bool mitk::PointSetDataInteractor::MoveSet(StateMachineAction*, InteractionEvent* interactionEvent)
{
InteractionPositionEvent* positionEvent = dynamic_cast<InteractionPositionEvent*>(interactionEvent);
if (positionEvent != NULL)
{
int timeStep = positionEvent->GetSender()->GetTimeStep();
// Vector that represents movement relative to last position
Point3D movementVector;
movementVector[0] = positionEvent->GetPositionInWorld()[0] - m_PointSet->GetPoint(m_SelectedPointIndex, timeStep)[0];
movementVector[1] = positionEvent->GetPositionInWorld()[1] - m_PointSet->GetPoint(m_SelectedPointIndex, timeStep)[1];
movementVector[2] = positionEvent->GetPositionInWorld()[2] - m_PointSet->GetPoint(m_SelectedPointIndex, timeStep)[2];
PointSet* points = dynamic_cast<PointSet*>(GetDataNode()->GetData());
PointSet::PointsContainer* pointsContainer = points->GetPointSet(timeStep)->GetPoints();
// Iterate over point set and update each point
Point3D newPoint;
for (PointSet::PointsIterator it = pointsContainer->Begin(); it != pointsContainer->End(); it++)
{
newPoint[0] = m_PointSet->GetPoint(it->Index(), timeStep)[0] + movementVector[0];
newPoint[1] = m_PointSet->GetPoint(it->Index(), timeStep)[1] + movementVector[1];
newPoint[2] = m_PointSet->GetPoint(it->Index(), timeStep)[2] + movementVector[2];
m_PointSet->SetPoint(it->Index(), newPoint, timeStep);
}
GetDataNode()->SetData(m_PointSet);
GetDataNode()->Modified();
mitk::RenderingManager::GetInstance()->RequestUpdateAll();
return true;
}
else
{
return false;
}
}
bool RangeProfilePlotManager::mouseMoveEvent(PlotView* pView, QMouseEvent* pEvent)
{
bool rval = false;
if (!mMouseStart.isNull())
{
double dataX, startY, curY;
pView->translateScreenToData(0.0, mMouseStart.y(), dataX, startY);
pView->translateScreenToData(0.0, pEvent->y(), dataX, curY);
double shift = curY - startY;
std::list<PlotObject*> selected;
pView->getSelectedObjects(selected, true);
for (std::list<PlotObject*>::iterator obj = selected.begin(); obj != selected.end(); ++obj)
{
PointSet* pSet = dynamic_cast<PointSet*>(*obj);
if (pSet != NULL)
{
rval = true;
std::vector<Point*> points = pSet->getPoints();
for (std::vector<Point*>::iterator point = points.begin(); point != points.end(); ++point)
{
LocationType loc = (*point)->getLocation();
loc.mY -= shift;
(*point)->setLocation(loc);
}
}
}
mMouseStart = pEvent->pos();
pView->refresh();
}
return rval;
}
int mitk::PointSetDataInteractor::GetPointIndexByPosition(Point3D position, unsigned int time, float accuracy)
{
// iterate over point set and check if it contains a point close enough to the pointer to be selected
PointSet* points = dynamic_cast<PointSet*>(GetDataNode()->GetData());
int index = -1;
if (points == NULL)
{
return index;
}
if (points->GetPointSet(time) == nullptr)
return -1;
PointSet::PointsContainer* pointsContainer = points->GetPointSet(time)->GetPoints();
float minDistance = m_SelectionAccuracy;
if (accuracy != -1 )
minDistance = accuracy;
for (PointSet::PointsIterator it = pointsContainer->Begin(); it != pointsContainer->End(); it++)
{
float distance = sqrt(position.SquaredEuclideanDistanceTo(points->GetPoint(it->Index(), time)));
if (distance < minDistance) // if several points fall within the margin, choose the one with minimal distance to position
{
index = it->Index();
}
}
return index;
}
void PointSets::serializeRead(QDataStream &s, Q3Canvas* canvas)
{
axesPointSet.serializeRead(s, canvas);
axesPointSet.attachPointsToPointSet();
scalePointSet.serializeRead(s, canvas);
scalePointSet.attachPointsToPointSet();
int i;
int count;
s >> (Q_INT32 &) count;
for (i = 0; i < count; i++)
{
PointSet pointSet;
pointSet.serializeRead(s, canvas);
curveList.append(pointSet);
curveList.last().attachPointsToPointSet();
}
s >> (Q_INT32 &) count;
for (i = 0; i < count; i++)
{
PointSet pointSet;
pointSet.serializeRead(s, canvas);
measureList.append(pointSet);
measureList.last().attachPointsToPointSet();
}
}
int PointSets::pointCountMeasure(QString name)
{
PointSet* pointSet = findMeasure(name);
if (pointSet == 0)
return 0;
else
return pointSet->pointCount();
}
SceneObjectPtr
PointSet::copy(DeepCopier& copier) const
{
PointSet * ptr = new PointSet(*this);
copier.copy_attribute(ptr->getPointList());
copier.copy_attribute(ptr->getColorList());
return SceneObjectPtr(ptr);
}
void PointSets::addCurve(QString name)
{
PointSet pointSet;
pointSet.setStyle(DefaultSettings::instance().getCurveStyle(curveList.count()));
pointSet.setName(name);
curveList.append(pointSet);
}
void PointSets::addMeasure(QString name)
{
PointSet pointSet;
pointSet.setStyle(DefaultSettings::instance().getMeasureStyle(measureList.count()));
pointSet.setName(name);
measureList.append(pointSet);
}
void affineInterp(const PointSet &src, PointSet &res, const double mat[DIM_MAX][DIM_MAX+1])
{
int N = src.dim() ;
res.al(src.size(), src.dim()) ;
for (unsigned int i=0; i< src.size(); i++) {
for (int j=0; j< N; j++) {
res[i][j] = mat[j][N] ;
for(int jj=0; jj< N; jj++)
res[i][j] += mat[j][jj] * src[i][jj] ;
}
}
}
void BaseMesh::WeldVertices(float Epsilon, Vector<UINT> &OldToNewMapping)
{
PointSet MyPoints;
MyPoints.LoadFromMesh(*this);
KDTree3 &Tree = MyPoints.KDTree();
UINT VC = VertexCount(), IC = IndexCount();
MeshVertex *V = Vertices();
DWORD *I = Indices();
OldToNewMapping.ReSize(VC);
OldToNewMapping.Clear(VC);
Vector<UINT> NNResult;
//MeshVertex *VStorage = new MeshVertex[VC];
for(UINT VertexIndex = 0; VertexIndex < VC; VertexIndex++)
{
Vec3f Pos = V[VertexIndex].Pos;
Tree.WithinDistance(Pos, Epsilon, NNResult);
bool MatchFound = false;
//VStorage[VertexIndex] = V[VertexIndex];
for(UINT ResultIndex = 0; ResultIndex < NNResult.Length() && !MatchFound; ResultIndex++)
{
UINT CurIndex = NNResult[ResultIndex];
if(OldToNewMapping[CurIndex] != VC)
{
MatchFound = true;
OldToNewMapping[VertexIndex] = CurIndex;
}
}
if(!MatchFound)
{
OldToNewMapping[VertexIndex] = VertexIndex;
}
}
//DWORD *IStorage = new DWORD[IC];
for(UINT IndexIndex = 0; IndexIndex < IC; IndexIndex++)
{
I[IndexIndex] = OldToNewMapping[UINT(I[IndexIndex])];
}
//Allocate(
//delete[] VStorage;
Vector<UINT> SecondMapping, SplitToUnsplit = OldToNewMapping;
CleanVerticesAndTriangles(SecondMapping);
for(UINT VertexIndex = 0; VertexIndex < VC; VertexIndex++)
{
OldToNewMapping[VertexIndex] = SecondMapping[SplitToUnsplit[VertexIndex]];
}
}
void GjkContactSolver::penetration(const PointSet & A, const PointSet & B, ClosestTestContext * result)
{
resetSimplex(result->W);
const Vector3F r = result->rayDirection;
const Vector3F startP = Vector3F::Zero - result->rayDirection * 99.f;
Vector3F hitP = startP;
// from origin to startP
Vector3F v = hitP;
Vector3F w, p, pa, pb, localA, localB;
float lamda = 0.f;
float vdotw, vdotr;
int k = 0;
for(; k < 39; k++) {
vdotr = v.dot(r);
// SA-B(v)
pa = A.supportPoint(v, result->transformA, localA, result->margin);
pb = B.supportPoint(v.reversed(), result->transformB, localB, result->margin);
p = pa - pb;// + v.normal() * MARGIN_DISTANCE;
w = hitP - p;
vdotw = v.dot(w);
if(vdotw > 0.f) {
if(vdotr >= 0.f)
break;
lamda -= vdotw / vdotr;
hitP = startP + r * lamda;
}
addToSimplex(result->W, p, localB);
result->hasResult = 0;
result->distance = 1e9;
result->referencePoint = hitP;
closestOnSimplex(result);
v = hitP - result->closestPoint;
interpolatePointB(result);
if(v.length2() < TINY_VALUE) break;
result->separateAxis = v;
smallestSimplex(result);
}
result->distance = hitP.length();
result->separateAxis.normalize();
}
bool LabelPosition::pruneCallback( LabelPosition *lp, void *ctx )
{
PointSet *feat = (( PruneCtx* ) ctx )->obstacle;
if (( feat == lp->feature ) || ( feat->getHoleOf() && feat->getHoleOf() != lp->feature ) )
{
return true;
}
CostCalculator::addObstacleCostPenalty( lp, feat );
return true;
}
void
KML_Model::parseCoords( xml_node<>* node, KMLContext& cx )
{
PointSet* point = new PointSet();
xml_node<>* location = node->first_node("location", 0, false);
if (location)
{
double latitude = as<double>(getValue(location, "latitude"), 0.0);
double longitude = as<double>(getValue(location, "longitude"), 0.0);
double altitude = as<double>(getValue(location, "altitude"), 0.0);
point->push_back( osg::Vec3d(longitude, latitude, altitude));
}
_geom = point;
}
void
KML_Model::parseCoords( const Config& conf, KMLContext& cx )
{
PointSet* point = new PointSet();
Config location = conf.child("location");
if (!location.empty())
{
double latitude = location.value("latitude", 0.0);
double longitude = location.value("longitude", 0.0);
double altitude = location.value("altitude", 0.0);
point->push_back( osg::Vec3d(longitude, latitude, altitude));
}
_geom = point;
}
void* native_thread_main(void* data)
{
CVD::Image<unsigned char> frame_grey = CVD::Image<unsigned char>(CVD::ImageRef(WIDTH, HEIGHT));
pose received_location;
received_location.x = 0.0;
received_location.y = 0.0;
received_location.z = 0.0;
received_location.yaw = 0.0;
start_time = util_timestamp();
while(true)
{
//double t1 = util_timestamp();
get_frame_grey(frame_grey.data());
corners.build_from_image(frame_grey, drone_xy_lookup, true);//use_rhips
client_socket.sendto(corners, server_addr, server_addr_len);
//fprintf(log_file2,"%f,%d\n", (util_timestamp()-t1), corners.size());
pthread_yield();
if(client_socket.recvfrom(command, server_addr, server_addr_len))
{
received_location.x = command.packet.transform[0];
received_location.y = command.packet.transform[1];
received_location.z = command.packet.transform[2];
received_location.yaw = command.packet.transform[4];
if(filter_pose(&received_location))
{
pthread_mutex_lock(&the_mutex);
last_good_location.x = received_location.x;
last_good_location.y = received_location.y;
last_good_location.z = received_location.z;
last_good_location.yaw = received_location.yaw;
time_last_good = util_timestamp();
pthread_mutex_unlock(&the_mutex);
fprintf(log_file,"%f,%f,%f,%f,%f\n"
,time_last_good // timestamp in sec
,received_location.x // x loction
,received_location.y // y location
,received_location.z // Z location
,received_location.yaw);
}
}
frames_processed++;
//printf("found %d corners\n", corners.size());
//printf("estimated pose (x,y,z,yaw): %f, %f, %f, %f\n", received_location.x, received_location.y, received_location.z, received_location.yaw);
while(!video_frame_ready())
usleep(50);
}
}
bool SimpleReadStrategy::Read(PointSet &pointSet)
{
if(_isFinish)
return false;
time_t sT, eT;
sT = clock();
std::ifstream infile(_fileName.c_str());
if(!infile)
{
_log << "Can not open this file in this path"<<endl;
return false;
}
_log<<"Begin to read data."<<endl;
SimpleInputor inputor(infile);
inputor.ReadHead();
ReadConcept(inputor, pointSet, _recordType);
infile.close();
//inputor.infile.close();
_log<<"All "<<pointSet.size()<<" points have been read successfully!"<<endl;
eT = clock();
_log << "Read-Time: "<<difftime(eT, sT)<<endl;
_isFinish = true;
return true;
}
double PointSet::get_scaled_dist_with(const PointSet &other,const vector<bool> &mask) const {
/**
* Sum of the distances where the value of the mask is true
*/
double dist=0;
if (this->size()==other.size() && this->size()==mask.size()) {
double mean = 0, sigma = 0;
for (unsigned int i=0;i<this->size();i++) {
if (mask[i])
mean += (*this)[i].get_dist_with(other[i]);
}
mean = mean/this->size();
for (unsigned int i=0;i<this->size();i++) {
if (mask[i])
dist += (*this)[i].get_dist_with(other[i]);
sigma += pow((*this)[i].get_dist_with(other[i])-mean,2);
}
sigma = sqrt(sigma/this->size());
if (sigma==0) {
cout << "FATAL ERROR: division by 0 in PointSet::get_scaled_dist_with" << endl;
exit(2);
}
dist /= sigma;
}
else {
cout << "ERROR in PointSet: point set 1 and 2 and mask must have the same sizes!" <<endl;
exit(2);
}
return dist;
}
//make sure everytime the pointSet is cleared at first;
bool MemMapStrategy::Read(PointSet &pointSet)
{
if(_isFinish)
return false;
unsigned int numLeft;
unsigned int thisTimeToRead;
if(_numOfPointsToRead>MEM_MAP_THRESHOLD) {
numLeft = _numOfPointsToRead - MEM_MAP_THRESHOLD;
thisTimeToRead = MEM_MAP_THRESHOLD;
} else {
numLeft = 0;
thisTimeToRead = _numOfPointsToRead;
}
time_t sT, eT;
sT = clock();
inputor->_num = thisTimeToRead;
ReadConcept(*inputor, pointSet, _recordType);
eT = clock();
_log << "Read "<< pointSet.size() <<" points, Time : "<<difftime(eT, sT)<<endl;
_numOfPointsToRead = numLeft;
if(_numOfPointsToRead<=0) {
_log << "Finish Read!"<<endl;
_isFinish = true;
}
return true;
}
/*
* Check whether the DataNode contains a pointset, if not create one and add it.
*/
void mitk::SinglePointDataInteractor::DataNodeChanged()
{
if (GetDataNode() != nullptr)
{
PointSet *points = dynamic_cast<PointSet *>(GetDataNode()->GetData());
if (points == NULL)
{
m_PointSet = PointSet::New();
GetDataNode()->SetData(m_PointSet);
}
else
{
points->Clear();
m_PointSet = points;
}
}
}
// Create a randomly generated point
// scatter time execution
void testScalability(unsigned numpts)
{
using namespace boost;
using namespace std;
typedef adjacency_matrix<undirectedS, no_property,
property <edge_weight_t, double,
property<edge_index_t, int> > > Graph;
typedef graph_traits<Graph>::vertex_descriptor Vertex;
typedef property_map<Graph, edge_weight_t>::type WeightMap;
typedef set<simple_point<double>, cmpPnt<double> > PointSet;
typedef vector< Vertex > Container;
boost::mt19937 rng(time(0));
uniform_real<> range(0.01, (numpts * 2));
variate_generator<boost::mt19937&, uniform_real<> >
pnt_gen(rng, range);
PointSet points;
simple_point<double> pnt;
while (points.size() < numpts)
{
pnt.x = pnt_gen();
pnt.y = pnt_gen();
points.insert(pnt);
}
Graph g(numpts);
WeightMap weight_map(get(edge_weight, g));
vector<simple_point<double> > point_vec(points.begin(), points.end());
connectAllEuclidean(g, point_vec, weight_map, get(vertex_index, g), numpts);
Container c;
timer t;
double len = 0.0;
// Run the TSP approx, creating the visitor on the fly.
metric_tsp_approx(g, make_tsp_tour_len_visitor(g, back_inserter(c), len, weight_map));
cout << "Number of points: " << num_vertices(g) << endl;
cout << "Number of edges: " << num_edges(g) << endl;
cout << "Length of tour: " << len << endl;
cout << "Elapsed: " << t.elapsed() << endl;
}
inline void frommxArray(const mxArray *ParamArray) {
/*
* This function expects the ParamArray to be a MATLAB structure with
* at-least the following fields
*
* a - single - scalar
* b - single - scalar
* c - single - scalar
* d - single - scalar
*
* GridXSpec - single - vector of length 3
* GridYSpec - single - vector of length 3
*
* GridXSpec = [GridXBegin, GridXStep, GridXEnd]
* GridYSpec = [GridYBegin, GridYStep, GridYEnd]
*
* onemsbyTstep - uint32_t - scalar
*
* InitialPointSet - should be a valid 'PointVector' struct representing
* the region of points from which to search ahead.
*/
getInputfromStruct<float>(ParamArray, "a", this->a, getInputOps(2, "is_required", "required_size", 1));
getInputfromStruct<float>(ParamArray, "b", this->b, getInputOps(2, "is_required", "required_size", 1));
getInputfromStruct<float>(ParamArray, "c", this->c, getInputOps(2, "is_required", "required_size", 1));
getInputfromStruct<float>(ParamArray, "d", this->d, getInputOps(2, "is_required", "required_size", 1));
uint32_t onemsbyTstep;
getInputfromStruct<uint32_t>(ParamArray, "onemsbyTstep", onemsbyTstep, getInputOps(2, "is_required", "required_size", 1));
MexVector<float> GridXSpec;
MexVector<float> GridYSpec;
getInputfromStruct<float>(ParamArray, "GridXSpec", GridXSpec, getInputOps(2, "is_required", "required_size", 3));
getInputfromStruct<float>(ParamArray, "GridYSpec", GridYSpec, getInputOps(2, "is_required", "required_size", 3));
float eps = 1E-10; // epsilon used for floating point comparisons
uint32_t XGridMax, YGridMax;
XGridMax = uint32_t((GridXSpec[2] - GridXSpec[0])/GridXSpec[1] + 2*eps) + 1;// largest n such that (n-1)*GridXSpec[1] + GridXSpec[0] <= GridXSpec[2]
YGridMax = uint32_t((GridYSpec[2] - GridYSpec[0])/GridYSpec[1] + 2*eps) + 1;// largest n such that (n-1)*GridYSpec[1] + GridYSpec[0] <= GridYSpec[2]
this->PrivateTransform.scaleX = GridXSpec[1];
this->PrivateTransform.scaleY = GridYSpec[1];
this->PrivateTransform.shiftX = GridXSpec[0];
this->PrivateTransform.shiftY = GridYSpec[0];
this->XRange = {0, XGridMax};
this->YRange = {0, YGridMax};
this->timeStep = 1.0f / onemsbyTstep;
// Calculate the Grid Y Coordinate for 30.0V
auto GridY30V = this->Transform.toGridCoords(SinglePoint(0, 30.0f)).y;
GridY30V = (GridY30V >= YGridMax)? YGridMax : GridY30V;
for(uint32_t i=0; i < XGridMax; ++i) {
Point gridPoint(i, uint32_t(GridY30V+0.5f));
PrivateInitialPointSet.insert(gridPoint);
}
}
void initnative()
{
corners.erase();
the_corners.set_max_size(16);
the_corner_scores.set_max_size(16);
the_max_corners.set_max_size(16);
the_max_corner_descriptors.set_max_size(16);
drone_xy_lookup = Image<TooN::Vector<2, float> >(ImageRef(WIDTH, HEIGHT));
std::ifstream is;
is.open("dronecamparameters.txt");
drone_camera_model.load(is);
is.close();
//TooN::Vector<6> cam_params = drone_camera_model.get_parameters();
//printf("cam params: %f %f %f %f %f %f\n", cam_params[0], cam_params[1], cam_params[2], cam_params[3], cam_params[4], cam_params[5]);
generate_xy_lookup(drone_camera_model, drone_xy_lookup);
client_socket.create(serverip, serverport);
log_file = fopen("udp_logX.csv", "wb");
if(log_file==NULL)
{
printf("File 2 open failed\n");
}
fprintf(log_file,"Time,X (m),Y (m),Z (m),Yaw (rad)\n");
/*log_file2 = fopen("udp_log2.csv", "wb");
if(log_file2==NULL)
{
printf("File 3 open failed\n");
}
fprintf(log_file2,"Time,Corners\n");*/
//init front camera
while(video_init((char*) "/dev/video1", WIDTH, HEIGHT, 30))
{
printf("Camera initialisation failed. Retry in 2 seconds...\n");
sleep(2);
}
printf("video_init completed\n");
sleep(2);
int rc = pthread_create(&native_thread, NULL, native_thread_main, NULL);
if (rc)
printf("ctl_Init: Return code from pthread_create(native_thread) is %d\n", rc);
last_good_location.x = 0.0;
last_good_location.y = 0.0;
last_good_location.z = 0.0;
last_good_location.yaw = 0.0;
printf("native_init completed\n");
}
void RangeProfilePlotManager::signatureRenamed(Subject& subject, const std::string& signal, const boost::any& value)
{
std::string newName = boost::any_cast<std::string>(value);
DataDescriptor& desc = dynamic_cast<DataDescriptor&>(subject);
for (std::map<Signature*, std::string>::iterator sig = mSigPointSets.begin(); sig != mSigPointSets.end(); ++sig)
{
if (sig->first->getDataDescriptor() == &desc)
{
PointSet* pSet = getPointSet(sig->first);
if (pSet != NULL)
{
pSet->setObjectName(newName);
mSigPointSets[sig->first] = newName;
return;
}
}
}
}
FilterContext
CentroidFilter::push(FeatureList& features, FilterContext& context )
{
for( FeatureList::iterator i = features.begin(); i != features.end(); ++i )
{
Feature* f = i->get();
Geometry* geom = f->getGeometry();
if ( !geom )
continue;
PointSet* newGeom = new PointSet();
newGeom->push_back( geom->getBounds().center() );
f->setGeometry( newGeom );
}
return context;
}
void PointSets::setName(QString oldName, QString newName)
{
ASSERT_ENGAUGE(oldName != AxesPointSetName);
ASSERT_ENGAUGE(oldName != ScalePointSetName);
PointSet* pointSet = findCurve(oldName);
if (pointSet)
{
pointSet->setName(newName);
return;
}
pointSet = findMeasure(oldName);
if (pointSet)
{
pointSet->setName(newName);
return;
}
}
/*
void SoftmaxPolicyPlayout::initProbabilities(const Go::Board *init_board) {
//memset(m_probTableBlack, 0, sizeof(double)*MAX_BOARD_SIZE);
//memset(m_probTableWhite, 0, sizeof(double)*MAX_BOARD_SIZE);
//SparseVector extractedFeatures;
Color turns[] = {BLACK, WHITE};
double *tables[2] = {m_probTableBlack, m_probTableWhite};
SparseVector *featureTables[2] = {m_featureTableBlack, m_featureTableWhite};
for (int i=0; i<2 && tables[i] != NULL; i++) {
Color myTurn = turns[i];
initProbabilities(init_board, myTurn, tables[i], featureTables[i]);
}
}
*/
void SoftmaxPolicyPlayout::initProbabilities(const Go::Board *init_board, Color myTurn, double *table, SparseVector *featureTable) {
Color enemyTurn = Board::flipColor(myTurn);
PointSet &updatedMoves = myTurn == BLACK ? m_toResetStaticFeaturesMovesBlack : m_toResetStaticFeaturesMovesWhite;
updatedMoves.clear();
for (int y=0; y<init_board->getSize(); y++) {
for (int x=0; x<init_board->getSize(); x++) {
featureTable[init_board->xyToPoint(x,y)].clear();
}
}
PointSet legalMovesSet;
// update pattern features
for (int y=0; y<init_board->getSize(); y++) {
for (int x=0; x<init_board->getSize(); x++) {
Point p = init_board->xyToPoint(x,y);
if (init_board->isColor(p, FREE) &&
(init_board->getNeighborEmptyCount(p)>=1 || init_board->checkLegalHand(p, myTurn, enemyTurn) == Board::PUT_LEGAL)) {
m_featureExtractor.updatePatternFeature(featureTable[p], init_board, p, myTurn);
legalMovesSet.insert(p,p);
} else {
// prob is 0
//featureTable[p].clear();
if (init_board->isColor(p, FREE)) {
m_featureExtractor.updatePatternFeature(featureTable[p], init_board, p, myTurn);
}
table[p] = 0;
}
}
}
// update static features
m_featureExtractor.updateStaticFeaturesForAllMovesWithoutClearOldFeatures(init_board, myTurn, legalMovesSet, featureTable, updatedMoves);
for (size_t i=0; i<legalMovesSet.size(); i++) {
//table[legalMovesSet[i]] = m_expFeatureWeights.multiplyAll(featureTable[legalMovesSet[i]]);
table[legalMovesSet[i]] = fmath::expd(m_featureWeights.dot(featureTable[legalMovesSet[i]]));
//table[legalMovesSet[i]] = exp(m_featureWeights.dot(featureTable[legalMovesSet[i]]));
}
}
PointSet *PointSet::get(DOMNode *node) {
unsigned int i; // variable to counter
DOMNamedNodeMap *attributes; // variable to hold the node attributes
PointSet *pointSet;
attributes = node->getAttributes();
for (i = 0; i < attributes->getLength(); i++) {
if (!strcmp(XMLString::transcode(attributes->item(i)->getNodeName()) , "USE")) {
return((PointSet *)getLink(XMLString::transcode(attributes->item(i)->getNodeValue())));
}
}
pointSet = new PointSet();
pointSet->read(node);
return pointSet;
}
void GradientDescent<DIM, POS, VAL>::optimize(PointSet<DIM, POS, VAL>& _pts)
{
PointSet<DIM, POS, POS> data = _pts;
int iSz = _pts.size();
for(int d=0; d<DIM; d++)
{
Vector<DIM, POS> shift;
shift[d] += m_shift;
for(int i=0; i<iSz; i++)
{
data.push_back(Point<DIM, POS, POS>(_pts[i].pos() + shift, 0));
}
}
evalFunction(data);
m_max = 0.0;
m_mean = 0.0;
if(iSz != 0)
{
for(int i=0; i<iSz; i++)
{
Vector<DIM, POS> motion;
for(int d=0; d<DIM; d++)
{
POS p = (data[i].val() - data[i+iSz*(d+1)].val()) / m_shift;
_pts[i].pos()[d] -= p;
motion[d] = p;
}
POS norm = motion.norm();
m_mean += norm;
if(m_max < norm) m_max = norm;
}
m_mean /= iSz;
}
}
void ReadConcept(Inputor& in, PointSet &pointSet,
unsigned int recordType)
{
string str;
pointSet.reserve(in._num);
double x,y,z;
double I;
double r,g,b;
PointRec::Reset_I();
do
{
switch(recordType){
case XYZ:
in.getLine(str, '\n');
sscanf(str.c_str(), "%lf %lf %lf", &x, &y, &z);
pointSet.push_back(PointRec(x,y,z));
break;
case XYZI:
in.getLine(str, '\n');
sscanf(str.c_str(), "%lf %lf %lf %lf", &x, &y, &z, &I);
pointSet.push_back(PointRec(x,y,z,I));
PointRec::Update_I(I);
break;
case XYZRGB:
in.getLine(str, '\n');
sscanf(str.c_str(), "%lf %lf %lf %lf %lf %lf", &x, &y, &z, &r, &g, &b);
pointSet.push_back(PointRec(x,y,z,-1, r, g, b));
break;
case XYZIRGB:
in.getLine(str, '\n');
sscanf(str.c_str(), "%lf %lf %lf %lf %lf %lf %lf", &x, &y, &z, &I, &r, &g, &b);
pointSet.push_back(PointRec(x,y,z, I, r, g, b));
PointRec::Update_I(I);
break;
}
in.frame();
}while(!in.isEnd());
}
void savePointSet(const std::string& filename, PointSet& ps)
{
std::fstream fout(filename.c_str(), std::ios_base::out);
for (size_t i = 0; i < ps.size(); ++ i)
{
if (Dim == 3)
fout << ps[i].x() << " " << ps[i].y() << " " << ps[i].z() << "\n";
else
fout << ps[i].x() << " " << ps[i].y() << "\n";
}
fout.close();
}