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Diffstat (limited to 'jni/feature_mos/src/mosaic/AlignFeatures.h')
-rw-r--r-- | jni/feature_mos/src/mosaic/AlignFeatures.h | 93 |
1 files changed, 93 insertions, 0 deletions
diff --git a/jni/feature_mos/src/mosaic/AlignFeatures.h b/jni/feature_mos/src/mosaic/AlignFeatures.h new file mode 100644 index 000000000..19f39051d --- /dev/null +++ b/jni/feature_mos/src/mosaic/AlignFeatures.h @@ -0,0 +1,93 @@ +/* + * 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. + */ + +/////////////////////////////////////////////////// +// Align.h +// S.O. # : +// Author(s): zkira +// $Id: AlignFeatures.h,v 1.13 2011/06/17 13:35:47 mbansal Exp $ + +#ifndef ALIGN_H +#define ALIGN_H + +#include "dbreg/dbreg.h" +#include <db_utilities_camera.h> + +#include "ImageUtils.h" +#include "MatrixUtils.h" + +class Align { + +public: + // Types of alignment possible + static const int ALIGN_TYPE_PAN = 1; + + // Return codes + static const int ALIGN_RET_LOW_TEXTURE = -2; + static const int ALIGN_RET_ERROR = -1; + static const int ALIGN_RET_OK = 0; + static const int ALIGN_RET_FEW_INLIERS = 1; + + ///// Settings for feature-based alignment + // Number of features to use from corner detection + static const int DEFAULT_NR_CORNERS=750; + static const double DEFAULT_MAX_DISPARITY=0.1;//0.4; + // Type of homography to model + static const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_R_T; +// static const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_PROJECTIVE; +// static const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_AFFINE; + static const unsigned int DEFAULT_REFERENCE_UPDATE_PERIOD=1500; // Manual reference frame update so set this to a large number + + static const int MIN_NR_REF_CORNERS = 25; + static const int MIN_NR_INLIERS = 10; + + Align(); + ~Align(); + + // Initialization of structures, etc. + int initialize(int width, int height, bool quarter_res, float thresh_still); + + // Add a frame. Note: The alignment computation is performed + // in this function + int addFrameRGB(ImageType image); + int addFrame(ImageType image); + + // Obtain the TRS matrix from the last two frames + int getLastTRS(double trs[3][3]); + char* getRegProfileString(); + +protected: + + db_FrameToReferenceRegistration reg; + + int frame_number; + + double Hcurr[9]; // Homography from the alignment reference to the frame-t + double Hprev[9]; // Homography from frame-0 to the frame-(t-1) + + int reference_frame_index; // Index of the reference frame from all captured frames + int num_frames_captured; // Total number of frames captured (different from frame_number) + double average_tx_per_frame; // Average pixel translation per captured frame + + int width,height; + + bool quarter_res; // Whether to process at quarter resolution + float thresh_still; // Translation threshold in pixels to detect still camera + ImageType imageGray; +}; + + +#endif |