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+/*
+ * 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 */
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