterMarkupContext->tagName( segpos) << " " << segmenterMarkupContext->tagLevel( segpos) << std::endl;
}
std::vector<MarkupDescription>::const_iterator mi = markups.begin(), me = markups.end();
for (; mi != me; ++mi)
{
#ifdef STRUS_LOWLEVEL_DEBUG
std::cout << "MARKUP " << mi->position << ": " << mi->type << " " << mi->name << "'" << mi->value << "'" << std::endl;
#endif
if (mi->type == '>')
{
segmenterMarkupContext->putOpenTag( mi->position, mi->offset, mi->name);
}
else if (mi->type == '<')
{
segmenterMarkupContext->putCloseTag( mi->position, mi->offset, mi->name);
}
else if (mi->type == '@')
{
segmenterMarkupContext->putAttribute( mi->position, mi->offset, mi->name, mi->value);
}
else
{
throw std::runtime_error("unknown type in markup description");
}
}
outstr << std::endl << "Output document:" << std::endl;
outstr << segmenterMarkupContext->getContent() << std::endl;
if (g_errorhnd->hasError())
{
throw std::runtime_error( g_errorhnd->fetchError());
}
std::cout << outstr.str();
ec = strus::writeFile( outfile, outstr.str());
if (ec) throw std::runtime_error( std::string("error writing output file ") + outfile + ": " + ::strerror(ec));
std::string expsrc;
ec = strus::readFile( expfile, expsrc);
if (ec) throw std::runtime_error( std::string("error reading expected file ") + expfile + ": " + ::strerror(ec));
if (outstr.str() != expsrc)
{
throw std::runtime_error("output not as expected");
}
std::cerr << "OK" << std::endl;
delete g_errorhnd;
return 0;
}
catch (const std::bad_alloc&)
{
std::ostringstream msg;
if (g_errorhnd->hasError())
{
msg << "(" << g_errorhnd->fetchError() << ")";
}
std::cerr << "ERROR memory allocation error" << msg.str() << std::endl;
}
catch (const std::runtime_error& e)
{
std::ostringstream msg;
if (g_errorhnd->hasError())
{
msg << "(" << g_errorhnd->fetchError() << ")";
}
std::cerr << "ERROR " << e.what() << msg.str() << std::endl;
}
catch (const std::exception& e)
{
std::ostringstream msg;
if (g_errorhnd->hasError())
{
msg << "(" << g_errorhnd->fetchError() << ")";
}
std::cerr << "EXCEPTION " << e.what() << msg.str() << std::endl;
}
if (g_errorhnd)
{
delete g_errorhnd;
}
return -1;
}
int main(const int argc, const char **argv)
{
// instantiate a model manager:
ModelManager manager("Frame Grabber Tester");
// Instantiate our various ModelComponents:
nub::soft_ref<FrameGrabberConfigurator>
gbc(new FrameGrabberConfigurator(manager));
manager.addSubComponent(gbc);
nub::soft_ref<CameraControl>
camera(new CameraControl(manager, "Camera Controller", "CameraControl",
0, true, 0, 1, 1));
manager.addSubComponent(camera);
// Parse command-line:
if (manager.parseCommandLine(argc, argv, "", 0, 0) == false) return(1);
// do post-command-line configs:
nub::soft_ref<FrameIstream> gb = gbc->getFrameGrabber();
if (gb.isInvalid())
LFATAL("You need to select a frame grabber type via the "
"--fg-type=XX command-line option for this program "
"to be useful");
int width = gb->getWidth(), height = gb->getHeight();
float delay = 0;
// let's get all our ModelComponent instances started:
manager.start();
XWindow wini(Dims(width, height), 0, 0, "test-input window");
XWindow wino1(Dims(width/4, height/4), 0, 0, "test-output window 1");
XWindow wino2(Dims(width/4, height/4), 0, 0, "test-output window 2");
XWindow winAux1(Dims(100, 450), 0, 0, "HSV levels 1");
XWindow winAux2(Dims(100, 450), 0, 0, "HSV levels 2");
Timer tim; Image< PixRGB<byte> > ima; Image< PixRGB<float> > fima;
Image< PixRGB<byte> > display;
Timer camPause; // to pause the move command
camPause.reset();
uint64 t[NAVG]; int frame = 0;
segmentImageMerge segmenter(2);
// set up tracking parameters
//segmenter.setTrackColor(10,10,0.15,0.20,150,150,0,true,15);
segmenter.setTrackColor(13,7,0.17,0.3,156,30,0,true,15);
//segmenter.setTrackColor(10,10,0.15,0.20,150,150,1,false,15);
segmenter.setTrackColor(270,10,0.18,0.25,60,60,1,true,15);
segmenter.setAdaptBound(20,5,.30,.15,170,100,0);
//segmenter.setAdaptBound(15,5,.30,.25,140,100,0);
segmenter.setAdaptBound(285,265,.25,.15,80,40,1);
segmenter.setFrame(0,0,width/4,height/4,width/4,height/4,0);
segmenter.setFrame(0,0,width/4,height/4,width/4,height/4,1);
segmenter.setCircleColor(0,255,0,0);
segmenter.setCircleColor(0,0,255,1);
segmenter.setBoxColor(255,255,0,0);
segmenter.setBoxColor(255,0,255,1);
segmenter.setAdapt(3,true,3,true,3,true,0);
segmenter.setAdapt(3,true,3,true,3,true,1);
while(1) {
tim.reset();
ima = gb->readRGB();
uint64 t0 = tim.get(); // to measure display time
Image<PixRGB<byte> > Aux1;
Image<PixRGB<byte> > Aux2;
Aux1.resize(100,450,true);
Aux2.resize(100,450,true);
Image<byte> outputI1;
Image<byte> outputI2;
display = ima;
segmenter.trackImage(ima,&display,0,&Aux1);
segmenter.trackImage(ima,&display,1,&Aux2);
segmenter.mergeImages(&display);
if(camPause.get() > delay)
{
int modi,modj;
segmenter.getImageTrackXY(&modi,&modj,0);
//segmenter.getImageTrackXYMerge(&modi,&modj);
modi = modi*8;
modj = 480-modj*8;
if(modi > 0 && modi < 640 && modj > 0 && modj < 480)
{
if(segmenter.returnLOT(0) == false)
{
camPause.reset();
delay = camera->moveCamXYFrame(modi,modj);
}
}
}
Image<byte> temp1 = segmenter.returnCandidateImage(0);
Image<byte> temp2 = segmenter.returnCandidateImage(1);
wini.drawImage(display);
//wino1.drawImage(outputI1);
wino1.drawImage(temp1);
wino2.drawImage(temp2);
winAux1.drawImage(Aux1);
winAux2.drawImage(Aux2);
t[frame % NAVG] = tim.get();
t0 = t[frame % NAVG] - t0;
if (t0 > 28) LINFO("Display took %llums", t0);
// compute and show framerate over the last NAVG frames:
if (frame % NAVG == 0 && frame > 0)
{
uint64 avg = 0; for (int i = 0; i < NAVG; i ++) avg += t[i];
float avg2 = 1000.0 / (float)avg * NAVG;
printf("Framerate: %.1f fps\n", avg2);
}
frame ++;
}
manager.stop();
return 0;
}
void TesseractOcr::segment(PipelineData* pipeline_data) {
CharacterSegmenter segmenter(pipeline_data);
segmenter.segment();
}
/* Main tracking function - gets called by MT_TrackerFrameBase every
* time step when the application is not paused. */
void DanceTracker::doTracking(IplImage* frame)
{
/* time-keeping, if necessary
* NOTE this is not necessary for keeping track of frame rate */
static double t_prev = MT_getTimeSec();
double t_now = MT_getTimeSec();
m_dDt = t_now - t_prev;
t_prev = t_now;
/* keeping track of the frame number, if necessary */
m_iFrameCounter++;
/* This checks every time step to see if the UKF parameters have
changed and modifies the UKF structures accordingly. This will
also get called the first time through b/c the "Prev" values get
set to zero initially. There may be a more efficient way to do
this, but because the values need to be embedded into the CvMat
objects I'm not sure how else to do it. */
if(
m_dSigmaPosition != m_dPrevSigmaPosition ||
m_dSigmaSpeed != m_dPrevSigmaSpeed ||
m_dSigmaPositionMeas != m_dPrevSigmaPositionMeas
)
{
/* these are the diagonal entries of the "Q" matrix, which
represents the variances of the process noise. They're
modeled here as being independent and uncorrellated. */
cvSetReal2D(m_pQ, 0, 0, m_dSigmaPosition*m_dSigmaPosition);
cvSetReal2D(m_pQ, 1, 1, m_dSigmaPosition*m_dSigmaPosition);
cvSetReal2D(m_pQ, 2, 2, m_dSigmaHeading*m_dSigmaSpeed);
cvSetReal2D(m_pQ, 3, 3, m_dSigmaSpeed*m_dSigmaSpeed);
/* these are the diagonal entries of the "R matrix, also
assumed to be uncorrellated. */
cvSetReal2D(m_pR, 0, 0, m_dSigmaPositionMeas*m_dSigmaPositionMeas);
cvSetReal2D(m_pR, 1, 1, m_dSigmaPositionMeas*m_dSigmaPositionMeas);
/* this step actually copies the Q and R matrices to the UKF
and makes sure that it's internals are properly initialized -
it's set up to handle the fact that the sizes of these
matrices could have changed. */
for(unsigned int i = 0; i < m_iNObj; i++)
{
MT_UKFCopyQR(m_vpUKF[i], m_pQ, m_pR);
}
}
HSVSplit(frame);
cvThreshold(m_pHFrame, m_pThreshFrame, m_iHThresh_Low, 255, CV_THRESH_BINARY);
cvThreshold(m_pHFrame, m_pTempFrame1, m_iHThresh_High, 255, CV_THRESH_BINARY_INV);
cvAnd(m_pThreshFrame, m_pTempFrame1, m_pThreshFrame);
cvThreshold(m_pSFrame, m_pTempFrame1, m_iSThresh_Low, 255, CV_THRESH_BINARY);
cvThreshold(m_pSFrame, m_pTempFrame2, m_iSThresh_High, 255, CV_THRESH_BINARY_INV);
cvAnd(m_pTempFrame1, m_pTempFrame2, m_pTempFrame1);
cvAnd(m_pThreshFrame, m_pTempFrame1, m_pThreshFrame);
cvThreshold(m_pVFrame, m_pTempFrame1, m_iVThresh_Low, 255, CV_THRESH_BINARY);
cvThreshold(m_pVFrame, m_pTempFrame2, m_iVThresh_High, 255, CV_THRESH_BINARY_INV);
cvAnd(m_pTempFrame1, m_pTempFrame2, m_pTempFrame1);
cvAnd(m_pThreshFrame, m_pTempFrame1, m_pTempFrame1);
cvSub(BG_frame, m_pVFrame, m_pTempFrame2);
cvThreshold(m_pTempFrame2, m_pTempFrame2, m_iBGThresh, 255, CV_THRESH_BINARY);
cvOr(m_pTempFrame1, m_pTempFrame2, m_pThreshFrame);
cvSmooth(m_pThreshFrame, m_pThreshFrame, CV_MEDIAN, 3);
if(ROI_frame)
{
cvAnd(m_pThreshFrame, ROI_frame, m_pThreshFrame);
}
/* std::vector<YABlob> yblobs = m_YABlobber.FindBlobs(m_pThreshFrame,
5,
m_iBlobAreaThreshLow,
NO_MAX,
m_iBlobAreaThreshHigh);
int ny = yblobs.size();
m_vdBlobs_X.resize(ny);
m_vdBlobs_Y.resize(ny);
m_vdBlobs_Orientation.resize(ny);
for(unsigned int i = 0; i < yblobs.size(); i++)
{
m_vdBlobs_X[i] = yblobs[i].COMx;
m_vdBlobs_Y[i] = yblobs[i].COMy;
m_vdBlobs_Orientation[i] = 0;
}*/
m_vbNoMeasurement.assign(m_iNObj, false);
Dance_Segmenter segmenter(this);
segmenter.setDebugFile(stdout);
segmenter.m_iMinBlobPerimeter = 1;
segmenter.m_iMinBlobArea = m_iBlobAreaThreshLow;
segmenter.m_iMaxBlobArea = m_iBlobAreaThreshHigh;
segmenter.m_dOverlapFactor = m_dOverlapFactor;
if(m_iFrameCounter <= 1)
{
std::ifstream in_file;
in_file.open("initials.dat");
double x, y;
m_vBlobs.resize(0);
m_vBlobs = MT_readDSGYABlobsFromFile("initials.dat");
m_vInitBlobs.resize(0);
m_viAssignments.resize(0);
/* m_vBlobs = segmenter.segmentFirstFrame(m_pThreshFrame,
m_iNObj); */
}
else
{
MT_writeDSGYABlobsToFile(m_vBlobs, "blobs-in.dat");
MT_writeDSGYABlobsToFile(m_vPredictedBlobs, "predicted-in.dat");
bool use_prediction = true;
m_vBlobs = segmenter.doSegmentation(m_pThreshFrame,
use_prediction ? m_vPredictedBlobs : m_vBlobs);
m_viAssignments = segmenter.getAssignmentVector(&m_iAssignmentRows, &m_iAssignmentCols);
m_vInitBlobs = segmenter.getInitialBlobs();
}
/* prediction is done below - this makes sure the predicted blobs
are OK no matter what */
m_vPredictedBlobs = m_vBlobs;
unsigned int sc = 0;
bool same_frame = false;
for(unsigned int i = 0; i < m_vBlobs.size(); i++)
{
if(m_vdBlobs_X[i] == m_vBlobs[i].m_dXCenter)
{
sc++;
}
m_vdBlobs_X[i] = m_vBlobs[i].m_dXCenter;
m_vdBlobs_Y[i] = m_vBlobs[i].m_dYCenter;
m_vdBlobs_Orientation[i] = m_vBlobs[i].m_dOrientation;
}
same_frame = (sc >= m_iNObj - 2);
if(same_frame)
{
return;
}
/* Tracking / UKF / State Estimation
*
* Now that we've got the mapping of which measurement goes with
* which object, we need to feed the measurements into the UKF in
* order to obtain a state estimate.
*
* This is a loop over each object we're tracking.
*/
for(unsigned int i = 0; i< m_iNObj; i++)
{
/* we could throw out a measurement and use the blob
state as an estimate for various reasons. On the first
frame we want to set the initial state, so we flag the
measurement as invalid */
bool invalid_meas = m_vbNoMeasurement[i];
bool need_state = m_iFrameCounter == 1;
/* if any state is NaN, reset the UKF
* This shouldn't happen anymore, but it's a decent safety
* check. It could probably be omitted if we want to
* optimize for speed... */
if(m_iFrameCounter > 1 &&
(!CvMatIsOk(m_vpUKF[i]->x) ||
!CvMatIsOk(m_vpUKF[i]->P)))
{
MT_UKFFree(&(m_vpUKF[i]));
m_vpUKF[i] = MT_UKFInit(4, 2, 0.1);
MT_UKFCopyQR(m_vpUKF[i], m_pQ, m_pR);
need_state = true;
}
if(need_state)
{
cvSetReal2D(m_px0, 0, 0, m_vdBlobs_X[i]);
cvSetReal2D(m_px0, 1, 0, m_vdBlobs_Y[i]);
cvSetReal2D(m_px0, 2, 0, 0);
cvSetReal2D(m_px0, 3, 0, 0);
MT_UKFSetState(m_vpUKF[i], m_px0);
}
/* if we're going to accept this measurement */
if(!invalid_meas)
{
/* UKF prediction step, note we use function pointers to
the fish_dynamics and fish_measurement functions defined
above. The final parameter would be for the control input
vector, which we don't use here so we pass a NULL pointer */
MT_UKFPredict(m_vpUKF[i],
&dance_dynamics,
&dance_measurement,
NULL);
/* finally, set the measurement vector z */
cvSetReal2D(m_pz, 0, 0, m_vdBlobs_X[i]);
cvSetReal2D(m_pz, 1, 0, m_vdBlobs_Y[i]);
MT_UKFSetMeasurement(m_vpUKF[i], m_pz);
/* then do the UKF correction step, which accounts for the
measurement */
MT_UKFCorrect(m_vpUKF[i]);
}
else
{
/* use the predicted state */
CvMat* xp = m_vpUKF[i]->x1;
MT_UKFSetState(m_vpUKF[i], xp);
}
/* then constrain the state if necessary - see function
* definition above */
constrain_state(m_vpUKF[i]->x, m_vpUKF[i]->x1, frame);
/* grab the state estimate and store it in variables that will
make it convenient to save it to a file. */
CvMat* x = m_vpUKF[i]->x;
m_vdTracked_X[i] = cvGetReal2D(x, 0, 0);
m_vdTracked_Y[i] = cvGetReal2D(x, 1, 0);
m_vdTracked_Vx[i] = cvGetReal2D(x, 2, 0);
m_vdTracked_Vy[i] = cvGetReal2D(x, 3, 0);
/* take the tracked positions as the blob centers */
m_vBlobs[i].m_dXCenter = m_vdTracked_X[i];
m_vBlobs[i].m_dYCenter = m_vdTracked_Y[i];
/* predict blob locations */
CvMat* xp = m_vpUKF[i]->x1;
m_vPredictedBlobs[i].m_dXCenter = cvGetReal2D(xp, 0, 0);
m_vPredictedBlobs[i].m_dYCenter = cvGetReal2D(xp, 1, 0);
/* If we wanted the predicted state, this would be how to get
it */
/* CvMat* xp = m_vpUKF[i]->x1; */
}
MT_writeDSGYABlobsToFile(m_vBlobs, "blobs-out.dat");
MT_writeDSGYABlobsToFile(m_vPredictedBlobs, "predicted-out.dat");
/* write data to file */
writeData();
}
void ParseTreeLablerForm::splitButtonClicked()
{
//get the text of the selected item
const QModelIndex index = widget.treeView->selectionModel()->currentIndex();
QString selectedText = index.data(Qt::DisplayRole).toString();
string name = getCppString(selectedText);
std::vector<pcl::PointIndices> clusters;
Node nd(name);
cout<<"in split seg"<<endl;
if (nd.type == "Terminal")
{
undoNames.clear();
double radT=getValueOfType<double>(widget.radEdit->text());
double angleT=getValueOfType<double>(widget.angleEdit->text());
double colorT=getValueOfType<double>(widget.colorT->text());
int numNbr=getValueOfType<int>(widget.nbrEdit->text());
int segId = nd.id;
pcl::PointCloud<PointT> segCloud;
segCloud.header = cloud_orig.header;
vector<int> originalIndices;
undoAvl = true;
cloud_undo=cloud_orig;
for (int i = 0; i < (int)cloud_orig.points.size(); i++)
{
if ((int)cloud_orig.points[i].segment == segId)
{
segCloud.points.push_back(cloud_orig.points[i]);
cloud_orig.points[i].segment=0;
originalIndices.push_back(i);
}
}
cout<<"oversegmenting this seg whihch had "<<segCloud.size()<<"with params"<<radT<<","<<angleT<<","<<numNbr<<endl;
// segment(segCloud, clusters,radT,angleT,numNbr,true,colorT);
SegmentPCDGraph<PointT> segmenter(angleT,radT,numNbr,colorT,100);
segmenter.segment(segCloud,clusters);
sort(clusters.begin(), clusters.end(), compareSegsDecreasing);
// the old segment now contains the largest segment after splitting
segNumToColor.clear();
segNumToColor[segId]=randColor();
cout<<clusters.size()<<" oversegments found"<<endl;
for (size_t i = 0; i < clusters.size(); i++)
{
cout<<"cluster "<<i<<"has "<<clusters[i].indices.size()<<" points\n";
int newSegId;
if(i==0)
{
newSegId=segId;
}
else
{
newSegId=(++typeMaxId["Terminal"]);
}
segNumToColor[newSegId]=randColor();
for (size_t j = 0; j < clusters[i].indices.size(); j++)
{
cloud_orig.points[originalIndices.at(clusters[i].indices[j])].segment = newSegId;
}
if(i==0)
continue;
string name="Terminal__"+lexical_cast<string>(newSegId)+"__split"+lexical_cast<string>(segId);
QStandardItem *item = new QStandardItem(name.data());
nameToTreeNode[name] = item;
undoNames.push_back(name);
rootNode->appendRow(item);
}
colorSegs(segNumToColor, true);
updatePCDVis();
QMessageBox::warning(this, tr("Parse Tree Labaler"),
tr("IMPORTANT: undo operation should not be done after merging any newly created segments"
"It will cause inconsistency"),
QMessageBox::Ok,QMessageBox::Ok);
}
}
visit_handle Simulation:: get_curve( const string &name ) const
{
visit_handle h = VISIT_INVALID_HANDLE;
if( strncmp(name.c_str(),"bubble",6) == 0 )
{
const size_t id = strconv::to_size( name.c_str()+6, "bubble id");
assert(id>0);
assert(id<=bubbles.count());
const Bubble *b = bubbles.first();
for(size_t iter=1;iter<id;++iter) b=b->next;
assert(b);
if( VisIt_CurveData_alloc(&h) == VISIT_OKAY )
{
// copy bubble spots coordinates
const size_t bn = b->size+1;
vector<Real> bx(bn,0);
vector<Real> by(bn,0);
const Tracer *p = b->root;
for( size_t i=1; i <= bn; ++i,p=p->next)
{
bx[i] = p->vertex.x;
by[i] = p->vertex.y;
}
// make a curve
visit_handle hcx,hcy;
VisIt_VariableData_alloc( &hcx );
VisIt_VariableData_alloc( &hcy );
VisIt_VariableData_setDataD(hcx, VISIT_OWNER_COPY, 1, bn, bx());
VisIt_VariableData_setDataD(hcy, VISIT_OWNER_COPY, 1, bn, by());
VisIt_CurveData_setCoordsXY(h, hcx, hcy);
}
}
if( name == "junctions" )
{
if( VisIt_CurveData_alloc(&h) == VISIT_OKAY )
{
// copy juntions coordinates
const size_t nj = segmenter.num_junctions();
vector<Real> jx(nj,0);
vector<Real> jy(nj,0);
const Segments &segments = segmenter();
for( size_t i=segments.size(),j=1;i>0;--i)
{
const Segment &seg = *segments[i];
for( const Junction *J = seg.head;J;J=J->next)
{
assert(j<=nj);
jx[j] = J->vertex.x;
jy[j] = J->vertex.y;
++j;
}
}
// make a curve
visit_handle hcx,hcy;
VisIt_VariableData_alloc( &hcx );
VisIt_VariableData_alloc( &hcy );
VisIt_VariableData_setDataD(hcx, VISIT_OWNER_COPY, 1, nj, jx());
VisIt_VariableData_setDataD(hcy, VISIT_OWNER_COPY, 1, nj, jy());
VisIt_CurveData_setCoordsXY(h, hcx, hcy);
}
}
return h;
}