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create_dense_depthmap_image_3.cpp
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create_dense_depthmap_image_3.cpp
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#include "header.h"
void create_dense_depthmap_image_3(
int *reference_rgb_image_arr,
int width,
int height,
int *sparse_depthmap_image_arr,
int *sparse_depthmap_alpha_arr,
int *dense_depthmap_image_arr,
double *dense_diffusion_direction_theta_image_arr,
int *edge_image_arr,
int *edge_alpha_arr,
int i,
int j,
unsigned int pixel,
cholmod_triplet *triplet,
LONG* triplet_i,
LONG* triplet_j,
double * triplet_x,
cholmod_dense *b
)
{
int i2;
int j2;
unsigned int pixel2;
int depth2;
double value;
double pixel_coeff_value;
double pixel2_coeff_value;
double b_value;
int alpha2;
double theta;
double pi= acos(-1.);
double lambda= 1.0;
size_t nrow = width*height ;
size_t ncol = width*height ;
theta= dense_diffusion_direction_theta_image_arr[pixel];
pixel_coeff_value= 0.0;
b_value= 0.0;
i2= i;
j2= j-1;
pixel2= i2*width+j2;
depth2= sparse_depthmap_image_arr[pixel2];
alpha2= sparse_depthmap_alpha_arr[pixel2];
/*
If alpha2== 0, the depth is unknown
If alpha2==255, the depth is known
and is equal to sparse_depthmap_image_arr[pixel2]
*/
if ( alpha2 == 0 ) {
/*
Depth at pixel2 is unknown
*/
pixel2_coeff_value= -1. * ( lambda * fabs(cos(theta)) + (1.-lambda) * fabs(cos(theta+pi/2.)) );
/*
pixel2_coeff_value= -1. * fabs(cos(theta));
*/
value= pixel2_coeff_value;
if ( value != 0 ) {
if ( !(pixel >= 0 && pixel < nrow) ) {
error_handler((char *)"create_dense_depthmap_image_2");
}
if ( !(pixel2 >= 0 && pixel2 < ncol) ) {
error_handler((char *)"create_dense_depthmap_image_2");
}
triplet_i[triplet->nnz] = pixel;
triplet_j[triplet->nnz] = pixel2;
triplet_x[triplet->nnz] = value;
triplet->nnz++;
}
}
if ( alpha2 == 255 ) {
/*
Depth at pixel2 is known
*/
if ( !(depth2 >= 0 && depth2 <= 255) ) {
error_handler((char *)"create_dense_depthmap_image_2");
}
b_value+= +1. * ( lambda * fabs(cos(theta)) + (1.-lambda) * fabs(cos(theta+pi/2.)) ) * (double)depth2;
/*
b_value+= +1. * fabs(cos(theta)) * (double)depth2;
*/
}
pixel_coeff_value+= +1. * ( lambda * fabs(cos(theta)) + (1.-lambda) * fabs(cos(theta+pi/2.)) );
/*
pixel_coeff_value+= +1. * fabs(cos(theta));
*/
i2= i;
j2= j+1;
pixel2= i2*width+j2;
depth2= sparse_depthmap_image_arr[pixel2];
alpha2= sparse_depthmap_alpha_arr[pixel2];
/*
If alpha2== 0, the depth is unknown
If alpha2==255, the depth is known
and is equal to sparse_depthmap_image_arr[pixel2]
*/
if ( alpha2 == 0 ) {
/*
Depth at pixel2 is unknown
*/
pixel2_coeff_value= -1. * ( lambda * fabs(cos(theta)) + (1.-lambda) * fabs(cos(theta+pi/2.)) );
/*
pixel2_coeff_value= -1. * fabs(cos(theta));
*/
value= pixel2_coeff_value;
if ( value != 0 ) {
if ( !(pixel >= 0 && pixel < nrow) ) {
error_handler((char *)"create_dense_depthmap_image_2");
}
if ( !(pixel2 >= 0 && pixel2 < ncol) ) {
error_handler((char *)"create_dense_depthmap_image_2");
}
triplet_i[triplet->nnz] = pixel;
triplet_j[triplet->nnz] = pixel2;
triplet_x[triplet->nnz] = value;
triplet->nnz++;
}
}
if ( alpha2 == 255 ) {
/*
Depth at pixel2 is known
*/
if ( !(depth2 >= 0 && depth2 <= 255) ) {
error_handler((char *)"create_dense_depthmap_image_2");
}
b_value+= +1. * ( lambda * fabs(cos(theta)) + (1.-lambda) * fabs(cos(theta+pi/2.)) ) * (double)depth2;
/*
b_value+= +1. * fabs(cos(theta)) * (double)depth2;
*/
}
pixel_coeff_value+= +1. * ( lambda * fabs(cos(theta)) + (1.-lambda) * fabs(cos(theta+pi/2.)) );
/*
pixel_coeff_value+= +1. * fabs(cos(theta));
*/
i2= i-1;
j2= j;
pixel2= i2*width+j2;
depth2= sparse_depthmap_image_arr[pixel2];
alpha2= sparse_depthmap_alpha_arr[pixel2];
/*
If alpha2== 0, the depth is unknown
If alpha2==255, the depth is known
and is equal to sparse_depthmap_image_arr[pixel2]
*/
if ( alpha2 == 0 ) {
/*
Depth at pixel2 is unknown
*/
pixel2_coeff_value= -1. * ( lambda * fabs(sin(theta)) + (1.-lambda) * fabs(sin(theta+pi/2.)) );
/*
pixel2_coeff_value= -1. * fabs(sin(theta));
*/
value= pixel2_coeff_value;
if ( value != 0 ) {
if ( !(pixel >= 0 && pixel < nrow) ) {
error_handler((char *)"create_dense_depthmap_image_2");
}
if ( !(pixel2 >= 0 && pixel2 < ncol) ) {
error_handler((char *)"create_dense_depthmap_image_2");
}
triplet_i[triplet->nnz] = pixel;
triplet_j[triplet->nnz] = pixel2;
triplet_x[triplet->nnz] = value;
triplet->nnz++;
}
}
if ( alpha2 == 255 ) {
/*
Depth at pixel2 is known
*/
if ( !(depth2 >= 0 && depth2 <= 255) ) {
error_handler((char *)"create_dense_depthmap_image_2");
}
b_value+= +1. * ( lambda * fabs(sin(theta)) + (1.-lambda) * fabs(sin(theta+pi/2.)) ) * (double)depth2;
/*
b_value+= +1. * fabs(sin(theta)) * (double)depth2;
*/
}
pixel_coeff_value+= +1. * ( lambda * fabs(sin(theta)) + (1.-lambda) * fabs(sin(theta+pi/2.)) );
/*
pixel_coeff_value+= +1. * fabs(sin(theta));
*/
i2= i+1;
j2= j;
pixel2= i2*width+j2;
depth2= sparse_depthmap_image_arr[pixel2];
alpha2= sparse_depthmap_alpha_arr[pixel2];
/*
If alpha2== 0, the depth is unknown
If alpha2==255, the depth is known
and is equal to sparse_depthmap_image_arr[pixel2]
*/
if ( alpha2 == 0 ) {
/*
Depth at pixel2 is unknown
*/
pixel2_coeff_value= -1. * ( lambda * fabs(sin(theta)) + (1.-lambda) * fabs(sin(theta+pi/2.)) );
/*
pixel2_coeff_value= -1. * fabs(sin(theta));
*/
value= pixel2_coeff_value;
if ( value != 0 ) {
if ( !(pixel >= 0 && pixel < nrow) ) {
error_handler((char *)"create_dense_depthmap_image_2");
}
if ( !(pixel2 >= 0 && pixel2 < ncol) ) {
error_handler((char *)"create_dense_depthmap_image_2");
}
triplet_i[triplet->nnz] = pixel;
triplet_j[triplet->nnz] = pixel2;
triplet_x[triplet->nnz] = value;
triplet->nnz++;
}
}
if ( alpha2 == 255 ) {
/*
Depth at pixel2 is known
*/
if ( !(depth2 >= 0 && depth2 <= 255) ) {
error_handler((char *)"create_dense_depthmap_image_2");
}
b_value+= +1. * ( lambda * fabs(sin(theta)) + (1.-lambda) * fabs(sin(theta+pi/2.)) ) * (double)depth2;
/*
b_value+= +1. * fabs(sin(theta)) * (double)depth2;
*/
}
pixel_coeff_value+= +1. * ( lambda * fabs(sin(theta)) + (1.-lambda) * fabs(sin(theta+pi/2.)) );
/*
pixel_coeff_value+= +1. * fabs(sin(theta));
*/
value= pixel_coeff_value;
if ( value != 0 ) {
if ( !(pixel >= 0 && pixel < nrow) ) {
error_handler((char *)"create_dense_depthmap_image_3");
}
if ( !(pixel >= 0 && pixel < ncol) ) {
error_handler((char *)"create_dense_depthmap_image_3");
}
triplet_i[triplet->nnz] = pixel;
triplet_j[triplet->nnz] = pixel;
triplet_x[triplet->nnz] = value;
triplet->nnz++;
}
value= b_value;
if ( value != 0 ) {
((double *)(b->x))[pixel] = value;
}
}