summaryrefslogtreecommitdiffstats
path: root/jni/feature_stab/db_vlvm/db_utilities.h
diff options
context:
space:
mode:
Diffstat (limited to 'jni/feature_stab/db_vlvm/db_utilities.h')
-rw-r--r--jni/feature_stab/db_vlvm/db_utilities.h571
1 files changed, 0 insertions, 571 deletions
diff --git a/jni/feature_stab/db_vlvm/db_utilities.h b/jni/feature_stab/db_vlvm/db_utilities.h
deleted file mode 100644
index fa9c87745..000000000
--- a/jni/feature_stab/db_vlvm/db_utilities.h
+++ /dev/null
@@ -1,571 +0,0 @@
-/*
- * Copyright (C) 2011 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-/* $Id: db_utilities.h,v 1.3 2011/06/17 14:03:31 mbansal Exp $ */
-
-#ifndef DB_UTILITIES_H
-#define DB_UTILITIES_H
-
-
-#ifdef _WIN32
-#pragma warning(disable: 4275)
-#pragma warning(disable: 4251)
-#pragma warning(disable: 4786)
-#pragma warning(disable: 4800)
-#pragma warning(disable: 4018) /* signed-unsigned mismatch */
-#endif /* _WIN32 */
-
-#ifdef _WIN32
- #ifdef DBDYNAMIC_EXPORTS
- #define DB_API __declspec(dllexport)
- #else
- #ifdef DBDYNAMIC_IMPORTS
- #define DB_API __declspec(dllimport)
- #else
- #define DB_API
- #endif
- #endif
-#else
- #define DB_API
-#endif /* _WIN32 */
-
-#ifdef _VERBOSE_
-#include <iostream>
-#endif
-
-#include <math.h>
-
-#include <assert.h>
-#include "db_utilities_constants.h"
-/*!
- * \defgroup LMBasicUtilities (LM) Utility Functions (basic math, linear algebra and array manipulations)
- */
-/*\{*/
-
-/*!
- * Round double into int using fld and fistp instructions.
- */
-inline int db_roundi (double x) {
-#ifdef WIN32_ASM
- int n;
- __asm
- {
- fld x;
- fistp n;
- }
- return n;
-#else
- return static_cast<int>(floor(x+0.5));
-#endif
-}
-
-/*!
- * Square a double.
- */
-inline double db_sqr(double a)
-{
- return(a*a);
-}
-
-/*!
- * Square a long.
- */
-inline long db_sqr(long a)
-{
- return(a*a);
-}
-
-/*!
- * Square an int.
- */
-inline long db_sqr(int a)
-{
- return(a*a);
-}
-
-/*!
- * Maximum of two doubles.
- */
-inline double db_maxd(double a,double b)
-{
- if(b>a) return(b);
- else return(a);
-}
-/*!
- * Minumum of two doubles.
- */
-inline double db_mind(double a,double b)
-{
- if(b<a) return(b);
- else return(a);
-}
-
-
-/*!
- * Maximum of two ints.
- */
-inline int db_maxi(int a,int b)
-{
- if(b>a) return(b);
- else return(a);
-}
-
-/*!
- * Minimum of two numbers.
- */
-inline int db_mini(int a,int b)
-{
- if(b<a) return(b);
- else return(a);
-}
-/*!
- * Maximum of two numbers.
- */
-inline long db_maxl(long a,long b)
-{
- if(b>a) return(b);
- else return(a);
-}
-
-/*!
- * Minimum of two numbers.
- */
-inline long db_minl(long a,long b)
-{
- if(b<a) return(b);
- else return(a);
-}
-
-/*!
- * Sign of a number.
- * \return -1.0 if negative, 1.0 if positive.
- */
-inline double db_sign(double x)
-{
- if(x>=0.0) return(1.0);
- else return(-1.0);
-}
-/*!
- * Absolute value.
- */
-inline int db_absi(int a)
-{
- if(a<0) return(-a);
- else return(a);
-}
-/*!
- * Absolute value.
- */
-inline float db_absf(float a)
-{
- if(a<0) return(-a);
- else return(a);
-}
-
-/*!
- * Absolute value.
- */
-inline double db_absd(double a)
-{
- if(a<0) return(-a);
- else return(a);
-}
-
-/*!
- * Reciprocal (1/a). Prevents divide by 0.
- * \return 1/a if a != 0. 1.0 otherwise.
- */
-inline double db_SafeReciprocal(double a)
-{
- return((a!=0.0)?(1.0/a):1.0);
-}
-
-/*!
- * Division. Prevents divide by 0.
- * \return a/b if b!=0. a otherwise.
- */
-inline double db_SafeDivision(double a,double b)
-{
- return((b!=0.0)?(a/b):a);
-}
-
-/*!
- * Square root. Prevents imaginary output.
- * \return sqrt(a) if a > 0.0. 0.0 otherewise.
- */
-inline double db_SafeSqrt(double a)
-{
- return((a>=0.0)?(sqrt(a)):0.0);
-}
-
-/*!
- * Square root of a reciprocal. Prevents divide by 0 and imaginary output.
- * \return sqrt(1/a) if a > 0.0. 1.0 otherewise.
- */
-inline double db_SafeSqrtReciprocal(double a)
-{
- return((a>0.0)?(sqrt(1.0/a)):1.0);
-}
-/*!
- * Cube root.
- */
-inline double db_CubRoot(double x)
-{
- if(x>=0.0) return(pow(x,1.0/3.0));
- else return(-pow(-x,1.0/3.0));
-}
-/*!
- * Sum of squares of elements of x.
- */
-inline double db_SquareSum3(const double x[3])
-{
- return(db_sqr(x[0])+db_sqr(x[1])+db_sqr(x[2]));
-}
-/*!
- * Sum of squares of elements of x.
- */
-inline double db_SquareSum7(double x[7])
-{
- return(db_sqr(x[0])+db_sqr(x[1])+db_sqr(x[2])+
- db_sqr(x[3])+db_sqr(x[4])+db_sqr(x[5])+
- db_sqr(x[6]));
-}
-/*!
- * Sum of squares of elements of x.
- */
-inline double db_SquareSum9(double x[9])
-{
- return(db_sqr(x[0])+db_sqr(x[1])+db_sqr(x[2])+
- db_sqr(x[3])+db_sqr(x[4])+db_sqr(x[5])+
- db_sqr(x[6])+db_sqr(x[7])+db_sqr(x[8]));
-}
-/*!
- * Copy a vector.
- * \param xd destination
- * \param xs source
- */
-void inline db_Copy3(double xd[3],const double xs[3])
-{
- xd[0]=xs[0];xd[1]=xs[1];xd[2]=xs[2];
-}
-/*!
- * Copy a vector.
- * \param xd destination
- * \param xs source
- */
-void inline db_Copy6(double xd[6],const double xs[6])
-{
- xd[0]=xs[0];xd[1]=xs[1];xd[2]=xs[2];
- xd[3]=xs[3];xd[4]=xs[4];xd[5]=xs[5];
-}
-/*!
- * Copy a vector.
- * \param xd destination
- * \param xs source
- */
-void inline db_Copy9(double xd[9],const double xs[9])
-{
- xd[0]=xs[0];xd[1]=xs[1];xd[2]=xs[2];
- xd[3]=xs[3];xd[4]=xs[4];xd[5]=xs[5];
- xd[6]=xs[6];xd[7]=xs[7];xd[8]=xs[8];
-}
-
-/*!
- * Scalar product: Transpose(A)*B.
- */
-inline double db_ScalarProduct4(const double A[4],const double B[4])
-{
- return(A[0]*B[0]+A[1]*B[1]+A[2]*B[2]+A[3]*B[3]);
-}
-/*!
- * Scalar product: Transpose(A)*B.
- */
-inline double db_ScalarProduct7(const double A[7],const double B[7])
-{
- return(A[0]*B[0]+A[1]*B[1]+A[2]*B[2]+
- A[3]*B[3]+A[4]*B[4]+A[5]*B[5]+
- A[6]*B[6]);
-}
-/*!
- * Scalar product: Transpose(A)*B.
- */
-inline double db_ScalarProduct9(const double A[9],const double B[9])
-{
- return(A[0]*B[0]+A[1]*B[1]+A[2]*B[2]+
- A[3]*B[3]+A[4]*B[4]+A[5]*B[5]+
- A[6]*B[6]+A[7]*B[7]+A[8]*B[8]);
-}
-/*!
- * Vector addition: S=A+B.
- */
-inline void db_AddVectors6(double S[6],const double A[6],const double B[6])
-{
- S[0]=A[0]+B[0]; S[1]=A[1]+B[1]; S[2]=A[2]+B[2]; S[3]=A[3]+B[3]; S[4]=A[4]+B[4];
- S[5]=A[5]+B[5];
-}
-/*!
- * Multiplication: C(3x1)=A(3x3)*B(3x1).
- */
-inline void db_Multiply3x3_3x1(double y[3],const double A[9],const double x[3])
-{
- y[0]=A[0]*x[0]+A[1]*x[1]+A[2]*x[2];
- y[1]=A[3]*x[0]+A[4]*x[1]+A[5]*x[2];
- y[2]=A[6]*x[0]+A[7]*x[1]+A[8]*x[2];
-}
-inline void db_Multiply3x3_3x3(double C[9], const double A[9],const double B[9])
-{
- C[0]=A[0]*B[0]+A[1]*B[3]+A[2]*B[6];
- C[1]=A[0]*B[1]+A[1]*B[4]+A[2]*B[7];
- C[2]=A[0]*B[2]+A[1]*B[5]+A[2]*B[8];
-
- C[3]=A[3]*B[0]+A[4]*B[3]+A[5]*B[6];
- C[4]=A[3]*B[1]+A[4]*B[4]+A[5]*B[7];
- C[5]=A[3]*B[2]+A[4]*B[5]+A[5]*B[8];
-
- C[6]=A[6]*B[0]+A[7]*B[3]+A[8]*B[6];
- C[7]=A[6]*B[1]+A[7]*B[4]+A[8]*B[7];
- C[8]=A[6]*B[2]+A[7]*B[5]+A[8]*B[8];
-}
-/*!
- * Multiplication: C(4x1)=A(4x4)*B(4x1).
- */
-inline void db_Multiply4x4_4x1(double y[4],const double A[16],const double x[4])
-{
- y[0]=A[0]*x[0]+A[1]*x[1]+A[2]*x[2]+A[3]*x[3];
- y[1]=A[4]*x[0]+A[5]*x[1]+A[6]*x[2]+A[7]*x[3];
- y[2]=A[8]*x[0]+A[9]*x[1]+A[10]*x[2]+A[11]*x[3];
- y[3]=A[12]*x[0]+A[13]*x[1]+A[14]*x[2]+A[15]*x[3];
-}
-/*!
- * Scalar multiplication in place: A(3)=mult*A(3).
- */
-inline void db_MultiplyScalar3(double *A,double mult)
-{
- (*A++) *= mult; (*A++) *= mult; (*A++) *= mult;
-}
-
-/*!
- * Scalar multiplication: A(3)=mult*B(3).
- */
-inline void db_MultiplyScalarCopy3(double *A,const double *B,double mult)
-{
- (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult;
-}
-
-/*!
- * Scalar multiplication: A(4)=mult*B(4).
- */
-inline void db_MultiplyScalarCopy4(double *A,const double *B,double mult)
-{
- (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult;
-}
-/*!
- * Scalar multiplication: A(7)=mult*B(7).
- */
-inline void db_MultiplyScalarCopy7(double *A,const double *B,double mult)
-{
- (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult;
- (*A++)=(*B++)*mult; (*A++)=(*B++)*mult;
-}
-/*!
- * Scalar multiplication: A(9)=mult*B(9).
- */
-inline void db_MultiplyScalarCopy9(double *A,const double *B,double mult)
-{
- (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult;
- (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult; (*A++)=(*B++)*mult;
-}
-
-/*!
- * \defgroup LMImageBasicUtilities (LM) Basic Image Utility Functions
-
- Images in db are simply 2D arrays of unsigned char or float types.
- Only the very basic operations are supported: allocation/deallocation,
-copying, simple pyramid construction and LUT warping. These images are used
-by db_CornerDetector_u and db_Matcher_u. The db_Image class is an attempt
-to wrap these images. It has not been tested well.
-
- */
-/*\{*/
-/*!
- * Given a float image array, allocates and returns the set of row poiners.
- * \param im image pointer
- * \param w image width
- * \param h image height
- */
-DB_API float** db_SetupImageReferences_f(float *im,int w,int h);
-/*!
- * Allocate a float image.
- * Note: for feature detection images must be overallocated by 256 bytes.
- * \param w width
- * \param h height
- * \param over_allocation allocate this many extra bytes at the end
- * \return row array pointer
- */
-DB_API float** db_AllocImage_f(int w,int h,int over_allocation=256);
-/*!
- * Free a float image
- * \param img row array pointer
- * \param h image height (number of rows)
- */
-DB_API void db_FreeImage_f(float **img,int h);
-/*!
- * Given an unsigned char image array, allocates and returns the set of row poiners.
- * \param im image pointer
- * \param w image width
- * \param h image height
- */
-DB_API unsigned char** db_SetupImageReferences_u(unsigned char *im,int w,int h);
-/*!
- * Allocate an unsigned char image.
- * Note: for feature detection images must be overallocated by 256 bytes.
- * \param w width
- * \param h height
- * \param over_allocation allocate this many extra bytes at the end
- * \return row array pointer
- */
-DB_API unsigned char** db_AllocImage_u(int w,int h,int over_allocation=256);
-/*!
- * Free an unsigned char image
- * \param img row array pointer
- * \param h image height (number of rows)
- */
-DB_API void db_FreeImage_u(unsigned char **img,int h);
-
-/*!
- Copy an image from s to d. Both s and d must be pre-allocated at of the same size.
- Copy is done row by row.
- \param s source
- \param d destination
- \param w width
- \param h height
- \param over_allocation copy this many bytes after the end of the last line
- */
-DB_API void db_CopyImage_u(unsigned char **d,const unsigned char * const *s,int w,int h,int over_allocation=0);
-
-DB_API inline unsigned char db_BilinearInterpolation(double y, double x, const unsigned char * const * v)
-{
- int floor_x=(int) x;
- int floor_y=(int) y;
-
- int ceil_x=floor_x+1;
- int ceil_y=floor_y+1;
-
- unsigned char f00 = v[floor_y][floor_x];
- unsigned char f01 = v[floor_y][ceil_x];
- unsigned char f10 = v[ceil_y][floor_x];
- unsigned char f11 = v[ceil_y][ceil_x];
-
- double xl = x-floor_x;
- double yl = y-floor_y;
-
- return (unsigned char)(f00*(1-yl)*(1-xl) + f10*yl*(1-xl) + f01*(1-yl)*xl + f11*yl*xl);
-}
-/*\}*/
-/*!
- * \ingroup LMRotation
- * Compute an incremental rotation matrix using the update dx=[sin(phi) sin(ohm) sin(kap)]
- */
-inline void db_IncrementalRotationMatrix(double R[9],const double dx[3])
-{
- double sp,so,sk,om_sp2,om_so2,om_sk2,cp,co,ck,sp_so,cp_so;
-
- /*Store sines*/
- sp=dx[0]; so=dx[1]; sk=dx[2];
- om_sp2=1.0-sp*sp;
- om_so2=1.0-so*so;
- om_sk2=1.0-sk*sk;
- /*Compute cosines*/
- cp=(om_sp2>=0.0)?sqrt(om_sp2):1.0;
- co=(om_so2>=0.0)?sqrt(om_so2):1.0;
- ck=(om_sk2>=0.0)?sqrt(om_sk2):1.0;
- /*Compute matrix*/
- sp_so=sp*so;
- cp_so=cp*so;
- R[0]=sp_so*sk+cp*ck; R[1]=co*sk; R[2]=cp_so*sk-sp*ck;
- R[3]=sp_so*ck-cp*sk; R[4]=co*ck; R[5]=cp_so*ck+sp*sk;
- R[6]=sp*co; R[7]= -so; R[8]=cp*co;
-}
-/*!
- * Zero out 2 vector in place.
- */
-void inline db_Zero2(double x[2])
-{
- x[0]=x[1]=0;
-}
-/*!
- * Zero out 3 vector in place.
- */
-void inline db_Zero3(double x[3])
-{
- x[0]=x[1]=x[2]=0;
-}
-/*!
- * Zero out 4 vector in place.
- */
-void inline db_Zero4(double x[4])
-{
- x[0]=x[1]=x[2]=x[3]=0;
-}
-/*!
- * Zero out 9 vector in place.
- */
-void inline db_Zero9(double x[9])
-{
- x[0]=x[1]=x[2]=x[3]=x[4]=x[5]=x[6]=x[7]=x[8]=0;
-}
-
-#define DB_WARP_FAST 0
-#define DB_WARP_BILINEAR 1
-
-/*!
- * Perform a look-up table warp.
- * The LUTs must be float images of the same size as source image.
- * The source value x_s is determined from destination (x_d,y_d) through lut_x
- * and y_s is determined from lut_y:
- \code
- x_s = lut_x[y_d][x_d];
- y_s = lut_y[y_d][x_d];
- \endcode
-
- * \param src source image
- * \param dst destination image
- * \param w width
- * \param h height
- * \param lut_x LUT for x
- * \param lut_y LUT for y
- * \param type warp type (DB_WARP_FAST or DB_WARP_BILINEAR)
- */
-DB_API void db_WarpImageLut_u(const unsigned char * const * src,unsigned char ** dst, int w, int h,
- const float * const * lut_x, const float * const * lut_y, int type=DB_WARP_BILINEAR);
-
-DB_API void db_PrintDoubleVector(double *a,long size);
-DB_API void db_PrintDoubleMatrix(double *a,long rows,long cols);
-
-#include "db_utilities_constants.h"
-#include "db_utilities_algebra.h"
-#include "db_utilities_indexing.h"
-#include "db_utilities_linalg.h"
-#include "db_utilities_poly.h"
-#include "db_utilities_geometry.h"
-#include "db_utilities_random.h"
-#include "db_utilities_rotation.h"
-#include "db_utilities_camera.h"
-
-#define DB_INVALID (-1)
-
-
-#endif /* DB_UTILITIES_H */
generated by cgit v1.2.3 (git 2.25.1) at 2024-04-28 17:33:00 +0000