From 248899c4b84949a51f0df8193748cd2cbf775f46 Mon Sep 17 00:00:00 2001
From: Pavol Debnar <debnarpavol@gmail.com>
Date: Wed, 15 Feb 2023 14:47:01 +0100
Subject: [PATCH] creation of cumulative dump function; edited test

cumdump() -  puts all images into a single one with no stiching yet

test.cpp - use of cumdump(), added img locations for quicker use
---
 src/pointbase.cpp | 162 +++++++++++++++++++++++++++++++++++++++++++++-
 src/test.cpp      |  22 ++++++-
 2 files changed, 182 insertions(+), 2 deletions(-)

diff --git a/src/pointbase.cpp b/src/pointbase.cpp
index 4a7c3ca..fd7413b 100644
--- a/src/pointbase.cpp
+++ b/src/pointbase.cpp
@@ -41,6 +41,9 @@ class PointBase {
         vector <Point2d> toDoVector; //points yet to be searched for adjacent points
         std::map<Point2d, string, ComparePoints> pathMap; //map for file paths - get the path of a file via pathMap[Point2d(x,y)]
 
+        double imgWidthDeg;
+        double imgHeightDeg;
+
 
 
     //loaded points in pointbase are sorted according to X value
@@ -63,6 +66,9 @@ class PointBase {
                 Point2d newPoint = Point2d(coords["depthPos"]["x"].asDouble() , coords["depthPos"]["y"].asDouble());
                 pathMap[newPoint] = filePath;
                 points.push_back(newPoint);
+
+                imgWidthDeg = coords["rectangle"]["w"].asDouble();
+                imgHeightDeg = coords["rectangle"]["h"].asDouble();
             }
 
         }
@@ -200,7 +206,7 @@ class PointBase {
     }
 
 
-
+ 
 
 
 
@@ -342,4 +348,158 @@ class PointBase {
     }
 
 
+
+
+
+    void cumdump(int imgWidth,int imgHeight)
+    {
+
+
+
+       
+
+        int imgIdx = 0;
+        //main loop
+        while (!points.empty())
+        {
+            //take the first point from the left and find adjts. to it
+            Point2d p = points[0];
+            vector<Point2d> stitchQueue;
+            stitchQueue.push_back(p);
+            points.erase(points.begin());
+
+            vector<Point2d> temp = getAdjacents(p); //find adj. of first point - inits toDo vector
+            
+
+            if (toDoVector.empty()) //if first point has no adjts. - log him as singleton
+            {
+                ofstream singletonsFile("singletons.log", ios_base::app);
+                if(!singletonsFile)
+                {
+                    singletonsFile << "x: " << p.x << std::endl;
+                    singletonsFile << "y: " << p.y << std::endl;
+                    singletonsFile << pathMap[Point2d(p.x,p.y) ] << std::endl;
+                    singletonsFile.close();
+                }
+                else
+                {
+                    ofstream sing;
+                    sing.open("singletons.log",ios_base::app);
+                    sing << "x: " << p.x << std::endl;
+                    sing << "y: " << p.y << std::endl;
+                    sing << pathMap[Point2d(p.x,p.y) ] << std::endl;
+                    sing.close();
+                }
+                stitchQueue.pop_back();
+                continue;
+            }
+
+            //finds adjacencies to every point
+            while(!toDoVector.empty())
+            {
+                Point2d p2 = toDoVector[0];
+                stitchQueue.push_back(p2);
+                temp = getAdjacents(p2);
+                toDoVector.erase(toDoVector.begin());
+            }
+            
+            //stitching
+            // Define object to store the stitched image
+            
+            double minX=999;
+            double maxX=0;
+            double minY=900000;
+            double maxY=0;
+            
+            for (Point2d coords: stitchQueue)
+            {
+                if (coords.x < minX) minX=coords.x;
+                if (coords.x > maxX) maxX=coords.x;
+                if (coords.y < minY) minY=coords.y;
+                if (coords.y > maxY) maxY=coords.y;
+            }
+            
+            
+            int xDiff = (int)round(maxX)-(int)round(minX);
+            int yDiff = (int)round(maxY)-(int)round(minY);
+            cout <<xDiff <<"\n";
+            cout <<yDiff <<"\n";
+
+            
+            Mat img = Mat::zeros((int)(maxY*(imgHeight/imgHeightDeg))+imgHeight,(int)((360/imgWidthDeg)*imgWidth) + imgWidth,CV_8UC3);
+            rectangle(img,Point(3,3),Point(15,15),Scalar(128,128, 0),2,2,0);
+            
+            
+
+            //open stream for logging
+            string logFileName = to_string(imgIdx) + ".log";
+            ofstream logFile(logFileName);
+            for (Point2d coords: stitchQueue)
+            {
+                //log which images are in which result file
+                logFile << "x: " << coords.x << std::endl;
+                logFile << "y: " << coords.y << std::endl;
+                logFile << pathMap[Point2d(coords.x,coords.y) ] << std::endl;
+
+                //log to stdout
+                cout << "x: " << coords.x << std::endl;
+                cout << "y: " << coords.y << std::endl;
+                
+
+                string jsonPath = pathMap[coords];
+                string pngPath = jsonPath.erase(jsonPath.length()-4);
+                pngPath = pngPath + "png";
+                cout << "file: " << pngPath << std::endl;
+                
+                Mat imgSmall = imread(pngPath,IMREAD_COLOR);
+                cout<< cv::typeToString( imgSmall.type() );
+                
+                cout <<minX <<"\n";
+                cout <<minY <<"\n";
+
+                //cout << (int)round(coords.x)-(int)round(minX)<< "\n";
+                //cout << (int)round(coords.y)-(int)round(minY)<< "\n";
+                cout << (int)round(coords.y)*(int)(imgHeight/imgHeightDeg)<< "\n";
+                imgSmall.copyTo(img(cv::Rect((int)round(coords.x)*(int)(imgWidth/imgWidthDeg),(int)round(coords.y)*(int)(imgHeight/imgHeightDeg),imgSmall.cols, imgSmall.rows)));
+                
+                
+            }
+            logFile.close();
+            string resultName = "result" + to_string(imgIdx) +".png";
+            imwrite(resultName, img);
+            imgIdx++;
+
+            //stitching
+            /*
+            cout << "Stitching" << std::endl;
+            Stitcher::Status status = stitcher->stitch(imgs, pano);
+            if (status != Stitcher::OK)
+            {
+                // Check if images could not be stitched
+                // status is OK if images are stitched successfully
+                cout << "Can't stitch images\n";
+            }
+            else
+            {
+
+                string resultName = "result" + to_string(imgIdx) +".jpg";
+
+                // Store a new image stitched from the given
+                //set of images as "result.jpg"
+                imwrite(resultName, pano);
+                
+                // Show the result
+                imshow(resultName, pano);
+                
+                
+                waitKey(0);
+            }
+            */
+            
+        }
+
+
+    }
+
+
 };
\ No newline at end of file
diff --git a/src/test.cpp b/src/test.cpp
index 17b9665..9ff4aca 100644
--- a/src/test.cpp
+++ b/src/test.cpp
@@ -39,10 +39,16 @@ int main(int argc, char** argv)
 
     //test pointbase load
     PointBase pb;
+    //pb.load("../data/");
+    //120/2022-11-15_09-35-09
+    //155/2022-11-15_07-18-56
+    //2/2022-10-13_13-33-22
+    //1/2022-10-13_11-50-12
+    //pb.load("../1/2022-10-13_11-50-12/snapshots/");
     pb.load("../data/");
 
     //test print all point info
-    pb.printPoints(1);
+    pb.printPoints(0);
 
     /* test get path
     path: ../data/0000044.json; 
@@ -53,4 +59,18 @@ int main(int argc, char** argv)
 
     pb.showPointImg();
 
+    /*
+    vector<Point2d> res = pb.getAdjacents(Point2d(75.1,3220.80));
+    for (Point2d p :res)
+    {
+        cout << "x: " << p.x << std::endl;
+        cout << "y: " << p.y << std::endl;
+    }
+    */
+
+    //pb.stitchImgs();
+    cout <<"IMG HEIGHT:" << pb.imgHeightDeg <<"\n";
+    cout <<"IMG WIDTH DEG:" << pb.imgWidthDeg <<"\n";
+    pb.cumdump(650,525);
+
 }
\ No newline at end of file