/** \brief Checks if a patch at a specific image location is still within the reference image.
*
* @param img - Reference Image.
* @param c - Coordinates of the patch in the reference image.
* @param withBorder - Check, using either the patch-patchSize of Patch::patch_ (withBorder = false) or the patch-patchSize
* of the expanded patch Patch::patchWithBorder_ (withBorder = true).
* @return true, if the patch is completely located within the reference image.
*/
static bool isPatchInFrame(const cv::Mat& img,const FeatureCoordinates& c,const bool withBorder = false){
if(c.isInFront() && c.com_warp_c()){
const int halfpatch_size = patchSize/2+(int)withBorder;
if(c.isNearIdentityWarping()){
if(c.get_c().x < halfpatch_size || c.get_c().y < halfpatch_size || c.get_c().x > img.cols-halfpatch_size || c.get_c().y > img.rows-halfpatch_size){
return false;
} else {
return true;
}
} else {
for(int x = 0;x<2;x++){
for(int y = 0;y<2;y++){
const float dx = halfpatch_size*(2*x-1);
const float dy = halfpatch_size*(2*y-1);
const float wdx = c.get_warp_c()(0,0)*dx + c.get_warp_c()(0,1)*dy;
const float wdy = c.get_warp_c()(1,0)*dx + c.get_warp_c()(1,1)*dy;
const float c_x = c.get_c().x + wdx;
const float c_y = c.get_c().y + wdy;
if(c_x < 0 || c_y < 0 || c_x > img.cols || c_y > img.rows){
return false;
}
}
}
return true;
}
} else {
return false;
}
}
/** \brief Draws the patch borders into an image.
*
* @param drawImg - Image in which the patch borders should be drawn.
* @param s - Scaling factor.
* @param color - Line color.
*/
void drawMultilevelPatchBorder(cv::Mat& drawImg,const FeatureCoordinates& c,const float s, const cv::Scalar& color,const FeatureWarping* mpWarp = nullptr) const{
if(!c.isInFront()) return;
if(mpWarp == nullptr){
patches_[0].drawPatchBorder(drawImg,c.get_c(),s*pow(2.0,nLevels-1),color,Eigen::Matrix2f::Identity());
} else {
if(mpWarp->com_affineTransform(&c)){
patches_[0].drawPatchBorder(drawImg,c.get_c(),s*pow(2.0,nLevels-1),color,mpWarp->get_affineTransform(&c));
}
}
}
/** \brief Checks if the MultilevelPatchFeature's patches are fully located within the corresponding images.
*
* @param pyr - Image pyramid, which should be checked to fully contain the patches.
* @param l - Maximal pyramid level which should be checked (Note: The maximal level is the critical level.)
* @param mpCoor - Coordinates of the patch in the reference image (subpixel coordinates possible).
* @param mpWarp - Affine warping matrix. If nullptr not warping is considered.
* @param withBorder - If true, the check is executed with the expanded patch dimensions (incorporates the general patch dimensions).
* If false, the check is only executed with the general patch dimensions.
*/
bool isMultilevelPatchInFrame(const ImagePyramid<nLevels>& pyr,const FeatureCoordinates& c, const int l = nLevels-1,const FeatureWarping* mpWarp = nullptr,const bool withBorder = false) const{
if(!c.isInFront()) return false;
pyr.levelTranformCoordinates(c,coorTemp_,0,l);
if(mpWarp == nullptr){
return patches_[l].isPatchInFrame(pyr.imgs_[l],coorTemp_.get_c(),Eigen::Matrix2f::Identity(),withBorder);
} else {
if(!mpWarp->com_affineTransform(&c)){
return false;
}
return patches_[l].isPatchInFrame(pyr.imgs_[l],coorTemp_.get_c(),mpWarp->get_affineTransform(&c),withBorder);
}
}
/** \brief Draws the patch borders into an image.
*
* @param drawImg - Image in which the patch borders should be drawn.
* @param c - Coordinates of the patch in the reference image.
* @param s - Scaling factor.
* @param color - Line color.
*/
void drawPatchBorder(cv::Mat& drawImg,const FeatureCoordinates& c,const float s, const cv::Scalar& color) const{
const double half_length = s*patchSize/2;
if(c.isInFront() && c.com_warp_c()){
cv::Point2f c1 = c.get_patchCorner(half_length,half_length).get_c();
cv::Point2f c2 = c.get_patchCorner(half_length,-half_length).get_c();
cv::line(drawImg,c1,c2,color,1);
c1 = c.get_patchCorner(-half_length,-half_length).get_c();
cv::line(drawImg,c2,c1,color,1);
c2 = c.get_patchCorner(-half_length,half_length).get_c();
cv::line(drawImg,c1,c2,color,1);
c1 = c.get_patchCorner(half_length,half_length).get_c();
cv::line(drawImg,c2,c1,color,1);
}
}