diff options
Diffstat (limited to 'jni/feature_stab/db_vlvm/db_framestitching.cpp')
| -rw-r--r-- | jni/feature_stab/db_vlvm/db_framestitching.cpp | 169 |
1 files changed, 0 insertions, 169 deletions
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); -} - - |