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));
}
bool
YamlNode::equalTo(char *v)
{
if(isScalar()){
if(toScalar()->toString() == v){
return true;
}
}
return false;
}
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));
}
Eigen::MatrixXd Scalar::getParameters()
{
Eigen::Matrix<double, 1,1> M;
M << toScalar();
return M;
}
Slice Matrix<int>::toSlice(bool ind1) const {
return isscalar() ? Slice(toScalar(), ind1) : Slice(data(), ind1);
}