1 files changed, 399 insertions, 0 deletions
diff --git a/jni/feature_stab/src/dbregtest/dbregtest.cpp b/jni/feature_stab/src/dbregtest/dbregtest.cpp
new file mode 100644
index 000000000..508736218
--- /dev/null
+++ b/jni/feature_stab/src/dbregtest/dbregtest.cpp
@@ -0,0 +1,399 @@
+/*
+ * 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.
+ */
+
+// $Id: dbregtest.cpp,v 1.24 2011/06/17 14:04:33 mbansal Exp $
+#include "stdafx.h"
+#include "PgmImage.h"
+#include "../dbreg/dbreg.h"
+#include "../dbreg/dbstabsmooth.h"
+#include <db_utilities_camera.h>
+
+#include <iostream>
+#include <iomanip>
+
+#if PROFILE
+    #include <sys/time.h>
+#endif
+
+
+using namespace std;
+
+const int DEFAULT_NR_CORNERS=500;
+const double DEFAULT_MAX_DISPARITY=0.2;
+const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_AFFINE;
+//const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_R_T;
+//const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_TRANSLATION;
+const bool DEFAULT_QUARTER_RESOLUTION=false;
+const unsigned int DEFAULT_REFERENCE_UPDATE_PERIOD=3;
+const bool DEFAULT_DO_MOTION_SMOOTHING = false;
+const double DEFAULT_MOTION_SMOOTHING_GAIN = 0.75;
+const bool DEFAULT_LINEAR_POLISH = false;
+const int DEFAULT_MAX_ITERATIONS = 10;
+
+void usage(string name) {
+
+  const char *helpmsg[] = {
+    "Function: point-based frame to reference registration.",
+    "  -m [rt,a,p]  : motion model, rt = rotation+translation, a = affine (default = affine).",
+    "  -c <int>   : number of corners (default 1000).",
+    "  -d <double>: search disparity as portion of image size (default 0.1).",
+    "  -q         : quarter the image resolution (i.e. half of each dimension) (default on)",
+    "  -r <int>   : the period (in nr of frames) for reference frame updates (default = 5)",
+    "  -s <0/1>   : motion smoothing (1 activates motion smoothing, 0 turns it off - default value = 1)",
+    "  -g <double>: motion smoothing gain, only used if smoothing is on (default value =0.75)",
+    NULL
+  };
+
+  cerr << "Usage: " << name << " [options] image_list.txt" << endl;
+
+  const char **p = helpmsg;
+
+  while (*p)
+  {
+    cerr << *p++ << endl;
+  }
+}
+
+void parse_cmd_line(stringstream& cmdline,
+            const int argc,
+            const string& progname,
+            string& image_list_file_name,
+            int& nr_corners,
+            double& max_disparity,
+            int& motion_model_type,
+            bool& quarter_resolution,
+            unsigned int& reference_update_period,
+            bool& do_motion_smoothing,
+            double& motion_smoothing_gain
+            );
+
+int main(int argc, char* argv[])
+{
+  int    nr_corners = DEFAULT_NR_CORNERS;
+  double max_disparity = DEFAULT_MAX_DISPARITY;
+  int    motion_model_type = DEFAULT_MOTION_MODEL;
+  bool   quarter_resolution = DEFAULT_QUARTER_RESOLUTION;
+
+  unsigned int reference_update_period = DEFAULT_REFERENCE_UPDATE_PERIOD;
+
+  bool   do_motion_smoothing = DEFAULT_DO_MOTION_SMOOTHING;
+  double motion_smoothing_gain = DEFAULT_MOTION_SMOOTHING_GAIN;
+  const bool DEFAULT_USE_SMALLER_MATCHING_WINDOW = true;
+
+  int default_nr_samples = DB_DEFAULT_NR_SAMPLES/5;
+
+  bool   use_smaller_matching_window = DEFAULT_USE_SMALLER_MATCHING_WINDOW;
+
+
+  bool   linear_polish = DEFAULT_LINEAR_POLISH;
+
+  if (argc < 2) {
+    usage(argv[0]);
+    exit(1);
+  }
+
+  stringstream cmdline;
+  string progname(argv[0]);
+  string image_list_file_name;
+
+#if PROFILE
+  timeval ts1, ts2, ts3, ts4;
+#endif
+
+  // put the options and image list file name into the cmdline stringstream
+  for (int c = 1; c < argc; c++)
+  {
+    cmdline << argv[c] << " ";
+  }
+
+  parse_cmd_line(cmdline, argc, progname, image_list_file_name, nr_corners, max_disparity, motion_model_type,quarter_resolution,reference_update_period,do_motion_smoothing,motion_smoothing_gain);
+
+  ifstream in(image_list_file_name.c_str(),ios::in);
+
+  if ( !in.is_open() )
+  {
+    cerr << "Could not open file " << image_list_file_name << ".  Exiting" << endl;
+
+    return false;
+  }
+
+  // feature-based image registration class:
+  db_FrameToReferenceRegistration reg;
+//  db_StabilizationSmoother stab_smoother;
+
+  // input file name:
+  string file_name;
+
+  // look-up tables for image warping:
+  float ** lut_x = NULL, **lut_y = NULL;
+
+  // if the images are color, the input is saved in color_ref:
+  PgmImage color_ref(0,0);
+
+  // image width, height:
+  int w,h;
+
+  int frame_number = 0;
+
+  while ( !in.eof() )
+  {
+    getline(in,file_name);
+
+    PgmImage ref(file_name);
+
+    if ( ref.GetDataPointer() == NULL )
+    {
+      cerr << "Could not open image" << file_name << ". Exiting." << endl;
+      return -1;
+    }
+
+    cout << ref << endl;
+
+    // color format:
+    int format = ref.GetFormat();
+
+    // is the input image color?:
+    bool color = format == PgmImage::PGM_BINARY_PIXMAP;
+
+    w = ref.GetWidth();
+    h = ref.GetHeight();
+
+    if ( !reg.Initialized() )
+    {
+      reg.Init(w,h,motion_model_type,DEFAULT_MAX_ITERATIONS,linear_polish,quarter_resolution,DB_POINT_STANDARDDEV,reference_update_period,do_motion_smoothing,motion_smoothing_gain,default_nr_samples,DB_DEFAULT_CHUNK_SIZE,nr_corners,max_disparity,use_smaller_matching_window);
+      lut_x = db_AllocImage_f(w,h);
+      lut_y = db_AllocImage_f(w,h);
+
+    }
+
+    if ( color )
+    {
+      // save the color image:
+      color_ref = ref;
+    }
+
+    // make a grayscale image:
+    ref.ConvertToGray();
+
+    // compute the homography:
+    double H[9],Hinv[9];
+    db_Identity3x3(Hinv);
+    db_Identity3x3(H);
+
+    bool force_reference = false;
+
+#if PROFILE
+    gettimeofday(&ts1, NULL);
+#endif
+
+    reg.AddFrame(ref.GetRowPointers(),H,false,false);
+    cout << reg.profile_string << std::endl;
+
+#if PROFILE
+    gettimeofday(&ts2, NULL);
+
+    double elapsedTime = (ts2.tv_sec - ts1.tv_sec)*1000.0; // sec to ms
+    elapsedTime += (ts2.tv_usec - ts1.tv_usec)/1000.0; // us to ms
+    cout <<"\nelapsedTime for Reg<< "<<elapsedTime<<" ms >>>>>>>>>>>>>\n";
+#endif
+
+    if (frame_number == 0)
+    {
+      reg.UpdateReference(ref.GetRowPointers());
+    }
+
+
+    //std::vector<int> &inlier_indices = reg.GetInliers();
+    int *inlier_indices = reg.GetInliers();
+    int num_inlier_indices = reg.GetNrInliers();
+    printf("[%d] #Inliers = %d\n",frame_number,num_inlier_indices);
+
+    reg.Get_H_dref_to_ins(H);
+
+    db_GenerateHomographyLut(lut_x,lut_y,w,h,H);
+
+    // create a new image and warp:
+    PgmImage warped(w,h,format);
+
+#if PROFILE
+    gettimeofday(&ts3, NULL);
+#endif
+
+    if ( color )
+      db_WarpImageLutBilinear_rgb(color_ref.GetRowPointers(),warped.GetRowPointers(),w,h,lut_x,lut_y);
+    else
+      db_WarpImageLut_u(ref.GetRowPointers(),warped.GetRowPointers(),w,h,lut_x,lut_y,DB_WARP_FAST);
+
+#if PROFILE
+    gettimeofday(&ts4, NULL);
+    elapsedTime = (ts4.tv_sec - ts3.tv_sec)*1000.0; // sec to ms
+    elapsedTime += (ts4.tv_usec - ts3.tv_usec)/1000.0;     // us to ms
+    cout <<"\nelapsedTime for Warp <<"<<elapsedTime<<" ms >>>>>>>>>>>>>\n";
+#endif
+
+    // write aligned image: name is aligned_<corresponding input file name>
+    stringstream s;
+    s << "aligned_" << file_name;
+    warped.WritePGM(s.str());
+
+    /*
+    // Get the reference and inspection corners to write to file
+    double *ref_corners = reg.GetRefCorners();
+    double *ins_corners = reg.GetInsCorners();
+
+    // get the image file name (without extension), so we
+    // can generate the corresponding filenames for matches
+    // and inliers
+    string file_name_root(file_name.substr(0,file_name.rfind(".")));
+
+    // write matches to file
+    s.str(string(""));
+    s << "Matches_" << file_name_root << ".txt";
+
+    ofstream  match_file(s.str().c_str());
+
+    for (int i = 0; i < reg.GetNrMatches(); i++)
+    {
+      match_file << ref_corners[3*i] << " " << ref_corners[3*i+1] << " " << ins_corners[3*i] << " " << ins_corners[3*i+1] << endl;
+    }
+
+    match_file.close();
+
+    // write the inlier matches to file
+    s.str(string(""));
+    s << "InlierMatches_" << file_name_root << ".txt";
+
+    ofstream inlier_match_file(s.str().c_str());
+
+    for(int i=0; i<num_inlier_indices; i++)
+    {
+      int k = inlier_indices[i];
+      inlier_match_file << ref_corners[3*k] << " "
+            << ref_corners[3*k+1] << " "
+            << ins_corners[3*k] << " "
+            << ins_corners[3*k+1] << endl;
+    }
+    inlier_match_file.close();
+    */
+
+    frame_number++;
+  }
+
+  if ( reg.Initialized() )
+  {
+    db_FreeImage_f(lut_x,h);
+    db_FreeImage_f(lut_y,h);
+  }
+
+  return 0;
+}
+
+void parse_cmd_line(stringstream& cmdline,
+            const int argc,
+            const string& progname,
+            string& image_list_file_name,
+            int& nr_corners,
+            double& max_disparity,
+            int& motion_model_type,
+            bool& quarter_resolution,
+            unsigned int& reference_update_period,
+            bool& do_motion_smoothing,
+            double& motion_smoothing_gain)
+{
+  // for counting down the parsed arguments.
+  int c = argc;
+
+  // a holder
+  string token;
+
+  while (cmdline >> token)
+  {
+    --c;
+
+    int pos = token.find("-");
+
+    if (pos == 0)
+    {
+      switch (token[1])
+      {
+      case 'm':
+    --c; cmdline >> token;
+    if (token.compare("rt") == 0)
+    {
+      motion_model_type = DB_HOMOGRAPHY_TYPE_R_T;
+    }
+    else if (token.compare("a") == 0)
+    {
+      motion_model_type = DB_HOMOGRAPHY_TYPE_AFFINE;
+    }
+    else if (token.compare("p") == 0)
+    {
+      motion_model_type = DB_HOMOGRAPHY_TYPE_PROJECTIVE;
+    }
+    else
+    {
+      usage(progname);
+      exit(1);
+    }
+    break;
+      case 'c':
+    --c; cmdline >> nr_corners;
+    break;
+      case 'd':
+    --c; cmdline >> max_disparity;
+    break;
+      case 'q':
+    quarter_resolution = true;
+    break;
+      case 'r':
+    --c; cmdline >> reference_update_period;
+    break;
+      case 's':
+    --c; cmdline >> do_motion_smoothing;
+    break;
+      case 'g':
+    --c; cmdline >> motion_smoothing_gain;
+    break;
+      default:
+    cerr << progname << "illegal option " << token << endl;
+      case 'h':
+    usage(progname);
+    exit(1);
+    break;
+      }
+    }
+    else
+    {
+      if (c != 1)
+      {
+    usage(progname);
+    exit(1);
+      }
+      else
+      {
+    --c;
+    image_list_file_name = token;
+      }
+    }
+  }
+
+  if (c != 0)
+  {
+    usage(progname);
+    exit(1);
+  }
+}
+