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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.
*/
/*
#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 */
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