void PlanarSubdivisionGetTriangles(CvSubdiv2D* subdiv, Triangle2DF* triangles, int* triangleCount, int includeVirtualPoint)
{
UniquePointSet pointSet;
CvSet* subdivEdges = subdiv->edges;
CvSeqReader reader;
cvStartReadSeq((CvSeq*) subdivEdges, &reader);
schar* start = reader.ptr;
Triangle2DF* currentTriangle = triangles;
Triangle2DF t;
if (includeVirtualPoint)
{
while(CV_IS_SET_ELEM(reader.ptr))
{
CvQuadEdge2D* edge = (CvQuadEdge2D*)reader.ptr;
PlanarSubdivisionEdgeToTriangle( edge->next[0], &t);
if (pointSet.insert(TriangleVertexSum(&t)).second)
*currentTriangle++ = t;
PlanarSubdivisionEdgeToTriangle( edge->next[2], &t);
if (pointSet.insert(TriangleVertexSum(&t)).second)
*currentTriangle++ = t;
CV_NEXT_SEQ_ELEM(subdivEdges->elem_size, reader);
// prevent infinite loop
if(reader.ptr == start)
break;
}
} else
{
while(CV_IS_SET_ELEM(reader.ptr))
{
CvQuadEdge2D* edge = (CvQuadEdge2D*)reader.ptr;
PlanarSubdivisionEdgeToTriangle( edge->next[0], &t);
if (pointSet.insert(TriangleVertexSum(&t)).second
&& TriangleInRegion(t, subdiv))
*currentTriangle++ = t;
PlanarSubdivisionEdgeToTriangle( edge->next[2], &t);
if (pointSet.insert(TriangleVertexSum(&t)).second
&& TriangleInRegion(t, subdiv))
*currentTriangle++ = t;
CV_NEXT_SEQ_ELEM(subdivEdges->elem_size, reader);
// prevent infinite loop
if(reader.ptr == start)
break;
}
}
*triangleCount = (currentTriangle - triangles) ;
}
void PlanarSubdivisionGetSubdiv2DPoints(CvSubdiv2D* subdiv, CvPoint2D32f* points, CvSubdiv2DEdge* edges, int* pointCount)
{
UniquePointSet pointSet;
CvSet* subdivEdges = subdiv->edges;
CvPoint2D32f* currentPoint = points;
CvSubdiv2DEdge* currentEdge = edges;
CvSeqReader reader;
cvStartReadSeq((CvSeq*) subdivEdges, &reader);
schar* start = reader.ptr;
while(CV_IS_SET_ELEM(reader.ptr))
{
CvQuadEdge2D* qEdge = (CvQuadEdge2D*)reader.ptr;
if (qEdge && CV_IS_SET_ELEM(qEdge))
{
CvSubdiv2DEdge e = (CvSubdiv2DEdge) qEdge;
if (e && CV_IS_SET_ELEM(e))
{
CvSubdiv2DPoint* p1 = cvSubdiv2DEdgeOrg(e);
if (p1 &&
pointSet.insert(p1->pt).second &&
PointInRegion(p1->pt, subdiv))
{
*currentPoint++ = p1->pt;
*currentEdge++ = cvSubdiv2DRotateEdge(e, 1);
}
CvSubdiv2DPoint* p2 = cvSubdiv2DEdgeDst(e);
if(p2 &&
pointSet.insert(p2->pt).second &&
PointInRegion(p2->pt, subdiv))
{
*currentPoint++ = p2->pt;
*currentEdge++ = cvSubdiv2DRotateEdge(e, 3);
}
}
}
CV_NEXT_SEQ_ELEM(subdivEdges->elem_size, reader);
// prevent infinite loop
if(reader.ptr == start)
break;
}
*pointCount = currentPoint - points;
}
void paint_voronoi( CvSubdiv2D* subdiv, IplImage* img )
{
CvSeqReader reader;
int i, total = subdiv->edges->total;
int elem_size = subdiv->edges->elem_size;
cvCalcSubdivVoronoi2D( subdiv );
cvStartReadSeq( (CvSeq*)(subdiv->edges), &reader, 0 );
for( i = 0; i < total; i++ )
{
CvQuadEdge2D* edge = (CvQuadEdge2D*)(reader.ptr);
if( CV_IS_SET_ELEM( edge ))
{
CvSubdiv2DEdge e = (CvSubdiv2DEdge)edge;
// left
draw_subdiv_facet( img, cvSubdiv2DRotateEdge( e, 1 ));
// right
draw_subdiv_facet( img, cvSubdiv2DRotateEdge( e, 3 ));
}
CV_NEXT_SEQ_ELEM( elem_size, reader );
}
}
CV_IMPL int
icvSubdiv2DCheck( CvSubdiv2D* subdiv )
{
int i, j, total = subdiv->edges->total;
int check_result = 0;
CV_FUNCNAME("icvSubdiv2DCheck");
__BEGIN__;
if( !subdiv )
CV_ERROR_FROM_STATUS( CV_NULLPTR_ERR );
for( i = 0; i < total; i++ )
{
CvQuadEdge2D* edge = (CvQuadEdge2D*)cvGetSetElem(subdiv->edges,i);
if( edge && CV_IS_SET_ELEM( edge ))
{
for( j = 0; j < 4; j++ )
{
CvSubdiv2DEdge e = (CvSubdiv2DEdge)edge + j;
CvSubdiv2DEdge o_next = cvSubdiv2DNextEdge(e);
CvSubdiv2DEdge o_prev = cvSubdiv2DGetEdge(e, CV_PREV_AROUND_ORG );
CvSubdiv2DEdge d_prev = cvSubdiv2DGetEdge(e, CV_PREV_AROUND_DST );
CvSubdiv2DEdge d_next = cvSubdiv2DGetEdge(e, CV_NEXT_AROUND_DST );
// check points
if( cvSubdiv2DEdgeOrg(e) != cvSubdiv2DEdgeOrg(o_next))
EXIT;
if( cvSubdiv2DEdgeOrg(e) != cvSubdiv2DEdgeOrg(o_prev))
EXIT;
if( cvSubdiv2DEdgeDst(e) != cvSubdiv2DEdgeDst(d_next))
EXIT;
if( cvSubdiv2DEdgeDst(e) != cvSubdiv2DEdgeDst(d_prev))
EXIT;
if( j % 2 == 0 )
{
if( cvSubdiv2DEdgeDst(o_next) != cvSubdiv2DEdgeOrg(d_prev))
EXIT;
if( cvSubdiv2DEdgeDst(o_prev) != cvSubdiv2DEdgeOrg(d_next))
EXIT;
if( cvSubdiv2DGetEdge(cvSubdiv2DGetEdge(cvSubdiv2DGetEdge(
e,CV_NEXT_AROUND_LEFT),CV_NEXT_AROUND_LEFT),CV_NEXT_AROUND_LEFT) != e )
EXIT;
if( cvSubdiv2DGetEdge(cvSubdiv2DGetEdge(cvSubdiv2DGetEdge(
e,CV_NEXT_AROUND_RIGHT),CV_NEXT_AROUND_RIGHT),CV_NEXT_AROUND_RIGHT) != e)
EXIT;
}
}
}
}
check_result = 1;
__END__;
return check_result;
}
CV_IMPL int
icvSubdiv2DCheck( CvSubdiv2D* subdiv )
{
int i, j, total = subdiv->edges->total;
CV_Assert( subdiv != 0 );
for( i = 0; i < total; i++ )
{
CvQuadEdge2D* edge = (CvQuadEdge2D*)cvGetSetElem(subdiv->edges,i);
if( edge && CV_IS_SET_ELEM( edge ))
{
for( j = 0; j < 4; j++ )
{
CvSubdiv2DEdge e = (CvSubdiv2DEdge)edge + j;
CvSubdiv2DEdge o_next = cvSubdiv2DNextEdge(e);
CvSubdiv2DEdge o_prev = cvSubdiv2DGetEdge(e, CV_PREV_AROUND_ORG );
CvSubdiv2DEdge d_prev = cvSubdiv2DGetEdge(e, CV_PREV_AROUND_DST );
CvSubdiv2DEdge d_next = cvSubdiv2DGetEdge(e, CV_NEXT_AROUND_DST );
// check points
if( cvSubdiv2DEdgeOrg(e) != cvSubdiv2DEdgeOrg(o_next))
return 0;
if( cvSubdiv2DEdgeOrg(e) != cvSubdiv2DEdgeOrg(o_prev))
return 0;
if( cvSubdiv2DEdgeDst(e) != cvSubdiv2DEdgeDst(d_next))
return 0;
if( cvSubdiv2DEdgeDst(e) != cvSubdiv2DEdgeDst(d_prev))
return 0;
if( j % 2 == 0 )
{
if( cvSubdiv2DEdgeDst(o_next) != cvSubdiv2DEdgeOrg(d_prev))
return 0;
if( cvSubdiv2DEdgeDst(o_prev) != cvSubdiv2DEdgeOrg(d_next))
return 0;
if( cvSubdiv2DGetEdge(cvSubdiv2DGetEdge(cvSubdiv2DGetEdge(
e,CV_NEXT_AROUND_LEFT),CV_NEXT_AROUND_LEFT),CV_NEXT_AROUND_LEFT) != e )
return 0;
if( cvSubdiv2DGetEdge(cvSubdiv2DGetEdge(cvSubdiv2DGetEdge(
e,CV_NEXT_AROUND_RIGHT),CV_NEXT_AROUND_RIGHT),CV_NEXT_AROUND_RIGHT) != e)
return 0;
}
}
}
}
return 1;
}
void draw_subdiv( IplImage* img, CvSubdiv2D* subdiv, CvPoint2D32f * unwarped_points, CvPoint2D32f * warped_points, int count, char * status )
{
CvSeqReader reader;
int i, total = subdiv->edges->total;
int elem_size = subdiv->edges->elem_size;
cvStartReadSeq( (CvSeq*)(subdiv->edges), &reader, 0 );
for( i = 0; i < total; i++ )
{
CvQuadEdge2D* edge = (CvQuadEdge2D*)(reader.ptr);
if( CV_IS_SET_ELEM( edge ))
{
// draw_subdiv_edge( img, (CvSubdiv2DEdge)edge + 1, voronoi_color );
draw_subdiv_edge( img, subdiv, (CvSubdiv2DEdge)edge, CV_RGB(0,255,0), unwarped_points, warped_points, count, status );
}
CV_NEXT_SEQ_ELEM( elem_size, reader );
}
}
void draw_subdiv( IplImage* img, CvSubdiv2D* subdiv,
CvScalar delaunay_color)
{
CvSeqReader reader;
int i, total = subdiv->edges->total;
int elem_size = subdiv->edges->elem_size;
cvStartReadSeq( (CvSeq*)(subdiv->edges), &reader, 0 );
for( i = 0; i < total; i++ )
{
CvQuadEdge2D* edge = (CvQuadEdge2D*)(reader.ptr);
if( CV_IS_SET_ELEM( edge ))
{
draw_subdiv_edge( img, (CvSubdiv2DEdge)edge, delaunay_color );
}
CV_NEXT_SEQ_ELEM( elem_size, reader );
}
}
CV_IMPL void
icvDrawMosaic( CvSubdiv2D * subdiv, IplImage * src, IplImage * dst )
{
int i, total = subdiv->edges->total;
cvCalcSubdivVoronoi2D( subdiv );
//icvSet( dst, 255 );
for( i = 0; i < total; i++ )
{
CvQuadEdge2D *edge = (CvQuadEdge2D *) cvGetSetElem( subdiv->edges, i );
if( edge && CV_IS_SET_ELEM( edge ))
{
CvSubdiv2DEdge e = (CvSubdiv2DEdge) edge;
// left
draw_subdiv_facet( subdiv, dst, src, cvSubdiv2DRotateEdge( e, 1 ));
// right
draw_subdiv_facet( subdiv, dst, src, cvSubdiv2DRotateEdge( e, 3 ));
}
}
}
int opticaltri( CvMat * &clean_texture, int verts )
{
char * im1fname = "conhull-dirty-thresh.jpg";
char * im2fname = "conhull-clean-thresh.jpg";
int count = MAX_COUNT;
char * status;
CvPoint2D32f * source_points;
CvPoint2D32f * dest_points;
CvPoint2D32f * delaunay_points = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(CvPoint2D32f));
// count = opticalflow( im1fname, im2fname, source_points, dest_points, status );
count = findsiftpoints( "conhull-dirty.jpg", "conhull-clean.jpg", source_points, dest_points, status );
IplImage * image1 = cvLoadImage(im1fname, CV_LOAD_IMAGE_COLOR);
CvMemStorage * storage = cvCreateMemStorage(0);
CvSubdiv2D * delaunay = cvCreateSubdivDelaunay2D( cvRect(0,0,image1->width,image1->height), storage);
IplImage * image2 = cvLoadImage(im2fname, CV_LOAD_IMAGE_COLOR);
cvSet( image1, cvScalarAll(255) );
std::map<CvPoint, CvPoint> point_lookup_map;
std::vector<std::pair<CvPoint, CvPoint> > point_lookup;
int num_matches = 0;
int num_out_matches = 0;
int max_dist = 50;
int offset = 200;
// put corners in the point lookup as going to themselves
point_lookup_map[cvPoint(0,0)] = cvPoint(0,0);
point_lookup_map[cvPoint(0,image1->height-1)] = cvPoint(0,image1->height-1);
point_lookup_map[cvPoint(image1->width-1,0)] = cvPoint(image1->width-1,0);
point_lookup_map[cvPoint(image1->width-1,image1->height-1)] = cvPoint(image1->width-1,image1->height-1);
point_lookup.push_back(std::pair<CvPoint,CvPoint>(cvPoint(0,0), cvPoint(0,0)));
point_lookup.push_back(std::pair<CvPoint,CvPoint>(cvPoint(0,image1->height-1), cvPoint(0,image1->height-1)));
point_lookup.push_back(std::pair<CvPoint,CvPoint>(cvPoint(image1->width-1,0), cvPoint(image1->width-1,0)));
point_lookup.push_back(std::pair<CvPoint,CvPoint>(cvPoint(image1->width-1,image1->height-1), cvPoint(image1->width-1,image1->height-1)));
printf("Inserting corners...");
// put corners in the Delaunay subdivision
for(unsigned int i = 0; i < point_lookup.size(); i++) {
cvSubdivDelaunay2DInsert( delaunay, cvPointTo32f(point_lookup[i].first) );
}
printf("done.\n");
CvSubdiv2DEdge proxy_edge;
for(int i = 0; i < count; i++) {
if(status[i]) {
CvPoint source = cvPointFrom32f(source_points[i]);
CvPoint dest = cvPointFrom32f(dest_points[i]);
if((((int)fabs((double)(source.x - dest.x))) > max_dist) ||
(((int)fabs((double)(source.y - dest.y))) > max_dist)) {
num_out_matches++;
}
else if((dest.x >= 0) && (dest.y >= 0) && (dest.x < (image1->width)) && (dest.y < (image1->height))) {
if(point_lookup_map.find(source) == point_lookup_map.end()) {
num_matches++;
point_lookup_map[source] = dest;
point_lookup.push_back(std::pair<CvPoint,CvPoint>(source,dest));
// delaunay_points[i] =
(cvSubdivDelaunay2DInsert( delaunay, cvPointTo32f(source) ))->pt;
cvSetImageROI( image1, cvRect(source.x-8,source.y-8,8*2,8*2) );
cvResetImageROI( image2 );
cvGetRectSubPix( image2, image1, dest_points[i] );
}
/*
cvSet2D( image1, source.y, source.x, cvGet2D( image2, dest.y, dest.x ) );
cvSet2D( image1, source.y, source.x+1, cvGet2D( image2, dest.y, dest.x+1 ) );
cvSet2D( image1, source.y, source.x-1, cvGet2D( image2, dest.y, dest.x-1 ) );
cvSet2D( image1, source.y+1, source.x, cvGet2D( image2, dest.y+1, dest.x ) );
cvSet2D( image1, source.y-1, source.x, cvGet2D( image2, dest.y-1, dest.x ) );
cvSet2D( image1, source.y+1, source.x+1, cvGet2D( image2, dest.y+1, dest.x+1 ) );
cvSet2D( image1, source.y-1, source.x-1, cvGet2D( image2, dest.y-1, dest.x-1 ) );
cvSet2D( image1, source.y+1, source.x-1, cvGet2D( image2, dest.y+1, dest.x-1 ) );
cvSet2D( image1, source.y-1, source.x+1, cvGet2D( image2, dest.y-1, dest.x+1 ) );
*/
// cvCircle( image1, source, 4, CV_RGB(255,0,0), 2, CV_AA );
// cvCircle( image2, dest, 4, CV_RGB(255,0,0), 2, CV_AA );
}
/*
cvSetImageROI( image1, cvRect(source.x-offset,source.y-offset,offset*2,offset*2) );
cvSetImageROI( image2, cvRect(dest.x-offset,dest.y-offset,offset*2,offset*2) );
cvNamedWindow("image1",0);
cvNamedWindow("image2",0);
cvShowImage("image1",image1);
cvShowImage("image2",image2);
printf("%d,%d -> %d,%d\n",source.x,source.y,dest.x,dest.y);
cvWaitKey(0);
cvDestroyAllWindows();
*/
}
}
printf("%d %d\n",num_matches,num_out_matches);
printf("%d lookups\n",point_lookup_map.size());
cvResetImageROI( image1 );
cvSaveImage("sparse.jpg", image1);
cvReleaseImage(&image1);
image1 = cvLoadImage(im1fname, CV_LOAD_IMAGE_COLOR);
cvSet( image1, cvScalarAll(255) );
printf("Warping image...");
CvSeqReader reader;
int total = delaunay->edges->total;
int elem_size = delaunay->edges->elem_size;
std::vector<Triangle> trivec;
std::vector<CvMat *> baryinvvec;
for( int i = 0; i < total*2; i++ ) {
if((i == 0) || (i == total)) {
cvStartReadSeq( (CvSeq*)(delaunay->edges), &reader, 0 );
}
CvQuadEdge2D* edge = (CvQuadEdge2D*)(reader.ptr);
if( CV_IS_SET_ELEM( edge )) {
CvSubdiv2DEdge curedge = (CvSubdiv2DEdge)edge;
CvSubdiv2DEdge t = curedge;
Triangle temptri;
int count = 0;
// construct a triangle from this edge
do {
CvSubdiv2DPoint* pt = cvSubdiv2DEdgeOrg( t );
if(count < 3) {
pt->pt.x = pt->pt.x >= image1->width ? image1->width-1 : pt->pt.x;
pt->pt.y = pt->pt.y >= image1->height ? image1->height-1 : pt->pt.y;
pt->pt.x = pt->pt.x < 0 ? 0 : pt->pt.x;
pt->pt.y = pt->pt.y < 0 ? 0 : pt->pt.y;
temptri.points[count] = cvPointFrom32f( pt->pt );
}
else {
printf("More than 3 edges\n");
}
count++;
if(i < total)
t = cvSubdiv2DGetEdge( t, CV_NEXT_AROUND_LEFT );
else
t = cvSubdiv2DGetEdge( t, CV_NEXT_AROUND_RIGHT );
} while( t != curedge );
// check that triangle is not already in
if( std::find(trivec.begin(), trivec.end(), temptri) == trivec.end() ) {
// push triangle in and draw
trivec.push_back(temptri);
cvLine( image1, temptri.points[0], temptri.points[1], CV_RGB(255,0,0), 1, CV_AA, 0 );
cvLine( image1, temptri.points[1], temptri.points[2], CV_RGB(255,0,0), 1, CV_AA, 0 );
cvLine( image1, temptri.points[2], temptri.points[0], CV_RGB(255,0,0), 1, CV_AA, 0 );
// compute barycentric computation vector for this triangle
CvMat * barycen = cvCreateMat( 3, 3, CV_32FC1 );
CvMat * baryceninv = cvCreateMat( 3, 3, CV_32FC1 );
barycen->data.fl[3*0+0] = temptri.points[0].x;
barycen->data.fl[3*0+1] = temptri.points[1].x;
barycen->data.fl[3*0+2] = temptri.points[2].x;
barycen->data.fl[3*1+0] = temptri.points[0].y;
barycen->data.fl[3*1+1] = temptri.points[1].y;
barycen->data.fl[3*1+2] = temptri.points[2].y;
barycen->data.fl[3*2+0] = 1;
barycen->data.fl[3*2+1] = 1;
barycen->data.fl[3*2+2] = 1;
cvInvert( barycen, baryceninv, CV_LU );
baryinvvec.push_back(baryceninv);
cvReleaseMat( &barycen );
}
}
CV_NEXT_SEQ_ELEM( elem_size, reader );
}
printf("%d triangles...", trivec.size());
cvSaveImage("triangles.jpg", image1);
cvSet( image1, cvScalarAll(255) );
IplImage * clean_nonthresh = cvLoadImage( "conhull-clean.jpg", CV_LOAD_IMAGE_COLOR );
// for each triangle
for(unsigned int i = 0; i < trivec.size(); i++) {
Triangle curtri = trivec[i];
CvMat * curpoints = cvCreateMat( 1, 3, CV_32SC2 );
Triangle target;
std::map<CvPoint,CvPoint>::iterator piter[3];
printf("Triangle %d / %d\n",i,trivec.size());
int is_corner = 0;
for(int j = 0; j < 3; j++) {
/*
curpoints->data.i[2*j+0] = curtri.points[j].x;
curpoints->data.i[2*j+1] = curtri.points[j].y;
*/
CV_MAT_ELEM( *curpoints, CvPoint, 0, j ) = curtri.points[j];
printf("%d,%d\n",curtri.points[j].x,curtri.points[j].y);
if((curtri.points[j] == cvPoint(0,0)) || (curtri.points[j] == cvPoint(0,image1->height - 1)) ||(curtri.points[j] == cvPoint(image1->width - 1,0)) ||(curtri.points[j] == cvPoint(image1->width - 1,image1->height - 1))) {
is_corner++;
}
for(unsigned int k = 0; k < point_lookup.size(); k++) {
std::pair<CvPoint,CvPoint> thispair = point_lookup[k];
if(thispair.first == curtri.points[j]) {
target.points[j] = thispair.second;
break;
}
}
/*
piter[j] = point_lookup_map.find(curtri.points[j]);
if(piter[j] != point_lookup_map.end() ) {
target.points[j] = piter[j]->second;
}
*/
}
// if((piter[0] != point_lookup_map.end()) && (piter[1] != point_lookup_map.end()) && (piter[2] != point_lookup_map.end())) {
if(is_corner < 3) {
CvMat * newcorners = cvCreateMat( 3, 3, CV_32FC1 );
newcorners->data.fl[3*0+0] = target.points[0].x;
newcorners->data.fl[3*0+1] = target.points[1].x;
newcorners->data.fl[3*0+2] = target.points[2].x;
newcorners->data.fl[3*1+0] = target.points[0].y;
newcorners->data.fl[3*1+1] = target.points[1].y;
newcorners->data.fl[3*1+2] = target.points[2].y;
newcorners->data.fl[3*2+0] = 1;
newcorners->data.fl[3*2+1] = 1;
newcorners->data.fl[3*2+2] = 1;
CvContour hdr;
CvSeqBlock blk;
CvRect trianglebound = cvBoundingRect( cvPointSeqFromMat(CV_SEQ_KIND_CURVE+CV_SEQ_FLAG_CLOSED, curpoints, &hdr, &blk), 1 );
printf("Bounding box: %d,%d,%d,%d\n",trianglebound.x,trianglebound.y,trianglebound.width,trianglebound.height);
for(int y = trianglebound.y; (y < (trianglebound.y + trianglebound.height)) && ( y < image1->height); y++) {
for(int x = trianglebound.x; (x < (trianglebound.x + trianglebound.width)) && (x < image1->width); x++) {
// check to see if we're inside this triangle
/*
CvPoint v0 = cvPoint( curtri.points[2].x - curtri.points[0].x, curtri.points[2].y - curtri.points[0].y );
CvPoint v1 = cvPoint( curtri.points[1].x - curtri.points[0].x, curtri.points[1].y - curtri.points[0].y );
CvPoint v2 = cvPoint( x - curtri.points[0].x, y - curtri.points[0].y );
int dot00 = v0.x * v0.x + v0.y * v0. y;
int dot01 = v0.x * v1.x + v0.y * v1. y;
int dot02 = v0.x * v2.x + v0.y * v2. y;
int dot11 = v1.x * v1.x + v1.y * v1. y;
int dot12 = v1.x * v2.x + v1.y * v2. y;
double invDenom = 1.0 / (double)(dot00 * dot11 - dot01 * dot01);
double u = (double)(dot11 * dot02 - dot01 * dot12) * invDenom;
double v = (double)(dot00 * dot12 - dot01 * dot02) * invDenom;
*/
CvMat * curp = cvCreateMat(3, 1, CV_32FC1);
CvMat * result = cvCreateMat(3, 1, CV_32FC1);
curp->data.fl[0] = x;
curp->data.fl[1] = y;
curp->data.fl[2] = 1;
cvMatMul( baryinvvec[i], curp, result );
// double u = result->data.fl[0]/result->data.fl[2];
// double v = result->data.fl[1]/result->data.fl[2];
/*
if((i == 3019) && (y == 1329) && (x > 2505) && (x < 2584)) {
printf("Range %d: %f, %f, %f\t%f, %f, %f\n",x,result->data.fl[0],result->data.fl[1],result->data.fl[2],
sourcepoint->data.fl[0],sourcepoint->data.fl[1],sourcepoint->data.fl[2]);
}
*/
if( (result->data.fl[0] > MIN_VAL) && (result->data.fl[1] > MIN_VAL) && (result->data.fl[2] > MIN_VAL) && (fabs(1.0 - (result->data.fl[0]+result->data.fl[1]+result->data.fl[2])) <= 0.01) ) {
// if((u > 0) || (v > 0) /*&& ((u +v) < 1)*/ )
// printf("Barycentric: %f %f %f\n", result->data.fl[0], result->data.fl[1], result->data.fl[2]);
// this point is inside this triangle
// printf("Point %d,%d inside %d,%d %d,%d %d,%d\n",x,y,trivec[i].points[0].x,trivec[i].points[0].y,
// trivec[i].points[1].x,trivec[i].points[1].y,trivec[i].points[2].x,trivec[i].points[2].y);
CvMat * sourcepoint = cvCreateMat(3, 1, CV_32FC1);
cvMatMul( newcorners, result, sourcepoint );
double sourcex = sourcepoint->data.fl[0]/*/sourcepoint->data.fl[2]*/;
double sourcey = sourcepoint->data.fl[1]/*/sourcepoint->data.fl[2]*/;
if((sourcex >= 0) && (sourcey >= 0) && (sourcex < (image1->width)) && (sourcey < (image1->height))) {
// printf("%d,%d %d,%d\n",x,y,(int)sourcex,(int)sourcey);
cvSet2D( image1, y, x, cvGet2D( clean_nonthresh, (int)sourcey, (int)sourcex ) );
}
// printf("Point %d,%d inside %d,%d %d,%d %d,%d\n",x,y,trivec[i].points[0].x,trivec[i].points[0].y,
// trivec[i].points[1].x,trivec[i].points[1].y,trivec[i].points[2].x,trivec[i].points[2].y);
cvReleaseMat( &sourcepoint );
}
cvReleaseMat( &result );
cvReleaseMat( &curp );
}
}
for(int k = 0; k < verts; k++) {
double x = clean_texture->data.fl[2*k+0];
double y = clean_texture->data.fl[2*k+1];
// check to see if we're inside this triangle
CvMat * curp = cvCreateMat(3, 1, CV_32FC1);
CvMat * result = cvCreateMat(3, 1, CV_32FC1);
curp->data.fl[0] = x;
curp->data.fl[1] = y;
curp->data.fl[2] = 1;
cvMatMul( baryinvvec[i], curp, result );
if( (result->data.fl[0] > MIN_VAL) && (result->data.fl[1] > MIN_VAL) && (result->data.fl[2] > MIN_VAL) && (fabs(1.0 - (result->data.fl[0]+result->data.fl[1]+result->data.fl[2])) <= 0.01) ) {
CvMat * sourcepoint = cvCreateMat(3, 1, CV_32FC1);
cvMatMul( newcorners, result, sourcepoint );
double sourcex = sourcepoint->data.fl[0]/*/sourcepoint->data.fl[2]*/;
double sourcey = sourcepoint->data.fl[1]/*/sourcepoint->data.fl[2]*/;
if((sourcex >= 0) && (sourcey >= 0) && (sourcex < (image1->width)) && (sourcey < (image1->height))) {
clean_texture->data.fl[2*k+0] = sourcex;
clean_texture->data.fl[2*k+1] = sourcey;
// cvSet2D( image1, y, x, cvGet2D( clean_nonthresh, (int)sourcey, (int)sourcex ) );
}
cvReleaseMat( &sourcepoint );
}
cvReleaseMat( &result );
cvReleaseMat( &curp );
}
cvReleaseMat( &newcorners );
}
cvReleaseMat( &curpoints );
}
cvReleaseImage( &clean_nonthresh );
printf("done.\n");
cvSaveImage("fullwarp.jpg", image1);
printf("Drawing subdivisions on warped image...");
draw_subdiv( image1, delaunay, NULL, NULL, 0, NULL );
// draw_subdiv( image1, delaunay, delaunay_points, source_points, count, status );
printf("done.\n");
cvSaveImage("edgeswarp.jpg", image1);
cvReleaseImage(&image2);
image2 = cvLoadImage(im2fname, CV_LOAD_IMAGE_COLOR);
// cvCreateImage( cvGetSize(image2), IPL_DEPTH_8U, 3 );
// cvCalcSubdivVoronoi2D( delaunay );
printf("Drawing subdivisions on unwarped image...");
// draw_subdiv( image2, delaunay, delaunay_points, dest_points, count, status );
// draw_subdiv( image2, delaunay, NULL, NULL, 0, NULL );
printf("done.\n");
cvSaveImage("edges.jpg",image2);
cvReleaseImage(&image1);
cvFree(&source_points);
cvFree(&dest_points);
cvFree(&status);
cvReleaseMemStorage(&storage);
cvFree(&delaunay_points);
cvReleaseImage(&image2);
return 0;
}
/*
This function uses Delaunay triangulation to populate the
triangles matrix
*/
void PAW::triangulate(){
CvMemStorage* storage;
CvSubdiv2D* subdiv;
IplImage* img;
int par;
std::vector<CvPoint> points;
vector<int> triangleVertices;
CvRect rect = { 0, 0, baseImageWidth, baseImageHeight};
storage = cvCreateMemStorage(0);
subdiv = cvCreateSubdivDelaunay2D(rect,storage);
//insert srcLandmark points in Delaunay subdivision
for(int i=0;i<nLandmarks;i++){
double x = srcLandmarks.at<int>(i,0);
double y = srcLandmarks.at<int>(i,1);
points.push_back(cvPoint(srcLandmarks.at<int>(i,0),srcLandmarks.at<int>(i,1)));
CvPoint2D32f fp = cvPoint2D32f(x, y);
cvSubdivDelaunay2DInsert( subdiv, fp );
}
CvNextEdgeType triangleDirections[2] = {CV_NEXT_AROUND_LEFT,CV_NEXT_AROUND_RIGHT};
for(int tdi = 0;tdi<2;tdi++){
CvNextEdgeType triangleDirection = triangleDirections[tdi];
IplImage* triangleFrame = cvCreateImage(cvSize(baseImageWidth,baseImageHeight),IPL_DEPTH_32F,3);
CvScalar delaunay_color, voronoi_color;
delaunay_color = CV_RGB( 200,0,0);
voronoi_color = CV_RGB(0, 200, 0);
CvSeqReader reader;
int i, total = subdiv->edges->total;
int elem_size = subdiv->edges->elem_size;
cvStartReadSeq( (CvSeq*)(subdiv->edges), &reader, 0 );
CvPoint buf[3];
printf("Total %d\n",total);
for( i = 0; i < total; i++ )
{
CvQuadEdge2D* edge = (CvQuadEdge2D*)(reader.ptr);
if( CV_IS_SET_ELEM( edge ))
{
//draw_subdiv_edge( img, (CvSubdiv2DEdge)edge + 1, voronoi_color );
//TODO optimize this part of code, since we could use a map (and put order) or get points index from delaunay subdiv
//if(i==par){
CvSubdiv2DEdge t = (CvSubdiv2DEdge)edge ;
int shouldPaint=1;
for(int j=0;j<3;j++){
CvSubdiv2DPoint* pt = cvSubdiv2DEdgeOrg( t );
if( !pt ) break;
buf[j] = cvPoint( cvRound(pt->pt.x), cvRound(pt->pt.y));
t = cvSubdiv2DGetEdge( t, triangleDirection );
if((pt->pt.x<0)||(pt->pt.x>baseImageWidth))
shouldPaint=0;
if((pt->pt.y<0)||(pt->pt.y>baseImageHeight))
shouldPaint=0;
}
if(shouldPaint){
//cvFillConvexPoly( img, buf, 3, CV_RGB(0,.1+10.0/255.0,0), CV_AA, 0 );
int originalVertices[3];
for(int j=0;j<3;j++){
int px = buf[j].x;
int py = buf[j].y;
for(int k=0;k<points.size();k++){
if((points[k].x ==px) && (points[k].y==py)){
printf("%d ",k);
originalVertices[j] = k;
triangleVertices.push_back(k);
break;//could there be overlapped points
}
}
}
printf("\n");
//originalVertices stores the correspondence of vertices 0, 1 and 2 of the currently mapped triangle
//with their annotated points (which are in pcaSet)
/* int p1x = pcaSet.at<double>(imageIndex,originalVertices[0]*2);
int p1y = pcaSet.at<double>(imageIndex,originalVertices[0]*2+1);
int p2x = pcaSet.at<double>(imageIndex,originalVertices[1]*2);
int p2y = pcaSet.at<double>(imageIndex,originalVertices[1]*2+1);
int p3x = pcaSet.at<double>(imageIndex,originalVertices[2]*2);
int p3y = pcaSet.at<double>(imageIndex,originalVertices[2]*2+1);
Point2f srcTri[3];
Point2f dstTri[3];
srcTri[0] = Point2f( p1x, p1y );
srcTri[1] = Point2f( p2x, p2y );
srcTri[2] = Point2f( p3x, p3y );
dstTri[0] = Point2f( buf[0].x, buf[0].y );
dstTri[1] = Point2f( buf[1].x, buf[1].y );
dstTri[2] = Point2f( buf[2].x, buf[2].y );
*/
//warpTextureFromTriangle(srcTri, originalImage, dstTri, warp_final);
/*cvLine(new IplImage(warp_final),cvPoint(p1x,p1y),cvPoint(p2x,p2y),CV_RGB(0,255,0),1,8,0);
cvLine(new IplImage(warp_final),cvPoint(p2x,p2y),cvPoint(p3x,p3y),CV_RGB(0,255,0),1,8,0);
cvLine(new IplImage(warp_final),cvPoint(p3x,p3y),cvPoint(p1x,p1y),CV_RGB(0,255,0),1,8,0);*/
}
//draw_subdiv_edge( triangleFrame, (CvSubdiv2DEdge)edge, delaunay_color );
}
CV_NEXT_SEQ_ELEM( elem_size, reader );
}
//string num = static_cast<ostringstream*>( &(ostringstream() << countFrame++) )->str();
//imshow("Warped final "+ num,warp_final);
//clean up repeated triangles
set<Triangle> triangleSet;
for(int i=0;i<triangleVertices.size()/3;i+=1){
printf("%2d %2d %2d\n",triangleVertices.at(3*i),triangleVertices.at(3*i+1),triangleVertices.at(3*i+2));
Triangle t(triangleVertices.at(3*i),triangleVertices.at(3*i+1),triangleVertices.at(3*i+2));
triangleSet.insert(t);
}
triangles = Mat::zeros(triangleSet.size(),3,CV_32S);
set<Triangle>::iterator it;
int count=0;
for (it=triangleSet.begin(); it!=triangleSet.end(); it++){
cout << (*it).v1 << " " << (*it).v2 << " " << (*it).v3 << endl;
triangles.at<int>(count,0) = ( (*it).v1);
triangles.at<int>(count,1) = ( (*it).v2);
triangles.at<int>(count,2) = ( (*it).v3);
count++;
}
cout << endl;
nTriangles = count;
Mat triangleMat(triangleFrame);
imshow("Triangle frame",triangleMat);
populatePointTriangleMap();
}
}
CV_IMPL void
cvCalcSubdivVoronoi2D( CvSubdiv2D * subdiv )
{
CvSeqReader reader;
int i, total, elem_size;
if( !subdiv )
CV_Error( CV_StsNullPtr, "" );
/* check if it is already calculated */
if( subdiv->is_geometry_valid )
return;
total = subdiv->edges->total;
elem_size = subdiv->edges->elem_size;
cvClearSubdivVoronoi2D( subdiv );
cvStartReadSeq( (CvSeq *) (subdiv->edges), &reader, 0 );
if( total <= 3 )
return;
/* skip first three edges (bounding triangle) */
for( i = 0; i < 3; i++ )
CV_NEXT_SEQ_ELEM( elem_size, reader );
/* loop through all quad-edges */
for( ; i < total; i++ )
{
CvQuadEdge2D *quadedge = (CvQuadEdge2D *) (reader.ptr);
if( CV_IS_SET_ELEM( quadedge ))
{
CvSubdiv2DEdge edge0 = (CvSubdiv2DEdge) quadedge, edge1, edge2;
double a0, b0, c0, a1, b1, c1;
CvPoint2D32f virt_point;
CvSubdiv2DPoint *voronoi_point;
if( !quadedge->pt[3] )
{
edge1 = cvSubdiv2DGetEdge( edge0, CV_NEXT_AROUND_LEFT );
edge2 = cvSubdiv2DGetEdge( edge1, CV_NEXT_AROUND_LEFT );
icvCreateCenterNormalLine( edge0, &a0, &b0, &c0 );
icvCreateCenterNormalLine( edge1, &a1, &b1, &c1 );
icvIntersectLines3( &a0, &b0, &c0, &a1, &b1, &c1, &virt_point );
if( fabs( virt_point.x ) < FLT_MAX * 0.5 &&
fabs( virt_point.y ) < FLT_MAX * 0.5 )
{
voronoi_point = cvSubdiv2DAddPoint( subdiv, virt_point, 1 );
quadedge->pt[3] =
((CvQuadEdge2D *) (edge1 & ~3))->pt[3 - (edge1 & 2)] =
((CvQuadEdge2D *) (edge2 & ~3))->pt[3 - (edge2 & 2)] = voronoi_point;
}
}
if( !quadedge->pt[1] )
{
edge1 = cvSubdiv2DGetEdge( edge0, CV_NEXT_AROUND_RIGHT );
edge2 = cvSubdiv2DGetEdge( edge1, CV_NEXT_AROUND_RIGHT );
icvCreateCenterNormalLine( edge0, &a0, &b0, &c0 );
icvCreateCenterNormalLine( edge1, &a1, &b1, &c1 );
icvIntersectLines3( &a0, &b0, &c0, &a1, &b1, &c1, &virt_point );
if( fabs( virt_point.x ) < FLT_MAX * 0.5 &&
fabs( virt_point.y ) < FLT_MAX * 0.5 )
{
voronoi_point = cvSubdiv2DAddPoint( subdiv, virt_point, 1 );
quadedge->pt[1] =
((CvQuadEdge2D *) (edge1 & ~3))->pt[1 + (edge1 & 2)] =
((CvQuadEdge2D *) (edge2 & ~3))->pt[1 + (edge2 & 2)] = voronoi_point;
}
}
}
CV_NEXT_SEQ_ELEM( elem_size, reader );
}
subdiv->is_geometry_valid = 1;
}
int main(int argc, char * argv[])
{
if(argc < 2) {
fprintf(stderr, "%s image1 image2\n", argv[0]);
return 1;
}
char * im1fname = argv[1];
char * im2fname = argv[2];
IplImage * image1 = cvLoadImage(im1fname, CV_LOAD_IMAGE_GRAYSCALE);
IplImage * eigenvalues = cvCreateImage(cvGetSize(image1), 32, 1);
IplImage * temp = cvCreateImage(cvGetSize(image1), 32, 1);
int count = MAX_COUNT;
double quality = 0.5;
// double min_distance = 2;
double min_distance = 50;
int block_size = 7;
int use_harris = 0;
int win_size = 10;
int flags = 0;
CvPoint2D32f * source_points = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(CvPoint2D32f));
CvPoint2D32f * dest_points = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(CvPoint2D32f));
CvPoint2D32f * delaunay_points = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(CvPoint2D32f));
cvGoodFeaturesToTrack( image1, eigenvalues, temp, source_points, &count,
quality, min_distance, 0, block_size, use_harris, 0.04 );
printf("%d features\n",count);
setbuf(stdout, NULL);
printf("Finding corner subpix...");
cvFindCornerSubPix( image1, source_points, count,
cvSize(win_size,win_size), cvSize(-1,-1),
cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 20, 0.03));
printf("done.\n");
cvReleaseImage(&eigenvalues);
cvReleaseImage(&temp);
IplImage * image2 = cvLoadImage(im2fname, CV_LOAD_IMAGE_GRAYSCALE);
char * status = (char*)cvAlloc(sizeof(char)*MAX_COUNT);
IplImage * pyramid = cvCreateImage( cvGetSize(image1), IPL_DEPTH_8U, 1 );
IplImage * second_pyramid = cvCreateImage( cvGetSize(image2), IPL_DEPTH_8U, 1 );
printf("Computing optical flow...");
cvCalcOpticalFlowPyrLK(image1, image2, pyramid, second_pyramid, source_points,
dest_points, count, cvSize(win_size,win_size), 4, status, 0,
cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 20, 0.03),
flags);
printf("done.\n");
int num_matches = 0;
int num_out_matches = 0;
int max_dist = 30;
int offset = 200;
CvMemStorage * storage = cvCreateMemStorage(0);
CvSubdiv2D * delaunay = cvCreateSubdivDelaunay2D( cvRect(0,0,image1->width,image1->height), storage);
cvReleaseImage(&image1);
cvReleaseImage(&image2);
image1 = cvLoadImage(im1fname, CV_LOAD_IMAGE_COLOR);
image2 = cvLoadImage(im2fname, CV_LOAD_IMAGE_COLOR);
cvSet( image1, cvScalarAll(255) );
std::map<CvPoint, CvPoint> point_lookup_map;
std::vector<std::pair<CvPoint, CvPoint> > point_lookup;
// put corners in the point lookup as going to themselves
point_lookup_map[cvPoint(0,0)] = cvPoint(0,0);
point_lookup_map[cvPoint(0,image1->height-1)] = cvPoint(0,image1->height-1);
point_lookup_map[cvPoint(image1->width-1,0)] = cvPoint(image1->width-1,0);
point_lookup_map[cvPoint(image1->width-1,image1->height-1)] = cvPoint(image1->width-1,image1->height-1);
point_lookup.push_back(std::pair<CvPoint,CvPoint>(cvPoint(0,0), cvPoint(0,0)));
point_lookup.push_back(std::pair<CvPoint,CvPoint>(cvPoint(0,image1->height-1), cvPoint(0,image1->height-1)));
point_lookup.push_back(std::pair<CvPoint,CvPoint>(cvPoint(image1->width-1,0), cvPoint(image1->width-1,0)));
point_lookup.push_back(std::pair<CvPoint,CvPoint>(cvPoint(image1->width-1,image1->height-1), cvPoint(image1->width-1,image1->height-1)));
printf("Inserting corners...");
// put corners in the Delaunay subdivision
for(unsigned int i = 0; i < point_lookup.size(); i++) {
cvSubdivDelaunay2DInsert( delaunay, cvPointTo32f(point_lookup[i].first) );
}
printf("done.\n");
CvSubdiv2DEdge proxy_edge;
for(int i = 0; i < count; i++) {
if(status[i]) {
CvPoint source = cvPointFrom32f(source_points[i]);
CvPoint dest = cvPointFrom32f(dest_points[i]);
if((((int)fabs((double)(source.x - dest.x))) > max_dist) ||
(((int)fabs((double)(source.y - dest.y))) > max_dist)) {
num_out_matches++;
}
else if((dest.x >= 0) && (dest.y >= 0) && (dest.x < (image1->width)) && (dest.y < (image1->height))) {
if(point_lookup_map.find(source) == point_lookup_map.end()) {
num_matches++;
point_lookup_map[source] = dest;
point_lookup.push_back(std::pair<CvPoint,CvPoint>(source,dest));
delaunay_points[i] = (cvSubdivDelaunay2DInsert( delaunay, cvPointTo32f(source) ))->pt;
cvSetImageROI( image1, cvRect(source.x-8,source.y-8,8*2,8*2) );
cvResetImageROI( image2 );
cvGetRectSubPix( image2, image1, dest_points[i] );
}
/*
cvSet2D( image1, source.y, source.x, cvGet2D( image2, dest.y, dest.x ) );
cvSet2D( image1, source.y, source.x+1, cvGet2D( image2, dest.y, dest.x+1 ) );
cvSet2D( image1, source.y, source.x-1, cvGet2D( image2, dest.y, dest.x-1 ) );
cvSet2D( image1, source.y+1, source.x, cvGet2D( image2, dest.y+1, dest.x ) );
cvSet2D( image1, source.y-1, source.x, cvGet2D( image2, dest.y-1, dest.x ) );
cvSet2D( image1, source.y+1, source.x+1, cvGet2D( image2, dest.y+1, dest.x+1 ) );
cvSet2D( image1, source.y-1, source.x-1, cvGet2D( image2, dest.y-1, dest.x-1 ) );
cvSet2D( image1, source.y+1, source.x-1, cvGet2D( image2, dest.y+1, dest.x-1 ) );
cvSet2D( image1, source.y-1, source.x+1, cvGet2D( image2, dest.y-1, dest.x+1 ) );
*/
// cvCircle( image1, source, 4, CV_RGB(255,0,0), 2, CV_AA );
// cvCircle( image2, dest, 4, CV_RGB(255,0,0), 2, CV_AA );
}
/*
cvSetImageROI( image1, cvRect(source.x-offset,source.y-offset,offset*2,offset*2) );
cvSetImageROI( image2, cvRect(dest.x-offset,dest.y-offset,offset*2,offset*2) );
cvNamedWindow("image1",0);
cvNamedWindow("image2",0);
cvShowImage("image1",image1);
cvShowImage("image2",image2);
printf("%d,%d -> %d,%d\n",source.x,source.y,dest.x,dest.y);
cvWaitKey(0);
cvDestroyAllWindows();
*/
}
}
printf("%d %d\n",num_matches,num_out_matches);
printf("%d lookups\n",point_lookup_map.size());
cvResetImageROI( image1 );
cvSaveImage("sparse.jpg", image1);
cvReleaseImage(&image1);
image1 = cvLoadImage(im1fname, CV_LOAD_IMAGE_COLOR);
cvSet( image1, cvScalarAll(255) );
printf("Warping image...");
CvSeqReader reader;
int total = delaunay->edges->total;
int elem_size = delaunay->edges->elem_size;
cvStartReadSeq( (CvSeq*)(delaunay->edges), &reader, 0 );
std::vector<Triangle> trivec;
std::vector<CvMat *> baryinvvec;
for( int i = 0; i < total; i++ ) {
CvQuadEdge2D* edge = (CvQuadEdge2D*)(reader.ptr);
if( CV_IS_SET_ELEM( edge )) {
CvSubdiv2DEdge curedge = (CvSubdiv2DEdge)edge;
CvSubdiv2DEdge t = curedge;
Triangle temptri;
int count = 0;
// construct a triangle from this edge
do {
CvSubdiv2DPoint* pt = cvSubdiv2DEdgeOrg( t );
if(count < 3) {
pt->pt.x = pt->pt.x >= image1->width ? image1->width-1 : pt->pt.x;
pt->pt.y = pt->pt.y >= image1->height ? image1->height-1 : pt->pt.y;
pt->pt.x = pt->pt.x < 0 ? 0 : pt->pt.x;
pt->pt.y = pt->pt.y < 0 ? 0 : pt->pt.y;
temptri.points[count] = cvPointFrom32f( pt->pt );
}
else {
printf("More than 3 edges\n");
}
count++;
t = cvSubdiv2DGetEdge( t, CV_NEXT_AROUND_LEFT );
} while( t != curedge );
// check that triangle is not already in
if( std::find(trivec.begin(), trivec.end(), temptri) == trivec.end() ) {
// push triangle in and draw
trivec.push_back(temptri);
cvLine( image1, temptri.points[0], temptri.points[1], CV_RGB(255,0,0), 1, CV_AA, 0 );
cvLine( image1, temptri.points[1], temptri.points[2], CV_RGB(255,0,0), 1, CV_AA, 0 );
cvLine( image1, temptri.points[2], temptri.points[0], CV_RGB(255,0,0), 1, CV_AA, 0 );
// compute barycentric computation vector for this triangle
CvMat * barycen = cvCreateMat( 3, 3, CV_32FC1 );
CvMat * baryceninv = cvCreateMat( 3, 3, CV_32FC1 );
barycen->data.fl[3*0+0] = temptri.points[0].x;
barycen->data.fl[3*0+1] = temptri.points[1].x;
barycen->data.fl[3*0+2] = temptri.points[2].x;
barycen->data.fl[3*1+0] = temptri.points[0].y;
barycen->data.fl[3*1+1] = temptri.points[1].y;
barycen->data.fl[3*1+2] = temptri.points[2].y;
barycen->data.fl[3*2+0] = 1;
barycen->data.fl[3*2+1] = 1;
barycen->data.fl[3*2+2] = 1;
cvInvert( barycen, baryceninv, CV_LU );
baryinvvec.push_back(baryceninv);
cvReleaseMat( &barycen );
}
}
CV_NEXT_SEQ_ELEM( elem_size, reader );
}
printf("%d triangles...", trivec.size());
cvSaveImage("triangles.jpg", image1);
cvSet( image1, cvScalarAll(255) );
IplImage * clean_nonthresh = cvLoadImage( "conhull-clean.jpg", CV_LOAD_IMAGE_COLOR );
// for each triangle
for(unsigned int i = 0; i < trivec.size(); i++) {
Triangle curtri = trivec[i];
CvMat * curpoints = cvCreateMat( 1, 3, CV_32SC2 );
Triangle target;
std::map<CvPoint,CvPoint>::iterator piter[3];
printf("Triangle %d / %d\n",i,trivec.size());
bool is_corner = false;
for(int j = 0; j < 3; j++) {
/*
curpoints->data.i[2*j+0] = curtri.points[j].x;
curpoints->data.i[2*j+1] = curtri.points[j].y;
*/
CV_MAT_ELEM( *curpoints, CvPoint, 0, j ) = curtri.points[j];
printf("%d,%d\n",curtri.points[j].x,curtri.points[j].y);
/*
if((curtri.points[j] == cvPoint(0,0)) || (curtri.points[j] == cvPoint(0,image1->height)) ||(curtri.points[j] == cvPoint(image1->width,0)) ||(curtri.points[j] == cvPoint(image1->width,image1->height))) {
is_corner = true;
break;
}
*/
for(unsigned int k = 0; k < point_lookup.size(); k++) {
std::pair<CvPoint,CvPoint> thispair = point_lookup[k];
if(thispair.first == curtri.points[j]) {
target.points[j] = thispair.second;
break;
}
}
/*
piter[j] = point_lookup_map.find(curtri.points[j]);
if(piter[j] != point_lookup_map.end() ) {
target.points[j] = piter[j]->second;
}
*/
}
// if((piter[0] != point_lookup_map.end()) && (piter[1] != point_lookup_map.end()) && (piter[2] != point_lookup_map.end())) {
if(!is_corner) {
CvMat * newcorners = cvCreateMat( 3, 3, CV_32FC1 );
newcorners->data.fl[3*0+0] = target.points[0].x;
newcorners->data.fl[3*0+1] = target.points[1].x;
newcorners->data.fl[3*0+2] = target.points[2].x;
newcorners->data.fl[3*1+0] = target.points[0].y;
newcorners->data.fl[3*1+1] = target.points[1].y;
newcorners->data.fl[3*1+2] = target.points[2].y;
newcorners->data.fl[3*2+0] = 1;
newcorners->data.fl[3*2+1] = 1;
newcorners->data.fl[3*2+2] = 1;
CvContour hdr;
CvSeqBlock blk;
CvRect trianglebound = cvBoundingRect( cvPointSeqFromMat(CV_SEQ_KIND_CURVE+CV_SEQ_FLAG_CLOSED, curpoints, &hdr, &blk), 1 );
printf("Bounding box: %d,%d,%d,%d\n",trianglebound.x,trianglebound.y,trianglebound.width,trianglebound.height);
for(int y = trianglebound.y; (y < (trianglebound.y + trianglebound.height)) && ( y < image1->height); y++) {
for(int x = trianglebound.x; (x < (trianglebound.x + trianglebound.width)) && (x < image1->width); x++) {
// check to see if we're inside this triangle
/*
CvPoint v0 = cvPoint( curtri.points[2].x - curtri.points[0].x, curtri.points[2].y - curtri.points[0].y );
CvPoint v1 = cvPoint( curtri.points[1].x - curtri.points[0].x, curtri.points[1].y - curtri.points[0].y );
CvPoint v2 = cvPoint( x - curtri.points[0].x, y - curtri.points[0].y );
int dot00 = v0.x * v0.x + v0.y * v0. y;
int dot01 = v0.x * v1.x + v0.y * v1. y;
int dot02 = v0.x * v2.x + v0.y * v2. y;
int dot11 = v1.x * v1.x + v1.y * v1. y;
int dot12 = v1.x * v2.x + v1.y * v2. y;
double invDenom = 1.0 / (double)(dot00 * dot11 - dot01 * dot01);
double u = (double)(dot11 * dot02 - dot01 * dot12) * invDenom;
double v = (double)(dot00 * dot12 - dot01 * dot02) * invDenom;
*/
CvMat * curp = cvCreateMat(3, 1, CV_32FC1);
CvMat * result = cvCreateMat(3, 1, CV_32FC1);
curp->data.fl[0] = x;
curp->data.fl[1] = y;
curp->data.fl[2] = 1;
cvMatMul( baryinvvec[i], curp, result );
// double u = result->data.fl[0]/result->data.fl[2];
// double v = result->data.fl[1]/result->data.fl[2];
if( (result->data.fl[0] > 0) && (result->data.fl[1] > 0) && (fabs(1.0 - (result->data.fl[0]+result->data.fl[1]+result->data.fl[2])) <= 0.01) ) {
// if((u > 0) || (v > 0) /*&& ((u +v) < 1)*/ ) {
// printf("Barycentric: %f %f %f\n", result->data.fl[0], result->data.fl[1], result->data.fl[2]);
// this point is inside this triangle
// printf("Point %d,%d inside %d,%d %d,%d %d,%d\n",x,y,trivec[i].points[0].x,trivec[i].points[0].y,
// trivec[i].points[1].x,trivec[i].points[1].y,trivec[i].points[2].x,trivec[i].points[2].y);
CvMat * sourcepoint = cvCreateMat(3, 1, CV_32FC1);
cvMatMul( newcorners, result, sourcepoint );
double sourcex = sourcepoint->data.fl[0]/*/sourcepoint->data.fl[2]*/;
double sourcey = sourcepoint->data.fl[1]/*/sourcepoint->data.fl[2]*/;
if((sourcex >= 0) && (sourcey >= 0) && (sourcex < (image1->width)) && (sourcey < (image1->height))) {
// printf("%d,%d %d,%d\n",x,y,(int)sourcex,(int)sourcey);
cvSet2D( image1, y, x, cvGet2D( clean_nonthresh, (int)sourcey, (int)sourcex ) );
}
/*
if((i == 143) && (y == 3577) && (x > 2055) && (x < 2087)) {
printf("%d: %f, %f, %f\t%f, %f, %f\n",x,result->data.fl[0],result->data.fl[1],result->data.fl[2],
sourcepoint->data.fl[0],sourcepoint->data.fl[1],sourcepoint->data.fl[2]);
}
*/
cvReleaseMat( &sourcepoint );
// printf("Point %d,%d inside %d,%d %d,%d %d,%d\n",x,y,trivec[i].points[0].x,trivec[i].points[0].y,
// trivec[i].points[1].x,trivec[i].points[1].y,trivec[i].points[2].x,trivec[i].points[2].y);
}
cvReleaseMat( &result );
cvReleaseMat( &curp );
}
}
cvReleaseMat( &newcorners );
}
cvReleaseMat( &curpoints );
}
/*
for(int y = 0; y < image1->height; y++) {
for(int x = 0; x < image1->width; x++) {
CvMat * curp = cvCreateMat(3, 1, CV_32FC1);
CvMat * result = cvCreateMat(3, 1, CV_32FC1);
curp->data.fl[0] = x;
curp->data.fl[1] = y;
curp->data.fl[2] = 1;
for(unsigned int i = 0; i < baryinvvec.size(); i++) {
cvMatMul( baryinvvec[i], curp, result );
double u = result->data.fl[0]/result->data.fl[2];
double v = result->data.fl[1]/result->data.fl[2];
if((u > 0) && (v > 0) && (u + v < 1)) {
// printf("Point %d,%d inside %d,%d %d,%d %d,%d\n",x,y,trivec[i].points[0].x,trivec[i].points[0].y,
// trivec[i].points[1].x,trivec[i].points[1].y,trivec[i].points[2].x,trivec[i].points[2].y);
break;
}
}
cvReleaseMat( &result );
cvReleaseMat( &curp );
}
}
*/
cvReleaseImage( &clean_nonthresh );
#ifdef OLD_BUSTED
for(int y = 0; y < image1->height; y++) {
for(int x = 0; x < image1->width; x++) {
CvSubdiv2DPointLocation locate_result;
CvSubdiv2DEdge on_edge;
CvSubdiv2DPoint * on_vertex;
CvPoint curpoint = cvPoint( x, y );
locate_result = cvSubdiv2DLocate( delaunay, cvPointTo32f( curpoint ),
&on_edge, &on_vertex );
if( (locate_result != CV_PTLOC_OUTSIDE_RECT) && (locate_result != CV_PTLOC_ERROR) ) {
if( locate_result == CV_PTLOC_VERTEX ) { // this point is on a vertex
for(int i = 0; i < count; i++) {
if(((on_vertex->pt).x == delaunay_points[i].x) && ((on_vertex->pt).y == delaunay_points[i].y)) {
cvSet2D( image1, y, x, cvGet2D( image2, cvPointFrom32f(dest_points[i]).y, cvPointFrom32f(dest_points[i]).x ) );
break;
}
}
}
else if( locate_result == CV_PTLOC_ON_EDGE ) { // this point is on an edge
CvSubdiv2DPoint* org_pt;
CvSubdiv2DPoint* dst_pt;
CvPoint org_pt_warp;
CvPoint dst_pt_warp;
org_pt = cvSubdiv2DEdgeOrg(on_edge);
dst_pt = cvSubdiv2DEdgeDst(on_edge);
for(int i = 0; i < count; i++) {
if(((org_pt->pt).x == delaunay_points[i].x) && ((org_pt->pt).y == delaunay_points[i].y)) {
org_pt_warp = cvPointFrom32f(dest_points[i]);
}
if(((dst_pt->pt).x == delaunay_points[i].x) && ((dst_pt->pt).y == delaunay_points[i].y)) {
dst_pt_warp = cvPointFrom32f(dest_points[i]);
}
}
// compute vector length of original edge and current point
double original_length;
double cur_length;
if( (int)((org_pt->pt).x) == curpoint.x ) { // vertical line
original_length = fabs((org_pt->pt).y - (dst_pt->pt).y);
cur_length = fabs((org_pt->pt).y - curpoint.y);
}
else if( (int)((org_pt->pt).y) == curpoint.y ) { // horizontal line
original_length = fabs((org_pt->pt).x - (dst_pt->pt).x);
cur_length = fabs((org_pt->pt).x - curpoint.x);
}
else { // sloped line
original_length = sqrt(pow((org_pt->pt).x - (dst_pt->pt).x, 2.0) + pow((org_pt->pt).y - (dst_pt->pt).y, 2.0));
cur_length = sqrt(pow((org_pt->pt).x - curpoint.x, 2.0) + pow((org_pt->pt).y - curpoint.y, 2.0));
}
// compute ratio of this point on the edge
double ratio = cur_length / original_length;
// copy this point from the destination edge
CvPoint point_in_original;
int warped_x = (int)(org_pt_warp.x - dst_pt_warp.x);
int warped_y = (int)(org_pt_warp.y - dst_pt_warp.y);
if( org_pt_warp.x == curpoint.x ) { // vertical line
point_in_original.y = (int)(org_pt_warp.y + (ratio * (org_pt_warp.y - dst_pt_warp.y)));
point_in_original.x = org_pt_warp.x;
}
else if(org_pt_warp.y == curpoint.y) { // horizontal line
point_in_original.x = (int)(org_pt_warp.x + (ratio * (org_pt_warp.x - dst_pt_warp.x)));
point_in_original.y = org_pt_warp.y;
}
else { // sloped line
double destination_length = sqrt(pow((org_pt_warp).x - (dst_pt_warp).x, 2.0) + pow((org_pt_warp).y - (dst_pt_warp).y, 2.0));
double scaled_length = ratio * destination_length;
double dest_angle = atan(fabs( (double)warped_y / (double)warped_x ));
double xdist = scaled_length * cos(dest_angle);
double ydist = scaled_length * sin(dest_angle);
xdist = warped_x > 0 ? xdist : xdist * -1;
ydist = warped_y > 0 ? ydist : ydist * -1;
point_in_original.x = (int)( org_pt_warp.x + xdist);
point_in_original.y = (int)( org_pt_warp.y + ydist);
}
if((point_in_original.x >= 0) && (point_in_original.y >= 0) && (point_in_original.x < (image1->width)) && (point_in_original.y < (image1->height))) {
cvSet2D( image1, y, x, cvGet2D( image2, point_in_original.y, point_in_original.x ) );
}
else {
printf("Edge point outside image\n");
}
// cvSet2D( image1, y, x, cvGet2D( image2, (int)(org_pt_warp.x + (ratio * (org_pt_warp.x - dst_pt_warp.x))),
// (int)(org_pt_warp.y + (ratio * (org_pt_warp.y - dst_pt_warp.y))) ) );
}
else if( locate_result == CV_PTLOC_INSIDE ) { // this point is inside a facet (triangle)
/*
printf("Point inside facet: %d, %d\n",curpoint.x,curpoint.y);
int count = 0;
CvPoint * origins = (CvPoint*)malloc(sizeof(CvPoint)*3);
CvSubdiv2DEdge t = on_edge;
// count number of edges
do {
CvSubdiv2DPoint* pt = cvSubdiv2DEdgeOrg( t );
if(count < 3) {
origins[count] = cvPoint( cvRound(pt->pt.x), cvRound(pt->pt.y));
printf("%d,%d\t",origins[count].x,origins[count].y);
}
count++;
t = cvSubdiv2DGetEdge( t, CV_NEXT_AROUND_LEFT );
} while(t != on_edge);
printf("\n");
free(origins);
*/
}
}
}
}
#endif // OLD_BUSTED
printf("done.\n");
cvSaveImage("fullwarp.jpg", image1);
printf("Drawing subdivisions on warped image...");
draw_subdiv( image1, delaunay, NULL, NULL, 0, NULL );
// draw_subdiv( image1, delaunay, delaunay_points, source_points, count, status );
printf("done.\n");
cvSaveImage("edgeswarp.jpg", image1);
cvReleaseImage(&image2);
image2 = cvLoadImage(im2fname, CV_LOAD_IMAGE_COLOR);
// cvCreateImage( cvGetSize(image2), IPL_DEPTH_8U, 3 );
// cvCalcSubdivVoronoi2D( delaunay );
printf("Drawing subdivisions on unwarped image...");
draw_subdiv( image2, delaunay, delaunay_points, dest_points, count, status );
// draw_subdiv( image2, delaunay, NULL, NULL, 0, NULL );
printf("done.\n");
cvSaveImage("edges.jpg",image2);
cvReleaseImage(&image1);
cvFree(&source_points);
cvFree(&dest_points);
cvFree(&status);
cvReleaseMemStorage(&storage);
cvFree(&delaunay_points);
cvReleaseImage(&image2);
return 0;
}
void moCalibrationModule::guiBuild(void) {
std::ostringstream oss;
moPointList screenPoints = this->property("screenPoints").asPointList();
moPointList::iterator it;
unsigned int index = 0;
this->gui.clear();
this->gui.push_back("viewport 1000 1000");
this->gui.push_back("color 0 121 184");
for ( it = screenPoints.begin(); it != screenPoints.end(); it++ ) {
if ( index == this->active_point )
this->gui.push_back("color 255 255 255");
oss.str("");
oss << "circle " << (int)(it->x * 1000.) << " " << (int)(it->y * 1000.) << " 50";
this->gui.push_back(oss.str());
if ( index == this->active_point )
this->gui.push_back("color 120 120 120");
index++;
}
// draw delaunay triangles ?
if ( this->subdiv == NULL )
return;
this->gui.push_back("color 255 255 255");
CvSeqReader reader;
int i, total = this->subdiv->edges->total;
int elem_size = this->subdiv->edges->elem_size;
cvStartReadSeq( (CvSeq*)(this->subdiv->edges), &reader, 0 );
for( i = 0; i < total; i++ )
{
CvQuadEdge2D* edge = (CvQuadEdge2D*)(reader.ptr);
if( CV_IS_SET_ELEM( edge ))
{
CvSubdiv2DPoint* org_pt;
CvSubdiv2DPoint* dst_pt;
moPoint org;
moPoint dst;
org_pt = cvSubdiv2DEdgeOrg((CvSubdiv2DEdge)edge);
dst_pt = cvSubdiv2DEdgeDst((CvSubdiv2DEdge)edge);
if( org_pt && dst_pt &&
this->delaunayToScreen.find(org_pt) != this->delaunayToScreen.end() &&
this->delaunayToScreen.find(dst_pt) != this->delaunayToScreen.end() )
{
org = this->delaunayToScreen[org_pt];
dst = this->delaunayToScreen[dst_pt];
oss.str("");
oss << "line " << int(org.x * 1000.);
oss << " " << int(org.y * 1000.);
oss << " " << int(dst.x * 1000.);
oss << " " << int(dst.y * 1000.);
this->gui.push_back(oss.str());
LOG(MO_DEBUG, "drawing line: " << i << " surface pos:" << org_pt->pt.x << ","<< org_pt->pt.y<<"|"<<dst_pt->pt.x << ","<< dst_pt->pt.y);
LOG(MO_DEBUG, " creen points: " << oss.str());
}
}
CV_NEXT_SEQ_ELEM( elem_size, reader );
}
// draw touches (since touch can be changed, if we lock input
// we'll not hve trouble)
if ( this->input != NULL ) {
moDataGenericList::iterator it;
int x, y;
this->input->lock();
for ( it = this->blobs.begin(); it != this->blobs.end(); it++ ) {
x = (int)((*it)->properties["x"]->asDouble() * 1000.);
y = (int)((*it)->properties["y"]->asDouble() * 1000.);
this->gui.push_back("color 121 0 184");
oss.str("");
oss << "circle " << x << " " << y << " 80";
this->gui.push_back(oss.str());
this->gui.push_back("color 255 255 255");
oss.str("");
oss << "line " << x - 160 << " " << y << " " << x + 160 << " " << y;
this->gui.push_back(oss.str());
oss.str("");
oss << "line " << x << " " << y - 160 << " " << x << " " << y + 160;
this->gui.push_back(oss.str());
}
this->input->unlock();
}
}
CV_IMPL void*
cvLoad( const char* filename, CvMemStorage* memstorage,
const char* name, const char** _real_name )
{
void* ptr = 0;
const char* real_name = 0;
cv::FileStorage fs(cvOpenFileStorage(filename, memstorage, CV_STORAGE_READ));
CvFileNode* node = 0;
if( !fs.isOpened() )
return 0;
if( name )
{
node = cvGetFileNodeByName( *fs, 0, name );
}
else
{
int i, k;
for( k = 0; k < (*fs)->roots->total; k++ )
{
CvSeq* seq;
CvSeqReader reader;
node = (CvFileNode*)cvGetSeqElem( (*fs)->roots, k );
CV_Assert(node != NULL);
if( !CV_NODE_IS_MAP( node->tag ))
return 0;
seq = node->data.seq;
node = 0;
cvStartReadSeq( seq, &reader, 0 );
// find the first element in the map
for( i = 0; i < seq->total; i++ )
{
if( CV_IS_SET_ELEM( reader.ptr ))
{
node = (CvFileNode*)reader.ptr;
goto stop_search;
}
CV_NEXT_SEQ_ELEM( seq->elem_size, reader );
}
}
stop_search:
;
}
if( !node )
CV_Error( CV_StsObjectNotFound, "Could not find the/an object in file storage" );
real_name = cvGetFileNodeName( node );
ptr = cvRead( *fs, node, 0 );
// sanity check
if( !memstorage && (CV_IS_SEQ( ptr ) || CV_IS_SET( ptr )) )
CV_Error( CV_StsNullPtr,
"NULL memory storage is passed - the loaded dynamic structure can not be stored" );
if( cvGetErrStatus() < 0 )
{
cvRelease( (void**)&ptr );
real_name = 0;
}
if( _real_name)
{
if (real_name)
{
*_real_name = (const char*)cvAlloc(strlen(real_name));
memcpy((void*)*_real_name, real_name, strlen(real_name));
} else {
*_real_name = 0;
}
}
return ptr;
}
