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utility.h
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utility.h
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#ifndef UTILITY_H
#define UTILITY_H
#include <Eigen/Eigen>
#include <iostream>
#include <cv.h>
#include <fstream>
//#include <glog/logging.h>
using namespace Eigen;
using namespace cv;
using namespace std;
namespace interpolation_util {
template<typename T, int N>
Eigen::Matrix<double, N, 1> bilinear(const T *const data, const int w, const int h, const Eigen::Vector2d &loc) {
using namespace Eigen;
const double epsilon = 0.00001;
int xl = floor(loc[0] - epsilon), xh = (int) round(loc[0] + 0.5 - epsilon);
int yl = floor(loc[1] - epsilon), yh = (int) round(loc[1] + 0.5 - epsilon);
if (loc[0] <= epsilon)
xl = 0;
if (loc[1] <= epsilon)
yl = 0;
const int l1 = yl * w + xl;
const int l2 = yh * w + xh;
if (l1 == l2) {
Matrix<double, N, 1> res;
for (size_t i = 0; i < N; ++i)
res[i] = data[l1 * N + i];
return res;
}
// char buffer[100] = {};
// sprintf(buffer, "bilinear(): coordinate out of range: (%.2f,%.2f), (%d,%d,%d,%d), l1:%d, l2:%d!",
// loc[0], loc[1], xl, yl, xh, yh, l1, l2);
//CHECK(!(l1 < 0 || l2 < 0 || l1 >= w * h || l2 >= w * h)) << loc[0] << ' ' << loc[1] << ' '<< w << ' '<< h;
double lm = loc[0] - (double) xl, rm = (double) xh - loc[0];
double tm = loc[1] - (double) yl, bm = (double) yh - loc[1];
// (xl, yl), (xh,yl) , (xh,yh), (xl, yh)
Vector4i ind(xl + yl * w, xh + yl * w, xh + yh * w, xl + yh * w);
// N채널의 픽셀값.
std::vector<Matrix<double, N, 1> > v(4);
for (size_t i = 0; i < 4; ++i) {
for (size_t j = 0; j < N; ++j)
v[i][j] = data[ind[i] * N + j];
}
// epsilon보다 작은 차이면 이런일이 발생한다.
if (std::abs(lm) <= epsilon && std::abs(rm) <= epsilon)
return (v[0] * bm + v[2] * tm) / (bm + tm);
if (std::abs(bm) <= epsilon && std::abs(tm) <= epsilon)
return (v[0] * rm + v[2] * lm) / (lm + rm);
Vector4d vw(rm * bm, lm * bm, lm * tm, rm * tm);
double sum = vw.sum();
// sprintf(buffer, "loc:(%.2f,%.2f), integer: (%d,%d,%d,%d), margin: (%.2f,%.2f,%.2f,%.2f), sum: %.2f",
// loc[0], loc[1], xl, yl, xh, yh, lm, rm, tm, bm, sum);
//CHECK_GT(sum, 0);
return (v[0] * vw[0] + v[1] * vw[1] + v[2] * vw[2] + v[3] * vw[3]) / sum;
};
}
namespace math_util {
inline double variance(const std::vector<double> &a, const double mean) {
//CHECK_GT(a.size(),1);
const double n = (double) a.size();
std::vector<double> diff(a.size());
std::transform(a.begin(), a.end(), diff.begin(), std::bind2nd(std::minus<double>(), mean));
return std::sqrt(std::inner_product(diff.begin(), diff.end(), diff.begin(), 0.0) / (n-1));
}
inline double variance(const std::vector<double> &a) {
//CHECK(!a.empty());
const double mean = std::accumulate(a.begin(), a.end(), 0.0) / (double) a.size();
return variance(a, mean);
}
}//namespace math_util
namespace visualization_util{
inline bool isFlowCorrect(Point2f u)
{
return !cvIsNaN(u.x) && !cvIsNaN(u.y) && fabs(u.x) < 1e9 && fabs(u.y) < 1e9;
}
Vec3b computeColor(float fx, float fy);
void drawOpticalFlow(const Mat_<Point2f>& flow, Mat& dst, float maxmotion = -1);
}
namespace vectorMat_util {
inline void vecmatwrite(const string& filename, const vector<Mat>& matrices)
{
ofstream fs(filename.c_str(), fstream::binary);
cout << "save vector<Mat> to" << filename << endl;
for (size_t i = 0; i < matrices.size(); ++i)
{
const Mat& mat = matrices[i];
// Header
int type = mat.type();
int channels = mat.channels();
fs.write((char*)&mat.rows, sizeof(int)); // rows
fs.write((char*)&mat.cols, sizeof(int)); // cols
fs.write((char*)&type, sizeof(int)); // type
fs.write((char*)&channels, sizeof(int)); // channels
// Data
if (mat.isContinuous())
{
fs.write((char*)mat.ptr<Mat>(0), (mat.dataend - mat.datastart));
}
else
{
int rowsz = CV_ELEM_SIZE(type) * mat.cols;
for (int r = 0; r < mat.rows; ++r)
{
fs.write((char*)mat.ptr<Mat>(r), rowsz);
}
}
}
}
inline vector<Mat> vecmatread(const string& filename)
{
vector<Mat> matrices;
ifstream fs(filename.c_str(), fstream::binary);
// Get length of file
fs.seekg(0, fs.end);
int length = fs.tellg();
fs.seekg(0, fs.beg);
while (fs.tellg() < length)
{
// Header
int rows, cols, type, channels;
fs.read((char*)&rows, sizeof(int)); // rows
fs.read((char*)&cols, sizeof(int)); // cols
fs.read((char*)&type, sizeof(int)); // type
fs.read((char*)&channels, sizeof(int)); // channels
// Data
Mat mat(rows, cols, type);
fs.read((char*)mat.data, CV_ELEM_SIZE(type) * rows * cols);
matrices.push_back(mat);
}
return matrices;
}
}
#endif