float WeightedDIDCompass::computeAngle( Img *SS, Img *CV, bool useWeight ) {
// Return the angle that the angle of rotation between the CV and SS by
// finding the rotation of CV with the minimum difference to SS.
float lowestSSD = FLT_MAX;
int bestShift = 0;
for ( int shift=0; shift < width; shift++ ) {
ImgOps::rotate(CV, shift, &Rotated);
ImgOps::sqdDiff(SS, &Rotated, &SqdDiff);
if (smoothRadius > 0)
ImgOps::smooth(&SqdDiff, &SqdDiffSmoothed, smoothRadius);
else
SqdDiffSmoothed = SqdDiff;
if (useWeight)
ImgOps::mult(&SqdDiffSmoothed, &FinalWeight, &SqdDiffSmoothed);
float ssd = SqdDiffSmoothed.getSum();
if ( ssd < lowestSSD ) {
lowestSSD = ssd;
bestShift = shift;
}
}
//if ( debug && learnIndex >= learnStart && learnIndex <= learnStop ) {
if ( debug ) {
Img* Temp1 = new Img(width, height);
Img* Temp2 = new Img(width, height);
float threshold = FinalWeight.getMax() / 4.0;
Temp2 = ImgOps::threshold(&FinalWeight, threshold, Temp1);
imgWindow->clear();
imgWindow->addImg("SS", *SS);
imgWindow->addImg("InsWeight", InstWeight);
imgWindow->addImg("FinalWeight", FinalWeight);
imgWindow->addImg("Thresholded Weight", *Temp2);
imgWindow->refresh();
Img* Overlay = new Img(width, height);
for (int x=0; x<width; x++) {
for (int y=0; y<height; y++) {
if ( Temp2->get(x, y) == 1 )
Overlay->set(x, y, 1);
else
Overlay->set(x, y, SS->get(x,y));
}
}
ostringstream oss;
oss << setfill('0') << setw(2);
oss << learnIndex;
oss << ".png";
Overlay->save("overlay" + oss.str());
FinalWeight.save("weight" + oss.str());
Temp2->save("thresholded" + oss.str());
}
// A negative image rotation (rotation to the left) corresponds
// to a positive angle. Hence the negative sign below.
return -Angles::int2angle(bestShift, CV->getWidth());
}
