machine_vision_d.py 文件源码

def create_cost(center, xy, width, persitaltic, bend, bend_profiles, contour, contour_normals, length, weight_spacing = 1.0, weight_bending = 1.0, gamma = 1.0, kappa = 2.0):

  c = tf.add(center, xy);

  #tangent and normals  
  t  = create_tangent(c);
  tn = create_normalize_tangent(t);
  ta = create_average_tangent(tn);
  nl = create_normal(ta);

  #bend the center
  c = create_bend(center, nl, bend, bend_profiles);

  #peristaltically move the center
  c = create_peristaltic(c, ta, persitaltic);

  #tangents
  t  = create_tangent(c);
  tn = create_normalize_tangent(t);
  ta = create_average_tangent(tn);
  nl = create_normal(ta);
  nr = tf.scalar_mul(-1.0, nl);  
  l,r = create_left_right(c,width,nl);

  cost_left = create_cost_soft_min_aligned_distance(l, contour, nl, contour_normals, k = kappa, gamma = gamma);
  cost_right= create_cost_soft_min_aligned_distance(r, contour, nr, contour_normals, 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, c, l, r, nl);