void KMfilterCenters::moveToCentroid() // move center to cluster centroid
{
if (!valid) computeDistortion(); // compute sums if needed
for (int j = 0; j < kCtrs; j++) {
int wgt = weights[j]; // weight of this center
if (wgt > 0) { // update only if weight > 0
for (int d = 0; d < getDim(); d++) {
ctrs[j][d] = (1 - dampFactor) * ctrs[j][d] +
dampFactor * sums[j][d]/wgt;
}
}
}
invalidate(); // distortions now invalid
}
void ofxMultiplexer::initializeMultiplexer()
{
deinitializeMultiplexer();
stitchedFrame = (unsigned char*)malloc(stitchedFrameWidth * stitchedFrameHeight * sizeof(unsigned char));
offsetMap = (unsigned int**)malloc(cameraGridWidth*cameraGridHeight * sizeof(unsigned int*));
weightMap = (float**)malloc(cameraGridWidth*cameraGridHeight * sizeof(float*));
cameraFrames = (unsigned char**)malloc(cameraGridWidth*cameraGridHeight * sizeof(unsigned char*));
cameraCalibrationPoints = (vector2df**)malloc(cameraGridWidth*cameraGridHeight * sizeof(vector2df*));
blackCapturingMode = (bool*)malloc(cameraGridWidth*cameraGridHeight*sizeof(bool));
cameras = (ofxCameraBase**)malloc(cameraGridWidth*cameraGridHeight * sizeof(ofxCameraBase*));
cameraMap = (unsigned char**)malloc(4 * sizeof(unsigned char*));
cameraFramesWidth = (int*)malloc(cameraGridWidth*cameraGridHeight * sizeof(int));
cameraFramesHeight = (int*)malloc(cameraGridWidth*cameraGridHeight * sizeof(int));
for (int i=0;i<4;i++)
{
cameraMap[i] = (unsigned char*)malloc(stitchedFrameWidth*stitchedFrameHeight*sizeof(unsigned char));
memset((void*)cameraMap[i],NULL_CAMERA,stitchedFrameWidth*stitchedFrameHeight*sizeof(unsigned char));
}
for (int i=0;i<cameraGridWidth*cameraGridHeight;i++)
{
cameraCalibrationPoints[i] = (vector2df*)malloc((calibrationGridWidth+1)*(calibrationGridHeight+1)*sizeof(vector2df));
cameras[i] = NULL;
offsetMap[i] = (unsigned int*)malloc(stitchedFrameWidth * stitchedFrameHeight * sizeof(unsigned int));
memset(offsetMap[i],0,stitchedFrameWidth * stitchedFrameHeight * sizeof(unsigned int));
weightMap[i] = (float*)malloc(stitchedFrameWidth * stitchedFrameHeight * sizeof(float));
memset(weightMap[i],0,stitchedFrameWidth * stitchedFrameHeight * sizeof(float));
blackCapturingMode[i] = true;
int newCameraIndex = -1;
for (int j=0;j<cameraBasesCalibration.size();j++)
{
if (cameraBasesCalibration[j]->index == i)
newCameraIndex = j;
}
if (newCameraIndex>=0)
{
unsigned int cameraWidth,cameraHeight;
unsigned char cameraDepth,cameraPixel;
cameraBasesCalibration[newCameraIndex]->camera->getCameraSize(&cameraWidth,&cameraHeight,&cameraDepth,&cameraPixel);
cameraBasesCalibration[newCameraIndex]->camera->resumeCamera();
cameraFramesWidth[i] = cameraWidth;
cameraFramesHeight[i] = cameraHeight;
if (cameraBasesCalibration[newCameraIndex]->calibrationPoints.size() == (calibrationGridWidth+1)*(calibrationGridHeight+1))
{
for (int j=0;j<(calibrationGridWidth+1)*(calibrationGridHeight+1);j++)
{
cameraCalibrationPoints[i][j].X = cameraBasesCalibration[newCameraIndex]->calibrationPoints[j].X * cameraFramesWidth[i];
cameraCalibrationPoints[i][j].Y = cameraBasesCalibration[newCameraIndex]->calibrationPoints[j].Y * cameraFramesHeight[i];
}
}
else
{
cameraBasesCalibration[newCameraIndex]->calibrationPoints.clear();
float dx = cameraFramesWidth[i] / calibrationGridWidth;
float dy = cameraFramesHeight[i] / calibrationGridHeight;
int P = 0;
for (int y=0;y<=calibrationGridHeight;y++)
{
for (int x=0;x<=calibrationGridWidth;x++)
{
cameraCalibrationPoints[i][P].X = dx * x;
cameraCalibrationPoints[i][P].Y = dy * y;
P++;
}
}
}
blackCapturingMode[i] = false;
cameras[i] = cameraBasesCalibration[newCameraIndex]->camera;
}
else
{
cameraFramesWidth[i] = 320;
cameraFramesHeight[i] = 240;
float dx = cameraFramesWidth[i] / calibrationGridWidth;
float dy = cameraFramesHeight[i] / calibrationGridHeight;
int P = 0;
for (int y=0;y<=calibrationGridHeight;y++)
{
for (int x=0;x<=calibrationGridWidth;x++)
{
cameraCalibrationPoints[i][P].X = dx * x;
cameraCalibrationPoints[i][P].Y = dy * y;
P++;
}
}
}
cameraFrames[i] = (unsigned char*)malloc(cameraFramesWidth[i] * cameraFramesHeight[i] * sizeof(unsigned char));
memset(cameraFrames[i],1,cameraFramesWidth[i] * cameraFramesHeight[i] * sizeof(unsigned char));
}
actualStitchedFrameWidth = stitchedFrameWidth;
actualStitchedFrameHeight = stitchedFrameHeight;
actualCameraGridWidth = cameraGridWidth;
actualCameraGridHeight = cameraGridHeight;
actualCalibrationGridWidth = calibrationGridWidth;
actualCalibrationGridHeight = calibrationGridHeight;
computeDistortion();
}
