void DynamicProgram<T>::argmin(Parts& parts, const vector2DMat& rootv, const vector2DMat& rooti, const vectorf scales, const vector4DMat& Ix, const vector4DMat& Iy, const vector4DMat& Ik, vectorCandidate& candidates) {
// for each scale, and each component, traverse back down the tree to retrieve the part positions
int nscales = scales.size();
#ifdef _OPENMP
#pragma omp parallel for
#endif
for (int n = 0; n < nscales; ++n) {
T scale = scales[n];
for (int c = 0; c < parts.ncomponents(); ++c) {
// get the scores and indices for this tree of parts
const vector2DMat& Iknc = Ik[n][c];
const vector2DMat& Ixnc = Ix[n][c];
const vector2DMat& Iync = Iy[n][c];
int nparts = parts.nparts(c);
// threshold the root score
Mat over_thresh = rootv[n][c] > thresh_;
Mat rootmix = rooti[n][c];
vectorPoint inds;
find(over_thresh, inds);
for (int i = 0; i < inds.size(); ++i) {
Candidate candidate;
vectori xv(nparts);
vectori yv(nparts);
vectori mv(nparts);
for (int p = 0; p < nparts; ++p) {
ComponentPart part = parts.component(c, p);
// calculate the child's points from the parent's points
int x, y, m;
if (part.isRoot()) {
x = xv[0] = inds[i].x;
y = yv[0] = inds[i].y;
m = mv[0] = rootmix.at<int>(inds[i]);
} else {
int idx = part.parent().self();
x = xv[idx];
y = yv[idx];
m = mv[idx];
xv[p] = Ixnc[p][m].at<int>(y,x);
yv[p] = Iync[p][m].at<int>(y,x);
mv[p] = Iknc[p][m].at<int>(y,x);
}
// calculate the bounding rectangle and add it to the Candidate
Point ptwo = Point(2,2);
Point pone = Point(1,1);
Point xy1 = (Point(xv[p],yv[p])-ptwo)*scale;
Point xy2 = xy1 + Point(part.xsize(m), part.ysize(m))*scale - pone;
if (part.isRoot()) candidate.addPart(Rect(xy1, xy2), rootv[n][c].at<T>(inds[i]));
else candidate.addPart(Rect(xy1, xy2), 0.0);
}
#ifdef _OPENMP
#pragma omp critical(addcandidate)
#endif
{
candidates.push_back(candidate);
}
}
}
}
}
