void GraphComparator::_calculateRasterCost(cv::Mat& mat)
{
ProbablePathCalculator ppc;
ppc.setRandomNoise(0.0);
ppc.setRandomPatches(0.0, 1);
vector<float> friction(_width * _height, 5.0 * _pixelSize);
Tgs::Image<float> cost(_width, _height);
for (int y = 0; y < _height; y++)
{
float* row = mat.ptr<float>(y);
for (int x = 0; x < _width; x++)
{
cost.pixel(x, y) = row[x];
}
}
ppc.setFriction(_height, _width, friction);
cost = ppc.updateCostSurface(cost);
for (int y = 0; y < _height; y++)
{
float* row = mat.ptr<float>(y);
for (int x = 0; x < _width; x++)
{
row[x] = cost.pixel(x, y);
}
}
}
void testUpdateCostSurface()
{
int w = 5, h = 5;
vector<float> friction;
friction.resize(w * h, 1);
Image<float> cost;
cost.resize(w, h, -1);
cost.pixel(1, 0) = 3;
std::string tmp = "[[4, 3, 4, 5, 6]\n"
"[4.41421, 4, 4.41421, 5.41421, 6.41421]\n"
"[5.41421, 5, 5.41421, 5.82843, 6.82843]\n"
"[6.41421, 6, 6.41421, 6.82843, 7.24264]\n"
"[7.41421, 7, 7.41421, 7.82843, 8.24264]\n"
"]";
{
ProbablePathCalculator uut;
uut.setFriction(w, h, friction);
uut.setRandomNoise(0.0);
uut.updateCostSurface(cost);
stringstream strm;
strm << cost;
CPPUNIT_ASSERT_EQUAL(tmp, strm.str());
}
{
cost.resize(w, h, 10);
cost.pixel(1, 0) = 3;
ProbablePathCalculator uut;
uut.setFriction(w, h, friction);
uut.setRandomNoise(0.0);
uut.updateCostSurface(cost);
stringstream strm;
strm << cost;
}
}