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| author | Byunghun Jeon <bjeon@codeaurora.org> | 2015-05-18 11:35:38 -0700 |
|---|---|---|
| committer | Gerrit - the friendly Code Review server <code-review@localhost> | 2015-07-30 12:29:07 -0700 |
| commit | f61915f04cf9c47e1c23688a9eeffbf552617b82 (patch) | |
| tree | c78e9f505aadd87d37ed91d74a75c3199bffc575 /jni/feature_stab | |
| parent | a2a57a538c401b564070f10dfac34cae12312928 (diff) | |
| download | android_packages_apps_Snap-f61915f04cf9c47e1c23688a9eeffbf552617b82.tar.gz android_packages_apps_Snap-f61915f04cf9c47e1c23688a9eeffbf552617b82.tar.bz2 android_packages_apps_Snap-f61915f04cf9c47e1c23688a9eeffbf552617b82.zip | |
SnapdragonCamera: Improved panorama
Improved panorama with faster performance and low memory
consumption. Also displays progress while taking panorama shot.
Change-Id: I88ae1205f056ebe59129e65d69fcc44f46a5ab92
CRs-Fixed: 859274
Diffstat (limited to 'jni/feature_stab')
43 files changed, 0 insertions, 16962 deletions
diff --git a/jni/feature_stab/db_vlvm/db_bundle.h b/jni/feature_stab/db_vlvm/db_bundle.h deleted file mode 100644 index e4fb8db2c..000000000 --- a/jni/feature_stab/db_vlvm/db_bundle.h +++ /dev/null @@ -1,68 +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_bundle.h,v 1.2 2011/06/17 14:03:30 mbansal Exp $ */ - -#ifndef DB_BUNDLE_H -#define DB_BUNDLE_H - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ -/*! - * \defgroup LMBundle (LM) Bundle adjustment utilities (a.k.a. Levenberg-Marquardt algorithm) - */ -/*\{*/ - -#include "db_utilities.h" - -/*! -Solve for update dx such that diagmult(1+lambda,transpose(J)%J)%dx= -Jtf -using only upper half of JtJ, destroying lower half below diagonal in the process -dimension is n and d should point to n allocated doubles of scratch memory -*/ -inline void db_Compute_dx(double *dx,double **JtJ,double *min_Jtf,double lambda,double *d,int n) -{ - int i; - double opl; - - opl=1.0+lambda; - for(i=0;i<n;i++) d[i]=JtJ[i][i]*opl; - - db_CholeskyDecompSeparateDiagonal(JtJ,d,n); - db_CholeskyBacksub(dx,JtJ,d,n,min_Jtf); -} - -/*! -Solve for update dx such that diagmult(1+lambda,transpose(J)%J)%dx= -Jtf -using only upper half of JtJ, destroying lower half below diagonal in the process -*/ -inline void db_Compute_dx_3x3(double dx[3],double JtJ[9],const double min_Jtf[3],double lambda) -{ - double d[3],opl; - - opl=1.0+lambda; - d[0]=JtJ[0]*opl; - d[1]=JtJ[4]*opl; - d[2]=JtJ[8]*opl; - db_CholeskyDecomp3x3SeparateDiagonal(JtJ,d); - db_CholeskyBacksub3x3(dx,JtJ,d,min_Jtf); -} - -/*\}*/ - -#endif /* DB_BUNDLE_H */ diff --git a/jni/feature_stab/db_vlvm/db_feature_detection.cpp b/jni/feature_stab/db_vlvm/db_feature_detection.cpp deleted file mode 100644 index 28cb4a781..000000000 --- a/jni/feature_stab/db_vlvm/db_feature_detection.cpp +++ /dev/null @@ -1,1770 +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_feature_detection.cpp,v 1.4 2011/06/17 14:03:30 mbansal Exp $*/ - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ - -#include "db_utilities.h" -#include "db_feature_detection.h" -#ifdef _VERBOSE_ -#include <iostream> -#endif -#include <float.h> - -#define DB_SUB_PIXEL - -#define BORDER 10 // 5 - -float** db_AllocStrengthImage_f(float **im,int w,int h) -{ - int i,n,aw; - long c,size; - float **img,*aim,*p; - - /*Determine number of 124 element chunks needed*/ - n=(db_maxi(1,w-6)+123)/124; - /*Determine the total allocation width aw*/ - aw=n*124+8; - /*Allocate*/ - size=aw*h+16; - *im=new float [size]; - /*Clean up*/ - p=(*im); - for(c=0;c<size;c++) p[c]=0.0; - /*Get a 16 byte aligned pointer*/ - aim=db_AlignPointer_f(*im,16); - /*Allocate pointer table*/ - img=new float* [h]; - /*Initialize the pointer table*/ - for(i=0;i<h;i++) - { - img[i]=aim+aw*i+1; - } - - return(img); -} - -void db_FreeStrengthImage_f(float *im,float **img,int h) -{ - delete [] im; - delete [] img; -} - -/*Compute derivatives Ix,Iy for a subrow of img with upper left (i,j) and width chunk_width -Memory references occur one pixel outside the subrow*/ -inline void db_IxIyRow_f(float *Ix,float *Iy,const float * const *img,int i,int j,int chunk_width) -{ - int c; - - for(c=0;c<chunk_width;c++) - { - Ix[c]=img[i][j+c-1]-img[i][j+c+1]; - Iy[c]=img[i-1][j+c]-img[i+1][j+c]; - } -} - -/*Compute derivatives Ix,Iy for a subrow of img with upper left (i,j) and width 128 -Memory references occur one pixel outside the subrow*/ -inline void db_IxIyRow_u(int *dxx,const unsigned char * const *img,int i,int j,int nc) -{ -#ifdef DB_USE_MMX - const unsigned char *r1,*r2,*r3; - - r1=img[i-1]+j; r2=img[i]+j; r3=img[i+1]+j; - - _asm - { - mov esi,16 - mov eax,r1 - mov ebx,r2 - mov ecx,r3 - mov edx,dxx - - /*Get bitmask into mm7*/ - mov edi,7F7F7F7Fh - movd mm7,edi - punpckldq mm7,mm7 - -loopstart: - /***************dx part 1-12*********************************/ - movq mm0,[eax] /*1 Get upper*/ - pxor mm6,mm6 /*2 Set to zero*/ - movq mm1,[ecx] /*3 Get lower*/ - psrlq mm0,1 /*4 Shift*/ - psrlq mm1,1 /*5 Shift*/ - pand mm0,mm7 /*6 And*/ - movq mm2,[ebx-1] /*13 Get left*/ - pand mm1,mm7 /*7 And*/ - psubb mm0,mm1 /*8 Subtract*/ - pxor mm5,mm5 /*14 Set to zero*/ - movq mm1,mm0 /*9 Copy*/ - pcmpgtb mm6,mm0 /*10 Create unpack mask*/ - movq mm3,[ebx+1] /*15 Get right*/ - punpcklbw mm0,mm6 /*11 Unpack low*/ - punpckhbw mm1,mm6 /*12 Unpack high*/ - /***************dy part 13-24*********************************/ - movq mm4,mm0 /*25 Copy dx*/ - psrlq mm2,1 /*16 Shift*/ - pmullw mm0,mm0 /*26 Multiply dx*dx*/ - psrlq mm3,1 /*17 Shift*/ - pand mm2,mm7 /*18 And*/ - pand mm3,mm7 /*19 And*/ - /*Stall*/ - psubb mm2,mm3 /*20 Subtract*/ - /*Stall*/ - movq mm3,mm2 /*21 Copy*/ - pcmpgtb mm5,mm2 /*22 Create unpack mask*/ - punpcklbw mm2,mm5 /*23 Unpack low*/ - /*Stall*/ - punpckhbw mm3,mm5 /*24 Unpack high*/ - /***************dxx dxy dyy low part 25-49*********************************/ - pmullw mm4,mm2 /*27 Multiply dx*dy*/ - pmullw mm2,mm2 /*28 Multiply dy*dy*/ - pxor mm6,mm6 /*29 Set to zero*/ - movq mm5,mm0 /*30 Copy dx*dx*/ - pcmpgtw mm6,mm0 /*31 Create unpack mask for dx*dx*/ - punpcklwd mm0,mm6 /*32 Unpack dx*dx lows*/ - /*Stall*/ - punpckhwd mm5,mm6 /*33 Unpack dx*dx highs*/ - pxor mm6,mm6 /*36 Set to zero*/ - movq [edx],mm0 /*34 Store dx*dx lows*/ - movq mm0,mm4 /*37 Copy dx*dy*/ - movq [edx+8],mm5 /*35 Store dx*dx highs*/ - pcmpgtw mm6,mm4 /*38 Create unpack mask for dx*dy*/ - punpcklwd mm4,mm6 /*39 Unpack dx*dy lows*/ - /*Stall*/ - punpckhwd mm0,mm6 /*40 Unpack dx*dy highs*/ - pxor mm6,mm6 /*43 Set to zero*/ - movq [edx+512],mm4 /*41 Store dx*dy lows*/ - movq mm5,mm2 /*44 Copy dy*dy*/ - movq [edx+520],mm0 /*42 Store dx*dy highs*/ - pcmpgtw mm6,mm2 /*45 Create unpack mask for dy*dy*/ - punpcklwd mm2,mm6 /*46 Unpack dy*dy lows*/ - movq mm4,mm1 /*50 Copy dx*/ - punpckhwd mm5,mm6 /*47 Unpack dy*dy highs*/ - pmullw mm1,mm1 /*51 Multiply dx*dx*/ - movq [edx+1024],mm2 /*48 Store dy*dy lows*/ - pmullw mm4,mm3 /*52 Multiply dx*dy*/ - movq [edx+1032],mm5 /*49 Store dy*dy highs*/ - /***************dxx dxy dyy high part 50-79*********************************/ - pmullw mm3,mm3 /*53 Multiply dy*dy*/ - pxor mm6,mm6 /*54 Set to zero*/ - movq mm5,mm1 /*55 Copy dx*dx*/ - pcmpgtw mm6,mm1 /*56 Create unpack mask for dx*dx*/ - pxor mm2,mm2 /*61 Set to zero*/ - punpcklwd mm1,mm6 /*57 Unpack dx*dx lows*/ - movq mm0,mm4 /*62 Copy dx*dy*/ - punpckhwd mm5,mm6 /*58 Unpack dx*dx highs*/ - pcmpgtw mm2,mm4 /*63 Create unpack mask for dx*dy*/ - movq [edx+16],mm1 /*59 Store dx*dx lows*/ - punpcklwd mm4,mm2 /*64 Unpack dx*dy lows*/ - movq [edx+24],mm5 /*60 Store dx*dx highs*/ - punpckhwd mm0,mm2 /*65 Unpack dx*dy highs*/ - movq [edx+528],mm4 /*66 Store dx*dy lows*/ - pxor mm6,mm6 /*68 Set to zero*/ - movq [edx+536],mm0 /*67 Store dx*dy highs*/ - movq mm5,mm3 /*69 Copy dy*dy*/ - pcmpgtw mm6,mm3 /*70 Create unpack mask for dy*dy*/ - add eax,8 /*75*/ - punpcklwd mm3,mm6 /*71 Unpack dy*dy lows*/ - add ebx,8 /*76*/ - punpckhwd mm5,mm6 /*72 Unpack dy*dy highs*/ - add ecx,8 /*77*/ - movq [edx+1040],mm3 /*73 Store dy*dy lows*/ - /*Stall*/ - movq [edx+1048],mm5 /*74 Store dy*dy highs*/ - /*Stall*/ - add edx,32 /*78*/ - dec esi /*79*/ - jnz loopstart - - emms - } - -#else - int c; - int Ix,Iy; - - for(c=0;c<nc;c++) - { - Ix=(img[i][j+c-1]-img[i][j+c+1])>>1; - Iy=(img[i-1][j+c]-img[i+1][j+c])>>1; - dxx[c]=Ix*Ix; - dxx[c+128]=Ix*Iy; - dxx[c+256]=Iy*Iy; - } -#endif /*DB_USE_MMX*/ -} - -/*Filter vertically five rows of derivatives of length chunk_width into gxx,gxy,gyy*/ -inline void db_gxx_gxy_gyy_row_f(float *gxx,float *gxy,float *gyy,int chunk_width, - float *Ix0,float *Ix1,float *Ix2,float *Ix3,float *Ix4, - float *Iy0,float *Iy1,float *Iy2,float *Iy3,float *Iy4) -{ - int c; - float dx,dy; - float Ixx0,Ixy0,Iyy0,Ixx1,Ixy1,Iyy1,Ixx2,Ixy2,Iyy2,Ixx3,Ixy3,Iyy3,Ixx4,Ixy4,Iyy4; - - for(c=0;c<chunk_width;c++) - { - dx=Ix0[c]; - dy=Iy0[c]; - Ixx0=dx*dx; - Ixy0=dx*dy; - Iyy0=dy*dy; - - dx=Ix1[c]; - dy=Iy1[c]; - Ixx1=dx*dx; - Ixy1=dx*dy; - Iyy1=dy*dy; - - dx=Ix2[c]; - dy=Iy2[c]; - Ixx2=dx*dx; - Ixy2=dx*dy; - Iyy2=dy*dy; - - dx=Ix3[c]; - dy=Iy3[c]; - Ixx3=dx*dx; - Ixy3=dx*dy; - Iyy3=dy*dy; - - dx=Ix4[c]; - dy=Iy4[c]; - Ixx4=dx*dx; - Ixy4=dx*dy; - Iyy4=dy*dy; - - /*Filter vertically*/ - gxx[c]=Ixx0+Ixx1*4.0f+Ixx2*6.0f+Ixx3*4.0f+Ixx4; - gxy[c]=Ixy0+Ixy1*4.0f+Ixy2*6.0f+Ixy3*4.0f+Ixy4; - gyy[c]=Iyy0+Iyy1*4.0f+Iyy2*6.0f+Iyy3*4.0f+Iyy4; - } -} - -/*Filter vertically five rows of derivatives of length 128 into gxx,gxy,gyy*/ -inline void db_gxx_gxy_gyy_row_s(int *g,int *d0,int *d1,int *d2,int *d3,int *d4,int nc) -{ -#ifdef DB_USE_MMX - int c; - - _asm - { - mov c,64 - mov eax,d0 - mov ebx,d1 - mov ecx,d2 - mov edx,d3 - mov edi,d4 - mov esi,g - -loopstart: - /***************dxx part 1-14*********************************/ - movq mm0,[eax] /*1 Get dxx0*/ - /*Stall*/ - movq mm1,[ebx] /*2 Get dxx1*/ - /*Stall*/ - movq mm2,[ecx] /*5 Get dxx2*/ - pslld mm1,2 /*3 Shift dxx1*/ - movq mm3,[edx] /*10 Get dxx3*/ - paddd mm0,mm1 /*4 Accumulate dxx1*/ - movq mm4,[eax+512] /*15 Get dxy0*/ - pslld mm2,1 /*6 Shift dxx2 1*/ - paddd mm0,mm2 /*7 Accumulate dxx2 1*/ - pslld mm2,1 /*8 Shift dxx2 2*/ - movq mm5,[ebx+512] /*16 Get dxy1*/ - paddd mm0,mm2 /*9 Accumulate dxx2 2*/ - pslld mm3,2 /*11 Shift dxx3*/ - /*Stall*/ - paddd mm0,mm3 /*12 Accumulate dxx3*/ - pslld mm5,2 /*17 Shift dxy1*/ - paddd mm0,[edi] /*13 Accumulate dxx4*/ - paddd mm4,mm5 /*18 Accumulate dxy1*/ - movq mm6,[ecx+512] /*19 Get dxy2*/ - /*Stall*/ - movq [esi],mm0 /*14 Store dxx sums*/ - /***************dxy part 15-28*********************************/ - pslld mm6,1 /*20 Shift dxy2 1*/ - paddd mm4,mm6 /*21 Accumulate dxy2 1*/ - pslld mm6,1 /*22 Shift dxy2 2*/ - movq mm0,[eax+1024] /*29 Get dyy0*/ - paddd mm4,mm6 /*23 Accumulate dxy2 2*/ - movq mm7,[edx+512] /*24 Get dxy3*/ - pslld mm7,2 /*25 Shift dxy3*/ - movq mm1,[ebx+1024] /*30 Get dyy1*/ - paddd mm4,mm7 /*26 Accumulate dxy3*/ - paddd mm4,[edi+512] /*27 Accumulate dxy4*/ - pslld mm1,2 /*31 Shift dyy1*/ - movq mm2,[ecx+1024] /*33 Get dyy2*/ - paddd mm0,mm1 /*32 Accumulate dyy1*/ - movq [esi+512],mm4 /*28 Store dxy sums*/ - pslld mm2,1 /*34 Shift dyy2 1*/ - /***************dyy part 29-49*********************************/ - - - movq mm3,[edx+1024] /*38 Get dyy3*/ - paddd mm0,mm2 /*35 Accumulate dyy2 1*/ - paddd mm0,[edi+1024] /*41 Accumulate dyy4*/ - pslld mm2,1 /*36 Shift dyy2 2*/ - paddd mm0,mm2 /*37 Accumulate dyy2 2*/ - pslld mm3,2 /*39 Shift dyy3*/ - paddd mm0,mm3 /*40 Accumulate dyy3*/ - add eax,8 /*43*/ - add ebx,8 /*44*/ - add ecx,8 /*45*/ - movq [esi+1024],mm0 /*42 Store dyy sums*/ - /*Stall*/ - add edx,8 /*46*/ - add edi,8 /*47*/ - add esi,8 /*48*/ - dec c /*49*/ - jnz loopstart - - emms - } - -#else - int c,dd; - - for(c=0;c<nc;c++) - { - /*Filter vertically*/ - dd=d2[c]; - g[c]=d0[c]+(d1[c]<<2)+(dd<<2)+(dd<<1)+(d3[c]<<2)+d4[c]; - - dd=d2[c+128]; - g[c+128]=d0[c+128]+(d1[c+128]<<2)+(dd<<2)+(dd<<1)+(d3[c+128]<<2)+d4[c+128]; - - dd=d2[c+256]; - g[c+256]=d0[c+256]+(d1[c+256]<<2)+(dd<<2)+(dd<<1)+(d3[c+256]<<2)+d4[c+256]; - } -#endif /*DB_USE_MMX*/ -} - -/*Filter horizontally the three rows gxx,gxy,gyy into the strength subrow starting at i,j -and with width chunk_width. gxx,gxy and gyy are assumed to be four pixels wider than chunk_width -and starting at (i,j-2)*/ -inline void db_HarrisStrength_row_f(float **s,float *gxx,float *gxy,float *gyy,int i,int j,int chunk_width) -{ - float Gxx,Gxy,Gyy,det,trc; - int c; - - for(c=0;c<chunk_width;c++) - { - Gxx=gxx[c]+gxx[c+1]*4.0f+gxx[c+2]*6.0f+gxx[c+3]*4.0f+gxx[c+4]; - Gxy=gxy[c]+gxy[c+1]*4.0f+gxy[c+2]*6.0f+gxy[c+3]*4.0f+gxy[c+4]; - Gyy=gyy[c]+gyy[c+1]*4.0f+gyy[c+2]*6.0f+gyy[c+3]*4.0f+gyy[c+4]; - - det=Gxx*Gyy-Gxy*Gxy; - trc=Gxx+Gyy; - s[i][j+c]=det-0.06f*trc*trc; - } -} - -/*Filter g of length 128 in place with 14641. Output is shifted two steps -and of length 124*/ -inline void db_Filter14641_128_i(int *g,int nc) -{ -#ifdef DB_USE_MMX - int mask; - - mask=0xFFFFFFFF; - _asm - { - mov esi,31 - mov eax,g - - /*Get bitmask 00000000FFFFFFFF into mm7*/ - movd mm7,mask - - /*Warming iteration one 1-16********************/ - movq mm6,[eax] /*1 Load new data*/ - paddd mm0,mm6 /*2 Add 1* behind two steps*/ - movq mm2,mm6 /*3 Start with 1* in front two steps*/ - pslld mm6,1 /*4*/ - paddd mm1,mm6 /*5 Add 2* same place*/ - pslld mm6,1 /*6*/ - paddd mm1,mm6 /*7 Add 4* same place*/ - pshufw mm6,mm6,4Eh /*8 Swap the two double-words using bitmask 01001110=4Eh*/ - paddd mm1,mm6 /*9 Add 4* swapped*/ - movq mm5,mm6 /*10 Copy*/ - pand mm6,mm7 /*11 Get low double-word only*/ - paddd mm2,mm6 /*12 Add 4* in front one step*/ - pxor mm6,mm5 /*13 Get high double-word only*/ - paddd mm0,mm6 /*14 Add 4* behind one step*/ - movq mm0,mm1 /*15 Shift along*/ - movq mm1,mm2 /*16 Shift along*/ - /*Warming iteration two 17-32********************/ - movq mm4,[eax+8] /*17 Load new data*/ - paddd mm0,mm4 /*18 Add 1* behind two steps*/ - movq mm2,mm4 /*19 Start with 1* in front two steps*/ - pslld mm4,1 /*20*/ - paddd mm1,mm4 /*21 Add 2* same place*/ - pslld mm4,1 /*22*/ - paddd mm1,mm4 /*23 Add 4* same place*/ - pshufw mm4,mm4,4Eh /*24 Swap the two double-words using bitmask 01001110=4Eh*/ - paddd mm1,mm4 /*25 Add 4* swapped*/ - movq mm3,mm4 /*26 Copy*/ - pand mm4,mm7 /*27 Get low double-word only*/ - paddd mm2,mm4 /*28 Add 4* in front one step*/ - pxor mm4,mm3 /*29 Get high double-word only*/ - paddd mm0,mm4 /*30 Add 4* behind one step*/ - movq mm0,mm1 /*31 Shift along*/ - movq mm1,mm2 /*32 Shift along*/ - - /*Loop********************/ -loopstart: - /*First part of loop 33-47********/ - movq mm6,[eax+16] /*33 Load new data*/ - /*Stall*/ - paddd mm0,mm6 /*34 Add 1* behind two steps*/ - movq mm2,mm6 /*35 Start with 1* in front two steps*/ - movq mm4,[eax+24] /*48 Load new data*/ - pslld mm6,1 /*36*/ - paddd mm1,mm6 /*37 Add 2* same place*/ - pslld mm6,1 /*38*/ - paddd mm1,mm6 /*39 Add 4* same place*/ - pshufw mm6,mm6,4Eh /*40 Swap the two double-words using bitmask 01001110=4Eh*/ - paddd mm1,mm4 /*49 Add 1* behind two steps*/ - movq mm5,mm6 /*41 Copy*/ - paddd mm1,mm6 /*42 Add 4* swapped*/ - pand mm6,mm7 /*43 Get low double-word only*/ - paddd mm2,mm6 /*44 Add 4* in front one step*/ - pxor mm6,mm5 /*45 Get high double-word only*/ - paddd mm0,mm6 /*46 Add 4* behind one step*/ - movq mm6,mm4 /*50a Copy*/ - pslld mm4,1 /*51*/ - /*Stall*/ - movq [eax],mm0 /*47 Store result two steps behind*/ - /*Second part of loop 48-66********/ - movq mm0,mm6 /*50b Start with 1* in front two steps*/ - paddd mm2,mm4 /*52 Add 2* same place*/ - pslld mm4,1 /*53*/ - paddd mm2,mm4 /*54 Add 4* same place*/ - pshufw mm4,mm4,4Eh /*55 Swap the two double-words using bitmask 01001110=4Eh*/ - paddd mm2,mm4 /*56 Add 4* swapped*/ - movq mm3,mm4 /*57 Copy*/ - pand mm4,mm7 /*58 Get low double-word only*/ - /*Stall*/ - paddd mm0,mm4 /*59 Add 4* in front one step*/ - pxor mm4,mm3 /*60 Get high double-word only*/ - paddd mm1,mm4 /*61 Add 4* behind one step*/ - add eax,16 /*65*/ - dec esi /*66*/ - /*Stall*/ - movq [eax-8],mm1 /*62 Store result two steps behind*/ - movq mm1,mm0 /*63 Shift along*/ - movq mm0,mm2 /*64 Shift along*/ - jnz loopstart - - emms - } - -#else - int c; - - for(c=0;c<nc-4;c++) - { - g[c]=g[c]+(g[c+1]<<2)+(g[c+2]<<2)+(g[c+2]<<1)+(g[c+3]<<2)+g[c+4]; - } -#endif /*DB_USE_MMX*/ -} - -/*Filter horizontally the three rows gxx,gxy,gyy of length 128 into the strength subrow s -of length 124. gxx,gxy and gyy are assumed to be starting at (i,j-2) if s[i][j] is sought. -s should be 16 byte aligned*/ -inline void db_HarrisStrength_row_s(float *s,int *gxx,int *gxy,int *gyy,int nc) -{ - float k; - - k=0.06f; - - db_Filter14641_128_i(gxx,nc); - db_Filter14641_128_i(gxy,nc); - db_Filter14641_128_i(gyy,nc); - -#ifdef DB_USE_SIMD - - - _asm - { - mov esi,15 - mov eax,gxx - mov ebx,gxy - mov ecx,gyy - mov edx,s - - /*broadcast k to all positions of xmm7*/ - movss xmm7,k - shufps xmm7,xmm7,0 - - /*****Warm up 1-10**************************************/ - cvtpi2ps xmm0,[eax+8] /*1 Convert two integers into floating point of low double-word*/ - /*Stall*/ - cvtpi2ps xmm1,[ebx+8] /*4 Convert two integers into floating point of low double-word*/ - movlhps xmm0,xmm0 /*2 Move them to the high double-word*/ - cvtpi2ps xmm2,[ecx+8] /*7 Convert two integers into floating point of low double-word*/ - movlhps xmm1,xmm1 /*5 Move them to the high double-word*/ - cvtpi2ps xmm0,[eax] /*3 Convert two integers into floating point of low double-word*/ - movlhps xmm2,xmm2 /*8 Move them to the high double-word*/ - cvtpi2ps xmm1,[ebx] /*6 Convert two integers into floating point of low double-word*/ - movaps xmm3,xmm0 /*10 Copy Cxx*/ - cvtpi2ps xmm2,[ecx] /*9 Convert two integers into floating point of low double-word*/ - /*Stall*/ -loopstart: - /*****First part of loop 11-18***********************/ - mulps xmm0,xmm2 /*11 Multiply to get Gxx*Gyy*/ - addps xmm2,xmm3 /*12 Add to get Gxx+Gyy*/ - cvtpi2ps xmm4,[eax+24] /*19 Convert two integers into floating point of low double-word*/ - mulps xmm1,xmm1 /*13 Multiply to get Gxy*Gxy*/ - mulps xmm2,xmm2 /*14 Multiply to get (Gxx+Gyy)*(Gxx+Gyy)*/ - movlhps xmm4,xmm4 /*20 Move them to the high double-word*/ - cvtpi2ps xmm4,[eax+16] /*21 Convert two integers into floating point of low double-word*/ - /*Stall*/ - subps xmm0,xmm1 /*15 Subtract to get Gxx*Gyy-Gxy*Gxy*/ - mulps xmm2,xmm7 /*16 Multiply to get k*(Gxx+Gyy)*(Gxx+Gyy)*/ - cvtpi2ps xmm5,[ebx+24] /*22 Convert two integers into floating point of low double-word*/ - /*Stall*/ - movlhps xmm5,xmm5 /*23 Move them to the high double-word*/ - /*Stall*/ - cvtpi2ps xmm5,[ebx+16] /*24 Convert two integers into floating point of low double-word*/ - subps xmm0,xmm2 /*17 Subtract to get Gxx*Gyy-Gxy*Gxy-k*(Gxx+Gyy)*(Gxx+Gyy)*/ - cvtpi2ps xmm6,[ecx+24] /*25 Convert two integers into floating point of low double-word*/ - /*Stall*/ - movaps [edx],xmm0 /*18 Store*/ - /*****Second part of loop 26-40***********************/ - movlhps xmm6,xmm6 /*26 Move them to the high double-word*/ - cvtpi2ps xmm6,[ecx+16] /*27 Convert two integers into floating point of low double-word*/ - movaps xmm3,xmm4 /*28 Copy Cxx*/ - mulps xmm4,xmm6 /*29 Multiply to get Gxx*Gyy*/ - addps xmm6,xmm3 /*30 Add to get Gxx+Gyy*/ - cvtpi2ps xmm0,[eax+40] /*(1 Next) Convert two integers into floating point of low double-word*/ - mulps xmm5,xmm5 /*31 Multiply to get Gxy*Gxy*/ - cvtpi2ps xmm1,[ebx+40] /*(4 Next) Convert two integers into floating point of low double-word*/ - mulps xmm6,xmm6 /*32 Multiply to get (Gxx+Gyy)*(Gxx+Gyy)*/ - cvtpi2ps xmm2,[ecx+40] /*(7 Next) Convert two integers into floating point of low double-word*/ - movlhps xmm0,xmm0 /*(2 Next) Move them to the high double-word*/ - subps xmm4,xmm5 /*33 Subtract to get Gxx*Gyy-Gxy*Gxy*/ - movlhps xmm1,xmm1 /*(5 Next) Move them to the high double-word*/ - cvtpi2ps xmm0,[eax+32] /*(3 Next)Convert two integers into floating point of low double-word*/ - mulps xmm6,xmm7 /*34 Multiply to get k*(Gxx+Gyy)*(Gxx+Gyy)*/ - cvtpi2ps xmm1,[ebx+32] /*(6 Next) Convert two integers into floating point of low double-word*/ - movlhps xmm2,xmm2 /*(8 Next) Move them to the high double-word*/ - movaps xmm3,xmm0 /*(10 Next) Copy Cxx*/ - add eax,32 /*37*/ - subps xmm4,xmm6 /*35 Subtract to get Gxx*Gyy-Gxy*Gxy-k*(Gxx+Gyy)*(Gxx+Gyy)*/ - add ebx,32 /*38*/ - cvtpi2ps xmm2,[ecx+32] /*(9 Next) Convert two integers into floating point of low double-word*/ - /*Stall*/ - movaps [edx+16],xmm4 /*36 Store*/ - /*Stall*/ - add ecx,32 /*39*/ - add edx,32 /*40*/ - dec esi /*41*/ - jnz loopstart - - /****Cool down***************/ - mulps xmm0,xmm2 /*Multiply to get Gxx*Gyy*/ - addps xmm2,xmm3 /*Add to get Gxx+Gyy*/ - mulps xmm1,xmm1 /*Multiply to get Gxy*Gxy*/ - mulps xmm2,xmm2 /*Multiply to get (Gxx+Gyy)*(Gxx+Gyy)*/ - subps xmm0,xmm1 /*Subtract to get Gxx*Gyy-Gxy*Gxy*/ - mulps xmm2,xmm7 /*Multiply to get k*(Gxx+Gyy)*(Gxx+Gyy)*/ - subps xmm0,xmm2 /*Subtract to get Gxx*Gyy-Gxy*Gxy-k*(Gxx+Gyy)*(Gxx+Gyy)*/ - movaps [edx],xmm0 /*Store*/ - } - -#else - float Gxx,Gxy,Gyy,det,trc; - int c; - - //for(c=0;c<124;c++) - for(c=0;c<nc-4;c++) - { - Gxx=(float)gxx[c]; - Gxy=(float)gxy[c]; - Gyy=(float)gyy[c]; - - det=Gxx*Gyy-Gxy*Gxy; - trc=Gxx+Gyy; - s[c]=det-k*trc*trc; - } -#endif /*DB_USE_SIMD*/ -} - -/*Compute the Harris corner strength of the chunk [left,top,right,bottom] of img and -store it into the corresponding region of s. left and top have to be at least 3 and -right and bottom have to be at most width-4,height-4*/ -inline void db_HarrisStrengthChunk_f(float **s,const float * const *img,int left,int top,int right,int bottom, - /*temp should point to at least - 13*(right-left+5) of allocated memory*/ - float *temp) -{ - float *Ix[5],*Iy[5]; - float *gxx,*gxy,*gyy; - int i,chunk_width,chunk_width_p4; - - chunk_width=right-left+1; - chunk_width_p4=chunk_width+4; - gxx=temp; - gxy=gxx+chunk_width_p4; - gyy=gxy+chunk_width_p4; - for(i=0;i<5;i++) - { - Ix[i]=gyy+chunk_width_p4+(2*i*chunk_width_p4); - Iy[i]=Ix[i]+chunk_width_p4; - } - - /*Fill four rows of the wrap-around derivative buffers*/ - for(i=top-2;i<top+2;i++) db_IxIyRow_f(Ix[i%5],Iy[i%5],img,i,left-2,chunk_width_p4); - - /*For each output row*/ - for(i=top;i<=bottom;i++) - { - /*Step the derivative buffers*/ - db_IxIyRow_f(Ix[(i+2)%5],Iy[(i+2)%5],img,(i+2),left-2,chunk_width_p4); - - /*Filter Ix2,IxIy,Iy2 vertically into gxx,gxy,gyy*/ - db_gxx_gxy_gyy_row_f(gxx,gxy,gyy,chunk_width_p4, - Ix[(i-2)%5],Ix[(i-1)%5],Ix[i%5],Ix[(i+1)%5],Ix[(i+2)%5], - Iy[(i-2)%5],Iy[(i-1)%5],Iy[i%5],Iy[(i+1)%5],Iy[(i+2)%5]); - - /*Filter gxx,gxy,gyy horizontally and compute corner response s*/ - db_HarrisStrength_row_f(s,gxx,gxy,gyy,i,left,chunk_width); - } -} - -/*Compute the Harris corner strength of the chunk [left,top,left+123,bottom] of img and -store it into the corresponding region of s. left and top have to be at least 3 and -right and bottom have to be at most width-4,height-4. The left of the region in s should -be 16 byte aligned*/ -inline void db_HarrisStrengthChunk_u(float **s,const unsigned char * const *img,int left,int top,int bottom, - /*temp should point to at least - 18*128 of allocated memory*/ - int *temp, int nc) -{ - int *Ixx[5],*Ixy[5],*Iyy[5]; - int *gxx,*gxy,*gyy; - int i; - - gxx=temp; - gxy=gxx+128; - gyy=gxy+128; - for(i=0;i<5;i++) - { - Ixx[i]=gyy+(3*i+1)*128; - Ixy[i]=gyy+(3*i+2)*128; - Iyy[i]=gyy+(3*i+3)*128; - } - - /*Fill four rows of the wrap-around derivative buffers*/ - for(i=top-2;i<top+2;i++) db_IxIyRow_u(Ixx[i%5],img,i,left-2,nc); - - /*For each output row*/ - for(i=top;i<=bottom;i++) - { - /*Step the derivative buffers*/ - db_IxIyRow_u(Ixx[(i+2)%5],img,(i+2),left-2,nc); - - /*Filter Ix2,IxIy,Iy2 vertically into gxx,gxy,gyy*/ - db_gxx_gxy_gyy_row_s(gxx,Ixx[(i-2)%5],Ixx[(i-1)%5],Ixx[i%5],Ixx[(i+1)%5],Ixx[(i+2)%5],nc); - - /*Filter gxx,gxy,gyy horizontally and compute corner response s*/ - db_HarrisStrength_row_s(s[i]+left,gxx,gxy,gyy,nc); - } - -} - -/*Compute Harris corner strength of img. Strength is returned for the region -with (3,3) as upper left and (w-4,h-4) as lower right, positioned in the -same place in s. In other words,image should be at least 7 pixels wide and 7 pixels high -for a meaningful result*/ -void db_HarrisStrength_f(float **s,const float * const *img,int w,int h, - /*temp should point to at least - 13*(chunk_width+4) of allocated memory*/ - float *temp, - int chunk_width) -{ - int x,next_x,last,right; - - last=w-4; - for(x=3;x<=last;x=next_x) - { - next_x=x+chunk_width; - right=next_x-1; - if(right>last) right=last; - /*Compute the Harris strength of a chunk*/ - db_HarrisStrengthChunk_f(s,img,x,3,right,h-4,temp); - } -} - -/*Compute Harris corner strength of img. Strength is returned for the region -with (3,3) as upper left and (w-4,h-4) as lower right, positioned in the -same place in s. In other words,image should be at least 7 pixels wide and 7 pixels high -for a meaningful result.Moreover, the image should be overallocated by 256 bytes. -s[i][3] should by 16 byte aligned for any i*/ -void db_HarrisStrength_u(float **s, const unsigned char * const *img,int w,int h, - /*temp should point to at least - 18*128 of allocated memory*/ - int *temp) -{ - int x,next_x,last; - int nc; - - last=w-4; - for(x=3;x<=last;x=next_x) - { - next_x=x+124; - - // mayban: to revert to the original full chunks state, change the line below to: nc = 128; - nc = db_mini(128,last-x+1); - //nc = 128; - - /*Compute the Harris strength of a chunk*/ - db_HarrisStrengthChunk_u(s,img,x,3,h-4,temp,nc); - } -} - -inline float db_Max_128Aligned16_f(float *v) -{ -#ifdef DB_USE_SIMD - float back; - - _asm - { - mov eax,v - - /*Chunk1*/ - movaps xmm0,[eax] - movaps xmm1,[eax+16] - movaps xmm2,[eax+32] - movaps xmm3,[eax+48] - movaps xmm4,[eax+64] - movaps xmm5,[eax+80] - movaps xmm6,[eax+96] - movaps xmm7,[eax+112] - - /*Chunk2*/ - maxps xmm0,[eax+128] - maxps xmm1,[eax+144] - maxps xmm2,[eax+160] - maxps xmm3,[eax+176] - maxps xmm4,[eax+192] - maxps xmm5,[eax+208] - maxps xmm6,[eax+224] - maxps xmm7,[eax+240] - - /*Chunk3*/ - maxps xmm0,[eax+256] - maxps xmm1,[eax+272] - maxps xmm2,[eax+288] - maxps xmm3,[eax+304] - maxps xmm4,[eax+320] - maxps xmm5,[eax+336] - maxps xmm6,[eax+352] - maxps xmm7,[eax+368] - - /*Chunk4*/ - maxps xmm0,[eax+384] - maxps xmm1,[eax+400] - maxps xmm2,[eax+416] - maxps xmm3,[eax+432] - maxps xmm4,[eax+448] - maxps xmm5,[eax+464] - maxps xmm6,[eax+480] - maxps xmm7,[eax+496] - - /*Collect*/ - maxps xmm0,xmm1 - maxps xmm2,xmm3 - maxps xmm4,xmm5 - maxps xmm6,xmm7 - maxps xmm0,xmm2 - maxps xmm4,xmm6 - maxps xmm0,xmm4 - movhlps xmm1,xmm0 - maxps xmm0,xmm1 - shufps xmm1,xmm0,1 - maxps xmm0,xmm1 - movss back,xmm0 - } - - return(back); -#else - float val,max_val; - float *p,*stop_p; - max_val=v[0]; - for(p=v+1,stop_p=v+128;p!=stop_p;) - { - val= *p++; - if(val>max_val) max_val=val; - } - return(max_val); -#endif /*DB_USE_SIMD*/ -} - -inline float db_Max_64Aligned16_f(float *v) -{ -#ifdef DB_USE_SIMD - float back; - - _asm - { - mov eax,v - - /*Chunk1*/ - movaps xmm0,[eax] - movaps xmm1,[eax+16] - movaps xmm2,[eax+32] - movaps xmm3,[eax+48] - movaps xmm4,[eax+64] - movaps xmm5,[eax+80] - movaps xmm6,[eax+96] - movaps xmm7,[eax+112] - - /*Chunk2*/ - maxps xmm0,[eax+128] - maxps xmm1,[eax+144] - maxps xmm2,[eax+160] - maxps xmm3,[eax+176] - maxps xmm4,[eax+192] - maxps xmm5,[eax+208] - maxps xmm6,[eax+224] - maxps xmm7,[eax+240] - - /*Collect*/ - maxps xmm0,xmm1 - maxps xmm2,xmm3 - maxps xmm4,xmm5 - maxps xmm6,xmm7 - maxps xmm0,xmm2 - maxps xmm4,xmm6 - maxps xmm0,xmm4 - movhlps xmm1,xmm0 - maxps xmm0,xmm1 - shufps xmm1,xmm0,1 - maxps xmm0,xmm1 - movss back,xmm0 - } - - return(back); -#else - float val,max_val; - float *p,*stop_p; - max_val=v[0]; - for(p=v+1,stop_p=v+64;p!=stop_p;) - { - val= *p++; - if(val>max_val) max_val=val; - } - return(max_val); -#endif /*DB_USE_SIMD*/ -} - -inline float db_Max_32Aligned16_f(float *v) -{ -#ifdef DB_USE_SIMD - float back; - - _asm - { - mov eax,v - - /*Chunk1*/ - movaps xmm0,[eax] - movaps xmm1,[eax+16] - movaps xmm2,[eax+32] - movaps xmm3,[eax+48] - movaps xmm4,[eax+64] - movaps xmm5,[eax+80] - movaps xmm6,[eax+96] - movaps xmm7,[eax+112] - - /*Collect*/ - maxps xmm0,xmm1 - maxps xmm2,xmm3 - maxps xmm4,xmm5 - maxps xmm6,xmm7 - maxps xmm0,xmm2 - maxps xmm4,xmm6 - maxps xmm0,xmm4 - movhlps xmm1,xmm0 - maxps xmm0,xmm1 - shufps xmm1,xmm0,1 - maxps xmm0,xmm1 - movss back,xmm0 - } - - return(back); -#else - float val,max_val; - float *p,*stop_p; - max_val=v[0]; - for(p=v+1,stop_p=v+32;p!=stop_p;) - { - val= *p++; - if(val>max_val) max_val=val; - } - return(max_val); -#endif /*DB_USE_SIMD*/ -} - -inline float db_Max_16Aligned16_f(float *v) -{ -#ifdef DB_USE_SIMD - float back; - - _asm - { - mov eax,v - - /*Chunk1*/ - movaps xmm0,[eax] - movaps xmm1,[eax+16] - movaps xmm2,[eax+32] - movaps xmm3,[eax+48] - - /*Collect*/ - maxps xmm0,xmm1 - maxps xmm2,xmm3 - maxps xmm0,xmm2 - movhlps xmm1,xmm0 - maxps xmm0,xmm1 - shufps xmm1,xmm0,1 - maxps xmm0,xmm1 - movss back,xmm0 - } - - return(back); -#else - float val,max_val; - float *p,*stop_p; - max_val=v[0]; - for(p=v+1,stop_p=v+16;p!=stop_p;) - { - val= *p++; - if(val>max_val) max_val=val; - } - return(max_val); -#endif /*DB_USE_SIMD*/ -} - -inline float db_Max_8Aligned16_f(float *v) -{ -#ifdef DB_USE_SIMD - float back; - - _asm - { - mov eax,v - - /*Chunk1*/ - movaps xmm0,[eax] - movaps xmm1,[eax+16] - - /*Collect*/ - maxps xmm0,xmm1 - movhlps xmm1,xmm0 - maxps xmm0,xmm1 - shufps xmm1,xmm0,1 - maxps xmm0,xmm1 - movss back,xmm0 - } - - return(back); -#else - float val,max_val; - float *p,*stop_p; - max_val=v[0]; - for(p=v+1,stop_p=v+8;p!=stop_p;) - { - val= *p++; - if(val>max_val) max_val=val; - } - return(max_val); -#endif /*DB_USE_SIMD*/ -} - -inline float db_Max_Aligned16_f(float *v,int size) -{ - float val,max_val; - float *stop_v; - - max_val=v[0]; - for(;size>=128;size-=128) - { - val=db_Max_128Aligned16_f(v); - v+=128; - if(val>max_val) max_val=val; - } - if(size&64) - { - val=db_Max_64Aligned16_f(v); - v+=64; - if(val>max_val) max_val=val; - } - if(size&32) - { - val=db_Max_32Aligned16_f(v); - v+=32; - if(val>max_val) max_val=val; - } - if(size&16) - { - val=db_Max_16Aligned16_f(v); - v+=16; - if(val>max_val) max_val=val; - } - if(size&8) - { - val=db_Max_8Aligned16_f(v); - v+=8; - if(val>max_val) max_val=val; - } - if(size&7) - { - for(stop_v=v+(size&7);v!=stop_v;) - { - val= *v++; - if(val>max_val) max_val=val; - } - } - - return(max_val); -} - -/*Find maximum value of img in the region starting at (left,top) -and with width w and height h. img[left] should be 16 byte aligned*/ -float db_MaxImage_Aligned16_f(float **img,int left,int top,int w,int h) -{ - float val,max_val; - int i,stop_i; - - if(w && h) - { - stop_i=top+h; - max_val=img[top][left]; - - for(i=top;i<stop_i;i++) - { - val=db_Max_Aligned16_f(img[i]+left,w); - if(val>max_val) max_val=val; - } - return(max_val); - } - return(0.0); -} - -inline void db_MaxVector_128_Aligned16_f(float *m,float *v1,float *v2) -{ -#ifdef DB_USE_SIMD - _asm - { - mov eax,v1 - mov ebx,v2 - mov ecx,m - - /*Chunk1*/ - movaps xmm0,[eax] - movaps xmm1,[eax+16] - movaps xmm2,[eax+32] - movaps xmm3,[eax+48] - movaps xmm4,[eax+64] - movaps xmm5,[eax+80] - movaps xmm6,[eax+96] - movaps xmm7,[eax+112] - maxps xmm0,[ebx] - maxps xmm1,[ebx+16] - maxps xmm2,[ebx+32] - maxps xmm3,[ebx+48] - maxps xmm4,[ebx+64] - maxps xmm5,[ebx+80] - maxps xmm6,[ebx+96] - maxps xmm7,[ebx+112] - movaps [ecx],xmm0 - movaps [ecx+16],xmm1 - movaps [ecx+32],xmm2 - movaps [ecx+48],xmm3 - movaps [ecx+64],xmm4 - movaps [ecx+80],xmm5 - movaps [ecx+96],xmm6 - movaps [ecx+112],xmm7 - - /*Chunk2*/ - movaps xmm0,[eax+128] - movaps xmm1,[eax+144] - movaps xmm2,[eax+160] - movaps xmm3,[eax+176] - movaps xmm4,[eax+192] - movaps xmm5,[eax+208] - movaps xmm6,[eax+224] - movaps xmm7,[eax+240] - maxps xmm0,[ebx+128] - maxps xmm1,[ebx+144] - maxps xmm2,[ebx+160] - maxps xmm3,[ebx+176] - maxps xmm4,[ebx+192] - maxps xmm5,[ebx+208] - maxps xmm6,[ebx+224] - maxps xmm7,[ebx+240] - movaps [ecx+128],xmm0 - movaps [ecx+144],xmm1 - movaps [ecx+160],xmm2 - movaps [ecx+176],xmm3 - movaps [ecx+192],xmm4 - movaps [ecx+208],xmm5 - movaps [ecx+224],xmm6 - movaps [ecx+240],xmm7 - - /*Chunk3*/ - movaps xmm0,[eax+256] - movaps xmm1,[eax+272] - movaps xmm2,[eax+288] - movaps xmm3,[eax+304] - movaps xmm4,[eax+320] - movaps xmm5,[eax+336] - movaps xmm6,[eax+352] - movaps xmm7,[eax+368] - maxps xmm0,[ebx+256] - maxps xmm1,[ebx+272] - maxps xmm2,[ebx+288] - maxps xmm3,[ebx+304] - maxps xmm4,[ebx+320] - maxps xmm5,[ebx+336] - maxps xmm6,[ebx+352] - maxps xmm7,[ebx+368] - movaps [ecx+256],xmm0 - movaps [ecx+272],xmm1 - movaps [ecx+288],xmm2 - movaps [ecx+304],xmm3 - movaps [ecx+320],xmm4 - movaps [ecx+336],xmm5 - movaps [ecx+352],xmm6 - movaps [ecx+368],xmm7 - - /*Chunk4*/ - movaps xmm0,[eax+384] - movaps xmm1,[eax+400] - movaps xmm2,[eax+416] - movaps xmm3,[eax+432] - movaps xmm4,[eax+448] - movaps xmm5,[eax+464] - movaps xmm6,[eax+480] - movaps xmm7,[eax+496] - maxps xmm0,[ebx+384] - maxps xmm1,[ebx+400] - maxps xmm2,[ebx+416] - maxps xmm3,[ebx+432] - maxps xmm4,[ebx+448] - maxps xmm5,[ebx+464] - maxps xmm6,[ebx+480] - maxps xmm7,[ebx+496] - movaps [ecx+384],xmm0 - movaps [ecx+400],xmm1 - movaps [ecx+416],xmm2 - movaps [ecx+432],xmm3 - movaps [ecx+448],xmm4 - movaps [ecx+464],xmm5 - movaps [ecx+480],xmm6 - movaps [ecx+496],xmm7 - } -#else - int i; - float a,b; - for(i=0;i<128;i++) - { - a=v1[i]; - b=v2[i]; - if(a>=b) m[i]=a; - else m[i]=b; - } -#endif /*DB_USE_SIMD*/ -} - -inline void db_MaxVector_128_SecondSourceDestAligned16_f(float *m,float *v1,float *v2) -{ -#ifdef DB_USE_SIMD - _asm - { - mov eax,v1 - mov ebx,v2 - mov ecx,m - - /*Chunk1*/ - movups xmm0,[eax] - movups xmm1,[eax+16] - movups xmm2,[eax+32] - movups xmm3,[eax+48] - movups xmm4,[eax+64] - movups xmm5,[eax+80] - movups xmm6,[eax+96] - movups xmm7,[eax+112] - maxps xmm0,[ebx] - maxps xmm1,[ebx+16] - maxps xmm2,[ebx+32] - maxps xmm3,[ebx+48] - maxps xmm4,[ebx+64] - maxps xmm5,[ebx+80] - maxps xmm6,[ebx+96] - maxps xmm7,[ebx+112] - movaps [ecx],xmm0 - movaps [ecx+16],xmm1 - movaps [ecx+32],xmm2 - movaps [ecx+48],xmm3 - movaps [ecx+64],xmm4 - movaps [ecx+80],xmm5 - movaps [ecx+96],xmm6 - movaps [ecx+112],xmm7 - - /*Chunk2*/ - movups xmm0,[eax+128] - movups xmm1,[eax+144] - movups xmm2,[eax+160] - movups xmm3,[eax+176] - movups xmm4,[eax+192] - movups xmm5,[eax+208] - movups xmm6,[eax+224] - movups xmm7,[eax+240] - maxps xmm0,[ebx+128] - maxps xmm1,[ebx+144] - maxps xmm2,[ebx+160] - maxps xmm3,[ebx+176] - maxps xmm4,[ebx+192] - maxps xmm5,[ebx+208] - maxps xmm6,[ebx+224] - maxps xmm7,[ebx+240] - movaps [ecx+128],xmm0 - movaps [ecx+144],xmm1 - movaps [ecx+160],xmm2 - movaps [ecx+176],xmm3 - movaps [ecx+192],xmm4 - movaps [ecx+208],xmm5 - movaps [ecx+224],xmm6 - movaps [ecx+240],xmm7 - - /*Chunk3*/ - movups xmm0,[eax+256] - movups xmm1,[eax+272] - movups xmm2,[eax+288] - movups xmm3,[eax+304] - movups xmm4,[eax+320] - movups xmm5,[eax+336] - movups xmm6,[eax+352] - movups xmm7,[eax+368] - maxps xmm0,[ebx+256] - maxps xmm1,[ebx+272] - maxps xmm2,[ebx+288] - maxps xmm3,[ebx+304] - maxps xmm4,[ebx+320] - maxps xmm5,[ebx+336] - maxps xmm6,[ebx+352] - maxps xmm7,[ebx+368] - movaps [ecx+256],xmm0 - movaps [ecx+272],xmm1 - movaps [ecx+288],xmm2 - movaps [ecx+304],xmm3 - movaps [ecx+320],xmm4 - movaps [ecx+336],xmm5 - movaps [ecx+352],xmm6 - movaps [ecx+368],xmm7 - - /*Chunk4*/ - movups xmm0,[eax+384] - movups xmm1,[eax+400] - movups xmm2,[eax+416] - movups xmm3,[eax+432] - movups xmm4,[eax+448] - movups xmm5,[eax+464] - movups xmm6,[eax+480] - movups xmm7,[eax+496] - maxps xmm0,[ebx+384] - maxps xmm1,[ebx+400] - maxps xmm2,[ebx+416] - maxps xmm3,[ebx+432] - maxps xmm4,[ebx+448] - maxps xmm5,[ebx+464] - maxps xmm6,[ebx+480] - maxps xmm7,[ebx+496] - movaps [ecx+384],xmm0 - movaps [ecx+400],xmm1 - movaps [ecx+416],xmm2 - movaps [ecx+432],xmm3 - movaps [ecx+448],xmm4 - movaps [ecx+464],xmm5 - movaps [ecx+480],xmm6 - movaps [ecx+496],xmm7 - } -#else - int i; - float a,b; - for(i=0;i<128;i++) - { - a=v1[i]; - b=v2[i]; - if(a>=b) m[i]=a; - else m[i]=b; - } -#endif /*DB_USE_SIMD*/ -} - -/*Compute Max-suppression-filtered image for a chunk of sf starting at (left,top), of width 124 and -stopping at bottom. The output is shifted two steps left and overwrites 128 elements for each row. -The input s should be of width at least 128, and exist for 2 pixels outside the specified region. -s[i][left-2] and sf[i][left-2] should be 16 byte aligned. Top must be at least 3*/ -inline void db_MaxSuppressFilterChunk_5x5_Aligned16_f(float **sf,float **s,int left,int top,int bottom, - /*temp should point to at least - 6*132 floats of 16-byte-aligned allocated memory*/ - float *temp) -{ -#ifdef DB_USE_SIMD - int i,lm2; - float *two[4]; - float *four,*five; - - lm2=left-2; - - /*Set pointers to pre-allocated memory*/ - four=temp; - five=four+132; - for(i=0;i<4;i++) - { - two[i]=five+(i+1)*132; - } - - /*Set rests of four and five to zero to avoid - floating point exceptions*/ - for(i=129;i<132;i++) - { - four[i]=0.0; - five[i]=0.0; - } - - /*Fill three rows of the wrap-around max buffers*/ - for(i=top-3;i<top;i++) db_MaxVector_128_Aligned16_f(two[i&3],s[i+1]+lm2,s[i+2]+lm2); - - /*For each output row*/ - for(;i<=bottom;i++) - { - /*Compute max of the lowest pair of rows in the five row window*/ - db_MaxVector_128_Aligned16_f(two[i&3],s[i+1]+lm2,s[i+2]+lm2); - /*Compute max of the lowest and highest pair of rows in the five row window*/ - db_MaxVector_128_Aligned16_f(four,two[i&3],two[(i-3)&3]); - /*Compute max of all rows*/ - db_MaxVector_128_Aligned16_f(five,four,two[(i-1)&3]); - /*Compute max of 2x5 chunks*/ - db_MaxVector_128_SecondSourceDestAligned16_f(five,five+1,five); - /*Compute max of pairs of 2x5 chunks*/ - db_MaxVector_128_SecondSourceDestAligned16_f(five,five+3,five); - /*Compute max of pairs of 5x5 except middle*/ - db_MaxVector_128_SecondSourceDestAligned16_f(sf[i]+lm2,four+2,five); - } - -#else - int i,j,right; - float sv; - - right=left+128; - for(i=top;i<=bottom;i++) for(j=left;j<right;j++) - { - sv=s[i][j]; - - if( sv>s[i-2][j-2] && sv>s[i-2][j-1] && sv>s[i-2][j] && sv>s[i-2][j+1] && sv>s[i-2][j+2] && - sv>s[i-1][j-2] && sv>s[i-1][j-1] && sv>s[i-1][j] && sv>s[i-1][j+1] && sv>s[i-1][j+2] && - sv>s[ i][j-2] && sv>s[ i][j-1] && sv>s[ i][j+1] && sv>s[ i][j+2] && - sv>s[i+1][j-2] && sv>s[i+1][j-1] && sv>s[i+1][j] && sv>s[i+1][j+1] && sv>s[i+1][j+2] && - sv>s[i+2][j-2] && sv>s[i+2][j-1] && sv>s[i+2][j] && sv>s[i+2][j+1] && sv>s[i+2][j+2]) - { - sf[i][j-2]=0.0; - } - else sf[i][j-2]=sv; - } -#endif /*DB_USE_SIMD*/ -} - -/*Compute Max-suppression-filtered image for a chunk of sf starting at (left,top) and -stopping at bottom. The output is shifted two steps left. The input s should exist for 2 pixels -outside the specified region. s[i][left-2] and sf[i][left-2] should be 16 byte aligned. -Top must be at least 3. Reading and writing from and to the input and output images is done -as if the region had a width equal to a multiple of 124. If this is not the case, the images -should be over-allocated and the input cleared for a sufficient region*/ -void db_MaxSuppressFilter_5x5_Aligned16_f(float **sf,float **s,int left,int top,int right,int bottom, - /*temp should point to at least - 6*132 floats of 16-byte-aligned allocated memory*/ - float *temp) -{ - int x,next_x; - - for(x=left;x<=right;x=next_x) - { - next_x=x+124; - db_MaxSuppressFilterChunk_5x5_Aligned16_f(sf,s,x,top,bottom,temp); - } -} - -/*Extract corners from the chunk (left,top) to (right,bottom). Store in x_temp,y_temp and s_temp -which should point to space of at least as many positions as there are pixels in the chunk*/ -inline int db_CornersFromChunk(float **strength,int left,int top,int right,int bottom,float threshold,double *x_temp,double *y_temp,double *s_temp) -{ - int i,j,nr; - float s; - - nr=0; - for(i=top;i<=bottom;i++) for(j=left;j<=right;j++) - { - s=strength[i][j]; - - if(s>=threshold && - s>strength[i-2][j-2] && s>strength[i-2][j-1] && s>strength[i-2][j] && s>strength[i-2][j+1] && s>strength[i-2][j+2] && - s>strength[i-1][j-2] && s>strength[i-1][j-1] && s>strength[i-1][j] && s>strength[i-1][j+1] && s>strength[i-1][j+2] && - s>strength[ i][j-2] && s>strength[ i][j-1] && s>strength[ i][j+1] && s>strength[ i][j+2] && - s>strength[i+1][j-2] && s>strength[i+1][j-1] && s>strength[i+1][j] && s>strength[i+1][j+1] && s>strength[i+1][j+2] && - s>strength[i+2][j-2] && s>strength[i+2][j-1] && s>strength[i+2][j] && s>strength[i+2][j+1] && s>strength[i+2][j+2]) - { - x_temp[nr]=(double) j; - y_temp[nr]=(double) i; - s_temp[nr]=(double) s; - nr++; - } - } - return(nr); -} - - -//Sub-pixel accuracy using 2D quadratic interpolation.(YCJ) -inline void db_SubPixel(float **strength, const double xd, const double yd, double &xs, double &ys) -{ - int x = (int) xd; - int y = (int) yd; - - float fxx = strength[y][x-1] - strength[y][x] - strength[y][x] + strength[y][x+1]; - float fyy = strength[y-1][x] - strength[y][x] - strength[y][x] + strength[y+1][x]; - float fxy = (strength[y-1][x-1] - strength[y-1][x+1] - strength[y+1][x-1] + strength[y+1][x+1])/(float)4.0; - - float denom = (fxx * fyy - fxy * fxy) * (float) 2.0; - - xs = xd; - ys = yd; - - if ( db_absf(denom) <= FLT_EPSILON ) - { - return; - } - else - { - float fx = strength[y][x+1] - strength[y][x-1]; - float fy = strength[y+1][x] - strength[y-1][x]; - - float dx = (fyy * fx - fxy * fy) / denom; - float dy = (fxx * fy - fxy * fx) / denom; - - if ( db_absf(dx) > 1.0 || db_absf(dy) > 1.0 ) - { - return; - } - else - { - xs -= dx; - ys -= dy; - } - } - - return; -} - -/*Extract corners from the image part from (left,top) to (right,bottom). -Store in x and y, extracting at most satnr corners in each block of size (bw,bh). -The pointer temp_d should point to at least 5*bw*bh positions. -area_factor holds how many corners max to extract per 10000 pixels*/ -void db_ExtractCornersSaturated(float **strength,int left,int top,int right,int bottom, - int bw,int bh,unsigned long area_factor, - float threshold,double *temp_d, - double *x_coord,double *y_coord,int *nr_corners) -{ - double *x_temp,*y_temp,*s_temp,*select_temp; - double loc_thresh; - unsigned long bwbh,area,saturation; - int x,next_x,last_x; - int y,next_y,last_y; - int nr,nr_points,i,stop; - - bwbh=bw*bh; - x_temp=temp_d; - y_temp=x_temp+bwbh; - s_temp=y_temp+bwbh; - select_temp=s_temp+bwbh; - -#ifdef DB_SUB_PIXEL - // subpixel processing may sometimes push the corner ourside the real border - // increasing border size: - left++; - top++; - bottom--; - right--; -#endif /*DB_SUB_PIXEL*/ - - nr_points=0; - for(y=top;y<=bottom;y=next_y) - { - next_y=y+bh; - last_y=next_y-1; - if(last_y>bottom) last_y=bottom; - for(x=left;x<=right;x=next_x) - { - next_x=x+bw; - last_x=next_x-1; - if(last_x>right) last_x=right; - - area=(last_x-x+1)*(last_y-y+1); - saturation=(area*area_factor)/10000; - nr=db_CornersFromChunk(strength,x,y,last_x,last_y,threshold,x_temp,y_temp,s_temp); - if(nr) - { - if(((unsigned long)nr)>saturation) loc_thresh=db_LeanQuickSelect(s_temp,nr,nr-saturation,select_temp); - else loc_thresh=threshold; - - stop=nr_points+saturation; - for(i=0;(i<nr)&&(nr_points<stop);i++) - { - if(s_temp[i]>=loc_thresh) - { - #ifdef DB_SUB_PIXEL - db_SubPixel(strength, x_temp[i], y_temp[i], x_coord[nr_points], y_coord[nr_points]); - #else - x_coord[nr_points]=x_temp[i]; - y_coord[nr_points]=y_temp[i]; - #endif - - nr_points++; - } - } - } - } - } - *nr_corners=nr_points; -} - -db_CornerDetector_f::db_CornerDetector_f() -{ - m_w=0; m_h=0; -} - -db_CornerDetector_f::~db_CornerDetector_f() -{ - Clean(); -} - -void db_CornerDetector_f::Clean() -{ - if(m_w!=0) - { - delete [] m_temp_f; - delete [] m_temp_d; - db_FreeStrengthImage_f(m_strength_mem,m_strength,m_h); - } - m_w=0; m_h=0; -} - -unsigned long db_CornerDetector_f::Init(int im_width,int im_height,int target_nr_corners, - int nr_horizontal_blocks,int nr_vertical_blocks, - double absolute_threshold,double relative_threshold) -{ - int chunkwidth=208; - int block_width,block_height; - unsigned long area_factor; - int active_width,active_height; - - active_width=db_maxi(1,im_width-10); - active_height=db_maxi(1,im_height-10); - block_width=db_maxi(1,active_width/nr_horizontal_blocks); - block_height=db_maxi(1,active_height/nr_vertical_blocks); - - area_factor=db_minl(1000,db_maxl(1,(long)(10000.0*((double)target_nr_corners)/ - (((double)active_width)*((double)active_height))))); - - return(Start(im_width,im_height,block_width,block_height,area_factor, - absolute_threshold,relative_threshold,chunkwidth)); -} - -unsigned long db_CornerDetector_f::Start(int im_width,int im_height, - int block_width,int block_height,unsigned long area_factor, - double absolute_threshold,double relative_threshold,int chunkwidth) -{ - Clean(); - - m_w=im_width; - m_h=im_height; - m_cw=chunkwidth; - m_bw=block_width; - m_bh=block_height; - m_area_factor=area_factor; - m_r_thresh=relative_threshold; - m_a_thresh=absolute_threshold; - m_max_nr=db_maxl(1,1+(m_w*m_h*m_area_factor)/10000); - - m_temp_f=new float[13*(m_cw+4)]; - m_temp_d=new double[5*m_bw*m_bh]; - m_strength=db_AllocStrengthImage_f(&m_strength_mem,m_w,m_h); - - return(m_max_nr); -} - -void db_CornerDetector_f::DetectCorners(const float * const *img,double *x_coord,double *y_coord,int *nr_corners) const -{ - float max_val,threshold; - - db_HarrisStrength_f(m_strength,img,m_w,m_h,m_temp_f,m_cw); - - if(m_r_thresh) - { - max_val=db_MaxImage_Aligned16_f(m_strength,3,3,m_w-6,m_h-6); - threshold= (float) db_maxd(m_a_thresh,max_val*m_r_thresh); - } - else threshold= (float) m_a_thresh; - - db_ExtractCornersSaturated(m_strength,BORDER,BORDER,m_w-BORDER-1,m_h-BORDER-1,m_bw,m_bh,m_area_factor,threshold, - m_temp_d,x_coord,y_coord,nr_corners); -} - -db_CornerDetector_u::db_CornerDetector_u() -{ - m_w=0; m_h=0; -} - -db_CornerDetector_u::~db_CornerDetector_u() -{ - Clean(); -} - -db_CornerDetector_u::db_CornerDetector_u(const db_CornerDetector_u& cd) -{ - Start(cd.m_w, cd.m_h, cd.m_bw, cd.m_bh, cd.m_area_factor, - cd.m_a_thresh, cd.m_r_thresh); -} - -db_CornerDetector_u& db_CornerDetector_u::operator=(const db_CornerDetector_u& cd) -{ - if ( this == &cd ) return *this; - - Clean(); - - Start(cd.m_w, cd.m_h, cd.m_bw, cd.m_bh, cd.m_area_factor, - cd.m_a_thresh, cd.m_r_thresh); - - return *this; -} - -void db_CornerDetector_u::Clean() -{ - if(m_w!=0) - { - delete [] m_temp_i; - delete [] m_temp_d; - db_FreeStrengthImage_f(m_strength_mem,m_strength,m_h); - } - m_w=0; m_h=0; -} - -unsigned long db_CornerDetector_u::Init(int im_width,int im_height,int target_nr_corners, - int nr_horizontal_blocks,int nr_vertical_blocks, - double absolute_threshold,double relative_threshold) -{ - int block_width,block_height; - unsigned long area_factor; - int active_width,active_height; - - active_width=db_maxi(1,im_width-10); - active_height=db_maxi(1,im_height-10); - block_width=db_maxi(1,active_width/nr_horizontal_blocks); - block_height=db_maxi(1,active_height/nr_vertical_blocks); - - area_factor=db_minl(1000,db_maxl(1,(long)(10000.0*((double)target_nr_corners)/ - (((double)active_width)*((double)active_height))))); - - return(Start(im_width,im_height,block_width,block_height,area_factor, - 16.0*absolute_threshold,relative_threshold)); -} - -unsigned long db_CornerDetector_u::Start(int im_width,int im_height, - int block_width,int block_height,unsigned long area_factor, - double absolute_threshold,double relative_threshold) -{ - Clean(); - - m_w=im_width; - m_h=im_height; - m_bw=block_width; - m_bh=block_height; - m_area_factor=area_factor; - m_r_thresh=relative_threshold; - m_a_thresh=absolute_threshold; - m_max_nr=db_maxl(1,1+(m_w*m_h*m_area_factor)/10000); - - m_temp_i=new int[18*128]; - m_temp_d=new double[5*m_bw*m_bh]; - m_strength=db_AllocStrengthImage_f(&m_strength_mem,m_w,m_h); - - return(m_max_nr); -} - -void db_CornerDetector_u::DetectCorners(const unsigned char * const *img,double *x_coord,double *y_coord,int *nr_corners, - const unsigned char * const *msk, unsigned char fgnd) const -{ - float max_val,threshold; - - db_HarrisStrength_u(m_strength,img,m_w,m_h,m_temp_i); - - - if(m_r_thresh) - { - max_val=db_MaxImage_Aligned16_f(m_strength,3,3,m_w-6,m_h-6); - threshold= (float) db_maxd(m_a_thresh,max_val*m_r_thresh); - } - else threshold= (float) m_a_thresh; - - db_ExtractCornersSaturated(m_strength,BORDER,BORDER,m_w-BORDER-1,m_h-BORDER-1,m_bw,m_bh,m_area_factor,threshold, - m_temp_d,x_coord,y_coord,nr_corners); - - - if ( msk ) - { - int nr_corners_mask=0; - - for ( int i = 0; i < *nr_corners; ++i) - { - int cor_x = db_roundi(*(x_coord+i)); - int cor_y = db_roundi(*(y_coord+i)); - if ( msk[cor_y][cor_x] == fgnd ) - { - x_coord[nr_corners_mask] = x_coord[i]; - y_coord[nr_corners_mask] = y_coord[i]; - nr_corners_mask++; - } - } - *nr_corners = nr_corners_mask; - } -} - -void db_CornerDetector_u::ExtractCorners(float ** strength, double *x_coord, double *y_coord, int *nr_corners) { - if ( m_w!=0 ) - db_ExtractCornersSaturated(strength,BORDER,BORDER,m_w-BORDER-1,m_h-BORDER-1,m_bw,m_bh,m_area_factor,float(m_a_thresh), - m_temp_d,x_coord,y_coord,nr_corners); -} - diff --git a/jni/feature_stab/db_vlvm/db_feature_detection.h b/jni/feature_stab/db_vlvm/db_feature_detection.h deleted file mode 100644 index 68ffcc9ad..000000000 --- a/jni/feature_stab/db_vlvm/db_feature_detection.h +++ /dev/null @@ -1,179 +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_feature_detection.h,v 1.3 2011/06/17 14:03:30 mbansal Exp $*/ - -#ifndef DB_FEATURE_DETECTION_H -#define DB_FEATURE_DETECTION_H - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ -/*! - * \defgroup FeatureDetection Feature Detection - */ -#include "db_utilities.h" -#include "db_utilities_constants.h" -#include <stdlib.h> //for NULL - -/*! - * \class db_CornerDetector_f - * \ingroup FeatureDetection - * \brief Harris corner detector for float images. - * - * This class performs Harris corner extraction on *float* images managed - * with functions in \ref LMImageBasicUtilities. - */ -class DB_API db_CornerDetector_f -{ -public: - db_CornerDetector_f(); - ~db_CornerDetector_f(); - - /*! - * Set parameters and pre-allocate memory. Return an upper bound - * on the number of corners detected in one frame. - * \param im_width width - * \param im_height height - * \param target_nr_corners - * \param nr_horizontal_blocks - * \param nr_vertical_blocks - * \param absolute_threshold - * \param relative_threshold - */ - unsigned long Init(int im_width,int im_height, - int target_nr_corners=DB_DEFAULT_TARGET_NR_CORNERS, - int nr_horizontal_blocks=DB_DEFAULT_NR_FEATURE_BLOCKS, - int nr_vertical_blocks=DB_DEFAULT_NR_FEATURE_BLOCKS, - double absolute_threshold=DB_DEFAULT_ABS_CORNER_THRESHOLD, - double relative_threshold=DB_DEFAULT_REL_CORNER_THRESHOLD); - - /*! - * Detect the corners. - * x_coord and y_coord should be pre-allocated arrays of length returned by Init(). - * \param img row array pointer - * \param x_coord corner locations - * \param y_coord corner locations - * \param nr_corners actual number of corners computed - */ - void DetectCorners(const float * const *img,double *x_coord,double *y_coord,int *nr_corners) const; - void SetAbsoluteThreshold(double a_thresh) { m_a_thresh = a_thresh; }; - void SetRelativeThreshold(double r_thresh) { m_r_thresh = r_thresh; }; -protected: - void Clean(); - unsigned long Start(int im_width,int im_height, - int block_width,int block_height,unsigned long area_factor, - double absolute_threshold,double relative_threshold,int chunkwidth); - - int m_w,m_h,m_cw,m_bw,m_bh; - /*Area factor holds the maximum number of corners to detect - per 10000 pixels*/ - unsigned long m_area_factor,m_max_nr; - double m_a_thresh,m_r_thresh; - float *m_temp_f; - double *m_temp_d; - float **m_strength,*m_strength_mem; -}; -/*! - * \class db_CornerDetector_u - * \ingroup FeatureDetection - * \brief Harris corner detector for byte images. - * - * This class performs Harris corner extraction on *byte* images managed - * with functions in \ref LMImageBasicUtilities. - */ -class DB_API db_CornerDetector_u -{ -public: - db_CornerDetector_u(); - virtual ~db_CornerDetector_u(); - - /*! - Copy ctor duplicates settings. - Memory is not copied. - */ - db_CornerDetector_u(const db_CornerDetector_u& cd); - /*! - Assignment optor duplicates settings. - Memory not copied. - */ - db_CornerDetector_u& operator=(const db_CornerDetector_u& cd); - - /*! - * Set parameters and pre-allocate memory. Return an upper bound - * on the number of corners detected in one frame - */ - virtual unsigned long Init(int im_width,int im_height, - int target_nr_corners=DB_DEFAULT_TARGET_NR_CORNERS, - int nr_horizontal_blocks=DB_DEFAULT_NR_FEATURE_BLOCKS, - int nr_vertical_blocks=DB_DEFAULT_NR_FEATURE_BLOCKS, - double absolute_threshold=DB_DEFAULT_ABS_CORNER_THRESHOLD, - double relative_threshold=DB_DEFAULT_REL_CORNER_THRESHOLD); - - /*! - * Detect the corners. - * Observe that the image should be overallocated by at least 256 bytes - * at the end. - * x_coord and y_coord should be pre-allocated arrays of length returned by Init(). - * Specifying image mask will restrict corner output to foreground regions. - * Foreground value can be specified using fgnd. By default any >0 mask value - * is considered to be foreground - * \param img row array pointer - * \param x_coord corner locations - * \param y_coord corner locations - * \param nr_corners actual number of corners computed - * \param msk row array pointer to mask image - * \param fgnd foreground value in the mask - */ - virtual void DetectCorners(const unsigned char * const *img,double *x_coord,double *y_coord,int *nr_corners, - const unsigned char * const * msk=NULL, unsigned char fgnd=255) const; - - /*! - Set absolute feature threshold - */ - virtual void SetAbsoluteThreshold(double a_thresh) { m_a_thresh = a_thresh; }; - /*! - Set relative feature threshold - */ - virtual void SetRelativeThreshold(double r_thresh) { m_r_thresh = r_thresh; }; - - /*! - Extract corners from a pre-computed strength image. - \param strength Harris strength image - \param x_coord corner locations - \param y_coord corner locations - \param nr_corners actual number of corners computed - */ - virtual void ExtractCorners(float ** strength, double *x_coord, double *y_coord, int *nr_corners); -protected: - virtual void Clean(); - /*The absolute threshold to this function should be 16.0 times - normal*/ - unsigned long Start(int im_width,int im_height, - int block_width,int block_height,unsigned long area_factor, - double absolute_threshold,double relative_threshold); - - int m_w,m_h,m_bw,m_bh; - /*Area factor holds the maximum number of corners to detect - per 10000 pixels*/ - unsigned long m_area_factor,m_max_nr; - double m_a_thresh,m_r_thresh; - int *m_temp_i; - double *m_temp_d; - float **m_strength,*m_strength_mem; -}; - -#endif /*DB_FEATURE_DETECTION_H*/ diff --git a/jni/feature_stab/db_vlvm/db_feature_matching.cpp b/jni/feature_stab/db_vlvm/db_feature_matching.cpp deleted file mode 100644 index d278d0cf6..000000000 --- a/jni/feature_stab/db_vlvm/db_feature_matching.cpp +++ /dev/null @@ -1,3410 +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_feature_matching.cpp,v 1.4 2011/06/17 14:03:30 mbansal Exp $*/ - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ - -#include "db_utilities.h" -#include "db_feature_matching.h" -#ifdef _VERBOSE_ -#include <iostream> -#endif - - -int AffineWarpPoint_NN_LUT_x[11][11]; -int AffineWarpPoint_NN_LUT_y[11][11]; - -float AffineWarpPoint_BL_LUT_x[11][11]; -float AffineWarpPoint_BL_LUT_y[11][11]; - - -inline float db_SignedSquareNormCorr7x7_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g) -{ - unsigned char *pf,*pg; - float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; - int xm_f,xm_g; - - xm_f=x_f-3; - xm_g=x_g-3; - fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - fg_corr=49.0f*fgsum-fsum*gsum; - den=(49.0f*f2sum-fsum*fsum)*(49.0f*g2sum-gsum*gsum); - if(den!=0.0) - { - if(fg_corr>=0.0) return(fg_corr*fg_corr/den); - return(-fg_corr*fg_corr/den); - } - return(0.0); -} - -inline float db_SignedSquareNormCorr9x9_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g) -{ - unsigned char *pf,*pg; - float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; - int xm_f,xm_g; - - xm_f=x_f-4; - xm_g=x_g-4; - fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; - - pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - fg_corr=81.0f*fgsum-fsum*gsum; - den=(81.0f*f2sum-fsum*fsum)*(81.0f*g2sum-gsum*gsum); - if(den!=0.0) - { - if(fg_corr>=0.0) return(fg_corr*fg_corr/den); - return(-fg_corr*fg_corr/den); - } - return(0.0); -} - -inline float db_SignedSquareNormCorr11x11_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g) -{ - unsigned char *pf,*pg; - float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; - int xm_f,xm_g; - - xm_f=x_f-5; - xm_g=x_g-5; - fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; - - pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - fg_corr=121.0f*fgsum-fsum*gsum; - den=(121.0f*f2sum-fsum*fsum)*(121.0f*g2sum-gsum*gsum); - if(den!=0.0) - { - if(fg_corr>=0.0) return(fg_corr*fg_corr/den); - return(-fg_corr*fg_corr/den); - } - return(0.0); -} - -inline void db_SignedSquareNormCorr11x11_Pre_u(unsigned char **f_img,int x_f,int y_f,float *sum,float *recip) -{ - unsigned char *pf; - float den; - int f,f2sum,fsum; - int xm_f; - - xm_f=x_f-5; - - pf=f_img[y_f-5]+xm_f; - f= *pf++; f2sum=f*f; fsum=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f-4]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f-3]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f-2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f-1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+3]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+4]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+5]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - *sum= (float) fsum; - den=(121.0f*f2sum-fsum*fsum); - *recip=(float)(((den!=0.0)?1.0/den:0.0)); -} - -inline void db_SignedSquareNormCorr5x5_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip) -{ - float den; - int f2sum,fsum; - int xm_f=x_f-2; - -#ifndef DB_USE_SSE2 - const unsigned char *pf; - short f; - - pf=f_img[y_f-2]+xm_f; - f= *pf++; f2sum=f*f; fsum=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - //int xwi; - //int ywi; - //f2sum=0; - //fsum=0; - //for (int r=-5;r<=5;r++){ - // ywi=y_f+r; - // for (int c=-5;c<=5;c++){ - // xwi=x_f+c; - // f=f_img[ywi][xwi]; - // f2sum+=f*f; - // fsum+=f; - // (*patch++)=f; - // } - //} - (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; - (*patch++)=0; (*patch++)=0; -#endif /* DB_USE_SSE2 */ - - *sum= (float) fsum; - den=(25.0f*f2sum-fsum*fsum); - *recip= (float)((den!=0.0)?1.0/den:0.0); -} - -inline void db_SignedSquareNormCorr21x21_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip) -{ - float den; - int f2sum,fsum; - int xm_f=x_f-10; - short f; - - int xwi; - int ywi; - f2sum=0; - fsum=0; - for (int r=-10;r<=10;r++){ - ywi=y_f+r; - for (int c=-10;c<=10;c++){ - xwi=x_f+c; - f=f_img[ywi][xwi]; - f2sum+=f*f; - fsum+=f; - (*patch++)=f; - } - } - - for(int i=442; i<512; i++) - (*patch++)=0; - - *sum= (float) fsum; - den=(441.0f*f2sum-fsum*fsum); - *recip= (float)((den!=0.0)?1.0/den:0.0); - - -} - -/* Lay out the image in the patch, computing norm and -*/ -inline void db_SignedSquareNormCorr11x11_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip) -{ - float den; - int f2sum,fsum; - int xm_f=x_f-5; - -#ifndef DB_USE_SSE2 - const unsigned char *pf; - short f; - - pf=f_img[y_f-5]+xm_f; - f= *pf++; f2sum=f*f; fsum=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-4]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-3]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+3]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+4]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+5]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - //int xwi; - //int ywi; - //f2sum=0; - //fsum=0; - //for (int r=-5;r<=5;r++){ - // ywi=y_f+r; - // for (int c=-5;c<=5;c++){ - // xwi=x_f+c; - // f=f_img[ywi][xwi]; - // f2sum+=f*f; - // fsum+=f; - // (*patch++)=f; - // } - //} - - (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; - (*patch++)=0; (*patch++)=0; -#else - const unsigned char *pf0 =f_img[y_f-5]+xm_f; - const unsigned char *pf1 =f_img[y_f-4]+xm_f; - const unsigned char *pf2 =f_img[y_f-3]+xm_f; - const unsigned char *pf3 =f_img[y_f-2]+xm_f; - const unsigned char *pf4 =f_img[y_f-1]+xm_f; - const unsigned char *pf5 =f_img[y_f ]+xm_f; - const unsigned char *pf6 =f_img[y_f+1]+xm_f; - const unsigned char *pf7 =f_img[y_f+2]+xm_f; - const unsigned char *pf8 =f_img[y_f+3]+xm_f; - const unsigned char *pf9 =f_img[y_f+4]+xm_f; - const unsigned char *pf10=f_img[y_f+5]+xm_f; - - /* pixel mask */ - const unsigned char pm[16] = { - 0xFF,0xFF, - 0xFF,0xFF, - 0xFF,0xFF, - 0,0,0,0,0, - 0,0,0,0,0}; - const unsigned char * pm_p = pm; - - _asm - { - mov ecx,patch /* load patch pointer */ - mov ebx, pm_p /* load pixel mask pointer */ - movdqu xmm1,[ebx] /* load pixel mask */ - - pxor xmm5,xmm5 /* set xmm5 to 0 accumulator for sum squares */ - pxor xmm4,xmm4 /* set xmm4 to 0 accumulator for sum */ - pxor xmm0,xmm0 /* set xmm0 to 0 */ - - /* row 0 */ - mov eax,pf0 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqa [ecx+0*22],xmm7 /* move short values to patch */ - movdqa [ecx+0*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 1 */ - mov eax,pf1 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+1*22],xmm7 /* move short values to patch */ - movdqu [ecx+1*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 2 */ - mov eax,pf2 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+2*22],xmm7 /* move short values to patch */ - movdqu [ecx+2*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 3 */ - mov eax,pf3 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+3*22],xmm7 /* move short values to patch */ - movdqu [ecx+3*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 4 */ - mov eax,pf4 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+4*22],xmm7 /* move short values to patch */ - movdqu [ecx+4*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 5 */ - mov eax,pf5 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+5*22],xmm7 /* move short values to patch */ - movdqu [ecx+5*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 6 */ - mov eax,pf6 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+6*22],xmm7 /* move short values to patch */ - movdqu [ecx+6*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 7 */ - mov eax,pf7 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+7*22],xmm7 /* move short values to patch */ - movdqu [ecx+7*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 8 */ - mov eax,pf8 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqa [ecx+8*22],xmm7 /* move short values to patch */ - movdqa [ecx+8*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 9 */ - mov eax,pf9 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+9*22],xmm7 /* move short values to patch */ - movdqu [ecx+9*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 10 */ - mov eax,pf10 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+10*22],xmm7 /* move short values to patch */ - movdqu [ecx+10*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* add up the sum squares */ - movhlps xmm0,xmm5 /* high half to low half */ - paddd xmm5,xmm0 /* add high to low */ - pshuflw xmm0,xmm5, 0xE /* reshuffle */ - paddd xmm5,xmm0 /* add remaining */ - movd f2sum,xmm5 - - /* add up the sum */ - movhlps xmm0,xmm4 - paddw xmm4,xmm0 /* halves added */ - pshuflw xmm0,xmm4,0xE - paddw xmm4,xmm0 /* quarters added */ - pshuflw xmm0,xmm4,0x1 - paddw xmm4,xmm0 /* eighth added */ - movd fsum, xmm4 - - emms - } - - fsum = fsum & 0xFFFF; - - patch[126] = 0; - patch[127] = 0; -#endif /* DB_USE_SSE2 */ - - *sum= (float) fsum; - den=(121.0f*f2sum-fsum*fsum); - *recip= (float)((den!=0.0)?1.0/den:0.0); -} - -void AffineWarpPointOffset(float &r_w,float &c_w,double Hinv[9],int r,int c) -{ - r_w=(float)(Hinv[3]*c+Hinv[4]*r); - c_w=(float)(Hinv[0]*c+Hinv[1]*r); -} - - - -/*! -Prewarp the patches with given affine transform. For a given homogeneous point "x", "H*x" is -the warped point and for any displacement "d" in the warped image resulting in point "y", the -corresponding point in the original image is given by "Hinv*y", which can be simplified for affine H. -If "affine" is 1, then nearest neighbor method is used, else if it is 2, then -bilinear method is used. - */ -inline void db_SignedSquareNormCorr11x11_PreAlign_AffinePatchWarp_u(short *patch,const unsigned char * const *f_img, - int xi,int yi,float *sum,float *recip, - const double Hinv[9],int affine) -{ - float den; - short f; - int f2sum,fsum; - - f2sum=0; - fsum=0; - - if (affine==1) - { - for (int r=0;r<11;r++){ - for (int c=0;c<11;c++){ - f=f_img[yi+AffineWarpPoint_NN_LUT_y[r][c]][xi+AffineWarpPoint_NN_LUT_x[r][c]]; - f2sum+=f*f; - fsum+=f; - (*patch++)=f; - } - } - } - else if (affine==2) - { - for (int r=0;r<11;r++){ - for (int c=0;c<11;c++){ - f=db_BilinearInterpolation(yi+AffineWarpPoint_BL_LUT_y[r][c] - ,xi+AffineWarpPoint_BL_LUT_x[r][c],f_img); - f2sum+=f*f; - fsum+=f; - (*patch++)=f; - } - } - } - - - - (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; - (*patch++)=0; (*patch++)=0; - - *sum= (float) fsum; - den=(121.0f*f2sum-fsum*fsum); - *recip= (float)((den!=0.0)?1.0/den:0.0); -} - - -inline float db_SignedSquareNormCorr11x11_Post_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g, - float fsum_gsum,float f_recip_g_recip) -{ - unsigned char *pf,*pg; - int fgsum; - float fg_corr; - int xm_f,xm_g; - - xm_f=x_f-5; - xm_g=x_g-5; - - pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; - fgsum=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - fg_corr=121.0f*fgsum-fsum_gsum; - if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); - return(-fg_corr*fg_corr*f_recip_g_recip); -} - -float db_SignedSquareNormCorr21x21Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip) -{ - float fgsum,fg_corr; - - fgsum= (float) db_ScalarProduct512_s(f_patch,g_patch); - - fg_corr=441.0f*fgsum-fsum_gsum; - if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); - return(-fg_corr*fg_corr*f_recip_g_recip); -} - - -float db_SignedSquareNormCorr11x11Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip) -{ - float fgsum,fg_corr; - - fgsum= (float) db_ScalarProduct128_s(f_patch,g_patch); - - fg_corr=121.0f*fgsum-fsum_gsum; - if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); - return(-fg_corr*fg_corr*f_recip_g_recip); -} - -float db_SignedSquareNormCorr5x5Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip) -{ - float fgsum,fg_corr; - - fgsum= (float) db_ScalarProduct32_s(f_patch,g_patch); - - fg_corr=25.0f*fgsum-fsum_gsum; - if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); - return(-fg_corr*fg_corr*f_recip_g_recip); -} - - -inline float db_SignedSquareNormCorr15x15_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g) -{ - unsigned char *pf,*pg; - float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; - int xm_f,xm_g; - - xm_f=x_f-7; - xm_g=x_g-7; - fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; - - pf=f_img[y_f-7]+xm_f; pg=g_img[y_g-7]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-6]+xm_f; pg=g_img[y_g-6]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+6]+xm_f; pg=g_img[y_g+6]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+7]+xm_f; pg=g_img[y_g+7]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - fg_corr=225.0f*fgsum-fsum*gsum; - den=(225.0f*f2sum-fsum*fsum)*(225.0f*g2sum-gsum*gsum); - if(den!=0.0) - { - if(fg_corr>=0.0) return(fg_corr*fg_corr/den); - return(-fg_corr*fg_corr/den); - } - return(0.0); -} - -inline float db_SignedSquareNormCorr7x7_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) -{ - float f,g,*pf,*pg,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; - int xm_f,xm_g; - - xm_f=x_f-3; - xm_g=x_g-3; - fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - fg_corr=49.0f*fgsum-fsum*gsum; - den=(49.0f*f2sum-fsum*fsum)*(49.0f*g2sum-gsum*gsum); - if(den!=0.0) - { - if(fg_corr>=0.0) return(fg_corr*fg_corr/den); - return(-fg_corr*fg_corr/den); - } - return(0.0); -} - -inline float db_SignedSquareNormCorr9x9_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) -{ - float f,g,*pf,*pg,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; - int xm_f,xm_g; - - xm_f=x_f-4; - xm_g=x_g-4; - fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; - - pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - fg_corr=81.0f*fgsum-fsum*gsum; - den=(81.0f*f2sum-fsum*fsum)*(81.0f*g2sum-gsum*gsum); - if(den!=0.0) - { - if(fg_corr>=0.0) return(fg_corr*fg_corr/den); - return(-fg_corr*fg_corr/den); - } - return(0.0); -} - -inline float db_SignedSquareNormCorr11x11_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) -{ - float *pf,*pg; - float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; - int xm_f,xm_g; - - xm_f=x_f-5; - xm_g=x_g-5; - fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; - - pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - fg_corr=121.0f*fgsum-fsum*gsum; - den=(121.0f*f2sum-fsum*fsum)*(121.0f*g2sum-gsum*gsum); - if(den!=0.0) - { - if(fg_corr>=0.0) return(fg_corr*fg_corr/den); - return(-fg_corr*fg_corr/den); - } - return(0.0); -} - -inline void db_SignedSquareNormCorr11x11_Pre_f(float **f_img,int x_f,int y_f,float *sum,float *recip) -{ - float *pf,den; - float f,f2sum,fsum; - int xm_f; - - xm_f=x_f-5; - - pf=f_img[y_f-5]+xm_f; - f= *pf++; f2sum=f*f; fsum=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f-4]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f-3]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f-2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f-1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+3]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+4]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+5]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - *sum=fsum; - den=(121.0f*f2sum-fsum*fsum); - *recip= (float) ((den!=0.0)?1.0/den:0.0); -} - -inline void db_SignedSquareNormCorr11x11_PreAlign_f(float *patch,const float * const *f_img,int x_f,int y_f,float *sum,float *recip) -{ - const float *pf; - float den,f,f2sum,fsum; - int xm_f; - - xm_f=x_f-5; - - pf=f_img[y_f-5]+xm_f; - f= *pf++; f2sum=f*f; fsum=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-4]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-3]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+3]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+4]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+5]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - (*patch++)=0.0; (*patch++)=0.0; (*patch++)=0.0; (*patch++)=0.0; (*patch++)=0.0; - (*patch++)=0.0; (*patch++)=0.0; - - *sum=fsum; - den=(121.0f*f2sum-fsum*fsum); - *recip= (float) ((den!=0.0)?1.0/den:0.0); -} - -inline float db_SignedSquareNormCorr11x11_Post_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g, - float fsum_gsum,float f_recip_g_recip) -{ - float *pf,*pg; - float fgsum,fg_corr; - int xm_f,xm_g; - - xm_f=x_f-5; - xm_g=x_g-5; - - pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; - fgsum=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - fg_corr=121.0f*fgsum-fsum_gsum; - if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); - return(-fg_corr*fg_corr*f_recip_g_recip); -} - -inline float db_SignedSquareNormCorr11x11Aligned_Post_f(const float *f_patch,const float *g_patch,float fsum_gsum,float f_recip_g_recip) -{ - float fgsum,fg_corr; - - fgsum=db_ScalarProduct128Aligned16_f(f_patch,g_patch); - - fg_corr=121.0f*fgsum-fsum_gsum; - if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); - return(-fg_corr*fg_corr*f_recip_g_recip); -} - -inline float db_SignedSquareNormCorr15x15_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) -{ - float *pf,*pg; - float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; - int xm_f,xm_g; - - xm_f=x_f-7; - xm_g=x_g-7; - fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; - - pf=f_img[y_f-7]+xm_f; pg=g_img[y_g-7]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-6]+xm_f; pg=g_img[y_g-6]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+6]+xm_f; pg=g_img[y_g+6]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+7]+xm_f; pg=g_img[y_g+7]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - fg_corr=225.0f*fgsum-fsum*gsum; - den=(225.0f*f2sum-fsum*fsum)*(225.0f*g2sum-gsum*gsum); - if(den!=0.0) - { - if(fg_corr>=0.0) return(fg_corr*fg_corr/den); - return(-fg_corr*fg_corr/den); - } - return(0.0); -} - -db_Bucket_f** db_AllocBuckets_f(int nr_h,int nr_v,int bd) -{ - int i,j; - db_Bucket_f **bp,*b; - - b=new db_Bucket_f [(nr_h+2)*(nr_v+2)]; - bp=new db_Bucket_f* [(nr_v+2)]; - bp=bp+1; - for(i= -1;i<=nr_v;i++) - { - bp[i]=b+1+(nr_h+2)*(i+1); - for(j= -1;j<=nr_h;j++) - { - bp[i][j].ptr=new db_PointInfo_f [bd]; - } - } - - return(bp); -} - -db_Bucket_u** db_AllocBuckets_u(int nr_h,int nr_v,int bd) -{ - int i,j; - db_Bucket_u **bp,*b; - - b=new db_Bucket_u [(nr_h+2)*(nr_v+2)]; - bp=new db_Bucket_u* [(nr_v+2)]; - bp=bp+1; - for(i= -1;i<=nr_v;i++) - { - bp[i]=b+1+(nr_h+2)*(i+1); - for(j= -1;j<=nr_h;j++) - { - bp[i][j].ptr=new db_PointInfo_u [bd]; - } - } - - return(bp); -} - -void db_FreeBuckets_f(db_Bucket_f **bp,int nr_h,int nr_v) -{ - int i,j; - - for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) - { - delete [] bp[i][j].ptr; - } - delete [] (bp[-1]-1); - delete [] (bp-1); -} - -void db_FreeBuckets_u(db_Bucket_u **bp,int nr_h,int nr_v) -{ - int i,j; - - for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) - { - delete [] bp[i][j].ptr; - } - delete [] (bp[-1]-1); - delete [] (bp-1); -} - -void db_EmptyBuckets_f(db_Bucket_f **bp,int nr_h,int nr_v) -{ - int i,j; - for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) bp[i][j].nr=0; -} - -void db_EmptyBuckets_u(db_Bucket_u **bp,int nr_h,int nr_v) -{ - int i,j; - for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) bp[i][j].nr=0; -} - -float* db_FillBuckets_f(float *patch_space,const float * const *f_img,db_Bucket_f **bp,int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y,int nr_corners) -{ - int i,xi,yi,xpos,ypos,nr; - db_Bucket_f *br; - db_PointInfo_f *pir; - - db_EmptyBuckets_f(bp,nr_h,nr_v); - for(i=0;i<nr_corners;i++) - { - xi=(int) x[i]; - yi=(int) y[i]; - xpos=xi/bw; - ypos=yi/bh; - if(xpos>=0 && xpos<nr_h && ypos>=0 && ypos<nr_v) - { - br=&bp[ypos][xpos]; - nr=br->nr; - if(nr<bd) - { - pir=&(br->ptr[nr]); - pir->x=xi; - pir->y=yi; - pir->id=i; - pir->pir=0; - pir->patch=patch_space; - br->nr=nr+1; - - db_SignedSquareNormCorr11x11_PreAlign_f(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); - patch_space+=128; - } - } - } - return(patch_space); -} - -short* db_FillBuckets_u(short *patch_space,const unsigned char * const *f_img,db_Bucket_u **bp,int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y,int nr_corners,int use_smaller_matching_window, int use_21) -{ - int i,xi,yi,xpos,ypos,nr; - db_Bucket_u *br; - db_PointInfo_u *pir; - - db_EmptyBuckets_u(bp,nr_h,nr_v); - for(i=0;i<nr_corners;i++) - { - xi=(int)db_roundi(x[i]); - yi=(int)db_roundi(y[i]); - xpos=xi/bw; - ypos=yi/bh; - if(xpos>=0 && xpos<nr_h && ypos>=0 && ypos<nr_v) - { - br=&bp[ypos][xpos]; - nr=br->nr; - if(nr<bd) - { - pir=&(br->ptr[nr]); - pir->x=xi; - pir->y=yi; - pir->id=i; - pir->pir=0; - pir->patch=patch_space; - br->nr=nr+1; - - if(use_21) - { - db_SignedSquareNormCorr21x21_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); - patch_space+=512; - } - else - { - if(!use_smaller_matching_window) - { - db_SignedSquareNormCorr11x11_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); - patch_space+=128; - } - else - { - db_SignedSquareNormCorr5x5_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); - patch_space+=32; - } - } - } - } - } - return(patch_space); -} - - - -float* db_FillBucketsPrewarped_f(float *patch_space,const float *const *f_img,db_Bucket_f **bp,int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y,int nr_corners,const double H[9]) -{ - int i,xi,yi,xpos,ypos,nr,wxi,wyi; - db_Bucket_f *br; - db_PointInfo_f *pir; - double xd[2],wx[2]; - - db_EmptyBuckets_f(bp,nr_h,nr_v); - for(i=0;i<nr_corners;i++) - { - xd[0]=x[i]; - xd[1]=y[i]; - xi=(int) xd[0]; - yi=(int) xd[1]; - db_ImageHomographyInhomogenous(wx,H,xd); - wxi=(int) wx[0]; - wyi=(int) wx[1]; - - xpos=((wxi+bw)/bw)-1; - ypos=((wyi+bh)/bh)-1; - if(xpos>= -1 && xpos<=nr_h && ypos>= -1 && ypos<=nr_v) - { - br=&bp[ypos][xpos]; - nr=br->nr; - if(nr<bd) - { - pir=&(br->ptr[nr]); - pir->x=wxi; - pir->y=wyi; - pir->id=i; - pir->pir=0; - pir->patch=patch_space; - br->nr=nr+1; - - db_SignedSquareNormCorr11x11_PreAlign_f(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); - patch_space+=128; - } - } - } - return(patch_space); -} - -short* db_FillBucketsPrewarped_u(short *patch_space,const unsigned char * const *f_img,db_Bucket_u **bp, - int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y, - int nr_corners,const double H[9]) -{ - int i,xi,yi,xpos,ypos,nr,wxi,wyi; - db_Bucket_u *br; - db_PointInfo_u *pir; - double xd[2],wx[2]; - - db_EmptyBuckets_u(bp,nr_h,nr_v); - for(i=0;i<nr_corners;i++) - { - xd[0]=x[i]; - xd[1]=y[i]; - xi=(int) db_roundi(xd[0]); - yi=(int) db_roundi(xd[1]); - db_ImageHomographyInhomogenous(wx,H,xd); - wxi=(int) wx[0]; - wyi=(int) wx[1]; - - xpos=((wxi+bw)/bw)-1; - ypos=((wyi+bh)/bh)-1; - if(xpos>= -1 && xpos<=nr_h && ypos>= -1 && ypos<=nr_v) - { - br=&bp[ypos][xpos]; - nr=br->nr; - if(nr<bd) - { - pir=&(br->ptr[nr]); - pir->x=wxi; - pir->y=wyi; - pir->id=i; - pir->pir=0; - pir->patch=patch_space; - br->nr=nr+1; - - db_SignedSquareNormCorr11x11_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); - patch_space+=128; - } - } - } - return(patch_space); -} - - - -short* db_FillBucketsPrewarpedAffine_u(short *patch_space,const unsigned char * const *f_img,db_Bucket_u **bp, - int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y, - int nr_corners,const double H[9],const double Hinv[9],const int warpboundsp[4], - int affine) -{ - int i,xi,yi,xpos,ypos,nr,wxi,wyi; - db_Bucket_u *br; - db_PointInfo_u *pir; - double xd[2],wx[2]; - - db_EmptyBuckets_u(bp,nr_h,nr_v); - for(i=0;i<nr_corners;i++) - { - xd[0]=x[i]; - xd[1]=y[i]; - xi=(int) db_roundi(xd[0]); - yi=(int) db_roundi(xd[1]); - db_ImageHomographyInhomogenous(wx,H,xd); - wxi=(int) wx[0]; - wyi=(int) wx[1]; - - xpos=((wxi+bw)/bw)-1; - ypos=((wyi+bh)/bh)-1; - - - if (xpos>= -1 && xpos<=nr_h && ypos>= -1 && ypos<=nr_v) - { - if( xi>warpboundsp[0] && xi<warpboundsp[1] && yi>warpboundsp[2] && yi<warpboundsp[3]) - { - - br=&bp[ypos][xpos]; - nr=br->nr; - if(nr<bd) - { - pir=&(br->ptr[nr]); - pir->x=wxi; - pir->y=wyi; - pir->id=i; - pir->pir=0; - pir->patch=patch_space; - br->nr=nr+1; - - db_SignedSquareNormCorr11x11_PreAlign_AffinePatchWarp_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip),Hinv,affine); - patch_space+=128; - } - } - } - } - return(patch_space); -} - - - -inline void db_MatchPointPair_f(db_PointInfo_f *pir_l,db_PointInfo_f *pir_r, - unsigned long kA,unsigned long kB) -{ - int x_l,y_l,x_r,y_r,xm,ym; - double score; - - x_l=pir_l->x; - y_l=pir_l->y; - x_r=pir_r->x; - y_r=pir_r->y; - xm=x_l-x_r; - ym=y_l-y_r; - /*Check if disparity is within the maximum disparity - with the formula xm^2*256+ym^2*kA<kB - where kA=256*w^2/h^2 - and kB=256*max_disp^2*w^2*/ - if(((xm*xm)<<8)+ym*ym*kA<kB) - { - /*Correlate*/ - score=db_SignedSquareNormCorr11x11Aligned_Post_f(pir_l->patch,pir_r->patch, - (pir_l->sum)*(pir_r->sum), - (pir_l->recip)*(pir_r->recip)); - - if((!(pir_l->pir)) || (score>pir_l->s)) - { - /*Update left corner*/ - pir_l->s=score; - pir_l->pir=pir_r; - } - if((!(pir_r->pir)) || (score>pir_r->s)) - { - /*Update right corner*/ - pir_r->s=score; - pir_r->pir=pir_l; - } - } -} - -inline void db_MatchPointPair_u(db_PointInfo_u *pir_l,db_PointInfo_u *pir_r, - unsigned long kA,unsigned long kB, unsigned int rect_window,bool use_smaller_matching_window, int use_21) -{ - int xm,ym; - double score; - bool compute_score; - - - if( rect_window ) - compute_score = ((unsigned)db_absi(pir_l->x - pir_r->x)<kA && (unsigned)db_absi(pir_l->y - pir_r->y)<kB); - else - { /*Check if disparity is within the maximum disparity - with the formula xm^2*256+ym^2*kA<kB - where kA=256*w^2/h^2 - and kB=256*max_disp^2*w^2*/ - xm= pir_l->x - pir_r->x; - ym= pir_l->y - pir_r->y; - compute_score = ((xm*xm)<<8)+ym*ym*kA < kB; - } - - if ( compute_score ) - { - if(use_21) - { - score=db_SignedSquareNormCorr21x21Aligned_Post_s(pir_l->patch,pir_r->patch, - (pir_l->sum)*(pir_r->sum), - (pir_l->recip)*(pir_r->recip)); - } - else - { - /*Correlate*/ - if(!use_smaller_matching_window) - { - score=db_SignedSquareNormCorr11x11Aligned_Post_s(pir_l->patch,pir_r->patch, - (pir_l->sum)*(pir_r->sum), - (pir_l->recip)*(pir_r->recip)); - } - else - { - score=db_SignedSquareNormCorr5x5Aligned_Post_s(pir_l->patch,pir_r->patch, - (pir_l->sum)*(pir_r->sum), - (pir_l->recip)*(pir_r->recip)); - } - } - - if((!(pir_l->pir)) || (score>pir_l->s)) - { - /*Update left corner*/ - pir_l->s=score; - pir_l->pir=pir_r; - } - if((!(pir_r->pir)) || (score>pir_r->s)) - { - /*Update right corner*/ - pir_r->s=score; - pir_r->pir=pir_l; - } - } -} - -inline void db_MatchPointAgainstBucket_f(db_PointInfo_f *pir_l,db_Bucket_f *b_r, - unsigned long kA,unsigned long kB) -{ - int p_r,nr; - db_PointInfo_f *pir_r; - - nr=b_r->nr; - pir_r=b_r->ptr; - for(p_r=0;p_r<nr;p_r++) db_MatchPointPair_f(pir_l,pir_r+p_r,kA,kB); -} - -inline void db_MatchPointAgainstBucket_u(db_PointInfo_u *pir_l,db_Bucket_u *b_r, - unsigned long kA,unsigned long kB,int rect_window, bool use_smaller_matching_window, int use_21) -{ - int p_r,nr; - db_PointInfo_u *pir_r; - - nr=b_r->nr; - pir_r=b_r->ptr; - - for(p_r=0;p_r<nr;p_r++) db_MatchPointPair_u(pir_l,pir_r+p_r,kA,kB, rect_window, use_smaller_matching_window, use_21); - -} - -void db_MatchBuckets_f(db_Bucket_f **bp_l,db_Bucket_f **bp_r,int nr_h,int nr_v, - unsigned long kA,unsigned long kB) -{ - int i,j,k,a,b,br_nr; - db_Bucket_f *br; - db_PointInfo_f *pir_l; - - /*For all buckets*/ - for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) - { - br=&bp_l[i][j]; - br_nr=br->nr; - /*For all points in bucket*/ - for(k=0;k<br_nr;k++) - { - pir_l=br->ptr+k; - for(a=i-1;a<=i+1;a++) - { - for(b=j-1;b<=j+1;b++) - { - db_MatchPointAgainstBucket_f(pir_l,&bp_r[a][b],kA,kB); - } - } - } - } -} - -void db_MatchBuckets_u(db_Bucket_u **bp_l,db_Bucket_u **bp_r,int nr_h,int nr_v, - unsigned long kA,unsigned long kB,int rect_window,bool use_smaller_matching_window, int use_21) -{ - int i,j,k,a,b,br_nr; - db_Bucket_u *br; - db_PointInfo_u *pir_l; - - /*For all buckets*/ - for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) - { - br=&bp_l[i][j]; - br_nr=br->nr; - /*For all points in bucket*/ - for(k=0;k<br_nr;k++) - { - pir_l=br->ptr+k; - for(a=i-1;a<=i+1;a++) - { - for(b=j-1;b<=j+1;b++) - { - db_MatchPointAgainstBucket_u(pir_l,&bp_r[a][b],kA,kB,rect_window,use_smaller_matching_window, use_21); - } - } - } - } -} - -void db_CollectMatches_f(db_Bucket_f **bp_l,int nr_h,int nr_v,unsigned long target,int *id_l,int *id_r,int *nr_matches) -{ - int i,j,k,br_nr; - unsigned long count; - db_Bucket_f *br; - db_PointInfo_f *pir,*pir2; - - count=0; - /*For all buckets*/ - for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) - { - br=&bp_l[i][j]; - br_nr=br->nr; - /*For all points in bucket*/ - for(k=0;k<br_nr;k++) - { - pir=br->ptr+k; - pir2=pir->pir; - if(pir2) - { - /*This point has a best match*/ - if((pir2->pir)==pir) - { - /*We have a mutually consistent match*/ - if(count<target) - { - id_l[count]=pir->id; - id_r[count]=pir2->id; - count++; - } - } - } - } - } - *nr_matches=count; -} - -void db_CollectMatches_u(db_Bucket_u **bp_l,int nr_h,int nr_v,unsigned long target,int *id_l,int *id_r,int *nr_matches) -{ - int i,j,k,br_nr; - unsigned long count; - db_Bucket_u *br; - db_PointInfo_u *pir,*pir2; - - count=0; - /*For all buckets*/ - for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) - { - br=&bp_l[i][j]; - br_nr=br->nr; - /*For all points in bucket*/ - for(k=0;k<br_nr;k++) - { - pir=br->ptr+k; - pir2=pir->pir; - if(pir2) - { - /*This point has a best match*/ - if((pir2->pir)==pir) - { - /*We have a mutually consistent match*/ - if(count<target) - { - id_l[count]=pir->id; - id_r[count]=pir2->id; - count++; - } - } - } - } - } - *nr_matches=count; -} - -db_Matcher_f::db_Matcher_f() -{ - m_w=0; m_h=0; -} - -db_Matcher_f::~db_Matcher_f() -{ - Clean(); -} - -void db_Matcher_f::Clean() -{ - if(m_w) - { - /*Free buckets*/ - db_FreeBuckets_f(m_bp_l,m_nr_h,m_nr_v); - db_FreeBuckets_f(m_bp_r,m_nr_h,m_nr_v); - /*Free space for patch layouts*/ - delete [] m_patch_space; - } - m_w=0; m_h=0; -} - -unsigned long db_Matcher_f::Init(int im_width,int im_height,double max_disparity,int target_nr_corners) -{ - Clean(); - m_w=im_width; - m_h=im_height; - m_bw=db_maxi(1,(int) (max_disparity*((double)im_width))); - m_bh=db_maxi(1,(int) (max_disparity*((double)im_height))); - m_nr_h=1+(im_width-1)/m_bw; - m_nr_v=1+(im_height-1)/m_bh; - m_bd=db_maxi(1,(int)(((double)target_nr_corners)* - max_disparity*max_disparity)); - m_target=target_nr_corners; - m_kA=(long)(256.0*((double)(m_w*m_w))/((double)(m_h*m_h))); - m_kB=(long)(256.0*max_disparity*max_disparity*((double)(m_w*m_w))); - - /*Alloc bucket structure*/ - m_bp_l=db_AllocBuckets_f(m_nr_h,m_nr_v,m_bd); - m_bp_r=db_AllocBuckets_f(m_nr_h,m_nr_v,m_bd); - - /*Alloc 16byte-aligned space for patch layouts*/ - m_patch_space=new float [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*128+16]; - m_aligned_patch_space=db_AlignPointer_f(m_patch_space,16); - - return(m_target); -} - -void db_Matcher_f::Match(const float * const *l_img,const float * const *r_img, - const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r, - int *id_l,int *id_r,int *nr_matches,const double H[9]) -{ - float *ps; - - /*Insert the corners into bucket structure*/ - ps=db_FillBuckets_f(m_aligned_patch_space,l_img,m_bp_l,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_l,y_l,nr_l); - if(H==0) db_FillBuckets_f(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_r,y_r,nr_r); - else db_FillBucketsPrewarped_f(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_r,y_r,nr_r,H); - - /*Compute all the necessary match scores*/ - db_MatchBuckets_f(m_bp_l,m_bp_r,m_nr_h,m_nr_v,m_kA,m_kB); - - /*Collect the correspondences*/ - db_CollectMatches_f(m_bp_l,m_nr_h,m_nr_v,m_target,id_l,id_r,nr_matches); -} - -db_Matcher_u::db_Matcher_u() -{ - m_w=0; m_h=0; - m_rect_window = 0; - m_bw=m_bh=m_nr_h=m_nr_v=m_bd=m_target=0; - m_bp_l=m_bp_r=0; - m_patch_space=m_aligned_patch_space=0; -} - -db_Matcher_u::db_Matcher_u(const db_Matcher_u& cm) -{ - Init(cm.m_w, cm.m_h, cm.m_max_disparity, cm.m_target, cm.m_max_disparity_v); -} - -db_Matcher_u& db_Matcher_u::operator= (const db_Matcher_u& cm) -{ - if ( this == &cm ) return *this; - Init(cm.m_w, cm.m_h, cm.m_max_disparity, cm.m_target, cm.m_max_disparity_v); - return *this; -} - - -db_Matcher_u::~db_Matcher_u() -{ - Clean(); -} - -void db_Matcher_u::Clean() -{ - if(m_w) - { - /*Free buckets*/ - db_FreeBuckets_u(m_bp_l,m_nr_h,m_nr_v); - db_FreeBuckets_u(m_bp_r,m_nr_h,m_nr_v); - /*Free space for patch layouts*/ - delete [] m_patch_space; - } - m_w=0; m_h=0; -} - - -unsigned long db_Matcher_u::Init(int im_width,int im_height,double max_disparity,int target_nr_corners, - double max_disparity_v, bool use_smaller_matching_window, int use_21) -{ - Clean(); - m_w=im_width; - m_h=im_height; - m_max_disparity=max_disparity; - m_max_disparity_v=max_disparity_v; - - if ( max_disparity_v != DB_DEFAULT_NO_DISPARITY ) - { - m_rect_window = 1; - - m_bw=db_maxi(1,(int)(max_disparity*((double)im_width))); - m_bh=db_maxi(1,(int)(max_disparity_v*((double)im_height))); - - m_bd=db_maxi(1,(int)(((double)target_nr_corners)*max_disparity*max_disparity_v)); - - m_kA=(int)(max_disparity*m_w); - m_kB=(int)(max_disparity_v*m_h); - - } else - { - m_bw=(int)db_maxi(1,(int)(max_disparity*((double)im_width))); - m_bh=(int)db_maxi(1,(int)(max_disparity*((double)im_height))); - - m_bd=db_maxi(1,(int)(((double)target_nr_corners)*max_disparity*max_disparity)); - - m_kA=(long)(256.0*((double)(m_w*m_w))/((double)(m_h*m_h))); - m_kB=(long)(256.0*max_disparity*max_disparity*((double)(m_w*m_w))); - } - - m_nr_h=1+(im_width-1)/m_bw; - m_nr_v=1+(im_height-1)/m_bh; - - m_target=target_nr_corners; - - /*Alloc bucket structure*/ - m_bp_l=db_AllocBuckets_u(m_nr_h,m_nr_v,m_bd); - m_bp_r=db_AllocBuckets_u(m_nr_h,m_nr_v,m_bd); - - m_use_smaller_matching_window = use_smaller_matching_window; - m_use_21 = use_21; - - if(m_use_21) - { - /*Alloc 64byte-aligned space for patch layouts*/ - m_patch_space=new short [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*512+64]; - m_aligned_patch_space=db_AlignPointer_s(m_patch_space,64); - } - else - { - if(!m_use_smaller_matching_window) - { - /*Alloc 16byte-aligned space for patch layouts*/ - m_patch_space=new short [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*128+16]; - m_aligned_patch_space=db_AlignPointer_s(m_patch_space,16); - } - else - { - /*Alloc 4byte-aligned space for patch layouts*/ - m_patch_space=new short [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*32+4]; - m_aligned_patch_space=db_AlignPointer_s(m_patch_space,4); - } - } - - return(m_target); -} - -void db_Matcher_u::Match(const unsigned char * const *l_img,const unsigned char * const *r_img, - const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r, - int *id_l,int *id_r,int *nr_matches,const double H[9],int affine) -{ - short *ps; - - /*Insert the corners into bucket structure*/ - ps=db_FillBuckets_u(m_aligned_patch_space,l_img,m_bp_l,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_l,y_l,nr_l,m_use_smaller_matching_window,m_use_21); - if(H==0) - db_FillBuckets_u(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_r,y_r,nr_r,m_use_smaller_matching_window,m_use_21); - else - { - if (affine) - { - double Hinv[9]; - db_InvertAffineTransform(Hinv,H); - float r_w, c_w; - float stretch_x[2]; - float stretch_y[2]; - AffineWarpPointOffset(r_w,c_w,Hinv, 5,5); - stretch_x[0]=db_absf(c_w);stretch_y[0]=db_absf(r_w); - AffineWarpPointOffset(r_w,c_w,Hinv, 5,-5); - stretch_x[1]=db_absf(c_w);stretch_y[1]=db_absf(r_w); - int max_stretxh_x=(int) (db_maxd(stretch_x[0],stretch_x[1])); - int max_stretxh_y=(int) (db_maxd(stretch_y[0],stretch_y[1])); - int warpbounds[4]={max_stretxh_x,m_w-1-max_stretxh_x,max_stretxh_y,m_h-1-max_stretxh_y}; - - for (int r=-5;r<=5;r++){ - for (int c=-5;c<=5;c++){ - AffineWarpPointOffset(r_w,c_w,Hinv,r,c); - AffineWarpPoint_BL_LUT_y[r+5][c+5]=r_w; - AffineWarpPoint_BL_LUT_x[r+5][c+5]=c_w; - - AffineWarpPoint_NN_LUT_y[r+5][c+5]=db_roundi(r_w); - AffineWarpPoint_NN_LUT_x[r+5][c+5]=db_roundi(c_w); - - } - } - - db_FillBucketsPrewarpedAffine_u(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd, - x_r,y_r,nr_r,H,Hinv,warpbounds,affine); - } - else - db_FillBucketsPrewarped_u(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_r,y_r,nr_r,H); - } - - - /*Compute all the necessary match scores*/ - db_MatchBuckets_u(m_bp_l,m_bp_r,m_nr_h,m_nr_v,m_kA,m_kB, m_rect_window,m_use_smaller_matching_window,m_use_21); - - /*Collect the correspondences*/ - db_CollectMatches_u(m_bp_l,m_nr_h,m_nr_v,m_target,id_l,id_r,nr_matches); -} - -int db_Matcher_u::IsAllocated() -{ - return (int)(m_w != 0); -} diff --git a/jni/feature_stab/db_vlvm/db_feature_matching.h b/jni/feature_stab/db_vlvm/db_feature_matching.h deleted file mode 100644 index 6c056b9a3..000000000 --- a/jni/feature_stab/db_vlvm/db_feature_matching.h +++ /dev/null @@ -1,260 +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_feature_matching.h,v 1.3 2011/06/17 14:03:30 mbansal Exp $*/ - -#ifndef DB_FEATURE_MATCHING_H -#define DB_FEATURE_MATCHING_H - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ -/*! - * \defgroup FeatureMatching Feature Matching - */ -#include "db_utilities.h" -#include "db_utilities_constants.h" - -DB_API void db_SignedSquareNormCorr21x21_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip); -DB_API void db_SignedSquareNormCorr11x11_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip); -float db_SignedSquareNormCorr21x21Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip); -float db_SignedSquareNormCorr11x11Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip); - -class db_PointInfo_f -{ -public: - /*Coordinates of point*/ - int x; - int y; - /*Id nr of point*/ - int id; - /*Best match score*/ - double s; - /*Best match candidate*/ - db_PointInfo_f *pir; - /*Precomputed coefficients - of image patch*/ - float sum; - float recip; - /*Pointer to patch layout*/ - const float *patch; -}; - -class db_Bucket_f -{ -public: - db_PointInfo_f *ptr; - int nr; -}; - -class db_PointInfo_u -{ -public: - /*Coordinates of point*/ - int x; - int y; - /*Id nr of point*/ - int id; - /*Best match score*/ - double s; - /*Best match candidate*/ - db_PointInfo_u *pir; - /*Precomputed coefficients - of image patch*/ - float sum; - float recip; - /*Pointer to patch layout*/ - const short *patch; -}; - -class db_Bucket_u -{ -public: - db_PointInfo_u *ptr; - int nr; -}; -/*! - * \class db_Matcher_f - * \ingroup FeatureMatching - * \brief Feature matcher for float images. - * - * Normalized correlation feature matcher for <b>float</b> images. - * Correlation window size is constant and set to 11x11. - * See \ref FeatureDetection to detect Harris corners. - * Images are managed with functions in \ref LMImageBasicUtilities. - */ -class DB_API db_Matcher_f -{ -public: - db_Matcher_f(); - ~db_Matcher_f(); - - /*! - * Set parameters and pre-allocate memory. Return an upper bound - * on the number of matches. - * \param im_width width - * \param im_height height - * \param max_disparity maximum distance (as fraction of image size) between matches - * \param target_nr_corners maximum number of matches - * \return maximum number of matches - */ - unsigned long Init(int im_width,int im_height, - double max_disparity=DB_DEFAULT_MAX_DISPARITY, - int target_nr_corners=DB_DEFAULT_TARGET_NR_CORNERS); - - /*! - * Match two sets of features. - * If the prewarp H is not NULL it will be applied to the features - * in the right image before matching. - * Parameters id_l and id_r must point to arrays of size target_nr_corners - * (returned by Init()). - * The results of matching are in id_l and id_r. - * Interpretaqtion of results: if id_l[i] = m and id_r[i] = n, - * feature at (x_l[m],y_l[m]) matched to (x_r[n],y_r[n]). - * \param l_img left image - * \param r_img right image - * \param x_l left x coordinates of features - * \param y_l left y coordinates of features - * \param nr_l number of features in left image - * \param x_r right x coordinates of features - * \param y_r right y coordinates of features - * \param nr_r number of features in right image - * \param id_l indices of left features that matched - * \param id_r indices of right features that matched - * \param nr_matches number of features actually matched - * \param H image homography (prewarp) to be applied to right image features - */ - void Match(const float * const *l_img,const float * const *r_img, - const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r, - int *id_l,int *id_r,int *nr_matches,const double H[9]=0); - -protected: - void Clean(); - - int m_w,m_h,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,m_target; - unsigned long m_kA,m_kB; - db_Bucket_f **m_bp_l; - db_Bucket_f **m_bp_r; - float *m_patch_space,*m_aligned_patch_space; -}; -/*! - * \class db_Matcher_u - * \ingroup FeatureMatching - * \brief Feature matcher for byte images. - * - * Normalized correlation feature matcher for <b>byte</b> images. - * Correlation window size is constant and set to 11x11. - * See \ref FeatureDetection to detect Harris corners. - * Images are managed with functions in \ref LMImageBasicUtilities. - * - * If the prewarp matrix H is supplied, the feature coordinates are warped by H before being placed in - * appropriate buckets. If H is an affine transform and the "affine" parameter is set to 1 or 2, - * then the correlation patches themselves are warped before being placed in the patch space. - */ -class DB_API db_Matcher_u -{ -public: - db_Matcher_u(); - - int GetPatchSize(){return 11;}; - - virtual ~db_Matcher_u(); - - /*! - Copy ctor duplicates settings. - Memory not copied. - */ - db_Matcher_u(const db_Matcher_u& cm); - - /*! - Assignment optor duplicates settings - Memory not copied. - */ - db_Matcher_u& operator= (const db_Matcher_u& cm); - - /*! - * Set parameters and pre-allocate memory. Return an upper bound - * on the number of matches. - * If max_disparity_v is DB_DEFAULT_NO_DISPARITY, look for matches - * in a ellipse around a feature of radius max_disparity*im_width by max_disparity*im_height. - * If max_disparity_v is specified, use a rectangle max_disparity*im_width by max_disparity_v*im_height. - * \param im_width width - * \param im_height height - * \param max_disparity maximum distance (as fraction of image size) between matches - * \param target_nr_corners maximum number of matches - * \param max_disparity_v maximum vertical disparity (distance between matches) - * \param use_smaller_matching_window if set to true, uses a correlation window of 5x5 instead of the default 11x11 - * \return maximum number of matches - */ - virtual unsigned long Init(int im_width,int im_height, - double max_disparity=DB_DEFAULT_MAX_DISPARITY, - int target_nr_corners=DB_DEFAULT_TARGET_NR_CORNERS, - double max_disparity_v=DB_DEFAULT_NO_DISPARITY, - bool use_smaller_matching_window=false, int use_21=0); - - /*! - * Match two sets of features. - * If the prewarp H is not NULL it will be applied to the features - * in the right image before matching. - * Parameters id_l and id_r must point to arrays of size target_nr_corners - * (returned by Init()). - * The results of matching are in id_l and id_r. - * Interpretaqtion of results: if id_l[i] = m and id_r[i] = n, - * feature at (x_l[m],y_l[m]) matched to (x_r[n],y_r[n]). - * \param l_img left image - * \param r_img right image - * \param x_l left x coordinates of features - * \param y_l left y coordinates of features - * \param nr_l number of features in left image - * \param x_r right x coordinates of features - * \param y_r right y coordinates of features - * \param nr_r number of features in right image - * \param id_l indices of left features that matched - * \param id_r indices of right features that matched - * \param nr_matches number of features actually matched - * \param H image homography (prewarp) to be applied to right image features - * \param affine prewarp the 11x11 patches by given affine transform. 0 means no warping, - 1 means nearest neighbor, 2 means bilinear warping. - */ - virtual void Match(const unsigned char * const *l_img,const unsigned char * const *r_img, - const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r, - int *id_l,int *id_r,int *nr_matches,const double H[9]=0,int affine=0); - - /*! - * Checks if Init() was called. - * \return 1 if Init() was called, 0 otherwise. - */ - int IsAllocated(); - -protected: - virtual void Clean(); - - - int m_w,m_h,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,m_target; - unsigned long m_kA,m_kB; - db_Bucket_u **m_bp_l; - db_Bucket_u **m_bp_r; - short *m_patch_space,*m_aligned_patch_space; - - double m_max_disparity, m_max_disparity_v; - int m_rect_window; - bool m_use_smaller_matching_window; - int m_use_21; -}; - - - -#endif /*DB_FEATURE_MATCHING_H*/ diff --git a/jni/feature_stab/db_vlvm/db_framestitching.cpp b/jni/feature_stab/db_vlvm/db_framestitching.cpp deleted file mode 100644 index b574f7a04..000000000 --- a/jni/feature_stab/db_vlvm/db_framestitching.cpp +++ /dev/null @@ -1,169 +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_framestitching.cpp,v 1.2 2011/06/17 14:03:30 mbansal Exp $ */ - -#include "db_utilities.h" -#include "db_framestitching.h" - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ - -inline void db_RotationFromMOuterProductSum(double R[9],double *score,double M[9]) -{ - double N[16],q[4],lambda[4],lambda_max; - double y[4]; - int nr_roots; - - N[0]= M[0]+M[4]+M[8]; - N[5]= M[0]-M[4]-M[8]; - N[10]= -M[0]+M[4]-M[8]; - N[15]= -M[0]-M[4]+M[8]; - N[1] =N[4] =M[5]-M[7]; - N[2] =N[8] =M[6]-M[2]; - N[3] =N[12]=M[1]-M[3]; - N[6] =N[9] =M[1]+M[3]; - N[7] =N[13]=M[6]+M[2]; - N[11]=N[14]=M[5]+M[7]; - - /*get the quaternion representing the rotation - by finding the eigenvector corresponding to the most - positive eigenvalue. Force eigenvalue solutions, since the matrix - is symmetric and solutions might otherwise be lost - when the data is planar*/ - db_RealEigenvalues4x4(lambda,&nr_roots,N,1); - if(nr_roots) - { - lambda_max=lambda[0]; - if(nr_roots>=2) - { - if(lambda[1]>lambda_max) lambda_max=lambda[1]; - if(nr_roots>=3) - { - if(lambda[2]>lambda_max) lambda_max=lambda[2]; - { - if(nr_roots>=4) if(lambda[3]>lambda_max) lambda_max=lambda[3]; - } - } - } - } - else lambda_max=1.0; - db_EigenVector4x4(q,lambda_max,N); - - /*Compute the rotation matrix*/ - db_QuaternionToRotation(R,q); - - if(score) - { - /*Compute score=transpose(q)*N*q */ - db_Multiply4x4_4x1(y,N,q); - *score=db_ScalarProduct4(q,y); - } -} - -void db_StitchSimilarity3DRaw(double *scale,double R[9],double t[3], - double **Xp,double **X,int nr_points,int orientation_preserving, - int allow_scaling,int allow_rotation,int allow_translation) -{ - int i; - double c[3],cp[3],r[3],rp[3],M[9],s,sp,sc; - double Rr[9],score_p,score_r; - double *temp,*temp_p; - - if(allow_translation) - { - db_PointCentroid3D(c,X,nr_points); - db_PointCentroid3D(cp,Xp,nr_points); - } - else - { - db_Zero3(c); - db_Zero3(cp); - } - - db_Zero9(M); - s=sp=0; - for(i=0;i<nr_points;i++) - { - temp= *X++; - temp_p= *Xp++; - r[0]=(*temp++)-c[0]; - r[1]=(*temp++)-c[1]; - r[2]=(*temp++)-c[2]; - rp[0]=(*temp_p++)-cp[0]; - rp[1]=(*temp_p++)-cp[1]; - rp[2]=(*temp_p++)-cp[2]; - - M[0]+=r[0]*rp[0]; - M[1]+=r[0]*rp[1]; - M[2]+=r[0]*rp[2]; - M[3]+=r[1]*rp[0]; - M[4]+=r[1]*rp[1]; - M[5]+=r[1]*rp[2]; - M[6]+=r[2]*rp[0]; - M[7]+=r[2]*rp[1]; - M[8]+=r[2]*rp[2]; - - s+=db_sqr(r[0])+db_sqr(r[1])+db_sqr(r[2]); - sp+=db_sqr(rp[0])+db_sqr(rp[1])+db_sqr(rp[2]); - } - - /*Compute scale*/ - if(allow_scaling) sc=sqrt(db_SafeDivision(sp,s)); - else sc=1.0; - *scale=sc; - - /*Compute rotation*/ - if(allow_rotation) - { - if(orientation_preserving) - { - db_RotationFromMOuterProductSum(R,0,M); - } - else - { - /*Try preserving*/ - db_RotationFromMOuterProductSum(R,&score_p,M); - /*Try reversing*/ - M[6]= -M[6]; - M[7]= -M[7]; - M[8]= -M[8]; - db_RotationFromMOuterProductSum(Rr,&score_r,M); - if(score_r>score_p) - { - /*Reverse is better*/ - R[0]=Rr[0]; R[1]=Rr[1]; R[2]= -Rr[2]; - R[3]=Rr[3]; R[4]=Rr[4]; R[5]= -Rr[5]; - R[6]=Rr[6]; R[7]=Rr[7]; R[8]= -Rr[8]; - } - } - } - else db_Identity3x3(R); - - /*Compute translation*/ - if(allow_translation) - { - t[0]=cp[0]-sc*(R[0]*c[0]+R[1]*c[1]+R[2]*c[2]); - t[1]=cp[1]-sc*(R[3]*c[0]+R[4]*c[1]+R[5]*c[2]); - t[2]=cp[2]-sc*(R[6]*c[0]+R[7]*c[1]+R[8]*c[2]); - } - else db_Zero3(t); -} - - diff --git a/jni/feature_stab/db_vlvm/db_framestitching.h b/jni/feature_stab/db_vlvm/db_framestitching.h deleted file mode 100644 index 5fef5f37e..000000000 --- a/jni/feature_stab/db_vlvm/db_framestitching.h +++ /dev/null @@ -1,94 +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_framestitching.h,v 1.2 2011/06/17 14:03:31 mbansal Exp $ */ - -#ifndef DB_FRAMESTITCHING_H -#define DB_FRAMESTITCHING_H -/*! - * \defgroup FrameStitching Frame Stitching (2D and 3D homography estimation) - */ -/*\{*/ - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ -/*! - * \defgroup LMFrameStitching (LM) Frame Stitching (2D and 3D homography estimation) - */ -/*\{*/ - -/*! -Find scale, rotation and translation of the similarity that -takes the nr_points inhomogenous 3D points X to Xp -(left to right according to Horn), i.e. for the homogenous equivalents -Xp and X we would have -\code - Xp~ - [sR t]*X - [0 1] -\endcode -If orientation_preserving is true, R is restricted such that det(R)>0. -allow_scaling, allow_rotation and allow_translation allow s,R and t -to differ from 1,Identity and 0 - -Full similarity takes the following on 550MHz: -\code -4.5 microseconds with 3 points -4.7 microseconds with 4 points -5.0 microseconds with 5 points -5.2 microseconds with 6 points -5.8 microseconds with 10 points -20 microseconds with 100 points -205 microseconds with 1000 points -2.9 milliseconds with 10000 points -50 milliseconds with 100000 points -0.5 seconds with 1000000 points -\endcode -Without orientation_preserving: -\code -4 points is minimal for (s,R,t) (R,t) -3 points is minimal for (s,R) (R) -2 points is minimal for (s,t) -1 point is minimal for (s) (t) -\endcode -With orientation_preserving: -\code -3 points is minimal for (s,R,t) (R,t) -2 points is minimal for (s,R) (s,t) (R) -1 point is minimal for (s) (t) -\endcode - -\param scale scale -\param R rotation -\param t translation -\param Xp inhomogenouse 3D points in first coordinate system -\param X inhomogenouse 3D points in second coordinate system -\param nr_points number of points -\param orientation_preserving if true, R is restricted such that det(R)>0. -\param allow_scaling estimate scale -\param allow_rotation estimate rotation -\param allow_translation estimate translation -*/ -DB_API void db_StitchSimilarity3DRaw(double *scale,double R[9],double t[3], - double **Xp,double **X,int nr_points,int orientation_preserving=1, - int allow_scaling=1,int allow_rotation=1,int allow_translation=1); - - -/*\}*/ - -#endif /* DB_FRAMESTITCHING_H */ diff --git a/jni/feature_stab/db_vlvm/db_image_homography.cpp b/jni/feature_stab/db_vlvm/db_image_homography.cpp deleted file mode 100644 index aaad7f85e..000000000 --- a/jni/feature_stab/db_vlvm/db_image_homography.cpp +++ /dev/null @@ -1,332 +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_image_homography.cpp,v 1.2 2011/06/17 14:03:31 mbansal Exp $ */ - -#include "db_utilities.h" -#include "db_image_homography.h" -#include "db_framestitching.h" -#include "db_metrics.h" - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ - -/*Compute the linear constraint on H obtained by requiring that the -ratio between coordinate i_num and i_den of xp is equal to the ratio -between coordinate i_num and i_den of Hx. i_zero should be set to -the coordinate not equal to i_num or i_den. No normalization is used*/ -inline void db_SProjImagePointPointConstraint(double c[9],int i_num,int i_den,int i_zero, - double xp[3],double x[3]) -{ - db_MultiplyScalarCopy3(c+3*i_den,x, xp[i_num]); - db_MultiplyScalarCopy3(c+3*i_num,x, -xp[i_den]); - db_Zero3(c+3*i_zero); -} - -/*Compute two constraints on H generated by the correspondence (Xp,X), -assuming that Xp ~= H*X. No normalization is used*/ -inline void db_SProjImagePointPointConstraints(double c1[9],double c2[9],double xp[3],double x[3]) -{ - int ma_ind; - - /*Find index of coordinate of Xp with largest absolute value*/ - ma_ind=db_MaxAbsIndex3(xp); - - /*Generate 2 constraints, - each constraint is generated by considering the ratio between a - coordinate and the largest absolute value coordinate*/ - switch(ma_ind) - { - case 0: - db_SProjImagePointPointConstraint(c1,1,0,2,xp,x); - db_SProjImagePointPointConstraint(c2,2,0,1,xp,x); - break; - case 1: - db_SProjImagePointPointConstraint(c1,0,1,2,xp,x); - db_SProjImagePointPointConstraint(c2,2,1,0,xp,x); - break; - default: - db_SProjImagePointPointConstraint(c1,0,2,1,xp,x); - db_SProjImagePointPointConstraint(c2,1,2,0,xp,x); - } -} - -inline void db_SAffineImagePointPointConstraints(double c1[7],double c2[7],double xp[3],double x[3]) -{ - double ct1[9],ct2[9]; - - db_SProjImagePointPointConstraints(ct1,ct2,xp,x); - db_Copy6(c1,ct1); c1[6]=ct1[8]; - db_Copy6(c2,ct2); c2[6]=ct2[8]; -} - -void db_StitchProjective2D_4Points(double H[9], - double x1[3],double x2[3],double x3[3],double x4[3], - double xp1[3],double xp2[3],double xp3[3],double xp4[3]) -{ - double c[72]; - - /*Collect the constraints*/ - db_SProjImagePointPointConstraints(c ,c+9 ,xp1,x1); - db_SProjImagePointPointConstraints(c+18,c+27,xp2,x2); - db_SProjImagePointPointConstraints(c+36,c+45,xp3,x3); - db_SProjImagePointPointConstraints(c+54,c+63,xp4,x4); - /*Solve for the nullvector*/ - db_NullVector8x9Destructive(H,c); -} - -void db_StitchAffine2D_3Points(double H[9], - double x1[3],double x2[3],double x3[3], - double xp1[3],double xp2[3],double xp3[3]) -{ - double c[42]; - - /*Collect the constraints*/ - db_SAffineImagePointPointConstraints(c ,c+7 ,xp1,x1); - db_SAffineImagePointPointConstraints(c+14,c+21,xp2,x2); - db_SAffineImagePointPointConstraints(c+28,c+35,xp3,x3); - /*Solve for the nullvector*/ - db_NullVector6x7Destructive(H,c); - db_MultiplyScalar6(H,db_SafeReciprocal(H[6])); - H[6]=H[7]=0; H[8]=1.0; -} - -/*Compute up to three solutions for the focal length given two point correspondences -generated by a rotation with a common unknown focal length. No specific normalization -of the input points is required. If signed_disambiguation is true, the points are -required to be in front of the camera*/ -inline void db_CommonFocalLengthFromRotation_2Point(double fsol[3],int *nr_sols,double x1[3],double x2[3],double xp1[3],double xp2[3],int signed_disambiguation=1) -{ - double m,ax,ay,apx,apy,bx,by,bpx,bpy; - double p1[2],p2[2],p3[2],p4[2],p5[2],p6[2]; - double p7[3],p8[4],p9[5],p10[3],p11[4]; - double roots[3]; - int nr_roots,i,j; - - /*Solve for focal length using the equation - <a,b>^2*<ap,ap><bp,bp>=<ap,bp>^2*<a,a><b,b> - where a and ap are the homogenous vectors in the first image - after focal length scaling and b,bp are the vectors in the - second image*/ - - /*Normalize homogenous coordinates so that last coordinate is one*/ - m=db_SafeReciprocal(x1[2]); - ax=x1[0]*m; - ay=x1[1]*m; - m=db_SafeReciprocal(xp1[2]); - apx=xp1[0]*m; - apy=xp1[1]*m; - m=db_SafeReciprocal(x2[2]); - bx=x2[0]*m; - by=x2[1]*m; - m=db_SafeReciprocal(xp2[2]); - bpx=xp2[0]*m; - bpy=xp2[1]*m; - - /*Compute cubic in l=1/(f^2) - by dividing out the root l=0 from the equation - (l(ax*bx+ay*by)+1)^2*(l(apx^2+apy^2)+1)*(l(bpx^2+bpy^2)+1)= - (l(apx*bpx+apy*bpy)+1)^2*(l(ax^2+ay^2)+1)*(l(bx^2+by^2)+1)*/ - p1[1]=ax*bx+ay*by; - p2[1]=db_sqr(apx)+db_sqr(apy); - p3[1]=db_sqr(bpx)+db_sqr(bpy); - p4[1]=apx*bpx+apy*bpy; - p5[1]=db_sqr(ax)+db_sqr(ay); - p6[1]=db_sqr(bx)+db_sqr(by); - p1[0]=p2[0]=p3[0]=p4[0]=p5[0]=p6[0]=1; - - db_MultiplyPoly1_1(p7,p1,p1); - db_MultiplyPoly1_2(p8,p2,p7); - db_MultiplyPoly1_3(p9,p3,p8); - - db_MultiplyPoly1_1(p10,p4,p4); - db_MultiplyPoly1_2(p11,p5,p10); - db_SubtractPolyProduct1_3(p9,p6,p11); - /*Cubic starts at p9[1]*/ - db_SolveCubic(roots,&nr_roots,p9[4],p9[3],p9[2],p9[1]); - - for(j=0,i=0;i<nr_roots;i++) - { - if(roots[i]>0) - { - if((!signed_disambiguation) || (db_PolyEval1(p1,roots[i])*db_PolyEval1(p4,roots[i])>0)) - { - fsol[j++]=db_SafeSqrtReciprocal(roots[i]); - } - } - } - *nr_sols=j; -} - -int db_StitchRotationCommonFocalLength_3Points(double H[9],double x1[3],double x2[3],double x3[3],double xp1[3],double xp2[3],double xp3[3],double *f,int signed_disambiguation) -{ - double fsol[3]; - int nr_sols,i,best_sol,done; - double cost,best_cost; - double m,hyp[27],x1_temp[3],x2_temp[3],xp1_temp[3],xp2_temp[3]; - double *hyp_point,ft; - double y[2]; - - db_CommonFocalLengthFromRotation_2Point(fsol,&nr_sols,x1,x2,xp1,xp2,signed_disambiguation); - if(nr_sols) - { - db_DeHomogenizeImagePoint(y,xp3); - done=0; - for(i=0;i<nr_sols;i++) - { - ft=fsol[i]; - m=db_SafeReciprocal(ft); - x1_temp[0]=x1[0]*m; - x1_temp[1]=x1[1]*m; - x1_temp[2]=x1[2]; - x2_temp[0]=x2[0]*m; - x2_temp[1]=x2[1]*m; - x2_temp[2]=x2[2]; - xp1_temp[0]=xp1[0]*m; - xp1_temp[1]=xp1[1]*m; - xp1_temp[2]=xp1[2]; - xp2_temp[0]=xp2[0]*m; - xp2_temp[1]=xp2[1]*m; - xp2_temp[2]=xp2[2]; - - hyp_point=hyp+9*i; - db_StitchCameraRotation_2Points(hyp_point,x1_temp,x2_temp,xp1_temp,xp2_temp); - hyp_point[2]*=ft; - hyp_point[5]*=ft; - hyp_point[6]*=m; - hyp_point[7]*=m; - cost=db_SquaredReprojectionErrorHomography(y,hyp_point,x3); - - if(!done || cost<best_cost) - { - done=1; - best_cost=cost; - best_sol=i; - } - } - - if(f) *f=fsol[best_sol]; - db_Copy9(H,hyp+9*best_sol); - return(1); - } - else - { - db_Identity3x3(H); - if(f) *f=1.0; - return(0); - } -} - -void db_StitchSimilarity2DRaw(double *scale,double R[4],double t[2], - double **Xp,double **X,int nr_points,int orientation_preserving, - int allow_scaling,int allow_rotation,int allow_translation) -{ - int i; - double c[2],cp[2],r[2],rp[2],M[4],s,sp,sc; - double *temp,*temp_p; - double Aacc,Bacc,Aacc2,Bacc2,divisor,divisor2,m,Am,Bm; - - if(allow_translation) - { - db_PointCentroid2D(c,X,nr_points); - db_PointCentroid2D(cp,Xp,nr_points); - } - else - { - db_Zero2(c); - db_Zero2(cp); - } - - db_Zero4(M); - s=sp=0; - for(i=0;i<nr_points;i++) - { - temp= *X++; - temp_p= *Xp++; - r[0]=(*temp++)-c[0]; - r[1]=(*temp++)-c[1]; - rp[0]=(*temp_p++)-cp[0]; - rp[1]=(*temp_p++)-cp[1]; - - M[0]+=r[0]*rp[0]; - M[1]+=r[0]*rp[1]; - M[2]+=r[1]*rp[0]; - M[3]+=r[1]*rp[1]; - - s+=db_sqr(r[0])+db_sqr(r[1]); - sp+=db_sqr(rp[0])+db_sqr(rp[1]); - } - - /*Compute scale*/ - if(allow_scaling) sc=sqrt(db_SafeDivision(sp,s)); - else sc=1.0; - *scale=sc; - - /*Compute rotation*/ - if(allow_rotation) - { - /*orientation preserving*/ - Aacc=M[0]+M[3]; - Bacc=M[2]-M[1]; - /*orientation reversing*/ - Aacc2=M[0]-M[3]; - Bacc2=M[2]+M[1]; - if(Aacc!=0.0 || Bacc!=0.0) - { - divisor=sqrt(Aacc*Aacc+Bacc*Bacc); - m=db_SafeReciprocal(divisor); - Am=Aacc*m; - Bm=Bacc*m; - R[0]= Am; - R[1]= Bm; - R[2]= -Bm; - R[3]= Am; - } - else - { - db_Identity2x2(R); - divisor=0.0; - } - if(!orientation_preserving && (Aacc2!=0.0 || Bacc2!=0.0)) - { - divisor2=sqrt(Aacc2*Aacc2+Bacc2*Bacc2); - if(divisor2>divisor) - { - m=db_SafeReciprocal(divisor2); - Am=Aacc2*m; - Bm=Bacc2*m; - R[0]= Am; - R[1]= Bm; - R[2]= Bm; - R[3]= -Am; - } - } - } - else db_Identity2x2(R); - - /*Compute translation*/ - if(allow_translation) - { - t[0]=cp[0]-sc*(R[0]*c[0]+R[1]*c[1]); - t[1]=cp[1]-sc*(R[2]*c[0]+R[3]*c[1]); - } - else db_Zero2(t); -} - - diff --git a/jni/feature_stab/db_vlvm/db_image_homography.h b/jni/feature_stab/db_vlvm/db_image_homography.h deleted file mode 100644 index 165447dd7..000000000 --- a/jni/feature_stab/db_vlvm/db_image_homography.h +++ /dev/null @@ -1,183 +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_image_homography.h,v 1.2 2011/06/17 14:03:31 mbansal Exp $ */ - -#ifndef DB_IMAGE_HOMOGRAPHY -#define DB_IMAGE_HOMOGRAPHY - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ - -#include "db_framestitching.h" -/*! - * \defgroup LMImageHomography (LM) Image Homography Estimation (feature based) - */ -/*\{*/ -/*! -Solve for projective H such that xp~Hx. Prior normalization is not necessary, -although desirable for numerical conditioning -\param H image projective (out) -\param x1 image 1 point 1 -\param x2 image 1 point 2 -\param x3 image 1 point 3 -\param x4 image 1 point 4 -\param xp1 image 2 point 1 -\param xp2 image 2 point 2 -\param xp3 image 2 point 3 -\param xp4 image 2 point 4 -*/ -DB_API void db_StitchProjective2D_4Points(double H[9], - double x1[3],double x2[3],double x3[3],double x4[3], - double xp1[3],double xp2[3],double xp3[3],double xp4[3]); - -/*! -Solve for affine H such that xp~Hx. Prior normalization is not necessary, -although desirable for numerical conditioning -\param H image projective (out) -\param x1 image 1 point 1 -\param x2 image 1 point 2 -\param x3 image 1 point 3 -\param xp1 image 2 point 1 -\param xp2 image 2 point 2 -\param xp3 image 2 point 3 -*/ -DB_API void db_StitchAffine2D_3Points(double H[9], - double x1[3],double x2[3],double x3[3], - double xp1[3],double xp2[3],double xp3[3]); - -/*! -Solve for rotation R such that xp~Rx. -Image points have to be of unit norm for the least squares to be meaningful. -\param R image rotation (out) -\param x1 image 1 point 1 -\param x2 image 1 point 2 -\param xp1 image 2 point 1 -\param xp2 image 2 point 2 -*/ -inline void db_StitchCameraRotation_2Points(double R[9], - /*Image points have to be of unit norm - for the least squares to be meaningful*/ - double x1[3],double x2[3], - double xp1[3],double xp2[3]) -{ - double* x[2]; - double* xp[2]; - double scale,t[3]; - - x[0]=x1; - x[1]=x2; - xp[0]=xp1; - xp[1]=xp2; - db_StitchSimilarity3DRaw(&scale,R,t,xp,x,2,1,0,1,0); -} - -/*! -Solve for a homography H generated by a rotation R with a common unknown focal length f, i.e. -H=diag(f,f,1)*R*diag(1/f,1/f,1) such that xp~Hx. -If signed_disambiguation is true, the points are -required to be in front of the camera. No specific normalization of the homogenous points -is required, although it could be desirable to keep x1,x2,xp1 and xp2 of reasonable magnitude. -If a solution is obtained the function returns 1, otherwise 0. If the focal length is desired -a valid pointer should be passed in f -*/ -DB_API int db_StitchRotationCommonFocalLength_3Points(double H[9],double x1[3],double x2[3],double x3[3], - double xp1[3],double xp2[3],double xp3[3],double *f=0,int signed_disambiguation=1); - -/*! -Find scale, rotation and translation of the similarity that -takes the nr_points inhomogenous 2D points X to Xp, -i.e. for the homogenous equivalents -Xp and X we would have -\code -Xp~ -[sR t]*X -[0 1] -\endcode -If orientation_preserving is true, R is restricted such that det(R)>0. -allow_scaling, allow_rotation and allow_translation allow s,R and t -to differ from 1,Identity and 0 - -Full similarity takes the following on 550MHz: -\code -0.9 microseconds with 2 points -1.0 microseconds with 3 points -1.1 microseconds with 4 points -1.3 microseconds with 5 points -1.4 microseconds with 6 points -1.7 microseconds with 10 points -9 microseconds with 100 points -130 microseconds with 1000 points -1.3 milliseconds with 10000 points -35 milliseconds with 100000 points -350 milliseconds with 1000000 points -\endcode - -Without orientation_preserving: -\code -3 points is minimal for (s,R,t) (R,t) -2 points is minimal for (s,t) (s,R) (R) -1 point is minimal for (s) (t) -\endcode - -With orientation_preserving: -\code -2 points is minimal for (s,R,t) (R,t) (s,t) -1 point is minimal for (s,R) (R) (s) (t) -\endcode -\param scale (out) -\param R 2D rotation (out) -\param t 2D translation (out) -\param Xp (nr_points x 2) pointer to array of image points -\param X (nr_points x 2 ) pointer to array of image points -\param nr_points number of points -\param orientation_preserving -\param allow_scaling compute scale (if 0, scale=1) -\param allow_rotation compute rotation (if 0, R=[I]) -\param allow_translation compute translation (if 0 t = [0,0]') -*/ -DB_API void db_StitchSimilarity2DRaw(double *scale,double R[4],double t[2], - double **Xp,double **X,int nr_points,int orientation_preserving=1, - int allow_scaling=1,int allow_rotation=1,int allow_translation=1); -/*! -See db_StitchRotationCommonFocalLength_3Points(). -\param H Image similarity transformation (out) -\param Xp (nr_points x 2) pointer to array of image points -\param X (nr_points x 2) pointer to array of image points -\param nr_points number of points -\param orientation_preserving -\param allow_scaling compute scale (if 0, scale=1) -\param allow_rotation compute rotation (if 0, R=[I]) -\param allow_translation compute translation (if 0 t = [0,0]') -*/ -inline void db_StitchSimilarity2D(double H[9],double **Xp,double **X,int nr_points,int orientation_preserving=1, - int allow_scaling=1,int allow_rotation=1,int allow_translation=1) -{ - double s,R[4],t[2]; - - db_StitchSimilarity2DRaw(&s,R,t,Xp,X,nr_points,orientation_preserving, - allow_scaling,allow_rotation,allow_translation); - - H[0]=s*R[0]; H[1]=s*R[1]; H[2]=t[0]; - H[3]=s*R[2]; H[4]=s*R[3]; H[5]=t[1]; - db_Zero2(H+6); - H[8]=1.0; -} -/*\}*/ -#endif /* DB_IMAGE_HOMOGRAPHY */ diff --git a/jni/feature_stab/db_vlvm/db_metrics.h b/jni/feature_stab/db_vlvm/db_metrics.h deleted file mode 100644 index 6b95458f1..000000000 --- a/jni/feature_stab/db_vlvm/db_metrics.h +++ /dev/null @@ -1,408 +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_metrics.h,v 1.3 2011/06/17 14:03:31 mbansal Exp $ */ - -#ifndef DB_METRICS -#define DB_METRICS - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ - -#include "db_utilities.h" -/*! - * \defgroup LMMetrics (LM) Metrics - */ -/*\{*/ - - - - -/*! -Compute function value fp and Jacobian J of robustifier given input value f*/ -inline void db_CauchyDerivative(double J[4],double fp[2],const double f[2],double one_over_scale2) -{ - double x2,y2,r,r2,r2s,one_over_r2,fu,r_fu,one_over_r_fu; - double one_plus_r2s,half_dfu_dx,half_dfu_dy,coeff,coeff2,coeff3; - int at_zero; - - /*The robustifier takes the input (x,y) and makes a new - vector (xp,yp) where - xp=sqrt(log(1+(x^2+y^2)*one_over_scale2))*x/sqrt(x^2+y^2) - yp=sqrt(log(1+(x^2+y^2)*one_over_scale2))*y/sqrt(x^2+y^2) - The new vector has the property - xp^2+yp^2=log(1+(x^2+y^2)*one_over_scale2) - i.e. when it is square-summed it gives the robust - reprojection error - Define - r2=(x^2+y^2) and - r2s=r2*one_over_scale2 - fu=log(1+r2s)/r2 - then - xp=sqrt(fu)*x - yp=sqrt(fu)*y - and - d(r2)/dx=2x - d(r2)/dy=2y - and - dfu/dx=d(r2)/dx*(r2s/(1+r2s)-log(1+r2s))/(r2*r2) - dfu/dy=d(r2)/dy*(r2s/(1+r2s)-log(1+r2s))/(r2*r2) - and - d(xp)/dx=1/(2sqrt(fu))*(dfu/dx)*x+sqrt(fu) - d(xp)/dy=1/(2sqrt(fu))*(dfu/dy)*x - d(yp)/dx=1/(2sqrt(fu))*(dfu/dx)*y - d(yp)/dy=1/(2sqrt(fu))*(dfu/dy)*y+sqrt(fu) - */ - - x2=db_sqr(f[0]); - y2=db_sqr(f[1]); - r2=x2+y2; - r=sqrt(r2); - - if(r2<=0.0) at_zero=1; - else - { - one_over_r2=1.0/r2; - r2s=r2*one_over_scale2; - one_plus_r2s=1.0+r2s; - fu=log(one_plus_r2s)*one_over_r2; - r_fu=sqrt(fu); - if(r_fu<=0.0) at_zero=1; - else - { - one_over_r_fu=1.0/r_fu; - fp[0]=r_fu*f[0]; - fp[1]=r_fu*f[1]; - /*r2s is always >= 0*/ - coeff=(r2s/one_plus_r2s*one_over_r2-fu)*one_over_r2; - half_dfu_dx=f[0]*coeff; - half_dfu_dy=f[1]*coeff; - coeff2=one_over_r_fu*half_dfu_dx; - coeff3=one_over_r_fu*half_dfu_dy; - - J[0]=coeff2*f[0]+r_fu; - J[1]=coeff3*f[0]; - J[2]=coeff2*f[1]; - J[3]=coeff3*f[1]+r_fu; - at_zero=0; - } - } - if(at_zero) - { - /*Close to zero the robustifying mapping - becomes identity*sqrt(one_over_scale2)*/ - fp[0]=0.0; - fp[1]=0.0; - J[0]=sqrt(one_over_scale2); - J[1]=0.0; - J[2]=0.0; - J[3]=J[0]; - } -} - -inline double db_SquaredReprojectionErrorHomography(const double y[2],const double H[9],const double x[3]) -{ - double x0,x1,x2,mult; - double sd; - - x0=H[0]*x[0]+H[1]*x[1]+H[2]*x[2]; - x1=H[3]*x[0]+H[4]*x[1]+H[5]*x[2]; - x2=H[6]*x[0]+H[7]*x[1]+H[8]*x[2]; - mult=1.0/((x2!=0.0)?x2:1.0); - sd=db_sqr((y[0]-x0*mult))+db_sqr((y[1]-x1*mult)); - - return(sd); -} - -inline double db_SquaredInhomogenousHomographyError(const double y[2],const double H[9],const double x[2]) -{ - double x0,x1,x2,mult; - double sd; - - x0=H[0]*x[0]+H[1]*x[1]+H[2]; - x1=H[3]*x[0]+H[4]*x[1]+H[5]; - x2=H[6]*x[0]+H[7]*x[1]+H[8]; - mult=1.0/((x2!=0.0)?x2:1.0); - sd=db_sqr((y[0]-x0*mult))+db_sqr((y[1]-x1*mult)); - - return(sd); -} - -/*! -Return a constant divided by likelihood of a Cauchy distributed -reprojection error given the image point y, homography H, image point -point x and the squared scale coefficient one_over_scale2=1.0/(scale*scale) -where scale is the half width at half maximum (hWahM) of the -Cauchy distribution*/ -inline double db_ExpCauchyInhomogenousHomographyError(const double y[2],const double H[9],const double x[2], - double one_over_scale2) -{ - double sd; - sd=db_SquaredInhomogenousHomographyError(y,H,x); - return(1.0+sd*one_over_scale2); -} - -/*! -Compute residual vector f between image point y and homography Hx of -image point x. Also compute Jacobian of f with respect -to an update dx of H*/ -inline void db_DerivativeInhomHomographyError(double Jf_dx[18],double f[2],const double y[2],const double H[9], - const double x[2]) -{ - double xh,yh,zh,mult,mult2,xh_mult2,yh_mult2; - /*The Jacobian of the inhomogenous coordinates with respect to - the homogenous is - [1/zh 0 -xh/(zh*zh)] - [ 0 1/zh -yh/(zh*zh)] - The Jacobian of the homogenous coordinates with respect to dH is - [x0 x1 1 0 0 0 0 0 0] - [ 0 0 0 x0 x1 1 0 0 0] - [ 0 0 0 0 0 0 x0 x1 1] - The output Jacobian is minus their product, i.e. - [-x0/zh -x1/zh -1/zh 0 0 0 x0*xh/(zh*zh) x1*xh/(zh*zh) xh/(zh*zh)] - [ 0 0 0 -x0/zh -x1/zh -1/zh x0*yh/(zh*zh) x1*yh/(zh*zh) yh/(zh*zh)]*/ - - /*Compute warped point, which is the same as - homogenous coordinates of reprojection*/ - xh=H[0]*x[0]+H[1]*x[1]+H[2]; - yh=H[3]*x[0]+H[4]*x[1]+H[5]; - zh=H[6]*x[0]+H[7]*x[1]+H[8]; - mult=1.0/((zh!=0.0)?zh:1.0); - /*Compute inhomogenous residual*/ - f[0]=y[0]-xh*mult; - f[1]=y[1]-yh*mult; - /*Compute Jacobian*/ - mult2=mult*mult; - xh_mult2=xh*mult2; - yh_mult2=yh*mult2; - Jf_dx[0]= -x[0]*mult; - Jf_dx[1]= -x[1]*mult; - Jf_dx[2]= -mult; - Jf_dx[3]=0; - Jf_dx[4]=0; - Jf_dx[5]=0; - Jf_dx[6]=x[0]*xh_mult2; - Jf_dx[7]=x[1]*xh_mult2; - Jf_dx[8]=xh_mult2; - Jf_dx[9]=0; - Jf_dx[10]=0; - Jf_dx[11]=0; - Jf_dx[12]=Jf_dx[0]; - Jf_dx[13]=Jf_dx[1]; - Jf_dx[14]=Jf_dx[2]; - Jf_dx[15]=x[0]*yh_mult2; - Jf_dx[16]=x[1]*yh_mult2; - Jf_dx[17]=yh_mult2; -} - -/*! -Compute robust residual vector f between image point y and homography Hx of -image point x. Also compute Jacobian of f with respect -to an update dH of H*/ -inline void db_DerivativeCauchyInhomHomographyReprojection(double Jf_dx[18],double f[2],const double y[2],const double H[9], - const double x[2],double one_over_scale2) -{ - double Jf_dx_loc[18],f_loc[2]; - double J[4],J0,J1,J2,J3; - - /*Compute reprojection Jacobian*/ - db_DerivativeInhomHomographyError(Jf_dx_loc,f_loc,y,H,x); - /*Compute robustifier Jacobian*/ - db_CauchyDerivative(J,f,f_loc,one_over_scale2); - - /*Multiply the robustifier Jacobian with - the reprojection Jacobian*/ - J0=J[0];J1=J[1];J2=J[2];J3=J[3]; - Jf_dx[0]=J0*Jf_dx_loc[0]; - Jf_dx[1]=J0*Jf_dx_loc[1]; - Jf_dx[2]=J0*Jf_dx_loc[2]; - Jf_dx[3]= J1*Jf_dx_loc[12]; - Jf_dx[4]= J1*Jf_dx_loc[13]; - Jf_dx[5]= J1*Jf_dx_loc[14]; - Jf_dx[6]=J0*Jf_dx_loc[6]+J1*Jf_dx_loc[15]; - Jf_dx[7]=J0*Jf_dx_loc[7]+J1*Jf_dx_loc[16]; - Jf_dx[8]=J0*Jf_dx_loc[8]+J1*Jf_dx_loc[17]; - Jf_dx[9]= J2*Jf_dx_loc[0]; - Jf_dx[10]=J2*Jf_dx_loc[1]; - Jf_dx[11]=J2*Jf_dx_loc[2]; - Jf_dx[12]= J3*Jf_dx_loc[12]; - Jf_dx[13]= J3*Jf_dx_loc[13]; - Jf_dx[14]= J3*Jf_dx_loc[14]; - Jf_dx[15]=J2*Jf_dx_loc[6]+J3*Jf_dx_loc[15]; - Jf_dx[16]=J2*Jf_dx_loc[7]+J3*Jf_dx_loc[16]; - Jf_dx[17]=J2*Jf_dx_loc[8]+J3*Jf_dx_loc[17]; -} -/*! -Compute residual vector f between image point y and rotation of -image point x by R. Also compute Jacobian of f with respect -to an update dx of R*/ -inline void db_DerivativeInhomRotationReprojection(double Jf_dx[6],double f[2],const double y[2],const double R[9], - const double x[2]) -{ - double xh,yh,zh,mult,mult2,xh_mult2,yh_mult2; - /*The Jacobian of the inhomogenous coordinates with respect to - the homogenous is - [1/zh 0 -xh/(zh*zh)] - [ 0 1/zh -yh/(zh*zh)] - The Jacobian at zero of the homogenous coordinates with respect to - [sin(phi) sin(ohm) sin(kap)] is - [-rx2 0 rx1 ] - [ 0 rx2 -rx0 ] - [ rx0 -rx1 0 ] - The output Jacobian is minus their product, i.e. - [1+xh*xh/(zh*zh) -xh*yh/(zh*zh) -yh/zh] - [xh*yh/(zh*zh) -1-yh*yh/(zh*zh) xh/zh]*/ - - /*Compute rotated point, which is the same as - homogenous coordinates of reprojection*/ - xh=R[0]*x[0]+R[1]*x[1]+R[2]; - yh=R[3]*x[0]+R[4]*x[1]+R[5]; - zh=R[6]*x[0]+R[7]*x[1]+R[8]; - mult=1.0/((zh!=0.0)?zh:1.0); - /*Compute inhomogenous residual*/ - f[0]=y[0]-xh*mult; - f[1]=y[1]-yh*mult; - /*Compute Jacobian*/ - mult2=mult*mult; - xh_mult2=xh*mult2; - yh_mult2=yh*mult2; - Jf_dx[0]= 1.0+xh*xh_mult2; - Jf_dx[1]= -yh*xh_mult2; - Jf_dx[2]= -yh*mult; - Jf_dx[3]= -Jf_dx[1]; - Jf_dx[4]= -1-yh*yh_mult2; - Jf_dx[5]= xh*mult; -} - -/*! -Compute robust residual vector f between image point y and rotation of -image point x by R. Also compute Jacobian of f with respect -to an update dx of R*/ -inline void db_DerivativeCauchyInhomRotationReprojection(double Jf_dx[6],double f[2],const double y[2],const double R[9], - const double x[2],double one_over_scale2) -{ - double Jf_dx_loc[6],f_loc[2]; - double J[4],J0,J1,J2,J3; - - /*Compute reprojection Jacobian*/ - db_DerivativeInhomRotationReprojection(Jf_dx_loc,f_loc,y,R,x); - /*Compute robustifier Jacobian*/ - db_CauchyDerivative(J,f,f_loc,one_over_scale2); - - /*Multiply the robustifier Jacobian with - the reprojection Jacobian*/ - J0=J[0];J1=J[1];J2=J[2];J3=J[3]; - Jf_dx[0]=J0*Jf_dx_loc[0]+J1*Jf_dx_loc[3]; - Jf_dx[1]=J0*Jf_dx_loc[1]+J1*Jf_dx_loc[4]; - Jf_dx[2]=J0*Jf_dx_loc[2]+J1*Jf_dx_loc[5]; - Jf_dx[3]=J2*Jf_dx_loc[0]+J3*Jf_dx_loc[3]; - Jf_dx[4]=J2*Jf_dx_loc[1]+J3*Jf_dx_loc[4]; - Jf_dx[5]=J2*Jf_dx_loc[2]+J3*Jf_dx_loc[5]; -} - - - -/*! -// remove the outliers whose projection error is larger than pre-defined -*/ -inline int db_RemoveOutliers_Homography(const double H[9], double *x_i,double *xp_i, double *wp,double *im, double *im_p, double *im_r, double *im_raw,double *im_raw_p,int point_count,double scale, double thresh=DB_OUTLIER_THRESHOLD) -{ - double temp_valueE, t2; - int c; - int k1=0; - int k2=0; - int k3=0; - int numinliers=0; - int ind1; - int ind2; - int ind3; - int isinlier; - - // experimentally determined - t2=1.0/(thresh*thresh*thresh*thresh); - - // count the inliers - for(c=0;c<point_count;c++) - { - ind1=c<<1; - ind2=c<<2; - ind3=3*c; - - temp_valueE=db_SquaredInhomogenousHomographyError(im_p+ind3,H,im+ind3); - - isinlier=((temp_valueE<=t2)?1:0); - - // if it is inlier, then copy the 3d and 2d correspondences - if (isinlier) - { - numinliers++; - - x_i[k1]=x_i[ind1]; - x_i[k1+1]=x_i[ind1+1]; - - xp_i[k1]=xp_i[ind1]; - xp_i[k1+1]=xp_i[ind1+1]; - - k1=k1+2; - - // original normalized pixel coordinates - im[k3]=im[ind3]; - im[k3+1]=im[ind3+1]; - im[k3+2]=im[ind3+2]; - - im_r[k3]=im_r[ind3]; - im_r[k3+1]=im_r[ind3+1]; - im_r[k3+2]=im_r[ind3+2]; - - im_p[k3]=im_p[ind3]; - im_p[k3+1]=im_p[ind3+1]; - im_p[k3+2]=im_p[ind3+2]; - - // left and right raw pixel coordinates - im_raw[k3] = im_raw[ind3]; - im_raw[k3+1] = im_raw[ind3+1]; - im_raw[k3+2] = im_raw[ind3+2]; // the index - - im_raw_p[k3] = im_raw_p[ind3]; - im_raw_p[k3+1] = im_raw_p[ind3+1]; - im_raw_p[k3+2] = im_raw_p[ind3+2]; // the index - - k3=k3+3; - - // 3D coordinates - wp[k2]=wp[ind2]; - wp[k2+1]=wp[ind2+1]; - wp[k2+2]=wp[ind2+2]; - wp[k2+3]=wp[ind2+3]; - - k2=k2+4; - - } - } - - return numinliers; -} - - - - - -/*\}*/ - -#endif /* DB_METRICS */ diff --git a/jni/feature_stab/db_vlvm/db_rob_image_homography.cpp b/jni/feature_stab/db_vlvm/db_rob_image_homography.cpp deleted file mode 100644 index 82dec0cbe..000000000 --- a/jni/feature_stab/db_vlvm/db_rob_image_homography.cpp +++ /dev/null @@ -1,1082 +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_rob_image_homography.cpp,v 1.2 2011/06/17 14:03:31 mbansal Exp $ */ - -#include "db_utilities.h" -#include "db_rob_image_homography.h" -#include "db_bundle.h" - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ - -#include "db_image_homography.h" - -#ifdef _VERBOSE_ -#include <iostream> -using namespace std; -#endif /*VERBOSE*/ - -inline double db_RobImageHomography_Cost(double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2) -{ - int c; - double back,acc,*x_i_temp,*xp_i_temp; - - for(back=0.0,c=0;c<point_count;) - { - /*Take log of product of ten reprojection - errors to reduce nr of expensive log operations*/ - if(c+9<point_count) - { - x_i_temp=x_i+(c<<1); - xp_i_temp=xp_i+(c<<1); - - acc=db_ExpCauchyInhomogenousHomographyError(xp_i_temp,H,x_i_temp,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+2,H,x_i_temp+2,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+4,H,x_i_temp+4,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+6,H,x_i_temp+6,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+8,H,x_i_temp+8,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+10,H,x_i_temp+10,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+12,H,x_i_temp+12,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+14,H,x_i_temp+14,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+16,H,x_i_temp+16,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+18,H,x_i_temp+18,one_over_scale2); - c+=10; - } - else - { - for(acc=1.0;c<point_count;c++) - { - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i+(c<<1),H,x_i+(c<<1),one_over_scale2); - } - } - back+=log(acc); - } - return(back); -} - -inline double db_RobImageHomography_Statistics(double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2,db_Statistics *stat,double thresh=DB_OUTLIER_THRESHOLD) -{ - int c,i; - double t2,frac; - - t2=thresh*thresh; - for(i=0,c=0;c<point_count;c++) - { - i+=(db_SquaredInhomogenousHomographyError(xp_i+(c<<1),H,x_i+(c<<1))*one_over_scale2<=t2)?1:0; - } - frac=((double)i)/((double)(db_maxi(point_count,1))); - -#ifdef _VERBOSE_ - std::cout << "Inlier Percentage RobImageHomography: " << frac*100.0 << "% out of " << point_count << " constraints" << std::endl; -#endif /*_VERBOSE_*/ - - if(stat) - { - stat->nr_points=point_count; - stat->one_over_scale2=one_over_scale2; - stat->nr_inliers=i; - stat->inlier_fraction=frac; - - stat->cost=db_RobImageHomography_Cost(H,point_count,x_i,xp_i,one_over_scale2); - stat->model_dimension=0; - /*stat->nr_parameters=;*/ - - stat->lambda1=log(4.0); - stat->lambda2=log(4.0*((double)db_maxi(1,stat->nr_points))); - stat->lambda3=10.0; - stat->gric=stat->cost+stat->lambda1*stat->model_dimension*((double)stat->nr_points)+stat->lambda2*((double)stat->nr_parameters); - stat->inlier_evidence=((double)stat->nr_inliers)-stat->lambda3*((double)stat->nr_parameters); - } - - return(frac); -} - -/*Compute min_Jtf and upper right of JtJ. Return cost.*/ -inline double db_RobImageHomography_Jacobians(double JtJ[81],double min_Jtf[9],double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2) -{ - double back,Jf_dx[18],f[2],temp,temp2; - int i; - - db_Zero(JtJ,81); - db_Zero(min_Jtf,9); - for(back=0.0,i=0;i<point_count;i++) - { - /*Compute reprojection error vector and its Jacobian - for this point*/ - db_DerivativeCauchyInhomHomographyReprojection(Jf_dx,f,xp_i+(i<<1),H,x_i+(i<<1),one_over_scale2); - /*Perform - min_Jtf-=Jf_dx*f[0] and - min_Jtf-=(Jf_dx+9)*f[1] to accumulate -Jt%f*/ - db_RowOperation9(min_Jtf,Jf_dx,f[0]); - db_RowOperation9(min_Jtf,Jf_dx+9,f[1]); - /*Accumulate upper right of JtJ with outer product*/ - temp=Jf_dx[0]; temp2=Jf_dx[9]; - JtJ[0]+=temp*Jf_dx[0]+temp2*Jf_dx[9]; - JtJ[1]+=temp*Jf_dx[1]+temp2*Jf_dx[10]; - JtJ[2]+=temp*Jf_dx[2]+temp2*Jf_dx[11]; - JtJ[3]+=temp*Jf_dx[3]+temp2*Jf_dx[12]; - JtJ[4]+=temp*Jf_dx[4]+temp2*Jf_dx[13]; - JtJ[5]+=temp*Jf_dx[5]+temp2*Jf_dx[14]; - JtJ[6]+=temp*Jf_dx[6]+temp2*Jf_dx[15]; - JtJ[7]+=temp*Jf_dx[7]+temp2*Jf_dx[16]; - JtJ[8]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - temp=Jf_dx[1]; temp2=Jf_dx[10]; - JtJ[10]+=temp*Jf_dx[1]+temp2*Jf_dx[10]; - JtJ[11]+=temp*Jf_dx[2]+temp2*Jf_dx[11]; - JtJ[12]+=temp*Jf_dx[3]+temp2*Jf_dx[12]; - JtJ[13]+=temp*Jf_dx[4]+temp2*Jf_dx[13]; - JtJ[14]+=temp*Jf_dx[5]+temp2*Jf_dx[14]; - JtJ[15]+=temp*Jf_dx[6]+temp2*Jf_dx[15]; - JtJ[16]+=temp*Jf_dx[7]+temp2*Jf_dx[16]; - JtJ[17]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - temp=Jf_dx[2]; temp2=Jf_dx[11]; - JtJ[20]+=temp*Jf_dx[2]+temp2*Jf_dx[11]; - JtJ[21]+=temp*Jf_dx[3]+temp2*Jf_dx[12]; - JtJ[22]+=temp*Jf_dx[4]+temp2*Jf_dx[13]; - JtJ[23]+=temp*Jf_dx[5]+temp2*Jf_dx[14]; - JtJ[24]+=temp*Jf_dx[6]+temp2*Jf_dx[15]; - JtJ[25]+=temp*Jf_dx[7]+temp2*Jf_dx[16]; - JtJ[26]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - temp=Jf_dx[3]; temp2=Jf_dx[12]; - JtJ[30]+=temp*Jf_dx[3]+temp2*Jf_dx[12]; - JtJ[31]+=temp*Jf_dx[4]+temp2*Jf_dx[13]; - JtJ[32]+=temp*Jf_dx[5]+temp2*Jf_dx[14]; - JtJ[33]+=temp*Jf_dx[6]+temp2*Jf_dx[15]; - JtJ[34]+=temp*Jf_dx[7]+temp2*Jf_dx[16]; - JtJ[35]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - temp=Jf_dx[4]; temp2=Jf_dx[13]; - JtJ[40]+=temp*Jf_dx[4]+temp2*Jf_dx[13]; - JtJ[41]+=temp*Jf_dx[5]+temp2*Jf_dx[14]; - JtJ[42]+=temp*Jf_dx[6]+temp2*Jf_dx[15]; - JtJ[43]+=temp*Jf_dx[7]+temp2*Jf_dx[16]; - JtJ[44]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - temp=Jf_dx[5]; temp2=Jf_dx[14]; - JtJ[50]+=temp*Jf_dx[5]+temp2*Jf_dx[14]; - JtJ[51]+=temp*Jf_dx[6]+temp2*Jf_dx[15]; - JtJ[52]+=temp*Jf_dx[7]+temp2*Jf_dx[16]; - JtJ[53]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - temp=Jf_dx[6]; temp2=Jf_dx[15]; - JtJ[60]+=temp*Jf_dx[6]+temp2*Jf_dx[15]; - JtJ[61]+=temp*Jf_dx[7]+temp2*Jf_dx[16]; - JtJ[62]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - temp=Jf_dx[7]; temp2=Jf_dx[16]; - JtJ[70]+=temp*Jf_dx[7]+temp2*Jf_dx[16]; - JtJ[71]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - temp=Jf_dx[8]; temp2=Jf_dx[17]; - JtJ[80]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - - /*Add square-sum to cost*/ - back+=db_sqr(f[0])+db_sqr(f[1]); - } - - return(back); -} - -/*Compute min_Jtf and upper right of JtJ. Return cost*/ -inline double db_RobCamRotation_Jacobians(double JtJ[9],double min_Jtf[3],double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2) -{ - double back,Jf_dx[6],f[2]; - int i,j; - - db_Zero(JtJ,9); - db_Zero(min_Jtf,3); - for(back=0.0,i=0;i<point_count;i++) - { - /*Compute reprojection error vector and its Jacobian - for this point*/ - j=(i<<1); - db_DerivativeCauchyInhomRotationReprojection(Jf_dx,f,xp_i+j,H,x_i+j,one_over_scale2); - /*Perform - min_Jtf-=Jf_dx*f[0] and - min_Jtf-=(Jf_dx+3)*f[1] to accumulate -Jt%f*/ - db_RowOperation3(min_Jtf,Jf_dx,f[0]); - db_RowOperation3(min_Jtf,Jf_dx+3,f[1]); - /*Accumulate upper right of JtJ with outer product*/ - JtJ[0]+=Jf_dx[0]*Jf_dx[0]+Jf_dx[3]*Jf_dx[3]; - JtJ[1]+=Jf_dx[0]*Jf_dx[1]+Jf_dx[3]*Jf_dx[4]; - JtJ[2]+=Jf_dx[0]*Jf_dx[2]+Jf_dx[3]*Jf_dx[5]; - JtJ[4]+=Jf_dx[1]*Jf_dx[1]+Jf_dx[4]*Jf_dx[4]; - JtJ[5]+=Jf_dx[1]*Jf_dx[2]+Jf_dx[4]*Jf_dx[5]; - JtJ[8]+=Jf_dx[2]*Jf_dx[2]+Jf_dx[5]*Jf_dx[5]; - - /*Add square-sum to cost*/ - back+=db_sqr(f[0])+db_sqr(f[1]); - } - - return(back); -} - -void db_RobCamRotation_Polish(double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2, - int max_iterations,double improvement_requirement) -{ - int i,update,stop; - double lambda,cost,current_cost; - double JtJ[9],min_Jtf[3],dx[3],H_p_dx[9]; - - lambda=0.001; - for(update=1,stop=0,i=0;(stop<2) && (i<max_iterations);i++) - { - /*if first time since improvement, compute Jacobian and residual*/ - if(update) - { - current_cost=db_RobCamRotation_Jacobians(JtJ,min_Jtf,H,point_count,x_i,xp_i,one_over_scale2); - update=0; - } - -#ifdef _VERBOSE_ - /*std::cout << "Cost:" << current_cost << " ";*/ -#endif /*_VERBOSE_*/ - - /*Come up with a hypothesis dx - based on the current lambda*/ - db_Compute_dx_3x3(dx,JtJ,min_Jtf,lambda); - - /*Compute Cost(x+dx)*/ - db_UpdateRotation(H_p_dx,H,dx); - cost=db_RobImageHomography_Cost(H_p_dx,point_count,x_i,xp_i,one_over_scale2); - - /*Is there an improvement?*/ - if(cost<current_cost) - { - /*improvement*/ - if(current_cost-cost<current_cost*improvement_requirement) stop++; - else stop=0; - lambda*=0.1; - /*Move to the hypothesised position x+dx*/ - current_cost=cost; - db_Copy9(H,H_p_dx); - db_OrthonormalizeRotation(H); - update=1; - -#ifdef _VERBOSE_ - std::cout << "Step" << i << "Imp,Lambda=" << lambda << "Cost:" << current_cost << std::endl; -#endif /*_VERBOSE_*/ - } - else - { - /*no improvement*/ - lambda*=10.0; - stop=0; - } - } -} - -inline void db_RobImageHomographyFetchJacobian(double **JtJ_ref,double *min_Jtf,double **JtJ_temp_ref,double *min_Jtf_temp,int n,int *fetch_vector) -{ - int i,j,t; - double *t1,*t2; - - for(i=0;i<n;i++) - { - t=fetch_vector[i]; - min_Jtf[i]=min_Jtf_temp[t]; - t1=JtJ_ref[i]; - t2=JtJ_temp_ref[t]; - for(j=i;j<n;j++) - { - t1[j]=t2[fetch_vector[j]]; - } - } -} - -inline void db_RobImageHomographyMultiplyJacobian(double **JtJ_ref,double *min_Jtf,double **JtJ_temp_ref,double *min_Jtf_temp,double **JE_dx_ref,int n) -{ - double JtJ_JE[72],*JtJ_JE_ref[9]; - - db_SetupMatrixRefs(JtJ_JE_ref,9,8,JtJ_JE); - - db_SymmetricExtendUpperToLower(JtJ_temp_ref,9,9); - db_MultiplyMatricesAB(JtJ_JE_ref,JtJ_temp_ref,JE_dx_ref,9,9,n); - db_UpperMultiplyMatricesAtB(JtJ_ref,JE_dx_ref,JtJ_JE_ref,n,9,n); - db_MultiplyMatrixVectorAtb(min_Jtf,JE_dx_ref,min_Jtf_temp,n,9); -} - -inline void db_RobImageHomographyJH_Js(double **JE_dx_ref,int j,double H[9]) -{ - /*Update of upper 2x2 is multiplication by - [s 0][ cos(theta) sin(theta)] - [0 s][-sin(theta) cos(theta)]*/ - JE_dx_ref[0][j]=H[0]; - JE_dx_ref[1][j]=H[1]; - JE_dx_ref[2][j]=0; - JE_dx_ref[3][j]=H[2]; - JE_dx_ref[4][j]=H[3]; - JE_dx_ref[5][j]=0; - JE_dx_ref[6][j]=0; - JE_dx_ref[7][j]=0; - JE_dx_ref[8][j]=0; -} - -inline void db_RobImageHomographyJH_JR(double **JE_dx_ref,int j,double H[9]) -{ - /*Update of upper 2x2 is multiplication by - [s 0][ cos(theta) sin(theta)] - [0 s][-sin(theta) cos(theta)]*/ - JE_dx_ref[0][j]= H[3]; - JE_dx_ref[1][j]= H[4]; - JE_dx_ref[2][j]=0; - JE_dx_ref[3][j]= -H[0]; - JE_dx_ref[4][j]= -H[1]; - JE_dx_ref[5][j]=0; - JE_dx_ref[6][j]=0; - JE_dx_ref[7][j]=0; - JE_dx_ref[8][j]=0; -} - -inline void db_RobImageHomographyJH_Jt(double **JE_dx_ref,int j,int k,double H[9]) -{ - JE_dx_ref[0][j]=0; - JE_dx_ref[1][j]=0; - JE_dx_ref[2][j]=1.0; - JE_dx_ref[3][j]=0; - JE_dx_ref[4][j]=0; - JE_dx_ref[5][j]=0; - JE_dx_ref[6][j]=0; - JE_dx_ref[7][j]=0; - JE_dx_ref[8][j]=0; - - JE_dx_ref[0][k]=0; - JE_dx_ref[1][k]=0; - JE_dx_ref[2][k]=0; - JE_dx_ref[3][k]=0; - JE_dx_ref[4][k]=0; - JE_dx_ref[5][k]=1.0; - JE_dx_ref[6][k]=0; - JE_dx_ref[7][k]=0; - JE_dx_ref[8][k]=0; -} - -inline void db_RobImageHomographyJH_dRotFocal(double **JE_dx_ref,int j,int k,int l,int m,double H[9]) -{ - double f,fi,fi2; - double R[9],J[9]; - - /*Updated matrix is diag(f+df,f+df)*dR*R*diag(1/(f+df),1/(f+df),1)*/ - f=db_FocalAndRotFromCamRotFocalHomography(R,H); - fi=db_SafeReciprocal(f); - fi2=db_sqr(fi); - db_JacobianOfRotatedPointStride(J,R,3); - JE_dx_ref[0][j]= J[0]; - JE_dx_ref[1][j]= J[1]; - JE_dx_ref[2][j]=f* J[2]; - JE_dx_ref[3][j]= J[3]; - JE_dx_ref[4][j]= J[4]; - JE_dx_ref[5][j]=f* J[5]; - JE_dx_ref[6][j]=fi*J[6]; - JE_dx_ref[7][j]=fi*J[7]; - JE_dx_ref[8][j]= J[8]; - db_JacobianOfRotatedPointStride(J,R+1,3); - JE_dx_ref[0][k]= J[0]; - JE_dx_ref[1][k]= J[1]; - JE_dx_ref[2][k]=f* J[2]; - JE_dx_ref[3][k]= J[3]; - JE_dx_ref[4][k]= J[4]; - JE_dx_ref[5][k]=f* J[5]; - JE_dx_ref[6][k]=fi*J[6]; - JE_dx_ref[7][k]=fi*J[7]; - JE_dx_ref[8][k]= J[8]; - db_JacobianOfRotatedPointStride(J,R+2,3); - JE_dx_ref[0][l]= J[0]; - JE_dx_ref[1][l]= J[1]; - JE_dx_ref[2][l]=f* J[2]; - JE_dx_ref[3][l]= J[3]; - JE_dx_ref[4][l]= J[4]; - JE_dx_ref[5][l]=f* J[5]; - JE_dx_ref[6][l]=fi*J[6]; - JE_dx_ref[7][l]=fi*J[7]; - JE_dx_ref[8][l]= J[8]; - - JE_dx_ref[0][m]=0; - JE_dx_ref[1][m]=0; - JE_dx_ref[2][m]=H[2]; - JE_dx_ref[3][m]=0; - JE_dx_ref[4][m]=0; - JE_dx_ref[5][m]=H[5]; - JE_dx_ref[6][m]= -fi2*H[6]; - JE_dx_ref[7][m]= -fi2*H[7]; - JE_dx_ref[8][m]=0; -} - -inline double db_RobImageHomography_Jacobians_Generic(double *JtJ_ref[8],double min_Jtf[8],int *num_param,int *frozen_coord,double H[9],int point_count,double *x_i,double *xp_i,int homography_type,double one_over_scale2) -{ - double back; - int i,j,fetch_vector[8],n; - double JtJ_temp[81],min_Jtf_temp[9],JE_dx[72]; - double *JE_dx_ref[9],*JtJ_temp_ref[9]; - - /*Compute cost and JtJ,min_Jtf with respect to H*/ - back=db_RobImageHomography_Jacobians(JtJ_temp,min_Jtf_temp,H,point_count,x_i,xp_i,one_over_scale2); - - /*Compute JtJ,min_Jtf with respect to the right parameters - The formulas are - JtJ=transpose(JE_dx)*JtJ*JE_dx and - min_Jtf=transpose(JE_dx)*min_Jtf, - where the 9xN matrix JE_dx is the Jacobian of H with respect - to the update*/ - db_SetupMatrixRefs(JtJ_temp_ref,9,9,JtJ_temp); - db_SetupMatrixRefs(JE_dx_ref,9,8,JE_dx); - switch(homography_type) - { - case DB_HOMOGRAPHY_TYPE_SIMILARITY: - case DB_HOMOGRAPHY_TYPE_SIMILARITY_U: - n=4; - db_RobImageHomographyJH_Js(JE_dx_ref,0,H); - db_RobImageHomographyJH_JR(JE_dx_ref,1,H); - db_RobImageHomographyJH_Jt(JE_dx_ref,2,3,H); - db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n); - break; - case DB_HOMOGRAPHY_TYPE_ROTATION: - case DB_HOMOGRAPHY_TYPE_ROTATION_U: - n=1; - db_RobImageHomographyJH_JR(JE_dx_ref,0,H); - db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n); - break; - case DB_HOMOGRAPHY_TYPE_SCALING: - n=1; - db_RobImageHomographyJH_Js(JE_dx_ref,0,H); - db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n); - break; - case DB_HOMOGRAPHY_TYPE_S_T: - n=3; - db_RobImageHomographyJH_Js(JE_dx_ref,0,H); - db_RobImageHomographyJH_Jt(JE_dx_ref,1,2,H); - db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n); - break; - case DB_HOMOGRAPHY_TYPE_R_T: - n=3; - db_RobImageHomographyJH_JR(JE_dx_ref,0,H); - db_RobImageHomographyJH_Jt(JE_dx_ref,1,2,H); - db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n); - break; - case DB_HOMOGRAPHY_TYPE_R_S: - n=2; - db_RobImageHomographyJH_Js(JE_dx_ref,0,H); - db_RobImageHomographyJH_JR(JE_dx_ref,1,H); - db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n); - break; - - case DB_HOMOGRAPHY_TYPE_TRANSLATION: - n=2; - fetch_vector[0]=2; - fetch_vector[1]=5; - db_RobImageHomographyFetchJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,n,fetch_vector); - break; - case DB_HOMOGRAPHY_TYPE_AFFINE: - n=6; - fetch_vector[0]=0; - fetch_vector[1]=1; - fetch_vector[2]=2; - fetch_vector[3]=3; - fetch_vector[4]=4; - fetch_vector[5]=5; - db_RobImageHomographyFetchJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,n,fetch_vector); - break; - case DB_HOMOGRAPHY_TYPE_PROJECTIVE: - n=8; - *frozen_coord=db_MaxAbsIndex9(H); - for(j=0,i=0;i<9;i++) if(i!=(*frozen_coord)) - { - fetch_vector[j]=i; - j++; - } - db_RobImageHomographyFetchJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,n,fetch_vector); - break; - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F: - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD: - n=4; - db_RobImageHomographyJH_dRotFocal(JE_dx_ref,0,1,2,3,H); - db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n); - break; - } - *num_param=n; - - return(back); -} - -inline void db_ImageHomographyUpdateGeneric(double H_p_dx[9],double H[9],double *dx,int homography_type,int frozen_coord) -{ - switch(homography_type) - { - case DB_HOMOGRAPHY_TYPE_SIMILARITY: - case DB_HOMOGRAPHY_TYPE_SIMILARITY_U: - db_Copy9(H_p_dx,H); - db_MultiplyScaleOntoImageHomography(H,1.0+dx[0]); - db_MultiplyRotationOntoImageHomography(H,dx[1]); - H_p_dx[2]+=dx[2]; - H_p_dx[5]+=dx[3]; - break; - case DB_HOMOGRAPHY_TYPE_ROTATION: - case DB_HOMOGRAPHY_TYPE_ROTATION_U: - db_MultiplyRotationOntoImageHomography(H,dx[0]); - break; - case DB_HOMOGRAPHY_TYPE_SCALING: - db_MultiplyScaleOntoImageHomography(H,1.0+dx[0]); - break; - case DB_HOMOGRAPHY_TYPE_S_T: - db_Copy9(H_p_dx,H); - db_MultiplyScaleOntoImageHomography(H,1.0+dx[0]); - H_p_dx[2]+=dx[1]; - H_p_dx[5]+=dx[2]; - break; - case DB_HOMOGRAPHY_TYPE_R_T: - db_Copy9(H_p_dx,H); - db_MultiplyRotationOntoImageHomography(H,dx[0]); - H_p_dx[2]+=dx[1]; - H_p_dx[5]+=dx[2]; - break; - case DB_HOMOGRAPHY_TYPE_R_S: - db_Copy9(H_p_dx,H); - db_MultiplyScaleOntoImageHomography(H,1.0+dx[0]); - db_MultiplyRotationOntoImageHomography(H,dx[1]); - break; - case DB_HOMOGRAPHY_TYPE_TRANSLATION: - db_Copy9(H_p_dx,H); - H_p_dx[2]+=dx[0]; - H_p_dx[5]+=dx[1]; - break; - case DB_HOMOGRAPHY_TYPE_AFFINE: - db_UpdateImageHomographyAffine(H_p_dx,H,dx); - break; - case DB_HOMOGRAPHY_TYPE_PROJECTIVE: - db_UpdateImageHomographyProjective(H_p_dx,H,dx,frozen_coord); - break; - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F: - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD: - db_UpdateRotFocalHomography(H_p_dx,H,dx); - break; - } -} - -void db_RobCamRotation_Polish_Generic(double H[9],int point_count,int homography_type,double *x_i,double *xp_i,double one_over_scale2, - int max_iterations,double improvement_requirement) -{ - int i,update,stop,n; - int frozen_coord = 0; - double lambda,cost,current_cost; - double JtJ[72],min_Jtf[9],dx[8],H_p_dx[9]; - double *JtJ_ref[9],d[8]; - - lambda=0.001; - for(update=1,stop=0,i=0;(stop<2) && (i<max_iterations);i++) - { - /*if first time since improvement, compute Jacobian and residual*/ - if(update) - { - db_SetupMatrixRefs(JtJ_ref,9,8,JtJ); - current_cost=db_RobImageHomography_Jacobians_Generic(JtJ_ref,min_Jtf,&n,&frozen_coord,H,point_count,x_i,xp_i,homography_type,one_over_scale2); - update=0; - } - -#ifdef _VERBOSE_ - /*std::cout << "Cost:" << current_cost << " ";*/ -#endif /*_VERBOSE_*/ - - /*Come up with a hypothesis dx - based on the current lambda*/ - db_Compute_dx(dx,JtJ_ref,min_Jtf,lambda,d,n); - - /*Compute Cost(x+dx)*/ - db_ImageHomographyUpdateGeneric(H_p_dx,H,dx,homography_type,frozen_coord); - cost=db_RobImageHomography_Cost(H_p_dx,point_count,x_i,xp_i,one_over_scale2); - - /*Is there an improvement?*/ - if(cost<current_cost) - { - /*improvement*/ - if(current_cost-cost<current_cost*improvement_requirement) stop++; - else stop=0; - lambda*=0.1; - /*Move to the hypothesised position x+dx*/ - current_cost=cost; - db_Copy9(H,H_p_dx); - update=1; - -#ifdef _VERBOSE_ - std::cout << "Step" << i << "Imp,Lambda=" << lambda << "Cost:" << current_cost << std::endl; -#endif /*_VERBOSE_*/ - } - else - { - /*no improvement*/ - lambda*=10.0; - stop=0; - } - } -} -void db_RobImageHomography( - /*Best homography*/ - double H[9], - /*2DPoint to 2DPoint constraints - Points are assumed to be given in - homogenous coordinates*/ - double *im, double *im_p, - /*Nr of points in total*/ - int nr_points, - /*Calibration matrices - used to normalize the points*/ - double K[9], - double Kp[9], - /*Pre-allocated space temp_d - should point to at least - 12*nr_samples+10*nr_points - allocated positions*/ - double *temp_d, - /*Pre-allocated space temp_i - should point to at least - max(nr_samples,nr_points) - allocated positions*/ - int *temp_i, - int homography_type, - db_Statistics *stat, - int max_iterations, - int max_points, - double scale, - int nr_samples, - int chunk_size, - ///////////////////////////////////////////// - // regular use: set outlierremoveflagE =0; - // flag for the outlier removal - int outlierremoveflagE, - // if flag is 1, then the following variables - // need the input - ////////////////////////////////////// - // 3D coordinates - double *wp, - // its corresponding stereo pair's points - double *im_r, - // raw image coordinates - double *im_raw, double *im_raw_p, - // final matches - int *finalNumE) -{ - /*Random seed*/ - int r_seed; - - int point_count_new; - /*Counters*/ - int i,j,c,point_count,hyp_count; - int last_hyp,new_last_hyp,last_corr; - int pos,point_pos,last_point; - /*Accumulator*/ - double acc; - /*Hypothesis pointer*/ - double *hyp_point; - /*Random sample*/ - int s[4]; - /*Pivot for hypothesis pruning*/ - double pivot; - /*Best hypothesis position*/ - int best_pos; - /*Best score*/ - double lowest_cost; - /*One over the squared scale of - Cauchy distribution*/ - double one_over_scale2; - /*temporary pointers*/ - double *x_i_temp,*xp_i_temp; - /*Temporary space for inverse calibration matrices*/ - double K_inv[9]; - double Kp_inv[9]; - /*Temporary space for homography*/ - double H_temp[9],H_temp2[9]; - /*Pointers to homogenous coordinates*/ - double *x_h_point,*xp_h_point; - /*Array of pointers to inhomogenous coordinates*/ - double *X[3],*Xp[3]; - /*Similarity parameters*/ - int orientation_preserving,allow_scaling,allow_rotation,allow_translation,sample_size; - - /*Homogenous coordinates of image points in first image*/ - double *x_h; - /*Homogenous coordinates of image points in second image*/ - double *xp_h; - /*Inhomogenous coordinates of image points in first image*/ - double *x_i; - /*Inhomogenous coordinates of image points in second image*/ - double *xp_i; - /*Homography hypotheses*/ - double *hyp_H_array; - /*Cost array*/ - double *hyp_cost_array; - /*Permutation of the hypotheses*/ - int *hyp_perm; - /*Sample of the points*/ - int *point_perm; - /*Temporary space for quick-select - 2*nr_samples*/ - double *temp_select; - - /*Get inverse calibration matrices*/ - db_InvertCalibrationMatrix(K_inv,K); - db_InvertCalibrationMatrix(Kp_inv,Kp); - /*Compute scale coefficient*/ - one_over_scale2=1.0/(scale*scale); - /*Initialize random seed*/ - r_seed=12345; - /*Set pointers to pre-allocated space*/ - hyp_cost_array=temp_d; - hyp_H_array=temp_d+nr_samples; - temp_select=temp_d+10*nr_samples; - x_h=temp_d+12*nr_samples; - xp_h=temp_d+12*nr_samples+3*nr_points; - x_i=temp_d+12*nr_samples+6*nr_points; - xp_i=temp_d+12*nr_samples+8*nr_points; - hyp_perm=temp_i; - point_perm=temp_i; - - /*Prepare a randomly permuted subset of size - point_count from the input points*/ - - point_count=db_mini(nr_points,(int)(chunk_size*log((double)nr_samples)/DB_LN2)); - - point_count_new = point_count; - - for(i=0;i<nr_points;i++) point_perm[i]=i; - - for(last_point=nr_points-1,i=0;i<point_count;i++,last_point--) - { - pos=db_RandomInt(r_seed,last_point); - point_pos=point_perm[pos]; - point_perm[pos]=point_perm[last_point]; - - /*Normalize image points with calibration - matrices and move them to x_h and xp_h*/ - c=3*point_pos; - j=3*i; - x_h_point=x_h+j; - xp_h_point=xp_h+j; - db_Multiply3x3_3x1(x_h_point,K_inv,im+c); - db_Multiply3x3_3x1(xp_h_point,Kp_inv,im_p+c); - - db_HomogenousNormalize3(x_h_point); - db_HomogenousNormalize3(xp_h_point); - - /*Dehomogenize image points and move them - to x_i and xp_i*/ - c=(i<<1); - db_DeHomogenizeImagePoint(x_i+c,x_h_point); // 2-dimension - db_DeHomogenizeImagePoint(xp_i+c,xp_h_point); //2-dimension - } - - - /*Generate Hypotheses*/ - hyp_count=0; - switch(homography_type) - { - case DB_HOMOGRAPHY_TYPE_SIMILARITY: - case DB_HOMOGRAPHY_TYPE_SIMILARITY_U: - case DB_HOMOGRAPHY_TYPE_TRANSLATION: - case DB_HOMOGRAPHY_TYPE_ROTATION: - case DB_HOMOGRAPHY_TYPE_ROTATION_U: - case DB_HOMOGRAPHY_TYPE_SCALING: - case DB_HOMOGRAPHY_TYPE_S_T: - case DB_HOMOGRAPHY_TYPE_R_T: - case DB_HOMOGRAPHY_TYPE_R_S: - - switch(homography_type) - { - case DB_HOMOGRAPHY_TYPE_SIMILARITY: - orientation_preserving=1; - allow_scaling=1; - allow_rotation=1; - allow_translation=1; - sample_size=2; - break; - case DB_HOMOGRAPHY_TYPE_SIMILARITY_U: - orientation_preserving=0; - allow_scaling=1; - allow_rotation=1; - allow_translation=1; - sample_size=3; - break; - case DB_HOMOGRAPHY_TYPE_TRANSLATION: - orientation_preserving=1; - allow_scaling=0; - allow_rotation=0; - allow_translation=1; - sample_size=1; - break; - case DB_HOMOGRAPHY_TYPE_ROTATION: - orientation_preserving=1; - allow_scaling=0; - allow_rotation=1; - allow_translation=0; - sample_size=1; - break; - case DB_HOMOGRAPHY_TYPE_ROTATION_U: - orientation_preserving=0; - allow_scaling=0; - allow_rotation=1; - allow_translation=0; - sample_size=2; - break; - case DB_HOMOGRAPHY_TYPE_SCALING: - orientation_preserving=1; - allow_scaling=1; - allow_rotation=0; - allow_translation=0; - sample_size=1; - break; - case DB_HOMOGRAPHY_TYPE_S_T: - orientation_preserving=1; - allow_scaling=1; - allow_rotation=0; - allow_translation=1; - sample_size=2; - break; - case DB_HOMOGRAPHY_TYPE_R_T: - orientation_preserving=1; - allow_scaling=0; - allow_rotation=1; - allow_translation=1; - sample_size=2; - break; - case DB_HOMOGRAPHY_TYPE_R_S: - orientation_preserving=1; - allow_scaling=1; - allow_rotation=0; - allow_translation=0; - sample_size=1; - break; - } - - if(point_count>=sample_size) for(i=0;i<nr_samples;i++) - { - db_RandomSample(s,3,point_count,r_seed); - X[0]= &x_i[s[0]<<1]; - X[1]= &x_i[s[1]<<1]; - X[2]= &x_i[s[2]<<1]; - Xp[0]= &xp_i[s[0]<<1]; - Xp[1]= &xp_i[s[1]<<1]; - Xp[2]= &xp_i[s[2]<<1]; - db_StitchSimilarity2D(&hyp_H_array[9*hyp_count],Xp,X,sample_size,orientation_preserving, - allow_scaling,allow_rotation,allow_translation); - hyp_count++; - } - break; - - case DB_HOMOGRAPHY_TYPE_CAMROTATION: - if(point_count>=2) for(i=0;i<nr_samples;i++) - { - db_RandomSample(s,2,point_count,r_seed); - db_StitchCameraRotation_2Points(&hyp_H_array[9*hyp_count], - &x_h[3*s[0]],&x_h[3*s[1]], - &xp_h[3*s[0]],&xp_h[3*s[1]]); - hyp_count++; - } - break; - - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F: - if(point_count>=3) for(i=0;i<nr_samples;i++) - { - db_RandomSample(s,3,point_count,r_seed); - hyp_count+=db_StitchRotationCommonFocalLength_3Points(&hyp_H_array[9*hyp_count], - &x_h[3*s[0]],&x_h[3*s[1]],&x_h[3*s[2]], - &xp_h[3*s[0]],&xp_h[3*s[1]],&xp_h[3*s[2]]); - } - break; - - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD: - if(point_count>=3) for(i=0;i<nr_samples;i++) - { - db_RandomSample(s,3,point_count,r_seed); - hyp_count+=db_StitchRotationCommonFocalLength_3Points(&hyp_H_array[9*hyp_count], - &x_h[3*s[0]],&x_h[3*s[1]],&x_h[3*s[2]], - &xp_h[3*s[0]],&xp_h[3*s[1]],&xp_h[3*s[2]],NULL,0); - } - break; - - case DB_HOMOGRAPHY_TYPE_AFFINE: - if(point_count>=3) for(i=0;i<nr_samples;i++) - { - db_RandomSample(s,3,point_count,r_seed); - db_StitchAffine2D_3Points(&hyp_H_array[9*hyp_count], - &x_h[3*s[0]],&x_h[3*s[1]],&x_h[3*s[2]], - &xp_h[3*s[0]],&xp_h[3*s[1]],&xp_h[3*s[2]]); - hyp_count++; - } - break; - - case DB_HOMOGRAPHY_TYPE_PROJECTIVE: - default: - if(point_count>=4) for(i=0;i<nr_samples;i++) - { - db_RandomSample(s,4,point_count,r_seed); - db_StitchProjective2D_4Points(&hyp_H_array[9*hyp_count], - &x_h[3*s[0]],&x_h[3*s[1]],&x_h[3*s[2]],&x_h[3*s[3]], - &xp_h[3*s[0]],&xp_h[3*s[1]],&xp_h[3*s[2]],&xp_h[3*s[3]]); - hyp_count++; - } - } - - if(hyp_count) - { - /*Count cost in chunks and decimate hypotheses - until only one remains or the correspondences are - exhausted*/ - for(i=0;i<hyp_count;i++) - { - hyp_perm[i]=i; - hyp_cost_array[i]=0.0; - } - for(i=0,last_hyp=hyp_count-1;(last_hyp>0) && (i<point_count);i+=chunk_size) - { - /*Update cost with the next chunk*/ - last_corr=db_mini(i+chunk_size-1,point_count-1); - for(j=0;j<=last_hyp;j++) - { - hyp_point=hyp_H_array+9*hyp_perm[j]; - for(c=i;c<=last_corr;) - { - /*Take log of product of ten reprojection - errors to reduce nr of expensive log operations*/ - if(c+9<=last_corr) - { - x_i_temp=x_i+(c<<1); - xp_i_temp=xp_i+(c<<1); - - acc=db_ExpCauchyInhomogenousHomographyError(xp_i_temp,hyp_point,x_i_temp,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+2,hyp_point,x_i_temp+2,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+4,hyp_point,x_i_temp+4,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+6,hyp_point,x_i_temp+6,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+8,hyp_point,x_i_temp+8,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+10,hyp_point,x_i_temp+10,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+12,hyp_point,x_i_temp+12,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+14,hyp_point,x_i_temp+14,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+16,hyp_point,x_i_temp+16,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+18,hyp_point,x_i_temp+18,one_over_scale2); - c+=10; - } - else - { - for(acc=1.0;c<=last_corr;c++) - { - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i+(c<<1),hyp_point,x_i+(c<<1),one_over_scale2); - } - } - hyp_cost_array[j]+=log(acc); - } - } - if (chunk_size<point_count){ - /*Prune out half of the hypotheses*/ - new_last_hyp=(last_hyp+1)/2-1; - pivot=db_LeanQuickSelect(hyp_cost_array,last_hyp+1,new_last_hyp,temp_select); - for(j=0,c=0;(j<=last_hyp) && (c<=new_last_hyp);j++) - { - if(hyp_cost_array[j]<=pivot) - { - hyp_cost_array[c]=hyp_cost_array[j]; - hyp_perm[c]=hyp_perm[j]; - c++; - } - } - last_hyp=new_last_hyp; - } - } - /*Find the best hypothesis*/ - lowest_cost=hyp_cost_array[0]; - best_pos=0; - for(j=1;j<=last_hyp;j++) - { - if(hyp_cost_array[j]<lowest_cost) - { - lowest_cost=hyp_cost_array[j]; - best_pos=j; - } - } - - /*Move the best hypothesis*/ - db_Copy9(H_temp,hyp_H_array+9*hyp_perm[best_pos]); - - // outlier removal - if (outlierremoveflagE) // no polishment needed - { - point_count_new = db_RemoveOutliers_Homography(H_temp,x_i,xp_i,wp,im,im_p,im_r,im_raw,im_raw_p,point_count,one_over_scale2); - } - else - { - /*Polish*/ - switch(homography_type) - { - case DB_HOMOGRAPHY_TYPE_SIMILARITY: - case DB_HOMOGRAPHY_TYPE_SIMILARITY_U: - case DB_HOMOGRAPHY_TYPE_TRANSLATION: - case DB_HOMOGRAPHY_TYPE_ROTATION: - case DB_HOMOGRAPHY_TYPE_ROTATION_U: - case DB_HOMOGRAPHY_TYPE_SCALING: - case DB_HOMOGRAPHY_TYPE_S_T: - case DB_HOMOGRAPHY_TYPE_R_T: - case DB_HOMOGRAPHY_TYPE_R_S: - case DB_HOMOGRAPHY_TYPE_AFFINE: - case DB_HOMOGRAPHY_TYPE_PROJECTIVE: - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F: - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD: - db_RobCamRotation_Polish_Generic(H_temp,db_mini(point_count,max_points),homography_type,x_i,xp_i,one_over_scale2,max_iterations); - break; - case DB_HOMOGRAPHY_TYPE_CAMROTATION: - db_RobCamRotation_Polish(H_temp,db_mini(point_count,max_points),x_i,xp_i,one_over_scale2,max_iterations); - break; - } - - } - - } - else db_Identity3x3(H_temp); - - switch(homography_type) - { - case DB_HOMOGRAPHY_TYPE_PROJECTIVE: - if(stat) stat->nr_parameters=8; - break; - case DB_HOMOGRAPHY_TYPE_AFFINE: - if(stat) stat->nr_parameters=6; - break; - case DB_HOMOGRAPHY_TYPE_SIMILARITY: - case DB_HOMOGRAPHY_TYPE_SIMILARITY_U: - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F: - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD: - if(stat) stat->nr_parameters=4; - break; - case DB_HOMOGRAPHY_TYPE_CAMROTATION: - if(stat) stat->nr_parameters=3; - break; - case DB_HOMOGRAPHY_TYPE_TRANSLATION: - case DB_HOMOGRAPHY_TYPE_S_T: - case DB_HOMOGRAPHY_TYPE_R_T: - case DB_HOMOGRAPHY_TYPE_R_S: - if(stat) stat->nr_parameters=2; - break; - case DB_HOMOGRAPHY_TYPE_ROTATION: - case DB_HOMOGRAPHY_TYPE_ROTATION_U: - case DB_HOMOGRAPHY_TYPE_SCALING: - if(stat) stat->nr_parameters=1; - break; - } - - db_RobImageHomography_Statistics(H_temp,db_mini(point_count,max_points),x_i,xp_i,one_over_scale2,stat); - - /*Put on the calibration matrices*/ - db_Multiply3x3_3x3(H_temp2,H_temp,K_inv); - db_Multiply3x3_3x3(H,Kp,H_temp2); - - if (finalNumE) - *finalNumE = point_count_new; - -} diff --git a/jni/feature_stab/db_vlvm/db_rob_image_homography.h b/jni/feature_stab/db_vlvm/db_rob_image_homography.h deleted file mode 100644 index 59cde7daa..000000000 --- a/jni/feature_stab/db_vlvm/db_rob_image_homography.h +++ /dev/null @@ -1,148 +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_rob_image_homography.h,v 1.3 2011/06/17 14:03:31 mbansal Exp $ */ - -#ifndef DB_ROB_IMAGE_HOMOGRAPHY -#define DB_ROB_IMAGE_HOMOGRAPHY - -#include "db_utilities.h" -#include "db_robust.h" -#include "db_metrics.h" - -#include <stdlib.h> // for NULL - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ -/*! - * \defgroup LMRobImageHomography (LM) Robust Image Homography - */ -/*\{*/ - -#define DB_HOMOGRAPHY_TYPE_DEFAULT 0 -#define DB_HOMOGRAPHY_TYPE_PROJECTIVE 0 -#define DB_HOMOGRAPHY_TYPE_AFFINE 1 -#define DB_HOMOGRAPHY_TYPE_SIMILARITY 2 -#define DB_HOMOGRAPHY_TYPE_SIMILARITY_U 3 -#define DB_HOMOGRAPHY_TYPE_TRANSLATION 4 -#define DB_HOMOGRAPHY_TYPE_ROTATION 5 -#define DB_HOMOGRAPHY_TYPE_ROTATION_U 6 -#define DB_HOMOGRAPHY_TYPE_SCALING 7 -#define DB_HOMOGRAPHY_TYPE_S_T 8 -#define DB_HOMOGRAPHY_TYPE_R_T 9 -#define DB_HOMOGRAPHY_TYPE_R_S 10 -#define DB_HOMOGRAPHY_TYPE_CAMROTATION 11 -#define DB_HOMOGRAPHY_TYPE_CAMROTATION_F 12 -#define DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD 13 - -/*! -Solve for homography H such that xp~Hx -\param H best homography - -2D point to 2D point constraints: - -\param im first image points -\param im_p second image points -\param nr_points number of points - -Calibration matrices: - -\param K first camera -\param Kp second camera - - Temporary space: - - \param temp_d pre-allocated space of size 12*nr_samples+10*nr_points doubles - \param temp_i pre-allocated space of size max(nr_samples,nr_points) ints - - Statistics for this estimation - - \param stat NULL - do not compute - - \param homography_type see DB_HOMOGRAPHY_TYPE_* definitions above - - Estimation parameters: - - \param max_iterations max number of polishing steps - \param max_points only use this many points - \param scale Cauchy scale coefficient (see db_ExpCauchyReprojectionError() ) - \param nr_samples number of times to compute a hypothesis - \param chunk_size size of cost chunks -*/ -DB_API void db_RobImageHomography( - /*Best homography*/ - double H[9], - /*2DPoint to 2DPoint constraints - Points are assumed to be given in - homogenous coordinates*/ - double *im,double *im_p, - /*Nr of points in total*/ - int nr_points, - /*Calibration matrices - used to normalize the points*/ - double K[9], - double Kp[9], - /*Pre-allocated space temp_d - should point to at least - 12*nr_samples+10*nr_points - allocated positions*/ - double *temp_d, - /*Pre-allocated space temp_i - should point to at least - max(nr_samples,nr_points) - allocated positions*/ - int *temp_i, - int homography_type=DB_HOMOGRAPHY_TYPE_DEFAULT, - db_Statistics *stat=NULL, - int max_iterations=DB_DEFAULT_MAX_ITERATIONS, - int max_points=DB_DEFAULT_MAX_POINTS, - double scale=DB_POINT_STANDARDDEV, - int nr_samples=DB_DEFAULT_NR_SAMPLES, - int chunk_size=DB_DEFAULT_CHUNK_SIZE, - /////////////////////////////////////////////////// - // flag for the outlier removal - int outlierremoveflagE = 0, - // if flag is 1, then the following variables - // need to input - /////////////////////////////////////////////////// - // 3D coordinates - double *wp=NULL, - // its corresponding stereo pair's points - double *im_r=NULL, - // raw image coordinates - double *im_raw=NULL, double *im_raw_p=NULL, - // final matches - int *final_NumE=0); - -DB_API double db_RobImageHomography_Cost(double H[9],int point_count,double *x_i, - double *xp_i,double one_over_scale2); - - -DB_API void db_RobCamRotation_Polish(double H[9],int point_count,double *x_i, - double *xp_i, double one_over_scale2, - int max_iterations=DB_DEFAULT_MAX_ITERATIONS, - double improvement_requirement=DB_DEFAULT_IMP_REQ); - - -DB_API void db_RobCamRotation_Polish_Generic(double H[9],int point_count,int homography_type, - double *x_i,double *xp_i,double one_over_scale2, - int max_iterations=DB_DEFAULT_MAX_ITERATIONS, - double improvement_requirement=DB_DEFAULT_IMP_REQ); - - -#endif /* DB_ROB_IMAGE_HOMOGRAPHY */ diff --git a/jni/feature_stab/db_vlvm/db_robust.h b/jni/feature_stab/db_vlvm/db_robust.h deleted file mode 100644 index be0794c6e..000000000 --- a/jni/feature_stab/db_vlvm/db_robust.h +++ /dev/null @@ -1,61 +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_robust.h,v 1.4 2011/06/17 14:03:31 mbansal Exp $ */ - -#ifndef DB_ROBUST -#define DB_ROBUST - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ -/*! - * \defgroup LMRobust (LM) Robust Estimation - */ - -/*! - \struct db_Statistics - \ingroup LMRobust - \brief (LnM) Sampling problem statistics - \date Mon Sep 10 10:28:08 EDT 2007 - \par Copyright: 2007 Sarnoff Corporation. All Rights Reserved - */ - struct db_stat_struct - { - int nr_points; - int nr_inliers; - double inlier_fraction; - double cost; - double one_over_scale2; - double lambda1; - double lambda2; - double lambda3; - int nr_parameters; - int model_dimension; - double gric; - double inlier_evidence; - double posestd[6]; - double rotationvecCov[9]; - double translationvecCov[9]; - int posecov_inliercount; - int posecovready; - double median_reprojection_error; - }; - typedef db_stat_struct db_Statistics; - -#endif /* DB_ROBUST */ diff --git a/jni/feature_stab/db_vlvm/db_utilities.cpp b/jni/feature_stab/db_vlvm/db_utilities.cpp deleted file mode 100644 index ce2093b01..000000000 --- a/jni/feature_stab/db_vlvm/db_utilities.cpp +++ /dev/null @@ -1,176 +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.cpp,v 1.4 2011/06/17 14:03:31 mbansal Exp $ */ - -#include "db_utilities.h" -#include <string.h> -#include <stdio.h> - -float** db_SetupImageReferences_f(float *im,int w,int h) -{ - int i; - float **img; - assert(im); - img=new float* [h]; - for(i=0;i<h;i++) - { - img[i]=im+w*i; - } - return(img); -} - -unsigned char** db_SetupImageReferences_u(unsigned char *im,int w,int h) -{ - int i; - unsigned char **img; - - assert(im); - - img=new unsigned char* [h]; - for(i=0;i<h;i++) - { - img[i]=im+w*i; - } - return(img); -} -float** db_AllocImage_f(int w,int h,int over_allocation) -{ - float **img,*im; - - im=new float [w*h+over_allocation]; - img=db_SetupImageReferences_f(im,w,h); - - return(img); -} - -unsigned char** db_AllocImage_u(int w,int h,int over_allocation) -{ - unsigned char **img,*im; - - im=new unsigned char [w*h+over_allocation]; - img=db_SetupImageReferences_u(im,w,h); - - return(img); -} - -void db_FreeImage_f(float **img,int h) -{ - delete [] (img[0]); - delete [] img; -} - -void db_FreeImage_u(unsigned char **img,int h) -{ - delete [] (img[0]); - delete [] img; -} - -// ----------------------------------------------------------------------------------------------------------- ; -// -// copy image (source to destination) -// ---> must be a 2D image array with the same image size -// ---> the size of the input and output images must be same -// -// ------------------------------------------------------------------------------------------------------------ ; -void db_CopyImage_u(unsigned char **d,const unsigned char * const *s, int w, int h, int over_allocation) -{ - int i; - - for (i=0;i<h;i++) - { - memcpy(d[i],s[i],w*sizeof(unsigned char)); - } - - memcpy(&d[h],&d[h],over_allocation); - -} - -inline void db_WarpImageLutFast_u(const unsigned char * const * src, unsigned char ** dst, int w, int h, - const float * const * lut_x, const float * const * lut_y) -{ - assert(src && dst); - int xd=0, yd=0; - - for ( int i = 0; i < w; ++i ) - for ( int j = 0; j < h; ++j ) - { - //xd = static_cast<unsigned int>(lut_x[j][i]); - //yd = static_cast<unsigned int>(lut_y[j][i]); - xd = (unsigned int)(lut_x[j][i]); - yd = (unsigned int)(lut_y[j][i]); - if ( xd >= w || yd >= h || - xd < 0 || yd < 0) - dst[j][i] = 0; - else - dst[j][i] = src[yd][xd]; - } -} - -inline void db_WarpImageLutBilinear_u(const unsigned char * const * src, unsigned char ** dst, int w, int h, - const float * const * lut_x,const float * const* lut_y) -{ - assert(src && dst); - double xd=0.0, yd=0.0; - - for ( int i = 0; i < w; ++i ) - for ( int j = 0; j < h; ++j ) - { - xd = static_cast<double>(lut_x[j][i]); - yd = static_cast<double>(lut_y[j][i]); - if ( xd > w || yd > h || - xd < 0.0 || yd < 0.0) - dst[j][i] = 0; - else - dst[j][i] = db_BilinearInterpolation(yd, xd, src); - } -} - - -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) -{ - switch (type) - { - case DB_WARP_FAST: - db_WarpImageLutFast_u(src,dst,w,h,lut_x,lut_y); - break; - case DB_WARP_BILINEAR: - db_WarpImageLutBilinear_u(src,dst,w,h,lut_x,lut_y); - break; - default: - break; - } -} - - -void db_PrintDoubleVector(double *a,long size) -{ - printf("[ "); - for(long i=0;i<size;i++) printf("%lf ",a[i]); - printf("]"); -} - -void db_PrintDoubleMatrix(double *a,long rows,long cols) -{ - printf("[\n"); - for(long i=0;i<rows;i++) - { - for(long j=0;j<cols;j++) printf("%lf ",a[i*cols+j]); - printf("\n"); - } - printf("]"); -} 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 */ diff --git a/jni/feature_stab/db_vlvm/db_utilities_algebra.h b/jni/feature_stab/db_vlvm/db_utilities_algebra.h deleted file mode 100644 index 2aedd74d5..000000000 --- a/jni/feature_stab/db_vlvm/db_utilities_algebra.h +++ /dev/null @@ -1,41 +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_algebra.h,v 1.3 2011/06/17 14:03:31 mbansal Exp $ */ - -#ifndef DB_UTILITIES_ALGEBRA -#define DB_UTILITIES_ALGEBRA - -#include "db_utilities.h" - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ -/*! - * \defgroup LMAlgebra (LM) Algebra utilities - */ -/*\{*/ - -inline void db_HomogenousNormalize3(double *x) -{ - db_MultiplyScalar3(x,db_SafeSqrtReciprocal(db_SquareSum3(x))); -} - -/*\}*/ - -#endif /* DB_UTILITIES_ALGEBRA */ diff --git a/jni/feature_stab/db_vlvm/db_utilities_camera.cpp b/jni/feature_stab/db_vlvm/db_utilities_camera.cpp deleted file mode 100644 index dceba9b62..000000000 --- a/jni/feature_stab/db_vlvm/db_utilities_camera.cpp +++ /dev/null @@ -1,50 +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_camera.cpp,v 1.3 2011/06/17 14:03:31 mbansal Exp $ */ - -#include "db_utilities_camera.h" -#include "db_utilities.h" -#include <assert.h> - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ - -void db_Approx3DCalMat(double K[9],double Kinv[9],int im_width,int im_height,double f_correction,int field) -{ - double iw,ih,av_size,field_fact; - - if(field) field_fact=2.0; - else field_fact=1.0; - - iw=(double)im_width; - ih=(double)(im_height*field_fact); - av_size=(iw+ih)/2.0; - K[0]=f_correction*av_size; - K[1]=0; - K[2]=iw/2.0; - K[3]=0; - K[4]=f_correction*av_size/field_fact; - K[5]=ih/2.0/field_fact; - K[6]=0; - K[7]=0; - K[8]=1; - - db_InvertCalibrationMatrix(Kinv,K); -} diff --git a/jni/feature_stab/db_vlvm/db_utilities_camera.h b/jni/feature_stab/db_vlvm/db_utilities_camera.h deleted file mode 100644 index 26ba4420a..000000000 --- a/jni/feature_stab/db_vlvm/db_utilities_camera.h +++ /dev/null @@ -1,332 +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_camera.h,v 1.3 2011/06/17 14:03:31 mbansal Exp $ */ - -#ifndef DB_UTILITIES_CAMERA -#define DB_UTILITIES_CAMERA - -#include "db_utilities.h" - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ -/*! - * \defgroup LMCamera (LM) Camera Utilities - */ -/*\{*/ - -#include "db_utilities.h" - -#define DB_RADDISTMODE_BOUGEUT 4 -#define DB_RADDISTMODE_2NDORDER 5 -#define DB_RADDISTMODE_IDENTITY 6 - -/*! -Give reasonable guess of the calibration matrix for normalization purposes. -Use real K matrix when doing real geometry. -focal length = (w+h)/2.0*f_correction. -\param K calibration matrix (out) -\param Kinv inverse of K (out) -\param im_width image width -\param im_height image height -\param f_correction focal length correction factor -\param field set to 1 if this is a field image (fy = fx/2) -\return K(3x3) intrinsic calibration matrix -*/ -DB_API void db_Approx3DCalMat(double K[9],double Kinv[9],int im_width,int im_height,double f_correction=1.0,int field=0); - -/*! - Make a 2x2 identity matrix - */ -void inline db_Identity2x2(double A[4]) -{ - A[0]=1;A[1]=0; - A[2]=0;A[3]=1; -} -/*! - Make a 3x3 identity matrix - */ -void inline db_Identity3x3(double A[9]) -{ - A[0]=1;A[1]=0;A[2]=0; - A[3]=0;A[4]=1;A[5]=0; - A[6]=0;A[7]=0;A[8]=1; -} -/*! - Invert intrinsic calibration matrix K(3x3) - If fx or fy is 0, I is returned. - */ -void inline db_InvertCalibrationMatrix(double Kinv[9],const double K[9]) -{ - double a,b,c,d,e,f,ainv,dinv,adinv; - - a=K[0];b=K[1];c=K[2];d=K[4];e=K[5];f=K[8]; - if((a==0.0)||(d==0.0)) db_Identity3x3(Kinv); - else - { - Kinv[3]=0.0; - Kinv[6]=0.0; - Kinv[7]=0.0; - Kinv[8]=1.0; - - ainv=1.0/a; - dinv=1.0/d; - adinv=ainv*dinv; - Kinv[0]=f*ainv; - Kinv[1]= -b*f*adinv; - Kinv[2]=(b*e-c*d)*adinv; - Kinv[4]=f*dinv; - Kinv[5]= -e*dinv; - } -} -/*! - De-homogenize image point: xd(1:2) = xs(1:2)/xs(3). - If xs(3) is 0, xd will become 0 - \param xd destination point - \param xs source point - */ -void inline db_DeHomogenizeImagePoint(double xd[2],const double xs[3]) -{ - double temp,div; - - temp=xs[2]; - if(temp!=0) - { - div=1.0/temp; - xd[0]=xs[0]*div;xd[1]=xs[1]*div; - } - else - { - xd[0]=0.0;xd[1]=0.0; - } -} - - -/*! - Orthonormalize 3D rotation R - */ -inline void db_OrthonormalizeRotation(double R[9]) -{ - double s,mult; - /*Normalize first vector*/ - s=db_sqr(R[0])+db_sqr(R[1])+db_sqr(R[2]); - mult=sqrt(1.0/(s?s:1)); - R[0]*=mult; R[1]*=mult; R[2]*=mult; - /*Subtract scalar product from second vector*/ - s=R[0]*R[3]+R[1]*R[4]+R[2]*R[5]; - R[3]-=s*R[0]; R[4]-=s*R[1]; R[5]-=s*R[2]; - /*Normalize second vector*/ - s=db_sqr(R[3])+db_sqr(R[4])+db_sqr(R[5]); - mult=sqrt(1.0/(s?s:1)); - R[3]*=mult; R[4]*=mult; R[5]*=mult; - /*Get third vector by vector product*/ - R[6]=R[1]*R[5]-R[4]*R[2]; - R[7]=R[2]*R[3]-R[5]*R[0]; - R[8]=R[0]*R[4]-R[3]*R[1]; -} -/*! -Update a rotation with the update dx=[sin(phi) sin(ohm) sin(kap)] -*/ -inline void db_UpdateRotation(double R_p_dx[9],double R[9],const double dx[3]) -{ - double R_temp[9]; - /*Update rotation*/ - db_IncrementalRotationMatrix(R_temp,dx); - db_Multiply3x3_3x3(R_p_dx,R_temp,R); -} -/*! - Compute xp = Hx for inhomogenous image points. - */ -inline void db_ImageHomographyInhomogenous(double xp[2],const double H[9],const double x[2]) -{ - double x3,m; - - x3=H[6]*x[0]+H[7]*x[1]+H[8]; - if(x3!=0.0) - { - m=1.0/x3; - xp[0]=m*(H[0]*x[0]+H[1]*x[1]+H[2]); - xp[1]=m*(H[3]*x[0]+H[4]*x[1]+H[5]); - } - else - { - xp[0]=xp[1]=0.0; - } -} -inline double db_FocalFromCamRotFocalHomography(const double H[9]) -{ - double k1,k2; - - k1=db_sqr(H[2])+db_sqr(H[5]); - k2=db_sqr(H[6])+db_sqr(H[7]); - if(k1>=k2) - { - return(db_SafeSqrt(db_SafeDivision(k1,1.0-db_sqr(H[8])))); - } - else - { - return(db_SafeSqrt(db_SafeDivision(1.0-db_sqr(H[8]),k2))); - } -} - -inline double db_FocalAndRotFromCamRotFocalHomography(double R[9],const double H[9]) -{ - double back,fi; - - back=db_FocalFromCamRotFocalHomography(H); - fi=db_SafeReciprocal(back); - R[0]=H[0]; R[1]=H[1]; R[2]=fi*H[2]; - R[3]=H[3]; R[4]=H[4]; R[5]=fi*H[5]; - R[6]=back*H[6]; R[7]=back*H[7]; R[8]=H[8]; - return(back); -} -/*! -Compute Jacobian at zero of three coordinates dR*x with -respect to the update dR([sin(phi) sin(ohm) sin(kap)]) given x. - -The Jacobian at zero of the homogenous coordinates with respect to - [sin(phi) sin(ohm) sin(kap)] is -\code - [-rx2 0 rx1 ] - [ 0 rx2 -rx0 ] - [ rx0 -rx1 0 ]. -\endcode - -*/ -inline void db_JacobianOfRotatedPointStride(double J[9],const double x[3],int stride) -{ - /*The Jacobian at zero of the homogenous coordinates with respect to - [sin(phi) sin(ohm) sin(kap)] is - [-rx2 0 rx1 ] - [ 0 rx2 -rx0 ] - [ rx0 -rx1 0 ]*/ - - J[0]= -x[stride<<1]; - J[1]=0; - J[2]= x[stride]; - J[3]=0; - J[4]= x[stride<<1]; - J[5]= -x[0]; - J[6]= x[0]; - J[7]= -x[stride]; - J[8]=0; -} -/*! - Invert an affine (if possible) - \param Hinv inverted matrix - \param H input matrix - \return true if success and false if matrix is ill-conditioned (det < 1e-7) - */ -inline bool db_InvertAffineTransform(double Hinv[9],const double H[9]) -{ - double det=H[0]*H[4]-H[3]*H[1]; - if (det<1e-7) - { - db_Copy9(Hinv,H); - return false; - } - else - { - Hinv[0]=H[4]/det; - Hinv[1]=-H[1]/det; - Hinv[3]=-H[3]/det; - Hinv[4]=H[0]/det; - Hinv[2]= -Hinv[0]*H[2]-Hinv[1]*H[5]; - Hinv[5]= -Hinv[3]*H[2]-Hinv[4]*H[5]; - } - return true; -} - -/*! -Update of upper 2x2 is multiplication by -\code -[s 0][ cos(theta) sin(theta)] -[0 s][-sin(theta) cos(theta)] -\endcode -*/ -inline void db_MultiplyScaleOntoImageHomography(double H[9],double s) -{ - - H[0]*=s; - H[1]*=s; - H[3]*=s; - H[4]*=s; -} -/*! -Update of upper 2x2 is multiplication by -\code -[s 0][ cos(theta) sin(theta)] -[0 s][-sin(theta) cos(theta)] -\endcode -*/ -inline void db_MultiplyRotationOntoImageHomography(double H[9],double theta) -{ - double c,s,H0,H1; - - - c=cos(theta); - s=db_SafeSqrt(1.0-db_sqr(c)); - H0= c*H[0]+s*H[3]; - H[3]= -s*H[0]+c*H[3]; - H[0]=H0; - H1=c*H[1]+s*H[4]; - H[4]= -s*H[1]+c*H[4]; - H[1]=H1; -} - -inline void db_UpdateImageHomographyAffine(double H_p_dx[9],const double H[9],const double dx[6]) -{ - db_AddVectors6(H_p_dx,H,dx); - db_Copy3(H_p_dx+6,H+6); -} - -inline void db_UpdateImageHomographyProjective(double H_p_dx[9],const double H[9],const double dx[8],int frozen_coord) -{ - int i,j; - - for(j=0,i=0;i<9;i++) - { - if(i!=frozen_coord) - { - H_p_dx[i]=H[i]+dx[j]; - j++; - } - else H_p_dx[i]=H[i]; - } -} - -inline void db_UpdateRotFocalHomography(double H_p_dx[9],const double H[9],const double dx[4]) -{ - double f,fp,fpi; - double R[9],dR[9]; - - /*Updated matrix is diag(f+df,f+df)*dR*R*diag(1/(f+df),1/(f+df),1)*/ - f=db_FocalAndRotFromCamRotFocalHomography(R,H); - db_IncrementalRotationMatrix(dR,dx); - db_Multiply3x3_3x3(H_p_dx,dR,R); - fp=f+dx[3]; - fpi=db_SafeReciprocal(fp); - H_p_dx[2]*=fp; - H_p_dx[5]*=fp; - H_p_dx[6]*=fpi; - H_p_dx[7]*=fpi; -} - -/*\}*/ -#endif /* DB_UTILITIES_CAMERA */ diff --git a/jni/feature_stab/db_vlvm/db_utilities_constants.h b/jni/feature_stab/db_vlvm/db_utilities_constants.h deleted file mode 100644 index 07565efd2..000000000 --- a/jni/feature_stab/db_vlvm/db_utilities_constants.h +++ /dev/null @@ -1,208 +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_constants.h,v 1.2 2011/06/17 14:03:31 mbansal Exp $ */ - -#ifndef DB_UTILITIES_CONSTANTS -#define DB_UTILITIES_CONSTANTS - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ - -/****************Constants********************/ -#define DB_E 2.7182818284590452354 -#define DB_LOG2E 1.4426950408889634074 -#define DB_LOG10E 0.43429448190325182765 -#define DB_LN2 0.69314718055994530942 -#define DB_LN10 2.30258509299404568402 -#define DB_PI 3.1415926535897932384626433832795 -#define DB_PI_2 1.57079632679489661923 -#define DB_PI_4 0.78539816339744830962 -#define DB_1_PI 0.31830988618379067154 -#define DB_2_PI 0.63661977236758134308 -#define DB_SQRTPI 1.7724538509055160272981674833411 -#define DB_SQRT_2PI 2.506628274631000502415765284811 -#define DB_2_SQRTPI 1.12837916709551257390 -#define DB_SQRT2 1.41421356237309504880 -#define DB_SQRT3 1.7320508075688772935274463415059 -#define DB_SQRT1_2 0.70710678118654752440 -#define DB_EPS 2.220446049250313e-016 /* for 32 bit double */ - -/****************Default Parameters********************/ -/*Preemptive ransac parameters*/ -#define DB_DEFAULT_NR_SAMPLES 500 -#define DB_DEFAULT_CHUNK_SIZE 100 -#define DB_DEFAULT_GROUP_SIZE 10 - -/*Optimisation parameters*/ -#define DB_DEFAULT_MAX_POINTS 1000 -#define DB_DEFAULT_MAX_ITERATIONS 25 -#define DB_DEFAULT_IMP_REQ 0.001 - -/*Feature standard deviation parameters*/ -#define DB_POINT_STANDARDDEV (1.0/(826.0)) /*1 pixel for CIF (fraction of (image width+image height)/2)*/ -#define DB_OUTLIER_THRESHOLD 3.0 /*In number of DB_POINT_STANDARDDEV's*/ -#define DB_WORST_CASE 50.0 /*In number of DB_POINT_STANDARDDEV's*/ - -/*Front-end parameters*/ -#define DB_DEFAULT_TARGET_NR_CORNERS 5000 -#define DB_DEFAULT_NR_FEATURE_BLOCKS 10 -#define DB_DEFAULT_ABS_CORNER_THRESHOLD 50000000.0 -#define DB_DEFAULT_REL_CORNER_THRESHOLD 0.00005 -#define DB_DEFAULT_MAX_DISPARITY 0.1 -#define DB_DEFAULT_NO_DISPARITY -1.0 -#define DB_DEFAULT_MAX_TRACK_LENGTH 300 - -#define DB_DEFAULT_MAX_NR_CAMERAS 1000 - -#define DB_DEFAULT_TRIPLE_STEP 2 -#define DB_DEFAULT_DOUBLE_STEP 2 -#define DB_DEFAULT_SINGLE_STEP 1 -#define DB_DEFAULT_NR_SINGLES 10 -#define DB_DEFAULT_NR_DOUBLES 1 -#define DB_DEFAULT_NR_TRIPLES 1 - -#define DB_DEFAULT_TRIFOCAL_FOUR_STEPS 40 - -#define DB_DEFAULT_EPIPOLAR_ERROR 1 /*in pixels*/ - -////////////////////////// DOXYGEN ///////////////////// - -/*! - * \def DB_DEFAULT_GROUP_SIZE - * \ingroup LMRobust - * \brief Default group size for db_PreemptiveRansac class. - * Group size is the number of observation costs multiplied together - * before a log of the product is added to the total cost. -*/ - -/*! - * \def DB_DEFAULT_TARGET_NR_CORNERS - * \ingroup FeatureDetection - * \brief Default target number of corners -*/ -/*! - * \def DB_DEFAULT_NR_FEATURE_BLOCKS - * \ingroup FeatureDetection - * \brief Default number of regions (horizontal or vertical) that are considered separately - * for feature detection. The greater the number, the more uniform the distribution of - * detected features. -*/ -/*! - * \def DB_DEFAULT_ABS_CORNER_THRESHOLD - * \ingroup FeatureDetection - * \brief Absolute feature strength threshold. -*/ -/*! - * \def DB_DEFAULT_REL_CORNER_THRESHOLD - * \ingroup FeatureDetection - * \brief Relative feature strength threshold. -*/ -/*! - * \def DB_DEFAULT_MAX_DISPARITY - * \ingroup FeatureMatching - * \brief Maximum disparity (as fraction of image size) allowed in feature matching -*/ - /*! - * \def DB_DEFAULT_NO_DISPARITY - * \ingroup FeatureMatching - * \brief Indicates that vertical disparity is the same as horizontal disparity. -*/ -/////////////////////////////////////////////////////////////////////////////////// - /*! - * \def DB_E - * \ingroup LMBasicUtilities - * \brief e -*/ - /*! - * \def DB_LOG2E - * \ingroup LMBasicUtilities - * \brief log2(e) -*/ - /*! - * \def DB_LOG10E - * \ingroup LMBasicUtilities - * \brief log10(e) -*/ - /*! - * \def DB_LOG10E - * \ingroup LMBasicUtilities - * \brief log10(e) -*/ -/*! - * \def DB_LN2 - * \ingroup LMBasicUtilities - * \brief ln(2) -*/ -/*! - * \def DB_LN10 - * \ingroup LMBasicUtilities - * \brief ln(10) -*/ -/*! - * \def DB_PI - * \ingroup LMBasicUtilities - * \brief Pi -*/ -/*! - * \def DB_PI_2 - * \ingroup LMBasicUtilities - * \brief Pi/2 -*/ -/*! - * \def DB_PI_4 - * \ingroup LMBasicUtilities - * \brief Pi/4 -*/ -/*! - * \def DB_1_PI - * \ingroup LMBasicUtilities - * \brief 1/Pi -*/ -/*! - * \def DB_2_PI - * \ingroup LMBasicUtilities - * \brief 2/Pi -*/ -/*! - * \def DB_SQRTPI - * \ingroup LMBasicUtilities - * \brief sqrt(Pi) -*/ -/*! - * \def DB_SQRT_2PI - * \ingroup LMBasicUtilities - * \brief sqrt(2*Pi) -*/ -/*! - * \def DB_SQRT2 - * \ingroup LMBasicUtilities - * \brief sqrt(2) -*/ -/*! - * \def DB_SQRT3 - * \ingroup LMBasicUtilities - * \brief sqrt(3) -*/ -/*! - * \def DB_SQRT1_2 - * \ingroup LMBasicUtilities - * \brief sqrt(1/2) -*/ -#endif /* DB_UTILITIES_CONSTANTS */ - - diff --git a/jni/feature_stab/db_vlvm/db_utilities_geometry.h b/jni/feature_stab/db_vlvm/db_utilities_geometry.h deleted file mode 100644 index f21558467..000000000 --- a/jni/feature_stab/db_vlvm/db_utilities_geometry.h +++ /dev/null @@ -1,121 +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_geometry.h,v 1.3 2011/06/17 14:03:31 mbansal Exp $ */ - -#ifndef DB_UTILITIES_GEOMETRY_H -#define DB_UTILITIES_GEOMETRY_H - -#include "db_utilities.h" - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ -/*! Get the inhomogenous 2D-point centroid of nr_point inhomogenous -points in X*/ -inline void db_PointCentroid2D(double c[2],const double *X,int nr_points) -{ - int i; - double cx,cy,m; - - cx=0;cy=0; - for(i=0;i<nr_points;i++) - { - cx+= *X++; - cy+= *X++; - } - if(nr_points) - { - m=1.0/((double)nr_points); - c[0]=cx*m; - c[1]=cy*m; - } - else c[0]=c[1]=0; -} - -inline void db_PointCentroid2D(double c[2],const double * const *X,int nr_points) -{ - int i; - double cx,cy,m; - const double *temp; - - cx=0;cy=0; - for(i=0;i<nr_points;i++) - { - temp= *X++; - cx+=temp[0]; - cy+=temp[1]; - } - if(nr_points) - { - m=1.0/((double)nr_points); - c[0]=cx*m; - c[1]=cy*m; - } - else c[0]=c[1]=0; -} - -/*! Get the inhomogenous 3D-point centroid of nr_point inhomogenous -points in X*/ -inline void db_PointCentroid3D(double c[3],const double *X,int nr_points) -{ - int i; - double cx,cy,cz,m; - - cx=0;cy=0;cz=0; - for(i=0;i<nr_points;i++) - { - cx+= *X++; - cy+= *X++; - cz+= *X++; - } - if(nr_points) - { - m=1.0/((double)nr_points); - c[0]=cx*m; - c[1]=cy*m; - c[2]=cz*m; - } - else c[0]=c[1]=c[2]=0; -} - -inline void db_PointCentroid3D(double c[3],const double * const *X,int nr_points) -{ - int i; - double cx,cy,cz,m; - const double *temp; - - cx=0;cy=0;cz=0; - for(i=0;i<nr_points;i++) - { - temp= *X++; - cx+=temp[0]; - cy+=temp[1]; - cz+=temp[2]; - } - if(nr_points) - { - m=1.0/((double)nr_points); - c[0]=cx*m; - c[1]=cy*m; - c[2]=cz*m; - } - else c[0]=c[1]=c[2]=0; -} - -#endif /* DB_UTILITIES_GEOMETRY_H */ diff --git a/jni/feature_stab/db_vlvm/db_utilities_indexing.cpp b/jni/feature_stab/db_vlvm/db_utilities_indexing.cpp deleted file mode 100644 index 30ce03aa6..000000000 --- a/jni/feature_stab/db_vlvm/db_utilities_indexing.cpp +++ /dev/null @@ -1,120 +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_indexing.cpp,v 1.3 2011/06/17 14:03:31 mbansal Exp $ */ - -#include "db_utilities_indexing.h" -#include "db_utilities.h" - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ - -void db_Zero(double *d,long nr) -{ - long i; - for(i=0;i<nr;i++) d[i]=0.0; -} - -/*This routine breaks number in source into values smaller and larger than -a pivot element. Values equal to the pivot are ignored*/ -void db_LeanPartitionOnPivot(double pivot,double *dest,const double *source,long first,long last,long *first_equal,long *last_equal) -{ - double temp; - const double *s_point; - const double *s_top; - double *d_bottom; - double *d_top; - - s_point=source+first; - s_top=source+last; - d_bottom=dest+first; - d_top=dest+last; - - for(;s_point<=s_top;) - { - temp= *(s_point++); - if(temp<pivot) *(d_bottom++)=temp; - else if(temp>pivot) *(d_top--)=temp; - } - *first_equal=d_bottom-dest; - *last_equal=d_top-dest; -} - -double db_LeanQuickSelect(const double *s,long nr_elements,long pos,double *temp) -{ - long first=0; - long last=nr_elements-1; - double pivot; - long first_equal,last_equal; - double *tempA; - double *tempB; - double *tempC; - const double *source; - double *dest; - - tempA=temp; - tempB=temp+nr_elements; - source=s; - dest=tempA; - - for(;last-first>2;) - { - pivot=db_TripleMedian(source[first],source[last],source[(first+last)/2]); - db_LeanPartitionOnPivot(pivot,dest,source,first,last,&first_equal,&last_equal); - - if(first_equal>pos) last=first_equal-1; - else if(last_equal<pos) first=last_equal+1; - else - { - return(pivot); - } - - /*Swap pointers*/ - tempC=tempA; - tempA=tempB; - tempB=tempC; - source=tempB; - dest=tempA; - } - pivot=db_TripleMedian(source[first],source[last],source[(first+last)/2]); - - return(pivot); -} - -float* db_AlignPointer_f(float *p,unsigned long nr_bytes) -{ - float *ap; - unsigned long m; - - m=((unsigned long)p)%nr_bytes; - if(m) ap=(float*) (((unsigned long)p)-m+nr_bytes); - else ap=p; - return(ap); -} - -short* db_AlignPointer_s(short *p,unsigned long nr_bytes) -{ - short *ap; - unsigned long m; - - m=((unsigned long)p)%nr_bytes; - if(m) ap=(short*) (((unsigned long)p)-m+nr_bytes); - else ap=p; - return(ap); -} diff --git a/jni/feature_stab/db_vlvm/db_utilities_indexing.h b/jni/feature_stab/db_vlvm/db_utilities_indexing.h deleted file mode 100644 index 01eeb9ea2..000000000 --- a/jni/feature_stab/db_vlvm/db_utilities_indexing.h +++ /dev/null @@ -1,270 +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_indexing.h,v 1.3 2011/06/17 14:03:31 mbansal Exp $ */ - -#ifndef DB_UTILITIES_INDEXING -#define DB_UTILITIES_INDEXING - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ - -#include "db_utilities.h" - -/*! - * \defgroup LMIndexing (LM) Indexing Utilities (Order Statistics, Matrix Operations) - */ -/*\{*/ - -inline void db_SetupMatrixRefs(double **ar,long rows,long cols,double *a) -{ - long i; - for(i=0;i<rows;i++) ar[i]=&a[i*cols]; -} - -inline void db_SymmetricExtendUpperToLower(double **A,int rows,int cols) -{ - int i,j; - for(i=1;i<rows;i++) for(j=0;j<i;j++) A[i][j]=A[j][i]; -} - -void inline db_MultiplyMatrixVectorAtb(double *c,const double * const *At,const double *b,int arows,int acols) -{ - int i,j; - double acc; - - for(i=0;i<arows;i++) - { - acc=0; - for(j=0;j<acols;j++) acc+=At[j][i]*b[j]; - c[i]=acc; - } -} - -inline void db_MultiplyMatricesAB(double **C,const double * const *A,const double * const *B,int arows,int acols,int bcols) -{ - int i,j,k; - double acc; - - for(i=0;i<arows;i++) for(j=0;j<bcols;j++) - { - acc=0; - for(k=0;k<acols;k++) acc+=A[i][k]*B[k][j]; - C[i][j]=acc; - } -} - -inline void db_UpperMultiplyMatricesAtB(double **Cu,const double * const *At,const double * const *B,int arows,int acols,int bcols) -{ - int i,j,k; - double acc; - - for(i=0;i<arows;i++) for(j=i;j<bcols;j++) - { - acc=0; - for(k=0;k<acols;k++) acc+=At[k][i]*B[k][j]; - Cu[i][j]=acc; - } -} - -DB_API void db_Zero(double *d,long nr); - -inline int db_MaxIndex2(double s[2]) -{ - if(s[0]>=s[1]) return(0); - return(1); -} - -inline int db_MaxIndex3(const double s[3]) -{ - double best; - int pos; - - best=s[0];pos=0; - if(s[1]>best){best=s[1];pos=1;} - if(s[2]>best){best=s[2];pos=2;} - return(pos); -} - -inline int db_MaxIndex4(const double s[4]) -{ - double best; - int pos; - - best=s[0];pos=0; - if(s[1]>best){best=s[1];pos=1;} - if(s[2]>best){best=s[2];pos=2;} - if(s[3]>best){best=s[3];pos=3;} - return(pos); -} - -inline int db_MaxIndex5(const double s[5]) -{ - double best; - int pos; - - best=s[0];pos=0; - if(s[1]>best){best=s[1];pos=1;} - if(s[2]>best){best=s[2];pos=2;} - if(s[3]>best){best=s[3];pos=3;} - if(s[4]>best){best=s[4];pos=4;} - return(pos); -} - -inline int db_MaxIndex6(const double s[6]) -{ - double best; - int pos; - - best=s[0];pos=0; - if(s[1]>best){best=s[1];pos=1;} - if(s[2]>best){best=s[2];pos=2;} - if(s[3]>best){best=s[3];pos=3;} - if(s[4]>best){best=s[4];pos=4;} - if(s[5]>best){best=s[5];pos=5;} - return(pos); -} - -inline int db_MaxIndex7(const double s[7]) -{ - double best; - int pos; - - best=s[0];pos=0; - if(s[1]>best){best=s[1];pos=1;} - if(s[2]>best){best=s[2];pos=2;} - if(s[3]>best){best=s[3];pos=3;} - if(s[4]>best){best=s[4];pos=4;} - if(s[5]>best){best=s[5];pos=5;} - if(s[6]>best){best=s[6];pos=6;} - return(pos); -} - -inline int db_MinIndex7(const double s[7]) -{ - double best; - int pos; - - best=s[0];pos=0; - if(s[1]<best){best=s[1];pos=1;} - if(s[2]<best){best=s[2];pos=2;} - if(s[3]<best){best=s[3];pos=3;} - if(s[4]<best){best=s[4];pos=4;} - if(s[5]<best){best=s[5];pos=5;} - if(s[6]<best){best=s[6];pos=6;} - return(pos); -} - -inline int db_MinIndex9(const double s[9]) -{ - double best; - int pos; - - best=s[0];pos=0; - if(s[1]<best){best=s[1];pos=1;} - if(s[2]<best){best=s[2];pos=2;} - if(s[3]<best){best=s[3];pos=3;} - if(s[4]<best){best=s[4];pos=4;} - if(s[5]<best){best=s[5];pos=5;} - if(s[6]<best){best=s[6];pos=6;} - if(s[7]<best){best=s[7];pos=7;} - if(s[8]<best){best=s[8];pos=8;} - return(pos); -} - -inline int db_MaxAbsIndex3(const double *s) -{ - double t,best; - int pos; - - best=fabs(s[0]);pos=0; - t=fabs(s[1]);if(t>best){best=t;pos=1;} - t=fabs(s[2]);if(t>best){pos=2;} - return(pos); -} - -inline int db_MaxAbsIndex9(const double *s) -{ - double t,best; - int pos; - - best=fabs(s[0]);pos=0; - t=fabs(s[1]);if(t>best){best=t;pos=1;} - t=fabs(s[2]);if(t>best){best=t;pos=2;} - t=fabs(s[3]);if(t>best){best=t;pos=3;} - t=fabs(s[4]);if(t>best){best=t;pos=4;} - t=fabs(s[5]);if(t>best){best=t;pos=5;} - t=fabs(s[6]);if(t>best){best=t;pos=6;} - t=fabs(s[7]);if(t>best){best=t;pos=7;} - t=fabs(s[8]);if(t>best){best=t;pos=8;} - return(pos); -} - - -/*! -Select ordinal pos (zero based) out of nr_elements in s. -temp should point to alloced memory of at least nr_elements*2 -Optimized runtimes on 450MHz: -\code - 30 with 3 microsecs - 100 with 11 microsecs - 300 with 30 microsecs - 500 with 40 microsecs -1000 with 100 microsecs -5000 with 540 microsecs -\endcode -so the expected runtime is around -(nr_elements/10) microseconds -The total quickselect cost of splitting 500 hypotheses recursively -is thus around 100 microseconds - -Does the same operation as std::nth_element(). -*/ -DB_API double db_LeanQuickSelect(const double *s,long nr_elements,long pos,double *temp); - -/*! - Median of 3 doubles - */ -inline double db_TripleMedian(double a,double b,double c) -{ - if(a>b) - { - if(c>a) return(a); - else if(c>b) return(c); - else return(b); - } - else - { - if(c>b) return(b); - else if(c>a) return(c); - else return(a); - } -} - -/*! -Align float pointer to nr_bytes by moving forward -*/ -DB_API float* db_AlignPointer_f(float *p,unsigned long nr_bytes); - -/*! -Align short pointer to nr_bytes by moving forward -*/ -DB_API short* db_AlignPointer_s(short *p,unsigned long nr_bytes); - -#endif /* DB_UTILITIES_INDEXING */ diff --git a/jni/feature_stab/db_vlvm/db_utilities_linalg.cpp b/jni/feature_stab/db_vlvm/db_utilities_linalg.cpp deleted file mode 100644 index 8f68b303a..000000000 --- a/jni/feature_stab/db_vlvm/db_utilities_linalg.cpp +++ /dev/null @@ -1,376 +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_linalg.cpp,v 1.3 2011/06/17 14:03:31 mbansal Exp $ */ - -#include "db_utilities_linalg.h" -#include "db_utilities.h" - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ - -/*Cholesky-factorize symmetric positive definite 6 x 6 matrix A. Upper -part of A is used from the input. The Cholesky factor is output as -subdiagonal part in A and diagonal in d, which is 6-dimensional*/ -void db_CholeskyDecomp6x6(double A[36],double d[6]) -{ - double s,temp; - - /*[50 mult 35 add 6sqrt=85flops 6func]*/ - /*i=0*/ - s=A[0]; - d[0]=((s>0.0)?sqrt(s):1.0); - temp=db_SafeReciprocal(d[0]); - A[6]=A[1]*temp; - A[12]=A[2]*temp; - A[18]=A[3]*temp; - A[24]=A[4]*temp; - A[30]=A[5]*temp; - /*i=1*/ - s=A[7]-A[6]*A[6]; - d[1]=((s>0.0)?sqrt(s):1.0); - temp=db_SafeReciprocal(d[1]); - A[13]=(A[8]-A[6]*A[12])*temp; - A[19]=(A[9]-A[6]*A[18])*temp; - A[25]=(A[10]-A[6]*A[24])*temp; - A[31]=(A[11]-A[6]*A[30])*temp; - /*i=2*/ - s=A[14]-A[12]*A[12]-A[13]*A[13]; - d[2]=((s>0.0)?sqrt(s):1.0); - temp=db_SafeReciprocal(d[2]); - A[20]=(A[15]-A[12]*A[18]-A[13]*A[19])*temp; - A[26]=(A[16]-A[12]*A[24]-A[13]*A[25])*temp; - A[32]=(A[17]-A[12]*A[30]-A[13]*A[31])*temp; - /*i=3*/ - s=A[21]-A[18]*A[18]-A[19]*A[19]-A[20]*A[20]; - d[3]=((s>0.0)?sqrt(s):1.0); - temp=db_SafeReciprocal(d[3]); - A[27]=(A[22]-A[18]*A[24]-A[19]*A[25]-A[20]*A[26])*temp; - A[33]=(A[23]-A[18]*A[30]-A[19]*A[31]-A[20]*A[32])*temp; - /*i=4*/ - s=A[28]-A[24]*A[24]-A[25]*A[25]-A[26]*A[26]-A[27]*A[27]; - d[4]=((s>0.0)?sqrt(s):1.0); - temp=db_SafeReciprocal(d[4]); - A[34]=(A[29]-A[24]*A[30]-A[25]*A[31]-A[26]*A[32]-A[27]*A[33])*temp; - /*i=5*/ - s=A[35]-A[30]*A[30]-A[31]*A[31]-A[32]*A[32]-A[33]*A[33]-A[34]*A[34]; - d[5]=((s>0.0)?sqrt(s):1.0); -} - -/*Cholesky-factorize symmetric positive definite n x n matrix A.Part -above diagonal of A is used from the input, diagonal of A is assumed to -be stored in d. The Cholesky factor is output as -subdiagonal part in A and diagonal in d, which is n-dimensional*/ -void db_CholeskyDecompSeparateDiagonal(double **A,double *d,int n) -{ - int i,j,k; - double s; - double temp = 0.0; - - for(i=0;i<n;i++) for(j=i;j<n;j++) - { - if(i==j) s=d[i]; - else s=A[i][j]; - for(k=i-1;k>=0;k--) s-=A[i][k]*A[j][k]; - if(i==j) - { - d[i]=((s>0.0)?sqrt(s):1.0); - temp=db_SafeReciprocal(d[i]); - } - else A[j][i]=s*temp; - } -} - -/*Backsubstitute L%transpose(L)*x=b for x given the Cholesky decomposition -of an n x n matrix and the right hand side b. The vector b is unchanged*/ -void db_CholeskyBacksub(double *x,const double * const *A,const double *d,int n,const double *b) -{ - int i,k; - double s; - - for(i=0;i<n;i++) - { - for(s=b[i],k=i-1;k>=0;k--) s-=A[i][k]*x[k]; - x[i]=db_SafeDivision(s,d[i]); - } - for(i=n-1;i>=0;i--) - { - for(s=x[i],k=i+1;k<n;k++) s-=A[k][i]*x[k]; - x[i]=db_SafeDivision(s,d[i]); - } -} - -/*Cholesky-factorize symmetric positive definite 3 x 3 matrix A. Part -above diagonal of A is used from the input, diagonal of A is assumed to -be stored in d. The Cholesky factor is output as subdiagonal part in A -and diagonal in d, which is 3-dimensional*/ -void db_CholeskyDecomp3x3SeparateDiagonal(double A[9],double d[3]) -{ - double s,temp; - - /*i=0*/ - s=d[0]; - d[0]=((s>0.0)?sqrt(s):1.0); - temp=db_SafeReciprocal(d[0]); - A[3]=A[1]*temp; - A[6]=A[2]*temp; - /*i=1*/ - s=d[1]-A[3]*A[3]; - d[1]=((s>0.0)?sqrt(s):1.0); - temp=db_SafeReciprocal(d[1]); - A[7]=(A[5]-A[3]*A[6])*temp; - /*i=2*/ - s=d[2]-A[6]*A[6]-A[7]*A[7]; - d[2]=((s>0.0)?sqrt(s):1.0); -} - -/*Backsubstitute L%transpose(L)*x=b for x given the Cholesky decomposition -of a 3 x 3 matrix and the right hand side b. The vector b is unchanged*/ -void db_CholeskyBacksub3x3(double x[3],const double A[9],const double d[3],const double b[3]) -{ - /*[42 mult 30 add=72flops]*/ - x[0]=db_SafeDivision(b[0],d[0]); - x[1]=db_SafeDivision((b[1]-A[3]*x[0]),d[1]); - x[2]=db_SafeDivision((b[2]-A[6]*x[0]-A[7]*x[1]),d[2]); - x[2]=db_SafeDivision(x[2],d[2]); - x[1]=db_SafeDivision((x[1]-A[7]*x[2]),d[1]); - x[0]=db_SafeDivision((x[0]-A[6]*x[2]-A[3]*x[1]),d[0]); -} - -/*Backsubstitute L%transpose(L)*x=b for x given the Cholesky decomposition -of a 6 x 6 matrix and the right hand side b. The vector b is unchanged*/ -void db_CholeskyBacksub6x6(double x[6],const double A[36],const double d[6],const double b[6]) -{ - /*[42 mult 30 add=72flops]*/ - x[0]=db_SafeDivision(b[0],d[0]); - x[1]=db_SafeDivision((b[1]-A[6]*x[0]),d[1]); - x[2]=db_SafeDivision((b[2]-A[12]*x[0]-A[13]*x[1]),d[2]); - x[3]=db_SafeDivision((b[3]-A[18]*x[0]-A[19]*x[1]-A[20]*x[2]),d[3]); - x[4]=db_SafeDivision((b[4]-A[24]*x[0]-A[25]*x[1]-A[26]*x[2]-A[27]*x[3]),d[4]); - x[5]=db_SafeDivision((b[5]-A[30]*x[0]-A[31]*x[1]-A[32]*x[2]-A[33]*x[3]-A[34]*x[4]),d[5]); - x[5]=db_SafeDivision(x[5],d[5]); - x[4]=db_SafeDivision((x[4]-A[34]*x[5]),d[4]); - x[3]=db_SafeDivision((x[3]-A[33]*x[5]-A[27]*x[4]),d[3]); - x[2]=db_SafeDivision((x[2]-A[32]*x[5]-A[26]*x[4]-A[20]*x[3]),d[2]); - x[1]=db_SafeDivision((x[1]-A[31]*x[5]-A[25]*x[4]-A[19]*x[3]-A[13]*x[2]),d[1]); - x[0]=db_SafeDivision((x[0]-A[30]*x[5]-A[24]*x[4]-A[18]*x[3]-A[12]*x[2]-A[6]*x[1]),d[0]); -} - - -void db_Orthogonalize6x7(double A[42],int orthonormalize) -{ - int i; - double ss[6]; - - /*Compute square sums of rows*/ - ss[0]=db_SquareSum7(A); - ss[1]=db_SquareSum7(A+7); - ss[2]=db_SquareSum7(A+14); - ss[3]=db_SquareSum7(A+21); - ss[4]=db_SquareSum7(A+28); - ss[5]=db_SquareSum7(A+35); - - ss[1]-=db_OrthogonalizePair7(A+7 ,A,ss[0]); - ss[2]-=db_OrthogonalizePair7(A+14,A,ss[0]); - ss[3]-=db_OrthogonalizePair7(A+21,A,ss[0]); - ss[4]-=db_OrthogonalizePair7(A+28,A,ss[0]); - ss[5]-=db_OrthogonalizePair7(A+35,A,ss[0]); - - /*Pivot on largest ss (could also be done on ss/(original_ss))*/ - i=db_MaxIndex5(ss+1); - db_OrthogonalizationSwap7(A+7,i,ss+1); - - ss[2]-=db_OrthogonalizePair7(A+14,A+7,ss[1]); - ss[3]-=db_OrthogonalizePair7(A+21,A+7,ss[1]); - ss[4]-=db_OrthogonalizePair7(A+28,A+7,ss[1]); - ss[5]-=db_OrthogonalizePair7(A+35,A+7,ss[1]); - - i=db_MaxIndex4(ss+2); - db_OrthogonalizationSwap7(A+14,i,ss+2); - - ss[3]-=db_OrthogonalizePair7(A+21,A+14,ss[2]); - ss[4]-=db_OrthogonalizePair7(A+28,A+14,ss[2]); - ss[5]-=db_OrthogonalizePair7(A+35,A+14,ss[2]); - - i=db_MaxIndex3(ss+3); - db_OrthogonalizationSwap7(A+21,i,ss+3); - - ss[4]-=db_OrthogonalizePair7(A+28,A+21,ss[3]); - ss[5]-=db_OrthogonalizePair7(A+35,A+21,ss[3]); - - i=db_MaxIndex2(ss+4); - db_OrthogonalizationSwap7(A+28,i,ss+4); - - ss[5]-=db_OrthogonalizePair7(A+35,A+28,ss[4]); - - if(orthonormalize) - { - db_MultiplyScalar7(A ,db_SafeSqrtReciprocal(ss[0])); - db_MultiplyScalar7(A+7 ,db_SafeSqrtReciprocal(ss[1])); - db_MultiplyScalar7(A+14,db_SafeSqrtReciprocal(ss[2])); - db_MultiplyScalar7(A+21,db_SafeSqrtReciprocal(ss[3])); - db_MultiplyScalar7(A+28,db_SafeSqrtReciprocal(ss[4])); - db_MultiplyScalar7(A+35,db_SafeSqrtReciprocal(ss[5])); - } -} - -void db_Orthogonalize8x9(double A[72],int orthonormalize) -{ - int i; - double ss[8]; - - /*Compute square sums of rows*/ - ss[0]=db_SquareSum9(A); - ss[1]=db_SquareSum9(A+9); - ss[2]=db_SquareSum9(A+18); - ss[3]=db_SquareSum9(A+27); - ss[4]=db_SquareSum9(A+36); - ss[5]=db_SquareSum9(A+45); - ss[6]=db_SquareSum9(A+54); - ss[7]=db_SquareSum9(A+63); - - ss[1]-=db_OrthogonalizePair9(A+9 ,A,ss[0]); - ss[2]-=db_OrthogonalizePair9(A+18,A,ss[0]); - ss[3]-=db_OrthogonalizePair9(A+27,A,ss[0]); - ss[4]-=db_OrthogonalizePair9(A+36,A,ss[0]); - ss[5]-=db_OrthogonalizePair9(A+45,A,ss[0]); - ss[6]-=db_OrthogonalizePair9(A+54,A,ss[0]); - ss[7]-=db_OrthogonalizePair9(A+63,A,ss[0]); - - /*Pivot on largest ss (could also be done on ss/(original_ss))*/ - i=db_MaxIndex7(ss+1); - db_OrthogonalizationSwap9(A+9,i,ss+1); - - ss[2]-=db_OrthogonalizePair9(A+18,A+9,ss[1]); - ss[3]-=db_OrthogonalizePair9(A+27,A+9,ss[1]); - ss[4]-=db_OrthogonalizePair9(A+36,A+9,ss[1]); - ss[5]-=db_OrthogonalizePair9(A+45,A+9,ss[1]); - ss[6]-=db_OrthogonalizePair9(A+54,A+9,ss[1]); - ss[7]-=db_OrthogonalizePair9(A+63,A+9,ss[1]); - - i=db_MaxIndex6(ss+2); - db_OrthogonalizationSwap9(A+18,i,ss+2); - - ss[3]-=db_OrthogonalizePair9(A+27,A+18,ss[2]); - ss[4]-=db_OrthogonalizePair9(A+36,A+18,ss[2]); - ss[5]-=db_OrthogonalizePair9(A+45,A+18,ss[2]); - ss[6]-=db_OrthogonalizePair9(A+54,A+18,ss[2]); - ss[7]-=db_OrthogonalizePair9(A+63,A+18,ss[2]); - - i=db_MaxIndex5(ss+3); - db_OrthogonalizationSwap9(A+27,i,ss+3); - - ss[4]-=db_OrthogonalizePair9(A+36,A+27,ss[3]); - ss[5]-=db_OrthogonalizePair9(A+45,A+27,ss[3]); - ss[6]-=db_OrthogonalizePair9(A+54,A+27,ss[3]); - ss[7]-=db_OrthogonalizePair9(A+63,A+27,ss[3]); - - i=db_MaxIndex4(ss+4); - db_OrthogonalizationSwap9(A+36,i,ss+4); - - ss[5]-=db_OrthogonalizePair9(A+45,A+36,ss[4]); - ss[6]-=db_OrthogonalizePair9(A+54,A+36,ss[4]); - ss[7]-=db_OrthogonalizePair9(A+63,A+36,ss[4]); - - i=db_MaxIndex3(ss+5); - db_OrthogonalizationSwap9(A+45,i,ss+5); - - ss[6]-=db_OrthogonalizePair9(A+54,A+45,ss[5]); - ss[7]-=db_OrthogonalizePair9(A+63,A+45,ss[5]); - - i=db_MaxIndex2(ss+6); - db_OrthogonalizationSwap9(A+54,i,ss+6); - - ss[7]-=db_OrthogonalizePair9(A+63,A+54,ss[6]); - - if(orthonormalize) - { - db_MultiplyScalar9(A ,db_SafeSqrtReciprocal(ss[0])); - db_MultiplyScalar9(A+9 ,db_SafeSqrtReciprocal(ss[1])); - db_MultiplyScalar9(A+18,db_SafeSqrtReciprocal(ss[2])); - db_MultiplyScalar9(A+27,db_SafeSqrtReciprocal(ss[3])); - db_MultiplyScalar9(A+36,db_SafeSqrtReciprocal(ss[4])); - db_MultiplyScalar9(A+45,db_SafeSqrtReciprocal(ss[5])); - db_MultiplyScalar9(A+54,db_SafeSqrtReciprocal(ss[6])); - db_MultiplyScalar9(A+63,db_SafeSqrtReciprocal(ss[7])); - } -} - -void db_NullVectorOrthonormal6x7(double x[7],const double A[42]) -{ - int i; - double omss[7]; - const double *B; - - /*Pivot by choosing row of the identity matrix - (the one corresponding to column of A with smallest square sum)*/ - omss[0]=db_SquareSum6Stride7(A); - omss[1]=db_SquareSum6Stride7(A+1); - omss[2]=db_SquareSum6Stride7(A+2); - omss[3]=db_SquareSum6Stride7(A+3); - omss[4]=db_SquareSum6Stride7(A+4); - omss[5]=db_SquareSum6Stride7(A+5); - omss[6]=db_SquareSum6Stride7(A+6); - i=db_MinIndex7(omss); - /*orthogonalize that row against all previous rows - and normalize it*/ - B=A+i; - db_MultiplyScalarCopy7(x,A,-B[0]); - db_RowOperation7(x,A+7 ,B[7]); - db_RowOperation7(x,A+14,B[14]); - db_RowOperation7(x,A+21,B[21]); - db_RowOperation7(x,A+28,B[28]); - db_RowOperation7(x,A+35,B[35]); - x[i]+=1.0; - db_MultiplyScalar7(x,db_SafeSqrtReciprocal(1.0-omss[i])); -} - -void db_NullVectorOrthonormal8x9(double x[9],const double A[72]) -{ - int i; - double omss[9]; - const double *B; - - /*Pivot by choosing row of the identity matrix - (the one corresponding to column of A with smallest square sum)*/ - omss[0]=db_SquareSum8Stride9(A); - omss[1]=db_SquareSum8Stride9(A+1); - omss[2]=db_SquareSum8Stride9(A+2); - omss[3]=db_SquareSum8Stride9(A+3); - omss[4]=db_SquareSum8Stride9(A+4); - omss[5]=db_SquareSum8Stride9(A+5); - omss[6]=db_SquareSum8Stride9(A+6); - omss[7]=db_SquareSum8Stride9(A+7); - omss[8]=db_SquareSum8Stride9(A+8); - i=db_MinIndex9(omss); - /*orthogonalize that row against all previous rows - and normalize it*/ - B=A+i; - db_MultiplyScalarCopy9(x,A,-B[0]); - db_RowOperation9(x,A+9 ,B[9]); - db_RowOperation9(x,A+18,B[18]); - db_RowOperation9(x,A+27,B[27]); - db_RowOperation9(x,A+36,B[36]); - db_RowOperation9(x,A+45,B[45]); - db_RowOperation9(x,A+54,B[54]); - db_RowOperation9(x,A+63,B[63]); - x[i]+=1.0; - db_MultiplyScalar9(x,db_SafeSqrtReciprocal(1.0-omss[i])); -} - diff --git a/jni/feature_stab/db_vlvm/db_utilities_linalg.h b/jni/feature_stab/db_vlvm/db_utilities_linalg.h deleted file mode 100644 index 1f63d4e57..000000000 --- a/jni/feature_stab/db_vlvm/db_utilities_linalg.h +++ /dev/null @@ -1,802 +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_linalg.h,v 1.5 2011/06/17 14:03:31 mbansal Exp $ */ - -#ifndef DB_UTILITIES_LINALG -#define DB_UTILITIES_LINALG - -#include "db_utilities.h" - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ -/*! - * \defgroup LMLinAlg (LM) Linear Algebra Utilities (QR factorization, orthogonal basis, etc.) - */ - -/*! - \ingroup LMBasicUtilities - */ -inline void db_MultiplyScalar6(double A[6],double mult) -{ - (*A++) *= mult; (*A++) *= mult; (*A++) *= mult; (*A++) *= mult; (*A++) *= mult; - (*A++) *= mult; -} -/*! - \ingroup LMBasicUtilities - */ -inline void db_MultiplyScalar7(double A[7],double mult) -{ - (*A++) *= mult; (*A++) *= mult; (*A++) *= mult; (*A++) *= mult; (*A++) *= mult; - (*A++) *= mult; (*A++) *= mult; -} -/*! - \ingroup LMBasicUtilities - */ -inline void db_MultiplyScalar9(double A[9],double mult) -{ - (*A++) *= mult; (*A++) *= mult; (*A++) *= mult; (*A++) *= mult; (*A++) *= mult; - (*A++) *= mult; (*A++) *= mult; (*A++) *= mult; (*A++) *= mult; -} - -/*! - \ingroup LMBasicUtilities - */ -inline double db_SquareSum6Stride7(const double *x) -{ - return(db_sqr(x[0])+db_sqr(x[7])+db_sqr(x[14])+ - db_sqr(x[21])+db_sqr(x[28])+db_sqr(x[35])); -} - -/*! - \ingroup LMBasicUtilities - */ -inline double db_SquareSum8Stride9(const double *x) -{ - return(db_sqr(x[0])+db_sqr(x[9])+db_sqr(x[18])+ - db_sqr(x[27])+db_sqr(x[36])+db_sqr(x[45])+ - db_sqr(x[54])+db_sqr(x[63])); -} - -/*! - \ingroup LMLinAlg - Cholesky-factorize symmetric positive definite 6 x 6 matrix A. Upper -part of A is used from the input. The Cholesky factor is output as -subdiagonal part in A and diagonal in d, which is 6-dimensional -1.9 microseconds on 450MHz*/ -DB_API void db_CholeskyDecomp6x6(double A[36],double d[6]); - -/*! - \ingroup LMLinAlg - Backsubstitute L%transpose(L)*x=b for x given the Cholesky decomposition -of a 6 x 6 matrix and the right hand side b. The vector b is unchanged -1.3 microseconds on 450MHz*/ -DB_API void db_CholeskyBacksub6x6(double x[6],const double A[36],const double d[6],const double b[6]); - -/*! - \ingroup LMLinAlg - Cholesky-factorize symmetric positive definite n x n matrix A.Part -above diagonal of A is used from the input, diagonal of A is assumed to -be stored in d. The Cholesky factor is output as -subdiagonal part in A and diagonal in d, which is n-dimensional*/ -DB_API void db_CholeskyDecompSeparateDiagonal(double **A,double *d,int n); - -/*! - \ingroup LMLinAlg - Backsubstitute L%transpose(L)*x=b for x given the Cholesky decomposition -of an n x n matrix and the right hand side b. The vector b is unchanged*/ -DB_API void db_CholeskyBacksub(double *x,const double * const *A,const double *d,int n,const double *b); - -/*! - \ingroup LMLinAlg - Cholesky-factorize symmetric positive definite 3 x 3 matrix A. Part -above diagonal of A is used from the input, diagonal of A is assumed to -be stored in d. The Cholesky factor is output as subdiagonal part in A -and diagonal in d, which is 3-dimensional*/ -DB_API void db_CholeskyDecomp3x3SeparateDiagonal(double A[9],double d[3]); - -/*! - \ingroup LMLinAlg - Backsubstitute L%transpose(L)*x=b for x given the Cholesky decomposition -of a 3 x 3 matrix and the right hand side b. The vector b is unchanged*/ -DB_API void db_CholeskyBacksub3x3(double x[3],const double A[9],const double d[3],const double b[3]); - -/*! - \ingroup LMLinAlg - perform A-=B*mult*/ -inline void db_RowOperation3(double A[3],const double B[3],double mult) -{ - *A++ -= mult*(*B++); *A++ -= mult*(*B++); *A++ -= mult*(*B++); -} - -/*! - \ingroup LMLinAlg - */ -inline void db_RowOperation7(double A[7],const double B[7],double mult) -{ - *A++ -= mult*(*B++); *A++ -= mult*(*B++); *A++ -= mult*(*B++); *A++ -= mult*(*B++); *A++ -= mult*(*B++); - *A++ -= mult*(*B++); *A++ -= mult*(*B++); -} - -/*! - \ingroup LMLinAlg - */ -inline void db_RowOperation9(double A[9],const double B[9],double mult) -{ - *A++ -= mult*(*B++); *A++ -= mult*(*B++); *A++ -= mult*(*B++); *A++ -= mult*(*B++); *A++ -= mult*(*B++); - *A++ -= mult*(*B++); *A++ -= mult*(*B++); *A++ -= mult*(*B++); *A++ -= mult*(*B++); -} - -/*! - \ingroup LMBasicUtilities - Swap values of A[7] and B[7] - */ -inline void db_Swap7(double A[7],double B[7]) -{ - double temp; - temp= *A; *A++ = *B; *B++ =temp; temp= *A; *A++ = *B; *B++ =temp; temp= *A; *A++ = *B; *B++ =temp; - temp= *A; *A++ = *B; *B++ =temp; temp= *A; *A++ = *B; *B++ =temp; temp= *A; *A++ = *B; *B++ =temp; - temp= *A; *A++ = *B; *B++ =temp; -} - -/*! - \ingroup LMBasicUtilities - Swap values of A[9] and B[9] - */ -inline void db_Swap9(double A[9],double B[9]) -{ - double temp; - temp= *A; *A++ = *B; *B++ =temp; temp= *A; *A++ = *B; *B++ =temp; temp= *A; *A++ = *B; *B++ =temp; - temp= *A; *A++ = *B; *B++ =temp; temp= *A; *A++ = *B; *B++ =temp; temp= *A; *A++ = *B; *B++ =temp; - temp= *A; *A++ = *B; *B++ =temp; temp= *A; *A++ = *B; *B++ =temp; temp= *A; *A++ = *B; *B++ =temp; -} - - -/*! - \ingroup LMLinAlg - */ -DB_API void db_Orthogonalize6x7(double A[42],int orthonormalize=0); - -/*! - \ingroup LMLinAlg - */ -DB_API void db_Orthogonalize8x9(double A[72],int orthonormalize=0); - -/*! - \ingroup LMLinAlg - */ -inline double db_OrthogonalizePair7(double *x,const double *v,double ssv) -{ - double m,sp,sp_m; - - m=db_SafeReciprocal(ssv); - sp=db_ScalarProduct7(x,v); - sp_m=sp*m; - db_RowOperation7(x,v,sp_m); - return(sp*sp_m); -} - -/*! - \ingroup LMLinAlg - */ -inline double db_OrthogonalizePair9(double *x,const double *v,double ssv) -{ - double m,sp,sp_m; - - m=db_SafeReciprocal(ssv); - sp=db_ScalarProduct9(x,v); - sp_m=sp*m; - db_RowOperation9(x,v,sp_m); - return(sp*sp_m); -} - -/*! - \ingroup LMLinAlg - */ -inline void db_OrthogonalizationSwap7(double *A,int i,double *ss) -{ - double temp; - - db_Swap7(A,A+7*i); - temp=ss[0]; ss[0]=ss[i]; ss[i]=temp; -} -/*! - \ingroup LMLinAlg - */ -inline void db_OrthogonalizationSwap9(double *A,int i,double *ss) -{ - double temp; - - db_Swap9(A,A+9*i); - temp=ss[0]; ss[0]=ss[i]; ss[i]=temp; -} - -/*! - \ingroup LMLinAlg - */ -DB_API void db_NullVectorOrthonormal6x7(double x[7],const double A[42]); -/*! - \ingroup LMLinAlg - */ -DB_API void db_NullVectorOrthonormal8x9(double x[9],const double A[72]); - -/*! - \ingroup LMLinAlg - */ -inline void db_NullVector6x7Destructive(double x[7],double A[42]) -{ - db_Orthogonalize6x7(A,1); - db_NullVectorOrthonormal6x7(x,A); -} - -/*! - \ingroup LMLinAlg - */ -inline void db_NullVector8x9Destructive(double x[9],double A[72]) -{ - db_Orthogonalize8x9(A,1); - db_NullVectorOrthonormal8x9(x,A); -} - -inline int db_ScalarProduct512_s(const short *f,const short *g) -{ -#ifndef DB_USE_MMX - int back; - back=0; - for(int i=1; i<=512; i++) - back+=(*f++)*(*g++); - - return(back); -#endif -} - - -inline int db_ScalarProduct32_s(const short *f,const short *g) -{ -#ifndef DB_USE_MMX - int back; - back=0; - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); - - return(back); -#endif -} - -/*! - \ingroup LMLinAlg - Scalar product of 128-vectors (short) - Compile-time control: MMX, SSE2 or standard C - */ -inline int db_ScalarProduct128_s(const short *f,const short *g) -{ -#ifndef DB_USE_MMX - int back; - back=0; - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - - return(back); -#else -#ifdef DB_USE_SSE2 - int back; - - _asm - { - mov eax,f - mov ecx,g - /*First iteration************************************/ - movdqa xmm0,[eax] - pxor xmm7,xmm7 /*Set xmm7 to zero*/ - pmaddwd xmm0,[ecx] - /*Stall*/ - /*Standard iteration************************************/ - movdqa xmm2,[eax+16] - paddd xmm7,xmm0 - pmaddwd xmm2,[ecx+16] - /*Stall*/ - movdqa xmm1,[eax+32] - paddd xmm7,xmm2 - pmaddwd xmm1,[ecx+32] - /*Stall*/ - /*Standard iteration************************************/ - movdqa xmm0,[eax+48] - paddd xmm7,xmm1 - pmaddwd xmm0,[ecx+48] - /*Stall*/ - /*Standard iteration************************************/ - movdqa xmm2,[eax+64] - paddd xmm7,xmm0 - pmaddwd xmm2,[ecx+64] - /*Stall*/ - movdqa xmm1,[eax+80] - paddd xmm7,xmm2 - pmaddwd xmm1,[ecx+80] - /*Stall*/ - /*Standard iteration************************************/ - movdqa xmm0,[eax+96] - paddd xmm7,xmm1 - pmaddwd xmm0,[ecx+96] - /*Stall*/ - /*Standard iteration************************************/ - movdqa xmm2,[eax+112] - paddd xmm7,xmm0 - pmaddwd xmm2,[ecx+112] - /*Stall*/ - movdqa xmm1,[eax+128] - paddd xmm7,xmm2 - pmaddwd xmm1,[ecx+128] - /*Stall*/ - /*Standard iteration************************************/ - movdqa xmm0,[eax+144] - paddd xmm7,xmm1 - pmaddwd xmm0,[ecx+144] - /*Stall*/ - /*Standard iteration************************************/ - movdqa xmm2,[eax+160] - paddd xmm7,xmm0 - pmaddwd xmm2,[ecx+160] - /*Stall*/ - movdqa xmm1,[eax+176] - paddd xmm7,xmm2 - pmaddwd xmm1,[ecx+176] - /*Stall*/ - /*Standard iteration************************************/ - movdqa xmm0,[eax+192] - paddd xmm7,xmm1 - pmaddwd xmm0,[ecx+192] - /*Stall*/ - /*Standard iteration************************************/ - movdqa xmm2,[eax+208] - paddd xmm7,xmm0 - pmaddwd xmm2,[ecx+208] - /*Stall*/ - movdqa xmm1,[eax+224] - paddd xmm7,xmm2 - pmaddwd xmm1,[ecx+224] - /*Stall*/ - /*Standard iteration************************************/ - movdqa xmm0,[eax+240] - paddd xmm7,xmm1 - pmaddwd xmm0,[ecx+240] - /*Stall*/ - /*Rest iteration************************************/ - paddd xmm7,xmm0 - - /* add up the sum squares */ - movhlps xmm0,xmm7 /* high half to low half */ - paddd xmm7,xmm0 /* add high to low */ - pshuflw xmm0,xmm7, 0xE /* reshuffle */ - paddd xmm7,xmm0 /* add remaining */ - movd back,xmm7 - - emms - } - - return(back); -#else - int back; - - _asm - { - mov eax,f - mov ecx,g - /*First iteration************************************/ - movq mm0,[eax] - pxor mm7,mm7 /*Set mm7 to zero*/ - pmaddwd mm0,[ecx] - /*Stall*/ - movq mm1,[eax+8] - /*Stall*/ - pmaddwd mm1,[ecx+8] - /*Stall*/ - /*Standard iteration************************************/ - movq mm2,[eax+16] - paddd mm7,mm0 - pmaddwd mm2,[ecx+16] - /*Stall*/ - movq mm0,[eax+24] - paddd mm7,mm1 - pmaddwd mm0,[ecx+24] - /*Stall*/ - movq mm1,[eax+32] - paddd mm7,mm2 - pmaddwd mm1,[ecx+32] - /*Stall*/ - /*Standard iteration************************************/ - movq mm2,[eax+40] - paddd mm7,mm0 - pmaddwd mm2,[ecx+40] - /*Stall*/ - movq mm0,[eax+48] - paddd mm7,mm1 - pmaddwd mm0,[ecx+48] - /*Stall*/ - movq mm1,[eax+56] - paddd mm7,mm2 - pmaddwd mm1,[ecx+56] - /*Stall*/ - /*Standard iteration************************************/ - movq mm2,[eax+64] - paddd mm7,mm0 - pmaddwd mm2,[ecx+64] - /*Stall*/ - movq mm0,[eax+72] - paddd mm7,mm1 - pmaddwd mm0,[ecx+72] - /*Stall*/ - movq mm1,[eax+80] - paddd mm7,mm2 - pmaddwd mm1,[ecx+80] - /*Stall*/ - /*Standard iteration************************************/ - movq mm2,[eax+88] - paddd mm7,mm0 - pmaddwd mm2,[ecx+88] - /*Stall*/ - movq mm0,[eax+96] - paddd mm7,mm1 - pmaddwd mm0,[ecx+96] - /*Stall*/ - movq mm1,[eax+104] - paddd mm7,mm2 - pmaddwd mm1,[ecx+104] - /*Stall*/ - /*Standard iteration************************************/ - movq mm2,[eax+112] - paddd mm7,mm0 - pmaddwd mm2,[ecx+112] - /*Stall*/ - movq mm0,[eax+120] - paddd mm7,mm1 - pmaddwd mm0,[ecx+120] - /*Stall*/ - movq mm1,[eax+128] - paddd mm7,mm2 - pmaddwd mm1,[ecx+128] - /*Stall*/ - /*Standard iteration************************************/ - movq mm2,[eax+136] - paddd mm7,mm0 - pmaddwd mm2,[ecx+136] - /*Stall*/ - movq mm0,[eax+144] - paddd mm7,mm1 - pmaddwd mm0,[ecx+144] - /*Stall*/ - movq mm1,[eax+152] - paddd mm7,mm2 - pmaddwd mm1,[ecx+152] - /*Stall*/ - /*Standard iteration************************************/ - movq mm2,[eax+160] - paddd mm7,mm0 - pmaddwd mm2,[ecx+160] - /*Stall*/ - movq mm0,[eax+168] - paddd mm7,mm1 - pmaddwd mm0,[ecx+168] - /*Stall*/ - movq mm1,[eax+176] - paddd mm7,mm2 - pmaddwd mm1,[ecx+176] - /*Stall*/ - /*Standard iteration************************************/ - movq mm2,[eax+184] - paddd mm7,mm0 - pmaddwd mm2,[ecx+184] - /*Stall*/ - movq mm0,[eax+192] - paddd mm7,mm1 - pmaddwd mm0,[ecx+192] - /*Stall*/ - movq mm1,[eax+200] - paddd mm7,mm2 - pmaddwd mm1,[ecx+200] - /*Stall*/ - /*Standard iteration************************************/ - movq mm2,[eax+208] - paddd mm7,mm0 - pmaddwd mm2,[ecx+208] - /*Stall*/ - movq mm0,[eax+216] - paddd mm7,mm1 - pmaddwd mm0,[ecx+216] - /*Stall*/ - movq mm1,[eax+224] - paddd mm7,mm2 - pmaddwd mm1,[ecx+224] - /*Stall*/ - /*Standard iteration************************************/ - movq mm2,[eax+232] - paddd mm7,mm0 - pmaddwd mm2,[ecx+232] - /*Stall*/ - movq mm0,[eax+240] - paddd mm7,mm1 - pmaddwd mm0,[ecx+240] - /*Stall*/ - movq mm1,[eax+248] - paddd mm7,mm2 - pmaddwd mm1,[ecx+248] - /*Stall*/ - /*Rest iteration************************************/ - paddd mm7,mm0 - /*Stall*/ - /*Stall*/ - /*Stall*/ - paddd mm7,mm1 - /*Stall*/ - movq mm0,mm7 - psrlq mm7,32 - paddd mm0,mm7 - /*Stall*/ - /*Stall*/ - /*Stall*/ - movd back,mm0 - emms - } - - return(back); -#endif -#endif /*DB_USE_MMX*/ -} - -/*! - \ingroup LMLinAlg - Scalar product of 16 byte aligned 128-vectors (float). - Compile-time control: SIMD (SSE) or standard C. - */ -inline float db_ScalarProduct128Aligned16_f(const float *f,const float *g) -{ -#ifndef DB_USE_SIMD - float back; - back=0.0; - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - back+=(*f++)*(*g++); back+=(*f++)*(*g++); back+=(*f++)*(*g++); - - return(back); -#else - float back; - - _asm - { - mov eax,f - mov ecx,g - /*First iteration************************************/ - movaps xmm0,[eax] - xorps xmm7,xmm7 /*Set mm7 to zero*/ - mulps xmm0,[ecx] - /*Stall*/ - movaps xmm1,[eax+16] - /*Stall*/ - mulps xmm1,[ecx+16] - /*Stall*/ - /*Standard iteration************************************/ - movaps xmm2,[eax+32] - addps xmm7,xmm0 - mulps xmm2,[ecx+32] - /*Stall*/ - movaps xmm0,[eax+48] - addps xmm7,xmm1 - mulps xmm0,[ecx+48] - /*Stall*/ - movaps xmm1,[eax+64] - addps xmm7,xmm2 - mulps xmm1,[ecx+64] - /*Stall*/ - /*Standard iteration************************************/ - movaps xmm2,[eax+80] - addps xmm7,xmm0 - mulps xmm2,[ecx+80] - /*Stall*/ - movaps xmm0,[eax+96] - addps xmm7,xmm1 - mulps xmm0,[ecx+96] - /*Stall*/ - movaps xmm1,[eax+112] - addps xmm7,xmm2 - mulps xmm1,[ecx+112] - /*Stall*/ - /*Standard iteration************************************/ - movaps xmm2,[eax+128] - addps xmm7,xmm0 - mulps xmm2,[ecx+128] - /*Stall*/ - movaps xmm0,[eax+144] - addps xmm7,xmm1 - mulps xmm0,[ecx+144] - /*Stall*/ - movaps xmm1,[eax+160] - addps xmm7,xmm2 - mulps xmm1,[ecx+160] - /*Stall*/ - /*Standard iteration************************************/ - movaps xmm2,[eax+176] - addps xmm7,xmm0 - mulps xmm2,[ecx+176] - /*Stall*/ - movaps xmm0,[eax+192] - addps xmm7,xmm1 - mulps xmm0,[ecx+192] - /*Stall*/ - movaps xmm1,[eax+208] - addps xmm7,xmm2 - mulps xmm1,[ecx+208] - /*Stall*/ - /*Standard iteration************************************/ - movaps xmm2,[eax+224] - addps xmm7,xmm0 - mulps xmm2,[ecx+224] - /*Stall*/ - movaps xmm0,[eax+240] - addps xmm7,xmm1 - mulps xmm0,[ecx+240] - /*Stall*/ - movaps xmm1,[eax+256] - addps xmm7,xmm2 - mulps xmm1,[ecx+256] - /*Stall*/ - /*Standard iteration************************************/ - movaps xmm2,[eax+272] - addps xmm7,xmm0 - mulps xmm2,[ecx+272] - /*Stall*/ - movaps xmm0,[eax+288] - addps xmm7,xmm1 - mulps xmm0,[ecx+288] - /*Stall*/ - movaps xmm1,[eax+304] - addps xmm7,xmm2 - mulps xmm1,[ecx+304] - /*Stall*/ - /*Standard iteration************************************/ - movaps xmm2,[eax+320] - addps xmm7,xmm0 - mulps xmm2,[ecx+320] - /*Stall*/ - movaps xmm0,[eax+336] - addps xmm7,xmm1 - mulps xmm0,[ecx+336] - /*Stall*/ - movaps xmm1,[eax+352] - addps xmm7,xmm2 - mulps xmm1,[ecx+352] - /*Stall*/ - /*Standard iteration************************************/ - movaps xmm2,[eax+368] - addps xmm7,xmm0 - mulps xmm2,[ecx+368] - /*Stall*/ - movaps xmm0,[eax+384] - addps xmm7,xmm1 - mulps xmm0,[ecx+384] - /*Stall*/ - movaps xmm1,[eax+400] - addps xmm7,xmm2 - mulps xmm1,[ecx+400] - /*Stall*/ - /*Standard iteration************************************/ - movaps xmm2,[eax+416] - addps xmm7,xmm0 - mulps xmm2,[ecx+416] - /*Stall*/ - movaps xmm0,[eax+432] - addps xmm7,xmm1 - mulps xmm0,[ecx+432] - /*Stall*/ - movaps xmm1,[eax+448] - addps xmm7,xmm2 - mulps xmm1,[ecx+448] - /*Stall*/ - /*Standard iteration************************************/ - movaps xmm2,[eax+464] - addps xmm7,xmm0 - mulps xmm2,[ecx+464] - /*Stall*/ - movaps xmm0,[eax+480] - addps xmm7,xmm1 - mulps xmm0,[ecx+480] - /*Stall*/ - movaps xmm1,[eax+496] - addps xmm7,xmm2 - mulps xmm1,[ecx+496] - /*Stall*/ - /*Rest iteration************************************/ - addps xmm7,xmm0 - /*Stall*/ - addps xmm7,xmm1 - /*Stall*/ - movaps xmm6,xmm7 - /*Stall*/ - shufps xmm6,xmm6,4Eh - /*Stall*/ - addps xmm7,xmm6 - /*Stall*/ - movaps xmm6,xmm7 - /*Stall*/ - shufps xmm6,xmm6,11h - /*Stall*/ - addps xmm7,xmm6 - /*Stall*/ - movss back,xmm7 - } - - return(back); -#endif /*DB_USE_SIMD*/ -} - -#endif /* DB_UTILITIES_LINALG */ diff --git a/jni/feature_stab/db_vlvm/db_utilities_poly.cpp b/jni/feature_stab/db_vlvm/db_utilities_poly.cpp deleted file mode 100644 index 013ac726e..000000000 --- a/jni/feature_stab/db_vlvm/db_utilities_poly.cpp +++ /dev/null @@ -1,235 +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_poly.cpp,v 1.2 2010/09/03 12:00:10 bsouthall Exp $ */ - -#include "db_utilities_poly.h" -#include "db_utilities.h" - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ - -void db_SolveCubic(double *roots,int *nr_roots,double a,double b,double c,double d) -{ - double bp,bp2,cp,dp,q,r,srq; - double r2_min_q3,theta,bp_through3,theta_through3; - double cos_theta_through3,sin_theta_through3,min2_cos_theta_plu,min2_cos_theta_min; - double si_r_srq,A; - - /*For nondegenerate cubics with three roots - [24 mult 9 add 2sqrt 1acos 1cos=33flops 4func] - For nondegenerate cubics with one root - [16 mult 6 add 1sqrt 1qbrt=24flops 3func]*/ - - if(a==0.0) db_SolveQuadratic(roots,nr_roots,b,c,d); - else - { - bp=b/a; - bp2=bp*bp; - cp=c/a; - dp=d/a; - - q=(bp2-3.0*cp)/9.0; - r=(2.0*bp2*bp-9.0*bp*cp+27.0*dp)/54.0; - r2_min_q3=r*r-q*q*q; - if(r2_min_q3<0.0) - { - *nr_roots=3; - /*q has to be > 0*/ - srq=sqrt(q); - theta=acos(db_maxd(-1.0,db_mind(1.0,r/(q*srq)))); - bp_through3=bp/3.0; - theta_through3=theta/3.0; - cos_theta_through3=cos(theta_through3); - sin_theta_through3=sqrt(db_maxd(0.0,1.0-cos_theta_through3*cos_theta_through3)); - - /*cos(theta_through3+2*pi/3)=cos_theta_through3*cos(2*pi/3)-sin_theta_through3*sin(2*pi/3) - = -0.5*cos_theta_through3-sqrt(3)/2.0*sin_theta_through3 - = -0.5*(cos_theta_through3+sqrt(3)*sin_theta_through3)*/ - min2_cos_theta_plu=cos_theta_through3+DB_SQRT3*sin_theta_through3; - min2_cos_theta_min=cos_theta_through3-DB_SQRT3*sin_theta_through3; - - roots[0]= -2.0*srq*cos_theta_through3-bp_through3; - roots[1]=srq*min2_cos_theta_plu-bp_through3; - roots[2]=srq*min2_cos_theta_min-bp_through3; - } - else if(r2_min_q3>0.0) - { - *nr_roots=1; - A= -db_sign(r)*db_CubRoot(db_absd(r)+sqrt(r2_min_q3)); - bp_through3=bp/3.0; - if(A!=0.0) roots[0]=A+q/A-bp_through3; - else roots[0]= -bp_through3; - } - else - { - *nr_roots=2; - bp_through3=bp/3.0; - /*q has to be >= 0*/ - si_r_srq=db_sign(r)*sqrt(q); - /*Single root*/ - roots[0]= -2.0*si_r_srq-bp_through3; - /*Double root*/ - roots[1]=si_r_srq-bp_through3; - } - } -} - -void db_SolveQuartic(double *roots,int *nr_roots,double a,double b,double c,double d,double e) -{ - /*Normalized coefficients*/ - double c0,c1,c2,c3; - /*Temporary coefficients*/ - double c3through2,c3through4,c3c3through4_min_c2,min4_c0; - double lz,ms,ns,mn,m,n,lz_through2; - /*Cubic polynomial roots, nr of roots and coefficients*/ - double c_roots[3]; - int nr_c_roots; - double k0,k1; - /*nr additional roots from second quadratic*/ - int addroots; - - /*For nondegenerate quartics - [16mult 11add 2sqrt 1cubic 2quadratic=74flops 8funcs]*/ - - if(a==0.0) db_SolveCubic(roots,nr_roots,b,c,d,e); - else if(e==0.0) - { - db_SolveCubic(roots,nr_roots,a,b,c,d); - roots[*nr_roots]=0.0; - *nr_roots+=1; - } - else - { - /*Compute normalized coefficients*/ - c3=b/a; - c2=c/a; - c1=d/a; - c0=e/a; - /*Compute temporary coefficients*/ - c3through2=c3/2.0; - c3through4=c3/4.0; - c3c3through4_min_c2=c3*c3through4-c2; - min4_c0= -4.0*c0; - /*Compute coefficients of cubic*/ - k0=min4_c0*c3c3through4_min_c2-c1*c1; - k1=c1*c3+min4_c0; - /*k2= -c2*/ - /*k3=1.0*/ - - /*Solve it for roots*/ - db_SolveCubic(c_roots,&nr_c_roots,1.0,-c2,k1,k0); - - if(nr_c_roots>0) - { - lz=c_roots[0]; - lz_through2=lz/2.0; - ms=lz+c3c3through4_min_c2; - ns=lz_through2*lz_through2-c0; - mn=lz*c3through4-c1/2.0; - - if((ms>=0.0)&&(ns>=0.0)) - { - m=sqrt(ms); - n=sqrt(ns)*db_sign(mn); - - db_SolveQuadratic(roots,nr_roots, - 1.0,c3through2+m,lz_through2+n); - - db_SolveQuadratic(&roots[*nr_roots],&addroots, - 1.0,c3through2-m,lz_through2-n); - - *nr_roots+=addroots; - } - else *nr_roots=0; - } - else *nr_roots=0; - } -} - -void db_SolveQuarticForced(double *roots,int *nr_roots,double a,double b,double c,double d,double e) -{ - /*Normalized coefficients*/ - double c0,c1,c2,c3; - /*Temporary coefficients*/ - double c3through2,c3through4,c3c3through4_min_c2,min4_c0; - double lz,ms,ns,mn,m,n,lz_through2; - /*Cubic polynomial roots, nr of roots and coefficients*/ - double c_roots[3]; - int nr_c_roots; - double k0,k1; - /*nr additional roots from second quadratic*/ - int addroots; - - /*For nondegenerate quartics - [16mult 11add 2sqrt 1cubic 2quadratic=74flops 8funcs]*/ - - if(a==0.0) db_SolveCubic(roots,nr_roots,b,c,d,e); - else if(e==0.0) - { - db_SolveCubic(roots,nr_roots,a,b,c,d); - roots[*nr_roots]=0.0; - *nr_roots+=1; - } - else - { - /*Compute normalized coefficients*/ - c3=b/a; - c2=c/a; - c1=d/a; - c0=e/a; - /*Compute temporary coefficients*/ - c3through2=c3/2.0; - c3through4=c3/4.0; - c3c3through4_min_c2=c3*c3through4-c2; - min4_c0= -4.0*c0; - /*Compute coefficients of cubic*/ - k0=min4_c0*c3c3through4_min_c2-c1*c1; - k1=c1*c3+min4_c0; - /*k2= -c2*/ - /*k3=1.0*/ - - /*Solve it for roots*/ - db_SolveCubic(c_roots,&nr_c_roots,1.0,-c2,k1,k0); - - if(nr_c_roots>0) - { - lz=c_roots[0]; - lz_through2=lz/2.0; - ms=lz+c3c3through4_min_c2; - ns=lz_through2*lz_through2-c0; - mn=lz*c3through4-c1/2.0; - - if(ms<0.0) ms=0.0; - if(ns<0.0) ns=0.0; - - m=sqrt(ms); - n=sqrt(ns)*db_sign(mn); - - db_SolveQuadratic(roots,nr_roots, - 1.0,c3through2+m,lz_through2+n); - - db_SolveQuadratic(&roots[*nr_roots],&addroots, - 1.0,c3through2-m,lz_through2-n); - - *nr_roots+=addroots; - } - else *nr_roots=0; - } -} diff --git a/jni/feature_stab/db_vlvm/db_utilities_poly.h b/jni/feature_stab/db_vlvm/db_utilities_poly.h deleted file mode 100644 index 1f8789077..000000000 --- a/jni/feature_stab/db_vlvm/db_utilities_poly.h +++ /dev/null @@ -1,383 +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_poly.h,v 1.2 2010/09/03 12:00:11 bsouthall Exp $ */ - -#ifndef DB_UTILITIES_POLY -#define DB_UTILITIES_POLY - -#include "db_utilities.h" - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ -/*! - * \defgroup LMPolynomial (LM) Polynomial utilities (solvers, arithmetic, evaluation, etc.) - */ -/*\{*/ - -/*! -In debug mode closed form quadratic solving takes on the order of 15 microseconds -while eig of the companion matrix takes about 1.1 milliseconds -Speed-optimized code in release mode solves a quadratic in 0.3 microseconds on 450MHz -*/ -inline void db_SolveQuadratic(double *roots,int *nr_roots,double a,double b,double c) -{ - double rs,srs,q; - - /*For non-degenerate quadratics - [5 mult 2 add 1 sqrt=7flops 1func]*/ - if(a==0.0) - { - if(b==0.0) *nr_roots=0; - else - { - roots[0]= -c/b; - *nr_roots=1; - } - } - else - { - rs=b*b-4.0*a*c; - if(rs>=0.0) - { - *nr_roots=2; - srs=sqrt(rs); - q= -0.5*(b+db_sign(b)*srs); - roots[0]=q/a; - /*If b is zero db_sign(b) returns 1, - so q is only zero when b=0 and c=0*/ - if(q==0.0) *nr_roots=1; - else roots[1]=c/q; - } - else *nr_roots=0; - } -} - -/*! -In debug mode closed form cubic solving takes on the order of 45 microseconds -while eig of the companion matrix takes about 1.3 milliseconds -Speed-optimized code in release mode solves a cubic in 1.5 microseconds on 450MHz -For a non-degenerate cubic with two roots, the first root is the single root and -the second root is the double root -*/ -DB_API void db_SolveCubic(double *roots,int *nr_roots,double a,double b,double c,double d); -/*! -In debug mode closed form quartic solving takes on the order of 0.1 milliseconds -while eig of the companion matrix takes about 1.5 milliseconds -Speed-optimized code in release mode solves a quartic in 2.6 microseconds on 450MHz*/ -DB_API void db_SolveQuartic(double *roots,int *nr_roots,double a,double b,double c,double d,double e); -/*! -Quartic solving where a solution is forced when splitting into quadratics, which -can be good if the quartic is sometimes in fact a quadratic, such as in absolute orientation -when the data is planar*/ -DB_API void db_SolveQuarticForced(double *roots,int *nr_roots,double a,double b,double c,double d,double e); - -inline double db_PolyEval1(const double p[2],double x) -{ - return(p[0]+x*p[1]); -} - -inline void db_MultiplyPoly1_1(double *d,const double *a,const double *b) -{ - double a0,a1; - double b0,b1; - a0=a[0];a1=a[1]; - b0=b[0];b1=b[1]; - - d[0]=a0*b0; - d[1]=a0*b1+a1*b0; - d[2]= a1*b1; -} - -inline void db_MultiplyPoly0_2(double *d,const double *a,const double *b) -{ - double a0; - double b0,b1,b2; - a0=a[0]; - b0=b[0];b1=b[1];b2=b[2]; - - d[0]=a0*b0; - d[1]=a0*b1; - d[2]=a0*b2; -} - -inline void db_MultiplyPoly1_2(double *d,const double *a,const double *b) -{ - double a0,a1; - double b0,b1,b2; - a0=a[0];a1=a[1]; - b0=b[0];b1=b[1];b2=b[2]; - - d[0]=a0*b0; - d[1]=a0*b1+a1*b0; - d[2]=a0*b2+a1*b1; - d[3]= a1*b2; -} - - -inline void db_MultiplyPoly1_3(double *d,const double *a,const double *b) -{ - double a0,a1; - double b0,b1,b2,b3; - a0=a[0];a1=a[1]; - b0=b[0];b1=b[1];b2=b[2];b3=b[3]; - - d[0]=a0*b0; - d[1]=a0*b1+a1*b0; - d[2]=a0*b2+a1*b1; - d[3]=a0*b3+a1*b2; - d[4]= a1*b3; -} -/*! -Multiply d=a*b where a is one degree and b is two degree*/ -inline void db_AddPolyProduct0_1(double *d,const double *a,const double *b) -{ - double a0; - double b0,b1; - a0=a[0]; - b0=b[0];b1=b[1]; - - d[0]+=a0*b0; - d[1]+=a0*b1; -} -inline void db_AddPolyProduct0_2(double *d,const double *a,const double *b) -{ - double a0; - double b0,b1,b2; - a0=a[0]; - b0=b[0];b1=b[1];b2=b[2]; - - d[0]+=a0*b0; - d[1]+=a0*b1; - d[2]+=a0*b2; -} -/*! -Multiply d=a*b where a is one degree and b is two degree*/ -inline void db_SubtractPolyProduct0_0(double *d,const double *a,const double *b) -{ - double a0; - double b0; - a0=a[0]; - b0=b[0]; - - d[0]-=a0*b0; -} - -inline void db_SubtractPolyProduct0_1(double *d,const double *a,const double *b) -{ - double a0; - double b0,b1; - a0=a[0]; - b0=b[0];b1=b[1]; - - d[0]-=a0*b0; - d[1]-=a0*b1; -} - -inline void db_SubtractPolyProduct0_2(double *d,const double *a,const double *b) -{ - double a0; - double b0,b1,b2; - a0=a[0]; - b0=b[0];b1=b[1];b2=b[2]; - - d[0]-=a0*b0; - d[1]-=a0*b1; - d[2]-=a0*b2; -} - -inline void db_SubtractPolyProduct1_3(double *d,const double *a,const double *b) -{ - double a0,a1; - double b0,b1,b2,b3; - a0=a[0];a1=a[1]; - b0=b[0];b1=b[1];b2=b[2];b3=b[3]; - - d[0]-=a0*b0; - d[1]-=a0*b1+a1*b0; - d[2]-=a0*b2+a1*b1; - d[3]-=a0*b3+a1*b2; - d[4]-= a1*b3; -} - -inline void db_CharacteristicPolynomial4x4(double p[5],const double A[16]) -{ - /*All two by two determinants of the first two rows*/ - double two01[3],two02[3],two03[3],two12[3],two13[3],two23[3]; - /*Polynomials representing third and fourth row of A*/ - double P0[2],P1[2],P2[2],P3[2]; - double P4[2],P5[2],P6[2],P7[2]; - /*All three by three determinants of the first three rows*/ - double neg_three0[4],neg_three1[4],three2[4],three3[4]; - - /*Compute 2x2 determinants*/ - two01[0]=A[0]*A[5]-A[1]*A[4]; - two01[1]= -(A[0]+A[5]); - two01[2]=1.0; - - two02[0]=A[0]*A[6]-A[2]*A[4]; - two02[1]= -A[6]; - - two03[0]=A[0]*A[7]-A[3]*A[4]; - two03[1]= -A[7]; - - two12[0]=A[1]*A[6]-A[2]*A[5]; - two12[1]=A[2]; - - two13[0]=A[1]*A[7]-A[3]*A[5]; - two13[1]=A[3]; - - two23[0]=A[2]*A[7]-A[3]*A[6]; - - P0[0]=A[8]; - P1[0]=A[9]; - P2[0]=A[10];P2[1]= -1.0; - P3[0]=A[11]; - - P4[0]=A[12]; - P5[0]=A[13]; - P6[0]=A[14]; - P7[0]=A[15];P7[1]= -1.0; - - /*Compute 3x3 determinants.Note that the highest - degree polynomial goes first and the smaller ones - are added or subtracted from it*/ - db_MultiplyPoly1_1( neg_three0,P2,two13); - db_SubtractPolyProduct0_0(neg_three0,P1,two23); - db_SubtractPolyProduct0_1(neg_three0,P3,two12); - - db_MultiplyPoly1_1( neg_three1,P2,two03); - db_SubtractPolyProduct0_1(neg_three1,P3,two02); - db_SubtractPolyProduct0_0(neg_three1,P0,two23); - - db_MultiplyPoly0_2( three2,P3,two01); - db_AddPolyProduct0_1( three2,P0,two13); - db_SubtractPolyProduct0_1(three2,P1,two03); - - db_MultiplyPoly1_2( three3,P2,two01); - db_AddPolyProduct0_1( three3,P0,two12); - db_SubtractPolyProduct0_1(three3,P1,two02); - - /*Compute 4x4 determinants*/ - db_MultiplyPoly1_3( p,P7,three3); - db_AddPolyProduct0_2( p,P4,neg_three0); - db_SubtractPolyProduct0_2(p,P5,neg_three1); - db_SubtractPolyProduct0_2(p,P6,three2); -} - -inline void db_RealEigenvalues4x4(double lambda[4],int *nr_roots,const double A[16],int forced=0) -{ - double p[5]; - - db_CharacteristicPolynomial4x4(p,A); - if(forced) db_SolveQuarticForced(lambda,nr_roots,p[4],p[3],p[2],p[1],p[0]); - else db_SolveQuartic(lambda,nr_roots,p[4],p[3],p[2],p[1],p[0]); -} - -/*! -Compute the unit norm eigenvector v of the matrix A corresponding -to the eigenvalue lambda -[96mult 60add 1sqrt=156flops 1sqrt]*/ -inline void db_EigenVector4x4(double v[4],double lambda,const double A[16]) -{ - double a0,a5,a10,a15; - double d01,d02,d03,d12,d13,d23; - double e01,e02,e03,e12,e13,e23; - double C[16],n0,n1,n2,n3,m; - - /*Compute diagonal - [4add=4flops]*/ - a0=A[0]-lambda; - a5=A[5]-lambda; - a10=A[10]-lambda; - a15=A[15]-lambda; - - /*Compute 2x2 determinants of rows 1,2 and 3,4 - [24mult 12add=36flops]*/ - d01=a0*a5 -A[1]*A[4]; - d02=a0*A[6] -A[2]*A[4]; - d03=a0*A[7] -A[3]*A[4]; - d12=A[1]*A[6]-A[2]*a5; - d13=A[1]*A[7]-A[3]*a5; - d23=A[2]*A[7]-A[3]*A[6]; - - e01=A[8]*A[13]-A[9] *A[12]; - e02=A[8]*A[14]-a10 *A[12]; - e03=A[8]*a15 -A[11]*A[12]; - e12=A[9]*A[14]-a10 *A[13]; - e13=A[9]*a15 -A[11]*A[13]; - e23=a10 *a15 -A[11]*A[14]; - - /*Compute matrix of cofactors - [48mult 32 add=80flops*/ - C[0]= (a5 *e23-A[6]*e13+A[7]*e12); - C[1]= -(A[4]*e23-A[6]*e03+A[7]*e02); - C[2]= (A[4]*e13-a5 *e03+A[7]*e01); - C[3]= -(A[4]*e12-a5 *e02+A[6]*e01); - - C[4]= -(A[1]*e23-A[2]*e13+A[3]*e12); - C[5]= (a0 *e23-A[2]*e03+A[3]*e02); - C[6]= -(a0 *e13-A[1]*e03+A[3]*e01); - C[7]= (a0 *e12-A[1]*e02+A[2]*e01); - - C[8]= (A[13]*d23-A[14]*d13+a15 *d12); - C[9]= -(A[12]*d23-A[14]*d03+a15 *d02); - C[10]= (A[12]*d13-A[13]*d03+a15 *d01); - C[11]= -(A[12]*d12-A[13]*d02+A[14]*d01); - - C[12]= -(A[9]*d23-a10 *d13+A[11]*d12); - C[13]= (A[8]*d23-a10 *d03+A[11]*d02); - C[14]= -(A[8]*d13-A[9]*d03+A[11]*d01); - C[15]= (A[8]*d12-A[9]*d02+a10 *d01); - - /*Compute square sums of rows - [16mult 12add=28flops*/ - n0=db_sqr(C[0]) +db_sqr(C[1]) +db_sqr(C[2]) +db_sqr(C[3]); - n1=db_sqr(C[4]) +db_sqr(C[5]) +db_sqr(C[6]) +db_sqr(C[7]); - n2=db_sqr(C[8]) +db_sqr(C[9]) +db_sqr(C[10])+db_sqr(C[11]); - n3=db_sqr(C[12])+db_sqr(C[13])+db_sqr(C[14])+db_sqr(C[15]); - - /*Take the largest norm row and normalize - [4mult 1 sqrt=4flops 1sqrt]*/ - if(n0>=n1 && n0>=n2 && n0>=n3) - { - m=db_SafeReciprocal(sqrt(n0)); - db_MultiplyScalarCopy4(v,C,m); - } - else if(n1>=n2 && n1>=n3) - { - m=db_SafeReciprocal(sqrt(n1)); - db_MultiplyScalarCopy4(v,&(C[4]),m); - } - else if(n2>=n3) - { - m=db_SafeReciprocal(sqrt(n2)); - db_MultiplyScalarCopy4(v,&(C[8]),m); - } - else - { - m=db_SafeReciprocal(sqrt(n3)); - db_MultiplyScalarCopy4(v,&(C[12]),m); - } -} - - - -/*\}*/ -#endif /* DB_UTILITIES_POLY */ diff --git a/jni/feature_stab/db_vlvm/db_utilities_random.h b/jni/feature_stab/db_vlvm/db_utilities_random.h deleted file mode 100644 index ef24039c1..000000000 --- a/jni/feature_stab/db_vlvm/db_utilities_random.h +++ /dev/null @@ -1,98 +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_random.h,v 1.1 2010/08/19 18:09:20 bsouthall Exp $ */ - -#ifndef DB_UTILITIES_RANDOM -#define DB_UTILITIES_RANDOM - -#include "db_utilities.h" - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ -/*! - * \defgroup LMRandom (LM) Random numbers, random sampling - */ -/*\{*/ -/*! - Random Number generator. Initialize with non-zero -integer value r. A double between zero and one is -returned. -\param r seed -\return random double -*/ -inline double db_QuickRandomDouble(int &r) -{ - int c; - c=r/127773; - r=16807*(r-c*127773)-2836*c; - if(r<0) r+=2147483647; - return((1.0/((double)2147483647))*r); - //return (((double)rand())/(double)RAND_MAX); -} - -/*! -Random Number generator. Initialize with non-zero -integer value r. An int between and including 0 and max - \param r seed - \param max upped limit - \return random int -*/ -inline int db_RandomInt(int &r,int max) -{ - double dtemp; - int itemp; - dtemp=db_QuickRandomDouble(r)*(max+1); - itemp=(int) dtemp; - if(itemp<=0) return(0); - if(itemp>=max) return(max); - return(itemp); -} - -/*! - Generate a random sample indexing into [0..pool_size-1]. - \param s sample (out) pre-allocated array of size sample_size - \param sample_size size of sample - \param pool_size upper limit on item index - \param r_seed random number generator seed - */ -inline void db_RandomSample(int *s,int sample_size,int pool_size,int &r_seed) -{ - int temp,temp2,i,j; - - for(i=0;i<sample_size;i++) - { - temp=db_RandomInt(r_seed,pool_size-1-i); - - for(j=0;j<i;j++) - { - if(s[j]<=temp) temp++; - else - { - /*swap*/ - temp2=temp; - temp=s[j]; - s[j]=temp2; - } - } - s[i]=temp; - } -} -/*\}*/ -#endif /* DB_UTILITIES_RANDOM */ diff --git a/jni/feature_stab/db_vlvm/db_utilities_rotation.h b/jni/feature_stab/db_vlvm/db_utilities_rotation.h deleted file mode 100644 index 7f5f937b4..000000000 --- a/jni/feature_stab/db_vlvm/db_utilities_rotation.h +++ /dev/null @@ -1,59 +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_rotation.h,v 1.2 2010/09/03 12:00:11 bsouthall Exp $ */ - -#ifndef DB_UTILITIES_ROTATION -#define DB_UTILITIES_ROTATION - -#include "db_utilities.h" - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ -/*! - * \defgroup LMRotation (LM) Rotation Utilities (quaternions, orthonormal) - */ -/*\{*/ -/*! - Takes a unit quaternion and gives its corresponding rotation matrix. - \param R rotation matrix (out) - \param q quaternion - */ -inline void db_QuaternionToRotation(double R[9],const double q[4]) -{ - double q0q0,q0qx,q0qy,q0qz,qxqx,qxqy,qxqz,qyqy,qyqz,qzqz; - - q0q0=q[0]*q[0]; - q0qx=q[0]*q[1]; - q0qy=q[0]*q[2]; - q0qz=q[0]*q[3]; - qxqx=q[1]*q[1]; - qxqy=q[1]*q[2]; - qxqz=q[1]*q[3]; - qyqy=q[2]*q[2]; - qyqz=q[2]*q[3]; - qzqz=q[3]*q[3]; - - R[0]=q0q0+qxqx-qyqy-qzqz; R[1]=2.0*(qxqy-q0qz); R[2]=2.0*(qxqz+q0qy); - R[3]=2.0*(qxqy+q0qz); R[4]=q0q0-qxqx+qyqy-qzqz; R[5]=2.0*(qyqz-q0qx); - R[6]=2.0*(qxqz-q0qy); R[7]=2.0*(qyqz+q0qx); R[8]=q0q0-qxqx-qyqy+qzqz; -} - -/*\}*/ -#endif /* DB_UTILITIES_ROTATION */ diff --git a/jni/feature_stab/doc/Readme.txt b/jni/feature_stab/doc/Readme.txt deleted file mode 100644 index fcd7c38c5..000000000 --- a/jni/feature_stab/doc/Readme.txt +++ /dev/null @@ -1,3 +0,0 @@ -To generate the html docs, execute -doxygen dbreg_API_doxyfile - diff --git a/jni/feature_stab/doc/dbreg_API_doxyfile b/jni/feature_stab/doc/dbreg_API_doxyfile deleted file mode 100755 index dc61a9c0f..000000000 --- a/jni/feature_stab/doc/dbreg_API_doxyfile +++ /dev/null @@ -1,1557 +0,0 @@ -# Doxyfile 1.6.1 - -# This file describes the settings to be used by the documentation system -# doxygen (www.doxygen.org) for a project -# -# All text after a hash (#) is considered a comment and will be ignored -# The format is: -# TAG = value [value, ...] -# For lists items can also be appended using: -# TAG += value [value, ...] -# Values that contain spaces should be placed between quotes (" ") - -#--------------------------------------------------------------------------- -# Project related configuration options -#--------------------------------------------------------------------------- - -# This tag specifies the encoding used for all characters in the config file -# that follow. The default is UTF-8 which is also the encoding used for all -# text before the first occurrence of this tag. Doxygen uses libiconv (or the -# iconv built into libc) for the transcoding. See -# http://www.gnu.org/software/libiconv for the list of possible encodings. - -DOXYFILE_ENCODING = UTF-8 - -# The PROJECT_NAME tag is a single word (or a sequence of words surrounded -# by quotes) that should identify the project. - -PROJECT_NAME = - -# The PROJECT_NUMBER tag can be used to enter a project or revision number. -# This could be handy for archiving the generated documentation or -# if some version control system is used. - -PROJECT_NUMBER = - -# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) -# base path where the generated documentation will be put. -# If a relative path is entered, it will be relative to the location -# where doxygen was started. If left blank the current directory will be used. - -OUTPUT_DIRECTORY = . - -# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create -# 4096 sub-directories (in 2 levels) under the output directory of each output -# format and will distribute the generated files over these directories. -# Enabling this option can be useful when feeding doxygen a huge amount of -# source files, where putting all generated files in the same directory would -# otherwise cause performance problems for the file system. - -CREATE_SUBDIRS = NO - -# The OUTPUT_LANGUAGE tag is used to specify the language in which all -# documentation generated by doxygen is written. Doxygen will use this -# information to generate all constant output in the proper language. -# The default language is English, other supported languages are: -# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, -# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, -# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English -# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, -# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrilic, Slovak, -# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. - -OUTPUT_LANGUAGE = English - -# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will -# include brief member descriptions after the members that are listed in -# the file and class documentation (similar to JavaDoc). -# Set to NO to disable this. - -BRIEF_MEMBER_DESC = YES - -# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend -# the brief description of a member or function before the detailed description. -# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the -# brief descriptions will be completely suppressed. - -REPEAT_BRIEF = YES - -# This tag implements a quasi-intelligent brief description abbreviator -# that is used to form the text in various listings. Each string -# in this list, if found as the leading text of the brief description, will be -# stripped from the text and the result after processing the whole list, is -# used as the annotated text. Otherwise, the brief description is used as-is. -# If left blank, the following values are used ("$name" is automatically -# replaced with the name of the entity): "The $name class" "The $name widget" -# "The $name file" "is" "provides" "specifies" "contains" -# "represents" "a" "an" "the" - -ABBREVIATE_BRIEF = "The $name class" \ - "The $name widget" \ - "The $name file" \ - is \ - provides \ - specifies \ - contains \ - represents \ - a \ - an \ - the - -# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then -# Doxygen will generate a detailed section even if there is only a brief -# description. - -ALWAYS_DETAILED_SEC = NO - -# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all -# inherited members of a class in the documentation of that class as if those -# members were ordinary class members. Constructors, destructors and assignment -# operators of the base classes will not be shown. - -INLINE_INHERITED_MEMB = NO - -# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full -# path before files name in the file list and in the header files. If set -# to NO the shortest path that makes the file name unique will be used. - -FULL_PATH_NAMES = YES - -# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag -# can be used to strip a user-defined part of the path. Stripping is -# only done if one of the specified strings matches the left-hand part of -# the path. The tag can be used to show relative paths in the file list. -# If left blank the directory from which doxygen is run is used as the -# path to strip. - -STRIP_FROM_PATH = /Users/dimitri/doxygen/mail/1.5.7/doxywizard/ - -# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of -# the path mentioned in the documentation of a class, which tells -# the reader which header file to include in order to use a class. -# If left blank only the name of the header file containing the class -# definition is used. Otherwise one should specify the include paths that -# are normally passed to the compiler using the -I flag. - -STRIP_FROM_INC_PATH = - -# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter -# (but less readable) file names. This can be useful is your file systems -# doesn't support long names like on DOS, Mac, or CD-ROM. - -SHORT_NAMES = NO - -# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen -# will interpret the first line (until the first dot) of a JavaDoc-style -# comment as the brief description. If set to NO, the JavaDoc -# comments will behave just like regular Qt-style comments -# (thus requiring an explicit @brief command for a brief description.) - -JAVADOC_AUTOBRIEF = NO - -# If the QT_AUTOBRIEF tag is set to YES then Doxygen will -# interpret the first line (until the first dot) of a Qt-style -# comment as the brief description. If set to NO, the comments -# will behave just like regular Qt-style comments (thus requiring -# an explicit \brief command for a brief description.) - -QT_AUTOBRIEF = NO - -# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen -# treat a multi-line C++ special comment block (i.e. a block of //! or /// -# comments) as a brief description. This used to be the default behaviour. -# The new default is to treat a multi-line C++ comment block as a detailed -# description. Set this tag to YES if you prefer the old behaviour instead. - -MULTILINE_CPP_IS_BRIEF = NO - -# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented -# member inherits the documentation from any documented member that it -# re-implements. - -INHERIT_DOCS = YES - -# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce -# a new page for each member. If set to NO, the documentation of a member will -# be part of the file/class/namespace that contains it. - -SEPARATE_MEMBER_PAGES = NO - -# The TAB_SIZE tag can be used to set the number of spaces in a tab. -# Doxygen uses this value to replace tabs by spaces in code fragments. - -TAB_SIZE = 8 - -# This tag can be used to specify a number of aliases that acts -# as commands in the documentation. An alias has the form "name=value". -# For example adding "sideeffect=\par Side Effects:\n" will allow you to -# put the command \sideeffect (or @sideeffect) in the documentation, which -# will result in a user-defined paragraph with heading "Side Effects:". -# You can put \n's in the value part of an alias to insert newlines. - -ALIASES = - -# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C -# sources only. Doxygen will then generate output that is more tailored for C. -# For instance, some of the names that are used will be different. The list -# of all members will be omitted, etc. - -OPTIMIZE_OUTPUT_FOR_C = NO - -# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java -# sources only. Doxygen will then generate output that is more tailored for -# Java. For instance, namespaces will be presented as packages, qualified -# scopes will look different, etc. - -OPTIMIZE_OUTPUT_JAVA = NO - -# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran -# sources only. Doxygen will then generate output that is more tailored for -# Fortran. - -OPTIMIZE_FOR_FORTRAN = NO - -# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL -# sources. Doxygen will then generate output that is tailored for -# VHDL. - -OPTIMIZE_OUTPUT_VHDL = NO - -# Doxygen selects the parser to use depending on the extension of the files it parses. -# With this tag you can assign which parser to use for a given extension. -# Doxygen has a built-in mapping, but you can override or extend it using this tag. -# The format is ext=language, where ext is a file extension, and language is one of -# the parsers supported by doxygen: IDL, Java, Javascript, C#, C, C++, D, PHP, -# Objective-C, Python, Fortran, VHDL, C, C++. For instance to make doxygen treat -# .inc files as Fortran files (default is PHP), and .f files as C (default is Fortran), -# use: inc=Fortran f=C. Note that for custom extensions you also need to set -# FILE_PATTERNS otherwise the files are not read by doxygen. - -EXTENSION_MAPPING = - -# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want -# to include (a tag file for) the STL sources as input, then you should -# set this tag to YES in order to let doxygen match functions declarations and -# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. -# func(std::string) {}). This also make the inheritance and collaboration -# diagrams that involve STL classes more complete and accurate. - -BUILTIN_STL_SUPPORT = NO - -# If you use Microsoft's C++/CLI language, you should set this option to YES to -# enable parsing support. - -CPP_CLI_SUPPORT = NO - -# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. -# Doxygen will parse them like normal C++ but will assume all classes use public -# instead of private inheritance when no explicit protection keyword is present. - -SIP_SUPPORT = NO - -# For Microsoft's IDL there are propget and propput attributes to indicate getter -# and setter methods for a property. Setting this option to YES (the default) -# will make doxygen to replace the get and set methods by a property in the -# documentation. This will only work if the methods are indeed getting or -# setting a simple type. If this is not the case, or you want to show the -# methods anyway, you should set this option to NO. - -IDL_PROPERTY_SUPPORT = YES - -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES, then doxygen will reuse the documentation of the first -# member in the group (if any) for the other members of the group. By default -# all members of a group must be documented explicitly. - -DISTRIBUTE_GROUP_DOC = NO - -# Set the SUBGROUPING tag to YES (the default) to allow class member groups of -# the same type (for instance a group of public functions) to be put as a -# subgroup of that type (e.g. under the Public Functions section). Set it to -# NO to prevent subgrouping. Alternatively, this can be done per class using -# the \nosubgrouping command. - -SUBGROUPING = YES - -# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum -# is documented as struct, union, or enum with the name of the typedef. So -# typedef struct TypeS {} TypeT, will appear in the documentation as a struct -# with name TypeT. When disabled the typedef will appear as a member of a file, -# namespace, or class. And the struct will be named TypeS. This can typically -# be useful for C code in case the coding convention dictates that all compound -# types are typedef'ed and only the typedef is referenced, never the tag name. - -TYPEDEF_HIDES_STRUCT = NO - -# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to -# determine which symbols to keep in memory and which to flush to disk. -# When the cache is full, less often used symbols will be written to disk. -# For small to medium size projects (<1000 input files) the default value is -# probably good enough. For larger projects a too small cache size can cause -# doxygen to be busy swapping symbols to and from disk most of the time -# causing a significant performance penality. -# If the system has enough physical memory increasing the cache will improve the -# performance by keeping more symbols in memory. Note that the value works on -# a logarithmic scale so increasing the size by one will rougly double the -# memory usage. The cache size is given by this formula: -# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, -# corresponding to a cache size of 2^16 = 65536 symbols - -SYMBOL_CACHE_SIZE = 0 - -#--------------------------------------------------------------------------- -# Build related configuration options -#--------------------------------------------------------------------------- - -# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in -# documentation are documented, even if no documentation was available. -# Private class members and static file members will be hidden unless -# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES - -EXTRACT_ALL = NO - -# If the EXTRACT_PRIVATE tag is set to YES all private members of a class -# will be included in the documentation. - -EXTRACT_PRIVATE = NO - -# If the EXTRACT_STATIC tag is set to YES all static members of a file -# will be included in the documentation. - -EXTRACT_STATIC = NO - -# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) -# defined locally in source files will be included in the documentation. -# If set to NO only classes defined in header files are included. - -EXTRACT_LOCAL_CLASSES = YES - -# This flag is only useful for Objective-C code. When set to YES local -# methods, which are defined in the implementation section but not in -# the interface are included in the documentation. -# If set to NO (the default) only methods in the interface are included. - -EXTRACT_LOCAL_METHODS = NO - -# If this flag is set to YES, the members of anonymous namespaces will be -# extracted and appear in the documentation as a namespace called -# 'anonymous_namespace{file}', where file will be replaced with the base -# name of the file that contains the anonymous namespace. By default -# anonymous namespace are hidden. - -EXTRACT_ANON_NSPACES = NO - -# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all -# undocumented members of documented classes, files or namespaces. -# If set to NO (the default) these members will be included in the -# various overviews, but no documentation section is generated. -# This option has no effect if EXTRACT_ALL is enabled. - -HIDE_UNDOC_MEMBERS = NO - -# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. -# If set to NO (the default) these classes will be included in the various -# overviews. This option has no effect if EXTRACT_ALL is enabled. - -HIDE_UNDOC_CLASSES = NO - -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all -# friend (class|struct|union) declarations. -# If set to NO (the default) these declarations will be included in the -# documentation. - -HIDE_FRIEND_COMPOUNDS = NO - -# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any -# documentation blocks found inside the body of a function. -# If set to NO (the default) these blocks will be appended to the -# function's detailed documentation block. - -HIDE_IN_BODY_DOCS = NO - -# The INTERNAL_DOCS tag determines if documentation -# that is typed after a \internal command is included. If the tag is set -# to NO (the default) then the documentation will be excluded. -# Set it to YES to include the internal documentation. - -INTERNAL_DOCS = NO - -# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate -# file names in lower-case letters. If set to YES upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows -# and Mac users are advised to set this option to NO. - -CASE_SENSE_NAMES = NO - -# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen -# will show members with their full class and namespace scopes in the -# documentation. If set to YES the scope will be hidden. - -HIDE_SCOPE_NAMES = NO - -# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen -# will put a list of the files that are included by a file in the documentation -# of that file. - -SHOW_INCLUDE_FILES = YES - -# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] -# is inserted in the documentation for inline members. - -INLINE_INFO = YES - -# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen -# will sort the (detailed) documentation of file and class members -# alphabetically by member name. If set to NO the members will appear in -# declaration order. - -SORT_MEMBER_DOCS = YES - -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the -# brief documentation of file, namespace and class members alphabetically -# by member name. If set to NO (the default) the members will appear in -# declaration order. - -SORT_BRIEF_DOCS = NO - -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen -# will sort the (brief and detailed) documentation of class members so that -# constructors and destructors are listed first. If set to NO (the default) -# the constructors will appear in the respective orders defined by -# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. -# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO -# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. - -SORT_MEMBERS_CTORS_1ST = NO - -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the -# hierarchy of group names into alphabetical order. If set to NO (the default) -# the group names will appear in their defined order. - -SORT_GROUP_NAMES = NO - -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be -# sorted by fully-qualified names, including namespaces. If set to -# NO (the default), the class list will be sorted only by class name, -# not including the namespace part. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the -# alphabetical list. - -SORT_BY_SCOPE_NAME = NO - -# The GENERATE_TODOLIST tag can be used to enable (YES) or -# disable (NO) the todo list. This list is created by putting \todo -# commands in the documentation. - -GENERATE_TODOLIST = YES - -# The GENERATE_TESTLIST tag can be used to enable (YES) or -# disable (NO) the test list. This list is created by putting \test -# commands in the documentation. - -GENERATE_TESTLIST = YES - -# The GENERATE_BUGLIST tag can be used to enable (YES) or -# disable (NO) the bug list. This list is created by putting \bug -# commands in the documentation. - -GENERATE_BUGLIST = YES - -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or -# disable (NO) the deprecated list. This list is created by putting -# \deprecated commands in the documentation. - -GENERATE_DEPRECATEDLIST= YES - -# The ENABLED_SECTIONS tag can be used to enable conditional -# documentation sections, marked by \if sectionname ... \endif. - -ENABLED_SECTIONS = - -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines -# the initial value of a variable or define consists of for it to appear in -# the documentation. If the initializer consists of more lines than specified -# here it will be hidden. Use a value of 0 to hide initializers completely. -# The appearance of the initializer of individual variables and defines in the -# documentation can be controlled using \showinitializer or \hideinitializer -# command in the documentation regardless of this setting. - -MAX_INITIALIZER_LINES = 30 - -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated -# at the bottom of the documentation of classes and structs. If set to YES the -# list will mention the files that were used to generate the documentation. - -SHOW_USED_FILES = YES - -# If the sources in your project are distributed over multiple directories -# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy -# in the documentation. The default is NO. - -SHOW_DIRECTORIES = NO - -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. -# This will remove the Files entry from the Quick Index and from the -# Folder Tree View (if specified). The default is YES. - -SHOW_FILES = YES - -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the -# Namespaces page. This will remove the Namespaces entry from the Quick Index -# and from the Folder Tree View (if specified). The default is YES. - -SHOW_NAMESPACES = YES - -# The FILE_VERSION_FILTER tag can be used to specify a program or script that -# doxygen should invoke to get the current version for each file (typically from -# the version control system). Doxygen will invoke the program by executing (via -# popen()) the command <command> <input-file>, where <command> is the value of -# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file -# provided by doxygen. Whatever the program writes to standard output -# is used as the file version. See the manual for examples. - -FILE_VERSION_FILTER = - -# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed by -# doxygen. The layout file controls the global structure of the generated output files -# in an output format independent way. The create the layout file that represents -# doxygen's defaults, run doxygen with the -l option. You can optionally specify a -# file name after the option, if omitted DoxygenLayout.xml will be used as the name -# of the layout file. - -LAYOUT_FILE = - -#--------------------------------------------------------------------------- -# configuration options related to warning and progress messages -#--------------------------------------------------------------------------- - -# The QUIET tag can be used to turn on/off the messages that are generated -# by doxygen. Possible values are YES and NO. If left blank NO is used. - -QUIET = NO - -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated by doxygen. Possible values are YES and NO. If left blank -# NO is used. - -WARNINGS = YES - -# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings -# for undocumented members. If EXTRACT_ALL is set to YES then this flag will -# automatically be disabled. - -WARN_IF_UNDOCUMENTED = YES - -# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some -# parameters in a documented function, or documenting parameters that -# don't exist or using markup commands wrongly. - -WARN_IF_DOC_ERROR = YES - -# This WARN_NO_PARAMDOC option can be abled to get warnings for -# functions that are documented, but have no documentation for their parameters -# or return value. If set to NO (the default) doxygen will only warn about -# wrong or incomplete parameter documentation, but not about the absence of -# documentation. - -WARN_NO_PARAMDOC = NO - -# The WARN_FORMAT tag determines the format of the warning messages that -# doxygen can produce. The string should contain the $file, $line, and $text -# tags, which will be replaced by the file and line number from which the -# warning originated and the warning text. Optionally the format may contain -# $version, which will be replaced by the version of the file (if it could -# be obtained via FILE_VERSION_FILTER) - -WARN_FORMAT = "$file:$line: $text" - -# The WARN_LOGFILE tag can be used to specify a file to which warning -# and error messages should be written. If left blank the output is written -# to stderr. - -WARN_LOGFILE = - -#--------------------------------------------------------------------------- -# configuration options related to the input files -#--------------------------------------------------------------------------- - -# The INPUT tag can be used to specify the files and/or directories that contain -# documented source files. You may enter file names like "myfile.cpp" or -# directories like "/usr/src/myproject". Separate the files or directories -# with spaces. - -INPUT = ../src/dbreg/dbreg.h - -# This tag can be used to specify the character encoding of the source files -# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is -# also the default input encoding. Doxygen uses libiconv (or the iconv built -# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for -# the list of possible encodings. - -INPUT_ENCODING = UTF-8 - -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank the following patterns are tested: -# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx -# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90 - -FILE_PATTERNS = *.c \ - *.cc \ - *.cxx \ - *.cpp \ - *.c++ \ - *.d \ - *.java \ - *.ii \ - *.ixx \ - *.ipp \ - *.i++ \ - *.inl \ - *.h \ - *.hh \ - *.hxx \ - *.hpp \ - *.h++ \ - *.idl \ - *.odl \ - *.cs \ - *.php \ - *.php3 \ - *.inc \ - *.m \ - *.mm \ - *.dox \ - *.py \ - *.f90 \ - *.f \ - *.vhd \ - *.vhdl - -# The RECURSIVE tag can be used to turn specify whether or not subdirectories -# should be searched for input files as well. Possible values are YES and NO. -# If left blank NO is used. - -RECURSIVE = NO - -# The EXCLUDE tag can be used to specify files and/or directories that should -# excluded from the INPUT source files. This way you can easily exclude a -# subdirectory from a directory tree whose root is specified with the INPUT tag. - -EXCLUDE = - -# The EXCLUDE_SYMLINKS tag can be used select whether or not files or -# directories that are symbolic links (a Unix filesystem feature) are excluded -# from the input. - -EXCLUDE_SYMLINKS = NO - -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. Note that the wildcards are matched -# against the file with absolute path, so to exclude all test directories -# for example use the pattern */test/* - -EXCLUDE_PATTERNS = - -# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names -# (namespaces, classes, functions, etc.) that should be excluded from the -# output. The symbol name can be a fully qualified name, a word, or if the -# wildcard * is used, a substring. Examples: ANamespace, AClass, -# AClass::ANamespace, ANamespace::*Test - -EXCLUDE_SYMBOLS = - -# The EXAMPLE_PATH tag can be used to specify one or more files or -# directories that contain example code fragments that are included (see -# the \include command). - -EXAMPLE_PATH = - -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank all files are included. - -EXAMPLE_PATTERNS = * - -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude -# commands irrespective of the value of the RECURSIVE tag. -# Possible values are YES and NO. If left blank NO is used. - -EXAMPLE_RECURSIVE = NO - -# The IMAGE_PATH tag can be used to specify one or more files or -# directories that contain image that are included in the documentation (see -# the \image command). - -IMAGE_PATH = - -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command <filter> <input-file>, where <filter> -# is the value of the INPUT_FILTER tag, and <input-file> is the name of an -# input file. Doxygen will then use the output that the filter program writes -# to standard output. If FILTER_PATTERNS is specified, this tag will be -# ignored. - -INPUT_FILTER = - -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. The filters are a list of the form: -# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further -# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER -# is applied to all files. - -FILTER_PATTERNS = - -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER) will be used to filter the input files when producing source -# files to browse (i.e. when SOURCE_BROWSER is set to YES). - -FILTER_SOURCE_FILES = NO - -#--------------------------------------------------------------------------- -# configuration options related to source browsing -#--------------------------------------------------------------------------- - -# If the SOURCE_BROWSER tag is set to YES then a list of source files will -# be generated. Documented entities will be cross-referenced with these sources. -# Note: To get rid of all source code in the generated output, make sure also -# VERBATIM_HEADERS is set to NO. - -SOURCE_BROWSER = NO - -# Setting the INLINE_SOURCES tag to YES will include the body -# of functions and classes directly in the documentation. - -INLINE_SOURCES = NO - -# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct -# doxygen to hide any special comment blocks from generated source code -# fragments. Normal C and C++ comments will always remain visible. - -STRIP_CODE_COMMENTS = YES - -# If the REFERENCED_BY_RELATION tag is set to YES -# then for each documented function all documented -# functions referencing it will be listed. - -REFERENCED_BY_RELATION = NO - -# If the REFERENCES_RELATION tag is set to YES -# then for each documented function all documented entities -# called/used by that function will be listed. - -REFERENCES_RELATION = NO - -# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) -# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from -# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will -# link to the source code. Otherwise they will link to the documentation. - -REFERENCES_LINK_SOURCE = YES - -# If the USE_HTAGS tag is set to YES then the references to source code -# will point to the HTML generated by the htags(1) tool instead of doxygen -# built-in source browser. The htags tool is part of GNU's global source -# tagging system (see http://www.gnu.org/software/global/global.html). You -# will need version 4.8.6 or higher. - -USE_HTAGS = NO - -# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen -# will generate a verbatim copy of the header file for each class for -# which an include is specified. Set to NO to disable this. - -VERBATIM_HEADERS = YES - -#--------------------------------------------------------------------------- -# configuration options related to the alphabetical class index -#--------------------------------------------------------------------------- - -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index -# of all compounds will be generated. Enable this if the project -# contains a lot of classes, structs, unions or interfaces. - -ALPHABETICAL_INDEX = NO - -# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then -# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns -# in which this list will be split (can be a number in the range [1..20]) - -COLS_IN_ALPHA_INDEX = 5 - -# In case all classes in a project start with a common prefix, all -# classes will be put under the same header in the alphabetical index. -# The IGNORE_PREFIX tag can be used to specify one or more prefixes that -# should be ignored while generating the index headers. - -IGNORE_PREFIX = - -#--------------------------------------------------------------------------- -# configuration options related to the HTML output -#--------------------------------------------------------------------------- - -# If the GENERATE_HTML tag is set to YES (the default) Doxygen will -# generate HTML output. - -GENERATE_HTML = YES - -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `html' will be used as the default path. - -HTML_OUTPUT = html - -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for -# each generated HTML page (for example: .htm,.php,.asp). If it is left blank -# doxygen will generate files with .html extension. - -HTML_FILE_EXTENSION = .html - -# The HTML_HEADER tag can be used to specify a personal HTML header for -# each generated HTML page. If it is left blank doxygen will generate a -# standard header. - -HTML_HEADER = - -# The HTML_FOOTER tag can be used to specify a personal HTML footer for -# each generated HTML page. If it is left blank doxygen will generate a -# standard footer. - -HTML_FOOTER = - -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading -# style sheet that is used by each HTML page. It can be used to -# fine-tune the look of the HTML output. If the tag is left blank doxygen -# will generate a default style sheet. Note that doxygen will try to copy -# the style sheet file to the HTML output directory, so don't put your own -# stylesheet in the HTML output directory as well, or it will be erased! - -HTML_STYLESHEET = - -# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, -# files or namespaces will be aligned in HTML using tables. If set to -# NO a bullet list will be used. - -HTML_ALIGN_MEMBERS = YES - -# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML -# documentation will contain sections that can be hidden and shown after the -# page has loaded. For this to work a browser that supports -# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox -# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). - -HTML_DYNAMIC_SECTIONS = NO - -# If the GENERATE_DOCSET tag is set to YES, additional index files -# will be generated that can be used as input for Apple's Xcode 3 -# integrated development environment, introduced with OSX 10.5 (Leopard). -# To create a documentation set, doxygen will generate a Makefile in the -# HTML output directory. Running make will produce the docset in that -# directory and running "make install" will install the docset in -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find -# it at startup. -# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html for more information. - -GENERATE_DOCSET = NO - -# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the -# feed. A documentation feed provides an umbrella under which multiple -# documentation sets from a single provider (such as a company or product suite) -# can be grouped. - -DOCSET_FEEDNAME = "Doxygen generated docs" - -# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that -# should uniquely identify the documentation set bundle. This should be a -# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen -# will append .docset to the name. - -DOCSET_BUNDLE_ID = org.doxygen.Project - -# If the GENERATE_HTMLHELP tag is set to YES, additional index files -# will be generated that can be used as input for tools like the -# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) -# of the generated HTML documentation. - -GENERATE_HTMLHELP = NO - -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can -# be used to specify the file name of the resulting .chm file. You -# can add a path in front of the file if the result should not be -# written to the html output directory. - -CHM_FILE = - -# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can -# be used to specify the location (absolute path including file name) of -# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run -# the HTML help compiler on the generated index.hhp. - -HHC_LOCATION = - -# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag -# controls if a separate .chi index file is generated (YES) or that -# it should be included in the master .chm file (NO). - -GENERATE_CHI = NO - -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING -# is used to encode HtmlHelp index (hhk), content (hhc) and project file -# content. - -CHM_INDEX_ENCODING = - -# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag -# controls whether a binary table of contents is generated (YES) or a -# normal table of contents (NO) in the .chm file. - -BINARY_TOC = NO - -# The TOC_EXPAND flag can be set to YES to add extra items for group members -# to the contents of the HTML help documentation and to the tree view. - -TOC_EXPAND = NO - -# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and QHP_VIRTUAL_FOLDER -# are set, an additional index file will be generated that can be used as input for -# Qt's qhelpgenerator to generate a Qt Compressed Help (.qch) of the generated -# HTML documentation. - -GENERATE_QHP = NO - -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can -# be used to specify the file name of the resulting .qch file. -# The path specified is relative to the HTML output folder. - -QCH_FILE = - -# The QHP_NAMESPACE tag specifies the namespace to use when generating -# Qt Help Project output. For more information please see -# http://doc.trolltech.com/qthelpproject.html#namespace - -QHP_NAMESPACE = - -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating -# Qt Help Project output. For more information please see -# http://doc.trolltech.com/qthelpproject.html#virtual-folders - -QHP_VIRTUAL_FOLDER = doc - -# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to add. -# For more information please see -# http://doc.trolltech.com/qthelpproject.html#custom-filters - -QHP_CUST_FILTER_NAME = - -# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the custom filter to add.For more information please see -# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters">Qt Help Project / Custom Filters</a>. - -QHP_CUST_FILTER_ATTRS = - -# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this project's -# filter section matches. -# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes">Qt Help Project / Filter Attributes</a>. - -QHP_SECT_FILTER_ATTRS = - -# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can -# be used to specify the location of Qt's qhelpgenerator. -# If non-empty doxygen will try to run qhelpgenerator on the generated -# .qhp file. - -QHG_LOCATION = - -# The DISABLE_INDEX tag can be used to turn on/off the condensed index at -# top of each HTML page. The value NO (the default) enables the index and -# the value YES disables it. - -DISABLE_INDEX = NO - -# This tag can be used to set the number of enum values (range [1..20]) -# that doxygen will group on one line in the generated HTML documentation. - -ENUM_VALUES_PER_LINE = 4 - -# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index -# structure should be generated to display hierarchical information. -# If the tag value is set to YES, a side panel will be generated -# containing a tree-like index structure (just like the one that -# is generated for HTML Help). For this to work a browser that supports -# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). -# Windows users are probably better off using the HTML help feature. - -GENERATE_TREEVIEW = NO - -# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, -# and Class Hierarchy pages using a tree view instead of an ordered list. - -USE_INLINE_TREES = NO - -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be -# used to set the initial width (in pixels) of the frame in which the tree -# is shown. - -TREEVIEW_WIDTH = 250 - -# Use this tag to change the font size of Latex formulas included -# as images in the HTML documentation. The default is 10. Note that -# when you change the font size after a successful doxygen run you need -# to manually remove any form_*.png images from the HTML output directory -# to force them to be regenerated. - -FORMULA_FONTSIZE = 10 - -# When the SEARCHENGINE tag is enable doxygen will generate a search box -# for the HTML output. The underlying search engine uses javascript -# and DHTML and should work on any modern browser. Note that when using -# HTML help (GENERATE_HTMLHELP) or Qt help (GENERATE_QHP) -# there is already a search function so this one should typically -# be disabled. - -SEARCHENGINE = YES - -#--------------------------------------------------------------------------- -# configuration options related to the LaTeX output -#--------------------------------------------------------------------------- - -# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will -# generate Latex output. - -GENERATE_LATEX = NO - -# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `latex' will be used as the default path. - -LATEX_OUTPUT = latex - -# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be -# invoked. If left blank `latex' will be used as the default command name. - -LATEX_CMD_NAME = latex - -# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to -# generate index for LaTeX. If left blank `makeindex' will be used as the -# default command name. - -MAKEINDEX_CMD_NAME = makeindex - -# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact -# LaTeX documents. This may be useful for small projects and may help to -# save some trees in general. - -COMPACT_LATEX = NO - -# The PAPER_TYPE tag can be used to set the paper type that is used -# by the printer. Possible values are: a4, a4wide, letter, legal and -# executive. If left blank a4wide will be used. - -PAPER_TYPE = a4wide - -# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX -# packages that should be included in the LaTeX output. - -EXTRA_PACKAGES = - -# The LATEX_HEADER tag can be used to specify a personal LaTeX header for -# the generated latex document. The header should contain everything until -# the first chapter. If it is left blank doxygen will generate a -# standard header. Notice: only use this tag if you know what you are doing! - -LATEX_HEADER = - -# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated -# is prepared for conversion to pdf (using ps2pdf). The pdf file will -# contain links (just like the HTML output) instead of page references -# This makes the output suitable for online browsing using a pdf viewer. - -PDF_HYPERLINKS = YES - -# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of -# plain latex in the generated Makefile. Set this option to YES to get a -# higher quality PDF documentation. - -USE_PDFLATEX = YES - -# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. -# command to the generated LaTeX files. This will instruct LaTeX to keep -# running if errors occur, instead of asking the user for help. -# This option is also used when generating formulas in HTML. - -LATEX_BATCHMODE = NO - -# If LATEX_HIDE_INDICES is set to YES then doxygen will not -# include the index chapters (such as File Index, Compound Index, etc.) -# in the output. - -LATEX_HIDE_INDICES = NO - -# If LATEX_SOURCE_CODE is set to YES then doxygen will include -# source code with syntax highlighting in the LaTeX output. -# Note that which sources are shown also depends on other settings -# such as SOURCE_BROWSER. - -LATEX_SOURCE_CODE = NO - -#--------------------------------------------------------------------------- -# configuration options related to the RTF output -#--------------------------------------------------------------------------- - -# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output -# The RTF output is optimized for Word 97 and may not look very pretty with -# other RTF readers or editors. - -GENERATE_RTF = NO - -# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `rtf' will be used as the default path. - -RTF_OUTPUT = rtf - -# If the COMPACT_RTF tag is set to YES Doxygen generates more compact -# RTF documents. This may be useful for small projects and may help to -# save some trees in general. - -COMPACT_RTF = NO - -# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated -# will contain hyperlink fields. The RTF file will -# contain links (just like the HTML output) instead of page references. -# This makes the output suitable for online browsing using WORD or other -# programs which support those fields. -# Note: wordpad (write) and others do not support links. - -RTF_HYPERLINKS = NO - -# Load stylesheet definitions from file. Syntax is similar to doxygen's -# config file, i.e. a series of assignments. You only have to provide -# replacements, missing definitions are set to their default value. - -RTF_STYLESHEET_FILE = - -# Set optional variables used in the generation of an rtf document. -# Syntax is similar to doxygen's config file. - -RTF_EXTENSIONS_FILE = - -#--------------------------------------------------------------------------- -# configuration options related to the man page output -#--------------------------------------------------------------------------- - -# If the GENERATE_MAN tag is set to YES (the default) Doxygen will -# generate man pages - -GENERATE_MAN = NO - -# The MAN_OUTPUT tag is used to specify where the man pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `man' will be used as the default path. - -MAN_OUTPUT = man - -# The MAN_EXTENSION tag determines the extension that is added to -# the generated man pages (default is the subroutine's section .3) - -MAN_EXTENSION = .3 - -# If the MAN_LINKS tag is set to YES and Doxygen generates man output, -# then it will generate one additional man file for each entity -# documented in the real man page(s). These additional files -# only source the real man page, but without them the man command -# would be unable to find the correct page. The default is NO. - -MAN_LINKS = NO - -#--------------------------------------------------------------------------- -# configuration options related to the XML output -#--------------------------------------------------------------------------- - -# If the GENERATE_XML tag is set to YES Doxygen will -# generate an XML file that captures the structure of -# the code including all documentation. - -GENERATE_XML = NO - -# The XML_OUTPUT tag is used to specify where the XML pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `xml' will be used as the default path. - -XML_OUTPUT = xml - -# The XML_SCHEMA tag can be used to specify an XML schema, -# which can be used by a validating XML parser to check the -# syntax of the XML files. - -XML_SCHEMA = - -# The XML_DTD tag can be used to specify an XML DTD, -# which can be used by a validating XML parser to check the -# syntax of the XML files. - -XML_DTD = - -# If the XML_PROGRAMLISTING tag is set to YES Doxygen will -# dump the program listings (including syntax highlighting -# and cross-referencing information) to the XML output. Note that -# enabling this will significantly increase the size of the XML output. - -XML_PROGRAMLISTING = YES - -#--------------------------------------------------------------------------- -# configuration options for the AutoGen Definitions output -#--------------------------------------------------------------------------- - -# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will -# generate an AutoGen Definitions (see autogen.sf.net) file -# that captures the structure of the code including all -# documentation. Note that this feature is still experimental -# and incomplete at the moment. - -GENERATE_AUTOGEN_DEF = NO - -#--------------------------------------------------------------------------- -# configuration options related to the Perl module output -#--------------------------------------------------------------------------- - -# If the GENERATE_PERLMOD tag is set to YES Doxygen will -# generate a Perl module file that captures the structure of -# the code including all documentation. Note that this -# feature is still experimental and incomplete at the -# moment. - -GENERATE_PERLMOD = NO - -# If the PERLMOD_LATEX tag is set to YES Doxygen will generate -# the necessary Makefile rules, Perl scripts and LaTeX code to be able -# to generate PDF and DVI output from the Perl module output. - -PERLMOD_LATEX = NO - -# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be -# nicely formatted so it can be parsed by a human reader. This is useful -# if you want to understand what is going on. On the other hand, if this -# tag is set to NO the size of the Perl module output will be much smaller -# and Perl will parse it just the same. - -PERLMOD_PRETTY = YES - -# The names of the make variables in the generated doxyrules.make file -# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. -# This is useful so different doxyrules.make files included by the same -# Makefile don't overwrite each other's variables. - -PERLMOD_MAKEVAR_PREFIX = - -#--------------------------------------------------------------------------- -# Configuration options related to the preprocessor -#--------------------------------------------------------------------------- - -# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will -# evaluate all C-preprocessor directives found in the sources and include -# files. - -ENABLE_PREPROCESSING = YES - -# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro -# names in the source code. If set to NO (the default) only conditional -# compilation will be performed. Macro expansion can be done in a controlled -# way by setting EXPAND_ONLY_PREDEF to YES. - -MACRO_EXPANSION = NO - -# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES -# then the macro expansion is limited to the macros specified with the -# PREDEFINED and EXPAND_AS_DEFINED tags. - -EXPAND_ONLY_PREDEF = NO - -# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files -# in the INCLUDE_PATH (see below) will be search if a #include is found. - -SEARCH_INCLUDES = YES - -# The INCLUDE_PATH tag can be used to specify one or more directories that -# contain include files that are not input files but should be processed by -# the preprocessor. - -INCLUDE_PATH = - -# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard -# patterns (like *.h and *.hpp) to filter out the header-files in the -# directories. If left blank, the patterns specified with FILE_PATTERNS will -# be used. - -INCLUDE_FILE_PATTERNS = - -# The PREDEFINED tag can be used to specify one or more macro names that -# are defined before the preprocessor is started (similar to the -D option of -# gcc). The argument of the tag is a list of macros of the form: name -# or name=definition (no spaces). If the definition and the = are -# omitted =1 is assumed. To prevent a macro definition from being -# undefined via #undef or recursively expanded use the := operator -# instead of the = operator. - -PREDEFINED = - -# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then -# this tag can be used to specify a list of macro names that should be expanded. -# The macro definition that is found in the sources will be used. -# Use the PREDEFINED tag if you want to use a different macro definition. - -EXPAND_AS_DEFINED = - -# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then -# doxygen's preprocessor will remove all function-like macros that are alone -# on a line, have an all uppercase name, and do not end with a semicolon. 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This is disabled by default, because dot on Windows does not -# seem to support this out of the box. Warning: Depending on the platform used, -# enabling this option may lead to badly anti-aliased labels on the edges of -# a graph (i.e. they become hard to read). - -DOT_TRANSPARENT = NO - -# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output -# files in one run (i.e. multiple -o and -T options on the command line). This -# makes dot run faster, but since only newer versions of dot (>1.8.10) -# support this, this feature is disabled by default. - -DOT_MULTI_TARGETS = NO - -# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will -# generate a legend page explaining the meaning of the various boxes and -# arrows in the dot generated graphs. - -GENERATE_LEGEND = YES - -# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will -# remove the intermediate dot files that are used to generate -# the various graphs. - -DOT_CLEANUP = YES diff --git a/jni/feature_stab/src/dbreg/dbreg.cpp b/jni/feature_stab/src/dbreg/dbreg.cpp deleted file mode 100644 index da06aa2ab..000000000 --- a/jni/feature_stab/src/dbreg/dbreg.cpp +++ /dev/null @@ -1,794 +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: dbreg.cpp,v 1.31 2011/06/17 14:04:32 mbansal Exp $ -#include "dbreg.h" -#include <string.h> -#include <stdio.h> - - -#if PROFILE -#endif - -//#include <iostream> - -db_FrameToReferenceRegistration::db_FrameToReferenceRegistration() : - m_initialized(false),m_nr_matches(0),m_over_allocation(256),m_nr_bins(20),m_max_cost_pix(30), m_quarter_resolution(false) -{ - m_reference_image = NULL; - m_aligned_ins_image = NULL; - - m_quarter_res_image = NULL; - m_horz_smooth_subsample_image = NULL; - - m_x_corners_ref = NULL; - m_y_corners_ref = NULL; - - m_x_corners_ins = NULL; - m_y_corners_ins = NULL; - - m_match_index_ref = NULL; - m_match_index_ins = NULL; - - m_inlier_indices = NULL; - - m_num_inlier_indices = 0; - - m_temp_double = NULL; - m_temp_int = NULL; - - m_corners_ref = NULL; - m_corners_ins = NULL; - - m_sq_cost = NULL; - m_cost_histogram = NULL; - - profile_string = NULL; - - db_Identity3x3(m_K); - db_Identity3x3(m_H_ref_to_ins); - db_Identity3x3(m_H_dref_to_ref); - - m_sq_cost_computed = false; - m_reference_set = false; - - m_reference_update_period = 0; - m_nr_frames_processed = 0; - - return; -} - -db_FrameToReferenceRegistration::~db_FrameToReferenceRegistration() -{ - Clean(); -} - -void db_FrameToReferenceRegistration::Clean() -{ - if ( m_reference_image ) - db_FreeImage_u(m_reference_image,m_im_height); - - if ( m_aligned_ins_image ) - db_FreeImage_u(m_aligned_ins_image,m_im_height); - - if ( m_quarter_res_image ) - { - db_FreeImage_u(m_quarter_res_image, m_im_height); - } - - if ( m_horz_smooth_subsample_image ) - { - db_FreeImage_u(m_horz_smooth_subsample_image, m_im_height*2); - } - - delete [] m_x_corners_ref; - delete [] m_y_corners_ref; - - delete [] m_x_corners_ins; - delete [] m_y_corners_ins; - - delete [] m_match_index_ref; - delete [] m_match_index_ins; - - delete [] m_temp_double; - delete [] m_temp_int; - - delete [] m_corners_ref; - delete [] m_corners_ins; - - delete [] m_sq_cost; - delete [] m_cost_histogram; - - delete [] m_inlier_indices; - - if(profile_string) - delete [] profile_string; - - m_reference_image = NULL; - m_aligned_ins_image = NULL; - - m_quarter_res_image = NULL; - m_horz_smooth_subsample_image = NULL; - - m_x_corners_ref = NULL; - m_y_corners_ref = NULL; - - m_x_corners_ins = NULL; - m_y_corners_ins = NULL; - - m_match_index_ref = NULL; - m_match_index_ins = NULL; - - m_inlier_indices = NULL; - - m_temp_double = NULL; - m_temp_int = NULL; - - m_corners_ref = NULL; - m_corners_ins = NULL; - - m_sq_cost = NULL; - m_cost_histogram = NULL; -} - -void db_FrameToReferenceRegistration::Init(int width, int height, - int homography_type, - int max_iterations, - bool linear_polish, - bool quarter_resolution, - double scale, - unsigned int reference_update_period, - bool do_motion_smoothing, - double motion_smoothing_gain, - int nr_samples, - int chunk_size, - int cd_target_nr_corners, - double cm_max_disparity, - bool cm_use_smaller_matching_window, - int cd_nr_horz_blocks, - int cd_nr_vert_blocks - ) -{ - Clean(); - - m_reference_update_period = reference_update_period; - m_nr_frames_processed = 0; - - m_do_motion_smoothing = do_motion_smoothing; - m_motion_smoothing_gain = motion_smoothing_gain; - - m_stab_smoother.setSmoothingFactor(m_motion_smoothing_gain); - - m_quarter_resolution = quarter_resolution; - - profile_string = new char[10240]; - - if (m_quarter_resolution == true) - { - width = width/2; - height = height/2; - - m_horz_smooth_subsample_image = db_AllocImage_u(width,height*2,m_over_allocation); - m_quarter_res_image = db_AllocImage_u(width,height,m_over_allocation); - } - - m_im_width = width; - m_im_height = height; - - double temp[9]; - db_Approx3DCalMat(m_K,temp,m_im_width,m_im_height); - - m_homography_type = homography_type; - m_max_iterations = max_iterations; - m_scale = 2/(m_K[0]+m_K[4]); - m_nr_samples = nr_samples; - m_chunk_size = chunk_size; - - double outlier_t1 = 5.0; - - m_outlier_t2 = outlier_t1*outlier_t1;//*m_scale*m_scale; - - m_current_is_reference = false; - - m_linear_polish = linear_polish; - - m_reference_image = db_AllocImage_u(m_im_width,m_im_height,m_over_allocation); - m_aligned_ins_image = db_AllocImage_u(m_im_width,m_im_height,m_over_allocation); - - // initialize feature detection and matching: - //m_max_nr_corners = m_cd.Init(m_im_width,m_im_height,cd_target_nr_corners,cd_nr_horz_blocks,cd_nr_vert_blocks,0.0,0.0); - m_max_nr_corners = m_cd.Init(m_im_width,m_im_height,cd_target_nr_corners,cd_nr_horz_blocks,cd_nr_vert_blocks,DB_DEFAULT_ABS_CORNER_THRESHOLD/500.0,0.0); - - int use_21 = 0; - m_max_nr_matches = m_cm.Init(m_im_width,m_im_height,cm_max_disparity,m_max_nr_corners,DB_DEFAULT_NO_DISPARITY,cm_use_smaller_matching_window,use_21); - - // allocate space for corner feature locations for reference and inspection images: - m_x_corners_ref = new double [m_max_nr_corners]; - m_y_corners_ref = new double [m_max_nr_corners]; - - m_x_corners_ins = new double [m_max_nr_corners]; - m_y_corners_ins = new double [m_max_nr_corners]; - - // allocate space for match indices: - m_match_index_ref = new int [m_max_nr_matches]; - m_match_index_ins = new int [m_max_nr_matches]; - - m_temp_double = new double [12*DB_DEFAULT_NR_SAMPLES+10*m_max_nr_matches]; - m_temp_int = new int [db_maxi(DB_DEFAULT_NR_SAMPLES,m_max_nr_matches)]; - - // allocate space for homogenous image points: - m_corners_ref = new double [3*m_max_nr_corners]; - m_corners_ins = new double [3*m_max_nr_corners]; - - // allocate cost array and histogram: - m_sq_cost = new double [m_max_nr_matches]; - m_cost_histogram = new int [m_nr_bins]; - - // reserve array: - //m_inlier_indices.reserve(m_max_nr_matches); - m_inlier_indices = new int[m_max_nr_matches]; - - m_initialized = true; - - m_max_inlier_count = 0; -} - - -#define MB 0 -// Save the reference image, detect features and update the dref-to-ref transformation -int db_FrameToReferenceRegistration::UpdateReference(const unsigned char * const * im, bool subsample, bool detect_corners) -{ - double temp[9]; - db_Multiply3x3_3x3(temp,m_H_dref_to_ref,m_H_ref_to_ins); - db_Copy9(m_H_dref_to_ref,temp); - - const unsigned char * const * imptr = im; - - if (m_quarter_resolution && subsample) - { - GenerateQuarterResImage(im); - imptr = m_quarter_res_image; - } - - // save the reference image, detect features and quit - db_CopyImage_u(m_reference_image,imptr,m_im_width,m_im_height,m_over_allocation); - - if(detect_corners) - { - #if MB - m_cd.DetectCorners(imptr, m_x_corners_ref,m_y_corners_ref,&m_nr_corners_ref); - int nr = 0; - for(int k=0; k<m_nr_corners_ref; k++) - { - if(m_x_corners_ref[k]>m_im_width/3) - { - m_x_corners_ref[nr] = m_x_corners_ref[k]; - m_y_corners_ref[nr] = m_y_corners_ref[k]; - nr++; - } - - } - m_nr_corners_ref = nr; - #else - m_cd.DetectCorners(imptr, m_x_corners_ref,m_y_corners_ref,&m_nr_corners_ref); - #endif - } - else - { - m_nr_corners_ref = m_nr_corners_ins; - - for(int k=0; k<m_nr_corners_ins; k++) - { - m_x_corners_ref[k] = m_x_corners_ins[k]; - m_y_corners_ref[k] = m_y_corners_ins[k]; - } - - } - - db_Identity3x3(m_H_ref_to_ins); - - m_max_inlier_count = 0; // Reset to 0 as no inliers seen until now - m_sq_cost_computed = false; - m_reference_set = true; - m_current_is_reference = true; - return 1; -} - -void db_FrameToReferenceRegistration::Get_H_dref_to_ref(double H[9]) -{ - db_Copy9(H,m_H_dref_to_ref); -} - -void db_FrameToReferenceRegistration::Get_H_dref_to_ins(double H[9]) -{ - db_Multiply3x3_3x3(H,m_H_dref_to_ref,m_H_ref_to_ins); -} - -void db_FrameToReferenceRegistration::Set_H_dref_to_ins(double H[9]) -{ - double H_ins_to_ref[9]; - - db_Identity3x3(H_ins_to_ref); // Ensure it has proper values - db_InvertAffineTransform(H_ins_to_ref,m_H_ref_to_ins); // Invert to get ins to ref - db_Multiply3x3_3x3(m_H_dref_to_ref,H,H_ins_to_ref); // Update dref to ref using the input H from dref to ins -} - - -void db_FrameToReferenceRegistration::ResetDisplayReference() -{ - db_Identity3x3(m_H_dref_to_ref); -} - -bool db_FrameToReferenceRegistration::NeedReferenceUpdate() -{ - // If less than 50% of the starting number of inliers left, then its time to update the reference. - if(m_max_inlier_count>0 && float(m_num_inlier_indices)/float(m_max_inlier_count)<0.5) - return true; - else - return false; -} - -int db_FrameToReferenceRegistration::AddFrame(const unsigned char * const * im, double H[9],bool force_reference,bool prewarp) -{ - m_current_is_reference = false; - if(!m_reference_set || force_reference) - { - db_Identity3x3(m_H_ref_to_ins); - db_Copy9(H,m_H_ref_to_ins); - - UpdateReference(im,true,true); - return 0; - } - - const unsigned char * const * imptr = im; - - if (m_quarter_resolution) - { - if (m_quarter_res_image) - { - GenerateQuarterResImage(im); - } - - imptr = (const unsigned char * const* )m_quarter_res_image; - } - - double H_last[9]; - db_Copy9(H_last,m_H_ref_to_ins); - db_Identity3x3(m_H_ref_to_ins); - - m_sq_cost_computed = false; - - // detect corners on inspection image and match to reference image features:s - - // @jke - Adding code to time the functions. TODO: Remove after test -#if PROFILE - double iTimer1, iTimer2; - char str[255]; - strcpy(profile_string,"\n"); - sprintf(str,"[%dx%d] %p\n",m_im_width,m_im_height,im); - strcat(profile_string, str); -#endif - - // @jke - Adding code to time the functions. TODO: Remove after test -#if PROFILE - iTimer1 = now_ms(); -#endif - m_cd.DetectCorners(imptr, m_x_corners_ins,m_y_corners_ins,&m_nr_corners_ins); - // @jke - Adding code to time the functions. TODO: Remove after test -# if PROFILE - iTimer2 = now_ms(); - double elapsedTimeCorner = iTimer2 - iTimer1; - sprintf(str,"Corner Detection [%d corners] = %g ms\n",m_nr_corners_ins, elapsedTimeCorner); - strcat(profile_string, str); -#endif - - // @jke - Adding code to time the functions. TODO: Remove after test -#if PROFILE - iTimer1 = now_ms(); -#endif - if(prewarp) - m_cm.Match(m_reference_image,imptr,m_x_corners_ref,m_y_corners_ref,m_nr_corners_ref, - m_x_corners_ins,m_y_corners_ins,m_nr_corners_ins, - m_match_index_ref,m_match_index_ins,&m_nr_matches,H,0); - else - m_cm.Match(m_reference_image,imptr,m_x_corners_ref,m_y_corners_ref,m_nr_corners_ref, - m_x_corners_ins,m_y_corners_ins,m_nr_corners_ins, - m_match_index_ref,m_match_index_ins,&m_nr_matches); - // @jke - Adding code to time the functions. TODO: Remove after test -# if PROFILE - iTimer2 = now_ms(); - double elapsedTimeMatch = iTimer2 - iTimer1; - sprintf(str,"Matching [%d] = %g ms\n",m_nr_matches,elapsedTimeMatch); - strcat(profile_string, str); -#endif - - - // copy out matching features: - for ( int i = 0; i < m_nr_matches; ++i ) - { - int offset = 3*i; - m_corners_ref[offset ] = m_x_corners_ref[m_match_index_ref[i]]; - m_corners_ref[offset+1] = m_y_corners_ref[m_match_index_ref[i]]; - m_corners_ref[offset+2] = 1.0; - - m_corners_ins[offset ] = m_x_corners_ins[m_match_index_ins[i]]; - m_corners_ins[offset+1] = m_y_corners_ins[m_match_index_ins[i]]; - m_corners_ins[offset+2] = 1.0; - } - - // @jke - Adding code to time the functions. TODO: Remove after test -#if PROFILE - iTimer1 = now_ms(); -#endif - // perform the alignment: - db_RobImageHomography(m_H_ref_to_ins, m_corners_ref, m_corners_ins, m_nr_matches, m_K, m_K, m_temp_double, m_temp_int, - m_homography_type,NULL,m_max_iterations,m_max_nr_matches,m_scale, - m_nr_samples, m_chunk_size); - // @jke - Adding code to time the functions. TODO: Remove after test -# if PROFILE - iTimer2 = now_ms(); - double elapsedTimeHomography = iTimer2 - iTimer1; - sprintf(str,"Homography = %g ms\n",elapsedTimeHomography); - strcat(profile_string, str); -#endif - - - SetOutlierThreshold(); - - // Compute the inliers for the db compute m_H_ref_to_ins - ComputeInliers(m_H_ref_to_ins); - - // Update the max inlier count - m_max_inlier_count = (m_max_inlier_count > m_num_inlier_indices)?m_max_inlier_count:m_num_inlier_indices; - - // Fit a least-squares model to just the inliers and put it in m_H_ref_to_ins - if(m_linear_polish) - Polish(m_inlier_indices, m_num_inlier_indices); - - if (m_quarter_resolution) - { - m_H_ref_to_ins[2] *= 2.0; - m_H_ref_to_ins[5] *= 2.0; - } - -#if PROFILE - sprintf(str,"#Inliers = %d \n",m_num_inlier_indices); - strcat(profile_string, str); -#endif -/* - ///// CHECK IF CURRENT TRANSFORMATION GOOD OR BAD //// - ///// IF BAD, then update reference to the last correctly aligned inspection frame; - if(m_num_inlier_indices<5)//0.9*m_nr_matches || m_nr_matches < 20) - { - db_Copy9(m_H_ref_to_ins,H_last); - UpdateReference(imptr,false); -// UpdateReference(m_aligned_ins_image,false); - } - else - { - ///// IF GOOD, then update the last correctly aligned inspection frame to be this; - //db_CopyImage_u(m_aligned_ins_image,imptr,m_im_width,m_im_height,m_over_allocation); -*/ - if(m_do_motion_smoothing) - SmoothMotion(); - - // Disable debug printing - // db_PrintDoubleMatrix(m_H_ref_to_ins,3,3); - - db_Copy9(H, m_H_ref_to_ins); - - m_nr_frames_processed++; -{ - if ( (m_nr_frames_processed % m_reference_update_period) == 0 ) - { - //UpdateReference(imptr,false, false); - - #if MB - UpdateReference(imptr,false, true); - #else - UpdateReference(imptr,false, false); - #endif - } - - - } - - - - return 1; -} - -//void db_FrameToReferenceRegistration::ComputeInliers(double H[9],std::vector<int> &inlier_indices) -void db_FrameToReferenceRegistration::ComputeInliers(double H[9]) -{ - double totnummatches = m_nr_matches; - int inliercount=0; - - m_num_inlier_indices = 0; -// inlier_indices.clear(); - - for(int c=0; c < totnummatches; c++ ) - { - if (m_sq_cost[c] <= m_outlier_t2) - { - m_inlier_indices[inliercount] = c; - inliercount++; - } - } - - m_num_inlier_indices = inliercount; - double frac=inliercount/totnummatches; -} - -//void db_FrameToReferenceRegistration::Polish(std::vector<int> &inlier_indices) -void db_FrameToReferenceRegistration::Polish(int *inlier_indices, int &num_inlier_indices) -{ - db_Zero(m_polish_C,36); - db_Zero(m_polish_D,6); - for (int i=0;i<num_inlier_indices;i++) - { - int j = 3*inlier_indices[i]; - m_polish_C[0]+=m_corners_ref[j]*m_corners_ref[j]; - m_polish_C[1]+=m_corners_ref[j]*m_corners_ref[j+1]; - m_polish_C[2]+=m_corners_ref[j]; - m_polish_C[7]+=m_corners_ref[j+1]*m_corners_ref[j+1]; - m_polish_C[8]+=m_corners_ref[j+1]; - m_polish_C[14]+=1; - m_polish_D[0]+=m_corners_ref[j]*m_corners_ins[j]; - m_polish_D[1]+=m_corners_ref[j+1]*m_corners_ins[j]; - m_polish_D[2]+=m_corners_ins[j]; - m_polish_D[3]+=m_corners_ref[j]*m_corners_ins[j+1]; - m_polish_D[4]+=m_corners_ref[j+1]*m_corners_ins[j+1]; - m_polish_D[5]+=m_corners_ins[j+1]; - } - - double a=db_maxd(m_polish_C[0],m_polish_C[7]); - m_polish_C[0]/=a; m_polish_C[1]/=a; m_polish_C[2]/=a; - m_polish_C[7]/=a; m_polish_C[8]/=a; m_polish_C[14]/=a; - - m_polish_D[0]/=a; m_polish_D[1]/=a; m_polish_D[2]/=a; - m_polish_D[3]/=a; m_polish_D[4]/=a; m_polish_D[5]/=a; - - - m_polish_C[6]=m_polish_C[1]; - m_polish_C[12]=m_polish_C[2]; - m_polish_C[13]=m_polish_C[8]; - - m_polish_C[21]=m_polish_C[0]; m_polish_C[22]=m_polish_C[1]; m_polish_C[23]=m_polish_C[2]; - m_polish_C[28]=m_polish_C[7]; m_polish_C[29]=m_polish_C[8]; - m_polish_C[35]=m_polish_C[14]; - - - double d[6]; - db_CholeskyDecomp6x6(m_polish_C,d); - db_CholeskyBacksub6x6(m_H_ref_to_ins,m_polish_C,d,m_polish_D); -} - -void db_FrameToReferenceRegistration::EstimateSecondaryModel(double H[9]) -{ - /* if ( m_current_is_reference ) - { - db_Identity3x3(H); - return; - } - */ - - // select the outliers of the current model: - SelectOutliers(); - - // perform the alignment: - db_RobImageHomography(m_H_ref_to_ins, m_corners_ref, m_corners_ins, m_nr_matches, m_K, m_K, m_temp_double, m_temp_int, - m_homography_type,NULL,m_max_iterations,m_max_nr_matches,m_scale, - m_nr_samples, m_chunk_size); - - db_Copy9(H,m_H_ref_to_ins); -} - -void db_FrameToReferenceRegistration::ComputeCostArray() -{ - if ( m_sq_cost_computed ) return; - - for( int c=0, k=0 ;c < m_nr_matches; c++, k=k+3) - { - m_sq_cost[c] = SquaredInhomogenousHomographyError(m_corners_ins+k,m_H_ref_to_ins,m_corners_ref+k); - } - - m_sq_cost_computed = true; -} - -void db_FrameToReferenceRegistration::SelectOutliers() -{ - int nr_outliers=0; - - ComputeCostArray(); - - for(int c=0, k=0 ;c<m_nr_matches;c++,k=k+3) - { - if (m_sq_cost[c] > m_outlier_t2) - { - int offset = 3*nr_outliers++; - db_Copy3(m_corners_ref+offset,m_corners_ref+k); - db_Copy3(m_corners_ins+offset,m_corners_ins+k); - } - } - - m_nr_matches = nr_outliers; -} - -void db_FrameToReferenceRegistration::ComputeCostHistogram() -{ - ComputeCostArray(); - - for ( int b = 0; b < m_nr_bins; ++b ) - m_cost_histogram[b] = 0; - - for(int c = 0; c < m_nr_matches; c++) - { - double error = db_SafeSqrt(m_sq_cost[c]); - int bin = (int)(error/m_max_cost_pix*m_nr_bins); - if ( bin < m_nr_bins ) - m_cost_histogram[bin]++; - else - m_cost_histogram[m_nr_bins-1]++; - } - -/* - for ( int i = 0; i < m_nr_bins; ++i ) - std::cout << m_cost_histogram[i] << " "; - std::cout << std::endl; -*/ -} - -void db_FrameToReferenceRegistration::SetOutlierThreshold() -{ - ComputeCostHistogram(); - - int i = 0, last=0; - for (; i < m_nr_bins-1; ++i ) - { - if ( last > m_cost_histogram[i] ) - break; - last = m_cost_histogram[i]; - } - - //std::cout << "I " << i << std::endl; - - int max = m_cost_histogram[i]; - - for (; i < m_nr_bins-1; ++i ) - { - if ( m_cost_histogram[i] < (int)(0.1*max) ) - //if ( last < m_cost_histogram[i] ) - break; - last = m_cost_histogram[i]; - } - //std::cout << "J " << i << std::endl; - - m_outlier_t2 = db_sqr(i*m_max_cost_pix/m_nr_bins); - - //std::cout << "m_outlier_t2 " << m_outlier_t2 << std::endl; -} - -void db_FrameToReferenceRegistration::SmoothMotion(void) -{ - VP_MOTION inmot,outmot; - - double H[9]; - - Get_H_dref_to_ins(H); - - MXX(inmot) = H[0]; - MXY(inmot) = H[1]; - MXZ(inmot) = H[2]; - MXW(inmot) = 0.0; - - MYX(inmot) = H[3]; - MYY(inmot) = H[4]; - MYZ(inmot) = H[5]; - MYW(inmot) = 0.0; - - MZX(inmot) = H[6]; - MZY(inmot) = H[7]; - MZZ(inmot) = H[8]; - MZW(inmot) = 0.0; - - MWX(inmot) = 0.0; - MWY(inmot) = 0.0; - MWZ(inmot) = 0.0; - MWW(inmot) = 1.0; - - inmot.type = VP_MOTION_AFFINE; - - int w = m_im_width; - int h = m_im_height; - - if(m_quarter_resolution) - { - w = w*2; - h = h*2; - } - -#if 0 - m_stab_smoother.smoothMotionAdaptive(w,h,&inmot,&outmot); -#else - m_stab_smoother.smoothMotion(&inmot,&outmot); -#endif - - H[0] = MXX(outmot); - H[1] = MXY(outmot); - H[2] = MXZ(outmot); - - H[3] = MYX(outmot); - H[4] = MYY(outmot); - H[5] = MYZ(outmot); - - H[6] = MZX(outmot); - H[7] = MZY(outmot); - H[8] = MZZ(outmot); - - Set_H_dref_to_ins(H); -} - -void db_FrameToReferenceRegistration::GenerateQuarterResImage(const unsigned char* const* im) -{ - int input_h = m_im_height*2; - int input_w = m_im_width*2; - - for (int j = 0; j < input_h; j++) - { - const unsigned char* in_row_ptr = im[j]; - unsigned char* out_row_ptr = m_horz_smooth_subsample_image[j]+1; - - for (int i = 2; i < input_w-2; i += 2) - { - int smooth_val = ( - 6*in_row_ptr[i] + - ((in_row_ptr[i-1]+in_row_ptr[i+1])<<2) + - in_row_ptr[i-2]+in_row_ptr[i+2] - ) >> 4; - *out_row_ptr++ = (unsigned char) smooth_val; - - if ( (smooth_val < 0) || (smooth_val > 255)) - { - return; - } - - } - } - - for (int j = 2; j < input_h-2; j+=2) - { - - unsigned char* in_row_ptr = m_horz_smooth_subsample_image[j]; - unsigned char* out_row_ptr = m_quarter_res_image[j/2]; - - for (int i = 1; i < m_im_width-1; i++) - { - int smooth_val = ( - 6*in_row_ptr[i] + - ((in_row_ptr[i-m_im_width]+in_row_ptr[i+m_im_width]) << 2)+ - in_row_ptr[i-2*m_im_width]+in_row_ptr[i+2*m_im_width] - ) >> 4; - *out_row_ptr++ = (unsigned char)smooth_val; - - if ( (smooth_val < 0) || (smooth_val > 255)) - { - return; - } - - } - } -} diff --git a/jni/feature_stab/src/dbreg/dbreg.h b/jni/feature_stab/src/dbreg/dbreg.h deleted file mode 100644 index 4eb244481..000000000 --- a/jni/feature_stab/src/dbreg/dbreg.h +++ /dev/null @@ -1,581 +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. - */ - - -#pragma once - -#ifdef _WIN32 -#ifdef DBREG_EXPORTS -#define DBREG_API __declspec(dllexport) -#else -#define DBREG_API __declspec(dllimport) -#endif -#else -#define DBREG_API -#endif - -// @jke - the next few lines are for extracting timing data. TODO: Remove after test -#define PROFILE 0 - -#include "dbstabsmooth.h" - -#include <db_feature_detection.h> -#include <db_feature_matching.h> -#include <db_rob_image_homography.h> - -#if PROFILE - #include <sys/time.h> -#endif - -/*! \mainpage db_FrameToReferenceRegistration - - \section intro Introduction - - db_FrameToReferenceRegistration provides a simple interface to a set of sophisticated algorithms for stabilizing - video sequences. As its name suggests, the class is used to compute parameters that will allow us to warp incoming video - frames and register them with respect to a so-called <i>reference</i> frame. The reference frame is simply the first - frame of a sequence; the registration process is that of estimating the parameters of a warp that can be applied to - subsequent frames to make those frames align with the reference. A video made up of these warped frames will be more - stable than the input video. - - For more technical information on the internal structure of the algorithms used within the db_FrameToRegistration class, - please follow this <a href="../Sarnoff image registration.docx">link</a>. - - \section usage Usage - In addition to the class constructor, there are two main functions of db_FrameToReferenceRegistration that are of - interest to the programmer. db_FrameToReferenceRegistration::Init(...) is used to initialize the parameters of the - registration algorithm. db_FrameToReferenceRegistration::AddFrame(...) is the method by which each new video frame - is introduced to the registration algorithm, and produces the estimated registration warp parameters. - - The following example illustrates how the major methods of the class db_FrameToReferenceRegistration can be used together - to calculate the registration parameters for an image sequence. In the example, the calls to the methods of - db_FrameToReferenceRegistration match those found in the API, but supporting code should be considered pseudo-code. - For a more complete example, please consult the source code for dbregtest. - - - \code - // feature-based image registration class: - db_FrameToReferenceRegistration reg; - - // Image data - const unsigned char * const * image_storage; - - // The 3x3 frame to reference registration parameters - double frame_to_ref_homography[9]; - - // a counter to count the number of frames processed. - unsigned long frame_counter; - // ... - - // main loop - keep going while there are images to process. - while (ImagesAreAvailable) - { - // Call functions to place latest data into image_storage - // ... - - // if the registration object is not yet initialized, then do so - // The arguments to this function are explained in the accompanying - // html API documentation - if (!reg.Initialized()) - { - reg.Init(w,h,motion_model_type,25,linear_polish,quarter_resolution, - DB_POINT_STANDARDDEV,reference_update_period, - do_motion_smoothing,motion_smoothing_gain, - DB_DEFAULT_NR_SAMPLES,DB_DEFAULT_CHUNK_SIZE, - nr_corners,max_disparity); - } - - // Present the new image data to the registration algorithm, - // with the result being stored in the frame_to_ref_homography - // variable. - reg.AddFrame(image_storage,frame_to_ref_homography); - - // frame_to_ref_homography now contains the stabilizing transform - // use this to warp the latest image for display, etc. - - // if this is the first frame, we need to tell the registration - // class to store the image as its reference. Otherwise, AddFrame - // takes care of that. - if (frame_counter == 0) - { - reg.UpdateReference(image_storage); - } - - // increment the frame counter - frame_counter++; - } - - \endcode - - */ - -/*! - * Performs feature-based frame to reference image registration. - */ -class DBREG_API db_FrameToReferenceRegistration -{ -public: - db_FrameToReferenceRegistration(void); - ~db_FrameToReferenceRegistration(); - - /*! - * Set parameters and allocate memory. Note: The default values of these parameters have been set to the values used for the android implementation (i.e. the demo APK). - * \param width image width - * \param height image height - * \param homography_type see definitions in \ref LMRobImageHomography - * \param max_iterations max number of polishing steps - * \param linear_polish whether to perform a linear polishing step after RANSAC - * \param quarter_resolution whether to process input images at quarter resolution (for computational efficiency) - * \param scale Cauchy scale coefficient (see db_ExpCauchyReprojectionError() ) - * \param reference_update_period how often to update the alignment reference (in units of number of frames) - * \param do_motion_smoothing whether to perform display reference smoothing - * \param motion_smoothing_gain weight factor to reflect how fast the display reference must follow the current frame if motion smoothing is enabled - * \param nr_samples number of times to compute a hypothesis - * \param chunk_size size of cost chunks - * \param cd_target_nr_corners target number of corners for corner detector - * \param cm_max_disparity maximum disparity search range for corner matcher (in units of ratio of image width) - * \param cm_use_smaller_matching_window if set to true, uses a correlation window of 5x5 instead of the default 11x11 - * \param cd_nr_horz_blocks the number of horizontal blocks for the corner detector to partition the image - * \param cd_nr_vert_blocks the number of vertical blocks for the corner detector to partition the image - */ - void Init(int width, int height, - int homography_type = DB_HOMOGRAPHY_TYPE_DEFAULT, - int max_iterations = DB_DEFAULT_MAX_ITERATIONS, - bool linear_polish = false, - bool quarter_resolution = true, - double scale = DB_POINT_STANDARDDEV, - unsigned int reference_update_period = 3, - bool do_motion_smoothing = false, - double motion_smoothing_gain = 0.75, - int nr_samples = DB_DEFAULT_NR_SAMPLES, - int chunk_size = DB_DEFAULT_CHUNK_SIZE, - int cd_target_nr_corners = 500, - double cm_max_disparity = 0.2, - bool cm_use_smaller_matching_window = false, - int cd_nr_horz_blocks = 5, - int cd_nr_vert_blocks = 5); - - /*! - * Reset the transformation type that is being use to perform alignment. Use this to change the alignment type at run time. - * \param homography_type the type of transformation to use for performing alignment (see definitions in \ref LMRobImageHomography) - */ - void ResetHomographyType(int homography_type) { m_homography_type = homography_type; } - - /*! - * Enable/Disable motion smoothing. Use this to turn motion smoothing on/off at run time. - * \param enable flag indicating whether to turn the motion smoothing on or off. - */ - void ResetSmoothing(bool enable) { m_do_motion_smoothing = enable; } - - /*! - * Align an inspection image to an existing reference image, update the reference image if due and perform motion smoothing if enabled. - * \param im new inspection image - * \param H computed transformation from reference to inspection coordinate frame. Identity is returned if no reference frame was set. - * \param force_reference make this the new reference image - */ - int AddFrame(const unsigned char * const * im, double H[9], bool force_reference=false, bool prewarp=false); - - /*! - * Returns true if Init() was run. - */ - bool Initialized() const { return m_initialized; } - - /*! - * Returns true if the current frame is being used as the alignment reference. - */ - bool IsCurrentReference() const { return m_current_is_reference; } - - /*! - * Returns true if we need to call UpdateReference now. - */ - bool NeedReferenceUpdate(); - - /*! - * Returns the pointer reference to the alignment reference image data - */ - unsigned char ** GetReferenceImage() { return m_reference_image; } - - /*! - * Returns the pointer reference to the double array containing the homogeneous coordinates for the matched reference image corners. - */ - double * GetRefCorners() { return m_corners_ref; } - /*! - * Returns the pointer reference to the double array containing the homogeneous coordinates for the matched inspection image corners. - */ - double * GetInsCorners() { return m_corners_ins; } - /*! - * Returns the number of correspondences between the reference and inspection images. - */ - int GetNrMatches() { return m_nr_matches; } - - /*! - * Returns the number of corners detected in the current reference image. - */ - int GetNrRefCorners() { return m_nr_corners_ref; } - - /*! - * Returns the pointer to an array of indices that were found to be RANSAC inliers from the matched corner lists. - */ - int* GetInliers() { return m_inlier_indices; } - - /*! - * Returns the number of inliers from the RANSAC matching step. - */ - int GetNrInliers() { return m_num_inlier_indices; } - - //std::vector<int>& GetInliers(); - //void Polish(std::vector<int> &inlier_indices); - - /*! - * Perform a linear polishing step by re-estimating the alignment transformation using the RANSAC inliers. - * \param inlier_indices pointer to an array of indices that were found to be RANSAC inliers from the matched corner lists. - * \param num_inlier_indices number of inliers i.e. the length of the array passed as the first argument. - */ - void Polish(int *inlier_indices, int &num_inlier_indices); - - /*! - * Reset the motion smoothing parameters to their initial values. - */ - void ResetMotionSmoothingParameters() { m_stab_smoother.Init(); } - - /*! - * Update the alignment reference image to the specified image. - * \param im pointer to the image data to be used as the new alignment reference. - * \param subsample boolean flag to control whether the function should internally subsample the provided image to the size provided in the Init() function. - */ - int UpdateReference(const unsigned char * const * im, bool subsample = true, bool detect_corners = true); - - /*! - * Returns the transformation from the display reference to the alignment reference frame - */ - void Get_H_dref_to_ref(double H[9]); - /*! - * Returns the transformation from the display reference to the inspection reference frame - */ - void Get_H_dref_to_ins(double H[9]); - /*! - * Set the transformation from the display reference to the inspection reference frame - * \param H the transformation to set - */ - void Set_H_dref_to_ins(double H[9]); - - /*! - * Reset the display reference to the current frame. - */ - void ResetDisplayReference(); - - /*! - * Estimate a secondary motion model starting from the specified transformation. - * \param H the primary motion model to start from - */ - void EstimateSecondaryModel(double H[9]); - - /*! - * - */ - void SelectOutliers(); - - char *profile_string; - -protected: - void Clean(); - void GenerateQuarterResImage(const unsigned char* const * im); - - int m_im_width; - int m_im_height; - - // RANSAC and refinement parameters: - int m_homography_type; - int m_max_iterations; - double m_scale; - int m_nr_samples; - int m_chunk_size; - double m_outlier_t2; - - // Whether to fit a linear model to just the inliers at the end - bool m_linear_polish; - double m_polish_C[36]; - double m_polish_D[6]; - - // local state - bool m_current_is_reference; - bool m_initialized; - - // inspection to reference homography: - double m_H_ref_to_ins[9]; - double m_H_dref_to_ref[9]; - - // feature extraction and matching: - db_CornerDetector_u m_cd; - db_Matcher_u m_cm; - - // length of corner arrays: - unsigned long m_max_nr_corners; - - // corner locations of reference image features: - double * m_x_corners_ref; - double * m_y_corners_ref; - int m_nr_corners_ref; - - // corner locations of inspection image features: - double * m_x_corners_ins; - double * m_y_corners_ins; - int m_nr_corners_ins; - - // length of match index arrays: - unsigned long m_max_nr_matches; - - // match indices: - int * m_match_index_ref; - int * m_match_index_ins; - int m_nr_matches; - - // pointer to internal copy of the reference image: - unsigned char ** m_reference_image; - - // pointer to internal copy of last aligned inspection image: - unsigned char ** m_aligned_ins_image; - - // pointer to quarter resolution image, if used. - unsigned char** m_quarter_res_image; - - // temporary storage for the quarter resolution image processing - unsigned char** m_horz_smooth_subsample_image; - - // temporary space for homography computation: - double * m_temp_double; - int * m_temp_int; - - // homogenous image point arrays: - double * m_corners_ref; - double * m_corners_ins; - - // Indices of the points within the match lists - int * m_inlier_indices; - int m_num_inlier_indices; - - //void ComputeInliers(double H[9], std::vector<int> &inlier_indices); - void ComputeInliers(double H[9]); - - // cost arrays: - void ComputeCostArray(); - bool m_sq_cost_computed; - double * m_sq_cost; - - // cost histogram: - void ComputeCostHistogram(); - int *m_cost_histogram; - - void SetOutlierThreshold(); - - // utility function for smoothing the motion parameters. - void SmoothMotion(void); - -private: - double m_K[9]; - const int m_over_allocation; - - bool m_reference_set; - - // Maximum number of inliers seen until now w.r.t the current reference frame - int m_max_inlier_count; - - // Number of cost histogram bins: - int m_nr_bins; - // All costs above this threshold get put into the last bin: - int m_max_cost_pix; - - // whether to quarter the image resolution for processing, or not - bool m_quarter_resolution; - - // the period (in number of frames) for reference update. - unsigned int m_reference_update_period; - - // the number of frames processed so far. - unsigned int m_nr_frames_processed; - - // smoother for motion transformations - db_StabilizationSmoother m_stab_smoother; - - // boolean to control whether motion smoothing occurs (or not) - bool m_do_motion_smoothing; - - // double to set the gain for motion smoothing - double m_motion_smoothing_gain; -}; -/*! - Create look-up tables to undistort images. Only Bougeut (Matlab toolkit) - is currently supported. Can be used with db_WarpImageLut_u(). - \code - xd = H*xs; - xd = xd/xd(3); - \endcode - \param lut_x pre-allocated float image - \param lut_y pre-allocated float image - \param w width - \param h height - \param H image homography from source to destination - */ -inline void db_GenerateHomographyLut(float ** lut_x,float ** lut_y,int w,int h,const double H[9]) -{ - assert(lut_x && lut_y); - double x[3] = {0.0,0.0,1.0}; - double xb[3]; - -/* - double xl[3]; - - // Determine the output coordinate system ROI - double Hinv[9]; - db_InvertAffineTransform(Hinv,H); - db_Multiply3x3_3x1(xl, Hinv, x); - xl[0] = db_SafeDivision(xl[0],xl[2]); - xl[1] = db_SafeDivision(xl[1],xl[2]); -*/ - - for ( int i = 0; i < w; ++i ) - for ( int j = 0; j < h; ++j ) - { - x[0] = double(i); - x[1] = double(j); - db_Multiply3x3_3x1(xb, H, x); - xb[0] = db_SafeDivision(xb[0],xb[2]); - xb[1] = db_SafeDivision(xb[1],xb[2]); - - lut_x[j][i] = float(xb[0]); - lut_y[j][i] = float(xb[1]); - } -} - -/*! - * Perform a look-up table warp for packed RGB ([rgbrgbrgb...]) images. - * 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 (w*3 by h) - * \param dst destination image (w*3 by h) - * \param w width - * \param h height - * \param lut_x LUT for x - * \param lut_y LUT for y - */ -inline void db_WarpImageLutFast_rgb(const unsigned char * const * src, unsigned char ** dst, int w, int h, - const float * const * lut_x, const float * const * lut_y) -{ - assert(src && dst); - int xd=0, yd=0; - - for ( int i = 0; i < w; ++i ) - for ( int j = 0; j < h; ++j ) - { - xd = static_cast<unsigned int>(lut_x[j][i]); - yd = static_cast<unsigned int>(lut_y[j][i]); - if ( xd >= w || yd >= h || - xd < 0 || yd < 0) - { - dst[j][3*i ] = 0; - dst[j][3*i+1] = 0; - dst[j][3*i+2] = 0; - } - else - { - dst[j][3*i ] = src[yd][3*xd ]; - dst[j][3*i+1] = src[yd][3*xd+1]; - dst[j][3*i+2] = src[yd][3*xd+2]; - } - } -} - -inline unsigned char db_BilinearInterpolationRGB(double y, double x, const unsigned char * const * v, int offset) -{ - 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][3*floor_x+offset]; - unsigned char f01 = v[floor_y][3*ceil_x+offset]; - unsigned char f10 = v[ceil_y][3*floor_x+offset]; - unsigned char f11 = v[ceil_y][3*ceil_x+offset]; - - 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); -} - -inline void db_WarpImageLutBilinear_rgb(const unsigned char * const * src, unsigned char ** dst, int w, int h, - const float * const * lut_x, const float * const * lut_y) -{ - assert(src && dst); - double xd=0.0, yd=0.0; - - for ( int i = 0; i < w; ++i ) - for ( int j = 0; j < h; ++j ) - { - xd = static_cast<double>(lut_x[j][i]); - yd = static_cast<double>(lut_y[j][i]); - if ( xd > w-2 || yd > h-2 || - xd < 0.0 || yd < 0.0) - { - dst[j][3*i ] = 0; - dst[j][3*i+1] = 0; - dst[j][3*i+2] = 0; - } - else - { - dst[j][3*i ] = db_BilinearInterpolationRGB(yd,xd,src,0); - dst[j][3*i+1] = db_BilinearInterpolationRGB(yd,xd,src,1); - dst[j][3*i+2] = db_BilinearInterpolationRGB(yd,xd,src,2); - } - } -} - -inline double SquaredInhomogenousHomographyError(double y[3],double H[9],double x[3]){ - double x0,x1,x2,mult; - double sd; - - x0=H[0]*x[0]+H[1]*x[1]+H[2]; - x1=H[3]*x[0]+H[4]*x[1]+H[5]; - x2=H[6]*x[0]+H[7]*x[1]+H[8]; - mult=1.0/((x2!=0.0)?x2:1.0); - sd=(y[0]-x0*mult)*(y[0]-x0*mult)+(y[1]-x1*mult)*(y[1]-x1*mult); - - return(sd); -} - - -// functions related to profiling -#if PROFILE - -/* return current time in milliseconds */ -static double -now_ms(void) -{ - //struct timespec res; - struct timeval res; - //clock_gettime(CLOCK_REALTIME, &res); - gettimeofday(&res, NULL); - return 1000.0*res.tv_sec + (double)res.tv_usec/1e3; -} - -#endif diff --git a/jni/feature_stab/src/dbreg/dbstabsmooth.cpp b/jni/feature_stab/src/dbreg/dbstabsmooth.cpp deleted file mode 100644 index dffff8ab1..000000000 --- a/jni/feature_stab/src/dbreg/dbstabsmooth.cpp +++ /dev/null @@ -1,330 +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. - */ - -#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; -} - diff --git a/jni/feature_stab/src/dbreg/dbstabsmooth.h b/jni/feature_stab/src/dbreg/dbstabsmooth.h deleted file mode 100644 index f03546ef6..000000000 --- a/jni/feature_stab/src/dbreg/dbstabsmooth.h +++ /dev/null @@ -1,157 +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. - */ - -#pragma once - - -#ifdef _WIN32 -#ifdef DBREG_EXPORTS -#define DBREG_API __declspec(dllexport) -#else -#define DBREG_API __declspec(dllimport) -#endif -#else -#define DBREG_API -#endif - -extern "C" { -#include "vp_motionmodel.h" -} - -#define MOTION_ARRAY 5 - - -/*! - * Performs smoothing on the motion estimate from feature_stab. - */ -class DBREG_API db_StabilizationSmoother -{ -public: - db_StabilizationSmoother(); - ~db_StabilizationSmoother(); - - /*! - * Initialize parameters for stab-smoother. - */ - void Init(); - - //! Smothing type - typedef enum { - SimpleSmooth = 0, //!< simple smooth - AdaptSmooth = 1, //!< adaptive smooth - PanSmooth = 2 //!< pan motion smooth - } SmoothType; - - /*! - * Smooth-motion is to do a weight-average between the current affine and - * motLF. The way to change the affine is only for the display purpose. - * It removes the high frequency motion and keep the low frequency motion - * to the display. IIR implmentation. - * \param inmot input motion parameters - * \param outmot smoothed output motion parameters - */ - bool smoothMotion(VP_MOTION *inmot, VP_MOTION *outmot); - - /*! - * The adaptive smoothing version of the above fixed smoothing function. - * \param hsize width of the image being aligned - * \param vsize height of the image being aligned - * \param inmot input motion parameters - * \param outmot smoothed output motion parameters - */ - bool smoothMotionAdaptive(/*VP_BIMG *bimg,*/int hsize, int vsize, VP_MOTION *inmot, VP_MOTION *outmot); - bool smoothPanMotion_1(VP_MOTION *inmot, VP_MOTION *outmot); - bool smoothPanMotion_2(VP_MOTION *inmot, VP_MOTION *outmot); - - /*! - * Set the smoothing factor for the stab-smoother. - * \param factor the factor value to set - */ - inline void setSmoothingFactor(float factor) { f_smoothFactor = factor; } - - /*! - * Reset smoothing - */ - inline void resetSmoothing(bool flag) { f_smoothReset = flag; } - /*! - * Set the zoom factor value. - * \param zoom the value to set to - */ - inline void setZoomFactor(float zoom) { f_zoom = zoom; } - /*! - * Set the minimum damping factor value. - * \param factor the value to set to - */ - inline void setminDampingFactor(float factor) { f_minDampingFactor = factor; } - - /*! - * Returns the current smoothing factor. - */ - inline float getSmoothingFactor(void) { return f_smoothFactor; } - /*! - * Returns the current zoom factor. - */ - inline float getZoomFactor(void) { return f_zoom; } - /*! - * Returns the current minimum damping factor. - */ - inline float getminDampingFactor(void) { return f_minDampingFactor; } - /*! - * Returns the current state of the smoothing reset flag. - */ - inline bool getSmoothReset(void) { return f_smoothReset; } - /*! - * Returns the current low frequency motion parameters. - */ - inline VP_MOTION getMotLF(void) { return f_motLF; } - /*! - * Returns the inverse of the current low frequency motion parameters. - */ - inline VP_MOTION getImotLF(void) { return f_imotLF; } - /*! - * Set the dimensions of the alignment image. - * \param hsize width of the image - * \param vsize height of the image - */ - inline void setSize(int hsize, int vsize) { f_hsize = hsize; f_vsize = vsize; } - -protected: - - bool smoothMotion(VP_MOTION *inmot, VP_MOTION *outmot, double smooth_factor); - bool smoothMotion1(VP_MOTION *inmot, VP_MOTION *outmot, VP_MOTION *motLF, VP_MOTION *imotLF, double smooth_factor); - void iterativeSmooth(VP_MOTION *input, VP_MOTION *output, double border_factor); - bool is_point_in_rect(double px, double py, double rx, double ry, double w, double h); - - -private: - int f_hsize; - int f_vsize; - bool f_smoothOn; - bool f_smoothReset; - float f_smoothFactor; - float f_minDampingFactor; - float f_zoom; - VP_MOTION f_motLF; - VP_MOTION f_imotLF; - VP_MOTION f_hist_mot[MOTION_ARRAY]; - VP_MOTION f_hist_mot_speed[MOTION_ARRAY-1]; - VP_MOTION f_hist_diff_mot[MOTION_ARRAY-1]; - VP_MOTION f_disp_mot; - VP_MOTION f_src_mot; - VP_MOTION f_diff_avg; - -}; - diff --git a/jni/feature_stab/src/dbreg/targetver.h b/jni/feature_stab/src/dbreg/targetver.h deleted file mode 100644 index 3ca3e8792..000000000 --- a/jni/feature_stab/src/dbreg/targetver.h +++ /dev/null @@ -1,40 +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. - */ - -#pragma once - -// The following macros define the minimum required platform. The minimum required platform -// is the earliest version of Windows, Internet Explorer etc. that has the necessary features to run -// your application. The macros work by enabling all features available on platform versions up to and -// including the version specified. - -// Modify the following defines if you have to target a platform prior to the ones specified below. -// Refer to MSDN for the latest info on corresponding values for different platforms. -#ifndef WINVER // Specifies that the minimum required platform is Windows Vista. -#define WINVER 0x0600 // Change this to the appropriate value to target other versions of Windows. -#endif - -#ifndef _WIN32_WINNT // Specifies that the minimum required platform is Windows Vista. -#define _WIN32_WINNT 0x0600 // Change this to the appropriate value to target other versions of Windows. -#endif - -#ifndef _WIN32_WINDOWS // Specifies that the minimum required platform is Windows 98. -#define _WIN32_WINDOWS 0x0410 // Change this to the appropriate value to target Windows Me or later. -#endif - -#ifndef _WIN32_IE // Specifies that the minimum required platform is Internet Explorer 7.0. -#define _WIN32_IE 0x0700 // Change this to the appropriate value to target other versions of IE. -#endif diff --git a/jni/feature_stab/src/dbreg/vp_motionmodel.c b/jni/feature_stab/src/dbreg/vp_motionmodel.c deleted file mode 100644 index 1f6af15bd..000000000 --- a/jni/feature_stab/src/dbreg/vp_motionmodel.c +++ /dev/null @@ -1,377 +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. - */ - -/* -#sourcefile vpmotion/vp_motionmodel.c -#category motion-model -* -* Copyright 1998 Sarnoff Corporation -* All Rights Reserved -* -* Modification History -* Date: 02/14/98 -* Author: supuns -* Shop Order: 17xxx -* @(#) $Id: vp_motionmodel.c,v 1.4 2011/06/17 14:04:33 mbansal Exp $ -*/ - -/* -* =================================================================== -* Include Files -*/ - -#include <string.h> /* memmove */ -#include <math.h> -#include "vp_motionmodel.h" - -/* Static Functions */ -static -double Det3(double m[3][3]) -{ - double result; - - result = - m[0][0]*m[1][1]*m[2][2] + m[0][1]*m[1][2]*m[2][0] + - m[0][2]*m[1][0]*m[2][1] - m[0][2]*m[1][1]*m[2][0] - - m[0][0]*m[1][2]*m[2][1] - m[0][1]*m[1][0]*m[2][2]; - - return(result); -} - -typedef double MATRIX[4][4]; - -static -double Det4(MATRIX m) -{ - /* ==> This is a poor implementation of determinant. - Writing the formula out in closed form is unnecessarily complicated - and mistakes are easy to make. */ - double result; - - result= - m[0][3] *m[1][2] *m[2][1] *m[3][0] - m[0][2] *m[1][3] *m[2][1] *m[3][0] - m[0][3] *m[1][1] *m[2][2] *m[3][0] + - m[0][1] *m[1][3] *m[2][2] *m[3][0] + m[0][2] *m[1][1] *m[2][3] *m[3][0] - m[0][1] *m[1][2] *m[2][3] *m[3][0] - m[0][3] *m[1][2] *m[2][0] *m[3][1] + - m[0][2] *m[1][3] *m[2][0] *m[3][1] + m[0][3] *m[1][0] *m[2][2] *m[3][1] - m[0][0] *m[1][3] *m[2][2] *m[3][1] - m[0][2] *m[1][0] *m[2][3] *m[3][1] + - m[0][0] *m[1][2] *m[2][3] *m[3][1] + m[0][3] *m[1][1] *m[2][0] *m[3][2] - m[0][1] *m[1][3] *m[2][0] *m[3][2] - m[0][3] *m[1][0] *m[2][1] *m[3][2] + - m[0][0] *m[1][3] *m[2][1] *m[3][2] + m[0][1] *m[1][0] *m[2][3] *m[3][2] - m[0][0] *m[1][1] *m[2][3] *m[3][2] - m[0][2] *m[1][1] *m[2][0] *m[3][3] + - m[0][1] *m[1][2] *m[2][0] *m[3][3] + m[0][2] *m[1][0] *m[2][1] *m[3][3] - m[0][0] *m[1][2] *m[2][1] *m[3][3] - m[0][1] *m[1][0] *m[2][2] *m[3][3] + - m[0][0] *m[1][1] *m[2][2] *m[3][3]; - /* - m[0][0]*m[1][1]*m[2][2]*m[3][3]-m[0][1]*m[1][0]*m[2][2]*m[3][3]+ - m[0][1]*m[1][2]*m[2][0]*m[3][3]-m[0][2]*m[1][1]*m[2][0]*m[3][3]+ - m[0][2]*m[1][0]*m[2][1]*m[3][3]-m[0][0]*m[1][2]*m[2][1]*m[3][3]+ - m[0][0]*m[1][2]*m[2][3]*m[3][1]-m[0][2]*m[1][0]*m[2][3]*m[3][1]+ - m[0][2]*m[1][3]*m[2][0]*m[3][1]-m[0][3]*m[1][2]*m[2][0]*m[3][1]+ - m[0][3]*m[1][0]*m[2][2]*m[3][1]-m[0][0]*m[1][3]*m[2][2]*m[3][1]+ - m[0][0]*m[1][3]*m[2][1]*m[3][2]-m[0][3]*m[1][0]*m[2][3]*m[3][2]+ - m[0][1]*m[1][0]*m[2][3]*m[3][2]-m[0][0]*m[1][1]*m[2][0]*m[3][2]+ - m[0][3]*m[1][1]*m[2][0]*m[3][2]-m[0][1]*m[1][3]*m[2][1]*m[3][2]+ - m[0][1]*m[1][3]*m[2][2]*m[3][0]-m[0][3]*m[1][1]*m[2][2]*m[3][0]+ - m[0][2]*m[1][1]*m[2][3]*m[3][0]-m[0][1]*m[1][2]*m[2][3]*m[3][0]+ - m[0][3]*m[1][2]*m[2][1]*m[3][0]-m[0][2]*m[1][3]*m[2][1]*m[3][0]; - */ - return(result); -} - -static -int inv4Mat(const VP_MOTION* in, VP_MOTION* out) -{ - /* ==> This is a poor implementation of inversion. The determinant - method is O(N^4), i.e. unnecessarily slow, and not numerically accurate. - The real complexity of inversion is O(N^3), and is best done using - LU decomposition. */ - - MATRIX inmat,outmat; - int i, j, k, l, m, n,ntemp; - double mat[3][3], indet, temp; - - /* check for non-empty structures structure */ - if (((VP_MOTION *) NULL == in) || ((VP_MOTION *) NULL == out)) { - return 1; - } - - for(k=0,i=0;i<4;i++) - for(j=0;j<4;j++,k++) - inmat[i][j]=(double)in->par[k]; - - indet = Det4(inmat); - if (indet==0) return(-1); - - for (i=0;i<4;i++) { - for (j=0;j<4;j++) { - m = 0; - for (k=0;k<4;k++) { - if (i != k) { - n = 0; - for (l=0;l<4;l++) - if (j != l) { - mat[m][n] = inmat[k][l]; - n++; - } - m++; - } - } - - temp = -1.; - ntemp = (i +j ) %2; - if( ntemp == 0) temp = 1.; - - outmat[j][i] = temp * Det3(mat)/indet; - } - } - - for(k=0,i=0;i<4;i++) - for(j=0;j<4;j++,k++) - out->par[k]=(VP_PAR)outmat[i][j]; /*lint !e771*/ - - return(0); -} - -/* -* =================================================================== -* Public Functions -#htmlstart -*/ - -/* - * =================================================================== -#fn vp_invert_motion -#ft invert a motion -#fd DEFINITION - Bool - vp_invert_motion(const VP_MOTION* in,VP_MOTION* out) -#fd PURPOSE - This inverts the motion given in 'in'. - All motion models upto VP_MOTION_SEMI_PROJ_3D are supported. - It is assumed that the all 16 parameters are properly - initialized although you may not be using them. You could - use the VP_KEEP_ macro's defined in vp_motionmodel.h to set - the un-initialized parameters. This uses a 4x4 matrix invertion - function internally. - It is SAFE to pass the same pointer as both the 'in' and 'out' - parameters. -#fd INPUTS - in - input motion -#fd OUTPUTS - out - output inverted motion. If singular matrix uninitialized. - if MWW(in) is non-zero it is also normalized. -#fd RETURNS - FALSE - matrix is singular or motion model not supported - TRUE - otherwise -#fd SIDE EFFECTS - None -#endfn -*/ - -int vp_invert_motion(const VP_MOTION* in,VP_MOTION* out) -{ - int refid; - - /* check for non-empty structures structure */ - if (((VP_MOTION *) NULL == in) || ((VP_MOTION *) NULL == out)) { - return FALSE; - } - - if (in->type>VP_MOTION_SEMI_PROJ_3D) { - return FALSE; - } - - if (inv4Mat(in,out)<0) - return FALSE; - - /*VP_NORMALIZE(*out);*/ - out->type = in->type; - refid=in->refid; - out->refid=in->insid; - out->insid=refid; - return TRUE; -} - -/* -* =================================================================== -#fn vp_cascade_motion -#ft Cascade two motion transforms -#fd DEFINITION - Bool - vp_cascade_motion(const VP_MOTION* InAB,const VP_MOTION* InBC,VP_MOTION* OutAC) -#fd PURPOSE - Given Motion Transforms A->B and B->C, this function will - generate a New Motion that describes the transformation - from A->C. - More specifically, OutAC = InBC * InAC. - This function works ok if InAB,InBC and OutAC are the same pointer. -#fd INPUTS - InAB - First Motion Transform - InBC - Second Motion Tranform -#fd OUTPUTS - OutAC - Cascaded Motion -#fd RETURNS - FALSE - motion model not supported - TRUE - otherwise -#fd SIDE EFFECTS - None -#endfn -*/ - -int vp_cascade_motion(const VP_MOTION* InA, const VP_MOTION* InB,VP_MOTION* Out) -{ - /* ==> This is a poor implementation of matrix multiplication. - Writing the formula out in closed form is unnecessarily complicated - and mistakes are easy to make. */ - VP_PAR mxx,mxy,mxz,mxw; - VP_PAR myx,myy,myz,myw; - VP_PAR mzx,mzy,mzz,mzw; - VP_PAR mwx,mwy,mwz,mww; - - /* check for non-empty structures structure */ - if (((VP_MOTION *) NULL == InA) || ((VP_MOTION *) NULL == InB) || - ((VP_MOTION *) NULL == Out)) { - return FALSE; - } - - if (InA->type>VP_MOTION_PROJ_3D) { - return FALSE; - } - - if (InB->type>VP_MOTION_PROJ_3D) { - return FALSE; - } - - mxx = MXX(*InB)*MXX(*InA)+MXY(*InB)*MYX(*InA)+MXZ(*InB)*MZX(*InA)+MXW(*InB)*MWX(*InA); - mxy = MXX(*InB)*MXY(*InA)+MXY(*InB)*MYY(*InA)+MXZ(*InB)*MZY(*InA)+MXW(*InB)*MWY(*InA); - mxz = MXX(*InB)*MXZ(*InA)+MXY(*InB)*MYZ(*InA)+MXZ(*InB)*MZZ(*InA)+MXW(*InB)*MWZ(*InA); - mxw = MXX(*InB)*MXW(*InA)+MXY(*InB)*MYW(*InA)+MXZ(*InB)*MZW(*InA)+MXW(*InB)*MWW(*InA); - myx = MYX(*InB)*MXX(*InA)+MYY(*InB)*MYX(*InA)+MYZ(*InB)*MZX(*InA)+MYW(*InB)*MWX(*InA); - myy = MYX(*InB)*MXY(*InA)+MYY(*InB)*MYY(*InA)+MYZ(*InB)*MZY(*InA)+MYW(*InB)*MWY(*InA); - myz = MYX(*InB)*MXZ(*InA)+MYY(*InB)*MYZ(*InA)+MYZ(*InB)*MZZ(*InA)+MYW(*InB)*MWZ(*InA); - myw = MYX(*InB)*MXW(*InA)+MYY(*InB)*MYW(*InA)+MYZ(*InB)*MZW(*InA)+MYW(*InB)*MWW(*InA); - mzx = MZX(*InB)*MXX(*InA)+MZY(*InB)*MYX(*InA)+MZZ(*InB)*MZX(*InA)+MZW(*InB)*MWX(*InA); - mzy = MZX(*InB)*MXY(*InA)+MZY(*InB)*MYY(*InA)+MZZ(*InB)*MZY(*InA)+MZW(*InB)*MWY(*InA); - mzz = MZX(*InB)*MXZ(*InA)+MZY(*InB)*MYZ(*InA)+MZZ(*InB)*MZZ(*InA)+MZW(*InB)*MWZ(*InA); - mzw = MZX(*InB)*MXW(*InA)+MZY(*InB)*MYW(*InA)+MZZ(*InB)*MZW(*InA)+MZW(*InB)*MWW(*InA); - mwx = MWX(*InB)*MXX(*InA)+MWY(*InB)*MYX(*InA)+MWZ(*InB)*MZX(*InA)+MWW(*InB)*MWX(*InA); - mwy = MWX(*InB)*MXY(*InA)+MWY(*InB)*MYY(*InA)+MWZ(*InB)*MZY(*InA)+MWW(*InB)*MWY(*InA); - mwz = MWX(*InB)*MXZ(*InA)+MWY(*InB)*MYZ(*InA)+MWZ(*InB)*MZZ(*InA)+MWW(*InB)*MWZ(*InA); - mww = MWX(*InB)*MXW(*InA)+MWY(*InB)*MYW(*InA)+MWZ(*InB)*MZW(*InA)+MWW(*InB)*MWW(*InA); - - MXX(*Out)=mxx; MXY(*Out)=mxy; MXZ(*Out)=mxz; MXW(*Out)=mxw; - MYX(*Out)=myx; MYY(*Out)=myy; MYZ(*Out)=myz; MYW(*Out)=myw; - MZX(*Out)=mzx; MZY(*Out)=mzy; MZZ(*Out)=mzz; MZW(*Out)=mzw; - MWX(*Out)=mwx; MWY(*Out)=mwy; MWZ(*Out)=mwz; MWW(*Out)=mww; - /* VP_NORMALIZE(*Out); */ - Out->type= (InA->type > InB->type) ? InA->type : InB->type; - Out->refid=InA->refid; - Out->insid=InB->insid; - - return TRUE; -} - -/* -* =================================================================== -#fn vp_copy_motion -#ft Copies the source motion to the destination motion. -#fd DEFINITION - void - vp_copy_motion (const VP_MOTION *src, VP_MOTION *dst) -#fd PURPOSE - Copies the source motion to the destination motion. - It is OK if src == dst. - NOTE THAT THE SOURCE IS THE FIRST ARGUMENT. - This is different from some of the other VP - copy functions. -#fd INPUTS - src is the source motion - dst is the destination motion -#fd RETURNS - void -#endfn -*/ -void vp_copy_motion (const VP_MOTION *src, VP_MOTION *dst) -{ - /* Use memmove rather than memcpy because it handles overlapping memory - OK. */ - memmove(dst, src, sizeof(VP_MOTION)); - return; -} /* vp_copy_motion() */ - -#define VP_SQR(x) ( (x)*(x) ) -double vp_motion_cornerdiff(const VP_MOTION *mot_a, const VP_MOTION *mot_b, - int xo, int yo, int w, int h) -{ - double ax1, ay1, ax2, ay2, ax3, ay3, ax4, ay4; - double bx1, by1, bx2, by2, bx3, by3, bx4, by4; - double err; - - /*lint -e639 -e632 -e633 */ - VP_WARP_POINT_2D(xo, yo, *mot_a, ax1, ay1); - VP_WARP_POINT_2D(xo+w-1, yo, *mot_a, ax2, ay2); - VP_WARP_POINT_2D(xo+w-1, yo+h-1, *mot_a, ax3, ay3); - VP_WARP_POINT_2D(xo, yo+h-1, *mot_a, ax4, ay4); - VP_WARP_POINT_2D(xo, yo, *mot_b, bx1, by1); - VP_WARP_POINT_2D(xo+w-1, yo, *mot_b, bx2, by2); - VP_WARP_POINT_2D(xo+w-1, yo+h-1, *mot_b, bx3, by3); - VP_WARP_POINT_2D(xo, yo+h-1, *mot_b, bx4, by4); - /*lint +e639 +e632 +e633 */ - - err = 0; - err += (VP_SQR(ax1 - bx1) + VP_SQR(ay1 - by1)); - err += (VP_SQR(ax2 - bx2) + VP_SQR(ay2 - by2)); - err += (VP_SQR(ax3 - bx3) + VP_SQR(ay3 - by3)); - err += (VP_SQR(ax4 - bx4) + VP_SQR(ay4 - by4)); - - return(sqrt(err)); -} - -int vp_zoom_motion2d(VP_MOTION* in, VP_MOTION* out, - int n, int w, int h, double zoom) -{ - int ii; - VP_PAR inv_zoom; - VP_PAR cx, cy; - VP_MOTION R2r,R2f; - VP_MOTION *res; - - /* check for non-empty structures structure */ - if (((VP_MOTION *) NULL == in)||(zoom <= 0.0)||(w <= 0)||(h <= 0)) { - return FALSE; - } - - /* ==> Not sure why the special case of out=NULL is necessary. Why couldn't - the caller just pass the same pointer for both in and out? */ - res = ((VP_MOTION *) NULL == out)?in:out; - - cx = (VP_PAR) (w/2.0); - cy = (VP_PAR) (h/2.0); - - VP_MOTION_ID(R2r); - inv_zoom = (VP_PAR)(1.0/zoom); - MXX(R2r) = inv_zoom; - MYY(R2r) = inv_zoom; - MXW(R2r)=cx*(((VP_PAR)1.0) - inv_zoom); - MYW(R2r)=cy*(((VP_PAR)1.0) - inv_zoom); - - VP_KEEP_AFFINE_2D(R2r); - - for(ii=0;ii<n;ii++) { - (void) vp_cascade_motion(&R2r,in+ii,&R2f); - res[ii]=R2f; - } - - return TRUE; -} /* vp_zoom_motion2d() */ - -/* =================================================================== */ -/* end vp_motionmodel.c */ diff --git a/jni/feature_stab/src/dbreg/vp_motionmodel.h b/jni/feature_stab/src/dbreg/vp_motionmodel.h deleted file mode 100644 index a63ac0010..000000000 --- a/jni/feature_stab/src/dbreg/vp_motionmodel.h +++ /dev/null @@ -1,282 +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. - */ - -/* -#sourcefile vp_motionmodel.h -#category warp -#description general motion model for tranlation/affine/projective -#title motion-model -#parentlink hindex.html -* -* Copyright 1998 Sarnoff Corporation -* All Rights Reserved -* -* Modification History -* Date: 02/13/98 -* Author: supuns -* Shop Order: 15491 001 -* @(#) $Id: vp_motionmodel.h,v 1.4 2011/06/17 14:04:33 mbansal Exp $ -*/ - -#ifndef VP_MOTIONMODEL_H -#define VP_MOTIONMODEL_H -#include <stdio.h> - -#define FALSE 0 -#define TRUE 1 - -#if 0 /* Moved mottomat.c and mattomot_d.c from vpmotion.h to vpcompat.h - in order to remove otherwise unnecessary dependency of vpmotion, - vpwarp, and newvpio on vpmath */ -#ifndef VPMATH_H -#include "vpmath.h" -#endif -#endif - -#if 0 -#ifndef VP_WARP_H -#include "vp_warp.h" -#endif -#endif -/* - -#htmlstart -# =================================================================== -#h 1 Introduction - - This defines a motion model that can describe translation, - affine, and projective projective 3d and 3d view transforms. - - The main structure VP_MOTION contains a 16 parameter array (That - can be considered as elements of a 4x4 matrix) and a type field - which can be one of VP_MOTION_NONE,VP_MOTION_TRANSLATION, - VP_MOTION_AFFINE, VP_MOTION_PROJECTIVE,VP_MOTION_PROJ_3D or - VP_MOTION_VIEW_3D. (These are defined using enums with gaps of 10 - so that subsets of these motions that are still consistant can be - added in between. Motion models that are inconsistant with this set - should be added at the end so the routines can hadle them - independently. - - The transformation VP_MOTION_NONE,VP_MOTION_TRANSLATION, - VP_MOTION_AFFINE, VP_MOTION_PROJECTIVE, VP_MOTION_PROJ_3D and - VP_MOTION_SEMI_PROJ_3D would map a point P={x,y,z,w} to a new point - P'={x',y',z',w'} using a motion model M such that P'= M.par * P. - Where M.par is thought of as elements of a 4x4 matrix ordered row - by row. The interpretation of all models except VP_MOTION_SEMI_PROJ_3D - is taken to be mapping of a 3d point P"={x",y",z"} which is obtained - from the normalization {x'/w',y'/w',z'/w'}. In the VP_MOTION_SEMI_PROJ_3D - the mapping to a point P"={x",y",z"} is obtained from the normalization - {x'/w',y'/w',z'}. All these motion models have the property that they - can be inverted using 4x4 matrices. Except for the VP_MOTION_SEMI_PROJ_3D all - other types can also be cascaded using 4x4 matrices. - - Specific macros and functions have been provided to handle 2d instances - of these functions. As the parameter interpretations can change when adding - new motion models it is HIGHLY RECOMMENDED that you use the macros MXX,MXY.. - ect. to interpret each motion component. -#pre -*/ - -/* -#endpre -# =================================================================== -#h 1 Typedef and Struct Declarations -#pre -*/ - -#define VP_MAX_MOTION_PAR 16 - -typedef double VP_PAR; -typedef VP_PAR VP_TRS[VP_MAX_MOTION_PAR]; - -/* Do not add any motion models before VP_MOTION_PROJECTIVE */ -/* The order is assumed in vp functions */ -enum VP_MOTION_MODEL { - VP_MOTION_NONE=0, - VP_MOTION_TRANSLATION=10, - VP_MOTION_SCALE=11, - VP_MOTION_ROTATE=12, - VP_MOTION_X_SHEAR=13, - VP_MOTION_Y_SHEAR=14, - VP_MOTION_SIMILARITY=15, - VP_MOTION_AFFINE=20, - VP_MOTION_PROJECTIVE=30, - VP_MOTION_PROJ_3D=40, - VP_MOTION_SEMI_PROJ_3D=80, - VP_SIMILARITY=100, - VP_VFE_AFFINE=120 -}; - -#define VP_REFID -1 /* Default ID used for reference frame */ - -typedef struct { - VP_TRS par; /* Contains the motion paramerers. - For the standard motion types this is - represented as 16 number that refer - to a 4x4 matrix */ - enum VP_MOTION_MODEL type; - int refid; /* Reference frame ( takes a point in refid frame - and moves it by the par to get a point in insid - frame ) */ - int insid; /* Inspection frame */ -} VP_MOTION; - -//typedef VP_LIST VP_MOTION_LIST; -/* -#endpre -# =================================================================== -#h 1 Constant Declarations -*/ - -/* Macros related to the 4x4 matrix parameters */ -#define MXX(m) (m).par[0] -#define MXY(m) (m).par[1] -#define MXZ(m) (m).par[2] -#define MXW(m) (m).par[3] -#define MYX(m) (m).par[4] -#define MYY(m) (m).par[5] -#define MYZ(m) (m).par[6] -#define MYW(m) (m).par[7] -#define MZX(m) (m).par[8] -#define MZY(m) (m).par[9] -#define MZZ(m) (m).par[10] -#define MZW(m) (m).par[11] -#define MWX(m) (m).par[12] -#define MWY(m) (m).par[13] -#define MWZ(m) (m).par[14] -#define MWW(m) (m).par[15] - -/* The do {...} while (0) technique creates a statement that can be used legally - in an if-else statement. See "Swallowing the semicolon", - http://gcc.gnu.org/onlinedocs/gcc-2.95.3/cpp_1.html#SEC23 */ -/* Initialize the Motion to be Identity */ -#define VP_MOTION_ID(m) do {\ - MXX(m)=MYY(m)=MZZ(m)=MWW(m)=(VP_PAR)1.0; \ - MXY(m)=MXZ(m)=MXW(m)=(VP_PAR)0.0; \ - MYX(m)=MYZ(m)=MYW(m)=(VP_PAR)0.0; \ - MZX(m)=MZY(m)=MZW(m)=(VP_PAR)0.0; \ - MWX(m)=MWY(m)=MWZ(m)=(VP_PAR)0.0; \ -(m).type = VP_MOTION_TRANSLATION; } while (0) - -/* Initialize without altering the translation components */ -#define VP_KEEP_TRANSLATION_3D(m) do {\ - MXX(m)=MYY(m)=MZZ(m)=MWW(m)=(VP_PAR)1.0; \ - MXY(m)=MXZ(m)=(VP_PAR)0.0; \ - MYX(m)=MYZ(m)=(VP_PAR)0.0; \ - MZX(m)=MZY(m)=(VP_PAR)0.0; \ - MWX(m)=MWY(m)=MWZ(m)=(VP_PAR)0.0; \ - (m).type = VP_MOTION_PROJ_3D; } while (0) - -/* Initialize without altering the 2d translation components */ -#define VP_KEEP_TRANSLATION_2D(m) do {\ - VP_KEEP_TRANSLATION_3D(m); MZW(m)=(VP_PAR)0.0; (m).type= VP_MOTION_TRANSLATION;} while (0) - -/* Initialize without altering the affine & translation components */ -#define VP_KEEP_AFFINE_3D(m) do {\ - MWX(m)=MWY(m)=MWZ(m)=(VP_PAR)0.0; MWW(m)=(VP_PAR)1.0; \ - (m).type = VP_MOTION_PROJ_3D; } while (0) - -/* Initialize without altering the 2d affine & translation components */ -#define VP_KEEP_AFFINE_2D(m) do {\ - VP_KEEP_AFFINE_3D(m); \ - MXZ(m)=MYZ(m)=(VP_PAR)0.0; MZZ(m)=(VP_PAR)1.0; \ - MZX(m)=MZY(m)=MZW(m)=(VP_PAR)0.0; \ - (m).type = VP_MOTION_AFFINE; } while (0) - -/* Initialize without altering the 2d projective parameters */ -#define VP_KEEP_PROJECTIVE_2D(m) do {\ - MXZ(m)=MYZ(m)=(VP_PAR)0.0; MZZ(m)=(VP_PAR)1.0; \ - MZX(m)=MZY(m)=MZW(m)=MWZ(m)=(VP_PAR)0.0; \ - (m).type = VP_MOTION_PROJECTIVE; } while (0) - -/* Warp a 2d point (assuming the z component is zero) */ -#define VP_WARP_POINT_2D(inx,iny,m,outx,outy) do {\ - VP_PAR vpTmpWarpPnt___= MWX(m)*(inx)+MWY(m)*(iny)+MWW(m); \ - outx = (MXX(m)*((VP_PAR)inx)+MXY(m)*((VP_PAR)iny)+MXW(m))/vpTmpWarpPnt___; \ - outy = (MYX(m)*((VP_PAR)inx)+MYY(m)*((VP_PAR)iny)+MYW(m))/vpTmpWarpPnt___; } while (0) - -/* Warp a 3d point */ -#define VP_WARP_POINT_3D(inx,iny,inz,m,outx,outy,outz) do {\ - VP_PAR vpTmpWarpPnt___= MWX(m)*(inx)+MWY(m)*(iny)+MWZ(m)*((VP_PAR)inz)+MWW(m); \ - outx = (MXX(m)*((VP_PAR)inx)+MXY(m)*((VP_PAR)iny)+MXZ(m)*((VP_PAR)inz)+MXW(m))/vpTmpWarpPnt___; \ - outy = (MYX(m)*((VP_PAR)inx)+MYY(m)*((VP_PAR)iny)+MYZ(m)*((VP_PAR)inz)+MYW(m))/vpTmpWarpPnt___; \ - outz = MZX(m)*((VP_PAR)inx)+MZY(m)*((VP_PAR)iny)+MZZ(m)*((VP_PAR)inz)+MZW(m); \ - if ((m).type==VP_MOTION_PROJ_3D) outz/=vpTmpWarpPnt___; } while (0) - -/* Projections of each component */ -#define VP_PROJW_3D(m,x,y,z,f) ( MWX(m)*(x)+MWY(m)*(y)+MWZ(m)*(z)+MWW(m) ) -#define VP_PROJX_3D(m,x,y,z,f,w) ((MXX(m)*(x)+MXY(m)*(y)+MXZ(m)*(z)+MXW(m))/(w)) -#define VP_PROJY_3D(m,x,y,z,f,w) ((MYX(m)*(x)+MYY(m)*(y)+MYZ(m)*(z)+MYW(m))/(w)) -#define VP_PROJZ_3D(m,x,y,z,f,w) ((MZX(m)*(x)+MZY(m)*(y)+MZZ(m)*(z)+MZW(m))/(w)) - -/* Scale Down a matrix by Sfactor */ -#define VP_SCALEDOWN(m,Sfactor) do { \ - MXW(m) /= (VP_PAR)Sfactor; MWX(m) *= (VP_PAR)Sfactor; \ - MYW(m) /= (VP_PAR)Sfactor; MWY(m) *= (VP_PAR)Sfactor; \ - MZW(m) /= (VP_PAR)Sfactor; MWZ(m) *= (VP_PAR)Sfactor; } while (0) - -/* Scale Up a matrix by Sfactor */ -#define VP_SCALEUP(m,Sfactor) do { \ - MXW(m) *= (VP_PAR)Sfactor; MWX(m) /= (VP_PAR)Sfactor; \ - MYW(m) *= (VP_PAR)Sfactor; MWY(m) /= (VP_PAR)Sfactor; \ - MZW(m) *= (VP_PAR)Sfactor; MWZ(m) /= (VP_PAR)Sfactor; } while (0) - -/* Normalize the transformation matrix so that MWW is 1 */ -#define VP_NORMALIZE(m) if (MWW(m)!=(VP_PAR)0.0) do { \ - MXX(m)/=MWW(m); MXY(m)/=MWW(m); MXZ(m)/=MWW(m); MXW(m)/= MWW(m); \ - MYX(m)/=MWW(m); MYY(m)/=MWW(m); MYZ(m)/=MWW(m); MYW(m)/= MWW(m); \ - MZX(m)/=MWW(m); MZY(m)/=MWW(m); MZZ(m)/=MWW(m); MZW(m)/= MWW(m); \ - MWX(m)/=MWW(m); MWY(m)/=MWW(m); MWZ(m)/=MWW(m); MWW(m) = (VP_PAR)1.0; } while (0) - -#define VP_PRINT_TRANS(msg,b) do { \ - fprintf(stderr, \ - "%s\n%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n", \ - msg, \ - MXX(b),MXY(b),MXZ(b),MXW(b), \ - MYX(b),MYY(b),MYZ(b),MYW(b), \ - MZX(b),MZY(b),MZZ(b),MZW(b), \ - MWX(b),MWY(b),MWZ(b),MWW(b)); \ -} while (0) - -/* w' projection given a point x,y,0,f */ -#define VP_PROJZ(m,x,y,f) ( \ - MWX(m)*((VP_PAR)x)+MWY(m)*((VP_PAR)y)+MWW(m)*((VP_PAR)f)) - -/* X Projection given a point x,y,0,f and w' */ -#define VP_PROJX(m,x,y,w,f) (\ - (MXX(m)*((VP_PAR)x)+MXY(m)*((VP_PAR)y)+MXW(m)*((VP_PAR)f))/((VP_PAR)w)) - -/* Y Projection given a point x,y,0,f and the w' */ -#define VP_PROJY(m,x,y,w,f) (\ - (MYX(m)*((VP_PAR)x)+MYY(m)*((VP_PAR)y)+MYW(m)*((VP_PAR)f))/((VP_PAR)w)) - -/* Set the reference id for a motion */ -#define VP_SET_REFID(m,id) do { (m).refid=id; } while (0) - -/* Set the inspection id for a motion */ -#define VP_SET_INSID(m,id) do { (m).insid=id; } while (0) - -void vp_copy_motion (const VP_MOTION *src, VP_MOTION *dst); -int vp_invert_motion(const VP_MOTION* in,VP_MOTION* out); -int vp_cascade_motion(const VP_MOTION* InAB, const VP_MOTION* InBC,VP_MOTION* OutAC); -int vp_zoom_motion2d(VP_MOTION* in, VP_MOTION* out, - int n, int w, int h, double zoom); -double vp_motion_cornerdiff(const VP_MOTION *mot_a, const VP_MOTION *mot_b, - int xo, int yo, int w, int h); - -#endif /* VP_MOTIONMODEL_H */ -/* =================================================================== */ -/* end vp_motionmodel.h */ diff --git a/jni/feature_stab/src/dbregtest/PgmImage.cpp b/jni/feature_stab/src/dbregtest/PgmImage.cpp deleted file mode 100644 index 0891cfda6..000000000 --- a/jni/feature_stab/src/dbregtest/PgmImage.cpp +++ /dev/null @@ -1,260 +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. - */ - -#include "PgmImage.h" -#include <cassert> - -using namespace std; - -PgmImage::PgmImage(std::string filename) : -m_w(0),m_h(0),m_colors(255),m_format(PGM_BINARY_GRAYMAP),m_over_allocation(256) -{ - if ( !ReadPGM(filename) ) - return; -} - -PgmImage::PgmImage(int w, int h, int format) : -m_colors(255),m_w(w),m_h(h),m_format(format),m_over_allocation(256) -{ - SetFormat(format); -} - -PgmImage::PgmImage(unsigned char *data, int w, int h) : -m_colors(255),m_w(w),m_h(h),m_format(PGM_BINARY_GRAYMAP),m_over_allocation(256) -{ - SetData(data); -} - -PgmImage::PgmImage(std::vector<unsigned char> &data, int w, int h) : -m_colors(255),m_w(w),m_h(h),m_format(PGM_BINARY_GRAYMAP),m_over_allocation(256) -{ - if ( data.size() == w*h ) - SetData(&data[0]); - else - //throw (std::exception("Size of data is not w*h.")); - throw (std::exception()); -} - -PgmImage::PgmImage(const PgmImage &im) : -m_colors(255),m_w(0),m_h(0),m_format(PGM_BINARY_GRAYMAP),m_over_allocation(256) -{ - DeepCopy(im, *this); -} - -PgmImage& PgmImage::operator= (const PgmImage &im) -{ - if (this == &im) return *this; - DeepCopy(im, *this); - return *this; -} - -void PgmImage::DeepCopy(const PgmImage& src, PgmImage& dst) -{ - dst.m_data = src.m_data; - - // PGM data - dst.m_w = src.m_w; - dst.m_h = src.m_h; - dst.m_format = src.m_format; - dst.m_colors = src.m_colors; - - dst.m_comment = src.m_comment; - SetupRowPointers(); -} - -PgmImage::~PgmImage() -{ - -} - -void PgmImage::SetFormat(int format) -{ - m_format = format; - - switch (format) - { - case PGM_BINARY_GRAYMAP: - m_data.resize(m_w*m_h+m_over_allocation); - break; - case PGM_BINARY_PIXMAP: - m_data.resize(m_w*m_h*3+m_over_allocation); - break; - default: - return; - break; - } - SetupRowPointers(); -} - -void PgmImage::SetData(const unsigned char * data) -{ - m_data.resize(m_w*m_h+m_over_allocation); - memcpy(&m_data[0],data,m_w*m_h); - SetupRowPointers(); -} - -bool PgmImage::ReadPGM(const std::string filename) -{ - ifstream in(filename.c_str(),std::ios::in | std::ios::binary); - if ( !in.is_open() ) - return false; - - // read the header: - string format_header,size_header,colors_header; - - getline(in,format_header); - stringstream s; - s << format_header; - - s >> format_header >> m_w >> m_h >> m_colors; - s.clear(); - - if ( m_w == 0 ) - { - while ( in.peek() == '#' ) - getline(in,m_comment); - - getline(in,size_header); - - while ( in.peek() == '#' ) - getline(in,m_comment); - - m_colors = 0; - - // parse header - s << size_header; - s >> m_w >> m_h >> m_colors; - s.clear(); - - if ( m_colors == 0 ) - { - getline(in,colors_header); - s << colors_header; - s >> m_colors; - } - } - - if ( format_header == "P5" ) - m_format = PGM_BINARY_GRAYMAP; - else if (format_header == "P6" ) - m_format = PGM_BINARY_PIXMAP; - else - m_format = PGM_FORMAT_INVALID; - - switch(m_format) - { - case(PGM_BINARY_GRAYMAP): - m_data.resize(m_w*m_h+m_over_allocation); - in.read((char *)(&m_data[0]),m_data.size()); - break; - case(PGM_BINARY_PIXMAP): - m_data.resize(m_w*m_h*3+m_over_allocation); - in.read((char *)(&m_data[0]),m_data.size()); - break; - default: - return false; - break; - } - in.close(); - - SetupRowPointers(); - - return true; -} - -bool PgmImage::WritePGM(const std::string filename, const std::string comment) -{ - string format_header; - - switch(m_format) - { - case PGM_BINARY_GRAYMAP: - format_header = "P5\n"; - break; - case PGM_BINARY_PIXMAP: - format_header = "P6\n"; - break; - default: - return false; - break; - } - - ofstream out(filename.c_str(),std::ios::out |ios::binary); - out << format_header << "# " << comment << '\n' << m_w << " " << m_h << '\n' << m_colors << '\n'; - - out.write((char *)(&m_data[0]), m_data.size()); - - out.close(); - - return true; -} - -void PgmImage::SetupRowPointers() -{ - int i; - m_rows.resize(m_h); - - switch (m_format) - { - case PGM_BINARY_GRAYMAP: - for(i=0;i<m_h;i++) - { - m_rows[i]=&m_data[m_w*i]; - } - break; - case PGM_BINARY_PIXMAP: - for(i=0;i<m_h;i++) - { - m_rows[i]=&m_data[(m_w*3)*i]; - } - break; - } -} - -void PgmImage::ConvertToGray() -{ - if ( m_format != PGM_BINARY_PIXMAP ) return; - - // Y = 0.3*R + 0.59*G + 0.11*B; - for ( int i = 0; i < m_w*m_h; ++i ) - m_data[i] = (unsigned char)(0.3*m_data[3*i]+0.59*m_data[3*i+1]+0.11*m_data[3*i+2]); - - m_data.resize(m_w*m_h+m_over_allocation); - m_format = PGM_BINARY_GRAYMAP; - - SetupRowPointers(); -} - -std::ostream& operator<< (std::ostream& o, const PgmImage& im) -{ - o << "PGM Image Info:\n"; - o << "Size: " << im.m_w << " x " << im.m_h << "\n"; - o << "Comment: " << im.m_comment << "\n"; - switch (im.m_format) - { - case PgmImage::PGM_BINARY_PIXMAP: - o << "Format: RGB binary pixmap"; - break; - case PgmImage::PGM_BINARY_GRAYMAP: - o << "Format: PPM binary graymap"; - break; - default: - o << "Format: Invalid"; - break; - } - o << endl; - return o; -} diff --git a/jni/feature_stab/src/dbregtest/PgmImage.h b/jni/feature_stab/src/dbregtest/PgmImage.h deleted file mode 100644 index d4d1eebed..000000000 --- a/jni/feature_stab/src/dbregtest/PgmImage.h +++ /dev/null @@ -1,95 +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. - */ - -#pragma once - -#include <vector> -#include <iostream> -#include <fstream> -#include <sstream> -#include <memory.h> - -/*! - * Simple class to manipulate PGM/PPM images. Not suitable for heavy lifting. - */ -class PgmImage -{ - friend std::ostream& operator<< (std::ostream& o, const PgmImage& im); -public: - enum {PGM_BINARY_GRAYMAP,PGM_BINARY_PIXMAP,PGM_FORMAT_INVALID}; - /*! - * Constructor from a PGM file name. - */ - PgmImage(std::string filename); - /*! - * Constructor to allocate an image of given size and type. - */ - PgmImage(int w, int h, int format = PGM_BINARY_GRAYMAP); - /*! - * Constructor to allocate an image of given size and copy the data in. - */ - PgmImage(unsigned char *data, int w, int h); - /*! - * Constructor to allocate an image of given size and copy the data in. - */ - PgmImage(std::vector<unsigned char> &data, int w, int h); - - PgmImage(const PgmImage &im); - - PgmImage& operator= (const PgmImage &im); - ~PgmImage(); - - int GetHeight() const { return m_h; } - int GetWidth() const { return m_w; } - - //! Copy pixels from data pointer - void SetData(const unsigned char * data); - - //! Get a data pointer to unaligned memory area - unsigned char * GetDataPointer() { if ( m_data.size() > 0 ) return &m_data[0]; else return NULL; } - unsigned char ** GetRowPointers() { if ( m_rows.size() == m_h ) return &m_rows[0]; else return NULL; } - - //! Read a PGM file from disk - bool ReadPGM(const std::string filename); - //! Write a PGM file to disk - bool WritePGM(const std::string filename, const std::string comment=""); - - //! Get image format (returns PGM_BINARY_GRAYMAP, PGM_BINARY_PIXMAP or PGM_FORMAT_INVALID) - int GetFormat() const { return m_format; } - - //! Set image format (returns PGM_BINARY_GRAYMAP, PGM_BINARY_PIXMAP). Image data becomes invalid. - void SetFormat(int format); - - //! If the image is PGM_BINARY_PIXMAP, convert it to PGM_BINARY_GRAYMAP via Y = 0.3*R + 0.59*G + 0.11*B. - void ConvertToGray(); -protected: - // Generic functions: - void DeepCopy(const PgmImage& src, PgmImage& dst); - void SetupRowPointers(); - - // PGM data - int m_w; - int m_h; - int m_format; - int m_colors; - int m_over_allocation; - std::vector<unsigned char> m_data; - std::string m_comment; - - std::vector<unsigned char *> m_rows; -}; - -std::ostream& operator<< (std::ostream& o, const PgmImage& im); diff --git a/jni/feature_stab/src/dbregtest/dbregtest.cpp b/jni/feature_stab/src/dbregtest/dbregtest.cpp deleted file mode 100644 index 508736218..000000000 --- a/jni/feature_stab/src/dbregtest/dbregtest.cpp +++ /dev/null @@ -1,399 +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: 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); - } -} - diff --git a/jni/feature_stab/src/dbregtest/stdafx.cpp b/jni/feature_stab/src/dbregtest/stdafx.cpp deleted file mode 100644 index 0c703e2dc..000000000 --- a/jni/feature_stab/src/dbregtest/stdafx.cpp +++ /dev/null @@ -1,24 +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. - */ - -// stdafx.cpp : source file that includes just the standard includes -// dbregtest.pch will be the pre-compiled header -// stdafx.obj will contain the pre-compiled type information - -#include "stdafx.h" - -// TODO: reference any additional headers you need in STDAFX.H -// and not in this file diff --git a/jni/feature_stab/src/dbregtest/stdafx.h b/jni/feature_stab/src/dbregtest/stdafx.h deleted file mode 100644 index 9bc06ea04..000000000 --- a/jni/feature_stab/src/dbregtest/stdafx.h +++ /dev/null @@ -1,28 +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. - */ - -// stdafx.h : include file for standard system include files, -// or project specific include files that are used frequently, but -// are changed infrequently -// - -#pragma once - -#include "targetver.h" - -#include <stdio.h> - -// TODO: reference additional headers your program requires here diff --git a/jni/feature_stab/src/dbregtest/targetver.h b/jni/feature_stab/src/dbregtest/targetver.h deleted file mode 100644 index 9272b0d6e..000000000 --- a/jni/feature_stab/src/dbregtest/targetver.h +++ /dev/null @@ -1,29 +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. - */ - -#pragma once - -// The following macros define the minimum required platform. The minimum required platform -// is the earliest version of Windows, Internet Explorer etc. that has the necessary features to run -// your application. The macros work by enabling all features available on platform versions up to and -// including the version specified. - -// Modify the following defines if you have to target a platform prior to the ones specified below. -// Refer to MSDN for the latest info on corresponding values for different platforms. -#ifndef _WIN32_WINNT // Specifies that the minimum required platform is Windows Vista. -#define _WIN32_WINNT 0x0600 // Change this to the appropriate value to target other versions of Windows. -#endif - |