List <KeyValuePair <Vector3, bool> > project_loop(string imageFrame)
{
List <Matrix <float> > cameraCalibrations = CameraCalibrations.GetCamerasProjMatrix();
List <KeyValuePair <Vector3, bool> > voxels = InitializeVoxelDictionary();
for (int i = 0; i < voxels.Count; i++)
{
//if (voxels[i].Value)
//{
for (int j = 0; j < cameraCalibrations.Count; j++)
{
int cam = j + 1;
string imagePath = "silhouettes/Silhouette" + cam + "_" + imageFrame;
Texture2D currentImage = Resources.Load(imagePath) as Texture2D;
float[,] xyzCoords = new float[, ] {
{ voxels[i].Key.x }, { voxels[i].Key.y }, { voxels[i].Key.z }, { 1 }
};
Matrix <float> matrixCoords = Matrix <float> .Build.DenseOfArray(xyzCoords);
matrixCoords.Transpose();
Matrix <float> X = cameraCalibrations[j] * matrixCoords;
float uCoord = currentImage.width - X[0, 0] / X[2, 0];
float vCoord = currentImage.height - X[1, 0] / X[2, 0];
if (currentImage.GetPixel(Mathf.RoundToInt(uCoord), Mathf.RoundToInt(vCoord)).Equals(Color.black))
{
voxels[i] = new KeyValuePair <Vector3, bool>(voxels[i].Key, false);
}
else
{
voxels[i] = new KeyValuePair <Vector3, bool>(voxels[i].Key, true);
}
}
// }
}
return(voxels);
}
void PlotUVProjectionOnImage(string imagePath, int cameraProjectionMatrix)
{
Texture2D currentImage = Resources.Load(imagePath) as Texture2D;
Matrix <float> P = CameraCalibrations.GetProjMatrix(cameraProjectionMatrix);
List <float> u = new List <float>();
List <float> v = new List <float>();
List <Vector2> uvCoords = new List <Vector2>();
for (float x = -5f; x <= 5f; x += 0.2f)
{
for (float y = -5f; y <= 5f; y += 0.2f)
{
for (float z = -5f; z <= 5f; z += 0.2f)
{
float[,] xyzCoords = new float[, ] {
{ x }, { y }, { z }, { 1 }
};
Matrix <float> matrixCoords = Matrix <float> .Build.DenseOfArray(xyzCoords);
matrixCoords.Transpose();
Matrix <float> X = P * matrixCoords;
Vector2 uv = new Vector2((X[0, 0] / X[2, 0]), (X[1, 0] / X[2, 0]));
if (!currentImage.GetPixel(Mathf.RoundToInt(uv.x), Mathf.RoundToInt(uv.y)).Equals(Color.black))
{
uvCoords.Add(uv);
}
}
}
}
PlotPoints(uvCoords, currentImage);
//PlotPoints(uvCoords);
CreateTargetImage("img1", currentImage, new Vector3(0, 0, 0), new Vector3(1, 1, 1));
}