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Diffstat (limited to 'jni_mosaic/feature_mos/src/mosaic/AlignFeatures.cpp')
| -rw-r--r-- | jni_mosaic/feature_mos/src/mosaic/AlignFeatures.cpp | 231 |
1 files changed, 0 insertions, 231 deletions
diff --git a/jni_mosaic/feature_mos/src/mosaic/AlignFeatures.cpp b/jni_mosaic/feature_mos/src/mosaic/AlignFeatures.cpp deleted file mode 100644 index aeabf8f97..000000000 --- a/jni_mosaic/feature_mos/src/mosaic/AlignFeatures.cpp +++ /dev/null @@ -1,231 +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. - */ - -/////////////////////////////////////////////////// -// AlignFeatures.cpp -// S.O. # : -// Author(s): zkira, mbansal, bsouthall, narodits -// $Id: AlignFeatures.cpp,v 1.20 2011/06/17 13:35:47 mbansal Exp $ - -#include <stdio.h> -#include <string.h> - -#include "trsMatrix.h" -#include "MatrixUtils.h" -#include "AlignFeatures.h" -#include "Log.h" - -#define LOG_TAG "AlignFeatures" - -Align::Align() -{ - width = height = 0; - frame_number = 0; - num_frames_captured = 0; - reference_frame_index = 0; - db_Identity3x3(Hcurr); - db_Identity3x3(Hprev); -} - -Align::~Align() -{ - // Free gray-scale image - if (imageGray != ImageUtils::IMAGE_TYPE_NOIMAGE) - ImageUtils::freeImage(imageGray); -} - -char* Align::getRegProfileString() -{ - return reg.profile_string; -} - -int Align::initialize(int width, int height, bool _quarter_res, float _thresh_still) -{ - int nr_corners = DEFAULT_NR_CORNERS; - double max_disparity = DEFAULT_MAX_DISPARITY; - int motion_model_type = DEFAULT_MOTION_MODEL; - int nrsamples = DB_DEFAULT_NR_SAMPLES; - double scale = DB_POINT_STANDARDDEV; - int chunk_size = DB_DEFAULT_CHUNK_SIZE; - int nrhorz = width/48; // Empirically determined number of horizontal - int nrvert = height/60; // and vertical buckets for harris corner detection. - bool linear_polish = false; - unsigned int reference_update_period = DEFAULT_REFERENCE_UPDATE_PERIOD; - - const bool DEFAULT_USE_SMALLER_MATCHING_WINDOW = false; - bool use_smaller_matching_window = DEFAULT_USE_SMALLER_MATCHING_WINDOW; - - quarter_res = _quarter_res; - thresh_still = _thresh_still; - - frame_number = 0; - num_frames_captured = 0; - reference_frame_index = 0; - db_Identity3x3(Hcurr); - db_Identity3x3(Hprev); - - if (!reg.Initialized()) - { - reg.Init(width, height, motion_model_type, 20, linear_polish, quarter_res, - scale, reference_update_period, false, 0, nrsamples, chunk_size, - nr_corners, max_disparity, use_smaller_matching_window, - nrhorz, nrvert); - } - this->width = width; - this->height = height; - - imageGray = ImageUtils::allocateImage(width, height, 1); - - if (reg.Initialized()) - return ALIGN_RET_OK; - else - return ALIGN_RET_ERROR; -} - -int Align::addFrameRGB(ImageType imageRGB) -{ - ImageUtils::rgb2gray(imageGray, imageRGB, width, height); - return addFrame(imageGray); -} - -int Align::addFrame(ImageType imageGray_) -{ - int ret_code = ALIGN_RET_OK; - - // Obtain a vector of pointers to rows in image and pass in to dbreg - ImageType *m_rows = ImageUtils::imageTypeToRowPointers(imageGray_, width, height); - - if (frame_number == 0) - { - reg.AddFrame(m_rows, Hcurr, true); // Force this to be a reference frame - int num_corner_ref = reg.GetNrRefCorners(); - - if (num_corner_ref < MIN_NR_REF_CORNERS) - { - return ALIGN_RET_LOW_TEXTURE; - } - } - else - { - reg.AddFrame(m_rows, Hcurr, false); - } - - // Average translation per frame = - // [Translation from Frame0 to Frame(n-1)] / [(n-1)] - average_tx_per_frame = (num_frames_captured < 2) ? 0.0 : - Hprev[2] / (num_frames_captured - 1); - - // Increment the captured frame counter if we already have a reference frame - num_frames_captured++; - - if (frame_number != 0) - { - int num_inliers = reg.GetNrInliers(); - - if(num_inliers < MIN_NR_INLIERS) - { - ret_code = ALIGN_RET_FEW_INLIERS; - - Hcurr[0] = 1.0; - Hcurr[1] = 0.0; - // Set this as the average per frame translation taking into acccount - // the separation of the current frame from the reference frame... - Hcurr[2] = -average_tx_per_frame * - (num_frames_captured - reference_frame_index); - Hcurr[3] = 0.0; - Hcurr[4] = 1.0; - Hcurr[5] = 0.0; - Hcurr[6] = 0.0; - Hcurr[7] = 0.0; - Hcurr[8] = 1.0; - } - - if(fabs(Hcurr[2])<thresh_still && fabs(Hcurr[5])<thresh_still) // Still camera - { - return ALIGN_RET_ERROR; - } - - // compute the homography: - double Hinv33[3][3]; - double Hprev33[3][3]; - double Hcurr33[3][3]; - - // Invert and multiple with previous transformation - Matrix33::convert9to33(Hcurr33, Hcurr); - Matrix33::convert9to33(Hprev33, Hprev); - normProjMat33d(Hcurr33); - - inv33d(Hcurr33, Hinv33); - - mult33d(Hcurr33, Hprev33, Hinv33); - normProjMat33d(Hcurr33); - Matrix9::convert33to9(Hprev, Hcurr33); - // Since we have already factored the current transformation - // into Hprev, we can reset the Hcurr to identity - db_Identity3x3(Hcurr); - - // Update the reference frame to be the current frame - reg.UpdateReference(m_rows,quarter_res,false); - - // Update the reference frame index - reference_frame_index = num_frames_captured; - } - - frame_number++; - - return ret_code; -} - -// Get current transformation -int Align::getLastTRS(double trs[3][3]) -{ - if (frame_number < 1) - { - trs[0][0] = 1.0; - trs[0][1] = 0.0; - trs[0][2] = 0.0; - trs[1][0] = 0.0; - trs[1][1] = 1.0; - trs[1][2] = 0.0; - trs[2][0] = 0.0; - trs[2][1] = 0.0; - trs[2][2] = 1.0; - return ALIGN_RET_ERROR; - } - - // Note that the logic here handles the case, where a frame is not used for - // mosaicing but is captured and used in the preview-rendering. - // For these frames, we don't set Hcurr to identity in AddFrame() and the - // logic here appends their transformation to Hprev to render them with the - // correct transformation. For the frames we do use for mosaicing, we already - // append their Hcurr to Hprev in AddFrame() and then set Hcurr to identity. - - double Hinv33[3][3]; - double Hprev33[3][3]; - double Hcurr33[3][3]; - - Matrix33::convert9to33(Hcurr33, Hcurr); - normProjMat33d(Hcurr33); - inv33d(Hcurr33, Hinv33); - - Matrix33::convert9to33(Hprev33, Hprev); - - mult33d(trs, Hprev33, Hinv33); - normProjMat33d(trs); - - return ALIGN_RET_OK; -} - |