Spectrum IGIIntegrator::Li(const Scene &scene, const Renderer *renderer,
const RayDifferential &ray, const Intersection &isect,
const Sample *sample, RNG &rng, MemoryArena &arena) const {
Spectrum L(0.);
Vector wo = -ray.d;
// Compute emitted light if ray hit an area light source
L += isect.Le(wo);
// Evaluate BSDF at hit point
BSDF *bsdf = isect.GetBSDF(ray, arena);
const Point &p = bsdf->dgShading.p;
const Normal &n = bsdf->dgShading.nn;
L += UniformSampleAllLights(scene, renderer, arena, p, n,
wo, isect.rayEpsilon, ray.time, bsdf, sample, rng,
lightSampleOffsets, bsdfSampleOffsets);
// Compute indirect illumination with virtual lights
uint32_t lSet = min(uint32_t(sample->oneD[vlSetOffset][0] * nLightSets),
nLightSets-1);
for (uint32_t i = 0; i < virtualLights[lSet].size(); ++i) {
const VirtualLight &vl = virtualLights[lSet][i];
// Compute virtual light's tentative contribution _Llight_
float d2 = DistanceSquared(p, vl.p);
Vector wi = Normalize(vl.p - p);
float G = AbsDot(wi, n) * AbsDot(wi, vl.n) / d2;
G = min(G, gLimit);
Spectrum f = bsdf->f(wo, wi);
if (G == 0.f || f.IsBlack()) continue;
Spectrum Llight = f * G * vl.pathContrib / nLightPaths;
RayDifferential connectRay(p, wi, ray, isect.rayEpsilon,
sqrtf(d2) * (1.f - vl.rayEpsilon));
Llight *= renderer->Transmittance(scene, connectRay, NULL, rng, arena);
// Possibly skip virtual light shadow ray with Russian roulette
if (Llight.y() < rrThreshold) {
float continueProbability = .1f;
if (rng.RandomFloat() > continueProbability)
continue;
Llight /= continueProbability;
}
// Add contribution from _VirtualLight_ _vl_
if (!scene.IntersectP(connectRay))
L += Llight;
}
if (ray.depth < maxSpecularDepth) {
// Do bias compensation for bounding geometry term
int nSamples = (ray.depth == 0) ? nGatherSamples : 1;
for (int i = 0; i < nSamples; ++i) {
Vector wi;
float pdf;
BSDFSample bsdfSample = (ray.depth == 0) ?
BSDFSample(sample, gatherSampleOffset, i) : BSDFSample(rng);
Spectrum f = bsdf->Sample_f(wo, &wi, bsdfSample,
&pdf, BxDFType(BSDF_ALL & ~BSDF_SPECULAR));
if (!f.IsBlack() && pdf > 0.f) {
// Trace ray for bias compensation gather sample
float maxDist = sqrtf(AbsDot(wi, n) / gLimit);
RayDifferential gatherRay(p, wi, ray, isect.rayEpsilon, maxDist);
Intersection gatherIsect;
Spectrum Li = renderer->Li(scene, gatherRay, sample, rng, arena,
&gatherIsect);
if (Li.IsBlack()) continue;
// Add bias compensation ray contribution to radiance sum
float Ggather = AbsDot(wi, n) * AbsDot(-wi, gatherIsect.dg.nn) /
DistanceSquared(p, gatherIsect.dg.p);
if (Ggather - gLimit > 0.f && !isinf(Ggather)) {
float gs = (Ggather - gLimit) / Ggather;
L += f * Li * (AbsDot(wi, n) * gs / (nSamples * pdf));
}
}
}
}
if (ray.depth + 1 < maxSpecularDepth) {
Vector wi;
// Trace rays for specular reflection and refraction
L += SpecularReflect(ray, bsdf, rng, isect, renderer, scene, sample,
arena);
L += SpecularTransmit(ray, bsdf, rng, isect, renderer, scene, sample,
arena);
}
return L;
}
int main()
{
cv::Mat src;
cv::Mat dst;
cv::Mat paintable;
int end=false;
// read the img
src = imread("C:/Users/giki/Pictures/quadri_dataset/quadro_tre.jpg", 1);
if (src.empty())
return -1;
cv::Size s = src.size();
src.copyTo(paintable);
// Convert to grayscale
cv::Mat gray;
cv::cvtColor(src, gray, CV_BGR2GRAY);
// Convert to binary image using Canny
cv::Mat bw;
cv::Canny(gray, bw, 0, 50, 5);
// Find contours
std::vector<std::vector<cv::Point> > contours;
cv::findContours(bw.clone(), contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
vector<Vec4i> hierarchy;
// The array for storing the approximation curve
std::vector<cv::Point> approx;
// Rects extraction
vector<vector<Point>> contours_poly( contours.size() );
vector<Rect> bound_rect( contours.size() );
vector<vector<Rect>> good_rect;
int good_rect_index=0;
for (int i = 0; i < contours.size(); i++)
{
// poligon approximation
approxPolyDP( Mat(contours[i]), contours_poly[i], 3, true );
// extraciont only poligon=rect
bound_rect[i] = boundingRect( Mat(contours_poly[i]) );
//-------------
if (bound_rect[i].area() > (s.area()*0.30) )
{
vector<Rect> vector;
vector.push_back(bound_rect[i]);
good_rect.push_back(vector); // estrapolo tutti i rettangoli buoni
good_rect_index++;
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
rectangle( paintable, bound_rect[i].tl(), bound_rect[i].br(), color, 2, 8, 0 );
}
}
if (good_rect.size()==0)
// non si sono trovati rettangoli compatibili, forse
// l'immagine è una parte interna di quadro
{
dst=src;
end=true;
}
//cv::imshow("src", paintable);
//waitKey();
if (end==false)
{
// adesso di questi rettangoli buoni devo prendere quelli che effettivamente costituiscono il mio quadro
for (int j = 0; j < good_rect_index; j++)
{
Rect confront = good_rect[j][0];
int x_center = confront.x+confront.width/2;
int y_center = confront.y+confront.height/2;
for (int i = 0; i < good_rect_index; i++)
{
if (j==i)
continue;
else if (x_center > good_rect[i][0].x + good_rect[i][0].width/2 - good_rect[i][0].width*0.05)
if (x_center < good_rect[i][0].x + good_rect[i][0].width/2+good_rect[i][0].width*0.05)
if (y_center > good_rect[i][0].y+good_rect[i][0].height/2-good_rect[i][0].height*0.05)
if (y_center < good_rect[i][0].y+good_rect[i][0].height/2+good_rect[i][0].height*0.05)
good_rect[i].push_back(confront);
}// sto codicione che andrà semplificato praticamente controlla il centro dei rettangoli e definisce
// due rettangoli come buoni se hanno lo stesso centro (con un minimo di errore accettabile)
// infatti ho deciso che per me un quadro è una successione di rettangoli con lo stesso centro
// (cornice interna + cornice esterna + inizio tela = 3 rettangoli con lo stesso centro),
// più o meno funziona sempre, a meno di cornici strane.
}
// Ho un vettore di vettori contenente tutti gli accoppiamenti, prendo l'accoppiamento che
// contiene i rettangoli più grandi
vector<Rect> quadro;
for( int i = 0; i< good_rect_index; i++ ) // iterate through each contour.
{
if (i==0)
quadro=good_rect[i];
else if (quadro.size() < good_rect[i].size())
{
quadro=good_rect[i];
}
}
int size = quadro.size();
for (int i=0; i < size; i++)
{
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
rectangle( paintable, quadro[i].tl(), quadro[i].br(), color, 2, 8, 0 );
}
// Max rect extraction from the quadro
int largest_contour_index=0;
cv::Rect big_rect; // The variable to store max rect
for( int i = 0; i < quadro.size(); i++ ) // iterate through each contour.
{
if (i==0)
big_rect=quadro[i];
else if (big_rect.area() < quadro[i].area())
{
big_rect=quadro[i];
largest_contour_index=i;
}
}
// cut the image to have only the quadro
src(big_rect).copyTo(dst);
}
cv::imshow("src", src);
cv::imshow("src_with rect", paintable);
cv::imshow("dst", dst);
waitKey();
return 0;
}
// Reproduce mates & mutates the individuals of the species
// It may access the global species list in the population
// because some babies may turn out to belong in another species
// that have to be created.
// Also calls Birth() for every new baby
void Species::Reproduce(Population &a_Pop, Parameters& a_Parameters, RNG& a_RNG)
{
Genome t_baby; // temp genome for reproduction
int t_offspring_count = Rounded(GetOffspringRqd());
// no offspring?! yikes.. dead species!
if (t_offspring_count == 0)
{
// maybe do something else?
return;
}
//////////////////////////
// Reproduction
// Spawn t_offspring_count babies
bool t_champ_chosen = false;
bool t_baby_exists_in_pop = false;
while(t_offspring_count--)
{
// if the champ was not chosen, do it now..
if (!t_champ_chosen)
{
t_baby = m_Individuals[0];
t_champ_chosen = true;
}
// or if it was, then proceed with the others
else
{
do // - while the baby already exists somewhere in the new population
{
// this tells us if the baby is a result of mating
bool t_mated = false;
// There must be individuals there..
ASSERT(NumIndividuals() > 0);
// for a species of size 1 we can only mutate
// NOTE: but does it make sense since we know this is the champ?
if (NumIndividuals() == 1)
{
t_baby = GetIndividual(a_Parameters, a_RNG);
t_mated = false;
}
// else we can mate
else
{
do // keep trying to mate until a good offspring is produced
{
Genome t_mom = GetIndividual(a_Parameters, a_RNG);
// choose whether to mate at all
// Do not allow crossover when in simplifying phase
if ((a_RNG.RandFloat() < a_Parameters.CrossoverRate) && (a_Pop.GetSearchMode() != SIMPLIFYING))
{
// get the father
Genome t_dad;
bool t_interspecies = false;
// There is a probability that the father may come from another species
if ((a_RNG.RandFloat() < a_Parameters.InterspeciesCrossoverRate) && (a_Pop.m_Species.size()>1))
{
// Find different species (random one) // !!!!!!!!!!!!!!!!!
int t_diffspec = a_RNG.RandInt(0, static_cast<int>(a_Pop.m_Species.size()-1));
t_dad = a_Pop.m_Species[t_diffspec].GetIndividual(a_Parameters, a_RNG);
t_interspecies = true;
}
else
{
// Mate within species
t_dad = GetIndividual(a_Parameters, a_RNG);
// The other parent should be a different one
// number of tries to find different parent
int t_tries = 32;
if (!a_Parameters.AllowClones)
while(((t_mom.GetID() == t_dad.GetID()) || (t_mom.CompatibilityDistance(t_dad, a_Parameters) < 0.00001) ) && (t_tries--))
{
t_dad = GetIndividual(a_Parameters, a_RNG);
}
else
while(((t_mom.GetID() == t_dad.GetID()) ) && (t_tries--))
{
t_dad = GetIndividual(a_Parameters, a_RNG);
}
t_interspecies = false;
}
// OK we have both mom and dad so mate them
// Choose randomly one of two types of crossover
if (a_RNG.RandFloat() < a_Parameters.MultipointCrossoverRate)
{
t_baby = t_mom.Mate( t_dad, false, t_interspecies, a_RNG);
}
else
{
t_baby = t_mom.Mate( t_dad, true, t_interspecies, a_RNG);
}
t_mated = true;
}
// don't mate - reproduce the mother asexually
else
{
t_baby = t_mom;
t_mated = false;
}
} while (t_baby.HasDeadEnds() || (t_baby.NumLinks() == 0));
// in case of dead ends after crossover we will repeat crossover
// until it works
}
// Mutate the baby
if ((!t_mated) || (a_RNG.RandFloat() < a_Parameters.OverallMutationRate))
MutateGenome(t_baby_exists_in_pop, a_Pop, t_baby, a_Parameters, a_RNG);
// Check if this baby is already present somewhere in the offspring
// we don't want that
t_baby_exists_in_pop = false;
// Unless of course, we want
if (!a_Parameters.AllowClones)
{
for(unsigned int i=0; i<a_Pop.m_TempSpecies.size(); i++)
{
for(unsigned int j=0; j<a_Pop.m_TempSpecies[i].m_Individuals.size(); j++)
{
if (
(t_baby.CompatibilityDistance(a_Pop.m_TempSpecies[i].m_Individuals[j], a_Parameters) < 0.00001) // identical genome?
)
{
t_baby_exists_in_pop = true;
break;
}
}
}
}
}
while (t_baby_exists_in_pop); // end do
}
// Final place to test for problems
// If there is anything wrong here, we will just
// pick a random individual and leave him unchanged
if ((t_baby.NumLinks() == 0) || t_baby.HasDeadEnds())
{
t_baby = GetIndividual(a_Parameters, a_RNG);
}
// We have a new offspring now
// give the offspring a new ID
t_baby.SetID(a_Pop.GetNextGenomeID());
a_Pop.IncrementNextGenomeID();
// sort the baby's genes
t_baby.SortGenes();
// clear the baby's fitness
t_baby.SetFitness(0);
t_baby.SetAdjFitness(0);
t_baby.SetOffspringAmount(0);
t_baby.ResetEvaluated();
//////////////////////////////////
// put the baby to its species //
//////////////////////////////////
// before Reproduce() is invoked, it is assumed that a
// clone of the population exists with the name of m_TempSpecies
// we will store results there.
// after all reproduction completes, the original species will be replaced back
bool t_found = false;
std::vector<Species>::iterator t_cur_species = a_Pop.m_TempSpecies.begin();
// No species yet?
if (t_cur_species == a_Pop.m_TempSpecies.end())
{
// create the first species and place the baby there
a_Pop.m_TempSpecies.push_back( Species(t_baby, a_Pop.GetNextSpeciesID()));
a_Pop.IncrementNextSpeciesID();
}
else
{
// try to find a compatible species
Genome t_to_compare = t_cur_species->GetRepresentative();
t_found = false;
while((t_cur_species != a_Pop.m_TempSpecies.end()) && (!t_found))
{
if (t_baby.IsCompatibleWith( t_to_compare, a_Parameters))
{
// found a compatible species
t_cur_species->AddIndividual(t_baby);
t_found = true; // the search is over
}
else
{
// keep searching for a matching species
t_cur_species++;
if (t_cur_species != a_Pop.m_TempSpecies.end())
{
t_to_compare = t_cur_species->GetRepresentative();
}
}
}
// if couldn't find a match, make a new species
if (!t_found)
{
a_Pop.m_TempSpecies.push_back( Species(t_baby, a_Pop.GetNextSpeciesID()));
a_Pop.IncrementNextSpeciesID();
}
}
}
}
double operator()(Individual& ind, RNG& rng, EA& ea) {
int max_x = get<X_SIZE>(ea,10);
int max_y = get<Y_SIZE>(ea,10);
int grid_size = max_x * max_y;
vector<int> agent_pos (grid_size, -1);
vector<int> exec_order (grid_size);
double f=0.0;
// get the "prototype" phenotype (markov network):
typename EA::phenotype_type &N = ealib::phenotype(ind, ea);
vector<typename EA::phenotype_type> as; //
for (int q=0; q<get<NUM_START_AGENTS>(ea,1); q++) {
as.push_back(N); //grid_size, N); // my agents or networks
agent_pos[q] = q;
as[q].reset(rng.seed());
}
for (int i=0; i<grid_size; ++i) {
exec_order[i] = i;
}
std::vector< std::vector<int> > cell_color(grid_size, std::vector<int>(2, 0));
std::vector<int> apop_count(grid_size,0);
update_world_stigmergic_communication_apop_N(get<WORLD_UPDATES>(ea,10), agent_pos, exec_order, as, cell_color, apop_count, ind, rng, ea);
int fit_func = get<BODYPLAN>(ea,0) ;
switch(fit_func) {
case 0:
f = body_plan0(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 1:
f = body_plan1(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 2:
f = body_plan2(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 3:
f = body_plan3(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 4:
f = body_plan4(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 5:
f = body_plan5(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 6:
f = body_plan6(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 7:
f = body_plan7(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 8:
f = body_plan8(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 9:
f = body_plan9(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 10:
f = body_plan10(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 11:
f = body_plan11(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 12:
f = body_plan12(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 13:
f = body_plan13(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 14:
f = body_plan14(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 15:
f = body_plan15(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 16:
f = body_plan16(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 17:
f = body_plan17(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 18:
f = body_plan18(grid_size, max_x, max_y, agent_pos, as, ea);
break;
case 19:
f = body_plan19(grid_size, max_x, max_y, agent_pos, as, ea);
break;
}
if (f == 0) {
f = 1;
}
return (f);
}
bool ompl::geometric::pSBL::checkSolution(RNG &rng, bool start, TreeData &tree, TreeData &otherTree, Motion *motion, std::vector<Motion*> &solution)
{
Grid<MotionInfo>::Coord coord;
projectionEvaluator_->computeCoordinates(motion->state, coord);
otherTree.lock.lock();
Grid<MotionInfo>::Cell* cell = otherTree.grid.getCell(coord);
if (cell && !cell->data.empty())
{
Motion *connectOther = cell->data[rng.uniformInt(0, cell->data.size() - 1)];
otherTree.lock.unlock();
if (pdef_->getGoal()->isStartGoalPairValid(start ? motion->root : connectOther->root, start ? connectOther->root : motion->root))
{
Motion *connect = new Motion(si_);
si_->copyState(connect->state, connectOther->state);
connect->parent = motion;
connect->root = motion->root;
motion->lock.lock();
motion->children.push_back(connect);
motion->lock.unlock();
addMotion(tree, connect);
if (isPathValid(tree, connect) && isPathValid(otherTree, connectOther))
{
if (start)
connectionPoint_ = std::make_pair(motion->state, connectOther->state);
else
connectionPoint_ = std::make_pair(connectOther->state, motion->state);
/* extract the motions and put them in solution vector */
std::vector<Motion*> mpath1;
while (motion != nullptr)
{
mpath1.push_back(motion);
motion = motion->parent;
}
std::vector<Motion*> mpath2;
while (connectOther != nullptr)
{
mpath2.push_back(connectOther);
connectOther = connectOther->parent;
}
if (!start)
mpath1.swap(mpath2);
for (int i = mpath1.size() - 1 ; i >= 0 ; --i)
solution.push_back(mpath1[i]);
solution.insert(solution.end(), mpath2.begin(), mpath2.end());
return true;
}
}
}
else
otherTree.lock.unlock();
return false;
}
void RSATests::testSigningVerifying()
{
AsymmetricKeyPair* kp;
RSAParameters p;
// Public exponents to test
std::vector<ByteString> exponents;
exponents.push_back("010001");
exponents.push_back("03");
exponents.push_back("0B");
exponents.push_back("11");
// Key sizes to test
std::vector<size_t> keySizes;
keySizes.push_back(1024);
keySizes.push_back(1280);
keySizes.push_back(2048);
//keySizes.push_back(4096);
// Mechanisms to test
std::vector<AsymMech::Type> mechanisms;
#ifndef WITH_FIPS
mechanisms.push_back(AsymMech::RSA_MD5_PKCS);
#endif
mechanisms.push_back(AsymMech::RSA_SHA1_PKCS);
mechanisms.push_back(AsymMech::RSA_SHA224_PKCS);
mechanisms.push_back(AsymMech::RSA_SHA256_PKCS);
mechanisms.push_back(AsymMech::RSA_SHA384_PKCS);
mechanisms.push_back(AsymMech::RSA_SHA512_PKCS);
mechanisms.push_back(AsymMech::RSA_SHA1_PKCS_PSS);
mechanisms.push_back(AsymMech::RSA_SHA224_PKCS_PSS);
mechanisms.push_back(AsymMech::RSA_SHA256_PKCS_PSS);
mechanisms.push_back(AsymMech::RSA_SHA384_PKCS_PSS);
mechanisms.push_back(AsymMech::RSA_SHA512_PKCS_PSS);
#ifndef WITH_FIPS
mechanisms.push_back(AsymMech::RSA_SSL);
#endif
/* Max salt length for SHA512 and 1024-bit RSA is 62 bytes */
RSA_PKCS_PSS_PARAMS pssParams[] = {
{ HashAlgo::SHA1, AsymRSAMGF::MGF1_SHA1, 20 },
{ HashAlgo::SHA224, AsymRSAMGF::MGF1_SHA224, 0 },
{ HashAlgo::SHA256, AsymRSAMGF::MGF1_SHA256, 0 },
{ HashAlgo::SHA384, AsymRSAMGF::MGF1_SHA384, 48 },
{ HashAlgo::SHA512, AsymRSAMGF::MGF1_SHA512, 62 }
};
for (std::vector<ByteString>::iterator e = exponents.begin(); e != exponents.end(); e++)
{
for (std::vector<size_t>::iterator k = keySizes.begin(); k != keySizes.end(); k++)
{
p.setE(*e);
p.setBitLength(*k);
// Generate key-pair
CPPUNIT_ASSERT(rsa->generateKeyPair(&kp, &p));
// Generate some data to sign
ByteString dataToSign;
RNG* rng = CryptoFactory::i()->getRNG();
CPPUNIT_ASSERT(rng->generateRandom(dataToSign, 567));
// Test mechanisms that perform internal hashing
for (std::vector<AsymMech::Type>::iterator m = mechanisms.begin(); m != mechanisms.end(); m++)
{
ByteString blockSignature, singlePartSignature;
void* param = NULL;
size_t paramLen = 0;
bool isPSS = false;
switch (*m)
{
case AsymMech::RSA_SHA1_PKCS_PSS:
param = &pssParams[0];
paramLen = sizeof(pssParams[0]);
isPSS = true;
break;
case AsymMech::RSA_SHA224_PKCS_PSS:
param = &pssParams[1];
paramLen = sizeof(pssParams[1]);
isPSS = true;
break;
case AsymMech::RSA_SHA256_PKCS_PSS:
param = &pssParams[2];
paramLen = sizeof(pssParams[2]);
isPSS = true;
break;
case AsymMech::RSA_SHA384_PKCS_PSS:
param = &pssParams[3];
paramLen = sizeof(pssParams[3]);
isPSS = true;
break;
case AsymMech::RSA_SHA512_PKCS_PSS:
param = &pssParams[4];
paramLen = sizeof(pssParams[4]);
isPSS = true;
break;
default:
break;
}
// Sign the data in blocks
CPPUNIT_ASSERT(rsa->signInit(kp->getPrivateKey(), *m, param, paramLen));
CPPUNIT_ASSERT(rsa->signUpdate(dataToSign.substr(0, 134)));
CPPUNIT_ASSERT(rsa->signUpdate(dataToSign.substr(134, 289)));
CPPUNIT_ASSERT(rsa->signUpdate(dataToSign.substr(134 + 289)));
CPPUNIT_ASSERT(rsa->signFinal(blockSignature));
// Sign the data in one pass
CPPUNIT_ASSERT(rsa->sign(kp->getPrivateKey(), dataToSign, singlePartSignature, *m, param, paramLen));
// If it is not a PSS signature, check if the two signatures match
if (!isPSS)
{
// Check if the two signatures match
CPPUNIT_ASSERT(blockSignature == singlePartSignature);
}
// Now perform multi-pass verification
CPPUNIT_ASSERT(rsa->verifyInit(kp->getPublicKey(), *m, param, paramLen));
CPPUNIT_ASSERT(rsa->verifyUpdate(dataToSign.substr(0, 125)));
CPPUNIT_ASSERT(rsa->verifyUpdate(dataToSign.substr(125, 247)));
CPPUNIT_ASSERT(rsa->verifyUpdate(dataToSign.substr(125 + 247)));
CPPUNIT_ASSERT(rsa->verifyFinal(blockSignature));
// And single-pass verification
CPPUNIT_ASSERT(rsa->verify(kp->getPublicKey(), dataToSign, singlePartSignature, *m, param, paramLen));
}
// Test mechanisms that do not perform internal hashing
// Test PKCS #1 signing
CPPUNIT_ASSERT(rng->generateRandom(dataToSign, 35));
// Sign the data
ByteString signature;
CPPUNIT_ASSERT(rsa->sign(kp->getPrivateKey(), dataToSign, signature, AsymMech::RSA_PKCS));
// Verify the signature
CPPUNIT_ASSERT(rsa->verify(kp->getPublicKey(), dataToSign, signature, AsymMech::RSA_PKCS));
// Test raw RSA signing
size_t byteSize = *k >> 3;
CPPUNIT_ASSERT(rng->generateRandom(dataToSign, byteSize));
// Strip the topmost bit
dataToSign[0] &= 0x7F;
// Sign the data
CPPUNIT_ASSERT(rsa->sign(kp->getPrivateKey(), dataToSign, signature, AsymMech::RSA));
// Verify the signature
CPPUNIT_ASSERT(rsa->verify(kp->getPublicKey(), dataToSign, signature, AsymMech::RSA));
#ifdef WITH_RAW_PSS
// Test raw (SHA1) PKCS PSS signing
CPPUNIT_ASSERT(rng->generateRandom(dataToSign, 20));
CPPUNIT_ASSERT(rsa->sign(kp->getPrivateKey(), dataToSign, signature, AsymMech::RSA_PKCS_PSS, &pssParams[0], sizeof(pssParams[0])));
CPPUNIT_ASSERT(rsa->verify(kp->getPublicKey(), dataToSign, signature, AsymMech::RSA_PKCS_PSS, &pssParams[0], sizeof(pssParams[0])));
// Test raw (SHA224) PKCS PSS signing
CPPUNIT_ASSERT(rng->generateRandom(dataToSign, 28));
CPPUNIT_ASSERT(rsa->sign(kp->getPrivateKey(), dataToSign, signature, AsymMech::RSA_PKCS_PSS, &pssParams[1], sizeof(pssParams[1])));
CPPUNIT_ASSERT(rsa->verify(kp->getPublicKey(), dataToSign, signature, AsymMech::RSA_PKCS_PSS, &pssParams[1], sizeof(pssParams[1])));
// Test raw (SHA256) PKCS PSS signing
CPPUNIT_ASSERT(rng->generateRandom(dataToSign, 32));
CPPUNIT_ASSERT(rsa->sign(kp->getPrivateKey(), dataToSign, signature, AsymMech::RSA_PKCS_PSS, &pssParams[2], sizeof(pssParams[2])));
CPPUNIT_ASSERT(rsa->verify(kp->getPublicKey(), dataToSign, signature, AsymMech::RSA_PKCS_PSS, &pssParams[2], sizeof(pssParams[2])));
// Test raw (SHA384) PKCS PSS signing
CPPUNIT_ASSERT(rng->generateRandom(dataToSign, 48));
CPPUNIT_ASSERT(rsa->sign(kp->getPrivateKey(), dataToSign, signature, AsymMech::RSA_PKCS_PSS, &pssParams[3], sizeof(pssParams[3])));
CPPUNIT_ASSERT(rsa->verify(kp->getPublicKey(), dataToSign, signature, AsymMech::RSA_PKCS_PSS, &pssParams[3], sizeof(pssParams[3])));
// Test raw (SHA512) PKCS PSS signing
CPPUNIT_ASSERT(rng->generateRandom(dataToSign, 64));
CPPUNIT_ASSERT(rsa->sign(kp->getPrivateKey(), dataToSign, signature, AsymMech::RSA_PKCS_PSS, &pssParams[4], sizeof(pssParams[4])));
CPPUNIT_ASSERT(rsa->verify(kp->getPublicKey(), dataToSign, signature, AsymMech::RSA_PKCS_PSS, &pssParams[4], sizeof(pssParams[4])));
#endif
rsa->recycleKeyPair(kp);
}
}
}
Spectrum VolumePatIntegrator::Li_Single(const Scene *scene, const Renderer *renderer,
const RayDifferential &ray, const Sample *sample, RNG &rng,
Spectrum *T, MemoryArena &arena) const {
VolumeRegion *vr = scene->volumeRegion;
float t0, t1;
if (!vr || !vr->IntersectP(ray, &t0, &t1) || (t1-t0) == 0.f) {
*T = 1.f;
return 0.f;
}
// Do single scattering volume integration in _vr_
Spectrum Lv(0.);
// Prepare for volume integration stepping
int nSamples = Ceil2Int((t1-t0) / stepSize);
float step = (t1 - t0) / nSamples;
Spectrum Tr(1.f);
Point p = ray(t0), pPrev;
Vector w = -ray.d;
t0 += sample->oneD[scatterSampleOffset][0] * step;
// Compute sample patterns for single scattering samples
float *lightNum = arena.Alloc<float>(nSamples);
LDShuffleScrambled1D(1, nSamples, lightNum, rng);
float *lightComp = arena.Alloc<float>(nSamples);
LDShuffleScrambled1D(1, nSamples, lightComp, rng);
float *lightPos = arena.Alloc<float>(2*nSamples);
LDShuffleScrambled2D(1, nSamples, lightPos, rng);
uint32_t sampOffset = 0;
for (int i = 0; i < nSamples; ++i, t0 += step) {
// Advance to sample at _t0_ and update _T_
pPrev = p;
p = ray(t0);
Ray tauRay(pPrev, p - pPrev, 0.f, 1.f, ray.time, ray.depth);
Spectrum stepTau = vr->tau(tauRay,
.5f * stepSize, rng.RandomFloat());
Tr *= Exp(-stepTau);
// Possibly terminate ray marching if transmittance is small
if (Tr.y() < 1e-3) {
const float continueProb = .5f;
if (rng.RandomFloat() > continueProb) {
Tr = 0.f;
break;
}
Tr /= continueProb;
}
// Compute single-scattering source term at _p_
Lv += Tr * vr->Lve(p, w, ray.time);
Spectrum ss = vr->Sigma_s(p, w, ray.time);
if (!ss.IsBlack() && scene->lights.size() > 0) {
int nLights = scene->lights.size();
int ln = min(Floor2Int(lightNum[sampOffset] * nLights),
nLights-1);
Light *light = scene->lights[ln];
// Add contribution of _light_ due to scattering at _p_
float pdf;
VisibilityTester vis;
Vector wo;
LightSample ls(lightComp[sampOffset], lightPos[2*sampOffset],
lightPos[2*sampOffset+1]);
Spectrum L = light->Sample_L(p, 0.f, ls, ray.time, &wo, &pdf, &vis);
if (!L.IsBlack() && pdf > 0.f && vis.Unoccluded(scene)) {
Spectrum Ld = L * vis.Transmittance(scene, renderer, NULL, rng, arena);
Lv += Tr * ss * vr->p(p, w, -wo, ray.time) * Ld * float(nLights) /
pdf;
}
}
++sampOffset;
}
*T = Tr;
return Lv * step;
}
//This function is called everytime a new image is published
void imageCallback(const sensor_msgs::ImageConstPtr& original_image)
{
bpMsgs::brick brick;
brick.header.stamp.sec = original_image->header.stamp.sec;
brick.header.stamp.nsec = original_image->header.stamp.nsec;
ROS_INFO("stamp sec: %ld nano: %ld", (long int)original_image->header.stamp.sec, (long int)original_image->header.stamp.nsec);
cv::namedWindow("trackBar", CV_WINDOW_NORMAL);
cv::resizeWindow("trackBar", 400, 300);
createTrackbar( "highThresh", "trackBar", &low_thresh, max_thresh, callback );
createTrackbar( "lowThresh", "trackBar", &high_thresh, max_thresh, callback);
//Convert from the ROS image message to a CvImage suitable for working with OpenCV for processing
cv_bridge::CvImagePtr cv_ptr;
try
{
//Always copy, returning a mutable CvImage
//OpenCV expects color images to use BGR channel order.
cv_ptr = cv_bridge::toCvCopy(original_image, enc::BGR8);
}
catch (cv_bridge::Exception& e)
{
//if there is an error during conversion, display it
ROS_ERROR("camera::main.cpp::cv_bridge exception: %s", e.what());
return;
}
Mat imgdest;
HSVToBW(cv_ptr->image,imgdest,2);
//filter(imgdest);
//erode(imgdest,imgdest,Size(3,3),Point(0,0),3);
//erode(imgdest,imgdest,Mat(),Point(-1,-1),3);
GaussianBlur(imgdest, imgdest, Size(3,3), 1.5, 1.5);
cv::imshow("grey", imgdest);
Mat canny_output;
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
double area;
int k;
/// Detect edges using canny
//Canny( src_gray, canny_output, 400, 1000, 3 );
//imshow( "After Canny", canny_output );
/// Find contours
findContours( /*canny_output*/ imgdest, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_NONE, Point(0, 0) );
vector<Moments> _mu(contours.size());
vector<Point2f> _mc(contours.size());
vector<double> _ma(contours.size());
vector<RotatedRect> minRect( contours.size() );
// vector<RotatedRect> minEllipse( contours.size() );
for( int i = 0; i < contours.size(); i++)
{
minRect[i] = minAreaRect( Mat(contours[i]) );
area = contourArea(contours[i],false);
if (area < 1){
// cout << "sletter: " << area << endl;
contours.erase(contours.begin()+i);
minRect.erase(minRect.begin()+i);
//area = contourArea(contours[i+1],false);
//contours.pop_back();
//cout << i << endl;
i--;
}
else {
// minEllipse[i] = fitEllipse( contours[i] );
_mu[i] = moments( Mat(contours[i]), false );
// _mu[i] = moments( Mat(minRect[i]), false );
_mc[i] = Point2f( _mu[i].m10/_mu[i].m00 , _mu[i].m01/_mu[i].m00);
_ma[i] = (0.5*atan2(2*_mu[i].mu11,_mu[i].mu20-_mu[i].mu02))*180/M_PI;
ROS_INFO("Contour no: %ld Area: %ld Center x: %ld y: %ld Orientation: %ld ", (long int)i,(long int)area,(long int)_mc[i].x, (long int)_mc[i].y, (long int)_ma[i]);
ROS_INFO("Contour no: %ld Area: %ld Center x: %ld y: %ld Orientation: %ld ", (long int)i,(long int)area,(long int)minRect[i].center.x, (long int)minRect[i].center.y, (long int)minRect[i].angle);
brick.angle = _ma[i];
brick.x = minRect[i].center.x;
brick.y = minRect[i].center.y;
if (area > 3000 && area < 5000) {
brick.type = 2;
}
else if (area > 7000 && area < 9000){
brick.type = 1;
}
else if(area > 11000 && area < 13000){
brick.type = 3;
}
else{
brick.type = 0;
}
brick_pub.publish(brick);
}
// cout << "Contour no: " << i << " Area: " << area << " Center x: " << _mc[i].x << " y: " << _mc[i].y << " Orientation: " << _ma[i] << endl;
// cout << "Ellipse Orientation: " << minEllipse[i].angle << endl;
// cout << oldarea << endl;
}
Mat drawing = Mat::zeros( imgdest.size(), CV_8UC3 );
for( int i = 0; i< contours.size(); i++ )
{
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
// drawContours( drawing, contours, i, color, 2, 8, hierarchy, 0, Point() );
// drawContours( drawing, contours, i, color, CV_FILLED );
// ellipse( drawing, minEllipse[i], color, 2, 8 );
// Point2f rect_points[4]; minRect[i].points( rect_points );
drawCross(_mc[i],Scalar(0,0,255), 5, drawing);
Point2f rect_points[4];
minRect[i].points( rect_points );
for( int j = 0; j < 4; j++ ) {
line( drawing, rect_points[j], rect_points[(j+1)%4], color, 1, 8 );
}
char buff[255];
//sprintf(buff, "%d", i+1);
string text = std::string(buff);
cv::putText(drawing,text,_mc[i],0,0.5,Scalar(0,0,255),1,8,false);
// for( int j = 0; j < 4; j++ )
// line( drawing, rect_points[j], rect_points[(j+1)%4], color, 1, 8 );
}
ROS_INFO("size: %d", contours.size());
/// Show in a window
// namedWindow( "Contours", CV_WINDOW_AUTOSIZE );
// imshow( "Contours", drawing );
cv::imshow("image processed", cv_ptr->image);
cv::imshow("contours", drawing);
//cv::imshow("trackBar1", imgdest);
cv::waitKey(3);
//Convert the CvImage to a ROS image message and publish it on the "camera/image_processed" topic.
pub.publish(cv_ptr->toImageMsg());
}
int main(int, char**)
{
VideoCapture cap(0); // open the default camera
if(!cap.isOpened()){ // check if we succeeded
std::cout<<"Terminated since camera init failed";
return -1;
}
Mat edges;
for(;;)
{
Mat frame;
Mat momentMarkedFrame;
cap >> frame; // get a new frame from camera
Mat filteredFrame = filter_R_pass(frame);
momentMarkedFrame = frame;
imshow("Filtered", filteredFrame);
/*
Mat hsv;
Mat hue;
cvtColor( frame, hsv, CV_BGR2HSV );
/// Use only the Hue value
hue.create( hsv.size(), hsv.depth() );
int ch[] = { 0, 0 };
mixChannels( &hsv, 1, &hue, 1, ch, 1 );
hist_backProject(20,hue);
*/
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
findContours( filteredFrame, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0) );
Mat drawing = Mat::zeros( filteredFrame.size(), CV_8UC1 );
for( int i = 0; i< contours.size(); i++ )
{
vector<Point> contour = contours.at(i);
double cArea = contourArea(contour,false);
if (cArea>1200){
cout<<"Area "<<i<<" :"<<cArea<<endl;
Scalar color = Scalar( rng.uniform(0, 255));
//Find contours's moments
Moments m = moments(contour);
Point2f center = Point2f(m.m10/m.m00,m.m01/m.m00);
circle(momentMarkedFrame,center,5,Scalar(200,200,0),1);
imshow("momentMarkedFrame", momentMarkedFrame);
drawContours( drawing, contours, i, color, 2, 8, hierarchy, 2, Point() );
}
}
/// Show in a window
namedWindow( "Contours", CV_WINDOW_AUTOSIZE );
imshow( "Contours", drawing );
//cv::inRange(frame,Scalar(50,50,0),Scalar(60,60,255),redOnlyFrame);
//cvtColor(frame, edges, COLOR_BGR2GRAY);
//GaussianBlur(edges, edges, Size(7,7), 1.5, 1.5);
//Canny(edges, edges, 0, 30, 3);
imshow("origin", frame);
if(waitKey(30) >= 0) break;
}
// the camera will be deinitialized automatically in VideoCapture destructor
return 0;
}
bool handReader::bounding(Mat img, Mat skin){
int max_radius = 0;
Point2f max_circle;
max_radius_index = 0;
skinCenter.clear();
threshold(img, img, 0, 255, THRESH_BINARY );
findContours(img, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0) );
vector<vector<Point> > contours_poly( contours.size() );
vector<Rect> boundRect( contours.size() );
vector<Point2f>center( contours.size() );
vector<float>radius( contours.size() );
for( int i = 0; i < contours.size(); i++ )
{ approxPolyDP( Mat(contours[i]), contours_poly[i], 3, true );
boundRect[i] = boundingRect( Mat(contours_poly[i]) );
minEnclosingCircle( (Mat)contours_poly[i], center[i], radius[i] );
}
if(contours.size()==0)
return false;
/// Draw polygonal contour + bonding rects + circles
//Mat drawing = Mat::zeros( img.size(), CV_8UC3 );
for( int i = 0; i< contours.size(); i++ ){
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
//drawContours( img, contours_poly, i, color, 1, 8, vector<Vec4i>(), 0, Point() );
//rectangle( img, boundRect[i].tl(), boundRect[i].br(), color, 2, 8, 0 );
if((int)radius[i] > 5){
//circle( img, center[i], (int)radius[i], color, 2, 8, 0 );
for(int x = boundRect[i].tl().x; x < boundRect[i].br().x; x++){
for(int y = boundRect[i].tl().y; y < boundRect[i].br().y; y++){
if(x>=0 && x < img.rows && y >=0 && y < img.cols && skin.data[skin.step[0]*y + skin.step[1]*x + 0] == 255){
img.data[img.step[0]*y + img.step[1]*x + 0] = 255;
}
}
}
if(skin.data[skin.step[0]*(int(boundRect[i].tl().y+boundRect[i].br().y)/2) + skin.step[1]*(int(boundRect[i].tl().x+boundRect[i].br().x)/2) + 0] == 255){
skinCenter.push_back(center[i]);
if((int)radius[i] > max_radius){
max_radius = (int)radius[i];
max_circle = center[i];
//big_radius_v.push_back(center[i]);
}
}
}
}
//cout<<skinCenter.size()<<endl;
sort (skinCenter.begin(), skinCenter.end(), sortX);
//sort (skinCenter.begin(), skinCenter.end(), sortY);
if(skinCenter.size()!=0){
//cout <<skinCenter.front().x<<":"<<skinCenter.back().x<<endl;
//pathX.push_back(skinCenter);
big_radius_v.push_back(max_circle);
//max_radius_index.push_back(mri);
}
//cout<<img.rows<<endl;
//cout<<img.cols<<endl;
return true;
}
namespace CvContour {
CvContour::CvContour(const std::string & name) :
Base::Component(name) {
}
CvContour::~CvContour() {
}
void CvContour::prepareInterface() {
// Register handlers with their dependencies.
registerHandler("onNewImage", boost::bind(&CvContour::onNewImage, this));
addDependency("onNewImage", &in_img);
// Input and output data streams.
registerStream("in_img", &in_img);
registerStream("out_contours", &out_contours);
registerStream("out_img", &out_img);
}
bool CvContour::onInit() {
return true;
}
bool CvContour::onFinish() {
return true;
}
bool CvContour::onStop() {
return true;
}
bool CvContour::onStart() {
return true;
}
RNG rng(12345);
void CvContour::onNewImage()
{
CLOG(LTRACE) << "CvContour::onNewImage\n";
try {
// Input: a binary or edge image.
cv::Mat input = in_img.read();
// Find contours.
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
findContours( input, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, Point(0, 0) );
/* /// Get the moments
vector<Moments> mu(contours.size() );
for( int i = 0; i < contours.size(); i++ )
{ mu[i] = moments( contours[i], false ); }
/// Get the mass centers:
vector<Point2f> mc( contours.size() );
for( int i = 0; i < contours.size(); i++ )
{ mc[i] = Point2f( mu[i].m10/mu[i].m00 , mu[i].m01/mu[i].m00 ); }*/
CLOG(LINFO) << "Found "<< contours.size() << " contours";
// Select only the external contour
/* if (contours.size() > 1)
contours.erase (contours.begin()+1,contours.end());*/
/// Draw contours
Mat drawing = Mat::zeros( input.size(), CV_8UC3 );
for( int i = 0; i< contours.size(); i++ )
{
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
drawContours( drawing, contours, i, color, 2, 8, hierarchy, 0, Point() );
// circle( drawing, mc[i], 4, color, -1, 8, 0 );
}
// Write contours to the output.
out_contours.write(contours);
out_img.write(drawing);
} catch (...) {
CLOG(LERROR) << "CvContour::onNewImage failed\n";
}
}
} //: namespace CvContour
Mat mClustererCustomKMeans::_cluster(const Mat& descriptors)
{
cout << "* Creating initial center points *" << endl;
// start with random centers, choose from the set of points
RNG rng;
Mat center_points(Size(descriptors.cols,_getNumClusters()), descriptors.type());
for(int i = 0; i < _getNumClusters(); i++)
{
int ridx = rng.uniform(0, descriptors.rows);
//TODO alternative to use Mat::copyTo
center_points.row(i) = descriptors.row(ridx) + Mat::zeros(Size(descriptors.row(ridx).cols, descriptors.row(ridx).rows), descriptors.type());
#ifdef DEBUG
cout << " Center Point [" << i << "] " << center_points.row(i) << "; p " << ridx << endl;
#endif
}
Mat lastClusterCenters = center_points;
do
{
lastClusterCenters = center_points;
// get nearest points, store points
cout << "* Grouping points in clusters *" << endl;
vector<vector<Mat> > clusterd_points(_getNumClusters());
for(int i = 0; i < descriptors.rows; i++)
{
// which cluster the point belongs to
// get nearest cluster center to the point
double minDist = 1000000;
int nearestCluster = 0;
for(int ic = 0; ic < _getNumClusters(); ic++)
{
double dist = Util::getSqDistance(descriptors.row(i), center_points.row(ic));
if (dist < minDist)
{
minDist = dist;
nearestCluster = ic;
}
}
// store point in its corresponding cluster
clusterd_points[nearestCluster].push_back(descriptors.row(i));
#ifdef DEBUG
cout << " Added point " << descriptors.row(i) << " to cluster [" << nearestCluster << "]; Distance " << minDist << endl;
#endif
}
// recalculate cluster centers
cout << "* Recalculate cluster centers *" << endl;
for(unsigned int i = 0; i < clusterd_points.size(); i++)
{
Mat meanM = Util::getMean(clusterd_points[i]);
center_points.row(i) = meanM + Mat::zeros(Size(meanM.cols, meanM.rows), meanM.type());
#ifdef DEBUG
cout << " Update centre point [" << i << "] " << center_points.row(i) << endl;
#endif
}
cout << "* Checking end condition *" << endl;
#ifdef DEBUG
cout << "Current center points " << center_points << endl << "Last center points " << lastClusterCenters << endl;
#endif
// end if the centers stop changing
} while(!Util::approximateEq(center_points, lastClusterCenters, 0.1));
return center_points;
}
void AmericanOption::Pfadgenerieren(double** X, double** wdiff, int start,
double * S) {
for (int j = 0; j < D; ++j)
X[start][j] = S[j];
// if (PfadModell == GENERISCHE) {
// for (int n = start + 1; n < N; ++n)
// for (int d = 0; d < D; ++d)
// X[n][d] = xi(wdiff[n][d]);
// }
if (PfadModell == ITO) {
for (int n = start + 1; n < N; ++n)
for (int d = 0; d < D; ++d)
X[n][d] = X[n - 1][d]
* exp(
(((r - delta) - 0.5 * sigma[d] * sigma[d]) * dt
+ sigma[d] * wdiff[n][d]));
return;
}
if (PfadModell == LIBOREXP) {
double wdiff[D];
for (int n = start + 1; n < N; ++n) {
double** zwischen = DoubleFeld(6, D);
for (int d = 0; d < D; ++d)
zwischen[0][d] = (X[n - 1][d]);
double DDT = sqrt(dt / 5.);
double RZWISCHEN[D];
double GG[D];
double G[D];
static RNG generator;
for (int schritt = 1; schritt < 6; schritt++) {
for (int d = 0; d < DrivingFactors; ++d)
wdiff[d] = DDT * generator.nextGaussian();
double t = (double) (n - 1) * dt
+ 0.05 * ((double) schritt - 0.5);
zwischen[schritt][0] = log(S[0]);
for (int d = 0; d < D; ++d) {
RZWISCHEN[d] = (zwischen[schritt - 1][d]);
G[d] = 0.2 * g((double) d * dt - t);
GG[d] = pow(
0.2
* g(
(double) (d + 1) * dt
+ 0.05
* ((double) schritt
- 0.5)), 2);
}
for (int i = n; i < D; ++i) {
double driftsum = 0;
for (int j = n; j <= i; ++j)
driftsum += dt * RZWISCHEN[j] * G[i] * G[j]
* corr[i - 1][j - 1] / (1. + dt * RZWISCHEN[j]);
zwischen[schritt][i] = zwischen[schritt - 1][i]
* exp(
(driftsum - 0.5 * GG[i - n]) * 0.05
+ G[i]
* prod(chol[i - 1], wdiff,
DrivingFactors));
}
}
for (int d = 0; d < D; ++d) {
X[n][d] = zwischen[5][d];
if (d < n)
X[n][d] = X[n - 1][d];
}
deleteDoubleFeld(zwischen, 6, D);
}
}
// deleteDoubleFeld(wdiff, D);
if (X[N - 1][0] < 0)
printf("Error0\n");
//if(generator_noch_loeschen)delete generator;
}
void IGIIntegrator::Preprocess(const Scene &scene, const Camera *camera,
const Renderer *renderer) {
if (scene.lights.size() == 0) return;
MemoryArena arena;
RNG rng;
// Compute samples for emitted rays from lights
vector<float> lightNum(nLightPaths * nLightSets);
vector<float> lightSampPos(2 * nLightPaths * nLightSets, 0.f);
vector<float> lightSampComp(nLightPaths * nLightSets, 0.f);
vector<float> lightSampDir(2 * nLightPaths * nLightSets, 0.f);
LDShuffleScrambled1D(nLightPaths, nLightSets, &lightNum[0], rng);
LDShuffleScrambled2D(nLightPaths, nLightSets, &lightSampPos[0], rng);
LDShuffleScrambled1D(nLightPaths, nLightSets, &lightSampComp[0], rng);
LDShuffleScrambled2D(nLightPaths, nLightSets, &lightSampDir[0], rng);
// Precompute information for light sampling densities
Distribution1D *lightDistribution = ComputeLightSamplingCDF(scene);
for (uint32_t s = 0; s < nLightSets; ++s) {
for (uint32_t i = 0; i < nLightPaths; ++i) {
// Follow path _i_ from light to create virtual lights
int sampOffset = s*nLightPaths + i;
// Choose light source to trace virtual light path from
float lightPdf;
int ln = lightDistribution->SampleDiscrete(lightNum[sampOffset],
&lightPdf);
Light *light = scene.lights[ln];
// Sample ray leaving light source for virtual light path
LightSample ls(lightSampPos[2*sampOffset], lightSampPos[2*sampOffset+1],
lightSampComp[sampOffset]);
LightInfo2 li = light->Sample_L(scene, ls, lightSampDir[2*sampOffset],
lightSampDir[2*sampOffset+1],
camera->shutterOpen);
RayDifferential ray(li.ray);
Spectrum alpha(li.L);
if (li.pdf == 0.f || alpha.IsBlack()) continue;
alpha /= li.pdf * lightPdf;
Intersection isect;
auto optIsect = scene.Intersect(ray);
while (optIsect && !alpha.IsBlack()) {
// Create virtual light and sample new ray for path
alpha *= renderer->Transmittance(scene, RayDifferential(ray), NULL,
rng, arena);
Vector wo = -ray.d;
BSDF *bsdf = optIsect->GetBSDF(ray, arena);
// Create virtual light at ray intersection point
Spectrum contrib = alpha * bsdf->rho(wo, rng) / M_PI;
virtualLights[s].push_back(VirtualLight(optIsect->dg.p, optIsect->dg.nn, contrib,
optIsect->rayEpsilon));
// Sample new ray direction and update weight for virtual light path
Vector wi;
float pdf;
BSDFSample bsdfSample(rng);
Spectrum fr = bsdf->Sample_f(wo, &wi, bsdfSample, &pdf);
if (fr.IsBlack() || pdf == 0.f)
break;
Spectrum contribScale = fr * AbsDot(wi, bsdf->dgShading.nn) / pdf;
// Possibly terminate virtual light path with Russian roulette
float rrProb = min(1.f, contribScale.y());
if (rng.RandomFloat() > rrProb)
break;
alpha *= contribScale / rrProb;
ray = RayDifferential(optIsect->dg.p, wi, ray, optIsect->rayEpsilon);
optIsect = scene.Intersect(ray);
}
arena.FreeAll();
}
}
delete lightDistribution;
}
/** @function thresh_callback */
void thresh_callback(int, void* )
{
Mat canny_output;
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
/// Detect edges using canny
Canny( src_gray, canny_output, thresh, thresh*2, 3 );
/// Find contours
findContours( canny_output, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0) );
// find rotated rectangles and ellipses for each contour
vector<RotatedRect> minRect( contours.size() );
vector<RotatedRect> minEllipse( contours.size() );
vector<double> ratio( contours.size() );
vector<double> size( contours.size() );
for( int i = 0; i < contours.size(); i++ )
{
minRect[i] = minAreaRect( Mat(contours[i]) );
if( contours[i].size() > contoursizelowbound )
{
minEllipse[i] = fitEllipse( Mat(contours[i]) );
cout<< "contour" << endl;
Point2f ellipse_points[4]; minEllipse[i].points( ellipse_points );
double majorAxis = sqrt(pow(ellipse_points[0].x - ellipse_points[1].x,2) + pow(ellipse_points[0].y - ellipse_points[1].y,2));
double minorAxis = sqrt(pow(ellipse_points[0].x - ellipse_points[3].x,2) + pow(ellipse_points[0].y - ellipse_points[3].y,2));
ratio[i] = majorAxis/minorAxis;
size[i] = majorAxis*minorAxis;
//cout<< "ratio = " << ratio[i] << endl;
//cout<< "size = " << size[i] << endl;
}
}
/// Draw contours + rotated rects + ellipses
Mat drawing = Mat::zeros( canny_output.size(), CV_8UC3 );
Mat drawingContours = Mat::zeros( canny_output.size(), CV_8UC3 );
Mat drawingCells;
cvtColor( src, drawingCells, CV_GRAY2BGR );
for( int i = 0; i< contours.size(); i++ )
{
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
drawContours( drawingContours, contours, i, color, 1, 8, hierarchy, 0, Point() );
//if( ratio[i] > 2 )
if( size[i] < 1000 && size[i] > 100 && ratio[i] < 6)
{
cout<< "ratio = " << ratio[i] << endl;
cout<< "size = " << size[i] << endl;
// Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
drawContours( drawing, contours, i, color, 1, 8, hierarchy, 0, Point() );
// ellipse
ellipse( drawing, minEllipse[i], color, 1, 8 );
// rotated rectangle
//Point2f rect_points[4]; minRect[i].points( rect_points );
//for( int j = 0; j < 4; j++ )
// line( drawing, rect_points[j], rect_points[(j+1)%4], color, 1, 8 );
// Draw a line in center of ellipse (major axis over original)
// Determine location of points of cell and store in
Point2f ellipse_points[4]; minEllipse[i].points( ellipse_points );
Point2f midpt[2];
midpt[0].x = (ellipse_points[0].x + ellipse_points[3].x)/2;
midpt[0].y = (ellipse_points[0].y + ellipse_points[3].y)/2;
midpt[1].x = (ellipse_points[1].x + ellipse_points[2].x)/2;
midpt[1].y = (ellipse_points[1].y + ellipse_points[2].y)/2;
// Point2f cellpts; cellpoints[
line( drawingCells, midpt[0], midpt[1], color, 2,8);
// Write position of cell in file
// write coordinates for each cell's major axis as [x1 y1 x2 y2]
cellposn << midpt[0].x <<" "<< midpt[0].y << " " << midpt[1].x <<" " << midpt[1].y <<endl;
}
}
/// Close textfile
cellposn.close();
/// Show in a window
//namedWindow( "Contours", CV_WINDOW_AUTOSIZE );
//imshow( "Contours", drawing );
// display Canny param and number of contours detected
cout <<"Canny = " << thresh << endl;
int numContours = contours.size();
cout <<"numContours = " << numContours << endl;
/// Show in a window
namedWindow( "Filtered Contours", CV_WINDOW_AUTOSIZE );
imshow( "Filtered Contours", drawing );
namedWindow( "All Contours", CV_WINDOW_AUTOSIZE );
imshow( "All Contours", drawingContours );
namedWindow( "Cells", CV_WINDOW_AUTOSIZE );
imshow( "Cells", drawingCells );
imshow( "Source" , canny_output);
/// save image;
imwrite(IMAGE_PATH+filenamewrite, drawingCells);
cout << "image write complete" << endl;
}
// Tries to automatically detect the corner points of the go board
// This function simply returns without modifying p0, .., p3 if the board couldn't be found
void automatic_warp(const Mat& input, Point2f& p0, Point2f& p1, Point2f& p2, Point2f& p3)
{
// CONVERT TO HSV
Mat imgHSV;
cvtColor( input, imgHSV, CV_BGR2HSV );
// SPLITTING CHANNELS
vector<Mat> v_channel;
split(imgHSV, v_channel); //split into three channels
// SELECT CHANNEL FOR FURTHER PROCEEDING: SATURATION
auto& source_channel = v_channel[1];
// SMOOTHING IMAGE
medianBlur(source_channel, source_channel, 3);
// BINARY THRESH THE IMAGE
const auto threshold = cv::threshold(source_channel, source_channel, 0, 255, THRESH_BINARY | THRESH_OTSU);
// FINDING CONTOURS
Mat clone = source_channel.clone();
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
findContours(clone, contours, hierarchy, RETR_LIST, CHAIN_APPROX_SIMPLE, Point(0, 0));
// STOP IF THERE AREN'T ANY CONTOURS
if (contours.size() == 0)
return;
// APPROX. CONTOURS TO RECTANGLES
const auto factor = .065f; // found through testing!
for (auto& contour : contours) {
// approximating each contour to get a rectangle with 4 points!
approxPolyDP(Mat(contour), contour, arcLength(Mat(contour), true)*factor, true);
}
// CALCULATING BBOXES
vector<Rect> bboxes;
for (const auto& contour : contours)
bboxes.push_back(boundingRect(contour));
// CALCULATING MEAN BBOX AREA
int bbox_area_sum = accumulate(begin(bboxes), end(bboxes), 0, [](int base, const Rect& r) { return base + r.area(); });
int mean_area = bbox_area_sum/contours.size();
// DELETING IMPROPER CONTOURS/BBOXES
// that are smaller than the mean area
// or almost as big as the whole image
// or don't have exactly 4 corner points after approximation ( == rectangle)
assert(bboxes.size() == contours.size());
// for discarding contours that contain the complete image
const float edge_factor = .99f;
const float max_width = input.cols * edge_factor;
const float max_height = input.rows * edge_factor;
// DEBUG: DRAWING ALL LEFTOVER CONTOURS
Mat drawing = input.clone();
for (size_t i = 0; i < contours.size(); ++i) {
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255));
drawContours(drawing, contours, (int)i, color, 2, 8, hierarchy, 0, Point());
}
// DEBUG: DRAWING BBOXES FOR ALL CONTOURS
for(auto& rect : bboxes) {
rectangle(drawing, rect.tl(), rect.br(), Scalar(255, 255, 255), 2, 8);
}
auto cont_it = begin(contours);
auto bbox_it = begin(bboxes);
while (cont_it != end(contours) && bbox_it != end(bboxes)) {
auto& contour = *cont_it;
auto& bbox = *bbox_it;
const auto ar = bbox.area();
// delete bboxes and its corresponding contour if the bbox is almost as large as the window
if (bbox.width >= max_width && bbox.height >= max_height) {
cont_it = contours.erase(cont_it);
bbox_it = bboxes.erase(bbox_it);
}
// or if the bbox area is smaller than the mean area
else if (bbox.area() <= mean_area) {
cont_it = contours.erase(cont_it);
bbox_it = bboxes.erase(bbox_it);
}
else if (contour.size() != 4) {
cont_it = contours.erase(cont_it);
bbox_it = bboxes.erase(bbox_it);
}
else {
++cont_it;
++bbox_it;
}
}
// STOP IF WE DON'T HAVE ANY CONTOURS LEFT -> NO BOARD FOUND
if (contours.size() == 0)
return;
// SELECTING SUITABLE CONTOUR
// sort contours and bboxes by area
// that means we're selecting biggest contour for further processing
if (contours.size() > 1) {
sort(begin(contours), end(contours),
[](const vector<Point>& cont1, const vector<Point>& cont2) { return contourArea(cont1) > contourArea(cont2); }
);
sort(begin(bboxes), end(bboxes),
[](const Rect& r1, const Rect& r2) { return r1.area() > r2.area(); }
);
}
auto board_contour = contours.front();
auto board_bbox = bboxes.front();
// GETTING CORNER POINTS OF CONTOUR
// stop if the contour has left only 4 points after approximating
if (board_contour.size() != 4)
return;
// Rectangle Order for warping:
// 0--------1
// | |
// | |
// 2--------3
auto center = Point(board_bbox.x + board_bbox.width/2, board_bbox.y + board_bbox.height/2);
// splitting points in upper and lower half
vector<Point> uppers, lowers;
for (auto& point : board_contour) {
if (point.y < center.y)
uppers.emplace_back(point);
else
lowers.emplace_back(point);
}
// stop if we couldn't classify two uppers and lowers
if (uppers.size() != 2 || lowers.size() != 2)
return;
// deciding which point is left/right
// upper side
p0 = uppers[0];
p1 = uppers[1];
if (p0.x > p1.x)
swap(p0, p1);
// lower side
p2 = lowers[0];
p3 = lowers[1];
if (p2.x < p3.x)
swap(p2, p3);
}
int main() {
cout << "input block : ";
char name;
cin >> name;
VideoCapture cap(0);
if (!cap.isOpened())return 0;
vector<Mat> RoiSet;
Mat sub, draw_sub;
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
Rect rect;
Mat diff;
uchar *myData;
dis_feature dis_calcul;
CircleFeature cir_calcul;
cir_calcul.makeCircle();
vector<int> vcir;
Mat whiteBalance;
int avr = 100;
////////////////////////////////
/*int hlow = 0, hhigh = 255;
int slow = 0, shigh = 255;
int vlow = 0, vhigh = 255;
int canlow = 0, canhigh = 255;*/
////////////////////////////////
while (1) {
while (1)//차영상 이용해서 break
{
Mat avrimg;
cap >> avrimg;
for (int i = 0; i < avr; i++) {
cap >> img;
//if (img.empty())goto out;
resize(avrimg, avrimg, Size(), ratio, ratio);//이미지 리사이징
getaccAvr(img, avrimg);//중첩영상 만들기
}
if (!flag) {
whiteBalance = avrimg;
flag = !flag;
avr = 10;
}//처음 한번만 밸런스 매트릭스를 만든다
int height = 0, width = 0;
int _stride = 0;
float cnt1 = 0, wide = 0;
Mat imgry, avrgry;
imshow("balance_mat", whiteBalance);
cvtColor(img, imgry, CV_BGR2GRAY);
cvtColor(avrimg, avrgry, CV_BGR2GRAY);
absdiff(imgry, avrgry, diff);
threshold(diff, diff, 20, 255, THRESH_BINARY);
//imshow("diff", diff);
height = diff.rows;
width = diff.cols;
wide = height*width;
_stride = diff.step;
myData = diff.data;
for (int i = 0; i < height; i++)
{
for (int j = 0; j < width; j++)
{
uchar val = myData[i * _stride + j];
if (val)cnt1++;
}
}
//cout << cnt1 << " " << wide << " " << cnt1 / wide << endl;
if (cnt1 / wide < 0.01) {
avrimg.copyTo(img);
break;
}
if (waitKey(1) == 27)goto out;
}
Mat temp;
cv::scaleAdd(whiteBalance, -0.1, img, img);
absdiff(whiteBalance, img, img);
imshow("balance img", img);
////////////////////////trackbar//////////////////////
/*namedWindow("track", 1);
createTrackbar("Hlow_value", "track", &canlow, 255);
createTrackbar("Hhigh_value", "track", &canhigh, 255);
createTrackbar("Slow_value", "track", &slow, 255);
createTrackbar("Shigh_value", "track", &shigh, 255);
createTrackbar("Vlow_value", "track", &vlow, 255);
createTrackbar("Vhigh_value", "track", &vhigh, 255);*/
//////////////////////////////////////////////////////
img.copyTo(sub);
GaussianBlur(img, img, Size(3, 3), 0.8);
//cvtColor(img, img, COLOR_BGR2HSV);
//inRange(img, Scalar(hlow, slow, vlow), Scalar(hhigh, shigh, vhigh), img);
//cvtColor(img, img, COLOR_BGR2GRAY);
Canny(img, temp, 30, 200);
//threshold(~img, img, 100, 255, THRESH_BINARY);
findContours(temp, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
draw_sub = Mat::zeros(temp.size(), CV_8UC3);
vector<Point> approxShape;
for (size_t i = 0; i < contours.size(); i++) {
approxPolyDP(contours[i], approxShape, arcLength(Mat(contours[i]), true)*0.04, true);
drawContours(draw_sub, contours, i, Scalar(255, 255, 255), CV_FILLED);
}
imshow("draw_sub", draw_sub);
Canny(draw_sub, temp, 0, 255);
imshow("temp2", temp);
findContours(temp, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
/*Mat temp_;
Mat element = getStructuringElement(cv::MORPH_GRADIENT,
cv::Size(3, 3),
cv::Point(3, 3));
draw_sub.copyTo(temp_);
erode(temp_, temp_, element);
absdiff(draw_sub, temp_, draw_sub);
findContours(draw_sub, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
*/
vector<RotatedRect> minRect(contours.size());
vector<RotatedRect> minEllipse(contours.size());
setMouseCallback("src", CallBackFunc, NULL);
RoiSet.clear();
for (int i = 0; i < contours.size(); i++) {
minRect[i] = minAreaRect(Mat(contours[i]));
if (contours[i].size()>5) {
minEllipse[i] = fitEllipse(Mat(contours[i]));
}
}
int j = 0;
vector<float> width_length;
vector<location> loc;
vector<Point2f> cen_for_loc;
system("cls");
for (int i = 0; i < contours.size(); i++) {
Scalar color = Scalar(rng.uniform(0, 255), rng.uniform(0, 255), rng.uniform(0, 255));
width_length.clear();
float div = 0;
Point2f rect_point[4];
Point2f center;
minRect[i].points(rect_point);
Mat M, rotated;
location tmp;
float angle = minRect[i].angle;
Size Rrect_size = minRect[i].size;
if (minRect[i].angle < -45.) {
angle += 90.0;
swap(Rrect_size.width, Rrect_size.height);
}
M = getRotationMatrix2D(minRect[i].center, angle, 1.0);
warpAffine(draw_sub, rotated, M, draw_sub.size(), INTER_CUBIC);
getRectSubPix(rotated, Rrect_size, minRect[i].center, rotated);
char num[10];
sprintf(num, "#%d img", j);
for (int j = 0; j < 4; j++) {
width_length.push_back(dis_calcul.point_dist(rect_point[j], rect_point[(j + 1) % 4]));
}
div = width_length[0] < width_length[1] ? width_length[0] / width_length[1] : width_length[1] / width_length[0];
if ((rotated.cols * rotated.rows>2000))//&& (div>0.5))// && (div < 0.9))
{
for (int j = 0; j < 4; j++) {
line(sub, rect_point[j], rect_point[(j + 1) % 4], Scalar(255, 0, 0));
center.x += rect_point[j].x;
center.y += rect_point[j].y;
}
center.x /= 4;
cvtColor(rotated, rotated, COLOR_BGR2HSV);
inRange(rotated, Scalar(0, 0, 0), Scalar(255, 255, 125), rotated);
//imshow("rotated", rotated);
//rotated = ~rotated;
//cout << num << " : " << dis_calcul.dev_from_mat(rotated) << endl;
cir_calcul.CircleByMat(rotated);
cir_calcul.rtFullCirnum(rotated, vcir);
vcir.clear();
tmp.set_pt(center);
cen_for_loc.push_back(center);
///////
//class에 값 집어넣는 과정
char decided = decision_making(name,rotated);
tmp.set_data(decided);
///////
loc.push_back(tmp);
imshow(num, rotated);
cout << num << "::" << decided << endl;
j++;
}
}
for (int k = 0; k < loc.size(); k++) {
loc[k].set_rnk(get_rnk_pt(cen_for_loc));
}
print_loc(sub, get_rnk_pt(cen_for_loc));
//imshow("img", img);
imshow("src", sub);
if (waitKey(5) == 27)break;
}
out:
destroyAllWindows();
return 0;
}
namespace Go_Scanner {
const char* thresh_window = "Thresh";
const char* morph_window = "Morph";
bool asked_for_board_contour = false;
using namespace cv;
using namespace std;
//point coordinates
int boardCornerX[]={80, 443, 460, 157};
int boardCornerY[]={80, 87, 430, 325};
Mat img0, selectedImg, temp;
string windowName = "Manual Selection Window";
int board_selection_cancel_key = 27;
// split a string at each char that is contained in delimiters and return the tokens
vector<string> split(const string& str, const string& delimiters)
{
// Skip delimiters at beginning.
string::size_type lastPos = str.find_first_not_of(delimiters, 0);
// Find first "non-delimiter".
string::size_type pos = str.find_first_of(delimiters, lastPos);
vector<string> tokens;
while (string::npos != pos || string::npos != lastPos)
{
// Found a token, add it to the vector.
tokens.push_back(str.substr(lastPos, pos - lastPos));
// Skip delimiters. Note the "not_of"
lastPos = str.find_first_not_of(delimiters, pos);
// Find next "non-delimiter"
pos = str.find_first_of(delimiters, lastPos);
}
return tokens;
}
// renders a text in img with text at position
// automatically handels newlines
void putText(Mat img, string text, Point position) {
// text appearence
int fontFace = 1;
double fontScale = 1.2;
int thickness = 1;
int baseline = 0;
int offset_x = 1, offset_y = 3;
// text size of one line
Size textSize = getTextSize(text, fontFace, fontScale, thickness, &baseline);
baseline += thickness;
auto total_height = textSize.height + baseline + 1;
auto lines = split(text, "\n");
// recurse if we got more than one line
// and put each line directly under the preceding
if (lines.size() > 1) {
int i = 0;
for (const auto& line : lines) {
putText(img, line, position + Point(0, i*total_height));
++i;
}
return;
}
// buffer for the transparent box under the text (achieved through blending the images)
Mat box_buf = img.clone();
// draw the solid box
rectangle(box_buf, position + Point(0, baseline),
position + Point(textSize.width, -textSize.height),
Scalar(0, 0, 0),
CV_FILLED);
// blend the box to make it transparent
auto alpha = .3f;
addWeighted(box_buf, alpha, img, 1.0 - alpha, 0.0, img);
// draw the baseline
line(img, position + Point(0, thickness + offset_y),
position + Point(textSize.width, thickness + offset_y),
Scalar(0, 0, 255));
// draw the actual text
putText(img, text,
position + Point(offset_x, offset_y), // position
fontFace, // font face
fontScale, // font scale
Scalar(64, 64, 255), // color
thickness, // thickness
CV_AA); // line type
}
/**
* @brief Calls the manual board detection and shows the result in a new window.
*/
void ask_for_board_contour() {
namedWindow(windowName, CV_WINDOW_AUTOSIZE);
setMouseCallback(windowName, mouseHandler, NULL);
putText(img0,
"Mark the Go board with the blue rectangle\n"
"Press ESC to cancel or any other key to accept.",
cvPoint(10, 20));
showImage();
auto key = waitKey(0);
destroyWindow(windowName);
// only accept board selection if the ESCAPE key was NOT pressed!
if (key != board_selection_cancel_key)
asked_for_board_contour = true;
}
/**
* @brief Calls the automatic board detection and shows the result in a new window.
* Prints an error to the console if the automatic detection couldn't find anything.
*/
void do_auto_board_detection() {
Point2f p0, p1, p2, p3;
automatic_warp(img0, p0, p1, p2, p3);
// automatic_warp failed and board wasn't found
// if one of the points wasn't set
if (p0 == Point2f()) {
cout << "!!ERROR >> Failed to automatically detect the go board!" << endl;
ask_for_board_contour();
return;
}
// HACK: adjust the coordinates a bit to snap them closer to the board grid
const auto gap = .5f;
p0 += Point2f(gap, gap);
p1 += Point2f(-gap, gap);
p2 += Point2f(-gap, -gap);
p3 += Point2f(gap, -gap);
// create data suitable for showImage()
int board_corners_X[] = { (int)p0.x, (int)p1.x, (int)p2.x, (int)p3.x };
int board_corners_Y[] = { (int)p0.y, (int)p1.y, (int)p2.y, (int)p3.y };
namedWindow(windowName, CV_WINDOW_AUTOSIZE);
putText(img0,
"Result of automatically detecting the Go board.\n"
"Press ESC to cancel or any other key to accept.",
cvPoint(10, 20));
showImage(board_corners_X, board_corners_Y);
auto key = waitKey(0);
destroyWindow(windowName);
// only accept board selection if the ESCAPE key was NOT pressed!
if (key != board_selection_cancel_key) {
asked_for_board_contour = true;
// actually commmit the selection to the internal used variables
boardCornerX[0] = cvRound(p0.x);
boardCornerX[1] = cvRound(p1.x);
boardCornerX[2] = cvRound(p2.x);
boardCornerX[3] = cvRound(p3.x);
boardCornerY[0] = cvRound(p0.y);
boardCornerY[1] = cvRound(p1.y);
boardCornerY[2] = cvRound(p2.y);
boardCornerY[3] = cvRound(p3.y);
}
}
Mat warpImage(Mat img, Point2f p0, Point2f p1, Point2f p2, Point2f p3)
{
/*
Rectangle Order:
0-------1
| |
| |
2-------3
*/
Point2f selCorners[4];
selCorners[0] = p0;
selCorners[1] = p1;
selCorners[2] = p2;
selCorners[3] = p3;
Point2f dstCorners[4];
dstCorners[0] = Point2f(0.0, 0.0);
dstCorners[1] = Point2f((float)img.cols, 0.0);
dstCorners[2] = Point2f(0.0, (float)img.rows);
dstCorners[3] = Point2f((float)img.cols, (float)img.rows);
Mat transformationMatrix;
transformationMatrix = getPerspectiveTransform(selCorners, dstCorners);
Mat warpedImg;
warpPerspective(img, warpedImg, transformationMatrix, warpedImg.size(), 1, 0 ,0);
return warpedImg;
}
RNG rng(12345);
// Tries to automatically detect the corner points of the go board
// This function simply returns without modifying p0, .., p3 if the board couldn't be found
void automatic_warp(const Mat& input, Point2f& p0, Point2f& p1, Point2f& p2, Point2f& p3)
{
// CONVERT TO HSV
Mat imgHSV;
cvtColor( input, imgHSV, CV_BGR2HSV );
// SPLITTING CHANNELS
vector<Mat> v_channel;
split(imgHSV, v_channel); //split into three channels
// SELECT CHANNEL FOR FURTHER PROCEEDING: SATURATION
auto& source_channel = v_channel[1];
// SMOOTHING IMAGE
medianBlur(source_channel, source_channel, 3);
// BINARY THRESH THE IMAGE
const auto threshold = cv::threshold(source_channel, source_channel, 0, 255, THRESH_BINARY | THRESH_OTSU);
// FINDING CONTOURS
Mat clone = source_channel.clone();
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
findContours(clone, contours, hierarchy, RETR_LIST, CHAIN_APPROX_SIMPLE, Point(0, 0));
// STOP IF THERE AREN'T ANY CONTOURS
if (contours.size() == 0)
return;
// APPROX. CONTOURS TO RECTANGLES
const auto factor = .065f; // found through testing!
for (auto& contour : contours) {
// approximating each contour to get a rectangle with 4 points!
approxPolyDP(Mat(contour), contour, arcLength(Mat(contour), true)*factor, true);
}
// CALCULATING BBOXES
vector<Rect> bboxes;
for (const auto& contour : contours)
bboxes.push_back(boundingRect(contour));
// CALCULATING MEAN BBOX AREA
int bbox_area_sum = accumulate(begin(bboxes), end(bboxes), 0, [](int base, const Rect& r) { return base + r.area(); });
int mean_area = bbox_area_sum/contours.size();
// DELETING IMPROPER CONTOURS/BBOXES
// that are smaller than the mean area
// or almost as big as the whole image
// or don't have exactly 4 corner points after approximation ( == rectangle)
assert(bboxes.size() == contours.size());
// for discarding contours that contain the complete image
const float edge_factor = .99f;
const float max_width = input.cols * edge_factor;
const float max_height = input.rows * edge_factor;
// DEBUG: DRAWING ALL LEFTOVER CONTOURS
Mat drawing = input.clone();
for (size_t i = 0; i < contours.size(); ++i) {
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255));
drawContours(drawing, contours, (int)i, color, 2, 8, hierarchy, 0, Point());
}
// DEBUG: DRAWING BBOXES FOR ALL CONTOURS
for(auto& rect : bboxes) {
rectangle(drawing, rect.tl(), rect.br(), Scalar(255, 255, 255), 2, 8);
}
auto cont_it = begin(contours);
auto bbox_it = begin(bboxes);
while (cont_it != end(contours) && bbox_it != end(bboxes)) {
auto& contour = *cont_it;
auto& bbox = *bbox_it;
const auto ar = bbox.area();
// delete bboxes and its corresponding contour if the bbox is almost as large as the window
if (bbox.width >= max_width && bbox.height >= max_height) {
cont_it = contours.erase(cont_it);
bbox_it = bboxes.erase(bbox_it);
}
// or if the bbox area is smaller than the mean area
else if (bbox.area() <= mean_area) {
cont_it = contours.erase(cont_it);
bbox_it = bboxes.erase(bbox_it);
}
else if (contour.size() != 4) {
cont_it = contours.erase(cont_it);
bbox_it = bboxes.erase(bbox_it);
}
else {
++cont_it;
++bbox_it;
}
}
// STOP IF WE DON'T HAVE ANY CONTOURS LEFT -> NO BOARD FOUND
if (contours.size() == 0)
return;
// SELECTING SUITABLE CONTOUR
// sort contours and bboxes by area
// that means we're selecting biggest contour for further processing
if (contours.size() > 1) {
sort(begin(contours), end(contours),
[](const vector<Point>& cont1, const vector<Point>& cont2) { return contourArea(cont1) > contourArea(cont2); }
);
sort(begin(bboxes), end(bboxes),
[](const Rect& r1, const Rect& r2) { return r1.area() > r2.area(); }
);
}
auto board_contour = contours.front();
auto board_bbox = bboxes.front();
// GETTING CORNER POINTS OF CONTOUR
// stop if the contour has left only 4 points after approximating
if (board_contour.size() != 4)
return;
// Rectangle Order for warping:
// 0--------1
// | |
// | |
// 2--------3
auto center = Point(board_bbox.x + board_bbox.width/2, board_bbox.y + board_bbox.height/2);
// splitting points in upper and lower half
vector<Point> uppers, lowers;
for (auto& point : board_contour) {
if (point.y < center.y)
uppers.emplace_back(point);
else
lowers.emplace_back(point);
}
// stop if we couldn't classify two uppers and lowers
if (uppers.size() != 2 || lowers.size() != 2)
return;
// deciding which point is left/right
// upper side
p0 = uppers[0];
p1 = uppers[1];
if (p0.x > p1.x)
swap(p0, p1);
// lower side
p2 = lowers[0];
p3 = lowers[1];
if (p2.x < p3.x)
swap(p2, p3);
}
//Manual detection
/*
Rectangle Order:
0-------1
| |
| |
3-------2
*/
int point=-1; //currently selected point
int nop=4; //number of points
void mouseHandler(int event, int x, int y, int flags, void *param)
{
switch(event)
{
case CV_EVENT_LBUTTONDOWN:
selectedImg = holdImg(x, y);
break;
case CV_EVENT_LBUTTONUP:
if((selectedImg.empty()!= true)&& point!=-1)
{
releaseImg(selectedImg,x,y);
selectedImg=Mat();
}
break;
//Draws the lines while navigating with the mouse
case CV_EVENT_MOUSEMOVE:
/* draw a rectangle*/
if(point!=-1)
{
if(selectedImg.empty()!= true)
{
temp = selectedImg.clone();
rectangle(temp,
Point(x - 10, y - 10),
Point(x + 10, y + 10),
//BGR not RGB!!
Scalar(0, 255, 0, 0), 2, 8, 0);
//adjust the lines
for(int i=0;i<nop;i++)
{
if(i!=point)
{
line(temp,
Point(x, y),
Point(boardCornerX[i] , boardCornerY[i] ),
Scalar(0, 255, 0 ,0), 1,8,0);
}
}
imshow(windowName, temp);
}
break;
}
temp = Mat();
}
}
//draws the lines and points while holding left mouse button down
Mat holdImg(int x, int y)
{
Mat img = img0;
int radius = 4;
//find what point is selected
for(int i=0;i<nop;i++){
if((x>=(boardCornerX[i]-radius)) && (x<=(boardCornerX[i]+radius ))&& (y<=(boardCornerY[i]+radius ))&& (y<=(boardCornerY[i]+radius ))){
point=i;
break;
}
}
//draw points
for(int j=0;j<nop;j++)
{
//if this is not the selected point
if(j!=point)
{
img = img.clone();
rectangle(img,
Point(boardCornerX[j] - 1, boardCornerY[j] - 1),
Point(boardCornerX[j] + 1, boardCornerY[j] + 1),
Scalar(255, 0, 0, 0), 2, 8, 0);
}
}
//draw lines
for(int i=0;i<nop;i++)
{
if(i!=point)
{
for(int k=i+1;k<nop;k++)
{
if(k!=point)
{
img = img.clone();
line(img,
Point(boardCornerX[i] , boardCornerY[i] ),
Point(boardCornerX[k] , boardCornerY[k] ),
Scalar(255, 0, 0, 0), 1,8,0);
}
}
}
}
return img;
}
//set new coordinates and redraw the scene if the left mouse button is released
void releaseImg(Mat a, int x, int y)
{
boardCornerX[point]=x;
boardCornerY[point]=y;
showImage();
}
/**
* @brief Shows the points given through the two passed parameters on a clone of the img0 in a new window.
* Both pointers have to point to memory containing 4 variables
*/
void showImage(int* board_corner_X, int* board_corner_Y)
{
Mat img1 = img0.clone();
//draw the points
for(int j=0;j<nop;j++)
{
rectangle(img1,
Point(board_corner_X[j] - 1, board_corner_Y[j] - 1),
Point(board_corner_X[j] + 1, board_corner_Y[j] + 1),
Scalar(255, 0, 0, 0), 2, 8, 0);
//draw the lines
for(int k=j+1;k<nop;k++)
{
line(img1,
Point(board_corner_X[j] , board_corner_Y[j] ),
Point(board_corner_X[k] , board_corner_Y[k] ),
Scalar(255, 0, 0, 0), 1,8,0);
}
}
imshow(windowName, img1);
}
/**
* @brief Shows the selected points (through manual or automatic board detection) on a clone of the img0 in a new window.
*/
void showImage()
{
showImage(boardCornerX, boardCornerY);
}
bool getWarpedImg(Mat& warpedImg)
{
img0 = warpedImg.clone();
// only process the image if the user selected the board with "ask_for_board_contour" or "do_auto_board_detection" once.
// this is triggered through the GUI (and the Scanners selectBoardManually() and selectBoardAutomatically() methods)
if (!asked_for_board_contour) {
return false;
}
warpedImg = warpImage(img0,
Point2i(boardCornerX[0], boardCornerY[0]),
Point2i(boardCornerX[1], boardCornerY[1]),
Point2i(boardCornerX[3], boardCornerY[3]),
Point2i(boardCornerX[2], boardCornerY[2]));
return true;
}
}
int _tmain(int argc, _TCHAR* argv[])
{
VideoCapture cap(0); // open the video camera no. 0
if (!cap.isOpened()) // if not success, exit program
{
cout << "Cannot open the video cam" << endl;
return -1;
}
double dWidth = cap.get(CV_CAP_PROP_FRAME_WIDTH); //get the width of frames of the video
double dHeight = cap.get(CV_CAP_PROP_FRAME_HEIGHT); //get the height of frames of the video
cout << "Frame size : " << dWidth << " x " << dHeight << endl;
// namedWindow("BlackWhite", CV_WINDOW_AUTOSIZE);
namedWindow("Gray", CV_WINDOW_AUTOSIZE);
namedWindow("Blur", CV_WINDOW_AUTOSIZE);
namedWindow("BlackWhite", CV_WINDOW_AUTOSIZE);
namedWindow("Canny", CV_WINDOW_AUTOSIZE);
namedWindow("FindContours", CV_WINDOW_AUTOSIZE);
namedWindow("Result", CV_WINDOW_AUTOSIZE);
while (1)
{
Mat frame;
bool bSuccess = cap.read(frame); // read a new frame from video
if (!bSuccess) //if not success, break loop
{
cout << "Cannot read a frame from video stream" << endl;
break;
}
// process
Mat frameGray;
Mat frameBlur;
Mat frameBlackWhite;
Mat frameCanny;
Mat frameGrayResize;
Mat frameBlurResize;
Mat frameBlackWhiteResize;
Mat frameCannyResize;
cvtColor(frame, frameGray, CV_BGR2GRAY);
blur(frameGray, frameBlur, Size(9, 9));
threshold(frameBlur, frameBlackWhite, 80, 255, THRESH_BINARY);
// calcul de l'air (calculer le nombre de pixels blancs)
// imshow("BlackWhite", frameGray);
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
Canny(frameBlackWhite, frameCanny, thresh, thresh * 2, 3);
findContours(frameCanny, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
int index = 0;
vector<Point> bestContour;
int perimeter = getPerimeter(contours, index, bestContour);
int xmin = INT_MAX, xmax = -INT_MAX, ymin = INT_MAX, ymax = -INT_MAX;
getHandArea(bestContour, xmin, xmax, ymin, ymax);
int area = getArea(xmin, xmax, ymin, ymax, frameBlackWhite);
// rapport aire / périmètre
double rap1 = (double)area / (double)((xmax - xmin) * (ymax - ymin) - area);
double rap2 = (double)area / (double)perimeter;
// std::cout << perimeter << std::endl;
// cout << "contours size: " << contours.size() << endl;
Mat frameFindContours = Mat::zeros(frameCanny.size(), CV_8UC3);
Mat drawing = Mat::zeros(frameCanny.size(), CV_8UC3);
Mat frameFindContoursResize;
Mat drawingResize;
for( int i = 0; i< contours.size(); i++ )
{
Scalar color = Scalar(rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255));
drawContours(frameFindContours, contours, i, color, 2, 8, hierarchy, 0, Point());
}
// Scalar color = Scalar(rng.uniform(0, 255), rng.uniform(0, 255), rng.uniform(0, 255));
Scalar color = Scalar(200, 200, 250);
drawContours(drawing, contours, index, color, 2, 8, hierarchy, 0, Point());
double rapF = rap1 * rap2;
displayText("Perimeter = " + std::to_string(perimeter), 10, 20, drawing);
displayText("Area = " + std::to_string(area), 10, 50, drawing);
displayText("Rapport pixel blanc noir = " + std::to_string(rap1), 10, 80, drawing);
displayText("Rapport perimeter area = " + std::to_string(rap2), 10, 110, drawing);
displayText("Rapport final = " + std::to_string(rapF), 10, 140, drawing);
displayText("Result = " + getResult(rapF, rap1), 10, 170, drawing);
rectangle(drawing, cvPoint(xmin, ymin), cvPoint(xmax, ymax), cvScalar(255, 0, 0));
// resize
// old 640x480
// new 320x240 or 160x120
Size newSize = Size(500, 340);
resize(frameGray, frameGrayResize, newSize);
resize(frameBlur, frameBlurResize, newSize);
resize(frameBlackWhite, frameBlackWhiteResize, newSize);
resize(frameCanny, frameCannyResize, newSize);
resize(frameFindContours, frameFindContoursResize, newSize);
resize(drawing, drawingResize, newSize);
imshow("Gray", frameGrayResize);
imshow("Blur", frameBlurResize);
imshow("BlackWhite", frameBlackWhiteResize);
imshow("Canny", frameCannyResize);
imshow("FindContours", frameFindContoursResize);
imshow("Result", drawingResize);
int offsetX = newSize.width + 30;
int offsetY = newSize.height + 50;
moveWindow("Gray", 0, 0);
moveWindow("Blur", offsetX, 0);
moveWindow("BlackWhite", 2 * offsetX, 0);
moveWindow("Canny", 0, offsetY);
moveWindow("FindContours", offsetX, offsetY);
moveWindow("Result", 2 * offsetX, offsetY);
if (waitKey(30) == 27)
{
cout << "esc key is pressed by user" << endl;
break;
}
}
return 0;
}
void StateSet::init_to_gaussian_noise(RNG& rng) {
for (size_t n=0; n<N; n++)
for (size_t y=0; y<datalayout.sizey; y++)
for (size_t x=0; x<datalayout.sizex; x++)
data(n,x,y) = comp(rng.gaussian_rand(), rng.gaussian_rand());
}
void VolumePatIntegrator::EyeRandomWalk(const Scene *scene, const Ray &eyeRay,
VolumeVertexList& vertexList, RNG &rng) const {
// Do a random walk for the eye ray in the volume
Spectrum cummulative(1.f);
// Find the intersection between the eye ray and the volume
VolumeRegion *vr = scene->volumeRegion;
float t0, t1;
if (!vr || !vr->IntersectP(eyeRay, &t0, &t1) || (t1-t0) == 0.f || t0 < 0.f) {
return;
}
// Find the intersection point between the sampled light ray and the volume
RayDifferential ray(eyeRay);
Point p = ray(t0), pPrev;
uint64_t bounces = 0;
while(vr->WorldBound().Inside(p)) {
Vector wi = -ray.d;
const Spectrum sigma_a = vr->Sigma_a(p, wi, eyeRay.time);
const Spectrum sigma_s = vr->Sigma_s(p, wi, eyeRay.time);
const Spectrum STER = vr->STER(p, wi, eyeRay.time);
// Construct and add the _eyeVertex_ to the _vertexList_
VolumeVertex eyeVertex(p, wi, sigma_a, sigma_s, cummulative, 1.0);
vertexList.push_back(eyeVertex);
// Sample the direction of the next event
float directionPdf = 1.f;
Vector wo;
if(STER.y() > rng.RandomFloat()) {
// Change the ray direction due to a scattering event at _p_
if(!vr->SampleDirection(p, wi, wo, &directionPdf, rng)) {
break; // Direction error
}
// Account for the losses due to the scattering event at _p_
cummulative *= sigma_s * vr->p(p, wi, wo, ray.time);
} else {
// Account only for the trnsmittance between the previous and the
// next events becuse there is no direction change.
wo = ray.d;
}
// Sample the distance of the next event
ray = RayDifferential(p, wo, 0, INFINITY);
float tDist;
float distancePdf = 1.f;
Point Psample;
if(!vr->SampleDistance(ray, &tDist, Psample, &distancePdf, rng)) {
break; // The sampled point is outside the volume
}
// Account for the sampling Pdfs from sampling a direction and/or distance
const float pdf = distancePdf * directionPdf;
cummulative *= 1 / pdf;
// Update the events and account for the transmittance between the events
pPrev = p;
p = Psample;
const Ray tauRay(pPrev, p - pPrev, 0.f, 1.f, ray.time, ray.depth);
const Spectrum stepTau = vr->tau(tauRay, .5f * stepSize, rng.RandomFloat());
const Spectrum TrPP = Exp(-stepTau);
cummulative *= TrPP;
// Possibly terminate ray marching if _cummulative_ is small
if (cummulative.y() < 1e-3) {
const float continueProb = .5f;
if (rng.RandomFloat() > continueProb) {
cummulative = 0.f;
break;
}
cummulative /= continueProb;
}
// Terminate if bounces are more than requested
bounces++;
if (bounces > maxDepth) {
break;
}
}
}
TEST_P(Eltwise, Accuracy)
{
Vec3i inSize = get<0>(GetParam());
std::string op = get<1>(GetParam());
int numConv = get<2>(GetParam());
bool weighted = get<3>(GetParam());
Net net;
std::vector<int> convLayerIds(numConv);
for (int i = 0; i < numConv; ++i)
{
Mat weights({inSize[0], inSize[0], 1, 1}, CV_32F);
randu(weights, -1.0f, 1.0f);
LayerParams convParam;
convParam.set("kernel_w", 1);
convParam.set("kernel_h", 1);
convParam.set("num_output", inSize[0]);
convParam.set("bias_term", false);
convParam.type = "Convolution";
std::ostringstream ss;
ss << "convLayer" << i;
convParam.name = ss.str();
convParam.blobs.push_back(weights);
convLayerIds[i] = net.addLayer(convParam.name, convParam.type, convParam);
net.connect(0, 0, convLayerIds[i], 0);
}
LayerParams eltwiseParam;
eltwiseParam.set("operation", op);
if (op == "sum" && weighted)
{
RNG rng = cv::theRNG();
std::vector<float> coeff(1 + numConv);
for (int i = 0; i < coeff.size(); ++i)
{
coeff[i] = rng.uniform(-2.0f, 2.0f);
}
eltwiseParam.set("coeff", DictValue::arrayReal<float*>(&coeff[0], coeff.size()));
}
eltwiseParam.type = "Eltwise";
eltwiseParam.name = "testLayer";
int eltwiseId = net.addLayer(eltwiseParam.name, eltwiseParam.type, eltwiseParam);
net.connect(0, 0, eltwiseId, 0);
for (int i = 0; i < numConv; ++i)
{
net.connect(convLayerIds[i], 0, eltwiseId, i + 1);
}
Mat input({1, inSize[0], inSize[1], inSize[2]}, CV_32F);
randu(input, -1.0f, 1.0f);
net.setInput(input);
Mat outputDefault = net.forward(eltwiseParam.name).clone();
net.setPreferableBackend(DNN_BACKEND_HALIDE);
Mat outputHalide = net.forward(eltwiseParam.name).clone();
normAssert(outputDefault, outputHalide);
}
void ompl::geometric::pSBL::threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol)
{
RNG rng;
std::vector<Motion*> solution;
base::State *xstate = si_->allocState();
bool startTree = rng.uniformBool();
while (!sol->found && ptc == false)
{
bool retry = true;
while (retry && !sol->found && ptc == false)
{
removeList_.lock.lock();
if (!removeList_.motions.empty())
{
if (loopLock_.try_lock())
{
retry = false;
std::map<Motion*, bool> seen;
for (unsigned int i = 0 ; i < removeList_.motions.size() ; ++i)
if (seen.find(removeList_.motions[i].motion) == seen.end())
removeMotion(*removeList_.motions[i].tree, removeList_.motions[i].motion, seen);
removeList_.motions.clear();
loopLock_.unlock();
}
}
else
retry = false;
removeList_.lock.unlock();
}
if (sol->found || ptc)
break;
loopLockCounter_.lock();
if (loopCounter_ == 0)
loopLock_.lock();
loopCounter_++;
loopLockCounter_.unlock();
TreeData &tree = startTree ? tStart_ : tGoal_;
startTree = !startTree;
TreeData &otherTree = startTree ? tStart_ : tGoal_;
Motion *existing = selectMotion(rng, tree);
if (!samplerArray_[tid]->sampleNear(xstate, existing->state, maxDistance_))
continue;
/* create a motion */
Motion *motion = new Motion(si_);
si_->copyState(motion->state, xstate);
motion->parent = existing;
motion->root = existing->root;
existing->lock.lock();
existing->children.push_back(motion);
existing->lock.unlock();
addMotion(tree, motion);
if (checkSolution(rng, !startTree, tree, otherTree, motion, solution))
{
sol->lock.lock();
if (!sol->found)
{
sol->found = true;
PathGeometric *path = new PathGeometric(si_);
for (unsigned int i = 0 ; i < solution.size() ; ++i)
path->append(solution[i]->state);
pdef_->addSolutionPath(base::PathPtr(path), false, 0.0, getName());
}
sol->lock.unlock();
}
loopLockCounter_.lock();
loopCounter_--;
if (loopCounter_ == 0)
loopLock_.unlock();
loopLockCounter_.unlock();
}
si_->freeState(xstate);
}
void DrawRectangle(Mat& img, Rect box)
{
//Draw a rectangle with random color
rectangle(img, box.tl(), box.br(), Scalar(g_rng.uniform(0, 255),
g_rng.uniform(0,255),g_rng.uniform(0,255)));
}
static Mat DrawMyImage(int thickness,int nbShape)
{
Mat img=Mat::zeros(500,256*thickness+100,CV_8UC1);
int offsetx = 50, offsety = 25;
int lineLenght = 50;
for (int i=0;i<256;i++)
line(img,Point(thickness*i+ offsetx, offsety),Point(thickness*i+ offsetx, offsety+ lineLenght),Scalar(i), thickness);
RNG r;
Point center;
int radius;
int width,height;
int angle;
Rect rc;
for (int i=1;i<=nbShape;i++)
{
int typeShape = r.uniform(MyCIRCLE, MyELLIPSE+1);
switch (typeShape) {
case MyCIRCLE:
center = Point(r.uniform(offsetx,img.cols- offsetx), r.uniform(offsety + lineLenght, img.rows - offsety));
radius = r.uniform(1, min(offsetx, offsety));
circle(img,center,radius,Scalar(i),-1);
break;
case MyRECTANGLE:
center = Point(r.uniform(offsetx, img.cols - offsetx), r.uniform(offsety + lineLenght, img.rows - offsety));
width = r.uniform(1, min(offsetx, offsety));
height = r.uniform(1, min(offsetx, offsety));
rc = Rect(center-Point(width ,height )/2, center + Point(width , height )/2);
rectangle(img,rc, Scalar(i), -1);
break;
case MyELLIPSE:
center = Point(r.uniform(offsetx, img.cols - offsetx), r.uniform(offsety + lineLenght, img.rows - offsety));
width = r.uniform(1, min(offsetx, offsety));
height = r.uniform(1, min(offsetx, offsety));
angle = r.uniform(0, 180);
ellipse(img, center,Size(width/2,height/2),angle,0,360, Scalar(i), -1);
break;
}
}
return img;
}
void Core_ArrayOpTest::run( int /* start_from */)
{
int errcount = 0;
// dense matrix operations
{
int sz3[] = {5, 10, 15};
MatND A(3, sz3, CV_32F), B(3, sz3, CV_16SC4);
CvMatND matA = A, matB = B;
RNG rng;
rng.fill(A, CV_RAND_UNI, Scalar::all(-10), Scalar::all(10));
rng.fill(B, CV_RAND_UNI, Scalar::all(-10), Scalar::all(10));
int idx0[] = {3,4,5}, idx1[] = {0, 9, 7};
float val0 = 130;
Scalar val1(-1000, 30, 3, 8);
cvSetRealND(&matA, idx0, val0);
cvSetReal3D(&matA, idx1[0], idx1[1], idx1[2], -val0);
cvSetND(&matB, idx0, val1);
cvSet3D(&matB, idx1[0], idx1[1], idx1[2], -val1);
Ptr<CvMatND> matC = cvCloneMatND(&matB);
if( A.at<float>(idx0[0], idx0[1], idx0[2]) != val0 ||
A.at<float>(idx1[0], idx1[1], idx1[2]) != -val0 ||
cvGetReal3D(&matA, idx0[0], idx0[1], idx0[2]) != val0 ||
cvGetRealND(&matA, idx1) != -val0 ||
Scalar(B.at<Vec4s>(idx0[0], idx0[1], idx0[2])) != val1 ||
Scalar(B.at<Vec4s>(idx1[0], idx1[1], idx1[2])) != -val1 ||
Scalar(cvGet3D(matC, idx0[0], idx0[1], idx0[2])) != val1 ||
Scalar(cvGetND(matC, idx1)) != -val1 )
{
ts->printf(cvtest::TS::LOG, "one of cvSetReal3D, cvSetRealND, cvSet3D, cvSetND "
"or the corresponding *Get* functions is not correct\n");
errcount++;
}
}
RNG rng;
const int MAX_DIM = 5, MAX_DIM_SZ = 10;
// sparse matrix operations
for( int si = 0; si < 10; si++ )
{
int depth = (unsigned)rng % 2 == 0 ? CV_32F : CV_64F;
int dims = ((unsigned)rng % MAX_DIM) + 1;
int i, k, size[MAX_DIM]={0}, idx[MAX_DIM]={0};
vector<string> all_idxs;
vector<double> all_vals;
vector<double> all_vals2;
string sidx, min_sidx, max_sidx;
double min_val=0, max_val=0;
int p = 1;
for( k = 0; k < dims; k++ )
{
size[k] = ((unsigned)rng % MAX_DIM_SZ) + 1;
p *= size[k];
}
SparseMat M( dims, size, depth );
map<string, double> M0;
int nz0 = (unsigned)rng % max(p/5,10);
nz0 = min(max(nz0, 1), p);
all_vals.resize(nz0);
all_vals2.resize(nz0);
Mat_<double> _all_vals(all_vals), _all_vals2(all_vals2);
rng.fill(_all_vals, CV_RAND_UNI, Scalar(-1000), Scalar(1000));
if( depth == CV_32F )
{
Mat _all_vals_f;
_all_vals.convertTo(_all_vals_f, CV_32F);
_all_vals_f.convertTo(_all_vals, CV_64F);
}
_all_vals.convertTo(_all_vals2, _all_vals2.type(), 2);
if( depth == CV_32F )
{
Mat _all_vals2_f;
_all_vals2.convertTo(_all_vals2_f, CV_32F);
_all_vals2_f.convertTo(_all_vals2, CV_64F);
}
minMaxLoc(_all_vals, &min_val, &max_val);
double _norm0 = norm(_all_vals, CV_C);
double _norm1 = norm(_all_vals, CV_L1);
double _norm2 = norm(_all_vals, CV_L2);
for( i = 0; i < nz0; i++ )
{
for(;;)
{
for( k = 0; k < dims; k++ )
idx[k] = (unsigned)rng % size[k];
sidx = idx2string(idx, dims);
if( M0.count(sidx) == 0 )
break;
}
all_idxs.push_back(sidx);
M0[sidx] = all_vals[i];
if( all_vals[i] == min_val )
min_sidx = sidx;
if( all_vals[i] == max_val )
max_sidx = sidx;
setValue(M, idx, all_vals[i], rng);
double v = getValue(M, idx, rng);
if( v != all_vals[i] )
{
ts->printf(cvtest::TS::LOG, "%d. immediately after SparseMat[%s]=%.20g the current value is %.20g\n",
i, sidx.c_str(), all_vals[i], v);
errcount++;
break;
}
}
Ptr<CvSparseMat> M2 = (CvSparseMat*)M;
MatND Md;
M.copyTo(Md);
SparseMat M3; SparseMat(Md).convertTo(M3, Md.type(), 2);
int nz1 = (int)M.nzcount(), nz2 = (int)M3.nzcount();
double norm0 = norm(M, CV_C);
double norm1 = norm(M, CV_L1);
double norm2 = norm(M, CV_L2);
double eps = depth == CV_32F ? FLT_EPSILON*100 : DBL_EPSILON*1000;
if( nz1 != nz0 || nz2 != nz0)
{
errcount++;
ts->printf(cvtest::TS::LOG, "%d: The number of non-zero elements before/after converting to/from dense matrix is not correct: %d/%d (while it should be %d)\n",
si, nz1, nz2, nz0 );
break;
}
if( fabs(norm0 - _norm0) > fabs(_norm0)*eps ||
fabs(norm1 - _norm1) > fabs(_norm1)*eps ||
fabs(norm2 - _norm2) > fabs(_norm2)*eps )
{
errcount++;
ts->printf(cvtest::TS::LOG, "%d: The norms are different: %.20g/%.20g/%.20g vs %.20g/%.20g/%.20g\n",
si, norm0, norm1, norm2, _norm0, _norm1, _norm2 );
break;
}
int n = (unsigned)rng % max(p/5,10);
n = min(max(n, 1), p) + nz0;
for( i = 0; i < n; i++ )
{
double val1, val2, val3, val0;
if(i < nz0)
{
sidx = all_idxs[i];
string2idx(sidx, idx, dims);
val0 = all_vals[i];
}
else
{
for( k = 0; k < dims; k++ )
idx[k] = (unsigned)rng % size[k];
sidx = idx2string(idx, dims);
val0 = M0[sidx];
}
val1 = getValue(M, idx, rng);
val2 = getValue(M2, idx);
val3 = getValue(M3, idx, rng);
if( val1 != val0 || val2 != val0 || fabs(val3 - val0*2) > fabs(val0*2)*FLT_EPSILON )
{
errcount++;
ts->printf(cvtest::TS::LOG, "SparseMat M[%s] = %g/%g/%g (while it should be %g)\n", sidx.c_str(), val1, val2, val3, val0 );
break;
}
}
for( i = 0; i < n; i++ )
{
double val1, val2;
if(i < nz0)
{
sidx = all_idxs[i];
string2idx(sidx, idx, dims);
}
else
{
for( k = 0; k < dims; k++ )
idx[k] = (unsigned)rng % size[k];
sidx = idx2string(idx, dims);
}
eraseValue(M, idx, rng);
eraseValue(M2, idx);
val1 = getValue(M, idx, rng);
val2 = getValue(M2, idx);
if( val1 != 0 || val2 != 0 )
{
errcount++;
ts->printf(cvtest::TS::LOG, "SparseMat: after deleting M[%s], it is =%g/%g (while it should be 0)\n", sidx.c_str(), val1, val2 );
break;
}
}
int nz = (int)M.nzcount();
if( nz != 0 )
{
errcount++;
ts->printf(cvtest::TS::LOG, "The number of non-zero elements after removing all the elements = %d (while it should be 0)\n", nz );
break;
}
int idx1[MAX_DIM], idx2[MAX_DIM];
double val1 = 0, val2 = 0;
M3 = SparseMat(Md);
minMaxLoc(M3, &val1, &val2, idx1, idx2);
string s1 = idx2string(idx1, dims), s2 = idx2string(idx2, dims);
if( val1 != min_val || val2 != max_val || s1 != min_sidx || s2 != max_sidx )
{
errcount++;
ts->printf(cvtest::TS::LOG, "%d. Sparse: The value and positions of minimum/maximum elements are different from the reference values and positions:\n\t"
"(%g, %g, %s, %s) vs (%g, %g, %s, %s)\n", si, val1, val2, s1.c_str(), s2.c_str(),
min_val, max_val, min_sidx.c_str(), max_sidx.c_str());
break;
}
minMaxIdx(Md, &val1, &val2, idx1, idx2);
s1 = idx2string(idx1, dims), s2 = idx2string(idx2, dims);
if( (min_val < 0 && (val1 != min_val || s1 != min_sidx)) ||
(max_val > 0 && (val2 != max_val || s2 != max_sidx)) )
{
errcount++;
ts->printf(cvtest::TS::LOG, "%d. Dense: The value and positions of minimum/maximum elements are different from the reference values and positions:\n\t"
"(%g, %g, %s, %s) vs (%g, %g, %s, %s)\n", si, val1, val2, s1.c_str(), s2.c_str(),
min_val, max_val, min_sidx.c_str(), max_sidx.c_str());
break;
}
}
ts->set_failed_test_info(errcount == 0 ? cvtest::TS::OK : cvtest::TS::FAIL_INVALID_OUTPUT);
}
namespace Graphics
{
using namespace Shaders;
int scw, sch;
bool haveFBO = false;
bool noWarpFX = false;
/*
Other files can use:
namespace Matrices
{
void SetProjectionMatrix ( const matrix2x3& m );
void SetViewMatrix ( const matrix2x3& m );
void SetModelMatrix ( const matrix2x3& m );
const matrix2x3& CurrentMatrix ();
const matrix2x3& ProjectionMatrix ();
const matrix2x3& ViewMatrix ();
const matrix2x3& ModelMatrix ();
}
*/
namespace Matrices
{
static matrix2x3 projectionMatrix;
static matrix2x3 viewMatrix;
static matrix2x3 modelMatrix;
static matrix2x3 mvpMatrix;
static void LoadMatrix ( const matrix2x3& m )
{
GLfloat array[16];
m.FillOpenGLMatrix(array);
glLoadMatrixf(array);
}
void SetProjectionMatrix ( const matrix2x3& m )
{
projectionMatrix = m;
}
void SetViewMatrix ( const matrix2x3& m )
{
viewMatrix = m;
}
// the state is only guaranteed after a SetModelMatrix call
void SetModelMatrix ( const matrix2x3& m )
{
modelMatrix = m;
mvpMatrix = modelMatrix * viewMatrix * projectionMatrix;
LoadMatrix(mvpMatrix);
}
const matrix2x3& CurrentMatrix ()
{
return mvpMatrix;
}
const matrix2x3& ProjectionMatrix ()
{
return projectionMatrix;
}
const matrix2x3& ViewMatrix ()
{
return viewMatrix;
}
const matrix2x3& ModelMatrix ()
{
return modelMatrix;
}
}
void Init ( int w, int h, bool fullscreen )
{
SDL_InitSubSystem ( SDL_INIT_VIDEO );
SDL_GL_SetAttribute ( SDL_GL_RED_SIZE, 8 );
SDL_GL_SetAttribute ( SDL_GL_BLUE_SIZE, 8 );
SDL_GL_SetAttribute ( SDL_GL_GREEN_SIZE, 8 );
SDL_GL_SetAttribute ( SDL_GL_ALPHA_SIZE, 0 );
SDL_GL_SetAttribute ( SDL_GL_DOUBLEBUFFER, 1 );
SDL_GL_SetAttribute ( SDL_GL_DEPTH_SIZE, 24 );
SDL_GL_SetAttribute ( SDL_GL_MULTISAMPLESAMPLES, 4 );
SDL_GL_SetAttribute ( SDL_GL_MULTISAMPLEBUFFERS, 1 );
SDL_GL_SetAttribute ( SDL_GL_SWAP_CONTROL, 1 );
Uint32 flags = SDL_OPENGL;
if (fullscreen)
flags |= SDL_FULLSCREEN;
if (!SDL_SetVideoMode(w, h, 0, flags))
{
SDL_GL_SetAttribute ( SDL_GL_MULTISAMPLESAMPLES, 0 );
SDL_GL_SetAttribute ( SDL_GL_MULTISAMPLEBUFFERS, 0 );
LOG("Graphics", LOG_WARNING, "Card does not support FSAA!");
if (!SDL_SetVideoMode(w, h, 0, flags))
{
LOG("Graphics", LOG_WARNING, "Card does not support normal video options!");
SDL_GL_SetAttribute ( SDL_GL_RED_SIZE, 5 );
SDL_GL_SetAttribute ( SDL_GL_GREEN_SIZE, 5 );
SDL_GL_SetAttribute ( SDL_GL_BLUE_SIZE, 5 );
if (!SDL_SetVideoMode(w, h, 0, flags))
{
LOG("Graphics", LOG_ERROR, "Bad graphics driver.");
abort();
}
}
}
scw = w;
sch = h;
glClear ( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
glDepthMask(GL_FALSE);
glEnable ( GL_BLEND );
glBlendFunc ( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA );
glClearDepth(1.0);
glDepthFunc(GL_LESS);
glCullFace(GL_CCW);
// glEnable ( GL_LINE_SMOOTH );
glEnable ( GL_POINT_SMOOTH );
glHint ( GL_LINE_SMOOTH_HINT, GL_NICEST );
glHint ( GL_POINT_SMOOTH_HINT, GL_NICEST );
#ifdef __MACH__
glHint ( GL_TRANSFORM_HINT_APPLE, GL_FASTEST );
#endif
const GLfloat projectionMatrix[] = { 1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 0.001f, 0.0f,
0.0f, 0.0f, -0.5f, 1.0f };
glMatrixMode(GL_PROJECTION);
glLoadMatrixf(projectionMatrix);
glMatrixMode(GL_MODELVIEW);
glEnableClientState ( GL_VERTEX_ARRAY );
const char* extensions = (const char*)glGetString(GL_EXTENSIONS);
const char* renderer = (const char*)glGetString(GL_RENDERER);
haveFBO = strstr(extensions, "GL_EXT_framebuffer_object");
noWarpFX = strstr(renderer, "Intel");
}
unsigned ToInt ( const std::string& value )
{
return atoi(value.c_str());
}
bool ToBool ( const std::string& value )
{
return value == "true";
}
// [WIP] [ADAM]
void Reset ()
{
// SDL_SetVideoMode(ToInt(Preferences::Get("Screen/Width")), ToInt(Preferences::Get("Screen/Height")), 0, SDL_ResizeEvent);
// these two lines work:
// glDeleteFramebuffersEXT(1, &warpFBO);
// warpFBO = 0;
// SetProjectionMatrix( matrix2x3::Ortho(left, right, bottom, top) ); // what are left, right, bottom, top?
}
static bool texturingEnabled = false;
static void EnableTexturing ()
{
if (!texturingEnabled)
{
glEnableClientState ( GL_TEXTURE_COORD_ARRAY );
texturingEnabled = true;
}
}
static void DisableTexturing ()
{
if (texturingEnabled)
{
glDisableClientState ( GL_TEXTURE_COORD_ARRAY );
texturingEnabled = false;
}
}
static bool blendingEnabled = true;
static void EnableBlending ()
{
if (!blendingEnabled)
{
glEnable(GL_BLEND);
blendingEnabled = true;
}
}
static void DisableBlending ()
{
if (blendingEnabled)
{
glDisable(GL_BLEND);
blendingEnabled = false;
}
}
static void SetColour ( const colour& col )
{
if (sizeof(col) == sizeof(float) * 4)
{
glColor4fv((const GLfloat*)&col);
}
else
{
glColor4f(col.red(), col.green(), col.blue(), col.alpha());
}
}
static void ClearColour ()
{
const uint32_t white = 0xFFFFFFFF;
glColor4ubv((const GLubyte*)&white);
}
vec2 SpriteDimensions ( const std::string& sheetname )
{
SpriteSheet* sheet;
SheetMap::iterator iter = spriteSheets.find(sheetname);
if (iter == spriteSheets.end())
{
// load it
sheet = new SpriteSheet(sheetname);
spriteSheets[sheetname] = sheet;
}
else
{
sheet = iter->second;
}
assert(sheet);
return vec2(sheet->TileSizeX(), sheet->TileSizeY());
}
void DrawSprite ( const std::string& sheetname, int sheet_x, int sheet_y, vec2 position, vec2 size, float rotation, colour col )
{
SetShader("Sprite");
EnableTexturing();
EnableBlending();
ClearColour();
SetColour(col);
SpriteSheet* sheet;
SheetMap::iterator iter = spriteSheets.find(sheetname);
if (iter == spriteSheets.end())
{
// load it
sheet = new SpriteSheet(sheetname);
spriteSheets[sheetname] = sheet;
}
else
{
sheet = iter->second;
}
Matrices::SetViewMatrix(matrix2x3::Translate(position));
Matrices::SetModelMatrix(matrix2x3::Identity());
if (sheet->IsRotational())
{
assert(sheet_x == 0);
assert(sheet_y == 0);
sheet->DrawRotation(size, rotation);
}
else
{
glRotatef(RAD2DEG(rotation), 0.0f, 0.0f, 1.0f);
sheet->Draw(sheet_x, sheet_y, size);
}
}
void DrawSpriteFrame ( const std::string& sheetname, vec2 position, vec2 size, int index, float rotation, colour col )
{
SetShader("Sprite");
EnableTexturing();
EnableBlending();
ClearColour();
SetColour(col);
SpriteSheet* sheet;
SheetMap::iterator iter = spriteSheets.find(sheetname);
if (iter == spriteSheets.end())
{
sheet = new SpriteSheet(sheetname);
spriteSheets[sheetname] = sheet;
}
else
{
sheet = iter->second;
}
Matrices::SetViewMatrix(matrix2x3::Translate(position));
Matrices::SetModelMatrix(matrix2x3::Identity());
glRotatef(RAD2DEG(rotation), 0.0f, 0.0f, 1.0f);
int x = index % sheet->SheetTilesX();
int y = (index - x) / sheet->SheetTilesX();
sheet->Draw(x, y, size);
}
/* [ADAMLATER] - this is a function that allows sprites to be tiled if necessary
void DrawSpriteTile ( const std::string& sheetname, int sheet_x, int sheet_y, vec2 position, vec2 size, float rotation, colour col )
{
SetShader("Sprite");
EnableTexturing();
EnableBlending();
ClearColour();
SetColour(col);
SpriteSheet* sheet;
SheetMap::iterator iter = spriteSheets.find(sheetname);
if (iter == spriteSheets.end())
{
// load it
sheet = new SpriteSheet(sheetname);
spriteSheets[sheetname] = sheet;
}
else
{
sheet = iter->second;
}
Matrices::SetViewMatrix(matrix2x3::Translate(position));
Matrices::SetModelMatrix(matrix2x3::Identity());
if (sheet->IsRotational())
{
assert(sheet_x == 0);
assert(sheet_y == 0);
sheet->DrawRotation(size, rotation);
}
else
{
glRotatef(RAD2DEG(rotation), 0.0f, 0.0f, 1.0f);
sheet->Draw(sheet_x, sheet_y, size);
}
}*/
const int MAX_TEXTURE_SIZE = 4096;
// splits regardless of words
int imperfectSplit ( vec2 dims, std::string* bob, int maxSize )
{
// bob needs to be a std::vector of std::strings, so that I can add however many strings to it
// yet to be figured out
return 1;
}
// splits along spaces, dropping the spaces
int idealSplit ( vec2 dims, std::string* bob, int maxSize )
{
// has yet to be figured out either
return 1;
}
void DrawTextSDL ( const std::string& text, const std::string& font, const char* justify, vec2 position, int height, colour col, float rotation )
{
SetShader("Text");
EnableTexturing();
EnableBlending();
SetColour(col);
GLuint texID = TextRenderer::TextObject(font, text, height);
Matrices::SetViewMatrix(matrix2x3::Translate(position));
Matrices::SetModelMatrix(matrix2x3::Rotation(rotation));
glBindTexture(GL_TEXTURE_RECTANGLE_ARB, texID);
vec2 dims = TextRenderer::TextDimensions(font, text, height);
// TEMP
int xcoord = 0;
int ycoord = 0;
TTF_Font* fontObject = TextRenderer::GetFont(font, height);
if (TTF_SizeUTF8(fontObject, text.c_str(), &xcoord, &ycoord) == 0 && text == "This is as long as a message can be at font 20: not long..")
{
printf("The text '%s' has dimensions of %d by %d, and a height of %d\n", text.c_str(), xcoord, ycoord, height);
}
// END TEMP
GLfloat textureArray[] = { 0.0f, 0.0f, dims.X(), 0.0f, dims.X(), dims.Y(), 0.0f, dims.Y() };
vec2 halfSize;
if (strcmp(justify, "left") == 0)
{
halfSize = (dims * (height / dims.Y()));
GLfloat vertexArray[8] = { 0, halfSize.Y() / 2, halfSize.X(), halfSize.Y() / 2, halfSize.X(), -halfSize.Y() / 2, 0, -halfSize.Y() / 2 };
glVertexPointer(2, GL_FLOAT, 0, vertexArray);
}
else
{
halfSize = (dims * (height / dims.Y())) * 0.5f;
if (strcmp(justify, "right") == 0)
{
GLfloat vertexArray[8] = { -halfSize.X(), halfSize.Y() / 2, 0, halfSize.Y() / 2, 0, -halfSize.Y() / 2, -halfSize.X(), -halfSize.Y() / 2 };
glVertexPointer(2, GL_FLOAT, 0, vertexArray);
} else
{
GLfloat vertexArray[8] = { -halfSize.X(), halfSize.Y(), halfSize.X(), halfSize.Y(), halfSize.X(), -halfSize.Y(), -halfSize.X(), -halfSize.Y() };
glVertexPointer(2, GL_FLOAT, 0, vertexArray);
}
}
glTexCoordPointer(2, GL_FLOAT, 0, textureArray);
glDrawArrays(GL_QUADS, 0, 4);
}
void DrawLine ( vec2 coordinate1, vec2 coordinate2, float width, colour col )
{
SetShader("Primitive");
DisableTexturing();
if (col.alpha() < 1.0f)
{
EnableBlending();
}
else
{
DisableBlending();
}
glLineWidth(width);
Matrices::SetViewMatrix(matrix2x3::Identity());
Matrices::SetModelMatrix(matrix2x3::Identity());
SetColour(col);
float vertices[4] = { coordinate1.X(), coordinate1.Y(),
coordinate2.X(), coordinate2.Y() };
glVertexPointer ( 2, GL_FLOAT, 0, vertices );
glDrawArrays ( GL_LINES, 0, 2 );
}
static float RandomFloat ( float min, float max )
{
float range = max - min;
float uniform = rand() / (float)RAND_MAX;
float absolute = uniform * range;
return absolute + min;
}
static void RealDrawLightning ( vec2 coordinate1, vec2 coordinate2, float width, float chaos, colour col, bool tailed, RNG& rng )
{
if (col.alpha() < 0.2f)
return;
SetShader("Primitive");
DisableTexturing();
if (col.alpha() < 1.0f)
{
EnableBlending();
}
else
{
DisableBlending();
}
glLineWidth(width);
Matrices::SetViewMatrix(matrix2x3::Identity());
Matrices::SetModelMatrix(matrix2x3::Identity());
SetColour(col);
unsigned long segments = 12;
float offsetting = chaos;
float* vertices = (float*)alloca(sizeof(float) * 2 * segments);
vec2 tangent = (coordinate2 - coordinate1).UnitVector();
vec2 normal = vec2(-tangent.Y(), tangent.X());
normal.X() = -normal.Y();
for (unsigned long i = 0; i < segments; i++)
{
float delta = ((float)i / (float)(segments - 1));
//This may be only a partial fix.
vec2 basePosition = ((coordinate1*(1.0f-delta)) + (coordinate2*delta));// / 2.0f;
if (tailed)
{
delta *= 2.0f;
if (delta > 1.0f) delta = 2.0f - delta;
}
float maxOffset = offsetting * delta;
float actualOffset = RandomFloat(-maxOffset, maxOffset);
basePosition += normal * actualOffset;
vertices[(i*2)+0] = basePosition.X();
vertices[(i*2)+1] = basePosition.Y();
}
glVertexPointer(2, GL_FLOAT, 0, vertices);
glDrawArrays(GL_LINE_STRIP, 0, segments);
}
static RNG lightningRNG;
static uint32_t lastSeed = 4;
void DrawLightning ( vec2 coordinate1, vec2 coordinate2, float width, float chaos, colour col, bool tailed )
{
uint32_t newLastSeed = lightningRNG.GetState();
RealDrawLightning(coordinate1, coordinate2, width, chaos, col, tailed, lightningRNG);
RNG localRNG(lastSeed);
lastSeed = newLastSeed;
col.alpha() *= 0.5f;
RealDrawLightning(coordinate1, coordinate2, width * 3.0f, chaos, col, tailed, localRNG);
}
void DrawBox ( float top, float left, float bottom, float right, float width, colour col )
{
SetShader("Primitive");
DisableTexturing();
if (col.alpha() < 1.0f)
{
EnableBlending();
}
else
{
DisableBlending();
}
Matrices::SetViewMatrix(matrix2x3::Identity());
Matrices::SetModelMatrix(matrix2x3::Identity());
SetColour(col);
float quad[8] = { left, top,
left, bottom,
right, bottom,
right, top };
glVertexPointer ( 2, GL_FLOAT, 0, quad );
glDrawArrays ( GL_QUADS, 0, 4 );
if (width != 0)
{
SetColour(col + colour(0.45, 0.45, 0.45, 0.0));
glLineWidth(width);
float vertices[16] = { left, top,
right, top,
left, top,
left, bottom,
right, top,
right, bottom,
left, bottom,
right, bottom };
glVertexPointer ( 2, GL_FLOAT, 0, vertices );
glDrawArrays ( GL_LINES, 0, 8 );
}
}
void DrawCircle ( vec2 centre, float radius, float width, colour col )
{
SetShader("Primitive");
DisableTexturing();
if (col.alpha() < 1.0f)
{
EnableBlending();
}
else
{
DisableBlending();
}
glLineWidth(width);
Matrices::SetViewMatrix(matrix2x3::Translate(centre));
Matrices::SetModelMatrix(matrix2x3::Scale(radius));
SetColour ( col );
glVertexPointer(2, GL_FLOAT, 0, circlePoints);
glDrawArrays(GL_LINE_LOOP, 0, sizeof(circlePoints) / (2 * sizeof(float)));
}
void DrawTriangle ( const vec2 point1, const vec2 point2, const vec2 point3, colour col )
{
SetShader("Primitive");
DisableTexturing();
if (col.alpha() < 1.0f)
{
EnableBlending();
}
else
{
DisableBlending();
}
SetColour(col);
Matrices::SetViewMatrix(matrix2x3::Identity());
Matrices::SetModelMatrix(matrix2x3::Identity());
float real_triangle[6] = { point1.X(), point1.Y(),
point2.X(), point2.Y(),
point3.X(), point3.Y() };
glVertexPointer(2, GL_FLOAT, 0, real_triangle);
glDrawArrays(GL_POLYGON, 0, 3);
}
void DrawDiamond ( float top, float left, float bottom, float right, colour col )
{
SetShader("Primitive");
DisableTexturing();
if (col.alpha() < 1.0f)
{
EnableBlending();
}
else
{
DisableBlending();
}
SetColour(col);
Matrices::SetViewMatrix(matrix2x3::Identity());
Matrices::SetModelMatrix(matrix2x3::Identity());
float diamond[8] = { (right + left) / 2, top,
left, (top + bottom) / 2,
(right + left) / 2, bottom,
right, (top + bottom) / 2 };
glVertexPointer(2, GL_FLOAT, 0, diamond);
glDrawArrays(GL_QUADS, 0, 4);
}
#pragma mark Particle System Functions
std::list<ParticleSystem*> particleSystems;
void AddParticles ( const std::string& name, unsigned long particleCount, vec2 centre, vec2 velocity, vec2 velocityVariance, vec2 acceleration, float sizeFactor, float lifetime )
{
ParticleSystem* ps = new ParticleSystem(name, particleCount, sizeFactor, centre, velocity, velocityVariance, acceleration, lifetime);
particleSystems.push_back(ps);
}
void DrawParticles ()
{
Shaders::SetShader("Particles");
EnableTexturing();
EnableBlending();
Matrices::SetViewMatrix(matrix2x3::Identity());
Matrices::SetModelMatrix(matrix2x3::Identity());
for (std::list<ParticleSystem*>::iterator iter = particleSystems.begin();
iter != particleSystems.end();
++iter)
{
ParticleSystem* ps = *iter;
bool isDead = ps->Update();
if (isDead)
{
std::list<ParticleSystem*>::iterator iterCopy = iter;
++iter;
particleSystems.erase(iterCopy);
delete ps;
if (iter == particleSystems.end())
break;
}
ps->Draw();
}
}
void ClearParticles ()
{
for (std::list<ParticleSystem*>::iterator iter = particleSystems.begin();
iter != particleSystems.end();
++iter)
{
delete *iter;
}
particleSystems.clear();
}
static vec2 cameraCorner1;
static vec2 cameraCorner2;
static float cameraRotation;
std::vector<Starfield*> starfields;
unsigned starfieldNumber;
void DrawStarfield ( float depth )
{
while (starfields.size() <= starfieldNumber)
{
starfields.push_back(new Starfield);
}
SetShader("Starfield");
EnableTexturing();
DisableBlending();
ClearColour();
Matrices::SetViewMatrix(matrix2x3::Identity());
Matrices::SetModelMatrix(matrix2x3::Identity());
starfields[starfieldNumber++]->Draw(depth, (cameraCorner1 + cameraCorner2) / 2.0f);
}
std::map<std::string, Object3D*> objects3d;
static Object3D* GetObject3D ( std::string name )
{
std::map<std::string, Object3D*>::iterator iter;
iter = objects3d.find(name);
if (iter == objects3d.end())
{
// load the object
Object3D* object = new Object3D(name);
objects3d.insert(std::make_pair(name, object));
return object;
}
else
{
return iter->second;
}
}
void DrawObject3DAmbient ( std::string name, vec2 centre, float scale, float angle, float bank )
{
Object3D* obj = GetObject3D(name);
EnableTexturing();
DisableBlending();
obj->BindTextures();
//glUniform3f(UniformLocation("Ambient"), ambient.red(), ambient.green(), ambient.blue());
SetShader("3DBase");
glUniform1f(UniformLocation("specularScale"), obj->SpecularScale());
glUniform1f(UniformLocation("shininess"), obj->Shininess());
Matrices::SetViewMatrix(matrix2x3::Translate(centre));
obj->Draw(scale, angle, bank);
}
float AspectRatio ()
{
return float(scw) / float(sch);
}
vec2 MapPoint ( vec2 windowCoords )
{
matrix2x3 viewProjection ( Matrices::viewMatrix * Matrices::projectionMatrix );
matrix2x3 vpi = viewProjection.Inverse();
vec2 normalisedCoords = vpi * windowCoords;
normalisedCoords += vec2(1.0f, 1.0f);
normalisedCoords *= 0.5f;
return vec2(normalisedCoords.X() * scw, normalisedCoords.Y() * sch);
}
void DrawPoint ( vec2 coord, float width, colour col )
{
SetShader("Primitive");
DisableTexturing();
if (col.alpha() < 1.0f)
{
EnableBlending();
}
else
{
DisableBlending();
}
SetColour(col);
Matrices::SetViewMatrix(matrix2x3::Identity());
Matrices::SetModelMatrix(matrix2x3::Identity());
float quad[8] = { coord.X(), coord.Y(),
coord.X(), coord.Y() - 2,
coord.X() + 2, coord.Y() - 2,
coord.X() + 2, coord.Y() };
glVertexPointer ( 2, GL_FLOAT, 0, quad );
glDrawArrays ( GL_QUADS, 0, 4 );
/* ¡WARNING! IMMEDIATE MODE! ENTER AT YOUR OWN RISK */
// glBegin(GL_POINTS);
// glVertex2f(coord.X(), coord.Y());
// glEnd();
}
bool IsCulled ( vec2 position, float radius )
{
if ((position.X() + radius) < cameraCorner1.X())
return true;
if ((position.X() - radius) > cameraCorner2.X())
return true;
if ((position.Y() + radius) < cameraCorner1.Y())
return true;
if ((position.Y() - radius) > cameraCorner2.Y())
return true;
return false;
}
void SetCamera ( vec2 corner1, vec2 corner2, float rotation )
{
matrix2x3 projection ( matrix2x3::Ortho(corner1.X(), corner2.X(), corner1.Y(), corner2.Y()) );
if (fabs(rotation) > 0.00004f)
projection *= matrix2x3::Rotation(rotation);
Matrices::SetProjectionMatrix(projection);
cameraCorner1 = corner1;
cameraCorner2 = corner2;
}
void BeginFrame ()
{
glDepthMask(GL_TRUE);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDepthMask(GL_FALSE);
Matrices::SetViewMatrix(matrix2x3::Identity());
Matrices::SetModelMatrix(matrix2x3::Identity());
starfieldNumber = 1;
}
void EndFrame ()
{
#ifdef __MACH__
glSwapAPPLE();
#else
SDL_GL_SwapBuffers();
#endif
TextRenderer::Prune();
}
void BeginWarp ( float magnitude, float angle, float scale )
{
#ifndef DISABLE_WARP_EFFECTS
if (!haveFBO || noWarpFX)
return;
warpMag = magnitude;
warpAngle = angle;
warpScale = scale;
if (magnitude < WARP_MAG_THRESHOLD)
return;
if (warpFBO == 0)
{
glGenFramebuffersEXT(1, &warpFBO);
glGenTextures(1, &warpTex);
glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, warpFBO);
glBindTexture(GL_TEXTURE_RECTANGLE_ARB, warpTex);
glTexParameteri(GL_TEXTURE_RECTANGLE_ARB, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_RECTANGLE_ARB, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexImage2D(GL_TEXTURE_RECTANGLE_ARB, 0, GL_RGBA8, scw, sch, 0, GL_RGBA, GL_UNSIGNED_BYTE, NULL);
glFramebufferTexture2DEXT(GL_FRAMEBUFFER_EXT, GL_COLOR_ATTACHMENT0_EXT, GL_TEXTURE_RECTANGLE_ARB, warpTex, 0);
GLuint status = glCheckFramebufferStatusEXT(GL_FRAMEBUFFER_EXT);
assert(status == GL_FRAMEBUFFER_COMPLETE_EXT);
}
else
{
glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, warpFBO);
}
glClear(GL_COLOR_BUFFER_BIT);
#endif
}
void EndWarp ()
{
#ifndef DISABLE_WARP_EFFECTS
if (!haveFBO || noWarpFX || warpMag < WARP_MAG_THRESHOLD)
return;
glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, 0);
glBindTexture(GL_TEXTURE_RECTANGLE_ARB, warpTex);
Shaders::SetShader("DistortWarp");
glUniform1f(Shaders::UniformLocation("Angle"), warpAngle);
glUniform1f(Shaders::UniformLocation("Magnitude"), warpMag);
glUniform1f(Shaders::UniformLocation("Scale"), 1.0f / warpScale);
glUniform2f(Shaders::UniformLocation("Target"), 0.088f, 0.0f);
const GLfloat vertices[] = { -1.0f, -1.0f, 1.0f, -1.0f, 1.0f, 1.0f, -1.0f, 1.0f };
const GLfloat texCoords[] = { 0.0f, 0.0f, scw, 0.0f, scw, sch, 0.0f, sch };
glVertexPointer(2, GL_FLOAT, 0, vertices);
glTexCoordPointer(2, GL_FLOAT, 0, texCoords);
EnableTexturing();
DisableBlending();
glDrawArrays(GL_QUADS, 0, 4);
#endif
}
void PreloadSpriteSheet(const std::string& sheetname)
{
SpriteSheet* sheet;
SheetMap::iterator iter = spriteSheets.find(sheetname);
if (iter == spriteSheets.end())
{
sheet = new SpriteSheet(sheetname);
spriteSheets[sheetname] = sheet;
}
}
void PreloadFont(const std::string& fontname)
{
TextRenderer::TextDimensions(fontname, "", 2);
}
}
int main(int argc, char ** argv)
{
if(argc < 2)
{
cout << "Usage: " << endl;
cout << " TV norm: ./depthInpainting TV depthImage" << endl;
cout << " PSNR calc: ./depthInpainting P depthImage mask inpainted" << endl;
cout << " Inpainting: ./depthInpainting LRTV depthImage mask outputPath" << endl;
cout << " Generating: ./depthInpainting G depthImage missingRate outputMask outputMissing" << endl;
cout << " LowRank: ./depthInpainting L depthImahe mask outputpath" << endl;
cout << " LRTVPHI: ./depthInpainting LRTVPHI depthImage mask outputPath" << endl;
cout << " TVPHI norm: ./depthInpainting TVPHI depthImage" << endl;
cout << " LRL0: ./depthInpainting LRL0 depthImage mask outputPath initImage K lambda_L0 MaxIterCnt" << endl;
cout << " LRL0PHI: ./depthInpainting LRL0PHI depthImage mask outputPath initImage K lambda_L0 MaxIterCnt" << endl;
cout << " L0: /depthInpainting L0 depthImage" << endl;
return 0;
}
string instruction = argv[1];
if( instruction == "TV" )
{
Mat img = imread(argv[2], CV_LOAD_IMAGE_GRAYSCALE);
cout << NORM_TV(img) << endl;
}
if( instruction == "TVPHI")
{
Mat img = imread(argv[2], CV_LOAD_IMAGE_GRAYSCALE);
LRTVPHI lrttv;
lrttv.setShrinkageParam(1.0, 1.0);
cout << lrttv.NORM_TVPHI(img) << endl;
}
else if( instruction == "P" )
{
Mat original = imread(argv[2], CV_LOAD_IMAGE_GRAYSCALE);
Mat inpainted = imread(argv[4], CV_LOAD_IMAGE_GRAYSCALE);
Mat mask = imread(argv[3], CV_LOAD_IMAGE_GRAYSCALE);
cout << PSNR(original, inpainted, mask) << endl;
}
else if( instruction == "G" )
{
string disparityPath = argv[2];
int missingRate = atof(argv[3]);
string outputMask = argv[4];
string outputMissing = argv[5];
Mat disparityOriginal = imread(disparityPath, CV_LOAD_IMAGE_GRAYSCALE);
int W = disparityOriginal.cols;
int H = disparityOriginal.rows;
RNG rng;
// mask: 0 indicates missing pixels
Mat mask = Mat::zeros(H, W, CV_8U);
rng.fill(mask, RNG::UNIFORM, 0, 255);
threshold(mask, mask, 255 * missingRate / 100, 255, THRESH_BINARY);
Mat disparityMissing;
multiply(disparityOriginal, mask / 255, disparityMissing);
imwrite(outputMask, mask);
imwrite(outputMissing, disparityMissing);
}
// Low rank
else if(instruction == "L" )
{
string disparityPath = argv[2];
string maskPath = argv[3];
Mat disparityMissing = imread(disparityPath, CV_LOAD_IMAGE_GRAYSCALE);
string inpaintedPath = argv[4];
Mat mask = imread(maskPath, CV_LOAD_IMAGE_GRAYSCALE);
multiply(disparityMissing, mask / 255, disparityMissing);
Mat inpainted = TNNR(disparityMissing, mask, 9, 9, 0.06);
imwrite(argv[4], inpainted);
}
// only TV inpainting
else if( instruction == "T" )
{
string disparityPath = argv[2];
string maskPath = argv[3];
Mat disparityMissing = imread(disparityPath, CV_LOAD_IMAGE_GRAYSCALE);
string inpaintedPath = argv[4];
Mat mask = imread(maskPath, CV_LOAD_IMAGE_GRAYSCALE);
multiply(disparityMissing, mask / 255, disparityMissing);
// Mat denoised;
// inpaint(disparityMissing, 255 - mask, denoised, 11, INPAINT_TELEA);
// imwrite(inpaintedPath, denoised);
// try our TV
// we can use low rank to initialize U_
Mat denoised = imread(argv[5], CV_LOAD_IMAGE_ANYCOLOR); //TNNR(disparityMissing, mask, 9, 9, 0.06);
LRTV lrtv(disparityMissing, mask);
// rho dt lambda_tv lambda_rank 100 10
lrtv.setParameters(0, 1, 0.01, 0);
lrtv.init_U(denoised);
lrtv.sub_1();
Mat M = lrtv.getM();
Mat Y = lrtv.getY();
Mat result = lrtv.getU();
Mat output;
result.convertTo(output, CV_8UC1);
imwrite(inpaintedPath, output);
imwrite("M.png", M);
imwrite("Y.png", Y);
}
else if( instruction == "LRTV" )
{
string disparityPath = argv[2];
string maskPath = argv[3];
Mat disparityMissing = imread(disparityPath, CV_LOAD_IMAGE_GRAYSCALE);
string inpaintedPath = argv[4];
Mat mask = imread(maskPath, CV_LOAD_IMAGE_GRAYSCALE);
multiply(disparityMissing, mask / 255, disparityMissing);
// Mat denoised;
// inpaint(disparityMissing, 255 - mask, denoised, 11, INPAINT_TELEA);
// imwrite(inpaintedPath, denoised);
// try our TV
// we can use low rank to initialize U_
//Mat denoised = TNNR(disparityMissing, mask, 9, 9, 0.06);
Mat denoised = imread(argv[5], CV_LOAD_IMAGE_GRAYSCALE);
LRTV lrtv(disparityMissing, mask);
// rho dt lambda_tv lambda_rank 100 10
lrtv.setParameters(1.2, 0.1, 40, 10);
lrtv.init_U(denoised);
Mat result = lrtv.compute();
Mat M = lrtv.getM();
Mat Y = lrtv.getY();
Mat output;
result.convertTo(output, CV_8UC1);
imwrite(inpaintedPath, output);
imwrite("M.png", M);
imwrite("Y.png", Y);
}
// for stat
else if( instruction == "S" )
{
Mat dispU = imread(argv[2], CV_LOAD_IMAGE_GRAYSCALE);
int H = dispU.rows;
int W = dispU.cols;
Mat disp = Mat::zeros(H, W, CV_32FC1);
dispU.convertTo(disp, CV_32FC1);
Mat kernelx_plus_ = (Mat_<float>(1,3)<<0.0,-1.0,1.0);
Mat kernelx_minus_ = (Mat_<float>(1,3)<<-1.0,1.0,0.0);
Mat kernely_plus_ = (Mat_<float>(3,1)<<0.0,-1.0,1.0);
Mat kernely_minus_ = (Mat_<float>(3,1)<<-1.0,1.0,0.0);
Mat grad_x_plus, grad_x_minus, grad_y_plus, grad_y_minus;
filter2D(disp, grad_x_plus, -1, kernelx_plus_);
filter2D(disp, grad_x_minus, -1, kernelx_minus_);
filter2D(disp, grad_y_plus, -1, kernely_plus_);
filter2D(disp, grad_y_minus, -1, kernely_minus_);
Mat ux, uy;
ux = (grad_x_minus + grad_x_plus) / 2.0;
uy = (grad_y_minus + grad_y_plus) / 2.0;
pow(ux, 2.0, ux);
pow(uy, 2.0, uy);
Mat grad;
sqrt(ux + uy, grad);
Mat r;
grad.convertTo(r, CV_8UC1);
vector <float> histogram(200,0);
for(int i = 0; i < H; i++)
for(int j = 0; j < W; j++)
{
if(r.at<uchar>(i,j) < 200)
{
int id = r.at<uchar>(i,j);
histogram[id] = histogram[id] + 1;
}
}
float total = accumulate(histogram.begin(), histogram.end(), 0.0);
fstream file(argv[3],ios::out);
int i = 0;
for (auto &x : histogram)
{
i++;
cout << x << endl;
file << i << " " << x / total << endl;
}
}
else if( instruction == "L0" )
{
Mat dispU = imread(argv[2], CV_LOAD_IMAGE_GRAYSCALE);
int H = dispU.rows;
int W = dispU.cols;
Mat disp = Mat::zeros(H, W, CV_32FC1);
dispU.convertTo(disp, CV_32FC1);
Mat kernelx_plus_ = (Mat_<float>(1,3)<<0.0,-1.0,1.0);
Mat kernelx_minus_ = (Mat_<float>(1,3)<<-1.0,1.0,0.0);
Mat kernely_plus_ = (Mat_<float>(3,1)<<0.0,-1.0,1.0);
Mat kernely_minus_ = (Mat_<float>(3,1)<<-1.0,1.0,0.0);
Mat grad_x_plus, grad_x_minus, grad_y_plus, grad_y_minus;
filter2D(disp, grad_x_plus, -1, kernelx_plus_);
filter2D(disp, grad_x_minus, -1, kernelx_minus_);
filter2D(disp, grad_y_plus, -1, kernely_plus_);
filter2D(disp, grad_y_minus, -1, kernely_minus_);
Mat ux, uy;
ux = (grad_x_minus + grad_x_plus) / 2.0;
uy = (grad_y_minus + grad_y_plus) / 2.0;
Mat grad;
grad = abs(ux) + abs(uy);
Mat r;
grad.convertTo(r, CV_8UC1);
int l0 = 0;
for(int i = 0; i < H; i++)
for(int j = 0; j < W; j++)
{
if (grad.at<uchar>(i,j ) <1)
l0++;
}
cout << W*H - l0 << endl;
}
else if( instruction == "LRTVPHI" )
{
string disparityPath = argv[2]; //"../../MiddInpaint/ArtL/disp.png";
string maskPath = argv[3]; //"../../MiddInpaint/ArtL/mask_50.png";
Mat disparityMissing = imread(disparityPath, CV_LOAD_IMAGE_GRAYSCALE);
string inpaintedPath = argv[4]; //"just_a_test.png";
Mat mask = imread(maskPath, CV_LOAD_IMAGE_GRAYSCALE);
// int H_ = mask.rows;
// int W_ = mask.cols;
// mask = 255*Mat::ones(H_, W_, CV_8UC1);
Mat orig;
disparityMissing.copyTo(orig); orig.convertTo(orig, CV_32FC1);
multiply(disparityMissing, mask / 255, disparityMissing);
imshow("dd",disparityMissing);waitKey(0);
LRTVPHI lrttv(disparityMissing, mask);
lrttv.setShrinkageParam(1.0,1.0);
Mat denoised = imread(argv[5], CV_LOAD_IMAGE_GRAYSCALE);
// rho dt lambda_tv lambda_rank
// rho = 1.2
lrttv.setParameters(1.2, 0.1, 10, 0.01);
lrttv.setNewtonParameters(0.001); // set gamma
// imshow("temp", denoised);
// waitKey(0);2
lrttv.init_U(denoised);
lrttv.init_M(denoised);
cout << "optimal objective function value = " << lrttv.sub_1_val(orig) << endl;
Mat result;
// lrttv.sub_2();
// lrttv.sub_3();
lrttv.sub_1(1.0,10.0);
cout << "optimal objective function value = " << lrttv.sub_1_val(orig) << endl;
// cout << "OK sub_1" << endl;
//Mat result = lrttv.compute();
Mat M = lrttv.getM();
Mat Y = lrttv.getY();
Mat output;
result = lrttv.getU();
result.convertTo(output, CV_8UC1);
imwrite(inpaintedPath, output);
imwrite("tM.png", M);
imwrite("tY.png", Y);
}
else if( instruction == "X" )
{
Mat a = (Mat_<float>(2,2)<<0,1,2,3);
Mat x;
exp(a,x);
Mat y;
exp(-a,y);
Mat result;
divide(x-y,x+y,result);
cout << result << endl;
}
else if( instruction == "LRL0" )
{
string disparityPath = argv[2]; //"../../MiddInpaint/ArtL/disp.png";
string maskPath = argv[3]; //"../../MiddInpaint/ArtL/mask_50.png";
Mat disparityMissing = imread(disparityPath, CV_LOAD_IMAGE_GRAYSCALE);
Mat orig;
disparityMissing.copyTo(orig);
string inpaintedPath = argv[4]; //"just_a_test.png";
Mat mask = imread(maskPath, CV_LOAD_IMAGE_GRAYSCALE);
int K = atoi(argv[6]);
float lambda_l0 = atof(argv[7]);
int max_iter = atoi(argv[8]);
string path1 = argv[9];
multiply(disparityMissing, mask / 255, disparityMissing);
Mat denoised = imread(argv[5], CV_LOAD_IMAGE_GRAYSCALE);
LRL0 lrl0(disparityMissing, mask);
lrl0.setParameters(1.2,0.1,lambda_l0,10);
lrl0.init_U(denoised);
Mat result = lrl0.compute(K, max_iter, inpaintedPath, orig, path1);
// Mat output;
//result.convertTo(output, CV_8UC1);
//imwrite(inpaintedPath, output);
}
else if( instruction == "LRL0PHI" )
{
string disparityPath = argv[2]; //"../../MiddInpaint/ArtL/disp.png";
string maskPath = argv[3]; //"../../MiddInpaint/ArtL/mask_50.png";
Mat disparityMissing = imread(disparityPath, CV_LOAD_IMAGE_GRAYSCALE);
Mat orig;
disparityMissing.copyTo(orig);
string inpaintedPath = argv[4]; //"just_a_test.png";
Mat mask = imread(maskPath, CV_LOAD_IMAGE_GRAYSCALE);
int K = atoi(argv[6]);
float lambda_l0 = atof(argv[7]);
int max_iter = atoi(argv[8]);
string path1 = argv[9];
multiply(disparityMissing, mask / 255, disparityMissing);
Mat denoised = imread(argv[5], CV_LOAD_IMAGE_GRAYSCALE);
LRL0PHI lrl0phi(disparityMissing, mask);
lrl0phi.setParameters(1.2,0.1,lambda_l0,10,0.75);
lrl0phi.init_U(denoised);
Mat result = lrl0phi.compute(K, max_iter, inpaintedPath, orig, path1);
}
else
{
cout << "Argument Error!" << endl;
cout << argv[1] << endl;
}
return 0;
}
Genome Species::ReproduceOne(Population& a_Pop, Parameters& a_Parameters, RNG& a_RNG)
{
Genome t_baby; // for storing the result
//////////////////////////
// Reproduction
// Spawn only one baby
// this tells us if the baby is a result of mating
bool t_mated = false;
// There must be individuals there..
ASSERT(NumIndividuals() > 0);
// for a species of size 1 we can only mutate
// NOTE: but does it make sense since we know this is the champ?
if (NumIndividuals() == 1)
{
t_baby = GetIndividual(a_Parameters, a_RNG);
t_mated = false;
}
// else we can mate
else
{
Genome t_mom = GetIndividual(a_Parameters, a_RNG);
// choose whether to mate at all
// Do not allow crossover when in simplifying phase
if ((a_RNG.RandFloat() < a_Parameters.CrossoverRate) && (a_Pop.GetSearchMode() != SIMPLIFYING))
{
// get the father
Genome t_dad;
bool t_interspecies = false;
// There is a probability that the father may come from another species
if ((a_RNG.RandFloat() < a_Parameters.InterspeciesCrossoverRate) && (a_Pop.m_Species.size()>1))
{
// Find different species (random one) // !!!!!!!!!!!!!!!!!
// But the different species must have at least one evaluated individual
int t_diffspec = 0;
int t_giveup = 64;
do
{
t_diffspec = a_RNG.RandInt(0, static_cast<int>(a_Pop.m_Species.size()-1));
}
while ((a_Pop.m_Species[t_diffspec].m_AverageFitness == 0) && (t_giveup--));
if (a_Pop.m_Species[t_diffspec].m_AverageFitness == 0)
t_dad = GetIndividual(a_Parameters, a_RNG);
else
t_dad = a_Pop.m_Species[t_diffspec].GetIndividual(a_Parameters, a_RNG);
t_interspecies = true;
}
else
{
// Mate within species
t_dad = GetIndividual(a_Parameters, a_RNG);
// The other parent should be a different one
// number of tries to find different parent
int t_tries = 32;
while(((t_mom.GetID() == t_dad.GetID()) || ((!a_Parameters.AllowClones) && (t_mom.CompatibilityDistance(t_dad, a_Parameters) <= 0.00001)) ) && (t_tries--))
{
t_dad = GetIndividual(a_Parameters, a_RNG);
}
t_interspecies = false;
}
// OK we have both mom and dad so mate them
// Choose randomly one of two types of crossover
if (a_RNG.RandFloat() < a_Parameters.MultipointCrossoverRate)
{
t_baby = t_mom.Mate( t_dad, false, t_interspecies, a_RNG);
}
else
{
t_baby = t_mom.Mate( t_dad, true, t_interspecies, a_RNG);
}
t_mated = true;
}
// don't mate - reproduce the mother asexually
else
{
t_baby = t_mom;
t_mated = false;
}
}
/* if (t_baby.HasDeadEnds())
{
std::cout << "Dead ends in baby after crossover" << std::endl;
// int p;
// std::cin >> p;
}*/
// OK we have the baby, so let's mutate it.
bool t_baby_is_clone = false;
if ((!t_mated) || (a_RNG.RandFloat() < a_Parameters.OverallMutationRate))
MutateGenome(t_baby_is_clone, a_Pop, t_baby, a_Parameters, a_RNG);
// We have a new offspring now
// give the offspring a new ID
t_baby.SetID(a_Pop.GetNextGenomeID());
a_Pop.IncrementNextGenomeID();
// sort the baby's genes
t_baby.SortGenes();
// clear the baby's fitness
t_baby.SetFitness(0);
t_baby.SetAdjFitness(0);
t_baby.SetOffspringAmount(0);
t_baby.ResetEvaluated();
// debug trap
/* if (t_baby.NumLinks() == 0)
{
std::cout << "No links in baby after reproduction" << std::endl;
// int p;
// std::cin >> p;
}
if (t_baby.HasDeadEnds())
{
std::cout << "Dead ends in baby after reproduction" << std::endl;
// int p;
// std::cin >> p;
}
*/
return t_baby;
}
Spectrum VSDScatteringIntegrator::LiMultiple(const Scene *scene, const Renderer *renderer,
const RayDifferential &ray, const Sample *sample, RNG &rng,
Spectrum *T, MemoryArena &arena) const {
VolumeRegion *vr = scene->volumeRegion;
float t0, t1;
vr->IntersectP(ray, &t0, &t1);
// Do multiple scattering volume integration in _vr_
Spectrum Lv(0.);
// Prepare for random walk
Spectrum Tr(1.f);
Point p = ray(t0), pPrev = ray.o;
// printf("%f %f %f, ", p.x, p.y, p.z);
int steps = 0;
// Sample the events in a random walk
// BBox bb = vr->WorldBound();
// printf("%f %f %f & %f %f %f \n",
// bb.pMin.x, bb.pMin.y, bb.pMin.z, bb.pMax.x, bb.pMax.y, bb.pMax.z);
while(vr->WorldBound().Inside(p)) {
//printf("%f %f %f %d \n", p.x, p.y, p.z, steps);
steps++;
// Sample direction
Vector wi = -ray.d, wo;
float pdfDirection = 0.f;
if(!vr->SampleDirection(p, wi, wo, &pdfDirection, rng)) {
// printf("return 1 \n");
return Lv;
}
Ray r(p, wo, 0);
// Sample a distance
float pdfDistance = 0.f;
float tDist;
Point pSample;
if(!vr->SampleDistance(r, &tDist, pSample, &pdfDistance, rng)) {
// printf("return 2 \n");
return Lv;
}
// Compute the transmittance
pPrev = p;
p = r(tDist);
Ray tauRay(pPrev, p - pPrev, 0.f, 1.f, r.time, r.depth);
Spectrum stepTau = vr->tau(tauRay, .5f * stepSize, rng.RandomFloat());
Tr *= Exp(-stepTau);
// Possibly terminate random walk if transmittance is small
if (Tr.y() < 1e-3) {
const float continueProb = .5f;
if (rng.RandomFloat() > continueProb) {
Tr = 0.f;
// printf("return 3 \n");
break;
}
Tr /= continueProb;
}
// Compute emission term at _p_
Lv += Tr * vr->PhotonDensity(p) / (pdfDistance * pdfDirection);
}
// printf("%f %f %f %d \n", p.x, p.y, p.z, steps);
// printf("%d, ", steps);
return Lv;
}