int Projector::select (int X, int Y)
{
if (in_stereo) { //select viewport
if (X > W) { //left side
X -= static_cast<int>(W);
drawing->reproject(animator->twist_theta(TWIST_ANGLE));
} else {
drawing->reproject(animator->twist_theta(-TWIST_ANGLE));
}
}
float x = convert_x(X);
float y = convert_y(Y);
return drawing->select(x,y);
}
// ------------------------------------------------------------------------
double f(const std::vector<double> &x, std::vector<double> &grad, void *f_data)
{
OptData *data = (OptData*) f_data;
VectorType point, normal;
convert_x(x, point, normal);
for(unsigned int i = 0; i < 5; i++)
{
std::cout << x[i] << " ";
}
std::cout << "\n";
PlaneMeasurementType mv;
for(unsigned int i = 0; i < 3; i++)
{
mv[i] = point(i);
mv[i+3] = normal(i);
}
PlaneMembershipType::Pointer planeMember = PlaneMembershipType::New();
planeMember->SetMean(data->planeMember->GetMean());
planeMember->SetCovariance(data->planeMember->GetCovarianceMatrix());
double planeProb = planeMember->Evaluate(mv);
double planeCost = -log(std::max(planeProb, 0.00000001));
grad.clear();
double val = imageCost(data->params, data->testData, point, normal, data->classifiers, data->lengths, false);
double total = val;
std::cout << "Plane: " << planeCost << std::endl;
std::cout << "val: " << val << std::endl;
std::cout << "Total: " << total << std::endl;
std::cout << "---------------------------------" << std::endl;
return total;
}
static int PeMGetEvent(PeMData *event){
PeMReadPacket(event->fd, packet);
/* Sync bit always must be set to 1 */
if ((*packet & PeM_PANEL_SYNC_MASK) == 0)
return 0;
if (*packet & PeM_PANEL_TOUCH_MASK)
event->action = PEM_PANEL_TOUCH;
else
event->action = PEM_PANEL_UNTOUCH;
event->y = convert_y( WORD_ASSEMBLY(packet[2], packet[1]),event);
event->x = convert_x( WORD_ASSEMBLY(packet[4], packet[3]),event);
if (event->min_x)
event->x = event->min_x - event->x;
if (event->min_y)
event->y = event->min_y - event->y;
return 1;
}
bool
seqdata::on_motion_notify_event (GdkEventMotion * ev)
{
bool result = false;
#ifdef USE_STAZED_SEQDATA_EXTENSIONS
if (m_drag_handle)
{
m_current_y = int(ev->y = 3);
m_current_y = c_dataarea_y - m_current_y;
if (m_current_y < 0)
m_current_y = 0;
if (m_current_y > SEQ64_MAX_DATA_VALUE) /* 127 */
m_current_y = SEQ64_MAX_DATA_VALUE;
m_seq.adjust_data_handle(m_status, m_current_y);
update_pixmap();
draw_events_on(m_window);
}
#endif
if (m_dragging)
{
int adj_x_min, adj_x_max, adj_y_min, adj_y_max;
m_current_x = int(ev->x) + m_scroll_offset_x;
m_current_y = int(ev->y);
if (m_current_x < m_drop_x)
{
adj_x_min = m_current_x;
adj_y_min = m_current_y;
adj_x_max = m_drop_x;
adj_y_max = m_drop_y;
}
else
{
adj_x_max = m_current_x;
adj_y_max = m_current_y;
adj_x_min = m_drop_x;
adj_y_min = m_drop_y;
}
midipulse tick_s, tick_f;
convert_x(adj_x_min, tick_s);
convert_x(adj_x_max, tick_f);
result = m_seq.change_event_data_range
(
tick_s, tick_f, m_status, m_cc,
c_dataarea_y - adj_y_min - 1, c_dataarea_y - adj_y_max - 1
);
update_pixmap(); /* calls draw_events_on_pixmap() */
draw_events_on(m_window);
draw_line_on_window();
/*
* \change ca 2016-06-19
* Why do we modify here?
*
* if (result)
* perf().modify();
*/
}
return result;
}
bool
perfroll::on_key_press_event(GdkEventKey* a_p0)
{
if (a_p0->keyval == m_mainperf->m_key_pointer) /* Move to mouse position */
{
int x = 0;
int y = 0;
long a_tick = 0;
get_pointer(x, y);
if(x < 0)
x = 0;
snap_x(&x);
convert_x(x, &a_tick);
if(m_mainperf->is_jack_running())
{
m_mainperf->set_reposition();
m_mainperf->set_starting_tick(a_tick);
m_mainperf->position_jack(true, a_tick);
}
else
{
m_mainperf->set_reposition();
m_mainperf->set_starting_tick(a_tick);
}
return true;
}
bool ret = false;
if ( m_mainperf->is_active( m_drop_sequence))
{
if ( a_p0->type == GDK_KEY_PRESS )
{
if ( a_p0->keyval == GDK_Delete || a_p0->keyval == GDK_BackSpace )
{
m_mainperf->push_trigger_undo(m_drop_sequence);
m_mainperf->get_sequence( m_drop_sequence )->del_selected_trigger();
ret = true;
}
if ( a_p0->state & GDK_CONTROL_MASK )
{
/* cut */
if ( a_p0->keyval == GDK_x || a_p0->keyval == GDK_X )
{
m_mainperf->push_trigger_undo(m_drop_sequence);
m_mainperf->get_sequence( m_drop_sequence )->cut_selected_trigger();
ret = true;
}
/* copy */
if ( a_p0->keyval == GDK_c || a_p0->keyval == GDK_C )
{
m_mainperf->get_sequence( m_drop_sequence )->copy_selected_trigger();
ret = true;
}
/* paste */
if ( a_p0->keyval == GDK_v || a_p0->keyval == GDK_V )
{
m_mainperf->push_trigger_undo(m_drop_sequence);
m_mainperf->get_sequence( m_drop_sequence )->paste_trigger();
ret = true;
}
}
}
}
if ( ret == true )
{
fill_background_pixmap();
queue_draw();
return true;
}
else
return false;
}
int main(int argc, char ** argv)
{
const std::string patchParamsFilename = argv[1];
const std::string testDataFilename = argv[2];
const std::string valveDataFilename = "/home/om0000/ValveTracking/TrainingData/MV-Planes.hdf5";
PatchParams params(patchParamsFilename);
TestData::Pointer testData = TestData::Initialise(testDataFilename);
LengthData::Pointer lengthData = LengthData::Load("/home/om0000/ValveTracking/TrainingData/Lengths");
lengthData->Prepare(testData->GetId());
std::cout << "Loading Plane Data" << std::endl;
ValveTrainingData::Pointer valveData = ValveTrainingData::Load(valveDataFilename);
std::cout << "Loading PatchData" << std::endl;
//PatchTrainingData::Pointer patchData = PatchTrainingData::Load(patchParamsFilename);
PatchTrainingData::Pointer patchData = PatchTrainingData::New();
VectorType startPoint, startNormal;
for(unsigned int runs = 0; runs < 1; runs++)
{
for(params.timeStep = 0; params.timeStep < params.numberOfTimeSteps; params.timeStep++)
{
std::cout << "Working on: " << params.timeStep << std::endl;
// load the input points and create the bounding box
MatrixType pointsData;
valveData->GetTrainingPoints(testData->GetId(), params.timeStep, pointsData);
std::vector<MatrixType> pointsData2;
valveData->GetTrainingPoints(testData->GetId(), params.timeStep, pointsData2);
vtkBoundingBox boundingBox;
computeBoundingBox(pointsData, boundingBox);
std::cout << "Loading / Training Classifiers" << std::endl;
ClassifierMap classifiers;
loadOrTrainClassifiers(params, 1000, patchData, classifiers);
testData->Prepare(params.timeStep, boundingBox);
testData->SaveImageGroup("2C", "MV-2C");
// compute the distribution for the plane and get the mean for initialisation
MatrixType planeData;
valveData->GetTrainingData(testData->GetId(), params.timeStep, planeData);
PlaneCovarianceFilterType::Pointer planeDistribution = PlaneCovarianceFilterType::New();
computePlaneCovariance(planeData, planeDistribution);
TestData::VectorType point, normal;
if(params.timeStep == 0 && runs == 0)
{
for(unsigned int i = 0; i < 3; i++)
{
point(i) = planeDistribution->GetMean()[i];
normal(i) = planeDistribution->GetMean()[i+3];
}
//startingPlane(pointsData2, point, normal);
}
else
{
point = startPoint;
normal = startNormal;
}
OptData * optData = new OptData;
optData->testData = testData;
optData->classifiers = classifiers;
optData->params = params;
optData->lengths = lengthData;
optData->planeMember = planeDistribution;
nlopt::opt opt(nlopt::LN_BOBYQA, 5);
opt.set_min_objective(f, (void*) optData);
opt.set_xtol_rel(1e-4);
opt.set_maxeval(100);
std::vector<double> initStep(5);
double pointStep = atof(argv[3]);
double normalStep = atof(argv[4]);
for(unsigned int i = 0; i < 3; i++)
{
initStep[i] = pointStep;
}
initStep[3] = normalStep;
initStep[4] = normalStep;
opt.set_default_initial_step(initStep);
std::vector<double> xStart;
convert_plane(point, normal, xStart);
double minf;
nlopt::result result = opt.optimize(xStart,minf);
std::cout << "Final: " << result << std::endl;
MatrixType initialPlane(1,6), finalPlane(1,6);
VectorType finalPoint, finalNormal;
convert_x(xStart, finalPoint, finalNormal);
imageCost(params, testData, finalPoint, finalNormal, classifiers, lengthData, true);
for(unsigned int i = 0; i < 3; i++)
{
finalPlane(0,i) = finalPoint(i);
finalPlane(0,i+3) = finalNormal(i);
}
std::cout << finalPlane << std::endl;
for(unsigned int i = 0; i < 6; i++)
{
initialPlane(0,i) = planeDistribution->GetMean()[i];
}
startPoint = finalPoint;
startNormal = finalNormal;
MatrixType gt;
valveData->GetTestData(testData->GetId(), params.timeStep, gt);
VectorType gtPoint, gtNormal;
for(unsigned int i = 0; i < 3; i++)
{
gtPoint(i) = gt(0,i);
gtNormal(i) = gt(0,i+3);
}
std::vector<ImageType::Pointer> vimages;
testData->GetImages(vimages);
ResultViewer::Pointer viewer = ResultViewer::New();
viewer->SetImages(vimages);
viewer->SetBoundingBox(boundingBox);
viewer->SetPlane(finalPoint, finalNormal);
viewer->SetStartPlane(gtPoint, gtNormal);
viewer->SetUp();
std::stringstream ss;
ss << params.name << "/" << testData->GetId() << "-" << params.timeStep << "-image.png";
viewer->Save(ss.str());
//viewer->View();
//testData->SaveImageGroup("2C", "2C");
//testData->SaveImageGroup("3C", "3C");
//testData->SaveImageGroup("4C", "4C");
//savePlane(initialPlane, "initialPlane.vtk");
//savePlane(finalPlane, "finalPlane.vtk");
}
}
return 0;
}