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Diffstat (limited to 'jni_mosaic/feature_stab/src/dbreg/vp_motionmodel.h')
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diff --git a/jni_mosaic/feature_stab/src/dbreg/vp_motionmodel.h b/jni_mosaic/feature_stab/src/dbreg/vp_motionmodel.h deleted file mode 100644 index a63ac0010..000000000 --- a/jni_mosaic/feature_stab/src/dbreg/vp_motionmodel.h +++ /dev/null @@ -1,282 +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 vp_motionmodel.h -#category warp -#description general motion model for tranlation/affine/projective -#title motion-model -#parentlink hindex.html -* -* Copyright 1998 Sarnoff Corporation -* All Rights Reserved -* -* Modification History -* Date: 02/13/98 -* Author: supuns -* Shop Order: 15491 001 -* @(#) $Id: vp_motionmodel.h,v 1.4 2011/06/17 14:04:33 mbansal Exp $ -*/ - -#ifndef VP_MOTIONMODEL_H -#define VP_MOTIONMODEL_H -#include <stdio.h> - -#define FALSE 0 -#define TRUE 1 - -#if 0 /* Moved mottomat.c and mattomot_d.c from vpmotion.h to vpcompat.h - in order to remove otherwise unnecessary dependency of vpmotion, - vpwarp, and newvpio on vpmath */ -#ifndef VPMATH_H -#include "vpmath.h" -#endif -#endif - -#if 0 -#ifndef VP_WARP_H -#include "vp_warp.h" -#endif -#endif -/* - -#htmlstart -# =================================================================== -#h 1 Introduction - - This defines a motion model that can describe translation, - affine, and projective projective 3d and 3d view transforms. - - The main structure VP_MOTION contains a 16 parameter array (That - can be considered as elements of a 4x4 matrix) and a type field - which can be one of VP_MOTION_NONE,VP_MOTION_TRANSLATION, - VP_MOTION_AFFINE, VP_MOTION_PROJECTIVE,VP_MOTION_PROJ_3D or - VP_MOTION_VIEW_3D. (These are defined using enums with gaps of 10 - so that subsets of these motions that are still consistant can be - added in between. Motion models that are inconsistant with this set - should be added at the end so the routines can hadle them - independently. - - The transformation VP_MOTION_NONE,VP_MOTION_TRANSLATION, - VP_MOTION_AFFINE, VP_MOTION_PROJECTIVE, VP_MOTION_PROJ_3D and - VP_MOTION_SEMI_PROJ_3D would map a point P={x,y,z,w} to a new point - P'={x',y',z',w'} using a motion model M such that P'= M.par * P. - Where M.par is thought of as elements of a 4x4 matrix ordered row - by row. The interpretation of all models except VP_MOTION_SEMI_PROJ_3D - is taken to be mapping of a 3d point P"={x",y",z"} which is obtained - from the normalization {x'/w',y'/w',z'/w'}. In the VP_MOTION_SEMI_PROJ_3D - the mapping to a point P"={x",y",z"} is obtained from the normalization - {x'/w',y'/w',z'}. All these motion models have the property that they - can be inverted using 4x4 matrices. Except for the VP_MOTION_SEMI_PROJ_3D all - other types can also be cascaded using 4x4 matrices. - - Specific macros and functions have been provided to handle 2d instances - of these functions. As the parameter interpretations can change when adding - new motion models it is HIGHLY RECOMMENDED that you use the macros MXX,MXY.. - ect. to interpret each motion component. -#pre -*/ - -/* -#endpre -# =================================================================== -#h 1 Typedef and Struct Declarations -#pre -*/ - -#define VP_MAX_MOTION_PAR 16 - -typedef double VP_PAR; -typedef VP_PAR VP_TRS[VP_MAX_MOTION_PAR]; - -/* Do not add any motion models before VP_MOTION_PROJECTIVE */ -/* The order is assumed in vp functions */ -enum VP_MOTION_MODEL { - VP_MOTION_NONE=0, - VP_MOTION_TRANSLATION=10, - VP_MOTION_SCALE=11, - VP_MOTION_ROTATE=12, - VP_MOTION_X_SHEAR=13, - VP_MOTION_Y_SHEAR=14, - VP_MOTION_SIMILARITY=15, - VP_MOTION_AFFINE=20, - VP_MOTION_PROJECTIVE=30, - VP_MOTION_PROJ_3D=40, - VP_MOTION_SEMI_PROJ_3D=80, - VP_SIMILARITY=100, - VP_VFE_AFFINE=120 -}; - -#define VP_REFID -1 /* Default ID used for reference frame */ - -typedef struct { - VP_TRS par; /* Contains the motion paramerers. - For the standard motion types this is - represented as 16 number that refer - to a 4x4 matrix */ - enum VP_MOTION_MODEL type; - int refid; /* Reference frame ( takes a point in refid frame - and moves it by the par to get a point in insid - frame ) */ - int insid; /* Inspection frame */ -} VP_MOTION; - -//typedef VP_LIST VP_MOTION_LIST; -/* -#endpre -# =================================================================== -#h 1 Constant Declarations -*/ - -/* Macros related to the 4x4 matrix parameters */ -#define MXX(m) (m).par[0] -#define MXY(m) (m).par[1] -#define MXZ(m) (m).par[2] -#define MXW(m) (m).par[3] -#define MYX(m) (m).par[4] -#define MYY(m) (m).par[5] -#define MYZ(m) (m).par[6] -#define MYW(m) (m).par[7] -#define MZX(m) (m).par[8] -#define MZY(m) (m).par[9] -#define MZZ(m) (m).par[10] -#define MZW(m) (m).par[11] -#define MWX(m) (m).par[12] -#define MWY(m) (m).par[13] -#define MWZ(m) (m).par[14] -#define MWW(m) (m).par[15] - -/* The do {...} while (0) technique creates a statement that can be used legally - in an if-else statement. See "Swallowing the semicolon", - http://gcc.gnu.org/onlinedocs/gcc-2.95.3/cpp_1.html#SEC23 */ -/* Initialize the Motion to be Identity */ -#define VP_MOTION_ID(m) do {\ - MXX(m)=MYY(m)=MZZ(m)=MWW(m)=(VP_PAR)1.0; \ - MXY(m)=MXZ(m)=MXW(m)=(VP_PAR)0.0; \ - MYX(m)=MYZ(m)=MYW(m)=(VP_PAR)0.0; \ - MZX(m)=MZY(m)=MZW(m)=(VP_PAR)0.0; \ - MWX(m)=MWY(m)=MWZ(m)=(VP_PAR)0.0; \ -(m).type = VP_MOTION_TRANSLATION; } while (0) - -/* Initialize without altering the translation components */ -#define VP_KEEP_TRANSLATION_3D(m) do {\ - MXX(m)=MYY(m)=MZZ(m)=MWW(m)=(VP_PAR)1.0; \ - MXY(m)=MXZ(m)=(VP_PAR)0.0; \ - MYX(m)=MYZ(m)=(VP_PAR)0.0; \ - MZX(m)=MZY(m)=(VP_PAR)0.0; \ - MWX(m)=MWY(m)=MWZ(m)=(VP_PAR)0.0; \ - (m).type = VP_MOTION_PROJ_3D; } while (0) - -/* Initialize without altering the 2d translation components */ -#define VP_KEEP_TRANSLATION_2D(m) do {\ - VP_KEEP_TRANSLATION_3D(m); MZW(m)=(VP_PAR)0.0; (m).type= VP_MOTION_TRANSLATION;} while (0) - -/* Initialize without altering the affine & translation components */ -#define VP_KEEP_AFFINE_3D(m) do {\ - MWX(m)=MWY(m)=MWZ(m)=(VP_PAR)0.0; MWW(m)=(VP_PAR)1.0; \ - (m).type = VP_MOTION_PROJ_3D; } while (0) - -/* Initialize without altering the 2d affine & translation components */ -#define VP_KEEP_AFFINE_2D(m) do {\ - VP_KEEP_AFFINE_3D(m); \ - MXZ(m)=MYZ(m)=(VP_PAR)0.0; MZZ(m)=(VP_PAR)1.0; \ - MZX(m)=MZY(m)=MZW(m)=(VP_PAR)0.0; \ - (m).type = VP_MOTION_AFFINE; } while (0) - -/* Initialize without altering the 2d projective parameters */ -#define VP_KEEP_PROJECTIVE_2D(m) do {\ - MXZ(m)=MYZ(m)=(VP_PAR)0.0; MZZ(m)=(VP_PAR)1.0; \ - MZX(m)=MZY(m)=MZW(m)=MWZ(m)=(VP_PAR)0.0; \ - (m).type = VP_MOTION_PROJECTIVE; } while (0) - -/* Warp a 2d point (assuming the z component is zero) */ -#define VP_WARP_POINT_2D(inx,iny,m,outx,outy) do {\ - VP_PAR vpTmpWarpPnt___= MWX(m)*(inx)+MWY(m)*(iny)+MWW(m); \ - outx = (MXX(m)*((VP_PAR)inx)+MXY(m)*((VP_PAR)iny)+MXW(m))/vpTmpWarpPnt___; \ - outy = (MYX(m)*((VP_PAR)inx)+MYY(m)*((VP_PAR)iny)+MYW(m))/vpTmpWarpPnt___; } while (0) - -/* Warp a 3d point */ -#define VP_WARP_POINT_3D(inx,iny,inz,m,outx,outy,outz) do {\ - VP_PAR vpTmpWarpPnt___= MWX(m)*(inx)+MWY(m)*(iny)+MWZ(m)*((VP_PAR)inz)+MWW(m); \ - outx = (MXX(m)*((VP_PAR)inx)+MXY(m)*((VP_PAR)iny)+MXZ(m)*((VP_PAR)inz)+MXW(m))/vpTmpWarpPnt___; \ - outy = (MYX(m)*((VP_PAR)inx)+MYY(m)*((VP_PAR)iny)+MYZ(m)*((VP_PAR)inz)+MYW(m))/vpTmpWarpPnt___; \ - outz = MZX(m)*((VP_PAR)inx)+MZY(m)*((VP_PAR)iny)+MZZ(m)*((VP_PAR)inz)+MZW(m); \ - if ((m).type==VP_MOTION_PROJ_3D) outz/=vpTmpWarpPnt___; } while (0) - -/* Projections of each component */ -#define VP_PROJW_3D(m,x,y,z,f) ( MWX(m)*(x)+MWY(m)*(y)+MWZ(m)*(z)+MWW(m) ) -#define VP_PROJX_3D(m,x,y,z,f,w) ((MXX(m)*(x)+MXY(m)*(y)+MXZ(m)*(z)+MXW(m))/(w)) -#define VP_PROJY_3D(m,x,y,z,f,w) ((MYX(m)*(x)+MYY(m)*(y)+MYZ(m)*(z)+MYW(m))/(w)) -#define VP_PROJZ_3D(m,x,y,z,f,w) ((MZX(m)*(x)+MZY(m)*(y)+MZZ(m)*(z)+MZW(m))/(w)) - -/* Scale Down a matrix by Sfactor */ -#define VP_SCALEDOWN(m,Sfactor) do { \ - MXW(m) /= (VP_PAR)Sfactor; MWX(m) *= (VP_PAR)Sfactor; \ - MYW(m) /= (VP_PAR)Sfactor; MWY(m) *= (VP_PAR)Sfactor; \ - MZW(m) /= (VP_PAR)Sfactor; MWZ(m) *= (VP_PAR)Sfactor; } while (0) - -/* Scale Up a matrix by Sfactor */ -#define VP_SCALEUP(m,Sfactor) do { \ - MXW(m) *= (VP_PAR)Sfactor; MWX(m) /= (VP_PAR)Sfactor; \ - MYW(m) *= (VP_PAR)Sfactor; MWY(m) /= (VP_PAR)Sfactor; \ - MZW(m) *= (VP_PAR)Sfactor; MWZ(m) /= (VP_PAR)Sfactor; } while (0) - -/* Normalize the transformation matrix so that MWW is 1 */ -#define VP_NORMALIZE(m) if (MWW(m)!=(VP_PAR)0.0) do { \ - MXX(m)/=MWW(m); MXY(m)/=MWW(m); MXZ(m)/=MWW(m); MXW(m)/= MWW(m); \ - MYX(m)/=MWW(m); MYY(m)/=MWW(m); MYZ(m)/=MWW(m); MYW(m)/= MWW(m); \ - MZX(m)/=MWW(m); MZY(m)/=MWW(m); MZZ(m)/=MWW(m); MZW(m)/= MWW(m); \ - MWX(m)/=MWW(m); MWY(m)/=MWW(m); MWZ(m)/=MWW(m); MWW(m) = (VP_PAR)1.0; } while (0) - -#define VP_PRINT_TRANS(msg,b) do { \ - fprintf(stderr, \ - "%s\n%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n", \ - msg, \ - MXX(b),MXY(b),MXZ(b),MXW(b), \ - MYX(b),MYY(b),MYZ(b),MYW(b), \ - MZX(b),MZY(b),MZZ(b),MZW(b), \ - MWX(b),MWY(b),MWZ(b),MWW(b)); \ -} while (0) - -/* w' projection given a point x,y,0,f */ -#define VP_PROJZ(m,x,y,f) ( \ - MWX(m)*((VP_PAR)x)+MWY(m)*((VP_PAR)y)+MWW(m)*((VP_PAR)f)) - -/* X Projection given a point x,y,0,f and w' */ -#define VP_PROJX(m,x,y,w,f) (\ - (MXX(m)*((VP_PAR)x)+MXY(m)*((VP_PAR)y)+MXW(m)*((VP_PAR)f))/((VP_PAR)w)) - -/* Y Projection given a point x,y,0,f and the w' */ -#define VP_PROJY(m,x,y,w,f) (\ - (MYX(m)*((VP_PAR)x)+MYY(m)*((VP_PAR)y)+MYW(m)*((VP_PAR)f))/((VP_PAR)w)) - -/* Set the reference id for a motion */ -#define VP_SET_REFID(m,id) do { (m).refid=id; } while (0) - -/* Set the inspection id for a motion */ -#define VP_SET_INSID(m,id) do { (m).insid=id; } while (0) - -void vp_copy_motion (const VP_MOTION *src, VP_MOTION *dst); -int vp_invert_motion(const VP_MOTION* in,VP_MOTION* out); -int vp_cascade_motion(const VP_MOTION* InAB, const VP_MOTION* InBC,VP_MOTION* OutAC); -int vp_zoom_motion2d(VP_MOTION* in, VP_MOTION* out, - int n, int w, int h, double zoom); -double vp_motion_cornerdiff(const VP_MOTION *mot_a, const VP_MOTION *mot_b, - int xo, int yo, int w, int h); - -#endif /* VP_MOTIONMODEL_H */ -/* =================================================================== */ -/* end vp_motionmodel.h */ |