int ann_train( CvANN_MLP* ann, CvMLData* _data, Mat& new_responses, CvANN_MLP_TrainParams _params, int flags = 0 )
{
const CvMat* train_sidx = _data->get_train_sample_idx();
CvMat predictors;
ann_check_data_and_get_predictors( _data, &predictors );
CvMat _new_responses = CvMat( new_responses );
return ann->train( &predictors, &_new_responses, 0, train_sidx, _params, flags );
}
float ann_calc_error( CvANN_MLP* ann, CvMLData* _data, map<int, int>& cls_map, int type , vector<float> *resp_labels )
{
float err = 0;
const CvMat* responses = _data->get_responses();
const CvMat* sample_idx = (type == CV_TEST_ERROR) ? _data->get_test_sample_idx() : _data->get_train_sample_idx();
int* sidx = sample_idx ? sample_idx->data.i : 0;
int r_step = CV_IS_MAT_CONT(responses->type) ?
1 : responses->step / CV_ELEM_SIZE(responses->type);
CvMat predictors;
ann_check_data_and_get_predictors( _data, &predictors );
int sample_count = sample_idx ? sample_idx->cols : 0;
sample_count = (type == CV_TRAIN_ERROR && sample_count == 0) ? predictors.rows : sample_count;
float* pred_resp = 0;
vector<float> innresp;
if( sample_count > 0 )
{
if( resp_labels )
{
resp_labels->resize( sample_count );
pred_resp = &((*resp_labels)[0]);
}
else
{
innresp.resize( sample_count );
pred_resp = &(innresp[0]);
}
}
int cls_count = (int)cls_map.size();
Mat output( 1, cls_count, CV_32FC1 );
CvMat _output = CvMat(output);
map<int, int>::iterator b_it = cls_map.begin();
for( int i = 0; i < sample_count; i++ )
{
CvMat sample;
int si = sidx ? sidx[i] : i;
cvGetRow( &predictors, &sample, si );
ann->predict( &sample, &_output );
CvPoint best_cls = {0,0};
cvMinMaxLoc( &_output, 0, 0, 0, &best_cls, 0 );
int r = cvRound(responses->data.fl[si*r_step]);
CV_DbgAssert( fabs(responses->data.fl[si*r_step]-r) < FLT_EPSILON );
r = cls_map[r];
int d = best_cls.x == r ? 0 : 1;
err += d;
pred_resp[i] = (float)best_cls.x;
}
err = sample_count ? err / (float)sample_count * 100 : -FLT_MAX;
return err;
}
int main(void)
{
printf("ORF pid %d\n", (int) getpid());
SRCAM cam;
// int ret = SR_OpenDlg(&cam, 2, 0); // 2: call open dialog, 0: no parent window
// int ret = SR_OpenETH(&cam, "192.168.1.33");
int ret = SR_OpenETH(&cam, "169.254.1.33");
if(ret<=0) return -1; // ret holds the number of cameras found
cv::Size imsize(SR_GetCols(cam), SR_GetRows(cam)); // SR image size
int sizebytes = 2 * imsize.area() * sizeof(unsigned short); // number of bytes sent from the SR
// namedWindow("mainWin",WINDOW_AUTOSIZE );
cvNamedWindow("mainWin", CV_WINDOW_AUTOSIZE);
int sizestep = sizeof(float)*3; // size step from one xyz component to the next
int c=-1; // user input variable
// enable software trigger mode so that the LEDs will only turn
// on when SR_Acquire() is called
SR_SetMode(cam,AM_SW_TRIGGER);
std::time_t start_time = std::time(0);
while(c==-1) // infinite loop, breaks if key pressed
{
ret = SR_Acquire(cam);
cv::Mat xyz(imsize, CV_32FC3, cv::Scalar::all(0));
if(ret!=sizebytes) break;
// the coordinates are stored as three channels in the format
// (x1, y1, z1, x2, y2, z2, ... ) squentially row by row
SR_CoordTrfFlt( cam,
&((float*)xyz.ptr())[0], // pointer to first x
&((float*)xyz.ptr())[1], // pointer to first y
&((float*)xyz.ptr())[2], // pointer to first z
sizestep, sizestep, sizestep); // increments to next element
cv::Mat z, z_display; // z channel and output image
extractImageCOI(&CvMat(xyz), z, 2); // extract the z channel (change the 2 for another channel)
z.convertTo(z_display, CV_8UC1, 256.0 / 5.0, 0); // convert to 8 bit (0..255) values, here for 5 meter camera
cv::imshow("mainWin", z_display); // display image
std::time_t t = std::time() - start_time;
printf("ORF data taken at %d seconds\n", t);
//std::cout << "ORF data taken at" << t << "seconds\n";
std::stringstream filename;
filename << "./ORF_photos/" << t << ".bmp"
cv::imwrite(filename.str(),z_display);
c = cvWaitKey(1000); // wait 1 sec before continuing loop. if user presses a button, the loop will exit
}
SR_Close(cam);
return 0;
}
void boxtrackproperties::
correct(const cv::Mat &m) { //m, measurement cv::Mat_<float>(5,1)
CvMat _z=CvMat(m);
cvKalmanCorrect(k,&_z);
}
