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findEpipolarTangencyAngles <- function(curve_points, cal.coeff, window.tangency){
avectors_save <- rep(NA, nrow(curve_points))
for(i in 2:(nrow(curve_points)-1)){
# FIND SELF EPIPOLAR LINE
self_epipolar_slope <- abs(dltEpipolarLine(p=curve_points[i, ], cal.coeff1=cal.coeff, self=TRUE)$m)
# VERIFY THAT REFERENCE POINT IS ON SELF-EPIPOLAR (ZERO DISTANCE)
#sel <- dltEpipolarLine(p=curve_points[i, ], cal.coeff1=cal.coeff, self=TRUE)
#dptl <- distancePointToLine(p=curve_points[i, ], sel$l1, sel$l2)
# GET INDICES FOR DETERMINING SLOPE
s_min <- max(1, i - window.tangency)
s_max <- min(i + window.tangency, nrow(curve_points))
# FIND SLOPE COMPONENTS
slope <- rowSums(cbind(curve_points[s_min, ] - curve_points[i, ], curve_points[i, ] - curve_points[s_max, ]))
# FIND CURVE SLOPE
if(slope[1] == 0){curve_slope <- 10^4}else{curve_slope <- abs(slope[2]/slope[1])}
# FIND ANGLE BETWEEN SLOPES IN RADIANS
a_vectors <- avectors(c(1, curve_slope), c(1, self_epipolar_slope))
avectors_save[i] <- a_vectors
}
avectors_save
}
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