void computeDistanceTransform3D(const cv::Mat &edges,
std::vector<cv::Mat> &dtImages)
{
//TODO: move up
const float directionCost = 0.5f;
const double maxCost = 30.0;
const int nDirections = 60;
const double scale = 1.0;
LFLineFitter lineFitter;
fitLines(edges, lineFitter);
EIEdgeImage linearEdges;
linearEdges.SetNumDirections(nDirections);
linearEdges.Read(lineFitter);
linearEdges.Scale(scale);
LMDistanceImage distanceImage;
distanceImage.Configure(directionCost, maxCost);
distanceImage.SetImage(linearEdges);
vector<Image<float> > &fdcmDtImages = distanceImage.getDtImages();
dtImages.resize(fdcmDtImages.size());
for (size_t i = 0; i < fdcmDtImages.size(); ++i)
{
fdcm2cv(fdcmDtImages[i], dtImages[i]);
}
}
void LMDistanceImage::ConstructDTs(EIEdgeImage& ei)
{
#if 0
Image<uchar> image(width_,height_,false);
dtImages_.resize(nDirections_);
for (int i=0 ; i<ei.nDirections_ ; i++)
{
dtImages_[i].Resize(width_,height_,false);
ei.ConstructDirectionImage(i, &image);
DistanceTransform::CompDT(&image, &dtImages_[i], false);
}
#else
dtImages_.resize(nDirections_);
#pragma omp parallel for
for (int i=0 ; i<ei.nDirections_ ; i++)
{
Image<uchar> image(width_,height_,false);
dtImages_[i].Resize(width_,height_,false);
ei.ConstructDirectionImage(i, &image);
DistanceTransform::CompDT(&image, &dtImages_[i], false);
}
#endif
}
void LMDisplay::DrawMatchTemplate(Image<RGBMap> *image,EIEdgeImage &ei,int x,int y,double scale,const RGBMap scalar,int thickness)
{
EIEdgeImage tdbImage;
tdbImage = ei;
tdbImage.Scale(scale);
LFLineSegment line;
double ltrans[2];
ltrans[0] = 1.0*x;
ltrans[1] = 1.0*y;
for (int k=0 ; k<tdbImage.nLines_ ; k++)
{
line = tdbImage.lines_[k];
line.Translate(ltrans);
ImageDraw<RGBMap>::Line(image,(int)line.sx_,(int)line.sy_,(int)line.ex_,(int)line.ey_,scalar,thickness);
}
}
