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mosaic_local.m
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mosaic_local.m
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% Algorithm parameters
H = M2 * (R+t*Nd_glb') / M1;
box2 = [1 size(im2,2) size(im2,2) 1 ;
1 1 size(im2,1) size(im2,1) ;
1 1 1 1 ] ;
box2_ = H \ box2 ;
box2_(1,:) = box2_(1,:) ./ box2_(3,:) ;
box2_(2,:) = box2_(2,:) ./ box2_(3,:) ;
u0 = min([1 box2_(1,:)]);
u1 = max([size(im1,2) box2_(1,:)]);
ur = u0:u1;
v0 = min([1 box2_(2,:)]);
v1 = max([size(im1,1) box2_(2,:)]) ;
vr = v0:v1;
mosaicw = size(ur,2);
mosaich = size(vr,2);
offsetu = 1 - u0;
offsetv = 1 - v0;
margin = 0.1*size(im2,1); % additional margin of the overlapping area
sub_u0 = max(1, min(box2_(1,:)))-margin;
sub_u1 = min(size(im1,2), max(box2_(1,:)))+margin;
sub_v0 = max(1, min(box2_(2,:)))-margin;
sub_v1 = min(size(im1,1), max(box2_(2,:)))+margin;
if margin > 0
sub_u0 = max(u0,sub_u0);
sub_u1 = min(u1,sub_u1);
sub_v0 = max(v0,sub_v0);
sub_v1 = min(v1,sub_v1);
end
[u,v] = meshgrid(ur,vr) ;
% triangular facet transformation
% merge the coincided points
ok_nd1 = false(size(X1_ori,2),1);
[~, idx1] = unique(round(X1_ori'), 'rows', 'stable');
ok_nd1(idx1) = true;
ok_nd2 = false(size(X2_ori,2),1);
[~, idx2] = unique(round(X2_ori'), 'rows', 'stable');
ok_nd2(idx2) = true;
ok_nd = ok_nd1 & ok_nd2;
X1_nd = X1_ori(:,ok_nd);
X2_nd = X2_ori(:,ok_nd);
n = sum(ok_nd);
nsq = ceil(sqrt(n));
deltau = (sub_u1-sub_u0)/nsq;
deltav = (sub_v1-sub_v0)/nsq;
X1_add_lcl = [sub_u0:deltau:sub_u1-deltau, sub_u1*ones(1,nsq), sub_u1:-deltau:sub_u0+deltau, sub_u0*ones(1,nsq);
sub_v0*ones(1,nsq), sub_v0:deltav:sub_v1-deltav, sub_v1*ones(1,nsq), sub_v1:-deltav:sub_v0+deltav;
ones(1,4*nsq)];
X1_add_glb = [u0, u1, u0, u1; v0, v0, v1, v1; 1, 1, 1, 1];
X2_add_lcl = zeros(size(X1_add_lcl));
u_pano = X1_nd(1,:);
v_pano = X1_nd(2,:);
Y1_nd = trans_persp2cam_X(X1_nd, M1, D1);
Y2_nd = trans_persp2cam_X(X2_nd, M2, D2);
for klcl = 1:size(X1_add_lcl,2)
dist2 = (u_pano-X1_add_lcl(1,klcl)).^2 + (v_pano-X1_add_lcl(2,klcl)).^2;
weights = exp(-dist2/(200*200));
Nd_lcl = ndp_ransac(Y1_nd, Y2_nd, weights, R, t, 0, 0);
X2_add_lcl(:,klcl) = M2 * (R+t*Nd_lcl') / M1 * X1_add_lcl(:,klcl);
X2_add_lcl(1,klcl) = X2_add_lcl(1,klcl)./X2_add_lcl(3,klcl);
X2_add_lcl(2,klcl) = X2_add_lcl(2,klcl)./X2_add_lcl(3,klcl);
X2_add_lcl(3,klcl) = 1;
end
X2_add_glb = H * X1_add_glb;
X2_add_glb(1,:) = X2_add_glb(1,:)./X2_add_glb(3,:);
X2_add_glb(2,:) = X2_add_glb(2,:)./X2_add_glb(3,:);
X2_add_glb(3,:) = 1;
X1_nd = [X1_nd, X1_add_lcl, X1_add_glb];
X2_nd = [X2_nd, X2_add_lcl, X2_add_glb];
Y1_nd = trans_persp2cam_X(X1_nd, M1, D1);
Y2_nd = trans_persp2cam_X(X2_nd, M2, D2);
u_pano = X1_nd(1,:);
v_pano = X1_nd(2,:);
x_pano = Y1_nd(1,:);
y_pano = Y1_nd(2,:);
% triangulate
% constrained_edge = [n+1 n+2; n+2 n+4; n+4 n+3; n+3, n+1];
% tri = delaunayTriangulation([x_pano',y_pano'], constrained_edge);
tri = delaunay([x_pano',y_pano']);
ntri = size(tri,1);
Nd_all = zeros(3, ntri);
u_ = zeros(mosaich, mosaicw);
v_ = zeros(mosaich, mosaicw);
for ktri = 1:ntri
% original coordinates
Y1_tri = Y1_nd(:,tri(ktri,:));
Y2_tri = Y2_nd(:,tri(ktri,:));
Nd_tri = ndp_ransac(Y1_tri, Y2_tri, ones(3,1), R, t, 0, 0);
Nd_all(:,ktri) = Nd_tri;
% coordinates in the panoramic image
u_pano_tri = u_pano(tri(ktri,:));
v_pano_tri = v_pano(tri(ktri,:));
%set bounding box of current triangle
ub0_offset = min(u_pano_tri) + offsetu;
ub1_offset = max(u_pano_tri) + offsetu;
vb0_offset = min(v_pano_tri) + offsetv;
vb1_offset = max(v_pano_tri) + offsetv;
margin_tri_u = 0.0 * (ub1_offset - ub0_offset);
margin_tri_v = 0.0 * (vb1_offset - vb0_offset);
ub0_offset = max(1, ceil(ub0_offset - margin_tri_u));
ub1_offset = min(mosaicw, floor(ub1_offset + margin_tri_u));
vb0_offset = max(1, ceil(vb0_offset - margin_tri_v));
vb1_offset = min(mosaich, floor(vb1_offset + margin_tri_v));
ub0 = ub0_offset - offsetu;
ub1 = ub1_offset - offsetu;
vb0 = vb0_offset - offsetv;
vb1 = vb1_offset - offsetv;
ubr = ub0:ub1;
vbr = vb0:vb1;
[uub,vvb] = meshgrid(ubr,vbr);
boxw = size(ubr,2);
boxh = size(vbr,2);
if boxw == 0 || boxh == 0
continue;
end
% find inliers of the current triangle (on the unit plane)
% scalar
xtri = x_pano(tri(ktri,:));
ytri = y_pano(tri(ktri,:));
xAB = xtri(2) - xtri(1);
yAB = ytri(2) - ytri(1);
xAC = xtri(3) - xtri(1);
yAC = ytri(3) - ytri(1);
% array
[xcam, ycam, zcam] = trans_persp2cam(uub, vvb, M1, D1);
xxp = xcam ./ zcam;
yyp = ycam ./ zcam;
xxAP = xxp - xtri(1);
yyAP = yyp - ytri(1);
uAB = (xxAP.*yAC - yyAP.*xAC)/(xAB*yAC - yAB*xAC);
vAC = (yyAP.*xAB - xxAP.*yAB)/(xAB*yAC - yAB*xAC);
trimask = (uAB >= 0 & vAC >= 0 & uAB + vAC <= 1);
[ubox_, vbox_] = trans_persp2persp(uub, vvb, R+t*Nd_tri', M1, D1, M2, D2);
ubox_(~trimask) = 0;
vbox_(~trimask) = 0;
zeromask = (u_(vb0_offset:vb1_offset,ub0_offset:ub1_offset) == 0);
u_(vb0_offset:vb1_offset,ub0_offset:ub1_offset) = u_(vb0_offset:vb1_offset,ub0_offset:ub1_offset) + zeromask .* ubox_;
v_(vb0_offset:vb1_offset,ub0_offset:ub1_offset) = v_(vb0_offset:vb1_offset,ub0_offset:ub1_offset) + zeromask .* vbox_;
end
if exist('vl_imwbackward','file')
im1_p = vl_imwbackward(im2double(im1),u,v) ;
else
im1_p = zeros(mosaich,mosaicw,im_ch);
for kc = 1:size(im1,3)
im1_p(:,:,kc) = interp2(im2double(im1(:,:,kc)),u,v);
end
end
if exist('vl_imwbackward','file')
im2_p = vl_imwbackward(im2double(im2),u_,v_) ;
else
im2_p = zeros(mosaich,mosaicw,im_ch);
for kc = 1:size(im2,3)
im2_p(:,:,kc) = interp2(im2double(im2(:,:,kc)),u_,v_);
end
end
alpha1 = ones(size(im1_p,1),size(im1_p,2));
alpha1(isnan(im1_p(:,:,1)))=0;
alpha2 = ones(size(im2_p,1),size(im2_p,2));
alpha2(isnan(im2_p(:,:,1)))=0;
mask1 = ~isnan(im1_p);
mask2 = ~isnan(im2_p);
mass = mask1 + mask2 ;
im1_p(isnan(im1_p)) = 0 ;
im2_p(isnan(im2_p)) = 0 ;
mosaic = (im1_p + im2_p) ./ mass ;
% mosaic(mass==0) = 1;% white background
figure(6) ; clf ;
imshow(mosaic, 'border', 'tight') ; hold on;
triplot(tri,u_pano+offsetu,v_pano+offsetv,'g', 'LineWidth',1.25);
plot(u_pano+offsetu, v_pano+offsetv, 'bo', 'MarkerSize', 10);
mosaic(mass==0) = 1;% white background
figure(7) ; clf ;
imshow(mosaic, 'border', 'tight') ;
imwrite(mosaic, [exp_path 'mosaic_local.jpg']) ;