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-rw-r--r--jni/feature_stab/db_vlvm/db_image_homography.cpp332
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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);
-}
-
-
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