diff options
Diffstat (limited to 'jni_mosaic/feature_stab/src/dbreg')
| -rw-r--r-- | jni_mosaic/feature_stab/src/dbreg/dbreg.cpp | 794 | ||||
| -rw-r--r-- | jni_mosaic/feature_stab/src/dbreg/dbreg.h | 581 | ||||
| -rw-r--r-- | jni_mosaic/feature_stab/src/dbreg/dbstabsmooth.cpp | 330 | ||||
| -rw-r--r-- | jni_mosaic/feature_stab/src/dbreg/dbstabsmooth.h | 157 | ||||
| -rw-r--r-- | jni_mosaic/feature_stab/src/dbreg/targetver.h | 40 | ||||
| -rw-r--r-- | jni_mosaic/feature_stab/src/dbreg/vp_motionmodel.c | 377 | ||||
| -rw-r--r-- | jni_mosaic/feature_stab/src/dbreg/vp_motionmodel.h | 282 |
7 files changed, 0 insertions, 2561 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; - } - - } - } -} diff --git a/jni_mosaic/feature_stab/src/dbreg/dbreg.h b/jni_mosaic/feature_stab/src/dbreg/dbreg.h deleted file mode 100644 index 4eb244481..000000000 --- a/jni_mosaic/feature_stab/src/dbreg/dbreg.h +++ /dev/null @@ -1,581 +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. - */ - - -#pragma once - -#ifdef _WIN32 -#ifdef DBREG_EXPORTS -#define DBREG_API __declspec(dllexport) -#else -#define DBREG_API __declspec(dllimport) -#endif -#else -#define DBREG_API -#endif - -// @jke - the next few lines are for extracting timing data. TODO: Remove after test -#define PROFILE 0 - -#include "dbstabsmooth.h" - -#include <db_feature_detection.h> -#include <db_feature_matching.h> -#include <db_rob_image_homography.h> - -#if PROFILE - #include <sys/time.h> -#endif - -/*! \mainpage db_FrameToReferenceRegistration - - \section intro Introduction - - db_FrameToReferenceRegistration provides a simple interface to a set of sophisticated algorithms for stabilizing - video sequences. As its name suggests, the class is used to compute parameters that will allow us to warp incoming video - frames and register them with respect to a so-called <i>reference</i> frame. The reference frame is simply the first - frame of a sequence; the registration process is that of estimating the parameters of a warp that can be applied to - subsequent frames to make those frames align with the reference. A video made up of these warped frames will be more - stable than the input video. - - For more technical information on the internal structure of the algorithms used within the db_FrameToRegistration class, - please follow this <a href="../Sarnoff image registration.docx">link</a>. - - \section usage Usage - In addition to the class constructor, there are two main functions of db_FrameToReferenceRegistration that are of - interest to the programmer. db_FrameToReferenceRegistration::Init(...) is used to initialize the parameters of the - registration algorithm. db_FrameToReferenceRegistration::AddFrame(...) is the method by which each new video frame - is introduced to the registration algorithm, and produces the estimated registration warp parameters. - - The following example illustrates how the major methods of the class db_FrameToReferenceRegistration can be used together - to calculate the registration parameters for an image sequence. In the example, the calls to the methods of - db_FrameToReferenceRegistration match those found in the API, but supporting code should be considered pseudo-code. - For a more complete example, please consult the source code for dbregtest. - - - \code - // feature-based image registration class: - db_FrameToReferenceRegistration reg; - - // Image data - const unsigned char * const * image_storage; - - // The 3x3 frame to reference registration parameters - double frame_to_ref_homography[9]; - - // a counter to count the number of frames processed. - unsigned long frame_counter; - // ... - - // main loop - keep going while there are images to process. - while (ImagesAreAvailable) - { - // Call functions to place latest data into image_storage - // ... - - // if the registration object is not yet initialized, then do so - // The arguments to this function are explained in the accompanying - // html API documentation - if (!reg.Initialized()) - { - reg.Init(w,h,motion_model_type,25,linear_polish,quarter_resolution, - DB_POINT_STANDARDDEV,reference_update_period, - do_motion_smoothing,motion_smoothing_gain, - DB_DEFAULT_NR_SAMPLES,DB_DEFAULT_CHUNK_SIZE, - nr_corners,max_disparity); - } - - // Present the new image data to the registration algorithm, - // with the result being stored in the frame_to_ref_homography - // variable. - reg.AddFrame(image_storage,frame_to_ref_homography); - - // frame_to_ref_homography now contains the stabilizing transform - // use this to warp the latest image for display, etc. - - // if this is the first frame, we need to tell the registration - // class to store the image as its reference. Otherwise, AddFrame - // takes care of that. - if (frame_counter == 0) - { - reg.UpdateReference(image_storage); - } - - // increment the frame counter - frame_counter++; - } - - \endcode - - */ - -/*! - * Performs feature-based frame to reference image registration. - */ -class DBREG_API db_FrameToReferenceRegistration -{ -public: - db_FrameToReferenceRegistration(void); - ~db_FrameToReferenceRegistration(); - - /*! - * Set parameters and allocate memory. Note: The default values of these parameters have been set to the values used for the android implementation (i.e. the demo APK). - * \param width image width - * \param height image height - * \param homography_type see definitions in \ref LMRobImageHomography - * \param max_iterations max number of polishing steps - * \param linear_polish whether to perform a linear polishing step after RANSAC - * \param quarter_resolution whether to process input images at quarter resolution (for computational efficiency) - * \param scale Cauchy scale coefficient (see db_ExpCauchyReprojectionError() ) - * \param reference_update_period how often to update the alignment reference (in units of number of frames) - * \param do_motion_smoothing whether to perform display reference smoothing - * \param motion_smoothing_gain weight factor to reflect how fast the display reference must follow the current frame if motion smoothing is enabled - * \param nr_samples number of times to compute a hypothesis - * \param chunk_size size of cost chunks - * \param cd_target_nr_corners target number of corners for corner detector - * \param cm_max_disparity maximum disparity search range for corner matcher (in units of ratio of image width) - * \param cm_use_smaller_matching_window if set to true, uses a correlation window of 5x5 instead of the default 11x11 - * \param cd_nr_horz_blocks the number of horizontal blocks for the corner detector to partition the image - * \param cd_nr_vert_blocks the number of vertical blocks for the corner detector to partition the image - */ - void Init(int width, int height, - int homography_type = DB_HOMOGRAPHY_TYPE_DEFAULT, - int max_iterations = DB_DEFAULT_MAX_ITERATIONS, - bool linear_polish = false, - bool quarter_resolution = true, - double scale = DB_POINT_STANDARDDEV, - unsigned int reference_update_period = 3, - bool do_motion_smoothing = false, - double motion_smoothing_gain = 0.75, - int nr_samples = DB_DEFAULT_NR_SAMPLES, - int chunk_size = DB_DEFAULT_CHUNK_SIZE, - int cd_target_nr_corners = 500, - double cm_max_disparity = 0.2, - bool cm_use_smaller_matching_window = false, - int cd_nr_horz_blocks = 5, - int cd_nr_vert_blocks = 5); - - /*! - * Reset the transformation type that is being use to perform alignment. Use this to change the alignment type at run time. - * \param homography_type the type of transformation to use for performing alignment (see definitions in \ref LMRobImageHomography) - */ - void ResetHomographyType(int homography_type) { m_homography_type = homography_type; } - - /*! - * Enable/Disable motion smoothing. Use this to turn motion smoothing on/off at run time. - * \param enable flag indicating whether to turn the motion smoothing on or off. - */ - void ResetSmoothing(bool enable) { m_do_motion_smoothing = enable; } - - /*! - * Align an inspection image to an existing reference image, update the reference image if due and perform motion smoothing if enabled. - * \param im new inspection image - * \param H computed transformation from reference to inspection coordinate frame. Identity is returned if no reference frame was set. - * \param force_reference make this the new reference image - */ - int AddFrame(const unsigned char * const * im, double H[9], bool force_reference=false, bool prewarp=false); - - /*! - * Returns true if Init() was run. - */ - bool Initialized() const { return m_initialized; } - - /*! - * Returns true if the current frame is being used as the alignment reference. - */ - bool IsCurrentReference() const { return m_current_is_reference; } - - /*! - * Returns true if we need to call UpdateReference now. - */ - bool NeedReferenceUpdate(); - - /*! - * Returns the pointer reference to the alignment reference image data - */ - unsigned char ** GetReferenceImage() { return m_reference_image; } - - /*! - * Returns the pointer reference to the double array containing the homogeneous coordinates for the matched reference image corners. - */ - double * GetRefCorners() { return m_corners_ref; } - /*! - * Returns the pointer reference to the double array containing the homogeneous coordinates for the matched inspection image corners. - */ - double * GetInsCorners() { return m_corners_ins; } - /*! - * Returns the number of correspondences between the reference and inspection images. - */ - int GetNrMatches() { return m_nr_matches; } - - /*! - * Returns the number of corners detected in the current reference image. - */ - int GetNrRefCorners() { return m_nr_corners_ref; } - - /*! - * Returns the pointer to an array of indices that were found to be RANSAC inliers from the matched corner lists. - */ - int* GetInliers() { return m_inlier_indices; } - - /*! - * Returns the number of inliers from the RANSAC matching step. - */ - int GetNrInliers() { return m_num_inlier_indices; } - - //std::vector<int>& GetInliers(); - //void Polish(std::vector<int> &inlier_indices); - - /*! - * Perform a linear polishing step by re-estimating the alignment transformation using the RANSAC inliers. - * \param inlier_indices pointer to an array of indices that were found to be RANSAC inliers from the matched corner lists. - * \param num_inlier_indices number of inliers i.e. the length of the array passed as the first argument. - */ - void Polish(int *inlier_indices, int &num_inlier_indices); - - /*! - * Reset the motion smoothing parameters to their initial values. - */ - void ResetMotionSmoothingParameters() { m_stab_smoother.Init(); } - - /*! - * Update the alignment reference image to the specified image. - * \param im pointer to the image data to be used as the new alignment reference. - * \param subsample boolean flag to control whether the function should internally subsample the provided image to the size provided in the Init() function. - */ - int UpdateReference(const unsigned char * const * im, bool subsample = true, bool detect_corners = true); - - /*! - * Returns the transformation from the display reference to the alignment reference frame - */ - void Get_H_dref_to_ref(double H[9]); - /*! - * Returns the transformation from the display reference to the inspection reference frame - */ - void Get_H_dref_to_ins(double H[9]); - /*! - * Set the transformation from the display reference to the inspection reference frame - * \param H the transformation to set - */ - void Set_H_dref_to_ins(double H[9]); - - /*! - * Reset the display reference to the current frame. - */ - void ResetDisplayReference(); - - /*! - * Estimate a secondary motion model starting from the specified transformation. - * \param H the primary motion model to start from - */ - void EstimateSecondaryModel(double H[9]); - - /*! - * - */ - void SelectOutliers(); - - char *profile_string; - -protected: - void Clean(); - void GenerateQuarterResImage(const unsigned char* const * im); - - int m_im_width; - int m_im_height; - - // RANSAC and refinement parameters: - int m_homography_type; - int m_max_iterations; - double m_scale; - int m_nr_samples; - int m_chunk_size; - double m_outlier_t2; - - // Whether to fit a linear model to just the inliers at the end - bool m_linear_polish; - double m_polish_C[36]; - double m_polish_D[6]; - - // local state - bool m_current_is_reference; - bool m_initialized; - - // inspection to reference homography: - double m_H_ref_to_ins[9]; - double m_H_dref_to_ref[9]; - - // feature extraction and matching: - db_CornerDetector_u m_cd; - db_Matcher_u m_cm; - - // length of corner arrays: - unsigned long m_max_nr_corners; - - // corner locations of reference image features: - double * m_x_corners_ref; - double * m_y_corners_ref; - int m_nr_corners_ref; - - // corner locations of inspection image features: - double * m_x_corners_ins; - double * m_y_corners_ins; - int m_nr_corners_ins; - - // length of match index arrays: - unsigned long m_max_nr_matches; - - // match indices: - int * m_match_index_ref; - int * m_match_index_ins; - int m_nr_matches; - - // pointer to internal copy of the reference image: - unsigned char ** m_reference_image; - - // pointer to internal copy of last aligned inspection image: - unsigned char ** m_aligned_ins_image; - - // pointer to quarter resolution image, if used. - unsigned char** m_quarter_res_image; - - // temporary storage for the quarter resolution image processing - unsigned char** m_horz_smooth_subsample_image; - - // temporary space for homography computation: - double * m_temp_double; - int * m_temp_int; - - // homogenous image point arrays: - double * m_corners_ref; - double * m_corners_ins; - - // Indices of the points within the match lists - int * m_inlier_indices; - int m_num_inlier_indices; - - //void ComputeInliers(double H[9], std::vector<int> &inlier_indices); - void ComputeInliers(double H[9]); - - // cost arrays: - void ComputeCostArray(); - bool m_sq_cost_computed; - double * m_sq_cost; - - // cost histogram: - void ComputeCostHistogram(); - int *m_cost_histogram; - - void SetOutlierThreshold(); - - // utility function for smoothing the motion parameters. - void SmoothMotion(void); - -private: - double m_K[9]; - const int m_over_allocation; - - bool m_reference_set; - - // Maximum number of inliers seen until now w.r.t the current reference frame - int m_max_inlier_count; - - // Number of cost histogram bins: - int m_nr_bins; - // All costs above this threshold get put into the last bin: - int m_max_cost_pix; - - // whether to quarter the image resolution for processing, or not - bool m_quarter_resolution; - - // the period (in number of frames) for reference update. - unsigned int m_reference_update_period; - - // the number of frames processed so far. - unsigned int m_nr_frames_processed; - - // smoother for motion transformations - db_StabilizationSmoother m_stab_smoother; - - // boolean to control whether motion smoothing occurs (or not) - bool m_do_motion_smoothing; - - // double to set the gain for motion smoothing - double m_motion_smoothing_gain; -}; -/*! - Create look-up tables to undistort images. Only Bougeut (Matlab toolkit) - is currently supported. Can be used with db_WarpImageLut_u(). - \code - xd = H*xs; - xd = xd/xd(3); - \endcode - \param lut_x pre-allocated float image - \param lut_y pre-allocated float image - \param w width - \param h height - \param H image homography from source to destination - */ -inline void db_GenerateHomographyLut(float ** lut_x,float ** lut_y,int w,int h,const double H[9]) -{ - assert(lut_x && lut_y); - double x[3] = {0.0,0.0,1.0}; - double xb[3]; - -/* - double xl[3]; - - // Determine the output coordinate system ROI - double Hinv[9]; - db_InvertAffineTransform(Hinv,H); - db_Multiply3x3_3x1(xl, Hinv, x); - xl[0] = db_SafeDivision(xl[0],xl[2]); - xl[1] = db_SafeDivision(xl[1],xl[2]); -*/ - - for ( int i = 0; i < w; ++i ) - for ( int j = 0; j < h; ++j ) - { - x[0] = double(i); - x[1] = double(j); - db_Multiply3x3_3x1(xb, H, x); - xb[0] = db_SafeDivision(xb[0],xb[2]); - xb[1] = db_SafeDivision(xb[1],xb[2]); - - lut_x[j][i] = float(xb[0]); - lut_y[j][i] = float(xb[1]); - } -} - -/*! - * Perform a look-up table warp for packed RGB ([rgbrgbrgb...]) images. - * 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 (w*3 by h) - * \param dst destination image (w*3 by h) - * \param w width - * \param h height - * \param lut_x LUT for x - * \param lut_y LUT for y - */ -inline void db_WarpImageLutFast_rgb(const unsigned char * const * src, unsigned char ** dst, int w, int h, - const float * const * lut_x, const float * const * lut_y) -{ - assert(src && dst); - int xd=0, yd=0; - - for ( int i = 0; i < w; ++i ) - for ( int j = 0; j < h; ++j ) - { - xd = static_cast<unsigned int>(lut_x[j][i]); - yd = static_cast<unsigned int>(lut_y[j][i]); - if ( xd >= w || yd >= h || - xd < 0 || yd < 0) - { - dst[j][3*i ] = 0; - dst[j][3*i+1] = 0; - dst[j][3*i+2] = 0; - } - else - { - dst[j][3*i ] = src[yd][3*xd ]; - dst[j][3*i+1] = src[yd][3*xd+1]; - dst[j][3*i+2] = src[yd][3*xd+2]; - } - } -} - -inline unsigned char db_BilinearInterpolationRGB(double y, double x, const unsigned char * const * v, int offset) -{ - 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][3*floor_x+offset]; - unsigned char f01 = v[floor_y][3*ceil_x+offset]; - unsigned char f10 = v[ceil_y][3*floor_x+offset]; - unsigned char f11 = v[ceil_y][3*ceil_x+offset]; - - 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); -} - -inline void db_WarpImageLutBilinear_rgb(const unsigned char * const * src, unsigned char ** dst, int w, int h, - const float * const * lut_x, const float * const * lut_y) -{ - assert(src && dst); - double xd=0.0, yd=0.0; - - for ( int i = 0; i < w; ++i ) - for ( int j = 0; j < h; ++j ) - { - xd = static_cast<double>(lut_x[j][i]); - yd = static_cast<double>(lut_y[j][i]); - if ( xd > w-2 || yd > h-2 || - xd < 0.0 || yd < 0.0) - { - dst[j][3*i ] = 0; - dst[j][3*i+1] = 0; - dst[j][3*i+2] = 0; - } - else - { - dst[j][3*i ] = db_BilinearInterpolationRGB(yd,xd,src,0); - dst[j][3*i+1] = db_BilinearInterpolationRGB(yd,xd,src,1); - dst[j][3*i+2] = db_BilinearInterpolationRGB(yd,xd,src,2); - } - } -} - -inline double SquaredInhomogenousHomographyError(double y[3],double H[9],double x[3]){ - double x0,x1,x2,mult; - double sd; - - x0=H[0]*x[0]+H[1]*x[1]+H[2]; - x1=H[3]*x[0]+H[4]*x[1]+H[5]; - x2=H[6]*x[0]+H[7]*x[1]+H[8]; - mult=1.0/((x2!=0.0)?x2:1.0); - sd=(y[0]-x0*mult)*(y[0]-x0*mult)+(y[1]-x1*mult)*(y[1]-x1*mult); - - return(sd); -} - - -// functions related to profiling -#if PROFILE - -/* return current time in milliseconds */ -static double -now_ms(void) -{ - //struct timespec res; - struct timeval res; - //clock_gettime(CLOCK_REALTIME, &res); - gettimeofday(&res, NULL); - return 1000.0*res.tv_sec + (double)res.tv_usec/1e3; -} - -#endif diff --git a/jni_mosaic/feature_stab/src/dbreg/dbstabsmooth.cpp b/jni_mosaic/feature_stab/src/dbreg/dbstabsmooth.cpp deleted file mode 100644 index dffff8ab1..000000000 --- a/jni_mosaic/feature_stab/src/dbreg/dbstabsmooth.cpp +++ /dev/null @@ -1,330 +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. - */ - -#include <stdlib.h> -#include "dbstabsmooth.h" - -///// TODO TODO ////////// Replace this with the actual definition from Jayan's reply ///////////// -#define vp_copy_motion_no_id vp_copy_motion -/////////////////////////////////////////////////////////////////////////////////////////////////// - -static bool vpmotion_add(VP_MOTION *in1, VP_MOTION *in2, VP_MOTION *out); -static bool vpmotion_multiply(VP_MOTION *in1, double factor, VP_MOTION *out); - -db_StabilizationSmoother::db_StabilizationSmoother() -{ - Init(); -} - -void db_StabilizationSmoother::Init() -{ - f_smoothOn = true; - f_smoothReset = false; - f_smoothFactor = 1.0f; - f_minDampingFactor = 0.2f; - f_zoom = 1.0f; - VP_MOTION_ID(f_motLF); - VP_MOTION_ID(f_imotLF); - f_hsize = 0; - f_vsize = 0; - - VP_MOTION_ID(f_disp_mot); - VP_MOTION_ID(f_src_mot); - VP_MOTION_ID(f_diff_avg); - - for( int i = 0; i < MOTION_ARRAY-1; i++) { - VP_MOTION_ID(f_hist_mot_speed[i]); - VP_MOTION_ID(f_hist_mot[i]); - VP_MOTION_ID(f_hist_diff_mot[i]); - } - VP_MOTION_ID(f_hist_mot[MOTION_ARRAY-1]); - -} - -db_StabilizationSmoother::~db_StabilizationSmoother() -{} - - -bool db_StabilizationSmoother::smoothMotion(VP_MOTION *inmot, VP_MOTION *outmot) -{ - VP_MOTION_ID(f_motLF); - VP_MOTION_ID(f_imotLF); - f_motLF.insid = inmot->refid; - f_motLF.refid = inmot->insid; - - if(f_smoothOn) { - if(!f_smoothReset) { - MXX(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MXX(f_motLF) + (1.0-f_smoothFactor)* (double) MXX(*inmot)); - MXY(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MXY(f_motLF) + (1.0-f_smoothFactor)* (double) MXY(*inmot)); - MXZ(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MXZ(f_motLF) + (1.0-f_smoothFactor)* (double) MXZ(*inmot)); - MXW(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MXW(f_motLF) + (1.0-f_smoothFactor)* (double) MXW(*inmot)); - - MYX(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MYX(f_motLF) + (1.0-f_smoothFactor)* (double) MYX(*inmot)); - MYY(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MYY(f_motLF) + (1.0-f_smoothFactor)* (double) MYY(*inmot)); - MYZ(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MYZ(f_motLF) + (1.0-f_smoothFactor)* (double) MYZ(*inmot)); - MYW(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MYW(f_motLF) + (1.0-f_smoothFactor)* (double) MYW(*inmot)); - - MZX(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MZX(f_motLF) + (1.0-f_smoothFactor)* (double) MZX(*inmot)); - MZY(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MZY(f_motLF) + (1.0-f_smoothFactor)* (double) MZY(*inmot)); - MZZ(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MZZ(f_motLF) + (1.0-f_smoothFactor)* (double) MZZ(*inmot)); - MZW(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MZW(f_motLF) + (1.0-f_smoothFactor)* (double) MZW(*inmot)); - - MWX(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MWX(f_motLF) + (1.0-f_smoothFactor)* (double) MWX(*inmot)); - MWY(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MWY(f_motLF) + (1.0-f_smoothFactor)* (double) MWY(*inmot)); - MWZ(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MWZ(f_motLF) + (1.0-f_smoothFactor)* (double) MWZ(*inmot)); - MWW(f_motLF) = (VP_PAR) (f_smoothFactor*(double) MWW(f_motLF) + (1.0-f_smoothFactor)* (double) MWW(*inmot)); - } - else - vp_copy_motion_no_id(inmot, &f_motLF); // f_smoothFactor = 0.0 - - // Only allow LF motion to be compensated. Remove HF motion from - // the output transformation - if(!vp_invert_motion(&f_motLF, &f_imotLF)) - return false; - - if(!vp_cascade_motion(&f_imotLF, inmot, outmot)) - return false; - } - else { - vp_copy_motion_no_id(inmot, outmot); - } - - return true; -} - -bool db_StabilizationSmoother::smoothMotionAdaptive(/*VP_BIMG *bimg,*/int hsize, int vsize, VP_MOTION *inmot, VP_MOTION *outmot) -{ - VP_MOTION tmpMotion, testMotion; - VP_PAR p1x, p2x, p3x, p4x; - VP_PAR p1y, p2y, p3y, p4y; - double smoothFactor; - double minSmoothFactor = f_minDampingFactor; - -// int hsize = bimg->w; -// int vsize = bimg->h; - double border_factor = 0.01;//0.2; - double border_x = border_factor * hsize; - double border_y = border_factor * vsize; - - VP_MOTION_ID(f_motLF); - VP_MOTION_ID(f_imotLF); - VP_MOTION_ID(testMotion); - VP_MOTION_ID(tmpMotion); - - if (f_smoothOn) { - VP_MOTION identityMotion; - VP_MOTION_ID(identityMotion); // initialize the motion - vp_copy_motion(inmot/*in*/, &testMotion/*out*/); - VP_PAR delta = vp_motion_cornerdiff(&testMotion, &identityMotion, 0, 0,(int)hsize, (int)vsize); - - smoothFactor = 0.99 - 0.0015 * delta; - - if(smoothFactor < minSmoothFactor) - smoothFactor = minSmoothFactor; - - // Find the amount of motion that must be compensated so that no "border" pixels are seen in the stable video - for (smoothFactor = smoothFactor; smoothFactor >= minSmoothFactor; smoothFactor -= 0.01) { - // Compute the smoothed motion - if(!smoothMotion(inmot, &tmpMotion, smoothFactor)) - break; - - // TmpMotion, or Qsi where s is the smoothed display reference and i is the - // current image, tells us how points in the S co-ordinate system map to - // points in the I CS. We would like to check whether the four corners of the - // warped and smoothed display reference lies entirely within the I co-ordinate - // system. If yes, then the amount of smoothing is sufficient so that NO - // border pixels are seen at the output. We test for f_smoothFactor terms - // between 0.9 and 1.0, in steps of 0.01, and between 0.5 ands 0.9 in steps of 0.1 - - (void) vp_zoom_motion2d(&tmpMotion, &testMotion, 1, hsize, vsize, (double)f_zoom); // needs to return bool - - VP_WARP_POINT_2D(0, 0, testMotion, p1x, p1y); - VP_WARP_POINT_2D(hsize - 1, 0, testMotion, p2x, p2y); - VP_WARP_POINT_2D(hsize - 1, vsize - 1, testMotion, p3x, p3y); - VP_WARP_POINT_2D(0, vsize - 1, testMotion, p4x, p4y); - - if (!is_point_in_rect((double)p1x,(double)p1y,-border_x,-border_y,(double)(hsize+2.0*border_x),(double)(vsize+2.0*border_y))) { - continue; - } - if (!is_point_in_rect((double)p2x, (double)p2y,-border_x,-border_y,(double)(hsize+2.0*border_x),(double)(vsize+2.0*border_y))) { - continue; - } - if (!is_point_in_rect((double)p3x,(double)p3y,-border_x,-border_y,(double)(hsize+2.0*border_x),(double)(vsize+2.0*border_y))) { - continue; - } - if (!is_point_in_rect((double)p4x, (double)p4y,-border_x,-border_y,(double)(hsize+2.0*border_x),(double)(vsize+2.0*border_y))) { - continue; - } - - // If we get here, then all the points are in the rectangle. - // Therefore, break out of this loop - break; - } - - // if we get here and f_smoothFactor <= fMinDampingFactor, reset the stab reference - if (smoothFactor < f_minDampingFactor) - smoothFactor = f_minDampingFactor; - - // use the smoothed motion for stabilization - vp_copy_motion_no_id(&tmpMotion/*in*/, outmot/*out*/); - } - else - { - vp_copy_motion_no_id(inmot, outmot); - } - - return true; -} - -bool db_StabilizationSmoother::smoothMotion(VP_MOTION *inmot, VP_MOTION *outmot, double smooth_factor) -{ - f_motLF.insid = inmot->refid; - f_motLF.refid = inmot->insid; - - if(f_smoothOn) { - if(!f_smoothReset) { - MXX(f_motLF) = (VP_PAR) (smooth_factor*(double) MXX(f_motLF) + (1.0-smooth_factor)* (double) MXX(*inmot)); - MXY(f_motLF) = (VP_PAR) (smooth_factor*(double) MXY(f_motLF) + (1.0-smooth_factor)* (double) MXY(*inmot)); - MXZ(f_motLF) = (VP_PAR) (smooth_factor*(double) MXZ(f_motLF) + (1.0-smooth_factor)* (double) MXZ(*inmot)); - MXW(f_motLF) = (VP_PAR) (smooth_factor*(double) MXW(f_motLF) + (1.0-smooth_factor)* (double) MXW(*inmot)); - - MYX(f_motLF) = (VP_PAR) (smooth_factor*(double) MYX(f_motLF) + (1.0-smooth_factor)* (double) MYX(*inmot)); - MYY(f_motLF) = (VP_PAR) (smooth_factor*(double) MYY(f_motLF) + (1.0-smooth_factor)* (double) MYY(*inmot)); - MYZ(f_motLF) = (VP_PAR) (smooth_factor*(double) MYZ(f_motLF) + (1.0-smooth_factor)* (double) MYZ(*inmot)); - MYW(f_motLF) = (VP_PAR) (smooth_factor*(double) MYW(f_motLF) + (1.0-smooth_factor)* (double) MYW(*inmot)); - - MZX(f_motLF) = (VP_PAR) (smooth_factor*(double) MZX(f_motLF) + (1.0-smooth_factor)* (double) MZX(*inmot)); - MZY(f_motLF) = (VP_PAR) (smooth_factor*(double) MZY(f_motLF) + (1.0-smooth_factor)* (double) MZY(*inmot)); - MZZ(f_motLF) = (VP_PAR) (smooth_factor*(double) MZZ(f_motLF) + (1.0-smooth_factor)* (double) MZZ(*inmot)); - MZW(f_motLF) = (VP_PAR) (smooth_factor*(double) MZW(f_motLF) + (1.0-smooth_factor)* (double) MZW(*inmot)); - - MWX(f_motLF) = (VP_PAR) (smooth_factor*(double) MWX(f_motLF) + (1.0-smooth_factor)* (double) MWX(*inmot)); - MWY(f_motLF) = (VP_PAR) (smooth_factor*(double) MWY(f_motLF) + (1.0-smooth_factor)* (double) MWY(*inmot)); - MWZ(f_motLF) = (VP_PAR) (smooth_factor*(double) MWZ(f_motLF) + (1.0-smooth_factor)* (double) MWZ(*inmot)); - MWW(f_motLF) = (VP_PAR) (smooth_factor*(double) MWW(f_motLF) + (1.0-smooth_factor)* (double) MWW(*inmot)); - } - else - vp_copy_motion_no_id(inmot, &f_motLF); // smooth_factor = 0.0 - - // Only allow LF motion to be compensated. Remove HF motion from - // the output transformation - if(!vp_invert_motion(&f_motLF, &f_imotLF)) - return false; - - if(!vp_cascade_motion(&f_imotLF, inmot, outmot)) - return false; - } - else { - vp_copy_motion_no_id(inmot, outmot); - } - - return true; -} - -//! Overloaded smoother function that takes in user-specidied smoothing factor -bool -db_StabilizationSmoother::smoothMotion1(VP_MOTION *inmot, VP_MOTION *outmot, VP_MOTION *motLF, VP_MOTION *imotLF, double factor) -{ - - if(!f_smoothOn) { - vp_copy_motion(inmot, outmot); - return true; - } - else { - if(!f_smoothReset) { - MXX(*motLF) = (VP_PAR) (factor*(double) MXX(*motLF) + (1.0-factor)* (double) MXX(*inmot)); - MXY(*motLF) = (VP_PAR) (factor*(double) MXY(*motLF) + (1.0-factor)* (double) MXY(*inmot)); - MXZ(*motLF) = (VP_PAR) (factor*(double) MXZ(*motLF) + (1.0-factor)* (double) MXZ(*inmot)); - MXW(*motLF) = (VP_PAR) (factor*(double) MXW(*motLF) + (1.0-factor)* (double) MXW(*inmot)); - - MYX(*motLF) = (VP_PAR) (factor*(double) MYX(*motLF) + (1.0-factor)* (double) MYX(*inmot)); - MYY(*motLF) = (VP_PAR) (factor*(double) MYY(*motLF) + (1.0-factor)* (double) MYY(*inmot)); - MYZ(*motLF) = (VP_PAR) (factor*(double) MYZ(*motLF) + (1.0-factor)* (double) MYZ(*inmot)); - MYW(*motLF) = (VP_PAR) (factor*(double) MYW(*motLF) + (1.0-factor)* (double) MYW(*inmot)); - - MZX(*motLF) = (VP_PAR) (factor*(double) MZX(*motLF) + (1.0-factor)* (double) MZX(*inmot)); - MZY(*motLF) = (VP_PAR) (factor*(double) MZY(*motLF) + (1.0-factor)* (double) MZY(*inmot)); - MZZ(*motLF) = (VP_PAR) (factor*(double) MZZ(*motLF) + (1.0-factor)* (double) MZZ(*inmot)); - MZW(*motLF) = (VP_PAR) (factor*(double) MZW(*motLF) + (1.0-factor)* (double) MZW(*inmot)); - - MWX(*motLF) = (VP_PAR) (factor*(double) MWX(*motLF) + (1.0-factor)* (double) MWX(*inmot)); - MWY(*motLF) = (VP_PAR) (factor*(double) MWY(*motLF) + (1.0-factor)* (double) MWY(*inmot)); - MWZ(*motLF) = (VP_PAR) (factor*(double) MWZ(*motLF) + (1.0-factor)* (double) MWZ(*inmot)); - MWW(*motLF) = (VP_PAR) (factor*(double) MWW(*motLF) + (1.0-factor)* (double) MWW(*inmot)); - } - else { - vp_copy_motion(inmot, motLF); - } - // Only allow LF motion to be compensated. Remove HF motion from the output transformation - if(!vp_invert_motion(motLF, imotLF)) { -#if DEBUG_PRINT - printfOS("Invert failed \n"); -#endif - return false; - } - if(!vp_cascade_motion(imotLF, inmot, outmot)) { -#if DEBUG_PRINT - printfOS("cascade failed \n"); -#endif - return false; - } - } - return true; -} - - - - -bool db_StabilizationSmoother::is_point_in_rect(double px, double py, double rx, double ry, double w, double h) -{ - if (px < rx) - return(false); - if (px >= rx + w) - return(false); - if (py < ry) - return(false); - if (py >= ry + h) - return(false); - - return(true); -} - - - -static bool vpmotion_add(VP_MOTION *in1, VP_MOTION *in2, VP_MOTION *out) -{ - int i; - if(in1 == NULL || in2 == NULL || out == NULL) - return false; - - for(i = 0; i < VP_MAX_MOTION_PAR; i++) - out->par[i] = in1->par[i] + in2->par[i]; - - return true; -} - -static bool vpmotion_multiply(VP_MOTION *in1, double factor, VP_MOTION *out) -{ - int i; - if(in1 == NULL || out == NULL) - return false; - - for(i = 0; i < VP_MAX_MOTION_PAR; i++) - out->par[i] = in1->par[i] * factor; - - return true; -} - diff --git a/jni_mosaic/feature_stab/src/dbreg/dbstabsmooth.h b/jni_mosaic/feature_stab/src/dbreg/dbstabsmooth.h deleted file mode 100644 index f03546ef6..000000000 --- a/jni_mosaic/feature_stab/src/dbreg/dbstabsmooth.h +++ /dev/null @@ -1,157 +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. - */ - -#pragma once - - -#ifdef _WIN32 -#ifdef DBREG_EXPORTS -#define DBREG_API __declspec(dllexport) -#else -#define DBREG_API __declspec(dllimport) -#endif -#else -#define DBREG_API -#endif - -extern "C" { -#include "vp_motionmodel.h" -} - -#define MOTION_ARRAY 5 - - -/*! - * Performs smoothing on the motion estimate from feature_stab. - */ -class DBREG_API db_StabilizationSmoother -{ -public: - db_StabilizationSmoother(); - ~db_StabilizationSmoother(); - - /*! - * Initialize parameters for stab-smoother. - */ - void Init(); - - //! Smothing type - typedef enum { - SimpleSmooth = 0, //!< simple smooth - AdaptSmooth = 1, //!< adaptive smooth - PanSmooth = 2 //!< pan motion smooth - } SmoothType; - - /*! - * Smooth-motion is to do a weight-average between the current affine and - * motLF. The way to change the affine is only for the display purpose. - * It removes the high frequency motion and keep the low frequency motion - * to the display. IIR implmentation. - * \param inmot input motion parameters - * \param outmot smoothed output motion parameters - */ - bool smoothMotion(VP_MOTION *inmot, VP_MOTION *outmot); - - /*! - * The adaptive smoothing version of the above fixed smoothing function. - * \param hsize width of the image being aligned - * \param vsize height of the image being aligned - * \param inmot input motion parameters - * \param outmot smoothed output motion parameters - */ - bool smoothMotionAdaptive(/*VP_BIMG *bimg,*/int hsize, int vsize, VP_MOTION *inmot, VP_MOTION *outmot); - bool smoothPanMotion_1(VP_MOTION *inmot, VP_MOTION *outmot); - bool smoothPanMotion_2(VP_MOTION *inmot, VP_MOTION *outmot); - - /*! - * Set the smoothing factor for the stab-smoother. - * \param factor the factor value to set - */ - inline void setSmoothingFactor(float factor) { f_smoothFactor = factor; } - - /*! - * Reset smoothing - */ - inline void resetSmoothing(bool flag) { f_smoothReset = flag; } - /*! - * Set the zoom factor value. - * \param zoom the value to set to - */ - inline void setZoomFactor(float zoom) { f_zoom = zoom; } - /*! - * Set the minimum damping factor value. - * \param factor the value to set to - */ - inline void setminDampingFactor(float factor) { f_minDampingFactor = factor; } - - /*! - * Returns the current smoothing factor. - */ - inline float getSmoothingFactor(void) { return f_smoothFactor; } - /*! - * Returns the current zoom factor. - */ - inline float getZoomFactor(void) { return f_zoom; } - /*! - * Returns the current minimum damping factor. - */ - inline float getminDampingFactor(void) { return f_minDampingFactor; } - /*! - * Returns the current state of the smoothing reset flag. - */ - inline bool getSmoothReset(void) { return f_smoothReset; } - /*! - * Returns the current low frequency motion parameters. - */ - inline VP_MOTION getMotLF(void) { return f_motLF; } - /*! - * Returns the inverse of the current low frequency motion parameters. - */ - inline VP_MOTION getImotLF(void) { return f_imotLF; } - /*! - * Set the dimensions of the alignment image. - * \param hsize width of the image - * \param vsize height of the image - */ - inline void setSize(int hsize, int vsize) { f_hsize = hsize; f_vsize = vsize; } - -protected: - - bool smoothMotion(VP_MOTION *inmot, VP_MOTION *outmot, double smooth_factor); - bool smoothMotion1(VP_MOTION *inmot, VP_MOTION *outmot, VP_MOTION *motLF, VP_MOTION *imotLF, double smooth_factor); - void iterativeSmooth(VP_MOTION *input, VP_MOTION *output, double border_factor); - bool is_point_in_rect(double px, double py, double rx, double ry, double w, double h); - - -private: - int f_hsize; - int f_vsize; - bool f_smoothOn; - bool f_smoothReset; - float f_smoothFactor; - float f_minDampingFactor; - float f_zoom; - VP_MOTION f_motLF; - VP_MOTION f_imotLF; - VP_MOTION f_hist_mot[MOTION_ARRAY]; - VP_MOTION f_hist_mot_speed[MOTION_ARRAY-1]; - VP_MOTION f_hist_diff_mot[MOTION_ARRAY-1]; - VP_MOTION f_disp_mot; - VP_MOTION f_src_mot; - VP_MOTION f_diff_avg; - -}; - diff --git a/jni_mosaic/feature_stab/src/dbreg/targetver.h b/jni_mosaic/feature_stab/src/dbreg/targetver.h deleted file mode 100644 index 3ca3e8792..000000000 --- a/jni_mosaic/feature_stab/src/dbreg/targetver.h +++ /dev/null @@ -1,40 +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. - */ - -#pragma once - -// The following macros define the minimum required platform. The minimum required platform -// is the earliest version of Windows, Internet Explorer etc. that has the necessary features to run -// your application. The macros work by enabling all features available on platform versions up to and -// including the version specified. - -// Modify the following defines if you have to target a platform prior to the ones specified below. -// Refer to MSDN for the latest info on corresponding values for different platforms. -#ifndef WINVER // Specifies that the minimum required platform is Windows Vista. -#define WINVER 0x0600 // Change this to the appropriate value to target other versions of Windows. -#endif - -#ifndef _WIN32_WINNT // Specifies that the minimum required platform is Windows Vista. -#define _WIN32_WINNT 0x0600 // Change this to the appropriate value to target other versions of Windows. -#endif - -#ifndef _WIN32_WINDOWS // Specifies that the minimum required platform is Windows 98. -#define _WIN32_WINDOWS 0x0410 // Change this to the appropriate value to target Windows Me or later. -#endif - -#ifndef _WIN32_IE // Specifies that the minimum required platform is Internet Explorer 7.0. -#define _WIN32_IE 0x0700 // Change this to the appropriate value to target other versions of IE. -#endif 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 */ 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 */ |