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/*
* 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.
*/
///////////////////////////////////////////////////
// Align.h
// S.O. # :
// Author(s): zkira
// $Id: AlignFeatures.h,v 1.13 2011/06/17 13:35:47 mbansal Exp $
#ifndef ALIGN_H
#define ALIGN_H
#include "dbreg/dbreg.h"
#include <db_utilities_camera.h>
#include "ImageUtils.h"
#include "MatrixUtils.h"
class Align {
public:
// Types of alignment possible
static const int ALIGN_TYPE_PAN = 1;
// Return codes
static const int ALIGN_RET_LOW_TEXTURE = -2;
static const int ALIGN_RET_ERROR = -1;
static const int ALIGN_RET_OK = 0;
static const int ALIGN_RET_FEW_INLIERS = 1;
///// Settings for feature-based alignment
// Number of features to use from corner detection
static const int DEFAULT_NR_CORNERS=750;
static const double DEFAULT_MAX_DISPARITY=0.1;//0.4;
// Type of homography to model
static const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_R_T;
// static const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_PROJECTIVE;
// static const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_AFFINE;
static const unsigned int DEFAULT_REFERENCE_UPDATE_PERIOD=1500; // Manual reference frame update so set this to a large number
static const int MIN_NR_REF_CORNERS = 25;
static const int MIN_NR_INLIERS = 10;
Align();
~Align();
// Initialization of structures, etc.
int initialize(int width, int height, bool quarter_res, float thresh_still);
// Add a frame. Note: The alignment computation is performed
// in this function
int addFrameRGB(ImageType image);
int addFrame(ImageType image);
// Obtain the TRS matrix from the last two frames
int getLastTRS(double trs[3][3]);
char* getRegProfileString();
protected:
db_FrameToReferenceRegistration reg;
int frame_number;
double Hcurr[9]; // Homography from the alignment reference to the frame-t
double Hprev[9]; // Homography from frame-0 to the frame-(t-1)
int reference_frame_index; // Index of the reference frame from all captured frames
int num_frames_captured; // Total number of frames captured (different from frame_number)
double average_tx_per_frame; // Average pixel translation per captured frame
int width,height;
bool quarter_res; // Whether to process at quarter resolution
float thresh_still; // Translation threshold in pixels to detect still camera
ImageType imageGray;
};
#endif
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