-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathdemo_merging_velocity_field_step2.m
260 lines (186 loc) · 6.99 KB
/
demo_merging_velocity_field_step2.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
function demo_velocity_field_step2
% simulate a piece of mask by multiple beams of particle trajectory
g.non = 0;
g = get_control_point_and_transform_multibeam_two_rotations(g);
figure(12); clf;
disp_merging_velocity_field(g);
% print -dpng -f12 'data/trajectory_mask.png';
function disp_merging_velocity_field(g)
leftB = -150;
rightB = 150;
bottomB = -150;
topB = 150;
% define the boundary boxes
% [dim1a, dim1b; dim2a, dim2b];
g.boundary.box = [leftB, rightB; bottomB, topB];
g.boundary.s = 2;
[X, Y] = meshgrid(leftB:1:rightB, bottomB:1:topB);
% test on the Gaussian smoothing for velocity field
% this is used for decreasing from boundaries
g.vfield_smooth_sigma = 0.1;
% g.s2 is to combine weight
g.s2 = 1;
nb_cps = g.nb_cps;
cps = g.cps;
dim = g.dim;
% two collision boundaries
% r1 = intra-beam collision, r1 \approx 1
% r2 = inter-beam collision, r2 can be fairly big, like 10^2 or 20^2
% r is the collision boundary
r1 = 1;
g.r1 = 1;
r2 = 225;
g.r2 = r2;
% dv is the difference of the velocity when conflicted
g.dv = 1;
% solve iniitial ode on p and q
% pqhat0 = [p; q];
cpshat0 = reshape(cps, [nb_cps*dim, 1]);
tlist = 0:0.01:1;
if 0
% use ode to solve trajectory and define velocity
[T, cpshat] = ode45(@(t, y) vhat_paff_multibeam(g, t, y), tlist, cpshat0);
nb_T = length(T);
cpslist = reshape(cpshat, [nb_T, dim, nb_cps]); % [pqhat(:, 3), pqhat(:, 4)];
g.nb_T = nb_T;
% recompute the velocity at each point
% cpslist: nb_pts * nb_dim * nb_cps (idx_point, u/v, idx_cps)
cpslist1 = permute(cpslist, [2, 1, 3]);
cpslist2 = repmat(cpslist1, [1, nb_cps, 1]);
vcpslist1 = v_paff_ex_pqvec_multibeam(g, nan, reshape(cpslist1, [dim, nb_T*nb_cps]), cpslist2);
vcpslist = reshape(vcpslist1, [dim, nb_T, nb_cps]);
vcpslist = permute(vcpslist, [2, 1, 3]);
else
% use predefined trjactories, assuming they won't conflict
tlist = 0:0.05:1;
[cpslist, vcpslist] = predefine_trajectory_multibeam(g, tlist);
g.nb_T = length(tlist);
end;
clist = collision_detection_conflicted_velocity_multibeam(g, cpslist, vcpslist);
clist
xfield_0 = cat(3, X, Y);
yfield_current = xfield_0;
cpspiecelist = zeros(length(clist), 2, nb_cps);
% qslist = zeros(length(clist)-1, 2);
for ii = 1:nb_cps
cpspiecelist(1, :, ii) = cps(:, ii)';
end;
% precompute the decreasing ratio
% compute the alpha decresing ratio from trajectory
g.h = 2; % h is the sampling radius of the points in the mask
g.sigma2 = Inf; % local decreasing sigma
g.sigma1 = 10; % the sigma to combine affine fields, need to be smaller than collision radius
g.boundary.s = 10;
% cpslist1 = permute(cpslist, [1,3,2]);
% cpslist1 = reshape(cpslist1, [prod(size(cpslist1))/g.dim, g.dim]);
% maskall = scatter_binary_trajectory_nearest_neighbor(g.boundary.box, cpslist1);
maskall = scatter_binary_trajectory_nearest_neighbor(g.boundary.box, cpslist);
logalpha = get_log_weight_using_distance_transform_tablegaussian(maskall, g.h, g.sigma2);
alpha = exp(logalpha);
for ii = 1: length(clist)-1
ind_t1 = clist(ii);
ind_t2 = clist(ii+1);
% create velocity field using RBF decreasing function
vfield = get_stationary_vield_copy_paste_decreasing(g, xfield_0, cpslist(ind_t1:ind_t2, :, :), alpha);
% vfield = smooth_field(vfield, 1, 'Gaussian');
mask_label = scatter_multiple_label_trajectory_after_distance_transform(g, cpslist(ind_t1:ind_t2, :, :));
vfield_inside_mask_accurate = get_stationary_vfield_from_labeled_mask(g, xfield_0, mask_label);
vfield = smooth_field(vfield_inside_mask_accurate, 20, 'PrecondtionVariationalWithBoundary', mask_label, vfield);
figure(15); clf;
imagesc(leftB:rightB, bottomB:topB, mask_label+1);colormap([1 1 1;0 1 0; 1 0 0]);
axis image;
% print -dpng -f15 'data/trjactory_mask.png'
figure(16); clf
qq=20;
q=10;
image(leftB:rightB, bottomB:topB, mask_label+1); colormap([1 1 1;0 1 0; 1 0 0]);
hold on;
quiver(X(qq:q:end-qq+1,qq:q:end-qq+1), ...
Y(qq:q:end-qq+1,qq:q:end-qq+1), ...
vfield(qq:q:end-qq+1,qq:q:end-qq+1, 1) / max(vfield(:)) * 10, ...
vfield(qq:q:end-qq+1,qq:q:end-qq+1, 2) / max(vfield(:)) * 10, 1, 'LineWidth', 2);
hold on;
plot(g.aff{1}.polygon.x, g.aff{1}.polygon.y, 'g-', 'LineWidth', 2);
plot(g.aff{2}.polygon.x, g.aff{2}.polygon.y, 'r-', 'LineWidth', 2);
hold off;
axis equal;
axis([leftB, rightB, bottomB, topB]);
% print -dpng -f16 'data/merged_velocity_with_trajectory.png'
figure(18); clf
qq=20;
q=10;
hold on;
quiver(X(qq:q:end-qq+1,qq:q:end-qq+1), ...
Y(qq:q:end-qq+1,qq:q:end-qq+1), ...
vfield(qq:q:end-qq+1,qq:q:end-qq+1, 1) / max(vfield(:)) * 10, ...
vfield(qq:q:end-qq+1,qq:q:end-qq+1, 2) / max(vfield(:)) * 10, 1, 'LineWidth', 2);
hold on;
axis equal;
axis([leftB, rightB, bottomB, topB]);
print -dpng -f18 'data/merged_velocity.png'
yfield_delta = exp_mapping(vfield, X, Y, tlist(ind_t2)-tlist(ind_t1), 10);
yfield_current = compose_phi(yfield_current, yfield_delta, X, Y);
for k = 1:nb_cps
idx_p = find(X==cps(1,k) & Y==cps(2,k));
y1 = yfield_current(:,:,1);
y2 = yfield_current(:,:,2);
cpspiecelist(ii+1, :, k) = [y1(idx_p), y2(idx_p)];
end;
end;
pad=0;
fil=10;
figure(17); clf;
% % meshplot(X(pad*fil+1:fil:end-pad*fil, pad*fil+1:fil:end-pad*fil), Y(pad*fil+1:fil:end-pad*fil, pad*fil+1:fil:end-pad*fil), 'Color', 'g');
meshplot(yfield_current(pad*fil+1:fil:end-pad*fil, pad*fil+1:fil:end-pad*fil, 1), yfield_current(pad*fil+1:fil:end-pad*fil, pad*fil+1:fil:end-pad*fil, 2), 'Color', 'b', 'LineWidth', 2);
axis equal;
axis([leftB, rightB, bottomB, topB]);
print -dpng -f17 'data/merged_transform.png';
function g = get_control_point_and_transform_multibeam_two_rotations(g)
% control point
% column vector
% cps = [-10 10 0 0;
% 0 0 10 -10 ];
% cps = [-10 0;
% 0 30];
% s is the sigma to computer affine velocity decreasing
% s can be removed in future implementation
s = 1;
dim = 2;
% simulation of two masks
% mask1
[X, Y] = meshgrid(-80:10:-20, -20:10:20);
cps1 = [X(:)'; Y(:)']; % dim * nb_pts
ind1 = ones(1, size(cps1, 2));
cps = cps1;
ind = ind1;
[X, Y] = meshgrid(20:10:80, -40:10:40);
cps1 = [X(:)'; Y(:)']; % dim * nb_pts
ind1 = 2 * ones(1, size(cps1, 2));
cps = [cps, cps1];
ind = [ind, ind1];
g.cps = cps;
g.ind = ind;
nb_cps = size(cps, 2);
% define the affine transform for two masks
g.aff = cell(0);
[A, t] = get_A_and_t(40, [-50;0], [0; 0], [1, 1]);
[L, v] = get_Lv_from_At(A, t);
g.aff{end+1}.A = A;
g.aff{end}.t = t;
g.aff{end}.L = L;
g.aff{end}.v = v;
g.aff{end}.s = s;
g.aff{end}.polygon.x = [-80 -80 -20 -20 -80];
g.aff{end}.polygon.y = [20 -20 -20 20 20];
[A, t] = get_A_and_t(-40, [50; 0], [0; 0], [1,1]);
[L, v] = get_Lv_from_At(A, t);
g.aff{end+1}.A = A;
g.aff{end}.t = t;
g.aff{end}.L = L;
g.aff{end}.v = v;
g.aff{end}.s = s;
g.aff{end}.polygon.x = [20 20 80 80 20];
g.aff{end}.polygon.y = [40 -40 -40 40 40];
g.dim = dim;
g.nb_cps = nb_cps;
g.cps = cps;