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findImageFromPose.cpp
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findImageFromPose.cpp
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#include <vector>
#include <string>
#include <iostream>
#include "LightfieldClass.h"
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
using namespace std;
using namespace cv;
void findClosestNeighbors(LightFieldClass * lightfieldholder, Point2f uvCoord,
lightfieldStructUnit neighbors[4]){
double eucDist0 = 200000;
double eucDist1 = 200000;
double eucDist2 = 200000;
double eucDist3 = 200000;
typedef vector<lightfieldStructUnit>::iterator it_type;
for (it_type iter = lightfieldholder->lightfield.begin();
iter != lightfieldholder->lightfield.end(); ++iter) {
Point2f tmp = (*iter).position;
//closestCoord1: top left
if ((tmp.x < uvCoord.x) && (tmp.y < uvCoord.y)) {
float dist = sqrt((tmp.x - uvCoord.x) *(tmp.x - uvCoord.x)
+ (tmp.y - uvCoord.y)*(tmp.y - uvCoord.y));
if (dist < eucDist0) {
eucDist1 = dist;
neighbors[0] = (*iter);
}
}
//closestCoord2: top right
else if ((tmp.x >= uvCoord.x) && (tmp.y < uvCoord.y)) {
float dist = sqrt((tmp.x - uvCoord.x) *(tmp.x - uvCoord.x)
+ (tmp.y - uvCoord.y)*(tmp.y - uvCoord.y));
if (dist < eucDist1) {
eucDist1 = dist;
neighbors[1] = (*iter);
}
}
//closestCoord3: bottom left
else if ((tmp.x < uvCoord.x) && (tmp.y >= uvCoord.y)) {
float dist = sqrt((tmp.x - uvCoord.x) *(tmp.x - uvCoord.x)
+ (tmp.y - uvCoord.y)*(tmp.y - uvCoord.y));
if (dist < eucDist2) {
eucDist2 = dist;
neighbors[2] = (*iter);
}
}
//closestCoord4: bottom right
else if ((tmp.x >= uvCoord.x) && (tmp.y >= uvCoord.y)) {
float dist = sqrt((tmp.x - uvCoord.x) *(tmp.x - uvCoord.x)
+ (tmp.y - uvCoord.y)*(tmp.y - uvCoord.y));
if (dist < eucDist3) {
eucDist3 = dist;
neighbors[3] = (*iter);
}
}
}
}
//TODO- CHECK
bool isInsideRegion(vector<Point2f> patch, vector<Point2f> region) {
if (patch[0].x > region[0].x && patch[0].y > region[0].y) {
if (patch[1].x > region[1].x && patch[1].y < region[1].y) {
if (patch[2].x < region[2].x && patch[2].y > region[2].y) {
if (patch[3].x < region[3].x && patch[3].y < region[3].y) {
return true;
}
}
}
}
return false;
}
int LightFieldClass::findImageFromPose(Mat pose) {
Mat newImage(IMAGE_RESOLUTION_X, IMAGE_RESOLUTION_Y, CV_8UC3, Scalar(0, 0, 0));
vector<Point2f> imageCenterAndCorners(5);
imageCenterAndCorners[0] = cvPoint(IMAGE_RESOLUTION_X / 2, IMAGE_RESOLUTION_Y / 2);
imageCenterAndCorners[1] = cvPoint(0, 0);
imageCenterAndCorners[2] = cvPoint(0, IMAGE_RESOLUTION_Y);
imageCenterAndCorners[3] = cvPoint(IMAGE_RESOLUTION_X, 0);
imageCenterAndCorners[4] = cvPoint(IMAGE_RESOLUTION_X, IMAGE_RESOLUTION_Y);
vector<Point2f> cameraCenterAndCorners(5);
perspectiveTransform(imageCenterAndCorners, cameraCenterAndCorners, pose);
Point2f uvCoord = cameraCenterAndCorners[0];
lightfieldStructUnit neighbors[4];
findClosestNeighbors(this, uvCoord, neighbors);
int patchSize = 10;
for (int i = 0; i < IMAGE_RESOLUTION_X - patchSize; i += patchSize) {
for (int j = 0; j < IMAGE_RESOLUTION_Y - patchSize; j+= patchSize) {
bool outOfBounds = true;
vector<Point2f> patchCornersUV(4);
patchCornersUV[0] = cvPoint(i, j);
patchCornersUV[1] = cvPoint(i, j + patchSize);
patchCornersUV[2] = cvPoint(i + patchSize, j);
patchCornersUV[3] = cvPoint(i + patchSize, j + patchSize);
vector<Point2f> patchCornersST(4);
perspectiveTransform(patchCornersUV, patchCornersST, pose.inv());
int k = 0;
for (k; k < 4; ++k) {
if (isInsideRegion(patchCornersST, (neighbors[k]).corners)) {
outOfBounds = false;
break;
}
}
if (!outOfBounds) {
return FAILURE;
}
Mat imageToCopyPatch = *(neighbors[k].image);
vector<Point2f> originalCornersUV(4);
perspectiveTransform(patchCornersST, originalCornersUV,
*(neighbors[k].homography));
for (int m = 0; m < patchSize; ++m) {
for (int n = 0; n < patchSize; ++n) {
newImage.at<uchar>(m + i, n + j) =
imageToCopyPatch.at<uchar>(Point2f(originalCornersUV[0].x + i,
originalCornersUV[0].y + j));
}
}
}
}
//TODO display new image
return SUCCESS;
}