Check in mosaic stitching codes - the native part

Updated to v4-3-2.

Bug: 4990566
Change-Id: I779dcc930323353964572918510f1492828c4db4

20 files changed, 4142 insertions, 0 deletions

diff --git a/jni/feature_mos/src/mosaic/AlignFeatures.cpp b/jni/feature_mos/src/mosaic/AlignFeatures.cpp
new file mode 100644
index 0000000..a181dd8
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/AlignFeatures.cpp
@@ -0,0 +1,148 @@
+/*
+ * 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.
+ */
+
+///////////////////////////////////////////////////
+// AlignFeatures.cpp
+// S.O. # :
+// Author(s): zkira, mbansal, bsouthall, narodits
+// $Id: AlignFeatures.cpp,v 1.20 2011/06/17 13:35:47 mbansal Exp $
+
+#include <stdio.h>
+#include <string.h>
+
+#include "trsMatrix.h"
+#include "MatrixUtils.h"
+#include "AlignFeatures.h"
+
+Align::Align()
+{
+  width = height = 0;
+  frame_number = 0;
+  db_Identity3x3(Hcurr);
+}
+
+Align::~Align()
+{
+  // Free gray-scale image
+  if (imageGray != ImageUtils::IMAGE_TYPE_NOIMAGE)
+    ImageUtils::freeImage(imageGray);
+}
+
+char* Align::getRegProfileString()
+{
+  return reg.profile_string;
+}
+
+int Align::initialize(int width, int height, bool _quarter_res, float _thresh_still)
+{
+  int    nr_corners = DEFAULT_NR_CORNERS;
+  double max_disparity = DEFAULT_MAX_DISPARITY;
+  int    motion_model_type = DEFAULT_MOTION_MODEL;
+  int nrsamples = DB_DEFAULT_NR_SAMPLES;
+  double scale = DB_POINT_STANDARDDEV;
+  int chunk_size = DB_DEFAULT_CHUNK_SIZE;
+  int nrhorz = 20; // 1280/32 = 40
+  int nrvert = 12; // 720/30 = 24
+  bool linear_polish = false;
+  unsigned int reference_update_period = DEFAULT_REFERENCE_UPDATE_PERIOD;
+
+  const bool DEFAULT_USE_SMALLER_MATCHING_WINDOW = false;
+  bool   use_smaller_matching_window = DEFAULT_USE_SMALLER_MATCHING_WINDOW;
+
+  quarter_res = _quarter_res;
+  thresh_still = _thresh_still;
+
+  frame_number = 0;
+  db_Identity3x3(Hcurr);
+  if (!reg.Initialized())
+  {
+    reg.Init(width,height,motion_model_type,20,linear_polish,quarter_res,scale,reference_update_period, false, 0, nrsamples,chunk_size,nr_corners,max_disparity,use_smaller_matching_window, nrhorz, nrvert);
+  }
+  this->width = width;
+  this->height = height;
+
+  imageGray = ImageUtils::allocateImage(width, height, 1);
+
+  if (reg.Initialized())
+    return ALIGN_RET_OK;
+  else
+    return ALIGN_RET_ERROR;
+}
+
+int Align::addFrameRGB(ImageType imageRGB)
+{
+  ImageUtils::rgb2gray(imageGray, imageRGB, width, height);
+  return addFrame(imageGray);
+}
+
+int Align::addFrame(ImageType imageGray_)
+{
+  // compute the homography:
+  double Hinv[9];
+  double Hinv33[3][3];
+  double Hprev33[3][3];
+  double Hcurr33[3][3];
+
+ // Obtain a vector of pointers to rows in image and pass in to dbreg
+  ImageType *m_rows = ImageUtils::imageTypeToRowPointers(imageGray_, width, height);
+  reg.AddFrame(m_rows, Hcurr);
+
+
+  if (frame_number != 0)
+  {
+
+    if(fabs(Hcurr[2])<thresh_still && fabs(Hcurr[5])<thresh_still)  // Still camera
+    {
+        return ALIGN_RET_ERROR;
+    }
+
+    // Invert and multiple with previous transformation
+    Matrix33::convert9to33(Hcurr33, Hcurr);
+    Matrix33::convert9to33(Hprev33, Hprev);
+    //NormalizeProjMat(Hcurr33);
+    normProjMat33d(Hcurr33);
+
+    inv33d(Hcurr33, Hinv33);
+
+    mult33d(Hcurr33, Hprev33, Hinv33);
+    normProjMat33d(Hcurr33);
+    Matrix9::convert33to9(Hcurr, Hcurr33);
+
+    reg.UpdateReference(m_rows,quarter_res,false);
+  }
+
+  frame_number++;
+
+  // Copy curr to prev
+  memcpy(Happly, Hcurr, sizeof(double)*9);
+  memcpy(Hprev, Hcurr, sizeof(double)*9);
+
+  return ALIGN_RET_OK;
+}
+
+// Get current transformation
+int Align::getLastTRS(double trs[3][3])
+{
+  if (frame_number < 1)
+  {
+    fprintf(stderr, "Error: Align::getLastTRS called before a frame was processed\n");
+    return ALIGN_RET_ERROR;
+  }
+
+  Matrix33::convert9to33(trs, Happly);
+  return ALIGN_RET_OK;
+}
+
diff --git a/jni/feature_mos/src/mosaic/AlignFeatures.h b/jni/feature_mos/src/mosaic/AlignFeatures.h
new file mode 100644
index 0000000..06be596
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/AlignFeatures.h
@@ -0,0 +1,85 @@
+/*
+ * 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_ERROR        = -1;
+  static const int ALIGN_RET_OK           = 0;
+
+  ///// 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
+
+  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 Happly[9];  // Homography to apply
+  double Hcurr[9];   // Homography from last frame
+                     // (right now same as above)
+  double Hprev[9];   // Homography up until the last 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
diff --git a/jni/feature_mos/src/mosaic/Blend.cpp b/jni/feature_mos/src/mosaic/Blend.cpp
new file mode 100644
index 0000000..eb0275e
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/Blend.cpp
@@ -0,0 +1,1000 @@
+/*
+ * 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.
+ */
+
+///////////////////////////////////////////////////
+// Blend.cpp
+// $Id: Blend.cpp,v 1.22 2011/06/24 04:22:14 mbansal Exp $
+
+#include <string.h>
+
+#include "Interp.h"
+#include "Blend.h"
+
+#include "Geometry.h"
+#include "trsMatrix.h"
+
+Blend::Blend()
+{
+  m_wb.blendingType = BLEND_TYPE_NONE;
+}
+
+Blend::~Blend()
+{
+    if (m_pFrameVPyr) free(m_pFrameVPyr);
+    if (m_pFrameUPyr) free(m_pFrameUPyr);
+    if (m_pFrameYPyr) free(m_pFrameYPyr);
+}
+
+int Blend::initialize(int blendingType, int frame_width, int frame_height)
+{
+    this->width = frame_width;
+    this->height = frame_height;
+    this->m_wb.blendingType = blendingType;
+
+    m_wb.blendRange = m_wb.blendRangeUV = BLEND_RANGE_DEFAULT;
+    m_wb.nlevs = m_wb.blendRange;
+    m_wb.nlevsC = m_wb.blendRangeUV;
+
+    if (m_wb.nlevs <= 0) m_wb.nlevs = 1; // Need levels for YUV processing
+    if (m_wb.nlevsC > m_wb.nlevs) m_wb.nlevsC = m_wb.nlevs;
+
+    m_wb.roundoffOverlap = 1.5;
+
+    m_pFrameYPyr = NULL;
+    m_pFrameUPyr = NULL;
+    m_pFrameVPyr = NULL;
+
+    m_pFrameYPyr = PyramidShort::allocatePyramidPacked(m_wb.nlevs, (unsigned short) width, (unsigned short) height, BORDER);
+    m_pFrameUPyr = PyramidShort::allocatePyramidPacked(m_wb.nlevsC, (unsigned short) (width), (unsigned short) (height), BORDER);
+    m_pFrameVPyr = PyramidShort::allocatePyramidPacked(m_wb.nlevsC, (unsigned short) (width), (unsigned short) (height), BORDER);
+
+    if (!m_pFrameYPyr || !m_pFrameUPyr || !m_pFrameVPyr)
+    {
+        LOGIE("Error: Could not allocate pyramids for blending\n");
+        return BLEND_RET_ERROR_MEMORY;
+    }
+
+    return BLEND_RET_OK;
+}
+
+int Blend::runBlend(MosaicFrame **frames, int frames_size, ImageType &imageMosaicYVU, int &mosaicWidth, int &mosaicHeight)
+{
+    int ret;
+    int numCenters;
+
+    ComputeBlendParameters(frames, frames_size, false);
+    numCenters = frames_size;
+
+    if (numCenters == 0)
+    {
+        LOGIE("Error: No frames to blend\n");
+        return BLEND_RET_ERROR;
+    }
+
+    if (!(m_AllSites = m_Triangulator.allocMemory(numCenters)))
+    {
+        return BLEND_RET_ERROR_MEMORY;
+    }
+
+    BlendRect global_rect;
+
+    global_rect.lft = global_rect.bot = 2e30; // min values
+    global_rect.rgt = global_rect.top = -2e30; // max values
+    MosaicFrame *mb = NULL;
+    double halfwidth = width / 2.0;
+    double halfheight = height / 2.0;
+
+    double z, x0, y0, x1, y1, x2, y2, x3, y3;
+
+    // Determine the extents of the final mosaic
+    CSite *csite = m_AllSites ;
+    for(int mfit = 0; mfit < frames_size; mfit++)
+    {
+        mb = frames[mfit];
+
+        // Compute clipping for this frame's rect
+        FrameToMosaicRect(mb->width, mb->height, mb->trs, mb->brect);
+        // Clip global rect using this frame's rect
+        ClipRect(mb->brect, global_rect);
+
+        // Calculate the corner points
+        FrameToMosaic(mb->trs, 0.0,             0.0,            x0, y0);
+        FrameToMosaic(mb->trs, 0.0,             mb->height-1.0, x1, y1);
+        FrameToMosaic(mb->trs, mb->width-1.0,   mb->height-1.0, x2, y2);
+        FrameToMosaic(mb->trs, mb->width-1.0,   0.0,            x3, y3);
+
+        // Compute the centroid of the warped region
+        FindQuadCentroid(x0, y0, x1, y1, x2, y2, x3, y3, csite->getVCenter().x, csite->getVCenter().y);
+
+        csite->setMb(mb);
+        csite++;
+    }
+
+    // Get origin and sizes
+    MosaicRect fullRect;
+
+    fullRect.left = (int) floor(global_rect.lft); // min-x
+    fullRect.top = (int) floor(global_rect.bot);  // min-y
+    fullRect.right = (int) ceil(global_rect.rgt); // max-x
+    fullRect.bottom = (int) ceil(global_rect.top);// max-y
+    Mwidth = (unsigned short) (fullRect.right - fullRect.left + 1);
+    Mheight = (unsigned short) (fullRect.bottom - fullRect.top + 1);
+
+    // Make sure image width is multiple of 4
+    Mwidth = (unsigned short) ((Mwidth + 3) & ~3);
+    Mheight = (unsigned short) ((Mheight + 3) & ~3);    // Round up.
+
+    if (Mwidth < width || Mheight < height)
+    {
+        LOGIE("RunBlend: aborting - consistency check failed, w=%d, h=%d\n", Mwidth, Mheight);
+        return BLEND_RET_ERROR;
+    }
+
+    YUVinfo *imgMos = YUVinfo::allocateImage(Mwidth, Mheight);
+    if (imgMos == NULL)
+    {
+        LOGIE("RunBlend: aborting - couldn't alloc %d x %d mosaic image\n", Mwidth, Mheight);
+        return BLEND_RET_ERROR_MEMORY;
+    }
+
+    // Set the Y image to 255 so we can distinguish when frame idx are written to it
+    memset(imgMos->Y.ptr[0], 255, (imgMos->Y.width * imgMos->Y.height));
+    // Set the v and u images to black
+    memset(imgMos->V.ptr[0], 128, (imgMos->V.width * imgMos->V.height) << 1);
+
+    // Do the triangulation.  It returns a sorted list of edges
+    SEdgeVector *edge;
+    int n = m_Triangulator.triangulate(&edge, numCenters, width, height);
+    m_Triangulator.linkNeighbors(edge, n, numCenters);
+
+    MosaicRect cropping_rect;
+
+    // Do merging and blending :
+    ret = DoMergeAndBlend(frames, numCenters, width, height, *imgMos, fullRect, cropping_rect);
+
+    if (m_wb.blendingType == BLEND_TYPE_HORZ)
+        CropFinalMosaic(*imgMos, cropping_rect);
+
+
+    m_Triangulator.freeMemory();    // note: can be called even if delaunay_alloc() wasn't successful
+
+    imageMosaicYVU = imgMos->Y.ptr[0];
+
+
+    if (m_wb.blendingType == BLEND_TYPE_HORZ)
+    {
+        mosaicWidth = cropping_rect.right - cropping_rect.left + 1;
+        mosaicHeight = cropping_rect.bottom - cropping_rect.top + 1;
+    }
+    else
+    {
+        mosaicWidth = Mwidth;
+        mosaicHeight = Mheight;
+    }
+
+    return BLEND_RET_OK;
+}
+
+
+int Blend::FillFramePyramid(MosaicFrame *mb)
+{
+    ImageType mbY, mbU, mbV;
+    // Lay this image, centered into the temporary buffer
+    mbY = mb->image;
+    mbU = mb->getU();
+    mbV = mb->getV();
+
+    int h, w;
+
+    for(h=0; h<height; h++)
+    {
+        ImageTypeShort yptr = m_pFrameYPyr->ptr[h];
+        ImageTypeShort uptr = m_pFrameUPyr->ptr[h];
+        ImageTypeShort vptr = m_pFrameVPyr->ptr[h];
+
+        for(w=0; w<width; w++)
+        {
+            yptr[w] = (short) ((*(mbY++)) << 3);
+            uptr[w] = (short) ((*(mbU++)) << 3);
+            vptr[w] = (short) ((*(mbV++)) << 3);
+        }
+    }
+
+    // Spread the image through the border
+    PyramidShort::BorderSpread(m_pFrameYPyr, BORDER, BORDER, BORDER, BORDER);
+    PyramidShort::BorderSpread(m_pFrameUPyr, BORDER, BORDER, BORDER, BORDER);
+    PyramidShort::BorderSpread(m_pFrameVPyr, BORDER, BORDER, BORDER, BORDER);
+
+    // Generate Laplacian pyramids
+    if (!PyramidShort::BorderReduce(m_pFrameYPyr, m_wb.nlevs) || !PyramidShort::BorderExpand(m_pFrameYPyr, m_wb.nlevs, -1) ||
+            !PyramidShort::BorderReduce(m_pFrameUPyr, m_wb.nlevsC) || !PyramidShort::BorderExpand(m_pFrameUPyr, m_wb.nlevsC, -1) ||
+            !PyramidShort::BorderReduce(m_pFrameVPyr, m_wb.nlevsC) || !PyramidShort::BorderExpand(m_pFrameVPyr, m_wb.nlevsC, -1))
+    {
+        LOGIE("Error: Could not generate Laplacian pyramids\n");
+        return BLEND_RET_ERROR;
+    }
+    else
+    {
+        return BLEND_RET_OK;
+    }
+}
+
+int Blend::DoMergeAndBlend(MosaicFrame **frames, int nsite,
+             int width, int height, YUVinfo &imgMos, MosaicRect &rect, MosaicRect &cropping_rect)
+{
+    m_pMosaicYPyr = NULL;
+    m_pMosaicUPyr = NULL;
+    m_pMosaicVPyr = NULL;
+
+    m_pMosaicYPyr = PyramidShort::allocatePyramidPacked(m_wb.nlevs,(unsigned short)rect.Width(),(unsigned short)rect.Height(),BORDER);
+    m_pMosaicUPyr = PyramidShort::allocatePyramidPacked(m_wb.nlevsC,(unsigned short)rect.Width(),(unsigned short)rect.Height(),BORDER);
+    m_pMosaicVPyr = PyramidShort::allocatePyramidPacked(m_wb.nlevsC,(unsigned short)rect.Width(),(unsigned short)rect.Height(),BORDER);
+    if (!m_pMosaicYPyr || !m_pMosaicUPyr || !m_pMosaicVPyr)
+    {
+      LOGIE("Error: Could not allocate pyramids for blending\n");
+      return BLEND_RET_ERROR_MEMORY;
+    }
+
+    MosaicFrame *mb;
+
+    CSite *esite = m_AllSites + nsite;
+    int site_idx;
+
+    // First go through each frame and for each mosaic pixel determine which frame it should come from
+    site_idx = 0;
+    for(CSite *csite = m_AllSites; csite < esite; csite++)
+    {
+        mb = csite->getMb();
+
+        mb->vcrect = mb->brect;
+        ClipBlendRect(csite, mb->vcrect);
+
+        ComputeMask(csite, mb->vcrect, mb->brect, rect, imgMos, site_idx);
+
+        site_idx++;
+    }
+
+    // Now perform the actual blending using the frame assignment determined above
+    site_idx = 0;
+    for(CSite *csite = m_AllSites; csite < esite; csite++)
+    {
+        mb = csite->getMb();
+
+
+        if(FillFramePyramid(mb)!=BLEND_RET_OK)
+            return BLEND_RET_ERROR;
+
+        ProcessPyramidForThisFrame(csite, mb->vcrect, mb->brect, rect, imgMos, mb->trs, site_idx);
+
+        site_idx++;
+    }
+
+
+    // Blend
+    PerformFinalBlending(imgMos, cropping_rect);
+
+    if (m_pMosaicVPyr) free(m_pMosaicVPyr);
+    if (m_pMosaicUPyr) free(m_pMosaicUPyr);
+    if (m_pMosaicYPyr) free(m_pMosaicYPyr);
+
+    return BLEND_RET_OK;
+}
+
+void Blend::CropFinalMosaic(YUVinfo &imgMos, MosaicRect &cropping_rect)
+{
+    int i, j, k;
+    ImageType yimg;
+    ImageType uimg;
+    ImageType vimg;
+
+
+    yimg = imgMos.Y.ptr[0];
+    uimg = imgMos.U.ptr[0];
+    vimg = imgMos.V.ptr[0];
+
+    k = 0;
+    for (j = cropping_rect.top; j <= cropping_rect.bottom; j++)
+    {
+        for (i = cropping_rect.left; i <= cropping_rect.right; i++)
+        {
+            yimg[k] = yimg[j*imgMos.Y.width+i];
+            k++;
+        }
+    }
+    for (j = cropping_rect.top; j <= cropping_rect.bottom; j++)
+    {
+       for (i = cropping_rect.left; i <= cropping_rect.right; i++)
+        {
+            yimg[k] = vimg[j*imgMos.Y.width+i];
+            k++;
+        }
+    }
+    for (j = cropping_rect.top; j <= cropping_rect.bottom; j++)
+    {
+       for (i = cropping_rect.left; i <= cropping_rect.right; i++)
+        {
+            yimg[k] = uimg[j*imgMos.Y.width+i];
+            k++;
+        }
+    }
+}
+
+int Blend::PerformFinalBlending(YUVinfo &imgMos, MosaicRect &cropping_rect)
+{
+    if (!PyramidShort::BorderExpand(m_pMosaicYPyr, m_wb.nlevs, 1) || !PyramidShort::BorderExpand(m_pMosaicUPyr, m_wb.nlevsC, 1) ||
+        !PyramidShort::BorderExpand(m_pMosaicVPyr, m_wb.nlevsC, 1))
+    {
+      LOGIE("Error: Could not BorderExpand!\n");
+      return BLEND_RET_ERROR;
+    }
+
+    ImageTypeShort myimg;
+    ImageTypeShort muimg;
+    ImageTypeShort mvimg;
+    ImageType yimg;
+    ImageType uimg;
+    ImageType vimg;
+
+    int cx = (int)imgMos.Y.width/2;
+    int cy = (int)imgMos.Y.height/2;
+
+    cropping_rect.left    = 0;
+    cropping_rect.right   = imgMos.Y.width-1;
+    cropping_rect.top     = 0;
+    cropping_rect.bottom  = imgMos.Y.height-1;
+
+    // Copy the resulting image into the full image using the mask
+    int i, j;
+
+    yimg = imgMos.Y.ptr[0];
+    uimg = imgMos.U.ptr[0];
+    vimg = imgMos.V.ptr[0];
+
+    for (j = 0; j < imgMos.Y.height; j++)
+    {
+        myimg = m_pMosaicYPyr->ptr[j];
+        muimg = m_pMosaicUPyr->ptr[j];
+        mvimg = m_pMosaicVPyr->ptr[j];
+
+        for (i = imgMos.Y.width; i--;)
+        {
+            // A final mask was set up previously,
+            // if the value is zero skip it, otherwise replace it.
+            if (*yimg <255)
+            {
+                short value = (short) ((*myimg) >> 3);
+                if (value < 0) value = 0;
+                else if (value > 255) value = 255;
+                *yimg = (unsigned char) value;
+
+                value = (short) ((*muimg) >> 3);
+                if (value < 0) value = 0;
+                else if (value > 255) value = 255;
+                *uimg = (unsigned char) value;
+
+                value = (short) ((*mvimg) >> 3);
+                if (value < 0) value = 0;
+                else if (value > 255) value = 255;
+                *vimg = (unsigned char) value;
+
+            }
+            else
+            {   // set border color in here
+                *yimg = (unsigned char) 96;
+            }
+
+            yimg++;
+            uimg++;
+            vimg++;
+            myimg++;
+            muimg++;
+            mvimg++;
+        }
+    }
+
+    yimg = imgMos.Y.ptr[0];
+    uimg = imgMos.U.ptr[0];
+    vimg = imgMos.V.ptr[0];
+
+    int mincol = 0;
+    int maxcol = imgMos.Y.width-1;
+
+    const int MIN_X_FS = width*1/8;
+    const int MAX_X_FS = imgMos.Y.width - width*1/8;
+
+    for (j = 0; j < imgMos.Y.height; j++)
+    {
+        int minx = MIN_X_FS;
+        int maxx = MAX_X_FS;
+
+        for (i = 0; i < imgMos.Y.width; i++)
+        {
+            if(*yimg == 96 && *uimg == 128 && *vimg == 128)
+            {
+            }
+            else
+            {
+                if(i<minx)
+                    minx = i;
+                if(i>maxx)
+                    maxx = i;
+            }
+
+            yimg++;
+            uimg++;
+            vimg++;
+        }
+
+        // If we never touched the values, reset them to the image limits
+        if(minx == MIN_X_FS)
+            minx = 0;
+        if(maxx == MAX_X_FS)
+            maxx = imgMos.Y.width-1;
+
+        if(minx>mincol)
+            mincol = minx;
+        if(maxx<maxcol)
+            maxcol = maxx;
+    }
+
+    cropping_rect.left = mincol;
+    cropping_rect.right = maxcol;
+
+    // Crop rows
+    yimg = imgMos.Y.ptr[0];
+    uimg = imgMos.U.ptr[0];
+    vimg = imgMos.V.ptr[0];
+
+    int minrow = 0;
+    int maxrow = imgMos.Y.height-1;
+
+    const int MIN_Y_FS = height*1/8;
+    const int MAX_Y_FS = imgMos.Y.height - height*1/8;
+
+    for (i = 0; i < imgMos.Y.width; i++)
+    {
+        int miny = MIN_Y_FS;
+        int maxy = MAX_Y_FS;
+
+        for (j = 0; j < imgMos.Y.height; j++)
+        {
+            if(*yimg == 96 && *uimg == 128 && *vimg == 128)
+            {
+            }
+            else
+            {
+                if(j<miny)
+                    miny = j;
+                if(j>maxy)
+                    maxy = j;
+            }
+
+            yimg++;
+            uimg++;
+            vimg++;
+        }
+
+        // If we never touched the values, reset them to the image limits
+        if(miny == MIN_Y_FS)
+            miny = 0;
+        if(maxy == MAX_Y_FS)
+            maxy = imgMos.Y.height-1;
+
+        if(miny>minrow)
+            minrow = miny;
+        if(maxy<maxrow)
+            maxrow = maxy;
+    }
+
+    cropping_rect.top = minrow;
+    cropping_rect.bottom = maxrow;
+
+    return BLEND_RET_OK;
+}
+
+void Blend::ComputeMask(CSite *csite, BlendRect &vcrect, BlendRect &brect, MosaicRect &rect, YUVinfo &imgMos, int site_idx)
+{
+    PyramidShort *dptr = m_pMosaicYPyr;
+
+    int nC = m_wb.nlevsC;
+    int l = (int) ((vcrect.lft - rect.left));
+    int b = (int) ((vcrect.bot - rect.top));
+    int r = (int) ((vcrect.rgt - rect.left));
+    int t = (int) ((vcrect.top - rect.top));
+
+    if (vcrect.lft == brect.lft)
+        l = (l <= 0) ? -BORDER : l - BORDER;
+    else if (l < -BORDER)
+        l = -BORDER;
+
+    if (vcrect.bot == brect.bot)
+        b = (b <= 0) ? -BORDER : b - BORDER;
+    else if (b < -BORDER)
+        b = -BORDER;
+
+    if (vcrect.rgt == brect.rgt)
+        r = (r >= dptr->width) ? dptr->width + BORDER - 1 : r + BORDER;
+    else if (r >= dptr->width + BORDER)
+        r = dptr->width + BORDER - 1;
+
+    if (vcrect.top == brect.top)
+        t = (t >= dptr->height) ? dptr->height + BORDER - 1 : t + BORDER;
+    else if (t >= dptr->height + BORDER)
+        t = dptr->height + BORDER - 1;
+
+    // Walk the Region of interest and populate the pyramid
+    for (int j = b; j <= t; j++)
+    {
+        int jj = j;
+        double sj = jj + rect.top;
+
+        for (int i = l; i <= r; i++)
+        {
+            int ii = i;
+            // project point and then triangulate to neighbors
+            double si = ii + rect.left;
+
+            double dself = hypotSq(csite->getVCenter().x - si, csite->getVCenter().y - sj);
+            int inMask = ((unsigned) ii < imgMos.Y.width &&
+                    (unsigned) jj < imgMos.Y.height) ? 1 : 0;
+
+            if(!inMask)
+                continue;
+
+            // scan the neighbors to see if this is a valid position
+            unsigned char mask = (unsigned char) 255;
+            SEdgeVector *ce;
+            int ecnt;
+            for (ce = csite->getNeighbor(), ecnt = csite->getNumNeighbors(); ecnt--; ce++)
+            {
+                double d1 = hypotSq(m_AllSites[ce->second].getVCenter().x - si,
+                        m_AllSites[ce->second].getVCenter().y - sj);
+                if (d1 < dself)
+                {
+                    break;
+                }
+            }
+
+            if (ecnt >= 0) continue;
+
+            imgMos.Y.ptr[jj][ii] = (unsigned char)site_idx;
+        }
+    }
+}
+
+void Blend::ProcessPyramidForThisFrame(CSite *csite, BlendRect &vcrect, BlendRect &brect, MosaicRect &rect, YUVinfo &imgMos, double trs[3][3], int site_idx)
+{
+    // Put the Region of interest (for all levels) into m_pMosaicYPyr
+    double inv_trs[3][3];
+    inv33d(trs, inv_trs);
+
+    // Process each pyramid level
+    PyramidShort *sptr = m_pFrameYPyr;
+    PyramidShort *suptr = m_pFrameUPyr;
+    PyramidShort *svptr = m_pFrameVPyr;
+
+    PyramidShort *dptr = m_pMosaicYPyr;
+    PyramidShort *duptr = m_pMosaicUPyr;
+    PyramidShort *dvptr = m_pMosaicVPyr;
+
+    int dscale = 0; // distance scale for the current level
+    int nC = m_wb.nlevsC;
+    for (int n = m_wb.nlevs; n--; dscale++, dptr++, sptr++, dvptr++, duptr++, svptr++, suptr++, nC--)
+    {
+        int l = (int) ((vcrect.lft - rect.left) / (1 << dscale));
+        int b = (int) ((vcrect.bot - rect.top) / (1 << dscale));
+        int r = (int) ((vcrect.rgt - rect.left) / (1 << dscale) + .5);
+        int t = (int) ((vcrect.top - rect.top) / (1 << dscale) + .5);
+
+        if (vcrect.lft == brect.lft)
+            l = (l <= 0) ? -BORDER : l - BORDER;
+        else if (l < -BORDER)
+            l = -BORDER;
+
+        if (vcrect.bot == brect.bot)
+            b = (b <= 0) ? -BORDER : b - BORDER;
+        else if (b < -BORDER)
+            b = -BORDER;
+
+        if (vcrect.rgt == brect.rgt)
+            r = (r >= dptr->width) ? dptr->width + BORDER - 1 : r + BORDER;
+        else if (r >= dptr->width + BORDER)
+            r = dptr->width + BORDER - 1;
+
+        if (vcrect.top == brect.top)
+            t = (t >= dptr->height) ? dptr->height + BORDER - 1 : t + BORDER;
+        else if (t >= dptr->height + BORDER)
+            t = dptr->height + BORDER - 1;
+
+        // Walk the Region of interest and populate the pyramid
+        for (int j = b; j <= t; j++)
+        {
+            int jj = (j << dscale);
+            double sj = jj + rect.top;
+
+            for (int i = l; i <= r; i++)
+            {
+                int ii = (i << dscale);
+                // project point and then triangulate to neighbors
+                double si = ii + rect.left;
+
+                int inMask = ((unsigned) ii < imgMos.Y.width &&
+                        (unsigned) jj < imgMos.Y.height) ? 1 : 0;
+
+                if(inMask && imgMos.Y.ptr[jj][ii]!=site_idx && imgMos.Y.ptr[jj][ii]!=255)
+                    continue;
+
+                // Project this mosaic point into the original frame coordinate space
+                double xx, yy;
+
+                MosaicToFrame(inv_trs, si, sj, xx, yy);
+
+                if (xx < 0.0 || yy < 0.0 || xx > width - 1.0 || yy > height - 1.0)
+                {
+                    if(inMask)
+                    {
+                        imgMos.Y.ptr[jj][ii] = 255;
+                    }
+                }
+
+                xx /= (1 << dscale);
+                yy /= (1 << dscale);
+
+
+                int x1 = (xx >= 0.0) ? (int) xx : (int) floor(xx);
+                int y1 = (yy >= 0.0) ? (int) yy : (int) floor(yy);
+
+                // Final destination in extended pyramid
+#ifndef LINEAR_INTERP
+                if(inSegment(x1, sptr->width, BORDER-1) && inSegment(y1, sptr->height, BORDER-1))
+                {
+                    double xfrac = xx - x1;
+                    double yfrac = yy - y1;
+                    dptr->ptr[j][i] = (short) (.5 + ciCalc(sptr, x1, y1, xfrac, yfrac));
+                    if (dvptr >= m_pMosaicVPyr && nC > 0)
+                    {
+                        duptr->ptr[j][i] = (short) (.5 + ciCalc(suptr, x1, y1, xfrac, yfrac));
+                        dvptr->ptr[j][i] = (short) (.5 + ciCalc(svptr, x1, y1, xfrac, yfrac));
+                    }
+                }
+#else
+                if(inSegment(x1, sptr->width, BORDER) && inSegment(y1, sptr->height, BORDER))
+                {
+                    int x2 = x1 + 1;
+                    int y2 = y1 + 1;
+                    double xfrac = xx - x1;
+                    double yfrac = yy - y1;
+                    double y1val = sptr->ptr[y1][x1] +
+                        (sptr->ptr[y1][x2] - sptr->ptr[y1][x1]) * xfrac;
+                    double y2val = sptr->ptr[y2][x1] +
+                        (sptr->ptr[y2][x2] - sptr->ptr[y2][x1]) * xfrac;
+                    dptr->ptr[j][i] = (short) (y1val + yfrac * (y2val - y1val));
+
+                    if (dvptr >= m_pMosaicVPyr && nC > 0)
+                    {
+                        y1val = suptr->ptr[y1][x1] +
+                            (suptr->ptr[y1][x2] - suptr->ptr[y1][x1]) * xfrac;
+                        y2val = suptr->ptr[y2][x1] +
+                            (suptr->ptr[y2][x2] - suptr->ptr[y2][x1]) * xfrac;
+
+                        duptr->ptr[j][i] = (short) (y1val + yfrac * (y2val - y1val));
+
+                        y1val = svptr->ptr[y1][x1] +
+                            (svptr->ptr[y1][x2] - svptr->ptr[y1][x1]) * xfrac;
+                        y2val = svptr->ptr[y2][x1] +
+                            (svptr->ptr[y2][x2] - svptr->ptr[y2][x1]) * xfrac;
+
+                        dvptr->ptr[j][i] = (short) (y1val + yfrac * (y2val - y1val));
+                    }
+                }
+#endif
+                else
+                {
+                    clipToSegment(x1, sptr->width, BORDER);
+                    clipToSegment(y1, sptr->height, BORDER);
+
+                    dptr->ptr[j][i] = sptr->ptr[y1][x1];
+                    if (dvptr >= m_pMosaicVPyr && nC > 0)
+                    {
+                        dvptr->ptr[j][i] = svptr->ptr[y1][x1];
+                        duptr->ptr[j][i] = suptr->ptr[y1][x1];
+                    }
+                }
+            }
+        }
+    }
+}
+
+void Blend::MosaicToFrame(double trs[3][3], double x, double y, double &wx, double &wy)
+{
+    double X, Y, z;
+    if (m_wb.theta == 0.0)
+    {
+        X = x;
+        Y = y;
+    }
+    else if (m_wb.horizontal)
+    {
+        double alpha = x * m_wb.direction / m_wb.width;
+        double length = (y - alpha * m_wb.correction) * m_wb.direction + m_wb.radius;
+        double deltaTheta = m_wb.theta * alpha;
+        double sinTheta = sin(deltaTheta);
+        double cosTheta = sqrt(1.0 - sinTheta * sinTheta) * m_wb.direction;
+        X = length * sinTheta + m_wb.x;
+        Y = length * cosTheta + m_wb.y;
+    }
+    else
+    {
+        double alpha = y * m_wb.direction / m_wb.width;
+        double length = (x - alpha * m_wb.correction) * m_wb.direction + m_wb.radius;
+        double deltaTheta = m_wb.theta * alpha;
+        double sinTheta = sin(deltaTheta);
+        double cosTheta = sqrt(1.0 - sinTheta * sinTheta) * m_wb.direction;
+        Y = length * sinTheta + m_wb.y;
+        X = length * cosTheta + m_wb.x;
+    }
+    z = ProjZ(trs, X, Y, 1.0);
+    wx = ProjX(trs, X, Y, z, 1.0);
+    wy = ProjY(trs, X, Y, z, 1.0);
+}
+
+void Blend::FrameToMosaic(double trs[3][3], double x, double y, double &wx, double &wy)
+{
+    // Project into the intermediate Mosaic coordinate system
+    double z = ProjZ(trs, x, y, 1.0);
+    double X = ProjX(trs, x, y, z, 1.0);
+    double Y = ProjY(trs, x, y, z, 1.0);
+
+    if (m_wb.theta == 0.0)
+    {
+        // No rotation, then this is all we need to do.
+        wx = X;
+        wy = Y;
+    }
+    else if (m_wb.horizontal)
+    {
+        double deltaX = X - m_wb.x;
+        double deltaY = Y - m_wb.y;
+        double length = sqrt(deltaX * deltaX + deltaY * deltaY);
+        double deltaTheta = asin(deltaX / length);
+        double alpha = deltaTheta / m_wb.theta;
+        wx = alpha * m_wb.width * m_wb.direction;
+        wy = (length - m_wb.radius) * m_wb.direction + alpha * m_wb.correction;
+    }
+    else
+    {
+        double deltaX = X - m_wb.x;
+        double deltaY = Y - m_wb.y;
+        double length = sqrt(deltaX * deltaX + deltaY * deltaY);
+        double deltaTheta = asin(deltaY / length);
+        double alpha = deltaTheta / m_wb.theta;
+        wy = alpha * m_wb.width * m_wb.direction;
+        wx = (length - m_wb.radius) * m_wb.direction + alpha * m_wb.correction;
+    }
+}
+
+
+
+// Clip the region of interest as small as possible by using the Voronoi edges of
+// the neighbors
+void Blend::ClipBlendRect(CSite *csite, BlendRect &brect)
+{
+      SEdgeVector *ce;
+      int ecnt;
+      for (ce = csite->getNeighbor(), ecnt = csite->getNumNeighbors(); ecnt--; ce++)
+      {
+        // calculate the Voronoi bisector intersection
+        const double epsilon = 1e-5;
+        double dx = (m_AllSites[ce->second].getVCenter().x - m_AllSites[ce->first].getVCenter().x);
+        double dy = (m_AllSites[ce->second].getVCenter().y - m_AllSites[ce->first].getVCenter().y);
+        double xmid = m_AllSites[ce->first].getVCenter().x + dx/2.0;
+        double ymid = m_AllSites[ce->first].getVCenter().y + dy/2.0;
+        double inter;
+
+        if (dx > epsilon)
+        {
+          // neighbor is on right
+          if ((inter = m_wb.roundoffOverlap + xmid - dy * (((dy >= 0.0) ? brect.bot : brect.top) - ymid) / dx) < brect.rgt)
+            brect.rgt = inter;
+        }
+        else if (dx < -epsilon)
+        {
+          // neighbor is on left
+          if ((inter = -m_wb.roundoffOverlap + xmid - dy * (((dy >= 0.0) ? brect.bot : brect.top) - ymid) / dx) > brect.lft)
+            brect.lft = inter;
+        }
+        if (dy > epsilon)
+        {
+          // neighbor is above
+          if ((inter = m_wb.roundoffOverlap + ymid - dx * (((dx >= 0.0) ? brect.lft : brect.rgt) - xmid) / dy) < brect.top)
+            brect.top = inter;
+        }
+        else if (dy < -epsilon)
+        {
+          // neighbor is below
+          if ((inter = -m_wb.roundoffOverlap + ymid - dx * (((dx >= 0.0) ? brect.lft : brect.rgt) - xmid) / dy) > brect.bot)
+            brect.bot = inter;
+        }
+      }
+}
+
+void Blend::FrameToMosaicRect(int width, int height, double trs[3][3], BlendRect &brect)
+{
+    // We need to walk the perimeter since the borders can be bent.
+    brect.lft = brect.bot = 2e30;
+    brect.rgt = brect.top = -2e30;
+    double xpos, ypos;
+    double lasty = height - 1.0;
+    double lastx = width - 1.0;
+    int i;
+
+    for (i = width; i--;)
+    {
+
+        FrameToMosaic(trs, (double) i, 0.0, xpos, ypos);
+        ClipRect(xpos, ypos, brect);
+        FrameToMosaic(trs, (double) i, lasty, xpos, ypos);
+        ClipRect(xpos, ypos, brect);
+    }
+    for (i = height; i--;)
+    {
+        FrameToMosaic(trs, 0.0, (double) i, xpos, ypos);
+        ClipRect(xpos, ypos, brect);
+        FrameToMosaic(trs, lastx, (double) i, xpos, ypos);
+        ClipRect(xpos, ypos, brect);
+    }
+}
+
+
+
+void Blend::ComputeBlendParameters(MosaicFrame **frames, int frames_size, int is360)
+{
+    if (m_wb.blendingType != BLEND_TYPE_CYLPAN && m_wb.blendingType != BLEND_TYPE_HORZ)
+    {
+        m_wb.theta = 0.0;
+        return;
+    }
+
+    MosaicFrame *first = frames[0];
+    MosaicFrame *last = frames[frames_size-1];
+    MosaicFrame *mb;
+
+    double lxpos = last->trs[0][2], lypos = last->trs[1][5];
+    double fxpos = first->trs[0][2], fypos = first->trs[1][5];
+
+    // Calculate warp to produce proper stitching.
+    // get x, y displacement
+    double midX = last->width / 2.0;
+    double midY = last->height / 2.0;
+    double z = ProjZ(first->trs, midX, midY, 1.0);
+    double firstX, firstY;
+    double prevX = firstX = ProjX(first->trs, midX, midY, z, 1.0);
+    double prevY = firstY = ProjY(first->trs, midX, midY, z, 1.0);
+
+    double arcLength, lastTheta;
+    m_wb.theta = lastTheta = arcLength = 0.0;
+    for (int i = 0; i < frames_size; i++)
+    {
+        mb = frames[i];
+        double currX, currY;
+        z = ProjZ(mb->trs, midX, midY, 1.0);
+        currX = ProjX(mb->trs, midX, midY, z, 1.0);
+        currY = ProjY(mb->trs, midX, midY, z, 1.0);
+        double deltaX = currX - prevX;
+        double deltaY = currY - prevY;
+        arcLength += sqrt(deltaY * deltaY + deltaX * deltaX);
+        if (!is360)
+        {
+            double thisTheta = asin(mb->trs[1][0]);
+            m_wb.theta += thisTheta - lastTheta;
+            lastTheta = thisTheta;
+        }
+        prevX = currX;
+        prevY = currY;
+    }
+
+    // In case of BMP output, stretch this to end at the proper alignment
+    m_wb.width = arcLength;
+    if (is360) m_wb.theta = asin(last->trs[1][0]);
+
+    // If there is no rotation, we're done.
+    if (m_wb.theta != 0.0)
+    {
+        double dx = prevX - firstX;
+        double dy = prevY - firstY;
+        if (abs(lxpos - fxpos) > abs(lypos - fypos))
+        {
+            m_wb.horizontal = 1;
+            // Calculate radius position to make ends exactly the same Y offset
+            double radiusTheta = dx / cos(3.14159 / 2.0 - m_wb.theta);
+            m_wb.radius = dy + radiusTheta * cos(m_wb.theta);
+            if (m_wb.radius < 0.0) m_wb.radius = -m_wb.radius;
+        }
+        else
+        {
+            m_wb.horizontal = 0;
+            // Calculate radius position to make ends exactly the same Y offset
+            double radiusTheta = dy / cos(3.14159 / 2.0 - m_wb.theta);
+            m_wb.radius = dx + radiusTheta * cos(m_wb.theta);
+            if (m_wb.radius < 0.0) m_wb.radius = -m_wb.radius;
+        }
+
+        // Determine major direction
+        if (m_wb.horizontal)
+        {
+            // Horizontal strip
+            if (is360) m_wb.x = firstX;
+            else
+            {
+                if (lxpos - fxpos < 0)
+                {
+                    m_wb.x = firstX + midX;
+                    z = ProjZ(last->trs, 0.0, midY, 1.0);
+                    prevX = ProjX(last->trs, 0.0, midY, z, 1.0);
+                    prevY = ProjY(last->trs, 0.0, midY, z, 1.0);
+                }
+                else
+                {
+                    m_wb.x = firstX - midX;
+                    z = ProjZ(last->trs, last->width - 1.0, midY, 1.0);
+                    prevX = ProjX(last->trs, last->width - 1.0, midY, z, 1.0);
+                    prevY = ProjY(last->trs, last->width - 1.0, midY, z, 1.0);
+                }
+            }
+            dy = prevY - firstY;
+            if (dy < 0.0) m_wb.direction = 1.0;
+            else m_wb.direction = -1.0;
+            m_wb.y = firstY - m_wb.radius * m_wb.direction;
+            if (dy * m_wb.theta > 0.0) m_wb.width = -m_wb.width;
+        }
+        else
+        {
+            // Vertical strip
+            if (is360) m_wb.y = firstY;
+            else
+            {
+                if (lypos - fypos < 0)
+                {
+                    m_wb.x = firstY + midY;
+                    z = ProjZ(last->trs, midX, 0.0, 1.0);
+                    prevX = ProjX(last->trs, midX, 0.0, z, 1.0);
+                    prevY = ProjY(last->trs, midX, 0.0, z, 1.0);
+                }
+                else
+                {
+                    m_wb.x = firstX - midX;
+                    z = ProjZ(last->trs, midX, last->height - 1.0, 1.0);
+                    prevX = ProjX(last->trs, midX, last->height - 1.0, z, 1.0);
+                    prevY = ProjY(last->trs, midX, last->height - 1.0, z, 1.0);
+                }
+            }
+            dx = prevX - firstX;
+            if (dx < 0.0) m_wb.direction = 1.0;
+            else m_wb.direction = -1.0;
+            m_wb.x = firstX - m_wb.radius * m_wb.direction;
+            if (dx * m_wb.theta > 0.0) m_wb.width = -m_wb.width;
+        }
+
+        // Calculate the correct correction factor
+        double deltaX = prevX - m_wb.x;
+        double deltaY = prevY - m_wb.y;
+        double length = sqrt(deltaX * deltaX + deltaY * deltaY);
+        double deltaTheta = (m_wb.horizontal) ? deltaX : deltaY;
+        deltaTheta = asin(deltaTheta / length);
+        m_wb.correction = ((m_wb.radius - length) * m_wb.direction) /
+            (deltaTheta / m_wb.theta);
+    }
+}
diff --git a/jni/feature_mos/src/mosaic/Blend.h b/jni/feature_mos/src/mosaic/Blend.h
new file mode 100644
index 0000000..9998aa6
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/Blend.h
@@ -0,0 +1,113 @@
+/*
+ * 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.
+ */
+
+///////////////////////////////////////////////////
+// Blend.h
+// $Id: Blend.h,v 1.23 2011/06/24 04:22:14 mbansal Exp $
+
+#ifndef BLEND_H
+#define BLEND_H
+
+#include "MosaicTypes.h"
+#include "Pyramid.h"
+
+#include "Delaunay.h"
+
+#define BLEND_RANGE_DEFAULT 6
+#define BORDER 8
+
+//#define LINEAR_INTERP
+
+//#define LOGII(...) //
+//#define LOGIE(...) //
+#if 1
+#ifdef ANDROID
+#include <android/log.h>
+#define ANDROID_LOG_VERBOSE ANDROID_LOG_DEBUG
+#define LOG_TAG "CVJNI"
+#define LOGV(...) __android_log_print(ANDROID_LOG_SILENT, LOG_TAG, __VA_ARGS__)
+#define LOGII(...) __android_log_print(ANDROID_LOG_INFO, LOG_TAG, __VA_ARGS__)
+#define LOGIE(...) __android_log_print(ANDROID_LOG_ERROR, LOG_TAG, __VA_ARGS__)
+#else
+#define LOGII printf
+#define LOGIE printf
+#endif
+#endif
+
+
+/**
+ *  Class for pyramid blending a mosaic.
+ */
+class Blend {
+
+public:
+
+  static const int BLEND_TYPE_NONE    = -1;
+  static const int BLEND_TYPE_FULL    = 0;
+  static const int BLEND_TYPE_PAN     = 1;
+  static const int BLEND_TYPE_CYLPAN  = 2;
+  static const int BLEND_TYPE_HORZ   = 3;
+
+  static const int BLEND_RET_ERROR        = -1;
+  static const int BLEND_RET_OK           = 0;
+  static const int BLEND_RET_ERROR_MEMORY = 1;
+
+  Blend();
+  ~Blend();
+
+  int initialize(int blendingType, int frame_width, int frame_height);
+
+  int runBlend(MosaicFrame **frames, int frames_size, ImageType &imageMosaicYVU, int &mosaicWidth, int &mosaicHeight);
+
+protected:
+
+  PyramidShort *m_pFrameYPyr;
+  PyramidShort *m_pFrameUPyr;
+  PyramidShort *m_pFrameVPyr;
+
+  PyramidShort *m_pMosaicYPyr;
+  PyramidShort *m_pMosaicUPyr;
+  PyramidShort *m_pMosaicVPyr;
+
+  CDelaunay m_Triangulator;
+  CSite *m_AllSites;
+
+  BlendParams m_wb;
+
+  // Height and width of individual frames
+  int width, height;
+
+   // Height and width of mosaic
+  unsigned short Mwidth, Mheight;
+
+  // Helper functions
+  void FrameToMosaic(double trs[3][3], double x, double y, double &wx, double &wy);
+  void MosaicToFrame(double trs[3][3], double x, double y, double &wx, double &wy);
+  void FrameToMosaicRect(int width, int height, double trs[3][3], BlendRect &brect);
+  void ClipBlendRect(CSite *csite, BlendRect &brect);
+
+  int  DoMergeAndBlend(MosaicFrame **frames, int nsite,  int width, int height, YUVinfo &imgMos, MosaicRect &rect, MosaicRect &cropping_rect);
+  void ComputeMask(CSite *csite, BlendRect &vcrect, BlendRect &brect, MosaicRect &rect, YUVinfo &imgMos, int site_idx);
+  void ProcessPyramidForThisFrame(CSite *csite, BlendRect &vcrect, BlendRect &brect, MosaicRect &rect, YUVinfo &imgMos, double trs[3][3], int site_idx);
+
+  int  FillFramePyramid(MosaicFrame *mb);
+  void ComputeBlendParameters(MosaicFrame **frames, int frames_size, int is360);
+
+  int  PerformFinalBlending(YUVinfo &imgMos, MosaicRect &cropping_rect);
+  void CropFinalMosaic(YUVinfo &imgMos, MosaicRect &cropping_rect);
+};
+
+#endif
diff --git a/jni/feature_mos/src/mosaic/CSite.h b/jni/feature_mos/src/mosaic/CSite.h
new file mode 100644
index 0000000..928c173
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/CSite.h
@@ -0,0 +1,63 @@
+/*
+ * 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.
+ */
+
+///////////////////////////////////////////////////
+// CSite.h
+// $Id: CSite.h,v 1.3 2011/06/17 13:35:47 mbansal Exp $
+
+#ifndef TRIDEL_H
+#define TRIDEL_H
+
+#include "MosaicTypes.h"
+
+typedef struct
+{
+    short first;
+    short second;
+} SEdgeVector;
+
+typedef struct
+{
+    double x;
+    double y;
+} SVec2d;
+
+class CSite
+{
+private:
+    MosaicFrame *mosaicFrame;
+    SEdgeVector *neighbor;
+    int numNeighbors;
+    SVec2d voronoiCenter;
+
+public:
+    CSite();
+    ~CSite();
+
+    inline MosaicFrame* getMb() { return mosaicFrame; }
+    inline SEdgeVector* getNeighbor() { return neighbor; }
+    inline int getNumNeighbors() { return numNeighbors; }
+    inline SVec2d& getVCenter() { return voronoiCenter; }
+    inline double X() { return voronoiCenter.x; }
+    inline double Y() { return voronoiCenter.y; }
+
+    inline void incrNumNeighbors() { numNeighbors++; }
+    inline void setNumNeighbors(int num) { numNeighbors = num; }
+    inline void setNeighbor(SEdgeVector *nb) { neighbor = nb; }
+    inline void setMb(MosaicFrame *mb) { mosaicFrame = mb; }
+};
+
+#endif
diff --git a/jni/feature_mos/src/mosaic/Delaunay.cpp b/jni/feature_mos/src/mosaic/Delaunay.cpp
new file mode 100644
index 0000000..0ce09fc
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/Delaunay.cpp
@@ -0,0 +1,633 @@
+/*
+ * 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.
+ */
+
+// Delaunay.cpp
+// $Id: Delaunay.cpp,v 1.10 2011/06/17 13:35:48 mbansal Exp $
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <memory.h>
+#include "Delaunay.h"
+
+#define QQ 9   // Optimal value as determined by testing
+#define DM 38  // 2^(1+DM/2) element sort capability. DM=38 for >10^6 elements
+#define NYL -1
+#define valid(l) ccw(orig(basel), dest(l), dest(basel))
+
+
+CDelaunay::CDelaunay()
+{
+}
+
+CDelaunay::~CDelaunay()
+{
+}
+
+// Allocate storage, construct triangulation, compute voronoi corners
+int CDelaunay::triangulate(SEdgeVector **edges, int n_sites, int width, int height)
+{
+  EdgePointer cep;
+
+  deleteAllEdges();
+  buildTriangulation(n_sites);
+  cep = consolidateEdges();
+  *edges = ev;
+
+  // Note: construction_list will change ev
+  return constructList(cep, width, height);
+}
+
+// builds delaunay triangulation
+void CDelaunay::buildTriangulation(int size)
+{
+  int i, rows;
+  EdgePointer lefte, righte;
+
+  rows = (int)( 0.5 + sqrt( (double) size / log( (double) size )));
+
+  // Sort the pointers by  x-coordinate of site
+  for ( i=0 ; i < size ; i++ ) {
+    sp[i] = (SitePointer) i;
+  }
+
+  spsortx( sp, 0, size-1 );
+  build( 0, size-1, &lefte, &righte, rows );
+  oneBndryEdge = lefte;
+}
+
+// Recursive Delaunay Triangulation Procedure
+// Contains modifications for axis-switching division.
+void CDelaunay::build(int lo, int hi, EdgePointer *le, EdgePointer *re, int rows)
+{
+  EdgePointer a, b, c, ldo, rdi, ldi, rdo, maxx, minx;
+  int split, lowrows;
+  int low, high;
+  SitePointer s1, s2, s3;
+  low = lo;
+  high = hi;
+
+  if ( low < (high-2) ) {
+    // more than three elements; do recursion
+    minx = sp[low];
+    maxx = sp[high];
+    if (rows == 1) {    // time to switch axis of division
+      spsorty( sp, low, high);
+      rows = 65536;
+    }
+    lowrows = rows/2;
+    split = low - 1 + (int)
+      (0.5 + ((double)(high-low+1) * ((double)lowrows / (double)rows)));
+    build( low, split, &ldo, &ldi, lowrows );
+    build( split+1, high, &rdi, &rdo, (rows-lowrows) );
+    doMerge(&ldo, ldi, rdi, &rdo);
+    while (orig(ldo) != minx) {
+      ldo = rprev(ldo);
+    }
+    while (orig(rdo) != maxx) {
+      rdo = (SitePointer) lprev(rdo);
+    }
+    *le = ldo;
+    *re = rdo;
+  }
+  else if (low >= (high - 1)) { // two or one points
+    a = makeEdge(sp[low], sp[high]);
+    *le = a;
+    *re = (EdgePointer) sym(a);
+  } else { // three points
+    // 3 cases: triangles of 2 orientations, and 3 points on a line
+    a = makeEdge((s1 = sp[low]), (s2 = sp[low+1]));
+    b = makeEdge(s2, (s3 = sp[high]));
+    splice((EdgePointer) sym(a), b);
+    if (ccw(s1, s3, s2)) {
+      c = connectLeft(b, a);
+      *le = (EdgePointer) sym(c);
+      *re = c;
+    } else {
+      *le = a;
+      *re = (EdgePointer) sym(b);
+      if (ccw(s1, s2, s3)) {
+        // not colinear
+        c = connectLeft(b, a);
+      }
+    }
+  }
+}
+
+// Quad-edge manipulation primitives
+EdgePointer CDelaunay::makeEdge(SitePointer origin, SitePointer destination)
+{
+  EdgePointer temp, ans;
+  temp = allocEdge();
+  ans = temp;
+
+  onext(temp) = ans;
+  orig(temp) = origin;
+  onext(++temp) = (EdgePointer) (ans + 3);
+  onext(++temp) = (EdgePointer) (ans + 2);
+  orig(temp) = destination;
+  onext(++temp) = (EdgePointer) (ans + 1);
+
+  return(ans);
+}
+
+void CDelaunay::splice(EdgePointer a, EdgePointer b)
+{
+  EdgePointer alpha, beta, temp;
+  alpha = (EdgePointer) rot(onext(a));
+  beta = (EdgePointer) rot(onext(b));
+  temp = onext(alpha);
+  onext(alpha) = onext(beta);
+  onext(beta) = temp;
+  temp = onext(a);
+  onext(a) = onext(b);
+  onext(b) = temp;
+}
+
+EdgePointer CDelaunay::connectLeft(EdgePointer a, EdgePointer b)
+{
+  EdgePointer ans;
+  ans = makeEdge(dest(a), orig(b));
+  splice(ans, (EdgePointer) lnext(a));
+  splice((EdgePointer) sym(ans), b);
+  return(ans);
+}
+
+EdgePointer CDelaunay::connectRight(EdgePointer a, EdgePointer b)
+{
+  EdgePointer ans;
+  ans = makeEdge(dest(a), orig(b));
+  splice(ans, (EdgePointer) sym(a));
+  splice((EdgePointer) sym(ans), (EdgePointer) oprev(b));
+  return(ans);
+}
+
+// disconnects e from the rest of the structure and destroys it
+void CDelaunay::deleteEdge(EdgePointer e)
+{
+  splice(e, (EdgePointer) oprev(e));
+  splice((EdgePointer) sym(e), (EdgePointer) oprev(sym(e)));
+  freeEdge(e);
+}
+
+//
+// Overall storage allocation
+//
+
+// Quad-edge storage allocation
+CSite *CDelaunay::allocMemory(int n)
+{
+  unsigned int size;
+
+  size = ((sizeof(CSite) + sizeof(SitePointer)) * n +
+          (sizeof(SitePointer) + sizeof(EdgePointer)) * 12
+          ) * n;
+  if (!(sa = (CSite*) malloc(size))) {
+    return NULL;
+  }
+  sp = (SitePointer *) (sa + n);
+  ev = (SEdgeVector *) (org = sp + n);
+  next = (EdgePointer *) (org + 12 * n);
+  ei = (struct EDGE_INFO *) (next + 12 * n);
+  return sa;
+}
+
+void CDelaunay::freeMemory()
+{
+  if (sa) {
+    free(sa);
+    sa = (CSite*)NULL;
+  }
+}
+
+//
+// Edge storage management
+//
+
+void CDelaunay::deleteAllEdges()
+{
+    nextEdge = 0;
+    availEdge = NYL;
+}
+
+EdgePointer CDelaunay::allocEdge()
+{
+  EdgePointer ans;
+
+  if (availEdge == NYL) {
+    ans = nextEdge, nextEdge += 4;
+  } else {
+    ans = availEdge, availEdge = onext(availEdge);
+  }
+  return(ans);
+}
+
+void CDelaunay::freeEdge(EdgePointer e)
+{
+  e ^= e & 3;
+  onext(e) = availEdge;
+  availEdge = e;
+}
+
+EdgePointer CDelaunay::consolidateEdges()
+{
+  EdgePointer e;
+  int i,j;
+
+  while (availEdge != NYL) {
+    nextEdge -= 4; e = availEdge; availEdge = onext(availEdge);
+
+    if (e==nextEdge) {
+      continue; // the one deleted was the last one anyway
+    }
+    if ((oneBndryEdge&~3) == nextEdge) {
+      oneBndryEdge = (EdgePointer) (e | (oneBndryEdge&3));
+    }
+    for (i=0,j=3; i<4; i++,j=rot(j)) {
+      onext(e+i) = onext(nextEdge+i);
+      onext(rot(onext(e+i))) = (EdgePointer) (e+j);
+    }
+  }
+  return nextEdge;
+}
+
+//
+// Sorting Routines
+//
+
+int CDelaunay::xcmpsp(int i, int j)
+{
+  double d = sa[(i>=0)?sp[i]:sp1].X() - sa[(j>=0)?sp[j]:sp1].X();
+  if ( d > 0. ) {
+    return 1;
+  }
+  if ( d < 0. ) {
+    return -1;
+  }
+  d = sa[(i>=0)?sp[i]:sp1].Y() - sa[(j>=0)?sp[j]:sp1].Y();
+  if ( d > 0. ) {
+    return 1;
+  }
+  if ( d < 0. ) {
+    return -1;
+  }
+  return 0;
+}
+
+int CDelaunay::ycmpsp(int i, int j)
+{
+  double d = sa[(i>=0)?sp[i]:sp1].Y() - sa[(j>=0)?sp[j]:sp1].Y();
+  if ( d > 0. ) {
+    return 1;
+  }
+  if ( d < 0. ) {
+    return -1;
+  }
+  d = sa[(i>=0)?sp[i]:sp1].X() - sa[(j>=0)?sp[j]:sp1].X();
+  if ( d > 0. ) {
+    return 1;
+  }
+  if ( d < 0. ) {
+    return -1;
+  }
+  return 0;
+}
+
+int CDelaunay::cmpev(int i, int j)
+{
+  return (ev[i].first - ev[j].first);
+}
+
+void CDelaunay::swapsp(int i, int j)
+{
+  int t;
+  t = (i>=0) ? sp[i] : sp1;
+
+  if (i>=0) {
+    sp[i] = (j>=0)?sp[j]:sp1;
+  } else {
+    sp1 = (j>=0)?sp[j]:sp1;
+  }
+
+  if (j>=0) {
+    sp[j] = (SitePointer) t;
+  } else {
+    sp1 = (SitePointer) t;
+  }
+}
+
+void CDelaunay::swapev(int i, int j)
+{
+  SEdgeVector temp;
+
+  temp = ev[i];
+  ev[i] = ev[j];
+  ev[j] = temp;
+}
+
+void CDelaunay::copysp(int i, int j)
+{
+  if (j>=0) {
+    sp[j] = (i>=0)?sp[i]:sp1;
+  } else {
+    sp1 = (i>=0)?sp[i]:sp1;
+  }
+}
+
+void CDelaunay::copyev(int i, int j)
+{
+  ev[j] = ev[i];
+}
+
+void CDelaunay::spsortx(SitePointer *sp_in, int low, int high)
+{
+  sp = sp_in;
+  rcssort(low,high,-1,&CDelaunay::xcmpsp,&CDelaunay::swapsp,&CDelaunay::copysp);
+}
+
+void CDelaunay::spsorty(SitePointer *sp_in, int low, int high )
+{
+  sp = sp_in;
+  rcssort(low,high,-1,&CDelaunay::ycmpsp,&CDelaunay::swapsp,&CDelaunay::copysp);
+}
+
+void CDelaunay::rcssort(int lowelt, int highelt, int temp,
+                    int (CDelaunay::*comparison)(int,int),
+                    void (CDelaunay::*swap)(int,int),
+                    void (CDelaunay::*copy)(int,int))
+{
+  int m,sij,si,sj,sL,sk;
+  int stack[DM];
+
+  if (highelt-lowelt<=1) {
+    return;
+  }
+  if (highelt-lowelt>QQ) {
+    m = 0;
+    si = lowelt; sj = highelt;
+    for (;;) { // partition [si,sj] about median-of-3.
+      sij = (sj+si) >> 1;
+
+      // Now to sort elements si,sij,sj into order & set temp=their median
+      if ( (this->*comparison)( si,sij ) > 0 ) {
+        (this->*swap)( si,sij );
+      }
+      if ( (this->*comparison)( sij,sj ) > 0 ) {
+        (this->*swap)( sj,sij );
+        if ( (this->*comparison)( si,sij ) > 0 ) {
+          (this->*swap)( si,sij );
+        }
+      }
+      (this->*copy)( sij,temp );
+
+      // Now to partition into elements <=temp, >=temp, and ==temp.
+      sk = si; sL = sj;
+      do {
+        do {
+          sL--;
+        } while( (this->*comparison)( sL,temp ) > 0 );
+        do {
+          sk++;
+        } while( (this->*comparison)( temp,sk ) > 0 );
+        if ( sk < sL ) {
+          (this->*swap)( sL,sk );
+        }
+      } while(sk <= sL);
+
+      // Now to recurse on shorter partition, store longer partition on stack
+      if ( sL-si > sj-sk ) {
+        if ( sL-si < QQ ) {
+          if( m==0 ) {
+            break;  // empty stack && both partitions < QQ so break
+          } else {
+            sj = stack[--m];
+            si = stack[--m];
+          }
+        }
+        else {
+          if ( sj-sk < QQ ) {
+            sj = sL;
+          } else {
+            stack[m++] = si;
+            stack[m++] = sL;
+            si = sk;
+          }
+        }
+      }
+      else {
+        if ( sj-sk < QQ ) {
+          if ( m==0 ) {
+            break; // empty stack && both partitions < QQ so break
+          } else {
+            sj = stack[--m];
+            si = stack[--m];
+          }
+        }
+        else {
+          if ( sL-si < QQ ) {
+            si = sk;
+          } else {
+            stack[m++] = sk;
+            stack[m++] = sj;
+            sj = sL;
+          }
+        }
+      }
+    }
+  }
+
+  // Now for 0 or Data bounded  "straight insertion" sort of [0,nels-1]; if it is
+  // known that el[-1] = -INF, then can omit the "sk>=0" test and save time.
+  for (si=lowelt; si<highelt; si++) {
+    if ( (this->*comparison)( si,si+1 ) > 0 ) {
+      (this->*copy)( si+1,temp );
+      sj = sk = si;
+      sj++;
+      do {
+        (this->*copy)( sk,sj );
+        sj = sk;
+        sk--;
+      } while ( (this->*comparison)( sk,temp ) > 0 && sk>=lowelt );
+      (this->*copy)( temp,sj );
+    }
+  }
+}
+
+//
+// Geometric primitives
+//
+
+// incircle, as in the Guibas-Stolfi paper.
+int CDelaunay::incircle(SitePointer a, SitePointer b, SitePointer c, SitePointer d)
+{
+  double adx, ady, bdx, bdy, cdx, cdy, dx, dy, nad, nbd, ncd;
+  dx = sa[d].X();
+  dy = sa[d].Y();
+  adx = sa[a].X() - dx;
+  ady = sa[a].Y() - dy;
+  bdx = sa[b].X() - dx;
+  bdy = sa[b].Y() - dy;
+  cdx = sa[c].X() - dx;
+  cdy = sa[c].Y() - dy;
+  nad = adx*adx+ady*ady;
+  nbd = bdx*bdx+bdy*bdy;
+  ncd = cdx*cdx+cdy*cdy;
+  return( (0.0 < (nad * (bdx * cdy - bdy * cdx)
+                  + nbd * (cdx * ady - cdy * adx)
+                  + ncd * (adx * bdy - ady * bdx))) ? TRUE : FALSE );
+}
+
+// TRUE iff A, B, C form a counterclockwise oriented triangle
+int CDelaunay::ccw(SitePointer a, SitePointer b, SitePointer c)
+{
+  int result;
+
+  double ax = sa[a].X();
+  double bx = sa[b].X();
+  double cx = sa[c].X();
+  double ay = sa[a].Y();
+  double by = sa[b].Y();
+  double cy = sa[c].Y();
+
+  double val = (ax - cx)*(by - cy) - (bx - cx)*(ay - cy);
+  if ( val > 0.0) {
+    return true;
+  }
+
+  return false;
+}
+
+//
+// The Merge Procedure.
+//
+
+void CDelaunay::doMerge(EdgePointer *ldo, EdgePointer ldi, EdgePointer rdi, EdgePointer *rdo)
+{
+  int rvalid, lvalid;
+  EdgePointer basel,lcand,rcand,t;
+
+  for (;;) {
+    while (ccw(orig(ldi), dest(ldi), orig(rdi))) {
+        ldi = (EdgePointer) lnext(ldi);
+    }
+    if (ccw(dest(rdi), orig(rdi), orig(ldi))) {
+        rdi = (EdgePointer)rprev(rdi);
+    } else {
+      break;
+    }
+  }
+
+  basel = connectLeft((EdgePointer) sym(rdi), ldi);
+  lcand = rprev(basel);
+  rcand = (EdgePointer) oprev(basel);
+  if (orig(basel) == orig(*rdo)) {
+    *rdo = basel;
+  }
+  if (dest(basel) == orig(*ldo)) {
+    *ldo = (EdgePointer) sym(basel);
+  }
+
+  for (;;) {
+#if 1
+    if (valid(t=onext(lcand))) {
+#else
+    t = (EdgePointer)onext(lcand);
+    if (valid(basel, t)) {
+#endif
+      while (incircle(dest(lcand), dest(t), orig(lcand), orig(basel))) {
+        deleteEdge(lcand);
+        lcand = t;
+        t = onext(lcand);
+      }
+    }
+#if 1
+    if (valid(t=(EdgePointer)oprev(rcand))) {
+#else
+    t = (EdgePointer)oprev(rcand);
+    if (valid(basel, t)) {
+#endif
+      while (incircle(dest(t), dest(rcand), orig(rcand), dest(basel))) {
+        deleteEdge(rcand);
+        rcand = t;
+        t = (EdgePointer)oprev(rcand);
+      }
+    }
+
+#if 1
+    lvalid = valid(lcand);
+    rvalid = valid(rcand);
+#else
+    lvalid = valid(basel, lcand);
+    rvalid = valid(basel, rcand);
+#endif
+    if ((! lvalid) && (! rvalid)) {
+      return;
+    }
+
+    if (!lvalid ||
+        (rvalid && incircle(dest(lcand), orig(lcand), orig(rcand), dest(rcand)))) {
+      basel = connectLeft(rcand, (EdgePointer) sym(basel));
+      rcand = (EdgePointer) lnext(sym(basel));
+    } else {
+      basel = (EdgePointer) sym(connectRight(lcand, basel));
+      lcand = rprev(basel);
+    }
+  }
+}
+
+int CDelaunay::constructList(EdgePointer last, int width, int height)
+{
+  int c, i;
+  EdgePointer curr, src, nex;
+  SEdgeVector *currv, *prevv;
+
+  c = (int) ((curr = (EdgePointer) ((last & ~3))) >> 1);
+
+  for (last -= 4; last >= 0; last -= 4) {
+    src = orig(last);
+    nex = dest(last);
+    orig(--curr) = src;
+    orig(--curr) = nex;
+    orig(--curr) = nex;
+    orig(--curr) = src;
+  }
+  rcssort(0, c - 1, -1, &CDelaunay::cmpev, &CDelaunay::swapev, &CDelaunay::copyev);
+
+  // Throw out any edges that are too far apart
+  currv = prevv = ev;
+  for (i = c; i--; currv++) {
+      if ((int) fabs(sa[currv->first].getVCenter().x - sa[currv->second].getVCenter().x) <= width &&
+          (int) fabs(sa[currv->first].getVCenter().y - sa[currv->second].getVCenter().y) <= height) {
+          *(prevv++) = *currv;
+      } else {
+        c--;
+      }
+  }
+  return c;
+}
+
+// Fill in site neighbor information
+void CDelaunay::linkNeighbors(SEdgeVector *edge, int nedge, int nsite)
+{
+  int i;
+
+  for (i = 0; i < nsite; i++) {
+    sa[i].setNeighbor(edge);
+    sa[i].setNumNeighbors(0);
+    for (; edge->first == i && nedge; edge++, nedge--) {
+      sa[i].incrNumNeighbors();
+    }
+  }
+}
diff --git a/jni/feature_mos/src/mosaic/Delaunay.h b/jni/feature_mos/src/mosaic/Delaunay.h
new file mode 100644
index 0000000..7a450b5
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/Delaunay.h
@@ -0,0 +1,126 @@
+/*
+ * 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.
+ */
+
+// Delaunay.h
+// $Id: Delaunay.h,v 1.9 2011/06/17 13:35:48 mbansal Exp $
+
+#ifndef DELAUNAY_H
+#define DELAUNAY_H
+#include <stdio.h>
+#include <math.h>
+#include "CSite.h"
+#include "EdgePointerUtil.h"
+
+#ifndef TRUE
+#define TRUE 1==1
+#define FALSE 0==1
+#endif
+
+//******************************************************************************
+// Reference for Quad-edge data structure:
+//
+// Leonidas Guibas and Jorge Stolfi, "Primitives for the manipulation of general
+//     subdivisions and the computations of Voronoi diagrams",
+//     ACM Transactions on Graphics 4, 74-123 (1985).
+//
+//******************************************************************************
+
+//
+// Common data structures
+//
+
+typedef short SitePointer;
+typedef short TrianglePointer;
+
+class CDelaunay
+{
+private:
+  CSite *sa;
+  EdgePointer oneBndryEdge;
+  EdgePointer *next;
+  SitePointer *org;
+  struct EDGE_INFO *ei;
+  SitePointer *sp;
+  SEdgeVector *ev;
+
+  SitePointer sp1;
+  EdgePointer nextEdge;
+  EdgePointer availEdge;
+
+private:
+  void build(int lo, int hi, EdgePointer *le, EdgePointer *re, int rows);
+  void buildTriangulation(int size);
+
+  EdgePointer allocEdge();
+  void freeEdge(EdgePointer e);
+
+  EdgePointer makeEdge(SitePointer origin, SitePointer destination);
+  void deleteEdge(EdgePointer e);
+
+  void splice(EdgePointer, EdgePointer);
+  EdgePointer consolidateEdges();
+  void deleteAllEdges();
+
+  void spsortx(SitePointer *, int, int);
+  void spsorty(SitePointer *, int, int);
+
+  int cmpev(int i, int j);
+  int xcmpsp(int i, int j);
+  int ycmpsp(int i, int j);
+
+  void swapsp(int i, int j);
+  void swapev(int i, int j);
+
+  void copysp(int i, int j);
+  void copyev(int i, int j);
+
+  void rcssort(int lowelt, int highelt, int temp,
+                 int (CDelaunay::*comparison)(int,int),
+                 void (CDelaunay::*swap)(int,int),
+                 void (CDelaunay::*copy)(int,int));
+
+  void doMerge(EdgePointer *ldo, EdgePointer ldi, EdgePointer rdi, EdgePointer *rdo);
+  EdgePointer connectLeft(EdgePointer a, EdgePointer b);
+  EdgePointer connectRight(EdgePointer a, EdgePointer b);
+  int ccw(SitePointer a, SitePointer b, SitePointer c);
+  int incircle(SitePointer a, SitePointer b, SitePointer c, SitePointer d);
+  int constructList(EdgePointer e, int width, int height);
+
+public:
+  CDelaunay();
+  ~CDelaunay();
+
+  CSite *allocMemory(int nsite);
+  void freeMemory();
+  int triangulate(SEdgeVector **edge, int nsite, int width, int height);
+  void linkNeighbors(SEdgeVector *edge, int nedge, int nsite);
+};
+
+#define onext(a) next[a]
+#define oprev(a) rot(onext(rot(a)))
+#define lnext(a) rot(onext(rotinv(a)))
+#define lprev(a) sym(onext(a))
+#define rnext(a) rotinv(onext(rot(a)))
+#define rprev(a) onext(sym(a))
+#define dnext(a) sym(onext(sym(a)))
+#define dprev(a) rotinv(onext(rotinv(a)))
+
+#define orig(a) org[a]
+#define dest(a) orig(sym(a))
+#define left(a) orig(rotinv(a))
+#define right(a) orig(rot(a))
+
+#endif
diff --git a/jni/feature_mos/src/mosaic/EdgePointerUtil.h b/jni/feature_mos/src/mosaic/EdgePointerUtil.h
new file mode 100644
index 0000000..fad05d7
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/EdgePointerUtil.h
@@ -0,0 +1,37 @@
+/*
+ * 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.
+ */
+
+#ifndef _EDGEPOINTERUTIL_H_
+#define _EDGEPOINTERUTIL_H_
+
+typedef short EdgePointer;
+
+inline EdgePointer sym(EdgePointer a)
+{
+  return a ^ 2;
+}
+
+inline EdgePointer rot(EdgePointer a)
+{
+  return (((a) + 1) & 3) | ((a) & ~3);
+}
+
+inline EdgePointer rotinv(EdgePointer a)
+{
+  return (((a) + 3) & 3) | ((a) & ~3);
+}
+
+#endif //_EDGEPOINTERUTIL_H_
diff --git a/jni/feature_mos/src/mosaic/Geometry.h b/jni/feature_mos/src/mosaic/Geometry.h
new file mode 100644
index 0000000..0efa0f4
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/Geometry.h
@@ -0,0 +1,156 @@
+/*
+ * 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.
+ */
+
+/////////////////////////////
+// Geometry.h
+// $Id: Geometry.h,v 1.2 2011/06/17 13:35:48 mbansal Exp $
+
+#pragma once
+#include "MosaicTypes.h"
+
+///////////////////////////////////////////////////////////////
+///////////////// BEG GLOBAL ROUTINES /////////////////////////
+///////////////////////////////////////////////////////////////
+
+
+inline double hypotSq(double a, double b)
+{
+    return ((a)*(a)+(b)*(b));
+}
+
+inline void ClipRect(double x, double y, BlendRect &brect)
+{
+    if (y < brect.bot) brect.bot = y;
+    if (y > brect.top) brect.top = y;
+    if (x < brect.lft) brect.lft = x;
+    if (x > brect.rgt) brect.rgt = x;
+}
+
+inline void ClipRect(BlendRect rrect, BlendRect &brect)
+{
+    if (rrect.bot < brect.bot) brect.bot = rrect.bot;
+    if (rrect.top > brect.top) brect.top = rrect.top;
+    if (rrect.lft < brect.lft) brect.lft = rrect.lft;
+    if (rrect.rgt > brect.rgt) brect.rgt = rrect.rgt;
+}
+
+// Clip x to be within [-border,width+border-1]
+inline void clipToSegment(int &x, int width, int border)
+{
+    if(x < -border)
+        x = -border;
+    else if(x >= width+border)
+        x = width + border - 1;
+}
+
+// Return true if x within [-border,width+border-1]
+inline bool inSegment(int x, int width, int border)
+{
+    return (x >= -border && x < width + border - 1);
+}
+
+inline void FindTriangleCentroid(double x0, double y0, double x1, double y1,
+                                    double x2, double y2,
+                                    double &mass, double &centX, double &centY)
+{
+    // Calculate the centroid of the triangle
+    centX = (x0 + x1 + x2) / 3.0;
+    centY = (y0 + y1 + y2) / 3.0;
+
+    // Calculate 2*Area for the triangle
+    if (y0 == y2)
+    {
+        if (x0 == x1)
+        {
+            mass = fabs((y1 - y0) * (x2 - x0)); // Special case 1a
+        }
+        else
+        {
+            mass = fabs((y1 - y0) * (x1 - x0)); // Special case 1b
+        }
+    }
+    else if (x0 == x2)
+    {
+        if (x0 == x1)
+        {
+            mass = fabs((x2 - x0) * (y2 - y0)); // Special case 2a
+        }
+        else
+        {
+            mass = fabs((x1 - x0) * (y2 - y0)); // Special case 2a
+        }
+    }
+    else if (x1 == x2)
+    {
+        mass = fabs((x1 - x0) * (y2 - y0)); // Special case 3
+    }
+    else
+    {
+        // Calculate line equation from x0,y0 to x2,y2
+        double dx = x2 - x0;
+        double dy = y2 - y0;
+        // Calculate the length of the side
+        double len1 = sqrt(dx * dx + dy * dy);
+        double m1 = dy / dx;
+        double b1 = y0 - m1 * x0;
+        // Calculate the line that goes through x1,y1 and is perpendicular to
+        // the other line
+        double m2 = 1.0 / m1;
+        double b2 = y1 - m2 * x1;
+        // Calculate the intersection of the two lines
+        if (fabs( m1 - m2 ) > 1.e-6)
+        {
+            double x = (b2 - b1) / (m1 - m2);
+            // the mass is the base * height
+            dx = x1 - x;
+            dy = y1 - m1 * x + b1;
+            mass = len1 * sqrt(dx * dx + dy * dy);
+        }
+        else
+        {
+            mass = fabs( (y1 - y0) * (x2 - x0) );
+        }
+    }
+}
+
+inline void FindQuadCentroid(double x0, double y0, double x1, double y1, double x2, double y2, double x3, double y3,
+                                     double &centX, double &centY)
+
+{
+    // To find the centroid:
+    // 1) Divide the quadrilateral into two triangles by scribing a diagonal
+    // 2) Calculate the centroid of each triangle (the intersection of the angle bisections).
+    // 3) Find the centroid of the quad by weighting each triangle centroids by their area.
+
+    // Calculate the corner points
+    double z;
+
+    // The quad is split from x0,y0 to x2,y2
+    double mass1, mass2, cent1x, cent2x, cent1y, cent2y;
+    FindTriangleCentroid(x0, y0, x1, y1, x2, y2, mass1, cent1x, cent1y);
+    FindTriangleCentroid(x0, y0, x3, y3, x2, y2, mass2, cent2x, cent2y);
+
+    // determine position of quad centroid
+    z = mass2 / (mass1 + mass2);
+    centX = cent1x + (cent2x - cent1x) * z;
+    centY = cent1y + (cent2y - cent1y) * z;
+}
+
+///////////////////////////////////////////////////////////////
+////////////////// END GLOBAL ROUTINES ////////////////////////
+///////////////////////////////////////////////////////////////
+
+
diff --git a/jni/feature_mos/src/mosaic/ImageUtils.cpp b/jni/feature_mos/src/mosaic/ImageUtils.cpp
new file mode 100644
index 0000000..792b90d
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/ImageUtils.cpp
@@ -0,0 +1,363 @@
+/*
+ * 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.
+ */
+
+///////////////////////////////////////////////////
+// ImageUtils.cpp
+// $Id: ImageUtils.cpp,v 1.12 2011/06/17 13:35:48 mbansal Exp $
+
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <sys/time.h>
+
+#include "ImageUtils.h"
+
+void ImageUtils::rgb2yvu(ImageType out, ImageType in, int width, int height)
+{
+  int r,g,b;
+  ImageType yimg = out;
+  ImageType vimg = yimg + width*height;
+  ImageType uimg = vimg + width*height;
+  ImageType image = in;
+
+  for (int ii = 0; ii < height; ii++) {
+    for (int ij = 0; ij < width; ij++) {
+      r = (*image++);
+      g = (*image++);
+      b = (*image++);
+
+      if (r < 0) r = 0;
+      if (r > 255) r = 255;
+      if (g < 0) g = 0;
+      if (g > 255) g = 255;
+      if (b < 0) b = 0;
+      if (b > 255) b = 255;
+
+      int val = (int) (REDY * r + GREENY * g + BLUEY * b) / 1000 + 16;
+      if (val < 0) val = 0;
+      if (val > 255) val = 255;
+      *(yimg) = val;
+
+      val = (int) (REDV * r - GREENV * g - BLUEV * b) / 1000 + 128;
+      if (val < 0) val = 0;
+      if (val > 255) val = 255;
+      *(vimg) = val;
+
+      val = (int) (-REDU * r - GREENU * g + BLUEU * b) / 1000 + 128;
+      if (val < 0) val = 0;
+      if (val > 255) val = 255;
+      *(uimg) = val;
+
+      yimg++;
+      uimg++;
+      vimg++;
+    }
+  }
+}
+
+ImageType ImageUtils::rgb2gray(ImageType in, int width, int height)
+{
+  int r,g,b, nr, ng, nb, val;
+  ImageType gray = NULL;
+  ImageType image = in;
+  ImageType out = ImageUtils::allocateImage(width, height, 1);
+  ImageType outCopy = out;
+
+  for (int ii = 0; ii < height; ii++) {
+    for (int ij = 0; ij < width; ij++) {
+      r = (*image++);
+      g = (*image++);
+      b = (*image++);
+
+      if (r < 0) r = 0;
+      if (r > 255) r = 255;
+      if (g < 0) g = 0;
+      if (g > 255) g = 255;
+      if (b < 0) b = 0;
+      if (b > 255) b = 255;
+
+      (*outCopy) = ( 0.3*r + 0.59*g + 0.11*b);
+
+      outCopy++;
+    }
+  }
+
+  return out;
+}
+
+ImageType ImageUtils::rgb2gray(ImageType out, ImageType in, int width, int height)
+{
+  int r,g,b, nr, ng, nb, val;
+  ImageType gray = out;
+  ImageType image = in;
+  ImageType outCopy = out;
+
+  for (int ii = 0; ii < height; ii++) {
+    for (int ij = 0; ij < width; ij++) {
+      r = (*image++);
+      g = (*image++);
+      b = (*image++);
+
+      if (r < 0) r = 0;
+      if (r > 255) r = 255;
+      if (g < 0) g = 0;
+      if (g > 255) g = 255;
+      if (b < 0) b = 0;
+      if (b > 255) b = 255;
+
+      (*outCopy) = ( 0.3*r + 0.59*g + 0.11*b);
+
+      outCopy++;
+    }
+  }
+
+  return out;
+
+}
+
+ImageType *ImageUtils::imageTypeToRowPointers(ImageType in, int width, int height)
+{
+  int i;
+  int m_h = height;
+  int m_w = width;
+
+  ImageType *m_rows = new ImageType[m_h];
+
+  for (i=0;i<m_h;i++) {
+    m_rows[i] = &in[(m_w)*i];
+  }
+  return m_rows;
+}
+
+void ImageUtils::yvu2rgb(ImageType out, ImageType in, int width, int height)
+{
+  int y,v,u, r, g, b;
+  unsigned char *yimg = in;
+  unsigned char *vimg = yimg + width*height;
+  unsigned char *uimg = vimg + width*height;
+  unsigned char *image = out;
+
+  for (int i = 0; i < height; i++) {
+    for (int j = 0; j < width; j++) {
+
+      y = (*yimg);
+      v = (*vimg);
+      u = (*uimg);
+
+      if (y < 0) y = 0;
+      if (y > 255) y = 255;
+      if (u < 0) u = 0;
+      if (u > 255) u = 255;
+      if (v < 0) v = 0;
+      if (v > 255) v = 255;
+
+      b = (int) ( 1.164*(y - 16) + 2.018*(u-128));
+      g = (int) ( 1.164*(y - 16) - 0.813*(v-128) - 0.391*(u-128));
+      r = (int) ( 1.164*(y - 16) + 1.596*(v-128));
+
+      if (r < 0) r = 0;
+      if (r > 255) r = 255;
+      if (g < 0) g = 0;
+      if (g > 255) g = 255;
+      if (b < 0) b = 0;
+      if (b > 255) b = 255;
+
+      *(image++) = r;
+      *(image++) = g;
+      *(image++) = b;
+
+      yimg++;
+      uimg++;
+      vimg++;
+
+    }
+  }
+}
+
+void ImageUtils::yvu2bgr(ImageType out, ImageType in, int width, int height)
+{
+  int y,v,u, r, g, b;
+  unsigned char *yimg = in;
+  unsigned char *vimg = yimg + width*height;
+  unsigned char *uimg = vimg + width*height;
+  unsigned char *image = out;
+
+  for (int i = 0; i < height; i++) {
+    for (int j = 0; j < width; j++) {
+
+      y = (*yimg);
+      v = (*vimg);
+      u = (*uimg);
+
+      if (y < 0) y = 0;
+      if (y > 255) y = 255;
+      if (u < 0) u = 0;
+      if (u > 255) u = 255;
+      if (v < 0) v = 0;
+      if (v > 255) v = 255;
+
+      b = (int) ( 1.164*(y - 16) + 2.018*(u-128));
+      g = (int) ( 1.164*(y - 16) - 0.813*(v-128) - 0.391*(u-128));
+      r = (int) ( 1.164*(y - 16) + 1.596*(v-128));
+
+      if (r < 0) r = 0;
+      if (r > 255) r = 255;
+      if (g < 0) g = 0;
+      if (g > 255) g = 255;
+      if (b < 0) b = 0;
+      if (b > 255) b = 255;
+
+      *(image++) = b;
+      *(image++) = g;
+      *(image++) = r;
+
+      yimg++;
+      uimg++;
+      vimg++;
+
+    }
+  }
+}
+
+
+ImageType ImageUtils::readBinaryPPM(const char *filename, int &width, int &height)
+{
+
+  FILE *imgin = NULL;
+  int mval=0, format=0, eret;
+  ImageType ret = IMAGE_TYPE_NOIMAGE;
+
+  imgin = fopen(filename, "r");
+  if (imgin == NULL) {
+    fprintf(stderr, "Error: Filename %s not found\n", filename);
+    return ret;
+  }
+
+  eret = fscanf(imgin, "P%d\n", &format);
+  if (format != 6) {
+    fprintf(stderr, "Error: readBinaryPPM only supports PPM format (P6)\n");
+    return ret;
+  }
+
+  eret = fscanf(imgin, "%d %d\n", &width, &height);
+  eret = fscanf(imgin, "%d\n", &mval);
+  ret  = allocateImage(width, height, IMAGE_TYPE_NUM_CHANNELS);
+  eret = fread(ret, sizeof(ImageTypeBase), IMAGE_TYPE_NUM_CHANNELS*width*height, imgin);
+
+  fclose(imgin);
+
+  return ret;
+
+}
+
+void ImageUtils::writeBinaryPPM(ImageType image, const char *filename, int width, int height, int numChannels)
+{
+  FILE *imgout = fopen(filename, "w");
+
+  if (imgout == NULL) {
+    fprintf(stderr, "Error: Filename %s could not be opened for writing\n", filename);
+    return;
+  }
+
+  if (numChannels == 3) {
+    fprintf(imgout, "P6\n%d %d\n255\n", width, height);
+  } else if (numChannels == 1) {
+    fprintf(imgout, "P5\n%d %d\n255\n", width, height);
+  } else {
+    fprintf(stderr, "Error: writeBinaryPPM: Unsupported number of channels\n");
+  }
+  fwrite(image, sizeof(ImageTypeBase), numChannels*width*height, imgout);
+
+  fclose(imgout);
+
+}
+
+ImageType ImageUtils::allocateImage(int width, int height, int numChannels, short int border)
+{
+  int overallocation = 256;
+ return (ImageType) calloc(width*height*numChannels+overallocation, sizeof(ImageTypeBase));
+}
+
+
+void ImageUtils::freeImage(ImageType image)
+{
+  free(image);
+}
+
+
+// allocation of one color image used for tmp buffers, etc.
+// format of contiguous memory block:
+//    YUVInfo struct (type + BimageInfo for Y,U, and V),
+//    Y row pointers
+//    U row pointers
+//    V row pointers
+//    Y image pixels
+//    U image pixels
+//    V image pixels
+YUVinfo *YUVinfo::allocateImage(unsigned short width, unsigned short height)
+{
+    unsigned short heightUV, widthUV;
+
+    widthUV = width;
+    heightUV = height;
+
+    // figure out how much space to hold all pixels...
+    int size = (((width * height * 32) >> 3) + 8);
+    unsigned char *position = 0;
+
+    // VC 8 does not like calling free on yuv->Y.ptr since it is in
+    // the middle of a block.  So rearrange the memory layout so after
+    // calling mapYUVInforToImage yuv->Y.ptr points to the begginning
+    // of the calloc'ed block.
+    YUVinfo *yuv = (YUVinfo *) calloc(sizeof(YUVinfo), 1);
+    if (yuv) {
+        yuv->Y.width  = yuv->Y.pitch = width;
+        yuv->Y.height = height;
+        yuv->Y.border = yuv->U.border = yuv->V.border = (unsigned short) 0;
+        yuv->U.width  = yuv->U.pitch = yuv->V.width = yuv->V.pitch = widthUV;
+        yuv->U.height = yuv->V.height = heightUV;
+
+        unsigned char* block = (unsigned char*) calloc(
+                sizeof(unsigned char *) * (height + heightUV + heightUV) +
+                sizeof(unsigned char) * size, 1);
+
+        position = block;
+        unsigned char **y = (unsigned char **) (block + size);
+
+        /* Initialize and assign row pointers */
+        yuv->Y.ptr = y;
+        yuv->V.ptr = &y[height];
+        yuv->U.ptr = &y[height + heightUV];
+    }
+    if (size)
+        mapYUVInfoToImage(yuv, position);
+    return yuv;
+}
+
+// wrap YUVInfo row pointers around 3 contiguous image (color component) planes.
+// position = starting pixel in image.
+void YUVinfo::mapYUVInfoToImage(YUVinfo *img, unsigned char *position)
+{
+    int i;
+    for (i = 0; i < img->Y.height; i++, position += img->Y.width)
+        img->Y.ptr[i] = position;
+    for (i = 0; i < img->V.height; i++, position += img->V.width)
+        img->V.ptr[i] = position;
+    for (i = 0; i < img->U.height; i++, position += img->U.width)
+        img->U.ptr[i] = position;
+}
+
+
diff --git a/jni/feature_mos/src/mosaic/ImageUtils.h b/jni/feature_mos/src/mosaic/ImageUtils.h
new file mode 100644
index 0000000..9a47cc1
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/ImageUtils.h
@@ -0,0 +1,171 @@
+/*
+ * 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.
+ */
+
+///////////////////////////////////////////////////
+// ImageUtils.h
+// $Id: ImageUtils.h,v 1.9 2011/05/16 15:33:06 mbansal Exp $
+
+#ifndef IMAGE_UTILS_H
+#define IMAGE_UTILS_H
+
+#include <stdlib.h>
+
+/**
+ *  Definition of basic image types
+ */
+typedef unsigned char ImageTypeBase;
+typedef ImageTypeBase *ImageType;
+
+typedef short ImageTypeShortBase;
+typedef ImageTypeShortBase *ImageTypeShort;
+
+typedef float ImageTypeFloatBase;
+typedef ImageTypeFloatBase *ImageTypeFloat;
+
+
+class ImageUtils {
+public:
+
+  /**
+   *  Default number of channels in image.
+   */
+  static const int IMAGE_TYPE_NUM_CHANNELS = 3;
+
+  /**
+   *  Definition of an empty image.
+   */
+  static const int IMAGE_TYPE_NOIMAGE = NULL;
+
+  /**
+   *  Convert image from BGR (interlaced) to YVU (non-interlaced)
+   *
+   *  Arguments:
+   *    out: Resulting image (note must be preallocated before
+   *    call)
+   *    in: Input image
+   *    width: Width of input image
+   *    height: Height of input image
+   */
+  static void rgb2yvu(ImageType out, ImageType in, int width, int height);
+
+  /**
+   *  Convert image from YVU (non-interlaced) to BGR (interlaced)
+   *
+   *  Arguments:
+   *    out: Resulting image (note must be preallocated before
+   *    call)
+   *    in: Input image
+   *    width: Width of input image
+   *    height: Height of input image
+   */
+  static void yvu2rgb(ImageType out, ImageType in, int width, int height);
+  static void yvu2bgr(ImageType out, ImageType in, int width, int height);
+
+  /**
+   *  Convert image from BGR to grayscale
+   *
+   *  Arguments:
+   *    in: Input image
+   *    width: Width of input image
+   *    height: Height of input image
+   *
+   *  Return:
+   *    Pointer to resulting image (allocation is done here, free
+   *    must be done by caller)
+   */
+  static ImageType rgb2gray(ImageType in, int width, int height);
+  static ImageType rgb2gray(ImageType out, ImageType in, int width, int height);
+
+  /**
+   *  Read a binary PPM image
+   */
+  static ImageType readBinaryPPM(const char *filename, int &width, int &height);
+
+  /**
+   *  Write a binary PPM image
+   */
+  static void writeBinaryPPM(ImageType image, const char *filename, int width, int height, int numChannels = IMAGE_TYPE_NUM_CHANNELS);
+
+  /**
+   *  Allocate space for a standard image.
+   */
+  static ImageType allocateImage(int width, int height, int numChannels, short int border = 0);
+
+  /**
+   *  Free memory of image
+   */
+  static void freeImage(ImageType image);
+
+  static ImageType *imageTypeToRowPointers(ImageType out, int width, int height);
+  /**
+   *  Get time.
+   */
+  static double getTime();
+
+protected:
+
+  /**
+  *  Constants for YVU/RGB conversion
+  */
+  static const int REDY = 257;
+  static const int REDV = 439;
+  static const int REDU = 148;
+  static const int GREENY = 504;
+  static const int GREENV = 368;
+  static const int GREENU = 291;
+  static const int BLUEY = 98;
+  static const int BLUEV = 71;
+  static const int BLUEU = 439;
+
+};
+
+/**
+ * Structure containing an image and other bookkeeping items.
+ * Used in YUVinfo to store separate YVU image planes.
+ */
+typedef struct {
+  ImageType *ptr;
+  unsigned short width;
+  unsigned short height;
+  unsigned short border;
+  unsigned short pitch;
+} BimageInfo;
+
+/**
+ * A YUV image container,
+ */
+class YUVinfo {
+public:
+  static YUVinfo *allocateImage(unsigned short width, unsigned short height);
+  static void mapYUVInfoToImage(YUVinfo *img, unsigned char *position);
+
+  /**
+  * Y Plane
+  */
+  BimageInfo Y;
+
+  /**
+  *  V (1st color) plane
+  */
+  BimageInfo V;
+
+  /**
+  *  U (1st color) plane
+  */
+  BimageInfo U;
+};
+
+#endif
diff --git a/jni/feature_mos/src/mosaic/Interp.h b/jni/feature_mos/src/mosaic/Interp.h
new file mode 100644
index 0000000..19c4a40
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/Interp.h
@@ -0,0 +1,80 @@
+/*
+ * 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.
+ */
+
+///////////////////////////////////////////////////////////
+// Interp.h
+// $Id: Interp.h,v 1.2 2011/06/17 13:35:48 mbansal Exp $
+
+#ifndef INTERP_H
+#define INTERP_H
+
+#include "Pyramid.h"
+
+#define CTAPS 40
+static double ciTable[81] = {
+        1, 0.998461, 0.993938, 0.98657, 0.9765,
+        0.963867, 0.948813, 0.931477, 0.912, 0.890523,
+        0.867188, 0.842133, 0.8155, 0.78743, 0.758062,
+        0.727539, 0.696, 0.663586, 0.630437, 0.596695,
+        0.5625, 0.527992, 0.493312, 0.458602, 0.424,
+        0.389648, 0.355687, 0.322258, 0.2895, 0.257555,
+        0.226562, 0.196664, 0.168, 0.140711, 0.114937,
+        0.0908203, 0.0685, 0.0481172, 0.0298125, 0.0137266,
+        0, -0.0118828, -0.0225625, -0.0320859, -0.0405,
+        -0.0478516, -0.0541875, -0.0595547, -0.064, -0.0675703,
+        -0.0703125, -0.0722734, -0.0735, -0.0740391, -0.0739375,
+        -0.0732422, -0.072, -0.0702578, -0.0680625, -0.0654609,
+        -0.0625, -0.0592266, -0.0556875, -0.0519297, -0.048,
+        -0.0439453, -0.0398125, -0.0356484, -0.0315, -0.0274141,
+        -0.0234375, -0.0196172, -0.016, -0.0126328, -0.0095625,
+        -0.00683594, -0.0045, -0.00260156, -0.0011875, -0.000304687, 0.0
+};
+
+inline double ciCalc(PyramidShort *img, int xi, int yi, double xfrac, double yfrac)
+{
+  double tmpf[4];
+
+  // Interpolate using 16 points
+  ImageTypeShortBase *in = img->ptr[yi-1] + xi - 1;
+  int off = (int)(xfrac * CTAPS);
+
+  tmpf[0] = in[0] * ciTable[off + 40];
+  tmpf[0] += in[1] * ciTable[off];
+  tmpf[0] += in[2] * ciTable[40 - off];
+  tmpf[0] += in[3] * ciTable[80 - off];
+  in += img->pitch;
+  tmpf[1] = in[0] * ciTable[off + 40];
+  tmpf[1] += in[1] * ciTable[off];
+  tmpf[1] += in[2] * ciTable[40 - off];
+  tmpf[1] += in[3] * ciTable[80 - off];
+  in += img->pitch;
+  tmpf[2] = in[0] * ciTable[off + 40];
+  tmpf[2] += in[1] * ciTable[off];
+  tmpf[2] += in[2] * ciTable[40 - off];
+  tmpf[2] += in[3] * ciTable[80 - off];
+  in += img->pitch;
+  tmpf[3] = in[0] * ciTable[off + 40];
+  tmpf[3] += in[1] * ciTable[off];
+  tmpf[3] += in[2] * ciTable[40 - off];
+  tmpf[3] += in[3] * ciTable[80 - off];
+
+  // this is the final interpolation
+  off = (int)(yfrac * CTAPS);
+  return (ciTable[off + 40] * tmpf[0] + ciTable[off] * tmpf[1] +
+          ciTable[40 - off] * tmpf[2] + ciTable[80 - off] * tmpf[3]);
+}
+
+#endif
diff --git a/jni/feature_mos/src/mosaic/MatrixUtils.h b/jni/feature_mos/src/mosaic/MatrixUtils.h
new file mode 100644
index 0000000..a0b84d8
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/MatrixUtils.h
@@ -0,0 +1,141 @@
+/*
+ * 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.
+ */
+
+///////////////////////////////////////////////////
+// Matrixutils.h
+// $Id: MatrixUtils.h,v 1.5 2011/05/16 15:33:06 mbansal Exp $
+
+
+#ifndef MATRIX_UTILS_H
+#define MATRIX_UTILS_H
+
+/* Simple class for 3x3 matrix, mainly used to convert from 9x1
+ * to 3x3
+ */
+class Matrix33 {
+public:
+
+  /**
+   *  Empty constructor
+   */
+  Matrix33() {
+    initialize();
+  }
+
+  /**
+   *  Constructor with identity initialization
+   *  Arguments:
+   *     identity: Specifies wether to initialize matrix to
+   *     identity or zeros
+   */
+  Matrix33(bool identity) {
+    initialize(identity);
+  }
+
+  /**
+   *  Initialize to identity matrix
+   */
+  void initialize(bool identity = false) {
+    mat[0][1] = mat[0][2] = mat[1][0] = mat[1][2] = mat[2][0] = mat[2][1] = 0.0;
+    if (identity) {
+      mat[0][0] = mat[1][1] = mat[2][2] = 1.0;
+    } else {
+      mat[0][0] = mat[1][1] = mat[2][2] = 0.0;
+    }
+  }
+
+  /**
+   *  Conver ta 9x1 matrix to a 3x3 matrix
+   */
+  static void convert9to33(double out[3][3], double in[9]) {
+    out[0][0] = in[0];
+    out[0][1] = in[1];
+    out[0][2] = in[2];
+
+    out[1][0] = in[3];
+    out[1][1] = in[4];
+    out[1][2] = in[5];
+
+    out[2][0] = in[6];
+    out[2][1] = in[7];
+    out[2][2] = in[8];
+
+  }
+
+  /* Matrix data */
+  double mat[3][3];
+
+};
+
+/* Simple class for 9x1 matrix, mainly used to convert from 3x3
+ * to 9x1
+ */
+class Matrix9 {
+public:
+
+  /**
+   *  Empty constructor
+   */
+  Matrix9() {
+    initialize();
+  }
+
+  /**
+   *  Constructor with identity initialization
+   *  Arguments:
+   *     identity: Specifies wether to initialize matrix to
+   *     identity or zeros
+   */
+  Matrix9(bool identity) {
+    initialize(identity);
+  }
+
+  /**
+   *  Initialize to identity matrix
+   */
+  void initialize(bool identity = false) {
+    mat[1] = mat[2] = mat[3] = mat[5] = mat[6] = mat[7] = 0.0;
+    if (identity) {
+      mat[0] = mat[4] = mat[8] = 1.0;
+    } else {
+      mat[0] = mat[4] = mat[8] = 0.0;
+    }
+  }
+
+  /**
+   *  Conver ta 3x3 matrix to a 9x1 matrix
+   */
+  static void convert33to9(double out[9], double in[3][3]) {
+    out[0] = in[0][0];
+    out[1] = in[0][1];
+    out[2] = in[0][2];
+
+    out[3] = in[1][0];
+    out[4] = in[1][1];
+    out[5] = in[1][2];
+
+    out[6] = in[2][0];
+    out[7] = in[2][1];
+    out[8] = in[2][2];
+
+  }
+
+  /* Matrix data */
+  double mat[9];
+
+};
+
+#endif
diff --git a/jni/feature_mos/src/mosaic/Mosaic.cpp b/jni/feature_mos/src/mosaic/Mosaic.cpp
new file mode 100644
index 0000000..f8f3265
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/Mosaic.cpp
@@ -0,0 +1,207 @@
+/*
+ * 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.
+ */
+
+///////////////////////////////////////////////////
+// Mosaic.pp
+// S.O. # :
+// Author(s): zkira
+// $Id: Mosaic.cpp,v 1.20 2011/06/24 04:22:14 mbansal Exp $
+
+#include <stdio.h>
+#include <string.h>
+
+#include "Mosaic.h"
+#include "trsMatrix.h"
+
+Mosaic::Mosaic()
+{
+    initialized = false;
+    imageMosaicYVU = NULL;
+    frames_size = 0;
+    max_frames = 200;
+}
+
+Mosaic::~Mosaic()
+{
+    for (int i = 0; i < frames_size; i++)
+    {
+        if (frames[i])
+            delete frames[i];
+    }
+    delete frames;
+
+    if (aligner != NULL)
+        delete aligner;
+    if (blender != NULL)
+        delete blender;
+}
+
+int Mosaic::initialize(int blendingType, int width, int height, int nframes, bool quarter_res, float thresh_still)
+{
+    this->blendingType = blendingType;
+    this->width = width;
+    this->height = height;
+
+    mosaicWidth = mosaicHeight = 0;
+    imageMosaicYVU = NULL;
+
+    frames = new MosaicFrame *[max_frames];
+
+    if(nframes>-1)
+    {
+        for(int i=0; i<nframes; i++)
+        {
+            frames[i] = new MosaicFrame(this->width,this->height,false); // Do no allocate memory for YUV data
+        }
+    }
+    else
+    {
+        for(int i=0; i<max_frames; i++)
+        {
+            frames[i] = NULL;
+        }
+
+
+    }
+
+    LOGIE("Initialize %d %d\n", width, height);
+    LOGIE("Frame width %d,%d\n", width, height);
+    LOGIE("Max num frames %d\n", max_frames);
+
+        aligner = new Align();
+        aligner->initialize(width, height,quarter_res,thresh_still);
+
+    if (blendingType == Blend::BLEND_TYPE_FULL ||
+            blendingType == Blend::BLEND_TYPE_PAN ||
+            blendingType == Blend::BLEND_TYPE_CYLPAN ||
+            blendingType == Blend::BLEND_TYPE_HORZ) {
+        blender = new Blend();
+        blender->initialize(blendingType, width, height);
+    } else {
+        blender = NULL;
+        LOGIE("Error: Unknown blending type %d\n",blendingType);
+        return MOSAIC_RET_ERROR;
+    }
+
+    initialized = true;
+
+    return MOSAIC_RET_OK;
+}
+
+int Mosaic::addFrameRGB(ImageType imageRGB)
+{
+    ImageType imageYVU;
+    // Convert to YVU24 which is used by blending
+    imageYVU = ImageUtils::allocateImage(this->width, this->height, ImageUtils::IMAGE_TYPE_NUM_CHANNELS);
+    ImageUtils::rgb2yvu(imageYVU, imageRGB, width, height);
+
+    return addFrame(imageYVU);
+}
+
+int Mosaic::addFrame(ImageType imageYVU)
+{
+    if(frames[frames_size]==NULL)
+        frames[frames_size] = new MosaicFrame(this->width,this->height,false);
+
+    MosaicFrame *frame = frames[frames_size];
+
+    frame->image = imageYVU;
+
+    int align_flag = Align::ALIGN_RET_OK;
+
+    // Add frame to aligner
+    if (aligner != NULL)
+    {
+        // Note aligner takes in RGB images
+        printf("Adding frame to aligner...\n");
+        align_flag = aligner->addFrame(frame->image);
+        aligner->getLastTRS(frame->trs);
+
+        printf("Frame width %d,%d\n", frame->width, frame->height);
+        if (frames_size >= max_frames)
+        {
+            fprintf(stderr, "WARNING: More frames than preallocated, ignoring.  Increase maximum number of frames (-f <max_frames>) to avoid this\n");
+            return MOSAIC_RET_ERROR;
+        }
+        else if(align_flag == Align::ALIGN_RET_OK)
+        {
+            frames_size++;
+            return MOSAIC_RET_OK;
+        }
+        else
+        {
+            return MOSAIC_RET_ERROR;
+        }
+    }
+    else
+    {
+        return MOSAIC_RET_ERROR;
+    }
+}
+
+
+int Mosaic::createMosaic()
+{
+    printf("Creating mosaic\n");
+
+    if (blendingType == Blend::BLEND_TYPE_PAN)
+    {
+
+        balanceRotations();
+
+    }
+
+    // Blend the mosaic (alignment has already been done)
+    if (blender != NULL)
+    {
+        blender->runBlend((MosaicFrame **) frames, frames_size, imageMosaicYVU, mosaicWidth, mosaicHeight);
+    }
+
+    return MOSAIC_RET_OK;
+}
+
+ImageType Mosaic::getMosaic(int &width, int &height)
+{
+    width = mosaicWidth;
+    height = mosaicHeight;
+
+    return imageMosaicYVU;
+}
+
+
+
+int Mosaic::balanceRotations()
+{
+    // Normalize to the mean angle of rotation (Smiley face)
+    double sineAngle = 0.0;
+
+    for (int i = 0; i < frames_size; i++) sineAngle += frames[i]->trs[0][1];
+    sineAngle /= frames_size;
+    // Calculate the cosineAngle (1 - sineAngle*sineAngle) = cosineAngle*cosineAngle
+    double cosineAngle = sqrt(1.0 - sineAngle*sineAngle);
+    double m[3][3] = {
+        { cosineAngle, -sineAngle, 0 },
+        { sineAngle, cosineAngle, 0},
+        { 0, 0, 1}};
+    double tmp[3][3];
+
+    for (int i = 0; i < frames_size; i++) {
+        memcpy(tmp, frames[i]->trs, sizeof(tmp));
+        mult33d(frames[i]->trs, m, tmp);
+    }
+
+    return MOSAIC_RET_OK;
+}
diff --git a/jni/feature_mos/src/mosaic/Mosaic.h b/jni/feature_mos/src/mosaic/Mosaic.h
new file mode 100644
index 0000000..c34688c
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/Mosaic.h
@@ -0,0 +1,201 @@
+/*
+ * 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.
+ */
+
+///////////////////////////////////////////////////
+// Mosaic.h
+// S.O. # :
+// Author(s): zkira
+// $Id: Mosaic.h,v 1.16 2011/06/24 04:22:14 mbansal Exp $
+
+#ifndef MOSAIC_H
+#define MOSAIC_H
+
+#include "ImageUtils.h"
+#include "AlignFeatures.h"
+#include "Blend.h"
+#include "MosaicTypes.h"
+
+/*! \mainpage Mosaic
+
+    \section intro Introduction
+    The class Mosaic provides a simple interface to the panoramic mosaicing algorithm. The class allows passing in individual image frames to be stitched together, computes the alignment transformation between them, and then stitches and blends them together into a single panoramic output which can then be accessed as a single image. \
+
+    \section usage Usage
+    The class methods need to be called as outlined in the sample application which is created from the mosaic_main.cpp file in the directory src/mosaic/. A brief snapshot of the flow is given below:
+
+    \code
+    Mosaic mosaic;
+    // Define blending types to use, and the frame dimensions
+    int blendingType = Blend::BLEND_TYPE_CYLPAN;
+    int width = 640;
+    int height = 480;
+
+    while (<image frames are available>)
+    {
+        // Check for initialization and if not, initialize
+        if (!mosaic.isInitialized())
+        {
+          // Initialize mosaic processing
+          mosaic.initialize(blendingType, width, height, -1, false, 5.0f);
+        }
+
+        // Add to list of frames
+        mosaic.addFrameRGB(imageRGB);
+
+        // Free image
+        ImageUtils::freeImage(imageRGB);
+    }
+
+    // Create the mosaic
+    ret = mosaic.createMosaic();
+
+    // Get back the result
+    resultYVU = mosaic.getMosaic(mosaicWidth, mosaicHeight);
+
+    printf("Got mosaic of size %d,%d\n", mosaicWidth, mosaicHeight);
+
+    \endcode
+*/
+
+/*!
+ *  Main class that creates a mosaic by creating an aligner and blender.
+ */
+class Mosaic
+{
+
+public:
+
+  Mosaic();
+  ~Mosaic();
+
+   /*!
+    *   Creates the aligner and blender and initializes state.
+    *   \param blendingType Type of blending to perform
+    *   \param width        Width of input images (note: all images must be same size)
+    *   \param height       Height of input images (note: all images must be same size)
+    *   \param nframes      Number of frames to pre-allocate; default value -1 will allocate each frame as it comes
+    *   \param quarter_res  Whether to compute alignment at quarter the input resolution (default = false)
+    *   \param thresh_still Minimum number of pixels of translation detected between the new frame and the last frame before this frame is added to be mosaiced. For the low-res processing at 320x180 resolution input, we set this to 5 pixels. To reject no frames, set this to 0.0 (default value).
+    *   \return             Return code signifying success or failure.
+    */
+  int initialize(int blendingType, int width, int height, int nframes = -1, bool quarter_res = false, float thresh_still = 0.0);
+
+   /*!
+    *   Adds a YVU frame to the mosaic.
+    *   \param imageYVU     Pointer to a YVU image.
+    *   \return             Return code signifying success or failure.
+    */
+  int addFrame(ImageType imageYVU);
+
+   /*!
+    *   Adds a RGB frame to the mosaic.
+    *   \param imageRGB     Pointer to a RGB image.
+    *   \return             Return code signifying success or failure.
+    */
+  int addFrameRGB(ImageType imageRGB);
+
+   /*!
+    *   After adding all frames, call this function to perform the final blending.
+    *   \return             Return code signifying success or failure.
+    */
+  int createMosaic();
+
+    /*!
+    *   Obtains the resulting mosaic and its dimensions.
+    *   \param width        Width of the resulting mosaic (returned)
+    *   \param height       Height of the resulting mosaic (returned)
+    *   \return             Pointer to image.
+    */
+  ImageType getMosaic(int &width, int &height);
+
+    /*!
+    *   Provides access to the internal alignment object pointer.
+    *   \return             Pointer to the aligner object.
+    */
+  Align* getAligner() { return aligner; }
+
+    /*!
+    *   Obtain initialization state.
+    *
+    *   return              Returns true if initialized, false otherwise.
+    */
+  bool isInitialized() { return initialized; }
+
+
+  /*!
+   *  Return codes for mosaic.
+   */
+  static const int MOSAIC_RET_OK    = 1;
+  static const int MOSAIC_RET_ERROR = -1;
+
+protected:
+
+  /**
+   * Size of image frames making up mosaic
+   */
+  int width, height;
+
+  /**
+   * Size of actual mosaic
+   */
+  int mosaicWidth, mosaicHeight;
+
+  /**
+   * Bounding box to crop the mosaic when the gray border is not desired.
+   */
+  MosaicRect mosaicCroppingRect;
+
+  ImageType imageMosaicYVU;
+
+  /**
+   * Collection of frames that will make up mosaic.
+   */
+  MosaicFrame **frames;
+  int frames_size;
+  int max_frames;
+
+  /**
+   * Initialization state.
+   */
+  bool initialized;
+
+  /**
+   *  Type of blending to perform.
+   */
+  int blendingType;
+
+  /**
+   *  Pointer to aligner.
+   */
+  Align *aligner;
+
+  /**
+   *  Pointer to blender.
+   */
+  Blend *blender;
+
+  /**
+   *  Modifies TRS matrices so that rotations are balanced
+   *  about center of mosaic
+   *
+   * Side effect: TRS matrices of all mosaic frames
+   *              are modified
+   */
+  int balanceRotations();
+
+};
+
+#endif
diff --git a/jni/feature_mos/src/mosaic/MosaicTypes.h b/jni/feature_mos/src/mosaic/MosaicTypes.h
new file mode 100644
index 0000000..242335b
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/MosaicTypes.h
@@ -0,0 +1,153 @@
+/*
+ * 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.
+ */
+
+///////////////////////////////////////////////////
+// MosaicTypes.h
+// S.O. # :
+// Author(s): zkira
+// $Id: MosaicTypes.h,v 1.15 2011/06/17 13:35:48 mbansal Exp $
+
+
+#ifndef MOSAIC_TYPES_H
+#define MOSAIC_TYPES_H
+
+#include "ImageUtils.h"
+
+/**
+ *  Definition of rectangle in a mosaic.
+ */
+class MosaicRect
+{
+    public:
+        MosaicRect()
+        {
+            left = right = top = bottom = 0.0;
+        }
+
+        inline int Width()
+        {
+            return right - left;
+        }
+
+        inline int Height()
+        {
+            return bottom - top;
+        }
+
+        /**
+         *  Bounds of the rectangle
+         */
+        int left, right, top, bottom;
+};
+
+class BlendRect
+{
+    public:
+    double lft, rgt, top, bot;
+};
+
+/**
+ *  A frame making up the mosaic.
+ *  Note: Currently assumes a YVU image
+ *  containing separate Y,V, and U planes
+ *  in contiguous memory (in that order).
+ */
+class MosaicFrame {
+public:
+  ImageType image;
+  double trs[3][3];
+  int width, height;
+  BlendRect brect;  // This frame warped to the Mosaic coordinate system
+  BlendRect vcrect; // brect clipped using the voronoi neighbors
+  bool internal_allocation;
+
+  MosaicFrame() { };
+  MosaicFrame(int _width, int _height, bool allocate=true)
+  {
+    width = _width;
+    height = _height;
+    internal_allocation = allocate;
+    if(internal_allocation)
+        image = ImageUtils::allocateImage(width, height, ImageUtils::IMAGE_TYPE_NUM_CHANNELS);
+  }
+
+
+  ~MosaicFrame()
+  {
+    if(internal_allocation)
+        if (image)
+        free(image);
+  }
+
+  /**
+  *  Get the V plane of the image.
+  */
+  inline ImageType getV()
+  {
+    return (image + (width*height));
+  }
+
+  /**
+  *  Get the U plane of the image.
+  */
+  inline ImageType getU()
+  {
+    return (image + (width*height*2));
+  }
+
+  /**
+  *  Get a pixel from the V plane of the image.
+  */
+  inline int getV(int y, int x)
+  {
+    ImageType U = image + (width*height);
+    return U[y*width+x];
+  }
+
+  /**
+  *  Get a pixel from the U plane of the image.
+  */
+  inline int getU(int y, int x)
+  {
+    ImageType U = image + (width*height*2);
+    return U[y*width+x];
+  }
+
+};
+
+/**
+ *  Structure for describing a warp.
+ */
+typedef struct {
+  int horizontal;
+  double theta;
+  double x;
+  double y;
+  double width;
+  double radius;
+  double direction;
+  double correction;
+  int blendRange;
+  int blendRangeUV;
+  int nlevs;
+  int nlevsC;
+  int blendingType;
+  // Add an overlap to prevent a gap between pictures due to roundoffs
+  double roundoffOverlap;// 1.5
+
+} BlendParams;
+
+#endif
diff --git a/jni/feature_mos/src/mosaic/Pyramid.cpp b/jni/feature_mos/src/mosaic/Pyramid.cpp
new file mode 100644
index 0000000..945eafb
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/Pyramid.cpp
@@ -0,0 +1,264 @@
+/*
+ * 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.
+ */
+
+// pyramid.cpp
+
+#include <stdio.h>
+#include <string.h>
+
+#include "Pyramid.h"
+
+// We allocate the entire pyramid into one contiguous storage. This makes
+// cleanup easier than fragmented stuff. In addition, we added a "pitch"
+// field, so pointer manipulation is much simpler when it would be faster.
+PyramidShort *PyramidShort::allocatePyramidPacked(real levels,
+        real width, real height, real border)
+{
+    real border2 = (real) (border << 1);
+    int lines, size = calcStorage(width, height, border2, levels, &lines);
+
+    PyramidShort *img = (PyramidShort *) calloc(sizeof(PyramidShort) * levels
+            + sizeof(short *) * lines +
+            + sizeof(short) * size, 1);
+
+    if (img) {
+        PyramidShort *curr, *last;
+        ImageTypeShort *y = (ImageTypeShort *) &img[levels];
+        ImageTypeShort position = (ImageTypeShort) &y[lines];
+        for (last = (curr = img) + levels; curr < last; curr++) {
+            curr->width = width;
+            curr->height = height;
+            curr->border = border;
+            curr->pitch = (real) (width + border2);
+            curr->ptr = y + border;
+
+            // Assign row pointers
+            for (int j = height + border2; j--; y++, position += curr->pitch) {
+                *y = position + border;
+            }
+
+            width >>= 1;
+            height >>= 1;
+        }
+    }
+
+    return img;
+}
+
+// Allocate an image of type short
+PyramidShort *PyramidShort::allocateImage(real width, real height, real border)
+{
+    real border2 = (real) (border << 1);
+    PyramidShort *img = (PyramidShort *)
+        calloc(sizeof(PyramidShort) + sizeof(short *) * (height + border2) +
+                sizeof(short) * (width + border2) * (height + border2), 1);
+
+    if (img) {
+        short **y = (short **) &img[1];
+        short *position = (short *) &y[height + border2];
+        img->width = width;
+        img->height = height;
+        img->border = border;
+        img->pitch = (real) (width + border2);
+        img->ptr = y + border;
+        position += border; // Move position down to origin of real image
+
+        // Assign row pointers
+        for (int j = height + border2; j--; y++, position += img->pitch) {
+            *y = position;
+        }
+    }
+
+    return img;
+}
+
+// Free the images
+void PyramidShort::freeImage(PyramidShort *image)
+{
+    if (image != NULL)
+        free(image);
+}
+
+// Calculate amount of storage needed taking into account the borders, etc.
+unsigned int PyramidShort::calcStorage(real width, real height, real border2,   int levels, int *lines)
+{
+    int size;
+
+    *lines = size = 0;
+
+    while(levels--) {
+        size += (width + border2) * (height + border2);
+        *lines += height + border2;
+        width >>= 1;
+        height >>= 1;
+    }
+
+    return size;
+}
+
+void PyramidShort::BorderSpread(PyramidShort *pyr, int left, int right,
+        int top, int bot)
+{
+    int off, off2, height, h, w;
+    ImageTypeShort base;
+
+    if (left || right) {
+        off = pyr->border - left;
+        off2 = pyr->width + off + pyr->border - right - 1;
+        h = pyr->border - top;
+        height = pyr->height + (h << 1);
+        base = pyr->ptr[-h] - off;
+
+        // spread in X
+        for (h = height; h--; base += pyr->pitch) {
+            for (w = left; w--;)
+                base[-1 - w] = base[0];
+            for (w = right; w--;)
+                base[off2 + w + 1] = base[off2];
+        }
+    }
+
+    if (top || bot) {
+        // spread in Y
+        base = pyr->ptr[top - pyr->border] - pyr->border;
+        for (h = top; h--; base -= pyr->pitch) {
+            memcpy(base - pyr->pitch, base, pyr->pitch * sizeof(short));
+        }
+
+        base = pyr->ptr[pyr->height + pyr->border - bot] - pyr->border;
+        for (h = bot; h--; base += pyr->pitch) {
+            memcpy(base, base - pyr->pitch, pyr->pitch * sizeof(short));
+        }
+    }
+}
+
+void PyramidShort::BorderExpandOdd(PyramidShort *in, PyramidShort *out, PyramidShort *scr,
+        int mode)
+{
+    int i,j;
+    int off = in->border / 2;
+
+    // Vertical Filter
+    for (j = -off; j < in->height + off; j++) {
+        int j2 = j * 2;
+        for (i = -scr->border; i < scr->width + scr->border; i++) {
+            scr->ptr[j2][i] = (short)
+                ((6 * in->ptr[j][i] + (in->ptr[j-1][i] + in->ptr[j+1][i]) + 4) >> 3);
+            scr->ptr[j2+1][i] = (short)((in->ptr[j][i] + in->ptr[j+1][i] + 1) >> 1);
+        }
+    }
+
+    BorderSpread(scr, 0, 0, 3, 3);
+
+    // Horizontal Filter
+    for (i = -off; i < scr->width + off; i++) {
+        int i2 = i * 2;
+        for (j = -out->border; j < out->height + out->border; j++) {
+            out->ptr[j][i2] = (short) (out->ptr[j][i2] +
+                    (mode * ((6 * scr->ptr[j][i] +
+                              scr->ptr[j][i-1] + scr->ptr[j][i+1] + 4) >> 3)));
+            out->ptr[j][i2+1] = (short) (out->ptr[j][i2+1] +
+                    (mode * ((scr->ptr[j][i] + scr->ptr[j][i+1] + 1) >> 1)));
+        }
+    }
+
+}
+
+int PyramidShort::BorderExpand(PyramidShort *pyr, int nlev, int mode)
+{
+    PyramidShort *tpyr = pyr + nlev - 1;
+    PyramidShort *scr = allocateImage(pyr[1].width, pyr[0].height, pyr->border);
+    if (scr == NULL) return 0;
+
+    if (mode > 0) {
+        // Expand and add (reconstruct from Laplacian)
+        for (; tpyr > pyr; tpyr--) {
+            scr->width = tpyr[0].width;
+            scr->height = tpyr[-1].height;
+            BorderExpandOdd(tpyr, tpyr - 1, scr, 1);
+        }
+    }
+    else if (mode < 0) {
+        // Expand and subtract (build Laplacian)
+        while ((pyr++) < tpyr) {
+            scr->width = pyr[0].width;
+            scr->height = pyr[-1].height;
+            BorderExpandOdd(pyr, pyr - 1, scr, -1);
+        }
+    }
+
+    freeImage(scr);
+    return 1;
+}
+
+void PyramidShort::BorderReduceOdd(PyramidShort *in, PyramidShort *out, PyramidShort *scr)
+{
+    ImageTypeShortBase *s, *ns, *ls, *p, *np;
+
+    int off = scr->border - 2;
+    s = scr->ptr[-scr->border] - (off >> 1);
+    ns = s + scr->pitch;
+    ls = scr->ptr[scr->height + scr->border - 1] + scr->pitch - (off >> 1);
+    int width = scr->width + scr->border;
+    p = in->ptr[-scr->border] - off;
+    np = p + in->pitch;
+
+    // treat it as if the whole thing were the image
+    for (; s < ls; s = ns, ns += scr->pitch, p = np, np += in->pitch) {
+        for (int w = width; w--; s++, p += 2) {
+            *s = (short)((((int) p[-2]) + ((int) p[2]) + 8 +    // 1
+                        ((((int) p[-1]) + ((int) p[1])) << 2) + // 4
+                        ((int) *p) * 6) >> 4);          // 6
+        }
+    }
+
+    BorderSpread(scr, 5, 4 + ((in->width ^ 1) & 1), 0, 0); //
+
+    s = out->ptr[-(off >> 1)] - out->border;
+    ns = s + out->pitch;
+    ls = s + out->pitch * (out->height + off);
+    p = scr->ptr[-off] - out->border;
+    int pitch = scr->pitch;
+    int pitch2 = pitch << 1;
+    np = p + pitch2;
+    for (; s < ls; s = ns, ns += out->pitch, p = np, np += pitch2) {
+        for (int w = out->pitch; w--; s++, p++) {
+            *s = (short)((((int) p[-pitch2]) + ((int) p[pitch2]) + 8 + // 1
+                        ((((int) p[-pitch]) + ((int) p[pitch])) << 2) + // 4
+                        ((int) *p) * 6) >> 4);              // 6
+        }
+    }
+    BorderSpread(out, 0, 0, 5, 5);
+
+}
+
+int PyramidShort::BorderReduce(PyramidShort *pyr, int nlev)
+{
+    PyramidShort *scr = allocateImage(pyr[1].width, pyr[0].height, pyr->border);
+    if (scr == NULL)
+        return 0;
+
+    BorderSpread(pyr, pyr->border, pyr->border, pyr->border, pyr->border);
+    while (--nlev) {
+        BorderReduceOdd(pyr, pyr + 1, scr);
+        pyr++;
+        scr->width = pyr[1].width;
+        scr->height = pyr[0].height;
+    }
+
+    freeImage(scr);
+    return 1;
+}
diff --git a/jni/feature_mos/src/mosaic/Pyramid.h b/jni/feature_mos/src/mosaic/Pyramid.h
new file mode 100644
index 0000000..c5fe907
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/Pyramid.h
@@ -0,0 +1,54 @@
+/*
+ * 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.
+ */
+
+// Pyramid.h
+
+#ifndef PYRAMID_H
+#define PYRAMID_H
+
+#include "ImageUtils.h"
+
+typedef unsigned short int real;
+
+//  Structure containing a packed pyramid of type ImageTypeShort.  Used for pyramid
+//  blending, among other things.
+
+class PyramidShort
+{
+
+public:
+
+  ImageTypeShort *ptr;              // Pointer containing the image
+  real width, height;               // Width and height of input images
+  real numChannels;                 // Number of channels in input images
+  real border;                      // border size
+  real pitch;                       // Pitch.  Used for moving through image efficiently.
+
+  static PyramidShort *allocatePyramidPacked(real width, real height, real levels, real border = 0);
+  static PyramidShort *allocateImage(real width, real height, real border);
+  static void createPyramid(ImageType image, PyramidShort *pyramid, int last = 3 );
+  static void freeImage(PyramidShort *image);
+
+  static unsigned int calcStorage(real width, real height, real border2, int levels, int *lines);
+
+  static void BorderSpread(PyramidShort *pyr, int left, int right, int top, int bot);
+  static void BorderExpandOdd(PyramidShort *in, PyramidShort *out, PyramidShort *scr, int mode);
+  static int BorderExpand(PyramidShort *pyr, int nlev, int mode);
+  static int BorderReduce(PyramidShort *pyr, int nlev);
+  static void BorderReduceOdd(PyramidShort *in, PyramidShort *out, PyramidShort *scr);
+};
+
+#endif
diff --git a/jni/feature_mos/src/mosaic/trsMatrix.cpp b/jni/feature_mos/src/mosaic/trsMatrix.cpp
new file mode 100644
index 0000000..5fc6a86
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/trsMatrix.cpp
@@ -0,0 +1,94 @@
+/*
+ * 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.
+ */
+
+// trsMatrix.cpp
+// $Id: trsMatrix.cpp,v 1.9 2011/06/17 13:35:48 mbansal Exp $
+
+#include "stdio.h"
+#include <math.h>
+#include "trsMatrix.h"
+
+void mult33d(double a[3][3], double b[3][3], double c[3][3])
+{
+    a[0][0] = b[0][0]*c[0][0] + b[0][1]*c[1][0] + b[0][2]*c[2][0];
+    a[0][1] = b[0][0]*c[0][1] + b[0][1]*c[1][1] + b[0][2]*c[2][1];
+    a[0][2] = b[0][0]*c[0][2] + b[0][1]*c[1][2] + b[0][2]*c[2][2];
+    a[1][0] = b[1][0]*c[0][0] + b[1][1]*c[1][0] + b[1][2]*c[2][0];
+    a[1][1] = b[1][0]*c[0][1] + b[1][1]*c[1][1] + b[1][2]*c[2][1];
+    a[1][2] = b[1][0]*c[0][2] + b[1][1]*c[1][2] + b[1][2]*c[2][2];
+    a[2][0] = b[2][0]*c[0][0] + b[2][1]*c[1][0] + b[2][2]*c[2][0];
+    a[2][1] = b[2][0]*c[0][1] + b[2][1]*c[1][1] + b[2][2]*c[2][1];
+    a[2][2] = b[2][0]*c[0][2] + b[2][1]*c[1][2] + b[2][2]*c[2][2];
+}
+
+
+// normProjMat33d
+// m = input matrix
+// return: result if successful
+int normProjMat33d(double m[3][3])
+{
+    double m22;
+
+    if(m[2][2] == 0.0)
+        {
+        return 0;
+}
+
+    m[0][0] /= m[2][2];
+    m[0][1] /= m[2][2];
+    m[0][2] /= m[2][2];
+    m[1][0] /= m[2][2];
+    m[1][1] /= m[2][2];
+    m[1][2] /= m[2][2];
+    m[2][0] /= m[2][2];
+    m[2][1] /= m[2][2];
+    m[2][2] = 1.0;
+
+    return 1;
+}
+
+// det33d
+// m = input matrix
+// returns: determinant
+double det33d(const double m[3][3])
+{
+    double result;
+
+    result  = m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1]);
+    result += m[0][1] * (m[1][2] * m[2][0] - m[1][0] * m[2][2]);
+    result += m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]);
+
+    return result;
+}
+
+// inv33d
+//
+void inv33d(const double m[3][3], double out[3][3])
+{
+    double det = det33d(m);
+
+    out[0][0] = (m[1][1]*m[2][2] - m[1][2]*m[2][1]) / det;
+    out[1][0] = (m[1][2]*m[2][0] - m[1][0]*m[2][2]) / det;
+    out[2][0] = (m[1][0]*m[2][1] - m[1][1]*m[2][0]) / det;
+
+    out[0][1] = (m[0][2]*m[2][1] - m[0][1]*m[2][2]) / det;
+    out[1][1] = (m[0][0]*m[2][2] - m[0][2]*m[2][0]) / det;
+    out[2][1] = (m[0][1]*m[2][0] - m[0][0]*m[2][1]) / det;
+
+    out[0][2] = (m[0][1]*m[1][2] - m[0][2]*m[1][1]) / det;
+    out[1][2] = (m[0][2]*m[1][0] - m[0][0]*m[1][2]) / det;
+    out[2][2] = (m[0][0]*m[1][1] - m[0][1]*m[1][0]) / det;
+}
diff --git a/jni/feature_mos/src/mosaic/trsMatrix.h b/jni/feature_mos/src/mosaic/trsMatrix.h
new file mode 100644
index 0000000..054cc33
--- /dev/null
+++ b/jni/feature_mos/src/mosaic/trsMatrix.h
@@ -0,0 +1,53 @@
+/*
+ * 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.
+ */
+
+///////////////////////////////////////////////////
+// trsMatrix.h
+// $Id: trsMatrix.h,v 1.8 2011/06/17 13:35:48 mbansal Exp $
+
+#ifndef TRSMATRIX_H_
+#define TRSMATRIX_H_
+
+
+// Calculate the determinant of a matrix
+double det33d(const double m[3][3]);
+
+// Invert a matrix
+void inv33d(const double m[3][3], double out[3][3]);
+
+// Multiply a = b * c
+void mult33d(double a[3][3], double b[3][3], double c[3][3]);
+
+// Normalize matrix so matrix[2][2] is '1'
+int normProjMat33d(double m[3][3]);
+
+inline double ProjZ(double trs[3][3], double x, double y, double f)
+{
+    return ((trs)[2][0]*(x) + (trs)[2][1]*(y) + (trs)[2][2]*(f));
+}
+
+inline double ProjX(double trs[3][3], double x, double y, double z, double f)
+{
+    return (((trs)[0][0]*(x) + (trs)[0][1]*(y) + (trs)[0][2]*(f)) / (z));
+}
+
+inline double ProjY(double trs[3][3], double x, double y, double z, double f)
+{
+    return (((trs)[1][0]*(x) + (trs)[1][1]*(y) + (trs)[1][2]*(f)) / (z));
+}
+
+
+#endif