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Diffstat (limited to 'jni/feature_stab/db_vlvm/db_utilities.h')
-rw-r--r-- | jni/feature_stab/db_vlvm/db_utilities.h | 571 |
1 files changed, 0 insertions, 571 deletions
diff --git a/jni/feature_stab/db_vlvm/db_utilities.h b/jni/feature_stab/db_vlvm/db_utilities.h deleted file mode 100644 index fa9c87745..000000000 --- a/jni/feature_stab/db_vlvm/db_utilities.h +++ /dev/null @@ -1,571 +0,0 @@ -/* - * 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: db_utilities.h,v 1.3 2011/06/17 14:03:31 mbansal Exp $ */ - -#ifndef DB_UTILITIES_H -#define DB_UTILITIES_H - - -#ifdef _WIN32 -#pragma warning(disable: 4275) -#pragma warning(disable: 4251) -#pragma warning(disable: 4786) -#pragma warning(disable: 4800) -#pragma warning(disable: 4018) /* signed-unsigned mismatch */ -#endif /* _WIN32 */ - -#ifdef _WIN32 - #ifdef DBDYNAMIC_EXPORTS - #define DB_API __declspec(dllexport) - #else - #ifdef DBDYNAMIC_IMPORTS - #define DB_API __declspec(dllimport) - #else - #define DB_API - #endif - #endif -#else - #define DB_API -#endif /* _WIN32 */ - -#ifdef _VERBOSE_ -#include <iostream> -#endif - -#include <math.h> - -#include <assert.h> -#include "db_utilities_constants.h" -/*! - * \defgroup LMBasicUtilities (LM) Utility Functions (basic math, linear algebra and array manipulations) - */ -/*\{*/ - -/*! - * Round double into int using fld and fistp instructions. - */ -inline int db_roundi (double x) { -#ifdef WIN32_ASM - int n; - __asm - { - fld x; - fistp n; - } - return n; -#else - return static_cast<int>(floor(x+0.5)); -#endif -} - -/*! - * Square a double. - */ -inline double db_sqr(double a) -{ - return(a*a); -} - -/*! - * Square a long. - */ -inline long db_sqr(long a) -{ - return(a*a); -} - -/*! - * Square an int. - */ -inline long db_sqr(int a) -{ - return(a*a); -} - -/*! - * Maximum of two doubles. - */ -inline double db_maxd(double a,double b) -{ - if(b>a) return(b); - else return(a); -} -/*! - * Minumum of two doubles. - */ -inline double db_mind(double a,double b) -{ - if(b<a) return(b); - else return(a); -} - - -/*! - * Maximum of two ints. - */ -inline int db_maxi(int a,int b) -{ - if(b>a) return(b); - else return(a); -} - -/*! - * Minimum of two numbers. - */ -inline int db_mini(int a,int b) -{ - if(b<a) return(b); - else return(a); -} -/*! - * Maximum of two numbers. - */ -inline long db_maxl(long a,long b) -{ - if(b>a) return(b); - else return(a); -} - -/*! - * Minimum of two numbers. - */ -inline long db_minl(long a,long b) -{ - if(b<a) return(b); - else return(a); -} - -/*! - * Sign of a number. - * \return -1.0 if negative, 1.0 if positive. - */ -inline double db_sign(double x) -{ - if(x>=0.0) return(1.0); - else return(-1.0); -} -/*! - * Absolute value. - */ -inline int db_absi(int a) -{ - if(a<0) return(-a); - else return(a); -} -/*! - * Absolute value. - */ -inline float db_absf(float a) -{ - if(a<0) return(-a); - else return(a); -} - -/*! - * Absolute value. - */ -inline double db_absd(double a) -{ - if(a<0) return(-a); - else return(a); -} - -/*! - * Reciprocal (1/a). Prevents divide by 0. - * \return 1/a if a != 0. 1.0 otherwise. - */ -inline double db_SafeReciprocal(double a) -{ - return((a!=0.0)?(1.0/a):1.0); -} - -/*! - * Division. Prevents divide by 0. - * \return a/b if b!=0. a otherwise. - */ -inline double db_SafeDivision(double a,double b) -{ - return((b!=0.0)?(a/b):a); -} - -/*! - * Square root. Prevents imaginary output. - * \return sqrt(a) if a > 0.0. 0.0 otherewise. - */ -inline double db_SafeSqrt(double a) -{ - return((a>=0.0)?(sqrt(a)):0.0); -} - -/*! - * Square root of a reciprocal. Prevents divide by 0 and imaginary output. - * \return sqrt(1/a) if a > 0.0. 1.0 otherewise. - */ -inline double db_SafeSqrtReciprocal(double a) -{ - return((a>0.0)?(sqrt(1.0/a)):1.0); -} -/*! - * Cube root. - */ -inline double db_CubRoot(double x) -{ - if(x>=0.0) return(pow(x,1.0/3.0)); - else return(-pow(-x,1.0/3.0)); -} -/*! - * Sum of squares of elements of x. - */ -inline double db_SquareSum3(const double x[3]) -{ - return(db_sqr(x[0])+db_sqr(x[1])+db_sqr(x[2])); -} -/*! - * Sum of squares of elements of x. - */ -inline double db_SquareSum7(double x[7]) -{ - return(db_sqr(x[0])+db_sqr(x[1])+db_sqr(x[2])+ - db_sqr(x[3])+db_sqr(x[4])+db_sqr(x[5])+ - db_sqr(x[6])); -} -/*! - * Sum of squares of elements of x. - */ -inline double db_SquareSum9(double x[9]) -{ - return(db_sqr(x[0])+db_sqr(x[1])+db_sqr(x[2])+ - db_sqr(x[3])+db_sqr(x[4])+db_sqr(x[5])+ - db_sqr(x[6])+db_sqr(x[7])+db_sqr(x[8])); -} -/*! - * Copy a vector. - * \param xd destination - * \param xs source - */ -void inline db_Copy3(double xd[3],const double xs[3]) -{ - xd[0]=xs[0];xd[1]=xs[1];xd[2]=xs[2]; -} -/*! - * Copy a vector. - * \param xd destination - * \param xs source - */ -void inline db_Copy6(double xd[6],const double xs[6]) -{ - xd[0]=xs[0];xd[1]=xs[1];xd[2]=xs[2]; - xd[3]=xs[3];xd[4]=xs[4];xd[5]=xs[5]; -} -/*! - * Copy a vector. - * \param xd destination - * \param xs source - */ -void inline db_Copy9(double xd[9],const double xs[9]) -{ - xd[0]=xs[0];xd[1]=xs[1];xd[2]=xs[2]; - xd[3]=xs[3];xd[4]=xs[4];xd[5]=xs[5]; - xd[6]=xs[6];xd[7]=xs[7];xd[8]=xs[8]; -} - -/*! - * Scalar product: Transpose(A)*B. - */ -inline double db_ScalarProduct4(const double A[4],const double B[4]) -{ - return(A[0]*B[0]+A[1]*B[1]+A[2]*B[2]+A[3]*B[3]); -} -/*! - * Scalar product: Transpose(A)*B. - */ -inline double db_ScalarProduct7(const double A[7],const double B[7]) -{ - return(A[0]*B[0]+A[1]*B[1]+A[2]*B[2]+ - A[3]*B[3]+A[4]*B[4]+A[5]*B[5]+ - A[6]*B[6]); -} -/*! - * Scalar product: Transpose(A)*B. - */ -inline double db_ScalarProduct9(const double A[9],const double B[9]) -{ - return(A[0]*B[0]+A[1]*B[1]+A[2]*B[2]+ - A[3]*B[3]+A[4]*B[4]+A[5]*B[5]+ - A[6]*B[6]+A[7]*B[7]+A[8]*B[8]); -} -/*! - * Vector addition: S=A+B. - */ -inline void db_AddVectors6(double S[6],const double A[6],const double B[6]) -{ - S[0]=A[0]+B[0]; S[1]=A[1]+B[1]; S[2]=A[2]+B[2]; S[3]=A[3]+B[3]; S[4]=A[4]+B[4]; - S[5]=A[5]+B[5]; -} -/*! - * Multiplication: C(3x1)=A(3x3)*B(3x1). - */ -inline void db_Multiply3x3_3x1(double y[3],const double A[9],const double x[3]) -{ - y[0]=A[0]*x[0]+A[1]*x[1]+A[2]*x[2]; - y[1]=A[3]*x[0]+A[4]*x[1]+A[5]*x[2]; - y[2]=A[6]*x[0]+A[7]*x[1]+A[8]*x[2]; -} -inline void db_Multiply3x3_3x3(double C[9], const double A[9],const double B[9]) -{ - C[0]=A[0]*B[0]+A[1]*B[3]+A[2]*B[6]; - C[1]=A[0]*B[1]+A[1]*B[4]+A[2]*B[7]; - C[2]=A[0]*B[2]+A[1]*B[5]+A[2]*B[8]; - - C[3]=A[3]*B[0]+A[4]*B[3]+A[5]*B[6]; - C[4]=A[3]*B[1]+A[4]*B[4]+A[5]*B[7]; - C[5]=A[3]*B[2]+A[4]*B[5]+A[5]*B[8]; - - C[6]=A[6]*B[0]+A[7]*B[3]+A[8]*B[6]; - C[7]=A[6]*B[1]+A[7]*B[4]+A[8]*B[7]; - C[8]=A[6]*B[2]+A[7]*B[5]+A[8]*B[8]; -} -/*! - * Multiplication: C(4x1)=A(4x4)*B(4x1). - */ -inline void db_Multiply4x4_4x1(double y[4],const double A[16],const double x[4]) -{ - y[0]=A[0]*x[0]+A[1]*x[1]+A[2]*x[2]+A[3]*x[3]; - y[1]=A[4]*x[0]+A[5]*x[1]+A[6]*x[2]+A[7]*x[3]; - y[2]=A[8]*x[0]+A[9]*x[1]+A[10]*x[2]+A[11]*x[3]; - y[3]=A[12]*x[0]+A[13]*x[1]+A[14]*x[2]+A[15]*x[3]; -} -/*! - * Scalar multiplication in place: A(3)=mult*A(3). - */ -inline void db_MultiplyScalar3(double *A,double mult) -{ - (*A++) *= mult; (*A++) *= mult; (*A++) *= mult; -} - -/*! - * Scalar multiplication: A(3)=mult*B(3). - */ -inline void db_MultiplyScalarCopy3(double *A,const double *B,double mult) -{ - (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; -} - -/*! - * Scalar multiplication: A(4)=mult*B(4). - */ -inline void db_MultiplyScalarCopy4(double *A,const double *B,double mult) -{ - (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; -} -/*! - * Scalar multiplication: A(7)=mult*B(7). - */ -inline void db_MultiplyScalarCopy7(double *A,const double *B,double mult) -{ - (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; - (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; -} -/*! - * Scalar multiplication: A(9)=mult*B(9). - */ -inline void db_MultiplyScalarCopy9(double *A,const double *B,double mult) -{ - (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; - (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; -} - -/*! - * \defgroup LMImageBasicUtilities (LM) Basic Image Utility Functions - - Images in db are simply 2D arrays of unsigned char or float types. - Only the very basic operations are supported: allocation/deallocation, -copying, simple pyramid construction and LUT warping. These images are used -by db_CornerDetector_u and db_Matcher_u. The db_Image class is an attempt -to wrap these images. It has not been tested well. - - */ -/*\{*/ -/*! - * Given a float image array, allocates and returns the set of row poiners. - * \param im image pointer - * \param w image width - * \param h image height - */ -DB_API float** db_SetupImageReferences_f(float *im,int w,int h); -/*! - * Allocate a float image. - * Note: for feature detection images must be overallocated by 256 bytes. - * \param w width - * \param h height - * \param over_allocation allocate this many extra bytes at the end - * \return row array pointer - */ -DB_API float** db_AllocImage_f(int w,int h,int over_allocation=256); -/*! - * Free a float image - * \param img row array pointer - * \param h image height (number of rows) - */ -DB_API void db_FreeImage_f(float **img,int h); -/*! - * Given an unsigned char image array, allocates and returns the set of row poiners. - * \param im image pointer - * \param w image width - * \param h image height - */ -DB_API unsigned char** db_SetupImageReferences_u(unsigned char *im,int w,int h); -/*! - * Allocate an unsigned char image. - * Note: for feature detection images must be overallocated by 256 bytes. - * \param w width - * \param h height - * \param over_allocation allocate this many extra bytes at the end - * \return row array pointer - */ -DB_API unsigned char** db_AllocImage_u(int w,int h,int over_allocation=256); -/*! - * Free an unsigned char image - * \param img row array pointer - * \param h image height (number of rows) - */ -DB_API void db_FreeImage_u(unsigned char **img,int h); - -/*! - Copy an image from s to d. Both s and d must be pre-allocated at of the same size. - Copy is done row by row. - \param s source - \param d destination - \param w width - \param h height - \param over_allocation copy this many bytes after the end of the last line - */ -DB_API void db_CopyImage_u(unsigned char **d,const unsigned char * const *s,int w,int h,int over_allocation=0); - -DB_API inline unsigned char db_BilinearInterpolation(double y, double x, const unsigned char * const * v) -{ - int floor_x=(int) x; - int floor_y=(int) y; - - int ceil_x=floor_x+1; - int ceil_y=floor_y+1; - - unsigned char f00 = v[floor_y][floor_x]; - unsigned char f01 = v[floor_y][ceil_x]; - unsigned char f10 = v[ceil_y][floor_x]; - unsigned char f11 = v[ceil_y][ceil_x]; - - double xl = x-floor_x; - double yl = y-floor_y; - - return (unsigned char)(f00*(1-yl)*(1-xl) + f10*yl*(1-xl) + f01*(1-yl)*xl + f11*yl*xl); -} -/*\}*/ -/*! - * \ingroup LMRotation - * Compute an incremental rotation matrix using the update dx=[sin(phi) sin(ohm) sin(kap)] - */ -inline void db_IncrementalRotationMatrix(double R[9],const double dx[3]) -{ - double sp,so,sk,om_sp2,om_so2,om_sk2,cp,co,ck,sp_so,cp_so; - - /*Store sines*/ - sp=dx[0]; so=dx[1]; sk=dx[2]; - om_sp2=1.0-sp*sp; - om_so2=1.0-so*so; - om_sk2=1.0-sk*sk; - /*Compute cosines*/ - cp=(om_sp2>=0.0)?sqrt(om_sp2):1.0; - co=(om_so2>=0.0)?sqrt(om_so2):1.0; - ck=(om_sk2>=0.0)?sqrt(om_sk2):1.0; - /*Compute matrix*/ - sp_so=sp*so; - cp_so=cp*so; - R[0]=sp_so*sk+cp*ck; R[1]=co*sk; R[2]=cp_so*sk-sp*ck; - R[3]=sp_so*ck-cp*sk; R[4]=co*ck; R[5]=cp_so*ck+sp*sk; - R[6]=sp*co; R[7]= -so; R[8]=cp*co; -} -/*! - * Zero out 2 vector in place. - */ -void inline db_Zero2(double x[2]) -{ - x[0]=x[1]=0; -} -/*! - * Zero out 3 vector in place. - */ -void inline db_Zero3(double x[3]) -{ - x[0]=x[1]=x[2]=0; -} -/*! - * Zero out 4 vector in place. - */ -void inline db_Zero4(double x[4]) -{ - x[0]=x[1]=x[2]=x[3]=0; -} -/*! - * Zero out 9 vector in place. - */ -void inline db_Zero9(double x[9]) -{ - x[0]=x[1]=x[2]=x[3]=x[4]=x[5]=x[6]=x[7]=x[8]=0; -} - -#define DB_WARP_FAST 0 -#define DB_WARP_BILINEAR 1 - -/*! - * Perform a look-up table warp. - * The LUTs must be float images of the same size as source image. - * The source value x_s is determined from destination (x_d,y_d) through lut_x - * and y_s is determined from lut_y: - \code - x_s = lut_x[y_d][x_d]; - y_s = lut_y[y_d][x_d]; - \endcode - - * \param src source image - * \param dst destination image - * \param w width - * \param h height - * \param lut_x LUT for x - * \param lut_y LUT for y - * \param type warp type (DB_WARP_FAST or DB_WARP_BILINEAR) - */ -DB_API void db_WarpImageLut_u(const unsigned char * const * src,unsigned char ** dst, int w, int h, - const float * const * lut_x, const float * const * lut_y, int type=DB_WARP_BILINEAR); - -DB_API void db_PrintDoubleVector(double *a,long size); -DB_API void db_PrintDoubleMatrix(double *a,long rows,long cols); - -#include "db_utilities_constants.h" -#include "db_utilities_algebra.h" -#include "db_utilities_indexing.h" -#include "db_utilities_linalg.h" -#include "db_utilities_poly.h" -#include "db_utilities_geometry.h" -#include "db_utilities_random.h" -#include "db_utilities_rotation.h" -#include "db_utilities_camera.h" - -#define DB_INVALID (-1) - - -#endif /* DB_UTILITIES_H */ |