diff options
Diffstat (limited to 'jni_mosaic/feature_stab/src/dbreg/vp_motionmodel.c')
| -rw-r--r-- | jni_mosaic/feature_stab/src/dbreg/vp_motionmodel.c | 377 |
1 files changed, 0 insertions, 377 deletions
diff --git a/jni_mosaic/feature_stab/src/dbreg/vp_motionmodel.c b/jni_mosaic/feature_stab/src/dbreg/vp_motionmodel.c deleted file mode 100644 index 1f6af15bd..000000000 --- a/jni_mosaic/feature_stab/src/dbreg/vp_motionmodel.c +++ /dev/null @@ -1,377 +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. - */ - -/* -#sourcefile vpmotion/vp_motionmodel.c -#category motion-model -* -* Copyright 1998 Sarnoff Corporation -* All Rights Reserved -* -* Modification History -* Date: 02/14/98 -* Author: supuns -* Shop Order: 17xxx -* @(#) $Id: vp_motionmodel.c,v 1.4 2011/06/17 14:04:33 mbansal Exp $ -*/ - -/* -* =================================================================== -* Include Files -*/ - -#include <string.h> /* memmove */ -#include <math.h> -#include "vp_motionmodel.h" - -/* Static Functions */ -static -double Det3(double m[3][3]) -{ - double result; - - result = - m[0][0]*m[1][1]*m[2][2] + m[0][1]*m[1][2]*m[2][0] + - m[0][2]*m[1][0]*m[2][1] - m[0][2]*m[1][1]*m[2][0] - - m[0][0]*m[1][2]*m[2][1] - m[0][1]*m[1][0]*m[2][2]; - - return(result); -} - -typedef double MATRIX[4][4]; - -static -double Det4(MATRIX m) -{ - /* ==> This is a poor implementation of determinant. - Writing the formula out in closed form is unnecessarily complicated - and mistakes are easy to make. */ - double result; - - result= - m[0][3] *m[1][2] *m[2][1] *m[3][0] - m[0][2] *m[1][3] *m[2][1] *m[3][0] - m[0][3] *m[1][1] *m[2][2] *m[3][0] + - m[0][1] *m[1][3] *m[2][2] *m[3][0] + m[0][2] *m[1][1] *m[2][3] *m[3][0] - m[0][1] *m[1][2] *m[2][3] *m[3][0] - m[0][3] *m[1][2] *m[2][0] *m[3][1] + - m[0][2] *m[1][3] *m[2][0] *m[3][1] + m[0][3] *m[1][0] *m[2][2] *m[3][1] - m[0][0] *m[1][3] *m[2][2] *m[3][1] - m[0][2] *m[1][0] *m[2][3] *m[3][1] + - m[0][0] *m[1][2] *m[2][3] *m[3][1] + m[0][3] *m[1][1] *m[2][0] *m[3][2] - m[0][1] *m[1][3] *m[2][0] *m[3][2] - m[0][3] *m[1][0] *m[2][1] *m[3][2] + - m[0][0] *m[1][3] *m[2][1] *m[3][2] + m[0][1] *m[1][0] *m[2][3] *m[3][2] - m[0][0] *m[1][1] *m[2][3] *m[3][2] - m[0][2] *m[1][1] *m[2][0] *m[3][3] + - m[0][1] *m[1][2] *m[2][0] *m[3][3] + m[0][2] *m[1][0] *m[2][1] *m[3][3] - m[0][0] *m[1][2] *m[2][1] *m[3][3] - m[0][1] *m[1][0] *m[2][2] *m[3][3] + - m[0][0] *m[1][1] *m[2][2] *m[3][3]; - /* - m[0][0]*m[1][1]*m[2][2]*m[3][3]-m[0][1]*m[1][0]*m[2][2]*m[3][3]+ - m[0][1]*m[1][2]*m[2][0]*m[3][3]-m[0][2]*m[1][1]*m[2][0]*m[3][3]+ - m[0][2]*m[1][0]*m[2][1]*m[3][3]-m[0][0]*m[1][2]*m[2][1]*m[3][3]+ - m[0][0]*m[1][2]*m[2][3]*m[3][1]-m[0][2]*m[1][0]*m[2][3]*m[3][1]+ - m[0][2]*m[1][3]*m[2][0]*m[3][1]-m[0][3]*m[1][2]*m[2][0]*m[3][1]+ - m[0][3]*m[1][0]*m[2][2]*m[3][1]-m[0][0]*m[1][3]*m[2][2]*m[3][1]+ - m[0][0]*m[1][3]*m[2][1]*m[3][2]-m[0][3]*m[1][0]*m[2][3]*m[3][2]+ - m[0][1]*m[1][0]*m[2][3]*m[3][2]-m[0][0]*m[1][1]*m[2][0]*m[3][2]+ - m[0][3]*m[1][1]*m[2][0]*m[3][2]-m[0][1]*m[1][3]*m[2][1]*m[3][2]+ - m[0][1]*m[1][3]*m[2][2]*m[3][0]-m[0][3]*m[1][1]*m[2][2]*m[3][0]+ - m[0][2]*m[1][1]*m[2][3]*m[3][0]-m[0][1]*m[1][2]*m[2][3]*m[3][0]+ - m[0][3]*m[1][2]*m[2][1]*m[3][0]-m[0][2]*m[1][3]*m[2][1]*m[3][0]; - */ - return(result); -} - -static -int inv4Mat(const VP_MOTION* in, VP_MOTION* out) -{ - /* ==> This is a poor implementation of inversion. The determinant - method is O(N^4), i.e. unnecessarily slow, and not numerically accurate. - The real complexity of inversion is O(N^3), and is best done using - LU decomposition. */ - - MATRIX inmat,outmat; - int i, j, k, l, m, n,ntemp; - double mat[3][3], indet, temp; - - /* check for non-empty structures structure */ - if (((VP_MOTION *) NULL == in) || ((VP_MOTION *) NULL == out)) { - return 1; - } - - for(k=0,i=0;i<4;i++) - for(j=0;j<4;j++,k++) - inmat[i][j]=(double)in->par[k]; - - indet = Det4(inmat); - if (indet==0) return(-1); - - for (i=0;i<4;i++) { - for (j=0;j<4;j++) { - m = 0; - for (k=0;k<4;k++) { - if (i != k) { - n = 0; - for (l=0;l<4;l++) - if (j != l) { - mat[m][n] = inmat[k][l]; - n++; - } - m++; - } - } - - temp = -1.; - ntemp = (i +j ) %2; - if( ntemp == 0) temp = 1.; - - outmat[j][i] = temp * Det3(mat)/indet; - } - } - - for(k=0,i=0;i<4;i++) - for(j=0;j<4;j++,k++) - out->par[k]=(VP_PAR)outmat[i][j]; /*lint !e771*/ - - return(0); -} - -/* -* =================================================================== -* Public Functions -#htmlstart -*/ - -/* - * =================================================================== -#fn vp_invert_motion -#ft invert a motion -#fd DEFINITION - Bool - vp_invert_motion(const VP_MOTION* in,VP_MOTION* out) -#fd PURPOSE - This inverts the motion given in 'in'. - All motion models upto VP_MOTION_SEMI_PROJ_3D are supported. - It is assumed that the all 16 parameters are properly - initialized although you may not be using them. You could - use the VP_KEEP_ macro's defined in vp_motionmodel.h to set - the un-initialized parameters. This uses a 4x4 matrix invertion - function internally. - It is SAFE to pass the same pointer as both the 'in' and 'out' - parameters. -#fd INPUTS - in - input motion -#fd OUTPUTS - out - output inverted motion. If singular matrix uninitialized. - if MWW(in) is non-zero it is also normalized. -#fd RETURNS - FALSE - matrix is singular or motion model not supported - TRUE - otherwise -#fd SIDE EFFECTS - None -#endfn -*/ - -int vp_invert_motion(const VP_MOTION* in,VP_MOTION* out) -{ - int refid; - - /* check for non-empty structures structure */ - if (((VP_MOTION *) NULL == in) || ((VP_MOTION *) NULL == out)) { - return FALSE; - } - - if (in->type>VP_MOTION_SEMI_PROJ_3D) { - return FALSE; - } - - if (inv4Mat(in,out)<0) - return FALSE; - - /*VP_NORMALIZE(*out);*/ - out->type = in->type; - refid=in->refid; - out->refid=in->insid; - out->insid=refid; - return TRUE; -} - -/* -* =================================================================== -#fn vp_cascade_motion -#ft Cascade two motion transforms -#fd DEFINITION - Bool - vp_cascade_motion(const VP_MOTION* InAB,const VP_MOTION* InBC,VP_MOTION* OutAC) -#fd PURPOSE - Given Motion Transforms A->B and B->C, this function will - generate a New Motion that describes the transformation - from A->C. - More specifically, OutAC = InBC * InAC. - This function works ok if InAB,InBC and OutAC are the same pointer. -#fd INPUTS - InAB - First Motion Transform - InBC - Second Motion Tranform -#fd OUTPUTS - OutAC - Cascaded Motion -#fd RETURNS - FALSE - motion model not supported - TRUE - otherwise -#fd SIDE EFFECTS - None -#endfn -*/ - -int vp_cascade_motion(const VP_MOTION* InA, const VP_MOTION* InB,VP_MOTION* Out) -{ - /* ==> This is a poor implementation of matrix multiplication. - Writing the formula out in closed form is unnecessarily complicated - and mistakes are easy to make. */ - VP_PAR mxx,mxy,mxz,mxw; - VP_PAR myx,myy,myz,myw; - VP_PAR mzx,mzy,mzz,mzw; - VP_PAR mwx,mwy,mwz,mww; - - /* check for non-empty structures structure */ - if (((VP_MOTION *) NULL == InA) || ((VP_MOTION *) NULL == InB) || - ((VP_MOTION *) NULL == Out)) { - return FALSE; - } - - if (InA->type>VP_MOTION_PROJ_3D) { - return FALSE; - } - - if (InB->type>VP_MOTION_PROJ_3D) { - return FALSE; - } - - mxx = MXX(*InB)*MXX(*InA)+MXY(*InB)*MYX(*InA)+MXZ(*InB)*MZX(*InA)+MXW(*InB)*MWX(*InA); - mxy = MXX(*InB)*MXY(*InA)+MXY(*InB)*MYY(*InA)+MXZ(*InB)*MZY(*InA)+MXW(*InB)*MWY(*InA); - mxz = MXX(*InB)*MXZ(*InA)+MXY(*InB)*MYZ(*InA)+MXZ(*InB)*MZZ(*InA)+MXW(*InB)*MWZ(*InA); - mxw = MXX(*InB)*MXW(*InA)+MXY(*InB)*MYW(*InA)+MXZ(*InB)*MZW(*InA)+MXW(*InB)*MWW(*InA); - myx = MYX(*InB)*MXX(*InA)+MYY(*InB)*MYX(*InA)+MYZ(*InB)*MZX(*InA)+MYW(*InB)*MWX(*InA); - myy = MYX(*InB)*MXY(*InA)+MYY(*InB)*MYY(*InA)+MYZ(*InB)*MZY(*InA)+MYW(*InB)*MWY(*InA); - myz = MYX(*InB)*MXZ(*InA)+MYY(*InB)*MYZ(*InA)+MYZ(*InB)*MZZ(*InA)+MYW(*InB)*MWZ(*InA); - myw = MYX(*InB)*MXW(*InA)+MYY(*InB)*MYW(*InA)+MYZ(*InB)*MZW(*InA)+MYW(*InB)*MWW(*InA); - mzx = MZX(*InB)*MXX(*InA)+MZY(*InB)*MYX(*InA)+MZZ(*InB)*MZX(*InA)+MZW(*InB)*MWX(*InA); - mzy = MZX(*InB)*MXY(*InA)+MZY(*InB)*MYY(*InA)+MZZ(*InB)*MZY(*InA)+MZW(*InB)*MWY(*InA); - mzz = MZX(*InB)*MXZ(*InA)+MZY(*InB)*MYZ(*InA)+MZZ(*InB)*MZZ(*InA)+MZW(*InB)*MWZ(*InA); - mzw = MZX(*InB)*MXW(*InA)+MZY(*InB)*MYW(*InA)+MZZ(*InB)*MZW(*InA)+MZW(*InB)*MWW(*InA); - mwx = MWX(*InB)*MXX(*InA)+MWY(*InB)*MYX(*InA)+MWZ(*InB)*MZX(*InA)+MWW(*InB)*MWX(*InA); - mwy = MWX(*InB)*MXY(*InA)+MWY(*InB)*MYY(*InA)+MWZ(*InB)*MZY(*InA)+MWW(*InB)*MWY(*InA); - mwz = MWX(*InB)*MXZ(*InA)+MWY(*InB)*MYZ(*InA)+MWZ(*InB)*MZZ(*InA)+MWW(*InB)*MWZ(*InA); - mww = MWX(*InB)*MXW(*InA)+MWY(*InB)*MYW(*InA)+MWZ(*InB)*MZW(*InA)+MWW(*InB)*MWW(*InA); - - MXX(*Out)=mxx; MXY(*Out)=mxy; MXZ(*Out)=mxz; MXW(*Out)=mxw; - MYX(*Out)=myx; MYY(*Out)=myy; MYZ(*Out)=myz; MYW(*Out)=myw; - MZX(*Out)=mzx; MZY(*Out)=mzy; MZZ(*Out)=mzz; MZW(*Out)=mzw; - MWX(*Out)=mwx; MWY(*Out)=mwy; MWZ(*Out)=mwz; MWW(*Out)=mww; - /* VP_NORMALIZE(*Out); */ - Out->type= (InA->type > InB->type) ? InA->type : InB->type; - Out->refid=InA->refid; - Out->insid=InB->insid; - - return TRUE; -} - -/* -* =================================================================== -#fn vp_copy_motion -#ft Copies the source motion to the destination motion. -#fd DEFINITION - void - vp_copy_motion (const VP_MOTION *src, VP_MOTION *dst) -#fd PURPOSE - Copies the source motion to the destination motion. - It is OK if src == dst. - NOTE THAT THE SOURCE IS THE FIRST ARGUMENT. - This is different from some of the other VP - copy functions. -#fd INPUTS - src is the source motion - dst is the destination motion -#fd RETURNS - void -#endfn -*/ -void vp_copy_motion (const VP_MOTION *src, VP_MOTION *dst) -{ - /* Use memmove rather than memcpy because it handles overlapping memory - OK. */ - memmove(dst, src, sizeof(VP_MOTION)); - return; -} /* vp_copy_motion() */ - -#define VP_SQR(x) ( (x)*(x) ) -double vp_motion_cornerdiff(const VP_MOTION *mot_a, const VP_MOTION *mot_b, - int xo, int yo, int w, int h) -{ - double ax1, ay1, ax2, ay2, ax3, ay3, ax4, ay4; - double bx1, by1, bx2, by2, bx3, by3, bx4, by4; - double err; - - /*lint -e639 -e632 -e633 */ - VP_WARP_POINT_2D(xo, yo, *mot_a, ax1, ay1); - VP_WARP_POINT_2D(xo+w-1, yo, *mot_a, ax2, ay2); - VP_WARP_POINT_2D(xo+w-1, yo+h-1, *mot_a, ax3, ay3); - VP_WARP_POINT_2D(xo, yo+h-1, *mot_a, ax4, ay4); - VP_WARP_POINT_2D(xo, yo, *mot_b, bx1, by1); - VP_WARP_POINT_2D(xo+w-1, yo, *mot_b, bx2, by2); - VP_WARP_POINT_2D(xo+w-1, yo+h-1, *mot_b, bx3, by3); - VP_WARP_POINT_2D(xo, yo+h-1, *mot_b, bx4, by4); - /*lint +e639 +e632 +e633 */ - - err = 0; - err += (VP_SQR(ax1 - bx1) + VP_SQR(ay1 - by1)); - err += (VP_SQR(ax2 - bx2) + VP_SQR(ay2 - by2)); - err += (VP_SQR(ax3 - bx3) + VP_SQR(ay3 - by3)); - err += (VP_SQR(ax4 - bx4) + VP_SQR(ay4 - by4)); - - return(sqrt(err)); -} - -int vp_zoom_motion2d(VP_MOTION* in, VP_MOTION* out, - int n, int w, int h, double zoom) -{ - int ii; - VP_PAR inv_zoom; - VP_PAR cx, cy; - VP_MOTION R2r,R2f; - VP_MOTION *res; - - /* check for non-empty structures structure */ - if (((VP_MOTION *) NULL == in)||(zoom <= 0.0)||(w <= 0)||(h <= 0)) { - return FALSE; - } - - /* ==> Not sure why the special case of out=NULL is necessary. Why couldn't - the caller just pass the same pointer for both in and out? */ - res = ((VP_MOTION *) NULL == out)?in:out; - - cx = (VP_PAR) (w/2.0); - cy = (VP_PAR) (h/2.0); - - VP_MOTION_ID(R2r); - inv_zoom = (VP_PAR)(1.0/zoom); - MXX(R2r) = inv_zoom; - MYY(R2r) = inv_zoom; - MXW(R2r)=cx*(((VP_PAR)1.0) - inv_zoom); - MYW(R2r)=cy*(((VP_PAR)1.0) - inv_zoom); - - VP_KEEP_AFFINE_2D(R2r); - - for(ii=0;ii<n;ii++) { - (void) vp_cascade_motion(&R2r,in+ii,&R2f); - res[ii]=R2f; - } - - return TRUE; -} /* vp_zoom_motion2d() */ - -/* =================================================================== */ -/* end vp_motionmodel.c */ |