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/*
* Copyright (C) 2011 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
///////////////////////////////////////////////////
// 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;
}
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