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Diffstat (limited to 'jni/feature_stab/src/dbreg/dbstabsmooth.cpp')
-rw-r--r-- | jni/feature_stab/src/dbreg/dbstabsmooth.cpp | 330 |
1 files changed, 330 insertions, 0 deletions
diff --git a/jni/feature_stab/src/dbreg/dbstabsmooth.cpp b/jni/feature_stab/src/dbreg/dbstabsmooth.cpp new file mode 100644 index 000000000..dffff8ab1 --- /dev/null +++ b/jni/feature_stab/src/dbreg/dbstabsmooth.cpp @@ -0,0 +1,330 @@ +/* + * Copyright (C) 2011 The Android Open Source Project + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include <stdlib.h> +#include "dbstabsmooth.h" + +///// TODO TODO ////////// Replace this with the actual definition from Jayan's reply ///////////// +#define vp_copy_motion_no_id vp_copy_motion +/////////////////////////////////////////////////////////////////////////////////////////////////// + +static bool vpmotion_add(VP_MOTION *in1, VP_MOTION *in2, VP_MOTION *out); +static bool vpmotion_multiply(VP_MOTION *in1, double factor, VP_MOTION *out); + +db_StabilizationSmoother::db_StabilizationSmoother() +{ + Init(); +} + +void db_StabilizationSmoother::Init() +{ + f_smoothOn = true; + f_smoothReset = false; + f_smoothFactor = 1.0f; + f_minDampingFactor = 0.2f; + f_zoom = 1.0f; + VP_MOTION_ID(f_motLF); + VP_MOTION_ID(f_imotLF); + f_hsize = 0; + f_vsize = 0; + + VP_MOTION_ID(f_disp_mot); + VP_MOTION_ID(f_src_mot); + VP_MOTION_ID(f_diff_avg); + + for( int i = 0; i < MOTION_ARRAY-1; i++) { + VP_MOTION_ID(f_hist_mot_speed[i]); + VP_MOTION_ID(f_hist_mot[i]); + VP_MOTION_ID(f_hist_diff_mot[i]); + } + VP_MOTION_ID(f_hist_mot[MOTION_ARRAY-1]); + +} + +db_StabilizationSmoother::~db_StabilizationSmoother() +{} + + +bool db_StabilizationSmoother::smoothMotion(VP_MOTION *inmot, VP_MOTION *outmot) +{ + VP_MOTION_ID(f_motLF); + VP_MOTION_ID(f_imotLF); + f_motLF.insid = inmot->refid; + f_motLF.refid = inmot->insid; + + if(f_smoothOn) { + if(!f_smoothReset) { + MXX(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MXX(f_motLF) + (1.0-f_smoothFactor)* (double) MXX(*inmot)); + MXY(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MXY(f_motLF) + (1.0-f_smoothFactor)* (double) MXY(*inmot)); + MXZ(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MXZ(f_motLF) + (1.0-f_smoothFactor)* (double) MXZ(*inmot)); + MXW(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MXW(f_motLF) + (1.0-f_smoothFactor)* (double) MXW(*inmot)); + + MYX(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MYX(f_motLF) + (1.0-f_smoothFactor)* (double) MYX(*inmot)); + MYY(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MYY(f_motLF) + (1.0-f_smoothFactor)* (double) MYY(*inmot)); + MYZ(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MYZ(f_motLF) + (1.0-f_smoothFactor)* (double) MYZ(*inmot)); + MYW(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MYW(f_motLF) + (1.0-f_smoothFactor)* (double) MYW(*inmot)); + + MZX(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MZX(f_motLF) + (1.0-f_smoothFactor)* (double) MZX(*inmot)); + MZY(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MZY(f_motLF) + (1.0-f_smoothFactor)* (double) MZY(*inmot)); + MZZ(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MZZ(f_motLF) + (1.0-f_smoothFactor)* (double) MZZ(*inmot)); + MZW(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MZW(f_motLF) + (1.0-f_smoothFactor)* (double) MZW(*inmot)); + + MWX(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MWX(f_motLF) + (1.0-f_smoothFactor)* (double) MWX(*inmot)); + MWY(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MWY(f_motLF) + (1.0-f_smoothFactor)* (double) MWY(*inmot)); + MWZ(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MWZ(f_motLF) + (1.0-f_smoothFactor)* (double) MWZ(*inmot)); + MWW(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MWW(f_motLF) + (1.0-f_smoothFactor)* (double) MWW(*inmot)); + } + else + vp_copy_motion_no_id(inmot, &f_motLF); // f_smoothFactor = 0.0 + + // Only allow LF motion to be compensated. Remove HF motion from + // the output transformation + if(!vp_invert_motion(&f_motLF, &f_imotLF)) + return false; + + if(!vp_cascade_motion(&f_imotLF, inmot, outmot)) + return false; + } + else { + vp_copy_motion_no_id(inmot, outmot); + } + + return true; +} + +bool db_StabilizationSmoother::smoothMotionAdaptive(/*VP_BIMG *bimg,*/int hsize, int vsize, VP_MOTION *inmot, VP_MOTION *outmot) +{ + VP_MOTION tmpMotion, testMotion; + VP_PAR p1x, p2x, p3x, p4x; + VP_PAR p1y, p2y, p3y, p4y; + double smoothFactor; + double minSmoothFactor = f_minDampingFactor; + +// int hsize = bimg->w; +// int vsize = bimg->h; + double border_factor = 0.01;//0.2; + double border_x = border_factor * hsize; + double border_y = border_factor * vsize; + + VP_MOTION_ID(f_motLF); + VP_MOTION_ID(f_imotLF); + VP_MOTION_ID(testMotion); + VP_MOTION_ID(tmpMotion); + + if (f_smoothOn) { + VP_MOTION identityMotion; + VP_MOTION_ID(identityMotion); // initialize the motion + vp_copy_motion(inmot/*in*/, &testMotion/*out*/); + VP_PAR delta = vp_motion_cornerdiff(&testMotion, &identityMotion, 0, 0,(int)hsize, (int)vsize); + + smoothFactor = 0.99 - 0.0015 * delta; + + if(smoothFactor < minSmoothFactor) + smoothFactor = minSmoothFactor; + + // Find the amount of motion that must be compensated so that no "border" pixels are seen in the stable video + for (smoothFactor = smoothFactor; smoothFactor >= minSmoothFactor; smoothFactor -= 0.01) { + // Compute the smoothed motion + if(!smoothMotion(inmot, &tmpMotion, smoothFactor)) + break; + + // TmpMotion, or Qsi where s is the smoothed display reference and i is the + // current image, tells us how points in the S co-ordinate system map to + // points in the I CS. We would like to check whether the four corners of the + // warped and smoothed display reference lies entirely within the I co-ordinate + // system. If yes, then the amount of smoothing is sufficient so that NO + // border pixels are seen at the output. We test for f_smoothFactor terms + // between 0.9 and 1.0, in steps of 0.01, and between 0.5 ands 0.9 in steps of 0.1 + + (void) vp_zoom_motion2d(&tmpMotion, &testMotion, 1, hsize, vsize, (double)f_zoom); // needs to return bool + + VP_WARP_POINT_2D(0, 0, testMotion, p1x, p1y); + VP_WARP_POINT_2D(hsize - 1, 0, testMotion, p2x, p2y); + VP_WARP_POINT_2D(hsize - 1, vsize - 1, testMotion, p3x, p3y); + VP_WARP_POINT_2D(0, vsize - 1, testMotion, p4x, p4y); + + if (!is_point_in_rect((double)p1x,(double)p1y,-border_x,-border_y,(double)(hsize+2.0*border_x),(double)(vsize+2.0*border_y))) { + continue; + } + if (!is_point_in_rect((double)p2x, (double)p2y,-border_x,-border_y,(double)(hsize+2.0*border_x),(double)(vsize+2.0*border_y))) { + continue; + } + if (!is_point_in_rect((double)p3x,(double)p3y,-border_x,-border_y,(double)(hsize+2.0*border_x),(double)(vsize+2.0*border_y))) { + continue; + } + if (!is_point_in_rect((double)p4x, (double)p4y,-border_x,-border_y,(double)(hsize+2.0*border_x),(double)(vsize+2.0*border_y))) { + continue; + } + + // If we get here, then all the points are in the rectangle. + // Therefore, break out of this loop + break; + } + + // if we get here and f_smoothFactor <= fMinDampingFactor, reset the stab reference + if (smoothFactor < f_minDampingFactor) + smoothFactor = f_minDampingFactor; + + // use the smoothed motion for stabilization + vp_copy_motion_no_id(&tmpMotion/*in*/, outmot/*out*/); + } + else + { + vp_copy_motion_no_id(inmot, outmot); + } + + return true; +} + +bool db_StabilizationSmoother::smoothMotion(VP_MOTION *inmot, VP_MOTION *outmot, double smooth_factor) +{ + f_motLF.insid = inmot->refid; + f_motLF.refid = inmot->insid; + + if(f_smoothOn) { + if(!f_smoothReset) { + MXX(f_motLF) = (VP_PAR) (smooth_factor*(double) MXX(f_motLF) + (1.0-smooth_factor)* (double) MXX(*inmot)); + MXY(f_motLF) = (VP_PAR) (smooth_factor*(double) MXY(f_motLF) + (1.0-smooth_factor)* (double) MXY(*inmot)); + MXZ(f_motLF) = (VP_PAR) (smooth_factor*(double) MXZ(f_motLF) + (1.0-smooth_factor)* (double) MXZ(*inmot)); + MXW(f_motLF) = (VP_PAR) (smooth_factor*(double) MXW(f_motLF) + (1.0-smooth_factor)* (double) MXW(*inmot)); + + MYX(f_motLF) = (VP_PAR) (smooth_factor*(double) MYX(f_motLF) + (1.0-smooth_factor)* (double) MYX(*inmot)); + MYY(f_motLF) = (VP_PAR) (smooth_factor*(double) MYY(f_motLF) + (1.0-smooth_factor)* (double) MYY(*inmot)); + MYZ(f_motLF) = (VP_PAR) (smooth_factor*(double) MYZ(f_motLF) + (1.0-smooth_factor)* (double) MYZ(*inmot)); + MYW(f_motLF) = (VP_PAR) (smooth_factor*(double) MYW(f_motLF) + (1.0-smooth_factor)* (double) MYW(*inmot)); + + MZX(f_motLF) = (VP_PAR) (smooth_factor*(double) MZX(f_motLF) + (1.0-smooth_factor)* (double) MZX(*inmot)); + MZY(f_motLF) = (VP_PAR) (smooth_factor*(double) MZY(f_motLF) + (1.0-smooth_factor)* (double) MZY(*inmot)); + MZZ(f_motLF) = (VP_PAR) (smooth_factor*(double) MZZ(f_motLF) + (1.0-smooth_factor)* (double) MZZ(*inmot)); + MZW(f_motLF) = (VP_PAR) (smooth_factor*(double) MZW(f_motLF) + (1.0-smooth_factor)* (double) MZW(*inmot)); + + MWX(f_motLF) = (VP_PAR) (smooth_factor*(double) MWX(f_motLF) + (1.0-smooth_factor)* (double) MWX(*inmot)); + MWY(f_motLF) = (VP_PAR) (smooth_factor*(double) MWY(f_motLF) + (1.0-smooth_factor)* (double) MWY(*inmot)); + MWZ(f_motLF) = (VP_PAR) (smooth_factor*(double) MWZ(f_motLF) + (1.0-smooth_factor)* (double) MWZ(*inmot)); + MWW(f_motLF) = (VP_PAR) (smooth_factor*(double) MWW(f_motLF) + (1.0-smooth_factor)* (double) MWW(*inmot)); + } + else + vp_copy_motion_no_id(inmot, &f_motLF); // smooth_factor = 0.0 + + // Only allow LF motion to be compensated. Remove HF motion from + // the output transformation + if(!vp_invert_motion(&f_motLF, &f_imotLF)) + return false; + + if(!vp_cascade_motion(&f_imotLF, inmot, outmot)) + return false; + } + else { + vp_copy_motion_no_id(inmot, outmot); + } + + return true; +} + +//! Overloaded smoother function that takes in user-specidied smoothing factor +bool +db_StabilizationSmoother::smoothMotion1(VP_MOTION *inmot, VP_MOTION *outmot, VP_MOTION *motLF, VP_MOTION *imotLF, double factor) +{ + + if(!f_smoothOn) { + vp_copy_motion(inmot, outmot); + return true; + } + else { + if(!f_smoothReset) { + MXX(*motLF) = (VP_PAR) (factor*(double) MXX(*motLF) + (1.0-factor)* (double) MXX(*inmot)); + MXY(*motLF) = (VP_PAR) (factor*(double) MXY(*motLF) + (1.0-factor)* (double) MXY(*inmot)); + MXZ(*motLF) = (VP_PAR) (factor*(double) MXZ(*motLF) + (1.0-factor)* (double) MXZ(*inmot)); + MXW(*motLF) = (VP_PAR) (factor*(double) MXW(*motLF) + (1.0-factor)* (double) MXW(*inmot)); + + MYX(*motLF) = (VP_PAR) (factor*(double) MYX(*motLF) + (1.0-factor)* (double) MYX(*inmot)); + MYY(*motLF) = (VP_PAR) (factor*(double) MYY(*motLF) + (1.0-factor)* (double) MYY(*inmot)); + MYZ(*motLF) = (VP_PAR) (factor*(double) MYZ(*motLF) + (1.0-factor)* (double) MYZ(*inmot)); + MYW(*motLF) = (VP_PAR) (factor*(double) MYW(*motLF) + (1.0-factor)* (double) MYW(*inmot)); + + MZX(*motLF) = (VP_PAR) (factor*(double) MZX(*motLF) + (1.0-factor)* (double) MZX(*inmot)); + MZY(*motLF) = (VP_PAR) (factor*(double) MZY(*motLF) + (1.0-factor)* (double) MZY(*inmot)); + MZZ(*motLF) = (VP_PAR) (factor*(double) MZZ(*motLF) + (1.0-factor)* (double) MZZ(*inmot)); + MZW(*motLF) = (VP_PAR) (factor*(double) MZW(*motLF) + (1.0-factor)* (double) MZW(*inmot)); + + MWX(*motLF) = (VP_PAR) (factor*(double) MWX(*motLF) + (1.0-factor)* (double) MWX(*inmot)); + MWY(*motLF) = (VP_PAR) (factor*(double) MWY(*motLF) + (1.0-factor)* (double) MWY(*inmot)); + MWZ(*motLF) = (VP_PAR) (factor*(double) MWZ(*motLF) + (1.0-factor)* (double) MWZ(*inmot)); + MWW(*motLF) = (VP_PAR) (factor*(double) MWW(*motLF) + (1.0-factor)* (double) MWW(*inmot)); + } + else { + vp_copy_motion(inmot, motLF); + } + // Only allow LF motion to be compensated. Remove HF motion from the output transformation + if(!vp_invert_motion(motLF, imotLF)) { +#if DEBUG_PRINT + printfOS("Invert failed \n"); +#endif + return false; + } + if(!vp_cascade_motion(imotLF, inmot, outmot)) { +#if DEBUG_PRINT + printfOS("cascade failed \n"); +#endif + return false; + } + } + return true; +} + + + + +bool db_StabilizationSmoother::is_point_in_rect(double px, double py, double rx, double ry, double w, double h) +{ + if (px < rx) + return(false); + if (px >= rx + w) + return(false); + if (py < ry) + return(false); + if (py >= ry + h) + return(false); + + return(true); +} + + + +static bool vpmotion_add(VP_MOTION *in1, VP_MOTION *in2, VP_MOTION *out) +{ + int i; + if(in1 == NULL || in2 == NULL || out == NULL) + return false; + + for(i = 0; i < VP_MAX_MOTION_PAR; i++) + out->par[i] = in1->par[i] + in2->par[i]; + + return true; +} + +static bool vpmotion_multiply(VP_MOTION *in1, double factor, VP_MOTION *out) +{ + int i; + if(in1 == NULL || out == NULL) + return false; + + for(i = 0; i < VP_MAX_MOTION_PAR; i++) + out->par[i] = in1->par[i] * factor; + + return true; +} + |