machine_vision_c.py 文件源码

def create_cost(c, w, b, nb, length, weight_spacing = 1.0, weight_bending = 1.0, gamma = 1.0, kappa = 2.0):
  #tangents
  t  = create_tangent(c);
  tn = create_normalize_tangent(t);
  nl = create_normal(tn);
  nr = tf.scalar_mul(-1.0, nl);

  l,r = create_left_right(c,w,nl);

  cost_left = create_cost_soft_min_aligned_distance(l, b, nl, nb, k = kappa, gamma = gamma);
  cost_right= create_cost_soft_min_aligned_distance(r, b, nr, nb, k = kappa, gamma = gamma);
  cost = tf.add(cost_left, cost_right);

  #spacing and bending
  if weight_spacing != 0:
    cost_spacing = tf.scalar_mul(weight_spacing, create_cost_spacing(t, length));
    cost = tf.add(cost, cost_spacing);
  else:
    cost_spacing = tf.constant(0);

  if weight_bending != 0:
    cost_bending = tf.scalar_mul(weight_bending, create_cost_bending(tn));
    cost = tf.add(cost, cost_bending);
  else:
    cost_bending = tf.constant(0);

  return (cost, cost_left, cost_right, cost_spacing, cost_bending, nl, l, r);