void Conveyor::onImage(const cv::Mat &mono)
{
Timer timer;
timer.start();
double min, max;
cv::minMaxLoc(mono, &min, &max);
//if(min < min_) min_ = min;
min_ += (min - min_) * 0.02;
//if(max > max_) max_ = max;
max_ += (max - max_) * 0.02;
Frame8 nf(mono, 10, min_, max_, invmed_);
if(jacobi_.empty()) initJacobi(nf.levels_.size());
for(auto j = jacobi_.begin(); j != jacobi_.end(); j++)
{
if(j == jacobi_.begin()) (*j)->set(nf.levels_[0], 1);
else (*j)->shrink((j - 1)->get());
}
cv::Mat pose = cv::Mat::zeros(2, 3, CV_64F);
double weight = 0;
for(auto f = history_.begin(); f != history_.end(); f++)
{
cv::Mat t;
double w = solve(*f, nf, t);
/*cv::Mat tr = f->pose_(cv::Rect(0, 0, 2, 2));
cv::Mat to = t(cv::Rect(2, 0, 1, 2));
ps += tr * t(cv::Rect(2, 0, 1, 2));
tr *= t(cv::Rect(0, 0, 2, 2));
t =*/
weight += w;
pose += t;
}
pose /= weight;
nf.pose_ = pose;
if(pushHistory)
{
if(history_.size() > 0) history_.pop_back();
history_.push_front(nf);
}
double time = timer.end();
std::cout << "time = " << time << std::endl;
}
int main( int argc, char* argv[] ){
setbuf(stdout, NULL); // set buffer to null, so prints ALWAYS print (for debug purposes mainly)
bool verify = false;
bool printtime = true;
// Command line parsing
char c;
while ((c = getopt (argc, argv, "nc:s:p:T:t:w:hv")) != -1){
switch( c ) {
case 'n': // print time
printtime = false;
break;
case 'c': // cores
cores = parseInt( optarg );
if( cores <= 0 ){
fprintf(stderr, "cores must be greater than 0: %d\n", cores);
exit( 0 );
}
break;
case 'p': // problem size
problemSize = parseInt( optarg );
if( problemSize <= 0 ){
fprintf(stderr, "problemSize must be greater than 0: %d\n", problemSize);
exit( 0 );
}
break;
case 'T': // T (time steps)
T = parseInt( optarg );
if( T <= 0 ){
fprintf(stderr, "T must be greater than 0: %d\n", T);
exit( 0 );
}
break;
case 't': // timeBand
timeBand = parseInt( optarg );
if( timeBand <= 0 ){
fprintf(stderr, "t must be greater than 0: %d\n", T);
exit( 0 );
}
break;
case 'w': // width
width_max = parseInt( optarg );
if( width_max <= 0 ){
fprintf(stderr, "w must be greater than 0: %d\n", T);
exit( 0 );
}
break;
case 'h': // help
printf("usage: %s\n-n \t dont print time \n-p <problem size> \t problem size in elements \n-T <time steps>\t number of time steps\n-c <cores>\tnumber of threads\n-w <tile width>\t the width of the tile\n-t <tile height>\t the number of timesteps in a tile\n-h\tthis dialogue\n-v\tverify output\n", argv[0]);
exit(0);
case 'v': // verify;
verify = true;
break;
case '?':
if (optopt == 'p')
fprintf (stderr, "Option -%c requires positive int argument: problem size.\n", optopt);
else if (optopt == 'T')
fprintf (stderr, "Option -%c requires positive int argument: T.\n", optopt);
else if (optopt == 's')
fprintf (stderr, "Option -%c requires int argument: subset_s.\n", optopt);
else if (optopt == 'c')
fprintf (stderr, "Option -%c requires int argument: number of cores.\n", optopt);
else if (isprint (optopt))
fprintf (stderr, "Unknown option `-%c'.\n", optopt);
else
fprintf(stderr, "Unknown option character `\\x%x'.\n", optopt);
exit(0);
default:
exit(0);
}
}
initJacobi();
initTrapezoid();
initSpace();
double time = test_1();
if( printtime ){
printf( "Time: %f\n", time );
}
if( verify ){
verifyResult( true );
}
}
