vcg::Point2f Parameters::pixelDiff(Shot &test, vcg::Point3f p)
{
vcg::Point2f before = reference.Project(p)*rx;
if(before[0] < 0 || before[0] > reference.Intrinsics.ViewportPx[0] || before[1] < 0 || before[1] > reference.Intrinsics.ViewportPx[1])
return vcg::Point2f(0, 0);
vcg::Point2f after = test.Project(p)*rx;
return (after - before);
}
double Solver::calculateError2( Shot &shot){
//E' una pezza, andrebbe meglio pensato. Va a beccare direttamente le strutture dati PointCorrespondence di base.
//align già è sicuramente settato perchè lo chiami da optimize (poi dovrai distinguere le due cose, p.e. fare un optimize2)
QList<PointCorrespondence*> *correspList = align->correspList;
double error = 0;
int count=0;
for( int i=0; i<correspList->count(); i++){
PointCorrespondence *corr = correspList->at(i);
PointOnLayer currentPointOnLayer1= corr->getPointAt(0);
PointOnLayer currentPointOnLayer2= corr->getPointAt(1);
PointType type1 = currentPointOnLayer1.getType();
vcg::Point3f currentPoint1(currentPointOnLayer1.pX, currentPointOnLayer1.pY,currentPointOnLayer1.pZ );
vcg::Point3f currentPoint2(currentPointOnLayer2.pX, currentPointOnLayer2.pY,currentPointOnLayer2.pZ );
vcg::Point2f p2adj;
vcg::Point2f p1proj;
if(type1==_3D_POINT){
//Adjust 2D point
p2adj = vcg::Point2f(((currentPoint2.X()/align->imageRatio) +1)/2.0 * shot.Intrinsics.CenterPx.X()*2.0,((currentPoint2.Y())+1)/2.0 * shot.Intrinsics.CenterPx.Y()*2.0);
//Project 3D point
p1proj = shot.Project(currentPoint1);
}
else{
//Adjust 2D point
p2adj = vcg::Point2f(((currentPoint1.X()/align->imageRatio) +1)/2.0 * shot.Intrinsics.CenterPx.X()*2.0,((currentPoint1.Y())+1)/2.0 * shot.Intrinsics.CenterPx.Y()*2.0);
//Project 3D point
p1proj = shot.Project(currentPoint2);
}
float dist = vcg::Distance<float>(p1proj,p2adj);
error += dist;
count++;
}
//Normalize error
return error /= count;
}
