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Diffstat (limited to 'jni_mosaic/feature_stab/src/dbreg/dbreg.cpp')
| -rw-r--r-- | jni_mosaic/feature_stab/src/dbreg/dbreg.cpp | 794 |
1 files changed, 0 insertions, 794 deletions
diff --git a/jni_mosaic/feature_stab/src/dbreg/dbreg.cpp b/jni_mosaic/feature_stab/src/dbreg/dbreg.cpp deleted file mode 100644 index da06aa2ab..000000000 --- a/jni_mosaic/feature_stab/src/dbreg/dbreg.cpp +++ /dev/null @@ -1,794 +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: dbreg.cpp,v 1.31 2011/06/17 14:04:32 mbansal Exp $ -#include "dbreg.h" -#include <string.h> -#include <stdio.h> - - -#if PROFILE -#endif - -//#include <iostream> - -db_FrameToReferenceRegistration::db_FrameToReferenceRegistration() : - m_initialized(false),m_nr_matches(0),m_over_allocation(256),m_nr_bins(20),m_max_cost_pix(30), m_quarter_resolution(false) -{ - m_reference_image = NULL; - m_aligned_ins_image = NULL; - - m_quarter_res_image = NULL; - m_horz_smooth_subsample_image = NULL; - - m_x_corners_ref = NULL; - m_y_corners_ref = NULL; - - m_x_corners_ins = NULL; - m_y_corners_ins = NULL; - - m_match_index_ref = NULL; - m_match_index_ins = NULL; - - m_inlier_indices = NULL; - - m_num_inlier_indices = 0; - - m_temp_double = NULL; - m_temp_int = NULL; - - m_corners_ref = NULL; - m_corners_ins = NULL; - - m_sq_cost = NULL; - m_cost_histogram = NULL; - - profile_string = NULL; - - db_Identity3x3(m_K); - db_Identity3x3(m_H_ref_to_ins); - db_Identity3x3(m_H_dref_to_ref); - - m_sq_cost_computed = false; - m_reference_set = false; - - m_reference_update_period = 0; - m_nr_frames_processed = 0; - - return; -} - -db_FrameToReferenceRegistration::~db_FrameToReferenceRegistration() -{ - Clean(); -} - -void db_FrameToReferenceRegistration::Clean() -{ - if ( m_reference_image ) - db_FreeImage_u(m_reference_image,m_im_height); - - if ( m_aligned_ins_image ) - db_FreeImage_u(m_aligned_ins_image,m_im_height); - - if ( m_quarter_res_image ) - { - db_FreeImage_u(m_quarter_res_image, m_im_height); - } - - if ( m_horz_smooth_subsample_image ) - { - db_FreeImage_u(m_horz_smooth_subsample_image, m_im_height*2); - } - - delete [] m_x_corners_ref; - delete [] m_y_corners_ref; - - delete [] m_x_corners_ins; - delete [] m_y_corners_ins; - - delete [] m_match_index_ref; - delete [] m_match_index_ins; - - delete [] m_temp_double; - delete [] m_temp_int; - - delete [] m_corners_ref; - delete [] m_corners_ins; - - delete [] m_sq_cost; - delete [] m_cost_histogram; - - delete [] m_inlier_indices; - - if(profile_string) - delete [] profile_string; - - m_reference_image = NULL; - m_aligned_ins_image = NULL; - - m_quarter_res_image = NULL; - m_horz_smooth_subsample_image = NULL; - - m_x_corners_ref = NULL; - m_y_corners_ref = NULL; - - m_x_corners_ins = NULL; - m_y_corners_ins = NULL; - - m_match_index_ref = NULL; - m_match_index_ins = NULL; - - m_inlier_indices = NULL; - - m_temp_double = NULL; - m_temp_int = NULL; - - m_corners_ref = NULL; - m_corners_ins = NULL; - - m_sq_cost = NULL; - m_cost_histogram = NULL; -} - -void db_FrameToReferenceRegistration::Init(int width, int height, - int homography_type, - int max_iterations, - bool linear_polish, - bool quarter_resolution, - double scale, - unsigned int reference_update_period, - bool do_motion_smoothing, - double motion_smoothing_gain, - int nr_samples, - int chunk_size, - int cd_target_nr_corners, - double cm_max_disparity, - bool cm_use_smaller_matching_window, - int cd_nr_horz_blocks, - int cd_nr_vert_blocks - ) -{ - Clean(); - - m_reference_update_period = reference_update_period; - m_nr_frames_processed = 0; - - m_do_motion_smoothing = do_motion_smoothing; - m_motion_smoothing_gain = motion_smoothing_gain; - - m_stab_smoother.setSmoothingFactor(m_motion_smoothing_gain); - - m_quarter_resolution = quarter_resolution; - - profile_string = new char[10240]; - - if (m_quarter_resolution == true) - { - width = width/2; - height = height/2; - - m_horz_smooth_subsample_image = db_AllocImage_u(width,height*2,m_over_allocation); - m_quarter_res_image = db_AllocImage_u(width,height,m_over_allocation); - } - - m_im_width = width; - m_im_height = height; - - double temp[9]; - db_Approx3DCalMat(m_K,temp,m_im_width,m_im_height); - - m_homography_type = homography_type; - m_max_iterations = max_iterations; - m_scale = 2/(m_K[0]+m_K[4]); - m_nr_samples = nr_samples; - m_chunk_size = chunk_size; - - double outlier_t1 = 5.0; - - m_outlier_t2 = outlier_t1*outlier_t1;//*m_scale*m_scale; - - m_current_is_reference = false; - - m_linear_polish = linear_polish; - - m_reference_image = db_AllocImage_u(m_im_width,m_im_height,m_over_allocation); - m_aligned_ins_image = db_AllocImage_u(m_im_width,m_im_height,m_over_allocation); - - // initialize feature detection and matching: - //m_max_nr_corners = m_cd.Init(m_im_width,m_im_height,cd_target_nr_corners,cd_nr_horz_blocks,cd_nr_vert_blocks,0.0,0.0); - m_max_nr_corners = m_cd.Init(m_im_width,m_im_height,cd_target_nr_corners,cd_nr_horz_blocks,cd_nr_vert_blocks,DB_DEFAULT_ABS_CORNER_THRESHOLD/500.0,0.0); - - int use_21 = 0; - m_max_nr_matches = m_cm.Init(m_im_width,m_im_height,cm_max_disparity,m_max_nr_corners,DB_DEFAULT_NO_DISPARITY,cm_use_smaller_matching_window,use_21); - - // allocate space for corner feature locations for reference and inspection images: - m_x_corners_ref = new double [m_max_nr_corners]; - m_y_corners_ref = new double [m_max_nr_corners]; - - m_x_corners_ins = new double [m_max_nr_corners]; - m_y_corners_ins = new double [m_max_nr_corners]; - - // allocate space for match indices: - m_match_index_ref = new int [m_max_nr_matches]; - m_match_index_ins = new int [m_max_nr_matches]; - - m_temp_double = new double [12*DB_DEFAULT_NR_SAMPLES+10*m_max_nr_matches]; - m_temp_int = new int [db_maxi(DB_DEFAULT_NR_SAMPLES,m_max_nr_matches)]; - - // allocate space for homogenous image points: - m_corners_ref = new double [3*m_max_nr_corners]; - m_corners_ins = new double [3*m_max_nr_corners]; - - // allocate cost array and histogram: - m_sq_cost = new double [m_max_nr_matches]; - m_cost_histogram = new int [m_nr_bins]; - - // reserve array: - //m_inlier_indices.reserve(m_max_nr_matches); - m_inlier_indices = new int[m_max_nr_matches]; - - m_initialized = true; - - m_max_inlier_count = 0; -} - - -#define MB 0 -// Save the reference image, detect features and update the dref-to-ref transformation -int db_FrameToReferenceRegistration::UpdateReference(const unsigned char * const * im, bool subsample, bool detect_corners) -{ - double temp[9]; - db_Multiply3x3_3x3(temp,m_H_dref_to_ref,m_H_ref_to_ins); - db_Copy9(m_H_dref_to_ref,temp); - - const unsigned char * const * imptr = im; - - if (m_quarter_resolution && subsample) - { - GenerateQuarterResImage(im); - imptr = m_quarter_res_image; - } - - // save the reference image, detect features and quit - db_CopyImage_u(m_reference_image,imptr,m_im_width,m_im_height,m_over_allocation); - - if(detect_corners) - { - #if MB - m_cd.DetectCorners(imptr, m_x_corners_ref,m_y_corners_ref,&m_nr_corners_ref); - int nr = 0; - for(int k=0; k<m_nr_corners_ref; k++) - { - if(m_x_corners_ref[k]>m_im_width/3) - { - m_x_corners_ref[nr] = m_x_corners_ref[k]; - m_y_corners_ref[nr] = m_y_corners_ref[k]; - nr++; - } - - } - m_nr_corners_ref = nr; - #else - m_cd.DetectCorners(imptr, m_x_corners_ref,m_y_corners_ref,&m_nr_corners_ref); - #endif - } - else - { - m_nr_corners_ref = m_nr_corners_ins; - - for(int k=0; k<m_nr_corners_ins; k++) - { - m_x_corners_ref[k] = m_x_corners_ins[k]; - m_y_corners_ref[k] = m_y_corners_ins[k]; - } - - } - - db_Identity3x3(m_H_ref_to_ins); - - m_max_inlier_count = 0; // Reset to 0 as no inliers seen until now - m_sq_cost_computed = false; - m_reference_set = true; - m_current_is_reference = true; - return 1; -} - -void db_FrameToReferenceRegistration::Get_H_dref_to_ref(double H[9]) -{ - db_Copy9(H,m_H_dref_to_ref); -} - -void db_FrameToReferenceRegistration::Get_H_dref_to_ins(double H[9]) -{ - db_Multiply3x3_3x3(H,m_H_dref_to_ref,m_H_ref_to_ins); -} - -void db_FrameToReferenceRegistration::Set_H_dref_to_ins(double H[9]) -{ - double H_ins_to_ref[9]; - - db_Identity3x3(H_ins_to_ref); // Ensure it has proper values - db_InvertAffineTransform(H_ins_to_ref,m_H_ref_to_ins); // Invert to get ins to ref - db_Multiply3x3_3x3(m_H_dref_to_ref,H,H_ins_to_ref); // Update dref to ref using the input H from dref to ins -} - - -void db_FrameToReferenceRegistration::ResetDisplayReference() -{ - db_Identity3x3(m_H_dref_to_ref); -} - -bool db_FrameToReferenceRegistration::NeedReferenceUpdate() -{ - // If less than 50% of the starting number of inliers left, then its time to update the reference. - if(m_max_inlier_count>0 && float(m_num_inlier_indices)/float(m_max_inlier_count)<0.5) - return true; - else - return false; -} - -int db_FrameToReferenceRegistration::AddFrame(const unsigned char * const * im, double H[9],bool force_reference,bool prewarp) -{ - m_current_is_reference = false; - if(!m_reference_set || force_reference) - { - db_Identity3x3(m_H_ref_to_ins); - db_Copy9(H,m_H_ref_to_ins); - - UpdateReference(im,true,true); - return 0; - } - - const unsigned char * const * imptr = im; - - if (m_quarter_resolution) - { - if (m_quarter_res_image) - { - GenerateQuarterResImage(im); - } - - imptr = (const unsigned char * const* )m_quarter_res_image; - } - - double H_last[9]; - db_Copy9(H_last,m_H_ref_to_ins); - db_Identity3x3(m_H_ref_to_ins); - - m_sq_cost_computed = false; - - // detect corners on inspection image and match to reference image features:s - - // @jke - Adding code to time the functions. TODO: Remove after test -#if PROFILE - double iTimer1, iTimer2; - char str[255]; - strcpy(profile_string,"\n"); - sprintf(str,"[%dx%d] %p\n",m_im_width,m_im_height,im); - strcat(profile_string, str); -#endif - - // @jke - Adding code to time the functions. TODO: Remove after test -#if PROFILE - iTimer1 = now_ms(); -#endif - m_cd.DetectCorners(imptr, m_x_corners_ins,m_y_corners_ins,&m_nr_corners_ins); - // @jke - Adding code to time the functions. TODO: Remove after test -# if PROFILE - iTimer2 = now_ms(); - double elapsedTimeCorner = iTimer2 - iTimer1; - sprintf(str,"Corner Detection [%d corners] = %g ms\n",m_nr_corners_ins, elapsedTimeCorner); - strcat(profile_string, str); -#endif - - // @jke - Adding code to time the functions. TODO: Remove after test -#if PROFILE - iTimer1 = now_ms(); -#endif - if(prewarp) - m_cm.Match(m_reference_image,imptr,m_x_corners_ref,m_y_corners_ref,m_nr_corners_ref, - m_x_corners_ins,m_y_corners_ins,m_nr_corners_ins, - m_match_index_ref,m_match_index_ins,&m_nr_matches,H,0); - else - m_cm.Match(m_reference_image,imptr,m_x_corners_ref,m_y_corners_ref,m_nr_corners_ref, - m_x_corners_ins,m_y_corners_ins,m_nr_corners_ins, - m_match_index_ref,m_match_index_ins,&m_nr_matches); - // @jke - Adding code to time the functions. TODO: Remove after test -# if PROFILE - iTimer2 = now_ms(); - double elapsedTimeMatch = iTimer2 - iTimer1; - sprintf(str,"Matching [%d] = %g ms\n",m_nr_matches,elapsedTimeMatch); - strcat(profile_string, str); -#endif - - - // copy out matching features: - for ( int i = 0; i < m_nr_matches; ++i ) - { - int offset = 3*i; - m_corners_ref[offset ] = m_x_corners_ref[m_match_index_ref[i]]; - m_corners_ref[offset+1] = m_y_corners_ref[m_match_index_ref[i]]; - m_corners_ref[offset+2] = 1.0; - - m_corners_ins[offset ] = m_x_corners_ins[m_match_index_ins[i]]; - m_corners_ins[offset+1] = m_y_corners_ins[m_match_index_ins[i]]; - m_corners_ins[offset+2] = 1.0; - } - - // @jke - Adding code to time the functions. TODO: Remove after test -#if PROFILE - iTimer1 = now_ms(); -#endif - // perform the alignment: - db_RobImageHomography(m_H_ref_to_ins, m_corners_ref, m_corners_ins, m_nr_matches, m_K, m_K, m_temp_double, m_temp_int, - m_homography_type,NULL,m_max_iterations,m_max_nr_matches,m_scale, - m_nr_samples, m_chunk_size); - // @jke - Adding code to time the functions. TODO: Remove after test -# if PROFILE - iTimer2 = now_ms(); - double elapsedTimeHomography = iTimer2 - iTimer1; - sprintf(str,"Homography = %g ms\n",elapsedTimeHomography); - strcat(profile_string, str); -#endif - - - SetOutlierThreshold(); - - // Compute the inliers for the db compute m_H_ref_to_ins - ComputeInliers(m_H_ref_to_ins); - - // Update the max inlier count - m_max_inlier_count = (m_max_inlier_count > m_num_inlier_indices)?m_max_inlier_count:m_num_inlier_indices; - - // Fit a least-squares model to just the inliers and put it in m_H_ref_to_ins - if(m_linear_polish) - Polish(m_inlier_indices, m_num_inlier_indices); - - if (m_quarter_resolution) - { - m_H_ref_to_ins[2] *= 2.0; - m_H_ref_to_ins[5] *= 2.0; - } - -#if PROFILE - sprintf(str,"#Inliers = %d \n",m_num_inlier_indices); - strcat(profile_string, str); -#endif -/* - ///// CHECK IF CURRENT TRANSFORMATION GOOD OR BAD //// - ///// IF BAD, then update reference to the last correctly aligned inspection frame; - if(m_num_inlier_indices<5)//0.9*m_nr_matches || m_nr_matches < 20) - { - db_Copy9(m_H_ref_to_ins,H_last); - UpdateReference(imptr,false); -// UpdateReference(m_aligned_ins_image,false); - } - else - { - ///// IF GOOD, then update the last correctly aligned inspection frame to be this; - //db_CopyImage_u(m_aligned_ins_image,imptr,m_im_width,m_im_height,m_over_allocation); -*/ - if(m_do_motion_smoothing) - SmoothMotion(); - - // Disable debug printing - // db_PrintDoubleMatrix(m_H_ref_to_ins,3,3); - - db_Copy9(H, m_H_ref_to_ins); - - m_nr_frames_processed++; -{ - if ( (m_nr_frames_processed % m_reference_update_period) == 0 ) - { - //UpdateReference(imptr,false, false); - - #if MB - UpdateReference(imptr,false, true); - #else - UpdateReference(imptr,false, false); - #endif - } - - - } - - - - return 1; -} - -//void db_FrameToReferenceRegistration::ComputeInliers(double H[9],std::vector<int> &inlier_indices) -void db_FrameToReferenceRegistration::ComputeInliers(double H[9]) -{ - double totnummatches = m_nr_matches; - int inliercount=0; - - m_num_inlier_indices = 0; -// inlier_indices.clear(); - - for(int c=0; c < totnummatches; c++ ) - { - if (m_sq_cost[c] <= m_outlier_t2) - { - m_inlier_indices[inliercount] = c; - inliercount++; - } - } - - m_num_inlier_indices = inliercount; - double frac=inliercount/totnummatches; -} - -//void db_FrameToReferenceRegistration::Polish(std::vector<int> &inlier_indices) -void db_FrameToReferenceRegistration::Polish(int *inlier_indices, int &num_inlier_indices) -{ - db_Zero(m_polish_C,36); - db_Zero(m_polish_D,6); - for (int i=0;i<num_inlier_indices;i++) - { - int j = 3*inlier_indices[i]; - m_polish_C[0]+=m_corners_ref[j]*m_corners_ref[j]; - m_polish_C[1]+=m_corners_ref[j]*m_corners_ref[j+1]; - m_polish_C[2]+=m_corners_ref[j]; - m_polish_C[7]+=m_corners_ref[j+1]*m_corners_ref[j+1]; - m_polish_C[8]+=m_corners_ref[j+1]; - m_polish_C[14]+=1; - m_polish_D[0]+=m_corners_ref[j]*m_corners_ins[j]; - m_polish_D[1]+=m_corners_ref[j+1]*m_corners_ins[j]; - m_polish_D[2]+=m_corners_ins[j]; - m_polish_D[3]+=m_corners_ref[j]*m_corners_ins[j+1]; - m_polish_D[4]+=m_corners_ref[j+1]*m_corners_ins[j+1]; - m_polish_D[5]+=m_corners_ins[j+1]; - } - - double a=db_maxd(m_polish_C[0],m_polish_C[7]); - m_polish_C[0]/=a; m_polish_C[1]/=a; m_polish_C[2]/=a; - m_polish_C[7]/=a; m_polish_C[8]/=a; m_polish_C[14]/=a; - - m_polish_D[0]/=a; m_polish_D[1]/=a; m_polish_D[2]/=a; - m_polish_D[3]/=a; m_polish_D[4]/=a; m_polish_D[5]/=a; - - - m_polish_C[6]=m_polish_C[1]; - m_polish_C[12]=m_polish_C[2]; - m_polish_C[13]=m_polish_C[8]; - - m_polish_C[21]=m_polish_C[0]; m_polish_C[22]=m_polish_C[1]; m_polish_C[23]=m_polish_C[2]; - m_polish_C[28]=m_polish_C[7]; m_polish_C[29]=m_polish_C[8]; - m_polish_C[35]=m_polish_C[14]; - - - double d[6]; - db_CholeskyDecomp6x6(m_polish_C,d); - db_CholeskyBacksub6x6(m_H_ref_to_ins,m_polish_C,d,m_polish_D); -} - -void db_FrameToReferenceRegistration::EstimateSecondaryModel(double H[9]) -{ - /* if ( m_current_is_reference ) - { - db_Identity3x3(H); - return; - } - */ - - // select the outliers of the current model: - SelectOutliers(); - - // perform the alignment: - db_RobImageHomography(m_H_ref_to_ins, m_corners_ref, m_corners_ins, m_nr_matches, m_K, m_K, m_temp_double, m_temp_int, - m_homography_type,NULL,m_max_iterations,m_max_nr_matches,m_scale, - m_nr_samples, m_chunk_size); - - db_Copy9(H,m_H_ref_to_ins); -} - -void db_FrameToReferenceRegistration::ComputeCostArray() -{ - if ( m_sq_cost_computed ) return; - - for( int c=0, k=0 ;c < m_nr_matches; c++, k=k+3) - { - m_sq_cost[c] = SquaredInhomogenousHomographyError(m_corners_ins+k,m_H_ref_to_ins,m_corners_ref+k); - } - - m_sq_cost_computed = true; -} - -void db_FrameToReferenceRegistration::SelectOutliers() -{ - int nr_outliers=0; - - ComputeCostArray(); - - for(int c=0, k=0 ;c<m_nr_matches;c++,k=k+3) - { - if (m_sq_cost[c] > m_outlier_t2) - { - int offset = 3*nr_outliers++; - db_Copy3(m_corners_ref+offset,m_corners_ref+k); - db_Copy3(m_corners_ins+offset,m_corners_ins+k); - } - } - - m_nr_matches = nr_outliers; -} - -void db_FrameToReferenceRegistration::ComputeCostHistogram() -{ - ComputeCostArray(); - - for ( int b = 0; b < m_nr_bins; ++b ) - m_cost_histogram[b] = 0; - - for(int c = 0; c < m_nr_matches; c++) - { - double error = db_SafeSqrt(m_sq_cost[c]); - int bin = (int)(error/m_max_cost_pix*m_nr_bins); - if ( bin < m_nr_bins ) - m_cost_histogram[bin]++; - else - m_cost_histogram[m_nr_bins-1]++; - } - -/* - for ( int i = 0; i < m_nr_bins; ++i ) - std::cout << m_cost_histogram[i] << " "; - std::cout << std::endl; -*/ -} - -void db_FrameToReferenceRegistration::SetOutlierThreshold() -{ - ComputeCostHistogram(); - - int i = 0, last=0; - for (; i < m_nr_bins-1; ++i ) - { - if ( last > m_cost_histogram[i] ) - break; - last = m_cost_histogram[i]; - } - - //std::cout << "I " << i << std::endl; - - int max = m_cost_histogram[i]; - - for (; i < m_nr_bins-1; ++i ) - { - if ( m_cost_histogram[i] < (int)(0.1*max) ) - //if ( last < m_cost_histogram[i] ) - break; - last = m_cost_histogram[i]; - } - //std::cout << "J " << i << std::endl; - - m_outlier_t2 = db_sqr(i*m_max_cost_pix/m_nr_bins); - - //std::cout << "m_outlier_t2 " << m_outlier_t2 << std::endl; -} - -void db_FrameToReferenceRegistration::SmoothMotion(void) -{ - VP_MOTION inmot,outmot; - - double H[9]; - - Get_H_dref_to_ins(H); - - MXX(inmot) = H[0]; - MXY(inmot) = H[1]; - MXZ(inmot) = H[2]; - MXW(inmot) = 0.0; - - MYX(inmot) = H[3]; - MYY(inmot) = H[4]; - MYZ(inmot) = H[5]; - MYW(inmot) = 0.0; - - MZX(inmot) = H[6]; - MZY(inmot) = H[7]; - MZZ(inmot) = H[8]; - MZW(inmot) = 0.0; - - MWX(inmot) = 0.0; - MWY(inmot) = 0.0; - MWZ(inmot) = 0.0; - MWW(inmot) = 1.0; - - inmot.type = VP_MOTION_AFFINE; - - int w = m_im_width; - int h = m_im_height; - - if(m_quarter_resolution) - { - w = w*2; - h = h*2; - } - -#if 0 - m_stab_smoother.smoothMotionAdaptive(w,h,&inmot,&outmot); -#else - m_stab_smoother.smoothMotion(&inmot,&outmot); -#endif - - H[0] = MXX(outmot); - H[1] = MXY(outmot); - H[2] = MXZ(outmot); - - H[3] = MYX(outmot); - H[4] = MYY(outmot); - H[5] = MYZ(outmot); - - H[6] = MZX(outmot); - H[7] = MZY(outmot); - H[8] = MZZ(outmot); - - Set_H_dref_to_ins(H); -} - -void db_FrameToReferenceRegistration::GenerateQuarterResImage(const unsigned char* const* im) -{ - int input_h = m_im_height*2; - int input_w = m_im_width*2; - - for (int j = 0; j < input_h; j++) - { - const unsigned char* in_row_ptr = im[j]; - unsigned char* out_row_ptr = m_horz_smooth_subsample_image[j]+1; - - for (int i = 2; i < input_w-2; i += 2) - { - int smooth_val = ( - 6*in_row_ptr[i] + - ((in_row_ptr[i-1]+in_row_ptr[i+1])<<2) + - in_row_ptr[i-2]+in_row_ptr[i+2] - ) >> 4; - *out_row_ptr++ = (unsigned char) smooth_val; - - if ( (smooth_val < 0) || (smooth_val > 255)) - { - return; - } - - } - } - - for (int j = 2; j < input_h-2; j+=2) - { - - unsigned char* in_row_ptr = m_horz_smooth_subsample_image[j]; - unsigned char* out_row_ptr = m_quarter_res_image[j/2]; - - for (int i = 1; i < m_im_width-1; i++) - { - int smooth_val = ( - 6*in_row_ptr[i] + - ((in_row_ptr[i-m_im_width]+in_row_ptr[i+m_im_width]) << 2)+ - in_row_ptr[i-2*m_im_width]+in_row_ptr[i+2*m_im_width] - ) >> 4; - *out_row_ptr++ = (unsigned char)smooth_val; - - if ( (smooth_val < 0) || (smooth_val > 255)) - { - return; - } - - } - } -} |