/** set X, Y, W, and H to the bounding box of point /p/ in screen coords */
void
Panner::point_bbox ( const Point *p, int *X, int *Y, int *W, int *H ) const
{
int tx, ty, tw, th;
bbox( tx, ty, tw, th );
float px, py;
float s = 1.0f;
if ( projection() == POLAR )
{
project_polar( p, &px, &py, &s );
}
else
{
project_ortho( p, &px, &py, &s );
}
const float htw = float(tw)*0.5f;
const float hth = float(th)*0.5f;
*W = *H = tw * s;
if ( *W < 8 )
*W = 8;
if ( *H < 8 )
*H = 8;
*X = tx + (htw * px + htw) - *W/2;
*Y = ty + (hth * py + hth) - *H/2;
}
// x = current params, fvec = the errors/differences of the proj with current params and the GT (image_points)
int operator()(const Eigen::VectorXd& x, Eigen::VectorXd& fvec) const
{
const float aspect = static_cast<float>(width) / height;
for (int i = 0; i < values(); i++)
{
// opencv to glm:
glm::vec3 point_3d(model_points[i][0], model_points[i][1], model_points[i][2]);
// projection given current params x:
glm::vec3 proj_with_current_param_esti = project_ortho(point_3d, x[0], x[1], x[2], x[3], x[4], x[5], width, height);
cv::Vec2f proj_point_2d(proj_with_current_param_esti.x, proj_with_current_param_esti.y);
// diff of current proj to ground truth, our error
auto diff = cv::norm(proj_point_2d, image_points[i]);
// fvec should contain the differences
// don't square it.
fvec[i] = diff;
}
return 0;
};