QPixmap RectificationController::assistedFromProjectionToSimilarity(ClickableLabel* projectedImageLabel, const QSize& POISize,
bool pointOfInterestFlag)
{
// First, create pairs of point correlations between projection and world space.
CircularList<SelectedPixel*>* selectedPixelsProj = projectedImageLabel->getSelectedPixels();
int numSelectedPixels = selectedPixelsProj->size();
vector<QPoint> selectedPixelsWorld(numSelectedPixels);
selectedPixelsWorld[0] = QPoint(0, 0);
selectedPixelsWorld[1] = selectedPixelsWorld[0] + QPoint(0, POISize.height());
selectedPixelsWorld[2] = selectedPixelsWorld[0] + QPoint(POISize.width(), POISize.height());
selectedPixelsWorld[3] = selectedPixelsWorld[0] + QPoint(POISize.width(), 0);
vector<pair<VectorXd, VectorXd>> correlationPoints(numSelectedPixels);
for (int i = 0; i < numSelectedPixels; ++i)
{
QPoint qProjectedPoint = (*selectedPixelsProj)[i]->getPos();
QPoint qWorldPoint = selectedPixelsWorld[i];
VectorXd projectedPoint(3);
projectedPoint << qProjectedPoint.x(), qProjectedPoint.y(), 1.;
VectorXd worldPoint(3);
worldPoint << qWorldPoint.x(), qWorldPoint.y(), 1.;
pair<VectorXd, VectorXd> correlationPair(projectedPoint, worldPoint);
correlationPoints[i] = correlationPair;
}
// Second, define the projection to world transformation.
AssistedSimilarityFromProjRectificator rectificator(correlationPoints);
MatrixXd projToWorld = *rectificator.getTransformation();
// Qt uses the transpose of the usual transformation representation.
QTransform qProjToWorld(
projToWorld(0, 0), projToWorld(1, 0), projToWorld(2, 0),
projToWorld(0, 1), projToWorld(1, 1), projToWorld(2, 1),
projToWorld(0, 2), projToWorld(1, 2), projToWorld(2, 2)
);
QPixmap rectifiedPixmap = projectedImageLabel->pixmap()->transformed(qProjToWorld, Qt::SmoothTransformation);
if (pointOfInterestFlag)
{
return selectPointOfInterest(rectifiedPixmap, qProjToWorld, projectedImageLabel->pixmap()->size(), (*selectedPixelsProj)[0]->getPos(), POISize);
}
else
{
return rectifiedPixmap;
}
}
//--------------------------------------------------------------------------------------------------
/// Compute projection of point p3 on the line p1 - p2
// If projection is out side the line segment, the end of line is returned
//--------------------------------------------------------------------------------------------------
cvf::Vec3d GeometryTools::projectPointOnLine(const cvf::Vec3d& p1, const cvf::Vec3d& p2, const cvf::Vec3d& p3, double* normalizedIntersection)
{
cvf::Vec3d v31 = p3 - p1;
cvf::Vec3d v21 = p2 - p1;
double u = (v31*v21) / (v21*v21);
cvf::Vec3d projectedPoint(0, 0, 0);
if (0 < u && u < 1) projectedPoint = p1 + u*v21;
else if (u <= 0) projectedPoint = p1;
else projectedPoint = p2;
if (normalizedIntersection)
{
*normalizedIntersection = u;
}
return projectedPoint;
}
//===========================================================================
void cShapeBox::computeLocalInteraction(const cVector3d& a_toolPos,
const cVector3d& a_toolVel,
const unsigned int a_IDN)
{
// temp variables
bool inside;
cVector3d projectedPoint;
// sign
double signX = cSign(a_toolPos(0) );
double signY = cSign(a_toolPos(1) );
double signZ = cSign(a_toolPos(2) );
// check if tool is located inside box
double tx = (signX * a_toolPos(0) );
double ty = (signY * a_toolPos(1) );
double tz = (signZ * a_toolPos(2) );
inside = false;
if (cContains(tx, 0.0, m_hSizeX))
{
if (cContains(ty, 0.0, m_hSizeY))
{
if (cContains(tz, 0.0, m_hSizeZ))
{
inside = true;
}
}
}
if (inside)
{
// tool is located inside box, compute distance from tool to surface
double m_distanceX = m_hSizeX - (signX * a_toolPos(0) );
double m_distanceY = m_hSizeY - (signY * a_toolPos(1) );
double m_distanceZ = m_hSizeZ - (signZ * a_toolPos(2) );
// search nearest surface
if (m_distanceX < m_distanceY)
{
if (m_distanceX < m_distanceZ)
{
projectedPoint(0) = signX * m_hSizeX;
projectedPoint(1) = a_toolPos(1) ;
projectedPoint(2) = a_toolPos(2) ;
}
else
{
projectedPoint(0) = a_toolPos(0) ;
projectedPoint(1) = a_toolPos(1) ;
projectedPoint(2) = signZ * m_hSizeZ;
}
}
else
{
if (m_distanceY < m_distanceZ)
{
projectedPoint(0) = a_toolPos(0) ;
projectedPoint(1) = signY * m_hSizeY;
projectedPoint(2) = a_toolPos(2) ;
}
else
{
projectedPoint(0) = a_toolPos(0) ;
projectedPoint(1) = a_toolPos(1) ;
projectedPoint(2) = signZ * m_hSizeZ;
}
}
}
else
{
projectedPoint(0) = cClamp(a_toolPos(0) , -m_hSizeX, m_hSizeX);
projectedPoint(1) = cClamp(a_toolPos(1) , -m_hSizeY, m_hSizeY);
projectedPoint(2) = cClamp(a_toolPos(2) , -m_hSizeZ, m_hSizeZ);
}
// return results
projectedPoint.copyto(m_interactionProjectedPoint);
m_interactionInside = inside;
}
