Exemple #1
0
void SiftMatrix::checkWithConfig() {
	for(Data::iterator li = data.begin(); li!=data.end(); ++li) {
		Layer &l = li->second;
		for(unsigned o = 0; o<l.size(); o++)
			for(unsigned o2 = 0; o2<l.size(); ++o2) {
				DDModel::Node *u = config.ranking.GetRank(li->first)->order[o],
					*v = config.ranking.GetRank(li->first)->order[o2];
				dgassert(getCrossings(u,v,false)==weigh(uvcross(u,v,true,false)));
				dgassert(getCrossings(u,v,true)==weigh(uvcross(u,v,false,true)));
			}
	}
}
Exemple #2
0
float Candidate::WeightedScore(const PointCloud &pc, float epsilon,
	float normalThresh) const
{
	float score = 0;
	#pragma omp parallel for schedule(static) reduction(+:score)
	for(intptr_t i = 0; i < (intptr_t)m_indices->size(); ++i)
		score += weigh(m_shape->Distance(pc[(*m_indices)[i]].pos), epsilon);
	return score;
}
Exemple #3
0
void SiftMatrix::recompute() {
	for(Config::Ranks::iterator ri = config.ranking.begin(); ri!=config.ranking.end(); ++ri) {
		Rank *rank = *ri;
		unsigned r = config.ranking.IndexOfIter(ri);
		unsigned wid = rank->order.size();
		Layer &l = data[r];
		l.resize(wid);
		for(unsigned o = 0; o<wid; ++o) {
			l[o].resize(wid);
			for(unsigned o2 = 0; o2<wid; ++o2) {
				CrossCount cr = make_pair(weigh(uvcross(rank->order[o],rank->order[o2],true,false)),
					weigh(uvcross(rank->order[o],rank->order[o2],false,true)));
				dgassert(cr.first>=0);
				dgassert(cr.second>=0);
				l[o][o2] = cr;
			}
		}
	}
}
void main(void)
{
    // Initialise system
    setup();
    // used for debugging.
    TRISBbits.RB4 = 0;
    PORTBbits.RB4 = 0;

    // Loop until the system is turned off
    while (req_state & POWER_ON)
    {
        int serial_data;
        switch (cur_state)
        {
            case ST_WEIGH: weigh(); break;
            case ST_COUNT_I:
            case ST_COUNT_F: count(); break;
            case ST_CALIBRATE: calibrate(); break;
        }
        serial_data = parseSerial();

        if (serial_data != RS232_NO_DATA)
        {
            RS232writeByte(COMM_DEBUG);
            RS232writeByte(cur_state);
            RS232writeByte(disp_type);
            //RS232writeByte(serial_data);
        }

        if (req_state != ST_NONE)
        {
//            int timeout = 0xFFFF;
//            int serial_return;
            cur_state = req_state;
            // Send Change to GUI.
            if (!st_chng_rs232_flag)
            {
                if (cur_state == ST_COUNT_F)
                {
                    RS232sendData_b_i(COMM_CHANGE_STATE, cur_state, number_items);
                }
                else
                {
                    RS232sendData_b(COMM_CHANGE_STATE, cur_state);
                }
            }
            st_chng_rs232_flag = 0;
            req_state = ST_NONE;
        }
    }

    powerDown();            // Save state and power down.
}
Exemple #5
0
void SiftMatrix::updateIns(DDModel::Node *v,DDModel::Node *x) {
	bool toLeft = gd<DDNode>(x).order<gd<DDNode>(v).order;
	for(DDModel::inedge_iter uxi = x->ins().begin(); uxi!=x->ins().end(); ++uxi) {
		DDModel::Node *ux = (*uxi)->other(x);
		for(DDModel::inedge_iter uvi = v->ins().begin(); uvi!=v->ins().end(); ++uvi) {
			DDModel::Node *uv = (*uvi)->other(v);
			if(gd<DDNode>(ux).order==gd<DDNode>(uv).order)
				continue;
			unsigned cost = weigh(Crossings(*uxi,*uvi));
			dgassert(cost>=0);
			if(toLeft) {
			  setCrossings(uv,ux,true,getCrossings(uv,ux,true) -cost);
			  setCrossings(ux,uv,true,getCrossings(ux,uv,true)+cost);
			}
			else {
			  setCrossings(ux,uv,true,getCrossings(ux,uv,true)-cost);
			  setCrossings(uv,ux,true,getCrossings(uv,ux,true)+cost);
			}
		}
	}
}