Updates to handle textureless scenes during capture.

1) Starts stitching only when the camera sees a textured scene at the beginning.
2) If a texturess scene is encountered in the middle of a capture, the stitching continues with the intermediate frames translated using the pan velocity estimate.
3) Added more error codes and percolated them up to the java layer.
4) Fix a build error in Mosaic::addFrame() and added comments.
5) Update the javadoc in Mosaic.java to reflect the new returning codes.

Change-Id: I7727ace615ece22adefe313a19ac2cbe8c8d21a8

2 files changed, 6 insertions, 1 deletions

diff --git a/jni/feature_stab/src/dbreg/dbreg.cpp b/jni/feature_stab/src/dbreg/dbreg.cpp
index fb42838..dc7d58f 100644
--- a/jni/feature_stab/src/dbreg/dbreg.cpp
+++ b/jni/feature_stab/src/dbreg/dbreg.cpp
@@ -344,7 +344,7 @@ bool db_FrameToReferenceRegistration::NeedReferenceUpdate()
 int db_FrameToReferenceRegistration::AddFrame(const unsigned char * const * im, double H[9],bool force_reference,bool prewarp)
 {
   m_current_is_reference = false;
-  if(!m_reference_set)
+  if(!m_reference_set || force_reference)
     {
       db_Identity3x3(m_H_ref_to_ins);
       db_Copy9(H,m_H_ref_to_ins);
diff --git a/jni/feature_stab/src/dbreg/dbreg.h b/jni/feature_stab/src/dbreg/dbreg.h
index 92cd0e3..4eb2444 100644
--- a/jni/feature_stab/src/dbreg/dbreg.h
+++ b/jni/feature_stab/src/dbreg/dbreg.h
@@ -222,6 +222,11 @@ public:
     int GetNrMatches() { return m_nr_matches; }
 
     /*!
+     * Returns the number of corners detected in the current reference image.
+    */
+    int GetNrRefCorners() { return m_nr_corners_ref; }
+
+    /*!
      * Returns the pointer to an array of indices that were found to be RANSAC inliers from the matched corner lists.
     */
     int* GetInliers() { return m_inlier_indices; }