/** \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 Transforms pixel coordinates between two pyramid levels.
*
* @Note Invalidates camera and bearing vector, since the camera model is not valid for arbitrary image levels.
* @param cIn - Input coordinates
* @param cOut - Output coordinates
* @param l1 - Input pyramid level.
* @param l2 - Output pyramid level.
* @return the corresponding pixel coordinates on pyramid level l2.
*/
void levelTranformCoordinates(const FeatureCoordinates& cIn,FeatureCoordinates& cOut,const int l1, const int l2) const{
assert(l1<n_levels && l2<n_levels && l1>=0 && l2>=0);
cOut.set_c((centers_[l1]-centers_[l2])*pow(0.5,l2)+cIn.get_c()*pow(0.5,l2-l1));
if(cIn.mpCamera_ != nullptr){
if(cIn.com_warp_c()){
cOut.set_warp_c(cIn.get_warp_c());
}
}
cOut.camID_ = -1;
cOut.mpCamera_ = nullptr;
}
/** \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);
}
}
