/******************************************************************************
Make a mosaic with the objects in their original relative positions.
*/
static rc_t mosaic_org(gras_t *gr, const objl_t *ol,
unsigned bg, unsigned fg, int mflags,
const gras_t *gr_o) {
pixl_t org ;
int o,nx,ny,x,y,xo,yo ;
rc_t check ;
const char *me = "mosaic_org" ;
pixl_init(&org,ORG_CHUNK) ;
if (gr_o) {
nx = gr_o->nx ; ny = gr_o->ny ; xo = yo = 0 ;
} else {
xo = yo = INT_MAX ; nx = ny = 0 ;
for(o=0;o<ol->n;o++) {
xo = MIN(xo,ol->obj[o]->xorg) ;
yo = MIN(yo,ol->obj[o]->yorg) ;
nx = MAX(nx,ol->obj[o]->xorg + ol->obj[o]->nx) ;
ny = MAX(ny,ol->obj[o]->yorg + ol->obj[o]->ny) ;
} ;
nx -= xo ; ny -= yo ;
xo += BORDER ; yo += BORDER ; nx += 2*BORDER ; ny += 2*BORDER ;
} ;
for(o=0;o<ol->n;o++) {
x = ol->obj[o]->xorg - xo ;
y = ol->obj[o]->yorg - yo ;
if (pixl_add(&org,y,x) != OK) return(memfail(__FILE__,__LINE__,me)) ;
} ;
check = mosaic(gr,ol,&org,ny,nx,bg,fg,mflags) ;
pixl_free(&org) ;
return(check) ;
}
/******************************************************************************
Make one long strip mosaic.
*/
static rc_t mosaic_strip(gras_t *gr, const objl_t *ol,
unsigned bg, unsigned fg, int mflags) {
pixl_t org ;
int o,nx,ny,x,y ;
rc_t check ;
const char *me = "mosaic_strip" ;
pixl_init(&org,ORG_CHUNK) ;
nx = 0 ; ny = 0 ;
for(o=0;o<ol->n;o++) {
x = (nx += BORDER) ; y = BORDER ;
if (pixl_add(&org,y,x) != OK) return(memfail(__FILE__,__LINE__,me)) ;
ny = MAX(ny,ol->obj[o]->ny) ;
nx += ol->obj[o]->nx ;
} ;
ny += 2*BORDER ;
check = mosaic(gr,ol,&org,ny,nx,bg,fg,mflags) ;
pixl_free(&org) ;
return(check) ;
}
// Render Scene Struct
void renderScene(IplImage** images, CvMat** matches, int* bestMatchedIndex,
IplImage* viewport, struct pData* poses)
{
if (myScene->currentIndex != myScene->previousIndex) {
//printf("CURRENT POSE: \n");
//printPose(myScene->pose);
}
int i, j, k;
int image_count = myScene->max_image;
int baseIndex = closestImageIndex(poses);
CvMat* transform = modelViewMatrix(baseIndex, poses);
// Translation?
cvmSet(transform, 0, 2, -1*(myScene->pose.center.val[1] - poses[baseIndex].center.val[1]));
cvmSet(transform, 1, 2, 1*(myScene->pose.center.val[2] - poses[baseIndex].center.val[2]));
// Rotation?
CvScalar diff = cvScalar(myScene->pose.center.val[0] - myScene->pose.eye.val[0],
myScene->pose.center.val[1] - myScene->pose.eye.val[1],
myScene->pose.center.val[2] - myScene->pose.eye.val[2], 0.0);
//printf("diff is: [%.2lf %.2lf %.2lf %.2lf]\n", diff.val[0], diff.val[1], diff.val[2], diff.val[3]);
double radius = norm(diff);
double angle1 = acos(diff.val[0] / radius) - PI;
double angle2 = asin(diff.val[1] / radius);
//printf("angle1: %.2lf\n", angle1);
//printf("angle2: %.2lf\n", angle2);
CvMat* zRotation = cvCreateMat(3, 3, CV_64F);
makeZAxisRotation(zRotation, (angle1+angle2) / 2);
//cvmSet(zRotation, 0, 2, 200*angle1);
//cvmSet(zRotation, 1, 2, 200*angle1);
cvMatMulAdd(zRotation, transform, 0, transform);
cvReleaseMat(&zRotation);
// Zoom?
double zoom = radius;
CvMat* zoomTransform = create3DIdentity();
cvmSet(zoomTransform, 0, 0, zoom);
cvmSet(zoomTransform, 1, 1, zoom);
cvMatMulAdd(zoomTransform, transform, 0, transform);
cvReleaseMat(&zoomTransform);
for (k = 0; k < MATCH_RANGE; k++) {
i = (baseIndex + k) % image_count;
if (i < 0) i += image_count;
//printf("displaying image %d\n", i);
if (i == baseIndex) {
cvWarpPerspective(images[i], viewport, transform, CV_INTER_LINEAR, cvScalarAll(0));
continue;
}
//mosaic other images
mosaic(i, images, matches, bestMatchedIndex, viewport, transform);
}
cvReleaseMat(&transform);
}
