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RectImg.m
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RectImg.m
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function imgRect = RectImg(xOrig2Rect, yOrig2Rect, xRect2Orig, yRect2Orig, image,KK_new, Kinit,k,R,imgOrig,varargin)
% % xOrig2Rect = xOrig2Rect(:,1:size(xRect2Orig,2)/4);
% % yOrig2Rect = yOrig2Rect(:,1:size(yRect2Orig,2)/4);
if (nargin == 10)
paraDir = [];
% homoDir = 'D:\Temp\20180828\calibFishEyeHomo1';
% heightDir = 'D:\Temp\20181213\apriltag7';
elseif (nargin == 11)
paraDir = varargin{1};
whichOne = 'Left';
scale = 1;
elseif (nargin == 12)
paraDir = varargin{1};
whichOne = varargin{2};
scale = 1;
elseif (nargin == 13)
paraDir = varargin{1};
whichOne = varargin{2};
scale = varargin{3};
else
error('Too many input arguments');
end
if ~isempty(paraDir)
fishEyeModel = 1;
if strcmp(whichOne, 'Left')
load(fullfile(paraDir,'calib.mat'),'oCamModelL','stereoParam')
try
oCamModel = oCamModelL;
catch
load(fullfile(paraDir,'oCamModelR.mat'));
oCamModel = oCamModelR;
end
U_same = ocam_undistort_map(oCamModel,'OutputView','same');
nim_same = ocam_undistort(imgOrig,U_same);
try
[rectParamL, rectParamR] = GetRectifyParam(stereoParam, size(imgOrig));
[rectImgL] = RectifyOneImage(nim_same, rectParamL);
catch
asdgljkk = 1;
end
else
load(fullfile(paraDir,'calib.mat'),'oCamModelR','stereoParam')
oCamModel = oCamModelR;
[rectParamL, rectParamR] = GetRectifyParam(stereoParam, size(imgOrig));
U_same = ocam_undistort_map(oCamModel,'OutputView','same');
nim_same = ocam_undistort(imgOrig,U_same);
[rectImgR] = RectifyOneImage(nim_same, rectParamR);
end
else
fishEyeModel = 0;
end
imgRect = uint8(zeros(size(imgOrig)));
useTable = 1;0;1;0;1;0;1;1;
draw = 0;1;0;1;
useNearest = 0;
[nr,nc,~] = size(image);
nr = scale*nr;
nc = scale*nc;
numPix = nr*nc;
[xuuAllUse,yuuAllUse] = meshgrid(1:nc,1:nr);
xNum = 300;
SearchTimes = [];
SearchY = [];
Err_table = [];
PixRectStack = [];
PixRectRStack = [];
Pix2Stack = [];
Pix2StackIn = [];
step = 1; 3;
yStep = scale; 1;2;1;2;20; 3;15;3;10; 5; 10;
splitStep = 2; 3; 5;3; 5;
flag = false;
ySampled = [scale:yStep:nr]';
if ySampled(end) ~= nr
ySampled = [ySampled;nr];
end
xAxis = [-100:nc+100];
% figure(111),imshow(zeros(nr,nc));hold on;
plotRow1 = 0;
judge = 1;
ErrDir = []; ErrWrong = [];
vldMsk = zeros(nr,nc);
pixStack = [];
figure(444),imshow(zeros(nr,nc));hold on;
figure(333),imshow(ones(nr,nc));hold on;
figure(555),imshow(ones(nr,nc));hold on;
if useNearest == 0
figNum = 666;
else
figNum = 777;
end
figure(figNum),hold on;
pixWrite = [];
StoreData = []; asgkdfghdfghu = 0;
Ct = {};
ct = 1;
ccccctttt = 0;
ZeroFlag = [];
Pix1 = [];
Pix2 = [];
Pix3 = [];
Pix4 = [];
Pix5 = [];
if 0
crop1 = [1 1];
crop2 = [nc-0 nr-0];
elseif 0
crop1 = [146 209];
crop1 = [400-256 300+256-16];
crop2 = [3752 1899+256];
elseif 0
crop1 = [11 9];
% crop1 = [400-256 300+256-16];
crop2 = [1834 1048];
elseif 0
crop1 = [23 15];
% crop1 = [400-256 300+256-16];
crop2 = [3750 2126];
elseif 0
crop1 = [23 15];
crop2 = [3750-2048-32 2126-1024-128];
elseif 0 % temp
crop1 = [23 15];
crop2 = [3750 2126-1024-512-128];
elseif 0
crop1 = [23 15];
crop2 = [3750-2048 2126-1024-128];
elseif 1
crop1 = [23 15];
crop2 = [582 414+64];
else
crop1 = [17 3];
crop2 = [1136+128 642+64];
end
crop1 = [17 3];
crop2 = [1264 706];
imgR = image(:,:,1);
imgG = image(:,:,2);
imgB = image(:,:,3);
debugLine = -719;
% for ii = scale : scale:length(ySampled) - 1
for ii = scale : scale: scale*(size(image,1) - 1)
% for ii = scale : scale: nr - scale
i = ii/scale;
if i < debugLine %0 %
continue;
% draw = 1;
end
bufferedX = xuuAllUse(ySampled(i):ySampled(i+1),:);
bufferedY = yuuAllUse(ySampled(i):ySampled(i+1),:);
if useTable
pixRect_1 = [xOrig2Rect(ySampled(i):ySampled(i)+scale-1,:)' yOrig2Rect(ySampled(i):ySampled(i)+scale-1,:)'];
pixRect_1_tmp = zeros(size(pixRect_1,1)*scale,2);
pixRect_1_tmp(1:scale:end,:) = [pixRect_1(:,[1 1+scale])];
if scale == 2
pixRect_1_tmp(2:scale:end,:) = [pixRect_1(:,[2 2+scale])];
end
if 0
pixRect_1 = pixRect_1(:);
pixRect_1 = reshape(pixRect_1,[],2);
else
pixRect_1 = pixRect_1_tmp;
end
pixRect_111 = pixRect_1;
pixRect_1_ = Orig2Rect([xuuAllUse(ySampled(i),:); yuuAllUse(ySampled(i),:)]', Kinit, KK_new, R,k);
if 0
figure,imshow(zeros(nr,nc));hold on;plot(pixRect_1_(:,1),pixRect_1_(:,2),'or');plot(pixRect_1(:,1),pixRect_1(:,2),'.g');
end
else
if fishEyeModel == 0
pixRect_1 = Orig2Rect([xuuAllUse(ySampled(i),:); yuuAllUse(ySampled(i),:)]', Kinit, KK_new, R,k);
else
pixRect_1 = Orig2RectFishEye([xuuAllUse(ySampled(i),:); yuuAllUse(ySampled(i),:)]', Kinit, KK_new, R,k,oCamModel);
end
end
if 0
pixRect_1 = pixRect_1(scale:scale:end,:);
end
% pixRect_1(:,1) = round(pixRect_1(:,1));
% pixRect_1(:,1) = floor(pixRect_1(:,1));
pixRect_1(:,1) = ceil(pixRect_1(:,1));
pixRect_1(:,2) = ceil(pixRect_1(:,2));
[aa1,bb1,cc1] = unique(pixRect_1,'rows');
cc1 = sort(cc1,'ascend');
ccd1 = diff(cc1);
[indexCell1, ~] = splitIndex2(find(ccd1 == 1));
iccd1 = cell2mat(indexCell1')';
pixOrig_1 = [xuuAllUse(ySampled(i),:); yuuAllUse(ySampled(i),:)]';
%% pixOrig_1 = pixOrig_1(iccd1,:);
pixRect_1010 = pixRect_1;
%% pixRect_1 = pixRect_1(iccd1,:);
pixRect_1_00 = pixRect_1;
flag1 = pixRect_1(:,1) >=1 & pixRect_1(:,1)<=nc & pixRect_1(:,2) >=1 & pixRect_1(:,2) <= nr;
if scale == 2
% flag1 = pixRect_1(:,1) >=max(crop1(1),2) & pixRect_1(:,1)<=crop2(1) & pixRect_1(:,2) >=max(2,crop1(2)) & pixRect_1(:,2) <= crop2(2);
% flag1 = pixRect_1(:,1) >=max(crop1(1),2) & pixRect_1(:,1)<=crop2(1) & pixRect_1(:,2) >=max(2,crop1(2)) & pixRect_1(:,2) <= crop2(2);
flag1 = pixRect_1(:,1) >=max(crop1(1)+1) & pixRect_1(:,1)<=crop2(1) & pixRect_1(:,2) >=max(1+crop1(2)) & pixRect_1(:,2) <= crop2(2);
else
flag1 = pixRect_1(:,1) >=max(crop1(1),-2) & pixRect_1(:,1)<=crop2(1) & pixRect_1(:,2) >=max(-2,crop1(2)) & pixRect_1(:,2) <= crop2(2);
end
pixRect_1 = pixRect_1(flag1,:);
pixOrig_1 = pixOrig_1(flag1,:);
% idInScale = find(mod(pixRect_1(:,1),scale) == 0 & mod(pixRect_1(:,2),scale) == 0);
if ~isempty(pixRect_1)
if mod(pixRect_1(1,1),scale) ~= 0
% pixRect_1(1,1) = max(2,pixRect_1(1,1) -1);
%% pixRect_1(1,1) = max(2,pixRect_1(1,1) + 1);
% pixRect_1(1,1) = max(2,pixRect_1(1,1) - 1); % 20190625 for wei's convenience
pixRect_1(1,1) = pixRect_1(1,1) - 1;
end
if mod(pixRect_1(1,2),scale) ~= 0
% pixRect_1(1,1) = max(2,pixRect_1(1,1) -1);
% pixRect_1(1,2) = max(2,pixRect_1(1,2) - 1);
pixRect_1(1,2) = pixRect_1(1,2) - 1;
end
else
kjhbasv =1;
end
% if scale == 2
% flag11 = pixRect_1(:,1) >=max(crop1(1),2) & pixRect_1(:,1)<=crop2(1) & pixRect_1(:,2) >=max(2,crop1(2)) & pixRect_1(:,2) <= crop2(2);
% else
% flag11 = pixRect_1(:,1) >=max(crop1(1),-2) & pixRect_1(:,1)<=crop2(1) & pixRect_1(:,2) >=max(-2,crop1(2)) & pixRect_1(:,2) <= crop2(2);
% end
% pixRect_1 = pixRect_1(flag11,:);
% pixOrig_1 = pixOrig_1(flag11,:);
% imgR = image(:,:,1);
% imgG = image(:,:,2);
% imgB = image(:,:,3);
if ~isempty(pixRect_1)
startPixRect = pixRect_1(1,:);
if draw
figure(999),clf;imshow(zeros(nr,nc));hold on;plot(pixRect_1(:,1),pixRect_1(:,2),'.g');
end
pix = startPixRect;
pixFound = []; pixHoldup1 = [];pixHolddown1 = []; % pixWrite = [];
pixHoldup2 = [];pixHolddown2 = [];
FlagTmp = {};
% for j = startPixRect(1) : nc % 1 : nc % endPixRect(1)
for j = startPixRect(1) : scale: crop2(1)
if max(abs(diff(pixRect_1(:,2))))> 1
askb = 1;
end
if j == 120
dfoghl = 1;
end
pixTmp = [repmat(j,5,1) [pix(2)-2*scale pix(2)-1*scale pix(2) pix(2)+1*scale pix(2)+ 2*scale]'];
% if pixTmp(3,2) <= crop1(2) || pixTmp(3,2) >= crop2(2)+scale-1
if 0 % pixTmp(3,2) < crop1(2) || pixTmp(3,2) > crop2(2)
continue;
end
flagIn = (pixTmp(:,1)>0 & pixTmp(:,1)<=nc&pixTmp(:,2)>0 & pixTmp(:,2)<=nr);
if sum(flagIn) == 0
sgjk = 1;
end
index = sub2ind([nr,nc],pixTmp(flagIn,2),pixTmp(flagIn,1));
if useTable
pixTmp_addon = [repmat(j,7,1) [pix(2)-3 pix(2)-2 pix(2)-1 pix(2) pix(2)+1 pix(2)+ 2 pix(2)+3]'];
flagIn_addon = (pixTmp_addon(:,1)>0 & pixTmp_addon(:,1)<=nc & pixTmp_addon(:,2)>0 & pixTmp_addon(:,2)<=nr);
index_addon = sub2ind([nr,nc],pixTmp_addon(flagIn_addon,2),pixTmp_addon(flagIn_addon,1));
aaa = [xRect2Orig(index_addon) yRect2Orig(index_addon)];
Rect2OrigTmpIn = [xRect2Orig(index) yRect2Orig(index)];
Rect2OrigTmp = pixTmp;
Rect2OrigTmp(~flagIn,:) = repmat([-10 -10],sum(~flagIn),1);
if sum(~flagIn) > 1
asgjkf = 1;
end
Rect2OrigTmp(flagIn,:) = Rect2OrigTmpIn;
Rect2OrigTmp_ = remapRect(pixTmp', KK_new,Kinit,k,R);
else
if fishEyeModel == 0
Rect2OrigTmp = remapRect(pixTmp', KK_new,Kinit,k,R);
else
Rect2OrigTmp = remapRectFishEye(pixTmp', KK_new,Kinit,k,R,oCamModel);
if 1
% aaa = remapRectFishEye([pixTmp' [409;5]], KK_new,Kinit,k,R,oCamModel);
aaa = remapRectFishEye([[pixTmp(1,1);pixTmp(1,2)-1] pixTmp' [pixTmp(end,1);pixTmp(end,2)+1]], KK_new,Kinit,k,R,oCamModel);
end
if ismember([409 5], pixTmp,'rows')
asdkj = 1;
end
end
end
zeroFlag = zeros(5,1);
[Rect2OrigTmp__, ~] = Num2Fix_unsigned([Rect2OrigTmp]./scale, 20,9);
flagTmp = find(floor(Rect2OrigTmp__(:,1)) >= 1& floor(Rect2OrigTmp__(:,1)) <= nc/scale-1 & Rect2OrigTmp(:,2) >= ySampled(i) & Rect2OrigTmp(:,2) < ySampled(i+1) & Rect2OrigTmp(:,2) > 0 & Rect2OrigTmp(:,2) <= nr & pixTmp(:,2) > 0 & pixTmp(:,2) <= nr);
if nc > 3000 % && scale == 1
flagTmp = setdiff(flagTmp,[1;5]);
end
if ~isempty(flagTmp)
zeroFlag(flagTmp) = 1;
ZeroFlag = [ZeroFlag [zeroFlag;j]];
FlagTmp = [FlagTmp; flagTmp];
% assume there is no way 'length(flagTmp) == 3' could happen.
if ismember(2+1,flagTmp)
pixFound = [pixFound; pixTmp(2+1,:)];
end
if ismember(2+1,flagTmp) && ((~ismember(1+1,flagTmp) && ~isempty(pixHoldup1)) || (~ismember(0+1,flagTmp) && ~isempty(pixHoldup2)))
Pix1 = [Pix1; [pixHoldup2 repmat(size(pixHoldup2,1),size(pixHoldup2,1),1)]];
Pix2 = [Pix2; [pixHoldup1 repmat(size(pixHoldup1,1),size(pixHoldup1,1),1)]];
pixWrite = [pixWrite;pixHoldup1;pixHoldup2];
% StoreData = [StoreData; [mean(pixHoldup1,1) size(pixHoldup1,1)]];
StoreData = [StoreData; [[pixHoldup1;pixHoldup2] repmat(size([pixHoldup1;pixHoldup2],1),size([pixHoldup1;pixHoldup2],1),1)]];
if draw
pixHoldupAll = [pixHoldup1; pixHoldup2];
figure(333),plot(pixHoldupAll(:,1),pixHoldupAll(:,2),'.','Color',rand(1,3));
foundInd = sub2ind([nr/1,nc/1],pixHoldupAll(:,2)./1,pixHoldupAll(:,1)./1);
try
xyOrig = round([xRect2Orig(foundInd) yRect2Orig(foundInd)]);
idIn = xyOrig(:,1) > 0 & xyOrig(:,1) <= nc & xyOrig(:,2) > 0 & xyOrig(:,2) <= nr;
[xyOrig_, ~] = Num2Fix_unsigned([xRect2Orig(foundInd) yRect2Orig(foundInd)]./scale, 20,9);
xyOrig_int = floor(xyOrig_);
xyOrig_frac = xyOrig_ - xyOrig_int;
y_in = [ySampled(i);ySampled(i+1)];
% flag_in = xyOrig_int(:,1) >= scale & xyOrig_int(:,1) <= nc/scale-1 & xyOrig_int(:,2) >= scale & xyOrig_int(:,2) <= nr/scale-1;
flag_in = xyOrig_int(:,1) >= 1 & xyOrig_int(:,1) <= nc/scale-1 & xyOrig_int(:,2) >= 1 & xyOrig_int(:,2) <= nr/scale-1;
xyOrig_int_in = xyOrig_int(flag_in,:);
xyOrig_frac_in = xyOrig_frac(flag_in,:);
if useNearest
foundIndIn = foundInd(idIn);
origInd = sub2ind([nr,nc],xyOrig(idIn,2),xyOrig(idIn,1));
imgRect([foundIndIn;numPix + foundIndIn;2*numPix + foundIndIn]) = imgOrig([origInd;numPix + origInd;2*numPix + origInd]);
% figure(figNum),clf;imshow(imgRect);
else
foundIndIn = foundInd(flag_in);
[yyy,xxx] = ind2sub([nr,nc],foundIndIn);
foundIndIn = sub2ind([nr,nc]/scale, yyy/scale, xxx/scale);
imgRect = BilinearRemap(imgRect, imgR, imgG, imgB, image, xyOrig_int_in, xyOrig_frac_in,foundIndIn);
end
catch
dakvhb = 1;
end
end
pixHoldup1 = []; pixHoldup2 = [];
end
if ismember(1+1,flagTmp)|| ismember(0+1,flagTmp)
if ismember(1+1,flagTmp)
pixHoldup1 = [pixHoldup1; pixTmp(1+1,:)];
end
if ismember(0+1,flagTmp)
pixHoldup2 = [pixHoldup2; pixTmp(0+1,:)];
% aaa = remapRectFishEye([pixTmp' [pixTmp(end,1);pixTmp(end,2)+1]], KK_new,Kinit,k,R,oCamModel);
% aaa = remapRectFishEye([[pixTmp(1,1);pixTmp(1,2)-1] pixTmp' [pixTmp(end,1);pixTmp(end,2)+1]], KK_new,Kinit,k,R,oCamModel);
Ct{ct,1} = aaa;
Ct{ct,2} = pixTmp;
Ct{ct,3} = i;
ct = ct + 1;
end
% pixHoldup1 = [pixHoldup1; pixTmp(1+1,:)];
if ~ismember(2+1,flagTmp)
Pix3 = [Pix3; [pixFound repmat(size(pixFound,1),size(pixFound,1),1)]];
pixWrite = [pixWrite;pixFound];
% StoreData = [StoreData; [mean(pixFound,1) size(pixFound,1)]];
if ~isempty(pixFound)
% StoreData = [StoreData; [mean(pixFound,1) size(pixFound,1)]];
StoreData = [StoreData; [pixFound repmat(size(pixFound,1),size(pixFound,1),1)]];
if draw
figure(333),plot(pixFound(:,1),pixFound(:,2),'.','Color',rand(1,3));
% foundInd = sub2ind([nr,nc],pixFound(:,2),pixFound(:,1));
foundInd = sub2ind([nr/1,nc/1],pixFound(:,2)./1,pixFound(:,1)./1);
try
xyOrig = round([xRect2Orig(foundInd) yRect2Orig(foundInd)]);
xyOrig_ = [xRect2Orig(foundInd) yRect2Orig(foundInd)];
[xyOrig_, ~] = Num2Fix_unsigned([xRect2Orig(foundInd) yRect2Orig(foundInd)]./scale, 20,9);
xyOrig_int = floor(xyOrig_);
xyOrig_frac = xyOrig_ - xyOrig_int;
y_in = [ySampled(i);ySampled(i+1)];
% flag_in = xyOrig_int(:,1) >= scale & xyOrig_int(:,1) <= nc/scale-1 & xyOrig_int(:,2) >= scale & xyOrig_int(:,2) <= nr/scale-1;
flag_in = xyOrig_int(:,1) >= 1 & xyOrig_int(:,1) <= nc/scale-1 & xyOrig_int(:,2) >= 1 & xyOrig_int(:,2) <= nr/scale-1;
xyOrig_int_in = xyOrig_int(flag_in,:);
xyOrig_frac_in = xyOrig_frac(flag_in,:);
%
%
% PixNew3_Bilinear_floor1 = xyOrig_int_in;
% PixNew3_Bilinear_floor2 = [xyOrig_int_in(:,1)+1 xyOrig_int_in(:,2)];
% PixNew3_Bilinear_floor3 = [xyOrig_int_in(:,1) xyOrig_int_in(:,2)+1];
% PixNew3_Bilinear_floor4 = [xyOrig_int_in(:,1)+1 xyOrig_int_in(:,2)+1];
%
% indBilinear1 = sub2ind(size(image(:,:,1)),PixNew3_Bilinear_floor1(:,2),PixNew3_Bilinear_floor1(:,1));
% indBilinear2 = sub2ind(size(image(:,:,1)),PixNew3_Bilinear_floor2(:,2),PixNew3_Bilinear_floor2(:,1));
% indBilinear3 = sub2ind(size(image(:,:,1)),PixNew3_Bilinear_floor3(:,2),PixNew3_Bilinear_floor3(:,1));
% indBilinear4 = sub2ind(size(image(:,:,1)),PixNew3_Bilinear_floor4(:,2),PixNew3_Bilinear_floor4(:,1));
%
% coeff1 = (1 - xyOrig_frac_in(:,2)).*(1 - xyOrig_frac_in(:,1));
% coeff2 = (1 - xyOrig_frac_in(:,2)).*xyOrig_frac_in(:,1);
% coeff3 = xyOrig_frac_in(:,2).*(1 - xyOrig_frac_in(:,1));
% coeff4 = xyOrig_frac_in(:,2).*xyOrig_frac_in(:,1);
if ~((max(xyOrig_int_in(:,2)) == min(xyOrig_int_in(:,2))) && (min(xyOrig_int_in(:,2)) == y_in(1)))
ccccctttt = ccccctttt + 1;
end
idIn = xyOrig(:,1) > 0 & xyOrig(:,1) <= nc & xyOrig(:,2) > 0 & xyOrig(:,2) <= nr;
% % % idIn = flag_in;
if useNearest
foundIndIn = foundInd(idIn);
% foundIndIn = foundInd(flag_in);
origInd = sub2ind([nr,nc],xyOrig(idIn,2),xyOrig(idIn,1));
imgRect([foundIndIn;numPix + foundIndIn;2*numPix + foundIndIn]) = imgOrig([origInd;numPix + origInd;2*numPix + origInd]);
% % %
% %
% % imgRect(foundIndIn) = coeff1.*double(imgR(indBilinear1)) + coeff2.*double(imgR(indBilinear2)) + coeff3.*double(imgR(indBilinear3)) + coeff4.*double(imgR(indBilinear4));
% % imgRect(numPix + foundIndIn) = coeff1.*double(imgG(indBilinear1)) + coeff2.*double(imgG(indBilinear2)) + coeff3.*double(imgG(indBilinear3)) + coeff4.*double(imgG(indBilinear4));
% % imgRect(2*numPix + foundIndIn) = coeff1.*double(imgB(indBilinear1)) + coeff2.*double(imgB(indBilinear2)) + coeff3.*double(imgB(indBilinear3)) + coeff4.*double(imgB(indBilinear4));
else
foundIndIn = foundInd(flag_in);
[yyy,xxx] = ind2sub([nr,nc],foundIndIn);
foundIndIn = sub2ind([nr,nc]/scale, yyy/scale, xxx/scale);
imgRect = BilinearRemap(imgRect, imgR, imgG, imgB, image, xyOrig_int_in, xyOrig_frac_in,foundIndIn);
end
% figure(figNum),clf;imshow(imgRect);
catch
skav = 1;
end
end
else
svig = 1;
end
pixFound = pixHoldup1;
pixHoldup1 = pixHoldup2;
pixHoldup2 = [];
pix = pixTmp(1+1,:);
end
end
% if ismember(0+1,flagTmp)
% pixHoldup2 = [pixHoldup2; pixTmp(0+1,:)];
% if ~ismember(2+1,flagTmp)
% pixWrite = [pixWrite;pixFound];
% % StoreData = [StoreData; [mean(pixFound,1) size(pixFound,1)]];
%
% if ~isempty(pixFound)
% % StoreData = [StoreData; [mean(pixFound,1) size(pixFound,1)]];
% StoreData = [StoreData; [pixFound repmat(size(pixFound,1),size(pixFound,1),1)]];
%
% if draw
% figure(333),plot(pixFound(:,1),pixFound(:,2),'.','Color',rand(1,3));
%
% foundInd = sub2ind([nr,nc],pixFound(:,2),pixFound(:,1));
% xyOrig = round([xRect2Orig(foundInd) yRect2Orig(foundInd)]);
% idIn = xyOrig(:,1) > 0 & xyOrig(:,1) <= nc & xyOrig(:,2) > 0 & xyOrig(:,2) <= nr;
% foundIndIn = foundInd(idIn);
% origInd = sub2ind([nr,nc],xyOrig(idIn,2),xyOrig(idIn,1));
% imgRect([foundIndIn;numPix + foundIndIn;2*numPix + foundIndIn]) = imgOrig([origInd;numPix + origInd;2*numPix + origInd]);
% % figure(figNum),clf;imshow(imgRect);
% end
% else
% svig = 1;
% end
% pixFound = pixHoldup2;
% pixHoldup2 = [];
% pix = pixTmp(0+1,:);
%
% end
%
% end
if ismember(2+1,flagTmp) && ((~ismember(3+1,flagTmp) && ~isempty(pixHolddown1)) || (~ismember(4+1,flagTmp) && ~isempty(pixHolddown2)))
Pix4 = [Pix4; [pixHolddown1 repmat(size(pixHolddown1,1),size(pixHolddown1,1),1)]];
Pix5 = [Pix5; [pixHolddown2 repmat(size(pixHolddown2,1),size(pixHolddown2,1),1)]];
pixWrite = [pixWrite;pixHolddown1;pixHolddown2];
StoreData = [StoreData; [[pixHolddown1;pixHolddown2] repmat(size([pixHolddown1;pixHolddown2],1),size([pixHolddown1;pixHolddown2],1),1)]];
if draw
pixHolddownAll = [pixHolddown1;pixHolddown2];
figure(333),plot(pixHolddownAll(:,1),pixHolddownAll(:,2),'.','Color',rand(1,3));
% foundInd = sub2ind([nr,nc],pixHolddownAll(:,2),pixHolddownAll(:,1));
foundInd = sub2ind([nr/1,nc/1],pixHolddownAll(:,2)./1,pixHolddownAll(:,1)./1);
try
xyOrig = round([xRect2Orig(foundInd) yRect2Orig(foundInd)]);
idIn = xyOrig(:,1) > 0 & xyOrig(:,1) <= nc & xyOrig(:,2) > 0 & xyOrig(:,2) <= nr;
xyOrig_ = [xRect2Orig(foundInd) yRect2Orig(foundInd)];
[xyOrig_, ~] = Num2Fix_unsigned([xRect2Orig(foundInd) yRect2Orig(foundInd)]./scale, 20,9);
xyOrig_int = floor(xyOrig_);
xyOrig_frac = xyOrig_ - xyOrig_int;
y_in = [ySampled(i);ySampled(i+1)];
flag_in = xyOrig_int(:,1) >= 1 & xyOrig_int(:,1) <= nc/scale-1 & xyOrig_int(:,2) >= 1 & xyOrig_int(:,2) <= nr/scale-1;
xyOrig_int_in = xyOrig_int(flag_in,:);
xyOrig_frac_in = xyOrig_frac(flag_in,:);
if useNearest
foundIndIn = foundInd(idIn);
origInd = sub2ind([nr,nc],xyOrig(idIn,2),xyOrig(idIn,1));
imgRect([foundIndIn;numPix + foundIndIn;2*numPix + foundIndIn]) = imgOrig([origInd;numPix + origInd;2*numPix + origInd]);
% figure(figNum),clf;imshow(imgRect);
else
foundIndIn = foundInd(flag_in);
[yyy,xxx] = ind2sub([nr,nc],foundIndIn);
foundIndIn = sub2ind([nr,nc]/scale, yyy/scale, xxx/scale);
imgRect = BilinearRemap(imgRect, imgR, imgG, imgB, image, xyOrig_int_in, xyOrig_frac_in,foundIndIn);
end
catch
sakvhj = 1;
end
end
pixHolddown1 = [];
pixHolddown2 = [];
end
if ismember(3+1,flagTmp) || ismember(4+1,flagTmp)
if ismember(3+1,flagTmp)
pixHolddown1 = [pixHolddown1; pixTmp(3+1,:)];
end
if ismember(4+1,flagTmp)
pixHolddown2 = [pixHolddown2; pixTmp(4+1,:)];
% aaa = remapRectFishEye([[pixTmp(1,1);pixTmp(1,2)-1] pixTmp' [pixTmp(end,1);pixTmp(end,2)+1]], KK_new,Kinit,k,R,oCamModel);
Ct{ct,1} = aaa;
Ct{ct,2} = pixTmp;
Ct{ct,3} = i;
ct = ct + 1;
end
if ~ismember(2+1,flagTmp)
Pix3 = [Pix3; [pixFound repmat(size(pixFound,1),size(pixFound,1),1)]];
pixWrite = [pixWrite;pixFound];
% try
% StoreData = [StoreData; [mean(pixFound,1) size(pixFound,1)]];
% catch
% dsgkh = 1;
% end
if ~isempty(pixFound)
StoreData = [StoreData; [pixFound repmat(size(pixFound,1),size(pixFound,1),1)]];
if draw
figure(333),plot(pixFound(:,1),pixFound(:,2),'.','Color',rand(1,3));
% foundInd = sub2ind([nr,nc],pixFound(:,2),pixFound(:,1));
foundInd = sub2ind([nr/1,nc/1],pixFound(:,2)./1,pixFound(:,1)./1);
try
xyOrig = round([xRect2Orig(foundInd) yRect2Orig(foundInd)]);
idIn = xyOrig(:,1) > 0 & xyOrig(:,1) <= nc & xyOrig(:,2) > 0 & xyOrig(:,2) <= nr;
xyOrig_ = [xRect2Orig(foundInd) yRect2Orig(foundInd)];
[xyOrig_, ~] = Num2Fix_unsigned([xRect2Orig(foundInd) yRect2Orig(foundInd)]./scale, 20,9);
xyOrig_int = floor(xyOrig_);
xyOrig_frac = xyOrig_ - xyOrig_int;
y_in = [ySampled(i);ySampled(i+1)];
% flag_in = xyOrig_int(:,1) >= scale & xyOrig_int(:,1) <= nc/scale-1 & xyOrig_int(:,2) >= scale & xyOrig_int(:,2) <= nr/scale-1;
flag_in = xyOrig_int(:,1) >= 1 & xyOrig_int(:,1) <= nc/scale-1 & xyOrig_int(:,2) >= 1 & xyOrig_int(:,2) <= nr/scale-1;
xyOrig_int_in = xyOrig_int(flag_in,:);
xyOrig_frac_in = xyOrig_frac(flag_in,:);
if useNearest
foundIndIn = foundInd(idIn);
origInd = sub2ind([nr,nc],xyOrig(idIn,2),xyOrig(idIn,1));
imgRect([foundIndIn;numPix + foundIndIn;2*numPix + foundIndIn]) = imgOrig([origInd;numPix + origInd;2*numPix + origInd]);
% figure(figNum),clf;imshow(imgRect);
else
foundIndIn = foundInd(flag_in);
[yyy,xxx] = ind2sub([nr,nc],foundIndIn);
foundIndIn = sub2ind([nr,nc]/scale, yyy/scale, xxx/scale);
imgRect = BilinearRemap(imgRect, imgR, imgG, imgB, image, xyOrig_int_in, xyOrig_frac_in,foundIndIn);
end
catch
eqghk = 1;
end
end
else
savihu = 1;
end
pixFound = pixHolddown1;
pixHolddown1 = pixHolddown2;
pixHolddown2 = [];
pix = pixTmp(3+1,:);
end
end
else
sigfg = 1;
end
end
asdjkbh = 1;
try
pixLeft = [pixHoldup;pixHolddown];
catch
pixLeft = [pixHoldup1;pixHoldup2;pixHolddown1;pixHolddown2];
end
Pix1 = [Pix1; [pixHoldup2 repmat(size(pixHoldup2,1),size(pixHoldup2,1),1)]];
Pix2 = [Pix2; [pixHoldup1 repmat(size(pixHoldup1,1),size(pixHoldup1,1),1)]];
Pix3 = [Pix3; [pixFound repmat(size(pixFound,1),size(pixFound,1),1)]];
Pix4 = [Pix4; [pixHolddown1 repmat(size(pixHolddown1,1),size(pixHolddown1,1),1)]];
Pix5 = [Pix5; [pixHolddown2 repmat(size(pixHolddown2,1),size(pixHolddown2,1),1)]];
pixWrite = [pixWrite;pixFound;pixLeft];
try
StoreData = [StoreData; [[pixFound;pixLeft] repmat(size([pixFound;pixLeft],1),size([pixFound;pixLeft],1),1)]];
catch
asgkdfghdfghu = asgkdfghdfghu + 1;
end
if ~isempty(pixFound)
if draw
figure(333),plot(pixFound(:,1),pixFound(:,2),'.','Color',rand(1,3));
% foundInd = sub2ind([nr,nc],pixFound(:,2),pixFound(:,1));
foundInd = sub2ind([nr/1,nc/1],pixFound(:,2)./1,pixFound(:,1)./1);
try
xyOrig = round([xRect2Orig(foundInd) yRect2Orig(foundInd)]);
idIn = xyOrig(:,1) > 0 & xyOrig(:,1) <= nc & xyOrig(:,2) > 0 & xyOrig(:,2) <= nr;
xyOrig_ = [xRect2Orig(foundInd) yRect2Orig(foundInd)];
[xyOrig_, ~] = Num2Fix_unsigned([xRect2Orig(foundInd) yRect2Orig(foundInd)]./scale, 20,9);
xyOrig_int = floor(xyOrig_);
xyOrig_frac = xyOrig_ - xyOrig_int;
y_in = [ySampled(i);ySampled(i+1)];
% flag_in = xyOrig_int(:,1) >= scale & xyOrig_int(:,1) <= nc/scale-1 & xyOrig_int(:,2) >= scale & xyOrig_int(:,2) <= nr/scale-1;
flag_in = xyOrig_int(:,1) >= 1 & xyOrig_int(:,1) <= nc/scale-1 & xyOrig_int(:,2) >= 1 & xyOrig_int(:,2) <= nr/scale-1;
xyOrig_int_in = xyOrig_int(flag_in,:);
xyOrig_frac_in = xyOrig_frac(flag_in,:);
if useNearest
foundIndIn = foundInd(idIn);
origInd = sub2ind([nr,nc],xyOrig(idIn,2),xyOrig(idIn,1));
imgRect([foundIndIn;numPix + foundIndIn;2*numPix + foundIndIn]) = imgOrig([origInd;numPix + origInd;2*numPix + origInd]);
else
foundIndIn = foundInd(flag_in);
[yyy,xxx] = ind2sub([nr,nc],foundIndIn);
foundIndIn = sub2ind([nr,nc]/scale, yyy/scale, xxx/scale);
imgRect = BilinearRemap(imgRect, imgR, imgG, imgB, image, xyOrig_int_in, xyOrig_frac_in,foundIndIn);
end
figure(figNum);clf;imshow(imgRect);
catch
advfl = 1;
end
drawnow;
end
end
% if ~isempty(pixHoldup1) || ~isempty(pixHolddown1)
if ~isempty(pixLeft)
if draw
figure(333),plot(pixLeft(:,1),pixLeft(:,2),'.','Color',rand(1,3));
% foundInd = sub2ind([nr,nc],pixLeft(:,2),pixLeft(:,1));
foundInd = sub2ind([nr/1,nc/1],pixLeft(:,2)./1,pixLeft(:,1)./1);
try
xyOrig = round([xRect2Orig(foundInd) yRect2Orig(foundInd)]);
idIn = xyOrig(:,1) > 0 & xyOrig(:,1) <= nc & xyOrig(:,2) > 0 & xyOrig(:,2) <= nr;
xyOrig_ = [xRect2Orig(foundInd) yRect2Orig(foundInd)];
[xyOrig_, ~] = Num2Fix_unsigned([xRect2Orig(foundInd) yRect2Orig(foundInd)]./scale, 20,9);
xyOrig_int = floor(xyOrig_);
xyOrig_frac = xyOrig_ - xyOrig_int;
y_in = [ySampled(i);ySampled(i+1)];
% flag_in = xyOrig_int(:,1) >= scale & xyOrig_int(:,1) <= nc/scale-1 & xyOrig_int(:,2) >= scale & xyOrig_int(:,2) <= nr/scale-1;
flag_in = xyOrig_int(:,1) >= 1 & xyOrig_int(:,1) <= nc/scale-1 & xyOrig_int(:,2) >= 1 & xyOrig_int(:,2) <= nr/scale-1;
xyOrig_int_in = xyOrig_int(flag_in,:);
xyOrig_frac_in = xyOrig_frac(flag_in,:);
if useNearest
foundIndIn = foundInd(idIn);
origInd = sub2ind([nr,nc],xyOrig(idIn,2),xyOrig(idIn,1));
imgRect([foundIndIn;numPix + foundIndIn;2*numPix + foundIndIn]) = imgOrig([origInd;numPix + origInd;2*numPix + origInd]);
else
foundIndIn = foundInd(flag_in);
[yyy,xxx] = ind2sub([nr,nc],foundIndIn);
foundIndIn = sub2ind([nr,nc]/scale, yyy/scale, xxx/scale);
imgRect = BilinearRemap(imgRect, imgR, imgG, imgB, image, xyOrig_int_in, xyOrig_frac_in,foundIndIn);
end
figure(figNum);clf;imshow(imgRect);
catch
dghkl = 1;
end
drawnow;
end
end
end
if mod(i,200) == 0
i
% save('homo2.mat','StoreData','pixWrite');
if scale == 1
save(fullfile(paraDir,'homo2.mat'),'StoreData','pixWrite','ZeroFlag','Pix1','Pix2','Pix3','Pix4','Pix5');
else
save(fullfile(paraDir,'homo3.mat'),'StoreData','pixWrite','ZeroFlag','Pix1','Pix2','Pix3','Pix4','Pix5');
end
bvhjjkh = 1;
end
% continue;
end
pixAll_1 = [xuuAllUse(:) yuuAllUse(:)];
flagAll_1 = find(pixAll_1(:,1) >=crop1(1) & pixAll_1(:,1)<=crop2(1) & pixAll_1(:,2) >=crop1(2) & pixAll_1(:,2) <= crop2(2));
return;
if 1
ovlp = size(pixWrite,1)-size(intersect(pixWrite,pixWrite,'rows'),1);
img = zeros(nr,nc);
ind_ = sub2ind([nr nc],pixWrite(:,2),pixWrite(:,1));
indind = find(pixWrite(:,1) >=crop1(1) & pixWrite(:,1)<=crop2(1) & pixWrite(:,2) >=crop1(2) & pixWrite(:,2) <= crop2(2));
ind = ind_(indind);
img(ind) = 1;
figure,imshow(img);
foundInd = ind;
xyOrig_ = [xRect2Orig(foundInd) yRect2Orig(foundInd)];
[xyOrig_, ~] = Num2Fix_unsigned([xRect2Orig(foundInd) yRect2Orig(foundInd)]./scale, 20,9);
xyOrig_int = floor(xyOrig_);
xyOrig_frac = xyOrig_ - xyOrig_int;
flag_in = xyOrig_int(:,1) >= 1 & xyOrig_int(:,1) <= nc/scale-1 & xyOrig_int(:,2) >= 1 & xyOrig_int(:,2) <= nr/scale-1;
sum(flag_in)
figure,plot(xyOrig_int(:,1))
figure,plot(xyOrig_int(:,2))
sum(flag_in)
xyOrig_int_in = xyOrig_int;
xyOrig_frac_in = xyOrig_frac(flag_in,:);
xyOrig_frac_in = xyOrig_frac;
foundIndIn = foundInd;
% imgRect = BilinearRemap(imgRect, imgR, imgG, imgB, image, xyOrig_int_in, xyOrig_frac_in,foundIndIn);
% figure,plot(PixNew3_Bilinear_floor1)
% max(PixNew3_Bilinear_floor1)
flag_in = xyOrig_int(:,1) >= 1 & xyOrig_int(:,1) <= nc/scale-1 & xyOrig_int(:,2) >= 1 & xyOrig_int(:,2) <= nr/scale-1;
xyOrig_int_in = xyOrig_int(flag_in,:);
xyOrig_frac_in = xyOrig_frac(flag_in,:);
foundIndIn = foundInd(flag_in);
[yyy,xxx] = ind2sub([nr,nc],foundIndIn);
foundIndIn = sub2ind([nr,nc]/scale, yyy/scale, xxx/scale);
imgRect = BilinearRemap(imgRect, imgR, imgG, imgB, image, xyOrig_int_in, xyOrig_frac_in,foundIndIn);
figure,imshow(imgRect)
imgL2 = imgRect;
if 0
if crop1(2)-1 ~=1
imgL2(1:crop1(2)-1,:,1:3) = 0;
end
if crop2(2)+1 ~= nr
imgL2(crop2(2)+1:end,:,1:3) = 0;
end
if crop2(1)+1 ~=nc
imgL2(:,crop2(1)+1:end,1:3) = 0;
end
end
% % imgL2 = RectImg(xOrig2RectL, yOrig2RectL, xRect2OrigL, yRect2OrigL, imgLeft,KK_newL, KinitL,kL,rotMatLeft,imgLeft,paraDir,'Left');
end
ovlp = size(pixWrite,1)-size(intersect(pixWrite,pixWrite,'rows'),1);
img = zeros(nr,nc);
ind = sub2ind([nr nc],pixWrite(:,2),pixWrite(:,1));
img(ind) = 1;
figure,imshow(img);
indShow = intersect(flagAll_1, ind);
[yyy1,xxx1] = ind2sub([nr,nc],indShow);
foundIndIn1 = sub2ind([nr,nc]/scale, yyy1/scale, xxx1/scale);
foundIndOut1 = setdiff([1 : nc*nr/scale/scale]',foundIndIn1);
imgRect([foundIndOut1; foundIndOut1 + nc*nr/scale/scale; foundIndOut1 + 2*nc*nr/scale/scale]) = 0;
data = nan(nr,nc);
ind2 = sub2ind([nr nc],round(StoreData(:,2)),round(StoreData(:,1)));
data(ind2) = StoreData(:,3);
figure,imshow(data,[]);
figure,imshow(immultiply(data,data<10),[]);
figure,hist(StoreData(:,3),1000);
id1 = find(abs(diff(StoreData(:,2))) > 0); id1 = [id1; size(StoreData,1)];
id3 = find(abs(diff(StoreData(:,1))) ~= 1);id3 = [id3; size(StoreData,1)];
id = unique([id1;id3]);
id = unique([id;size(StoreData,1)]); did = diff(id); did = [id(1);did];
check = [did (ceil(did/16)*16)];
busEfficiency = size(StoreData,1)/sum((ceil(did/16)*16));
checkSum = sum(did) - size(pixWrite,1);
figure,hist(check(:,1),10000)
figure,hist(check(:,1)./check(:,2),10000)
busEfficiency2 = sum(check(:,1))/sum(check(:,2));
if scale == 1
save(fullfile(paraDir,'homo2.mat'),'StoreData','pixWrite','ZeroFlag','Pix1','Pix2','Pix3','Pix4','Pix5');
else
save(fullfile(paraDir,'homo3.mat'),'StoreData','pixWrite','ZeroFlag','Pix1','Pix2','Pix3','Pix4','Pix5');
end
if 0
nr = 1080*2; nc = 1920*2;
idd = find(StoreData(:,1) <= 2);
figure,imshow(zeros(nr,nc));hold on;
for i = idd(1) : 10000000;
plot(StoreData(i,1),StoreData(i,2),'.g');
drawnow;
end
end
end
function pixNew = plotUndistortion(nc, nr, Kinit, kk_new,kc,R,skipNum)
% [mx,my] = meshgrid(1:nc/skipNum:(nc-0),1:nr/skipNum:(nr-0));
[mx,my] = meshgrid(0:nc/skipNum:(nc-0),0:nr/skipNum:(nr-0));
[nnx,nny]=size(mx);
px=reshape(mx',nnx*nny,1);
py=reshape(my',nnx*nny,1);
% % kk_new=[fc(1) alpha_c*fc(1) cc(1);0 fc(2) cc(2);0 0 1];
rays=inv(kk_new)*[px';py';ones(1,length(px))];
rays = R'*rays;
x=[rays(1,:)./rays(3,:);rays(2,:)./rays(3,:)];
title2=strcat('Complete Distortion Model');
% % fh1 = 2;
%if ishandle(fh1),
% close(fh1);
%end;
% % % % % % figure; clf;
xd=apply_distortion(x,kc);
px2=Kinit(1,1)*xd(1,:)+Kinit(1,3);
py2=Kinit(2,2)*xd(2,:)+Kinit(2,3);
idIn = find(px2>=0 & px2<=nc & py2 >=0 & py2 <= nr);
idIn = [1:size(px2,2)]';
pixNew = [px2 py2];
dx=px2(idIn)'-px(idIn);
dy=py2(idIn)'-py(idIn);
% Q=quiver(px+1,py+1,dx,dy);
Q=quiver(px(idIn)+0,py(idIn)+0,dx,dy);
hold on;
% % plot(px(idIn),py(idIn),'.r');
plot(Kinit(1,3),Kinit(2,3),'o');
plot((nc-1)/2+1,(nr-1)/2+1,'x');
dr=reshape(sqrt((dx.*dx)+(dy.*dy)),nny,nnx)';
[C,h]=contour(mx,my,dr,'k');
clabel(C,h);
Mean=mean(mean(dr));
Max=max(max(dr));
title(title2);
axis equal;
end
function pixDist = remapRect(pixRect, KRect, KUndist,distCoeff, RL)
alpha = 0;
rays = inv(KRect)*pextend(pixRect);
% Rotation: (or affine transformation):
rays2 = RL'*rays;
x = [rays2(1,:)./rays2(3,:);rays2(2,:)./rays2(3,:)];
% Add distortion:
xd = apply_distortion(x,distCoeff);
% Reconvert in pixels:
px2_ = KUndist(1,1)*(xd(1,:) + alpha*xd(2,:)) + KUndist(1,3);
py2_ = KUndist(2,2)*xd(2,:) + KUndist(2,3);
pixDist = [px2_;py2_]';
end
function [v, indexx] = splineval(xPointTmp, params, xx)
coeff = params(:,4:-1:1);
% % [Y, xx] = spline_(xPointTmp', params);
[~,index] = histc(xx',[-inf,xPointTmp(2:end-1),inf]);
xxNew = xx-xPointTmp(index)';
v = coeff(index,1);
indexx = unique(index);
for ii=2:4
v = xxNew(:).*v + coeff(index,ii);
end
v = reshape(v,[1,length(xx)])';
end
function g1 = bicubic(f,kx,ky)
aa = [ky,0,0;0,kx,0;0.5*(1-ky),0.5*(1-kx),1];
ff = f;
[m,n]=size(f);
a=f(1,:);
c=f(m,:); %将待插值图像矩阵前后各扩展两行两列,共扩展四行四列，当插值点为边沿点时候，确保周围有16个点
b=[f(1,1),f(1,1),f(:,1)',f(m,1),f(m,1)];
d=[f(1,n),f(1,n),f(:,n)',f(m,n),f(m,n)];
a1=[a;a;f;c;c];
b1=[b;b;a1';d;d];
f=b1';
f1=double(f);
AMat = [];
BMat = [];
for i=1:ky*m %利用双三次插值公式对新图象所有像素赋值