void testIntersection()
{
RGB24Buffer image(1000,1000, RGBColor::White());
corecvs::Polygon p;
for (int i = 0; i < 5; i++)
{
p.push_back(Vector2dd::FromPolar(-2 * M_PI / 5 * i, 260) + Vector2dd(image.w / 2.0, image.h / 2.0));
}
AbstractPainter<RGB24Buffer> painter(&image);
painter.drawPolygon(p, RGBColor::Black());
for (unsigned i = 0; i < p.size(); i++)
{
Vector2dd p1 = p[i];
Vector2dd p2 = p[(i + 1) % p.size()];
Vector2dd center = (p1 + p2) / 2.0;
Vector2dd decal = (p2 - p1).rightNormal().normalised();
decal = center + decal * 8;
image.drawLine(center.x(), center.y(), decal.x(), decal.y(), RGBColor::gray(128));
}
for (int i = 1; i < 10; i++)
{
Ray2d ray( Vector2dd::FromPolar( M_PI / 20.0 * i + 0.02, 100), Vector2dd(140,180));
Vector2dd p1 = ray.getPoint(0.0);
Vector2dd p2 = ray.getPoint(8.0);
image.drawLine(fround(p1.x()), fround(p1.y()), fround(p2.x()), fround(p2.y()), RGBColor::Yellow());
for (int j = 0; j < 8; j++)
{
Vector2dd p = ray.getPoint(j);
image.drawCrosshare1(p.x(), p.y(), RGBColor::Cyan());
}
double t1, t2;
ray.clip<Polygon>(p, t1, t2);
p1 = ray.getPoint(t1);
p2 = ray.getPoint(t2);
cout << "t1 = " << t1 << endl;
cout << "t2 = " << t2 << endl;
cout << "p1 = " << p1 << endl;
cout << "p2 = " << p2 << endl;
image.drawLine(fround(p1.x()), fround(p1.y()), fround(p2.x()), fround(p2.y()),
t1 > t2 ? RGBColor::Red() : RGBColor::Green());
}
BMPLoader().save("out1.bmp", &image);
}
virtual void operator()(const double in[], double out[])
{
double dh = (double)mH / (mSteps - 1);
double dw = (double)mW / (mSteps - 1);
RadialCorrection guess = updateWithModel(mGuess, in);
for (int i = 0; i < mSteps; i++)
{
for (int j = 0; j < mSteps; j++)
{
Vector2dd point(dw * j, dh * i);
Vector2dd deformed = mInput.map(point); /* this could be cached */
Vector2dd backproject = guess.map(deformed);
Vector2dd diff = backproject - point;
out[2 * (i * mSteps + j) ] = diff.x();
out[2 * (i * mSteps + j) + 1] = diff.y();
}
}
}
void RGB24Buffer::drawCorrespondanceList(CorrespondanceList *src, double colorScaler, int32_t y, int32_t x)
{
if (src == NULL) {
return;
}
CorrespondanceList::iterator it;
for (it = src->begin(); it != src->end(); ++it)
{
Correspondance &tmpCorr = (*it);
Vector2dd from = tmpCorr.start;
Vector2dd to = tmpCorr.end;
Vector2dd vec = to - from;
//RGBColor color = RGBColor(128 + (vec.x() * 5),128 + (vec.y() * 5), 0);
RGBColor color = RGBColor::rainbow1(!vec / colorScaler);
drawLineSimple(from.x() + x, from.y() + y, to.x() + x, to.y() + y, color);
this->drawCrosshare3(to.x() + x, to.y() + y, color);
}
}
TEST(ConvexHull, testConvexHull1)
{
Polygon p;
p.push_back(Vector2dd(0.0, 0.0));
p.push_back(Vector2dd(2.0, 0.0));
p.push_back(Vector2dd(2.0, 4.0));
p.push_back(Vector2dd(4.0, 4.0));
p.push_back(Vector2dd(4.0, 0.0));
p.push_back(Vector2dd(6.0, 0.0));
p.push_back(Vector2dd(6.0, 6.0));
p.push_back(Vector2dd(0.0, 6.0));
/* Test Gift Wrap */
Polygon result1 = ConvexHull::GiftWrap(p);
cout << result1 << endl;
for (size_t i = 0; i < result1.size(); i++)
{
Vector2dd point = result1[i];
bool perefery = !point.isInRect(Vector2dd(0.01,0.01), Vector2dd(5.99,5.99));
CORE_ASSERT_TRUE(perefery, "GiftWrap: Convex hull is wrong");
}
/* Test GrahamScan */
Polygon pCopy(p);
Polygon result2 = ConvexHull::GrahamScan(pCopy);
cout << result2 << endl;
for (size_t i = 0; i < result2.size(); i++)
{
Vector2dd point = result2[i];
bool perefery = !point.isInRect(Vector2dd(0.01,0.01), Vector2dd(5.99,5.99));
CORE_ASSERT_TRUE(perefery, "GrahamScan: Convex hull is wrong");
}
/* Test GrahamScan projective*/
ProjectivePolygon pCopy1(p);
ProjectivePolygon result3 = ConvexHull::GrahamScan(pCopy1);
cout << result3 << endl;
for (size_t i = 0; i < result3.size(); i++)
{
Vector2dd point = result3[i].normalisedProjective().xy();
bool perefery = !point.isInRect(Vector2dd(0.01,0.01), Vector2dd(5.99,5.99));
CORE_ASSERT_TRUE(perefery, "GrahamScan Projective: Convex hull is wrong");
}
}
StereographicProjection::StereographicProjection(const Vector2dd &principal, double focal, const Vector2dd &size) :
ProjectionBaseParameters(principal.x(), principal.y(), focal, size.x(), size.y(), size.x(), size.y()),
CameraProjection(ProjectionType::STEREOGRAPHIC)
{}
CameraProjection *ILFormat::loadIntrisics(std::istream &filename)
{
/**
Some examples
// "omnidirectional\n"
// "1578 1.35292 1.12018 5 0.520776 -0.561115 -0.560149 1.01397 -0.870155";
// projective
// fx fy cx cy w h
**/
std::string cameraType;
filename >> cameraType;
if (cameraType == IL_OMNIDIRECTIONAL)
{
double s;
Vector2dd c;
int imax;
double n0;
filename >> s;
filename >> c.x() >> c.y();
filename >> imax;
filename >> n0;
vector<double> n;
for (int i = 0; i < imax-1; i++)
{
double v = 0;
filename >> v;
n.push_back(v);
}
#if 0
cout << "Type: " << cameraType << endl;
cout << "s: " << s << endl;
cout << "c: " << c << endl;
cout << "imax: " << imax << endl;
cout << "n0: " << n0 << endl;
for (int i = 0; i < imax-1; i++)
{
cout << "n" << i+2 << " " << n[i] << endl;
}
#endif
OmnidirectionalProjection *projection = new OmnidirectionalProjection;
projection->setFocal(s * n0);
projection->setPrincipalX(s * c.x());
projection->setPrincipalY(s * c.y());
projection->setSizeX(projection->principalX() * 2);
projection->setSizeY(projection->principalY() * 2);
projection->setDistortedSizeX(projection->principalX() * 2);
projection->setDistortedSizeY(projection->principalY() * 2);
projection->mN.clear();
for (size_t i = 0; i < n.size(); i++)
{
projection->mN.push_back(n[i] * pow(n0, i + 1));
}
return projection;
}
