/*! @brief create a single bounding box around the detection from mean and standard deviation
*
* @return a bounding box
*/
cv::Rect boundingBoxNorm(void) const {
const unsigned int nparts = parts_.size();
cv::Mat_<int> xpts(cv::Size(1,nparts));
cv::Mat_<int> ypts(cv::Size(1,nparts));
for (unsigned int n = 0; n < nparts; ++n) {
const cv::Point centroid = (parts_[n].tl() + parts_[n].br())*0.5;
xpts(n) = centroid.x;
ypts(n) = centroid.y;
}
cv::Scalar xmean, ymean, xstd, ystd;
cv::meanStdDev(xpts, xmean, xstd);
cv::meanStdDev(ypts, ymean, ystd);
return cv::Rect(xmean(0)-1.5*xstd(0), ymean(0)-1.5*ystd(0), 3*xstd(0), 3*ystd(0));
}
double run_nlopt(nlopt::algorithm algo, eval_func fpointer,
vectord& Xnext, int maxf, const std::vector<double>& vd,
const std::vector<double>& vu, void* objPointer)
{
double fmin = 0.0;
size_t n = Xnext.size();
nlopt::opt opt (algo,n);
std::vector<double> xstd(n);
opt.set_lower_bounds(vd);
opt.set_upper_bounds(vu);
opt.set_min_objective(fpointer, objPointer);
opt.set_maxeval(maxf);
// It seems BOBYQA can be unstable if the same point is repeated
// tested over and over. NLOPT bug?
opt.set_ftol_rel(1e-12);
opt.set_ftol_abs(1e-12);
std::copy(Xnext.begin(),Xnext.end(),xstd.begin());
try
{
opt.optimize(xstd, fmin);
}
catch (nlopt::roundoff_limited& e)
{
FILE_LOG(logDEBUG) << "NLOPT Warning: Potential roundoff error. "
<< "In general, this can be ignored.";
}
std::copy(xstd.begin(),xstd.end(),Xnext.begin());
return fmin;
}
