void Featools::setParameters(const cv::Mat camera_matrix, const cv::Mat dist_coef, const double baseline)
{
// Copy
camera_matrix.copyTo(camera_matrix_);
dist_coef.copyTo(dist_coef_);
baseline_ = baseline;
// Minimum depth range
const double min_depth = 0.5;
// Minimum and maximum Z
cv::Point3d p_min(baseline_/2.0, 0.0, 0.7);
std::vector<cv::Point3d> object_points;
object_points.push_back(p_min);
// Rotation matrix
cv::Mat rvec = cv::Mat::eye(3, 3, cv::DataType<double>::type);
cv::Mat rvec_rod(3, 1, cv::DataType<double>::type);
cv::Rodrigues(rvec, rvec_rod);
// Translation vector
cv::Mat trans_left = cv::Mat::zeros(3, 1, cv::DataType<double>::type);
cv::Mat trans_right = cv::Mat::zeros(3, 1, cv::DataType<double>::type);
trans_right.at<double>(0) = baseline_;
vector<cv::Point2d> l_projected_points, r_projected_points;
cv::projectPoints(object_points, rvec_rod, trans_left, camera_matrix_, dist_coef_, l_projected_points);
cv::projectPoints(object_points, rvec_rod, trans_right, camera_matrix_, dist_coef_, r_projected_points);
cv::Point2f l_proj_min = l_projected_points[0];
cv::Point2f r_proj_min = r_projected_points[0];
// Maximum disparity
max_disparity_ = r_proj_min.x - l_proj_min.x;
}
static Term
eval2(Int fi, Term t1, Term t2 USES_REGS) {
arith2_op f = fi;
switch (f) {
case op_plus:
return p_plus(t1, t2 PASS_REGS);
case op_minus:
return p_minus(t1, t2 PASS_REGS);
case op_times:
return p_times(t1, t2 PASS_REGS);
case op_div:
return p_div(t1, t2 PASS_REGS);
case op_idiv:
return p_div2(t1, t2 PASS_REGS);
case op_and:
return p_and(t1, t2 PASS_REGS);
case op_or:
return p_or(t1, t2 PASS_REGS);
case op_sll:
return p_sll(t1, t2 PASS_REGS);
case op_slr:
return p_slr(t1, t2 PASS_REGS);
case op_mod:
return p_mod(t1, t2 PASS_REGS);
case op_rem:
return p_rem(t1, t2 PASS_REGS);
case op_fdiv:
return p_fdiv(t1, t2 PASS_REGS);
case op_xor:
return p_xor(t1, t2 PASS_REGS);
case op_atan2:
return p_atan2(t1, t2 PASS_REGS);
case op_power:
return p_exp(t1, t2 PASS_REGS);
case op_power2:
return p_power(t1, t2 PASS_REGS);
case op_gcd:
return p_gcd(t1, t2 PASS_REGS);
case op_min:
return p_min(t1, t2);
case op_max:
return p_max(t1, t2);
case op_rdiv:
return p_rdiv(t1, t2 PASS_REGS);
}
RERROR();
}
/** Constructor helper method
* @param min :: nd-sized vector of the minimum edge of the box in each
* dimension
* @param max :: nd-sized vector of the maximum edge of the box
* */
void MDBoxImplicitFunction::construct(const Mantid::Kernel::VMD &min,
const Mantid::Kernel::VMD &max) {
size_t nd = min.size();
if (max.size() != nd)
throw std::invalid_argument(
"MDBoxImplicitFunction::ctor(): Min and max vector sizes must match!");
if (nd == 0 || nd > 100)
throw std::invalid_argument(
"MDBoxImplicitFunction::ctor(): Invalid number of dimensions!");
double volume = 1;
for (size_t d = 0; d < nd; d++) {
volume *= (max[d] - min[d]);
// Make two parallel planes per dimension
// Normal on the min side, so it faces towards +X
std::vector<coord_t> normal_min(nd, 0);
normal_min[d] = +1.0;
// Origin just needs to have its X set to the value. Other coords are
// irrelevant
std::vector<coord_t> origin_min(nd, 0);
origin_min[d] = static_cast<coord_t>(min[d]);
// Build the plane
MDPlane p_min(normal_min, origin_min);
this->addPlane(p_min);
// Normal on the max side, so it faces towards -X
std::vector<coord_t> normal_max(nd, 0);
normal_max[d] = -1.0;
// Origin just needs to have its X set to the value. Other coords are
// irrelevant
std::vector<coord_t> origin_max(nd, 0);
origin_max[d] = static_cast<coord_t>(max[d]);
// Build the plane
MDPlane p_max(normal_max, origin_max);
this->addPlane(p_max);
}
m_volume = volume;
}
void RadialBasisInterpolation<KDDim,RBF>::prepare_for_use()
{
// Call base class methods for prep
InverseDistanceInterpolation<KDDim>::prepare_for_use();
InverseDistanceInterpolation<KDDim>::construct_kd_tree();
#ifndef LIBMESH_HAVE_EIGEN
libmesh_error_msg("ERROR: this functionality presently requires Eigen!");
#else
START_LOG ("prepare_for_use()", "RadialBasisInterpolation<>");
// Construct a bounding box for our source points
_src_bbox.invalidate();
const unsigned int n_src_pts = this->_src_pts.size();
const unsigned int n_vars = this->n_field_variables();
libmesh_assert_equal_to (this->_src_vals.size(), n_src_pts*this->n_field_variables());
{
Point
&p_min(_src_bbox.min()),
&p_max(_src_bbox.max());
for (unsigned int p=0; p<n_src_pts; p++)
{
const Point &p_src(_src_pts[p]);
for (unsigned int d=0; d<LIBMESH_DIM; d++)
{
p_min(d) = std::min(p_min(d), p_src(d));
p_max(d) = std::max(p_max(d), p_src(d));
}
}
}
libMesh::out << "bounding box is \n"
<< _src_bbox.min() << '\n'
<< _src_bbox.max() << std::endl;
// Construct the Radial Basis Function, giving it the size of the domain
if(_r_override < 0)
_r_bbox = (_src_bbox.max() - _src_bbox.min()).size();
else
_r_bbox = _r_override;
RBF rbf(_r_bbox);
libMesh::out << "bounding box is \n"
<< _src_bbox.min() << '\n'
<< _src_bbox.max() << '\n'
<< "r_bbox = " << _r_bbox << '\n'
<< "rbf(r_bbox/2) = " << rbf(_r_bbox/2) << std::endl;
// Construct the projection Matrix
typedef Eigen::Matrix<Number, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor> DynamicMatrix;
//typedef Eigen::Matrix<Number, Eigen::Dynamic, 1, Eigen::ColMajor> DynamicVector;
DynamicMatrix A(n_src_pts, n_src_pts), x(n_src_pts,n_vars), b(n_src_pts,n_vars);
for (unsigned int i=0; i<n_src_pts; i++)
{
const Point &x_i (_src_pts[i]);
// Diagonal
A(i,i) = rbf(0.);
for (unsigned int j=i+1; j<n_src_pts; j++)
{
const Point &x_j (_src_pts[j]);
const Real r_ij = (x_j - x_i).size();
A(i,j) = A(j,i) = rbf(r_ij);
}
// set source data
for (unsigned int var=0; var<n_vars; var++)
b(i,var) = _src_vals[i*n_vars + var];
}
// Solve the linear system
x = A.ldlt().solve(b);
//x = A.fullPivLu().solve(b);
// save the weights for each variable
_weights.resize (this->_src_vals.size());
for (unsigned int i=0; i<n_src_pts; i++)
for (unsigned int var=0; var<n_vars; var++)
_weights[i*n_vars + var] = x(i,var);
STOP_LOG ("prepare_for_use()", "RadialBasisInterpolation<>");
#endif
}
void redraw()
{
const cv::Mat& img = image.image->getRGBImage();
cv::Mat draw_img = img.clone();
std::stringstream ss; ss << "(" << (crawler.index() + 1) << "/" << crawler.filenames().size() << ") " << crawler.filename();
int i_entity = 1;
cv::Mat segm_img(draw_img.rows, draw_img.cols, CV_32SC1, cv::Scalar(0));
for(std::vector<ed::EntityConstPtr>::const_iterator it = image.entities.begin(); it != image.entities.end(); ++it)
{
const ed::EntityConstPtr& e = *it;
ed::MeasurementConstPtr m = e->bestMeasurement();
if (!m)
continue;
cv::Point p_min(img.cols, img.rows);
cv::Point p_max(0, 0);
const ed::ImageMask& mask = m->imageMask();
for(ed::ImageMask::const_iterator it = mask.begin(img.cols); it != mask.end(); ++it)
{
const cv::Point2i& p = *it;
segm_img.at<int>(p) = i_entity;
p_min.x = std::min(p_min.x, p.x);
p_min.y = std::min(p_min.y, p.y);
p_max.x = std::max(p_max.x, p.x);
p_max.y = std::max(p_max.y, p.y);
}
cv::rectangle(draw_img, p_min, p_max, cv::Scalar(255, 255, 255), 2);
cv::rectangle(draw_img, p_min - cv::Point(2, 2), p_max + cv::Point(2, 2), cv::Scalar(0, 0, 0), 2);
cv::rectangle(draw_img, p_min + cv::Point(2, 2), p_max - cv::Point(2, 2), cv::Scalar(0, 0, 0), 2);
++i_entity;
}
for(int y = 0; y < img.rows; ++y)
{
for(int x = 0; x < img.cols; ++x)
{
int i = segm_img.at<int>(y, x);
if (i < 1)
draw_img.at<cv::Vec3b>(y, x) = 0.5 * draw_img.at<cv::Vec3b>(y, x);
}
}
ss << " (area: " << image.area_name << ")";
cv::rectangle(draw_img, cv::Point(0,0), cv::Point(img.cols,16), CV_RGB(0,0,0), CV_FILLED);
cv::putText(draw_img, ss.str().c_str(), cv::Point2i(0, 12), 0, 0.4, cv::Scalar(255,255,255), 1);
for (std::vector<Annotation>::const_iterator it = image.annotations.begin(); it != image.annotations.end(); ++it)
{
const Annotation& a = *it;
int x = a.px * img.cols;
int y = a.py * img.rows;
cv::Scalar text_color(255, 0, 255);
if (a.is_supporting)
text_color = cv::Scalar(255, 255, 0);
cv::circle(draw_img, cv::Point2i(x, y), CIRCLE_RADIUS, cv::Scalar(255,0,0), CV_FILLED);
cv::putText(draw_img, a.label.c_str(), cv::Point2i(x+15,y), 0, FONT_SIZE, text_color, 2);
}
if (!selected_type.empty())
{
cv::putText(draw_img, selected_type, cv::Point2i(20, 50), 0, FONT_SIZE, cv::Scalar(100, 100, 255), 2);
}
else if (!possible_types.empty())
{
int n = 3;
int i_min = std::max<int>(0, i_possible_types - n + 1);
int i_max = std::min<int>(possible_types.size(), i_min + n);
for(int i = i_min; i < i_max; ++i)
{
cv::Scalar text_color(255, 0, 0);
if (i == i_possible_types)
text_color = cv::Scalar(255, 255, 0);
cv::putText(draw_img, possible_types[i], cv::Point2i(20, 50 + 30 * (i - i_min)), 0, FONT_SIZE, text_color, 2);
}
}
cv::imshow(WINDOW_NAME, draw_img);
}
