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ImageClass.m
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ImageClass.m
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classdef ImageClass
properties
location
direction
imageData
camera
ImageID
end
methods
function obj = ImageClass(loc, dir, cam)
if nargin > 0
% location = meters
% direction = degrees when entering, stored and mathed with rads
% cam can be Camera()
obj.location = loc;
obj.direction = dir*pi/180;
obj.camera = cam;
% Something should be done here to ensure uniqueness
obj.ImageID = obj.GenerateRandomImageName(6);
% This also needs to relate to the planar models. Probably
% appropriate to create its own function, though.
obj.imageData = [];
end
end
function displayImageInObjectSpace(obj,varparam)
if varparam ~= 1
figure;
end
hold on
loc = obj.location;
M =0.05* rotz(obj.direction(3))*roty(obj.direction(2))*rotx(obj.direction(1));
quiver3(loc(1),loc(2),loc(3),M(1,1),M(1,2),M(1,3),0,'r')
quiver3(loc(1),loc(2),loc(3),M(2,1),M(2,2),M(2,3),0,'g')
quiver3(loc(1),loc(2),loc(3),M(3,1),M(3,2),M(3,3),0,'b')
axis equal
LOC = repmat(loc,4,1);
width = obj.camera.sensorSize/2;
CORNERS = (1/24)*[width(1),width(2),-obj.camera.principleDistance;
-width(1),width(2),-obj.camera.principleDistance;
-width(1),-width(2),-obj.camera.principleDistance;
width(1),-width(2),-obj.camera.principleDistance;]*M;
quiver3(LOC(:,1),LOC(:,2),LOC(:,3),CORNERS(:,1),CORNERS(:,2),CORNERS(:,3),0,'k')
plot3(loc(1),loc(2),loc(3),'.k')
end
function FinalImageObs = observePoints(obj, points)
if ~isa(points,'Point')
temp = Point(size(points,1));
for i = 1:size(points,1)
temp(i) = points(i,:);
end
points = temp;
end
c = obj.camera.principleDistance;
M = rotz(obj.direction(3))*roty(obj.direction(2))*rotx(obj.direction(1));
X_0 = obj.location(1);
Y_0 = obj.location(2);
Z_0 = obj.location(3);
imageObs = ImagePoint();
flag = 1;
for i = 1:length(points)
X = points(i).xyz(1);
Y = points(i).xyz(2);
Z = points(i).xyz(3);
localVec = M*[X-X_0;Y-Y_0;Z-Z_0];
img_x = round((-c*localVec(1)/localVec(3))/obj.camera.pixelSize)*obj.camera.pixelSize;
img_y = round((-c*localVec(2)/localVec(3))/obj.camera.pixelSize)*obj.camera.pixelSize;
if abs(img_x) < obj.camera.sensorSize(1)/2 & abs(img_y) < obj.camera.sensorSize(2)/2 & localVec(3)<0
if flag == 1
flag = 0;
imageObs = ImagePoint(points(i),[img_x,img_y]);
points(i).numObs = points(i).numObs + 1;
points(i).imgNames = [points(i).imgNames; obj.ImageID];
else
imageObs(end+1) = ImagePoint(points(i),[img_x,img_y]);
points(i).numObs = points(i).numObs + 1;
points(i).imgNames = [points(i).imgNames; obj.ImageID];
end
end
end
FinalImageObs = obj.deleteNonUniqueImageCoords(imageObs, points);
end
function FinalImagePoints = deleteNonUniqueImageCoords(obj, imageObs, points)
% This name is outdated, it delets Non Unique image Coordinates
% but it also reduces the number of observations to each point
% to only two images.
% declare point observation array and range to point arrays
pnts = zeros(size(imageObs,2),2);
rangeToPnt = zeros(length(imageObs),1);
% localize EOPs
M = rotz(obj.direction(3))*roty(obj.direction(2))*rotx(obj.direction(1));
X_0 = obj.location(1);
Y_0 = obj.location(2);
Z_0 = obj.location(3);
% check if image obs is empty
if ~isempty(imageObs(1).point)
for i = 1:length(imageObs)
% localize point locations
X = imageObs(i).point.xyz(1);
Y = imageObs(i).point.xyz(2);
Z = imageObs(i).point.xyz(3);
localVec = M*[X-X_0;Y-Y_0;Z-Z_0];
% calculate range to point in local system
rangeToPnt(i) = abs(localVec(3));
end
% load image obs into local points array
for i = 1:size(imageObs,2)
pnts(i,:) = imageObs(i).coords;
end
% round image obs to pixel coords (i.e. whole numbers)
roundedPnts = round(pnts/obj.camera.pixelSize);
% add index number to vector
rPntsIndex = [roundedPnts, (1:size(roundedPnts,1))'];
% sorting image obs to find matches
testPoints = sortrows(rPntsIndex);
indexes = [];
% loading indexes of points that match their previous row
% into vector of indexes
for i = 2:length(roundedPnts)
if (testPoints(i-1,1) == testPoints(i,1))&(testPoints(i-1,2) == testPoints(i,2))
indexes = [indexes;testPoints(i-1,3),testPoints(i,3)];
end
end
% Determining which of the matching points should be
% deleted. If the points come from the same plane, then
% the point with the id that comes first alphatetically
% should be used (to maximize redundancy). Otherwise, the
% point that is located closer to the camera should be
% used.
indexesToSkip = [];
for i = 1:size(indexes,1)
if strcmp(imageObs(indexes(i,1)).point.planeName, imageObs(indexes(i,2)).point.planeName) & ~isempty(imageObs(indexes(i,1)).point.planeName)
% Take the index with the name that comes first,
% alphabetically
multi = (2^length(imageObs(indexes(i,1)).point.planeName))./(2.^[1:length(imageObs(indexes(i,1)).point.planeName)]);
vals1 = (imageObs(indexes(i,1)).point.planeName > imageObs(indexes(i,2)).point.planeName).*multi;
vals2 = (imageObs(indexes(i,1)).point.planeName < imageObs(indexes(i,2)).point.planeName).*multi;
sum1 = sum(vals1);
sum2 = sum(vals2);
if sum1 > sum2
indexesToSkip = [indexesToSkip,indexes(i,2)];
% check all points in the points array. The one
% which has a matching name to the point in the
% imageObs class has its observation number
% reduced by one.
for j = 1:length(points)
if strcmp(points(j).pointName, imageObs(indexes(i,2)).point.pointName)
for k = 1:size(points(j).imgNames,1)
if strcmp(points(j).imgNames(k,:), obj.ImageID)
points(j).imgNames(k,:) = [];
points(j).numObs = points(j).numObs - 1;
break;
end
end
end
end
else
indexesToSkip = [indexesToSkip,indexes(i,1)];
for j = 1:length(points)
if strcmp(points(j).pointName, imageObs(indexes(i,1)).point.pointName)
for k = 1:size(points(j).imgNames,1)
if strcmp(points(j).imgNames(k,:), obj.ImageID)
points(j).imgNames(k,:) = [];
points(j).numObs = points(j).numObs - 1;
break;
end
end
end
end
end
else
% Take the index with the lower range to the camera
if rangeToPnt(indexes(i,1)) > rangeToPnt(indexes(i,2))
indexesToSkip = [indexesToSkip,indexes(i,1)];
for j = 1:length(points)
if strcmp(points(j).pointName, imageObs(indexes(i,1)).point.pointName)
for k = 1:size(points(j).imgNames,1)
if strcmp(points(j).imgNames(k,:), obj.ImageID)
points(j).imgNames(k,:) = [];
points(j).numObs = points(j).numObs - 1;
break;
end
end
end
end
else
indexesToSkip = [indexesToSkip,indexes(i,2)];
for j = 1:length(points)
if strcmp(points(j).pointName, imageObs(indexes(i,2)).point.pointName)
for k = 1:size(points(j).imgNames,1)
if strcmp(points(j).imgNames(k,:), obj.ImageID)
points(j).imgNames(k,:) = [];
points(j).numObs = points(j).numObs - 1;
break;
end
end
end
end
end
end
end
else
indexesToSkip = [];
end
flag = 1;
if isempty(indexesToSkip)
FinalImagePoints = imageObs;
else
FinalImagePoints = ImagePoint();
for i = 1:length(imageObs)
copy = 1;
for j = 1:length(indexesToSkip)
if i == indexesToSkip(j)
copy = 0;
end
end
if copy == 1
if flag == 1
FinalImagePoints = imageObs(i);
flag = 0;
else
FinalImagePoints(end+1) = imageObs(i);
end
end
end
end
for i = 1:length(points)
if points(i).numObs ~= size(points(i).imgNames,1)
error(['Point number ', num2str(i),' has mismatched observation number, ImageIDs. ImageID: ',obj.ImageID]);
end
end
end
end
methods (Static)
function name = GenerateRandomImageName(lengthOfName)
setOfValidChars = char(['a':'z','0':'9']);
num = length(setOfValidChars );
randIndexs = ceil( num*rand(1,lengthOfName) );
name = char(zeros(size(1,lengthOfName)));
for i = 1:lengthOfName
name(i) = setOfValidChars(randIndexs(i));
end
name = ['I',name];
end
end
end