"atomic bomb" commit. Reorganized OpenCV directory structure
This commit is contained in:
Vadim Pisarevsky
398
modules/legacy/src/correspond.cpp
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398
modules/legacy/src/correspond.cpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// Intel License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#include "_vm.h"
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#include <stdlib.h>
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#include <assert.h>
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/*======================================================================================*/
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CvStatus
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icvDynamicCorrespond( int *first, /* first sequence of runs */
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/* s0|w0|s1|w1|...|s(n-1)|w(n-1)|sn */
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int first_runs, /* number of runs */
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int *second, /* second sequence of runs */
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int second_runs, int *first_corr, /* s0'|e0'|s1'|e1'|... */
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int *second_corr )
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{
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float Pd, Fi, S;
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float Occlusion;
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float *costTable;
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uchar *matchEdges;
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int prev;
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int curr;
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int baseIndex;
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int i, j;
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int i_1, j_1;
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int n;
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int l_beg, r_beg, l_end, r_end, l_len, r_len;
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int first_curr;
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int second_curr;
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int l_color, r_color;
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int len_color;
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float cost, cost1;
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float min1, min2, min3;
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float cmin;
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uchar cpath;
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int row_size;
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/* Test arguments for errors */
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if( (first == 0) ||
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(first_runs < 1) ||
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(second == 0) || (second_runs < 1) || (first_corr == 0) || (second_corr == 0) )
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return CV_BADFACTOR_ERR;
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Pd = 0.95f;
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Fi = (float) CV_PI;
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S = 1;
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Occlusion = (float) log( Pd * Fi / ((1 - Pd) * sqrt( fabs( (CV_PI * 2) * (1. / S) ))));
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costTable = (float *)cvAlloc( (first_runs + 1) * (second_runs + 1) * sizeof( float ));
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if( costTable == 0 )
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return CV_OUTOFMEM_ERR;
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matchEdges = (uchar *)cvAlloc( (first_runs + 1) * (second_runs + 1) * sizeof( uchar ));
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if( matchEdges == 0 )
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{
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cvFree( &costTable );
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return CV_OUTOFMEM_ERR;
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}
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row_size = first_runs + 1;
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/* ============= Fill costTable ============= */
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costTable[0] = 0.0f;
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/* Fill upper line in the cost Table */
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prev = first[0];
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curr = 2;
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for( n = 0; n < first_runs; n++ )
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{
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l_end = first[curr];
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curr += 2;
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costTable[n + 1] = costTable[n] + Occlusion * (l_end - prev);
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prev = l_end;
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} /* for */
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/* Fill lefter line in the cost Table */
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prev = second[0];
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curr = 2;
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baseIndex = 0;
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for( n = 0; n < second_runs; n++ )
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{
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l_end = second[curr];
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curr += 2;
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costTable[baseIndex + row_size] = costTable[baseIndex] + Occlusion * (l_end - prev);
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baseIndex += row_size;
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prev = l_end;
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} /* for */
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/* Count costs in the all rest cells */
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first_curr = 0;
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second_curr = 0;
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for( i = 1; i <= first_runs; i++ )
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{
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for( j = 1; j <= second_runs; j++ )
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{
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first_curr = (i - 1) * 2;
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second_curr = (j - 1) * 2;
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l_beg = first[first_curr];
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first_curr++;
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l_color = first[first_curr];
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first_curr++;
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l_end = first[first_curr];
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l_len = l_end - l_beg + 1;
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r_beg = second[second_curr];
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second_curr++;
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r_color = second[second_curr];
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second_curr++;
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r_end = second[second_curr];
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r_len = r_end - r_beg + 1;
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i_1 = i - 1;
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j_1 = j - 1;
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if( r_len == l_len )
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{
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cost = 0;
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}
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else
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{
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if( r_len > l_len )
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{
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cost = (float) (r_len * r_len - l_len * l_len) * (1 / (r_len * l_len));
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}
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else
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{
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cost = (float) (l_len * l_len - r_len * r_len) * (1 / (r_len * l_len));
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}
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} /* if */
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len_color = r_color - l_color;
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cost1 = (float) ((len_color * len_color) >> 2);
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min2 = costTable[i_1 + j * row_size] + Occlusion * l_len;
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min3 = costTable[i + j_1 * row_size] + Occlusion * r_len;
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min1 = costTable[i_1 + j_1 * row_size] + cost + (float) cost1;
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if( min1 < min2 )
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{
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if( min1 < min3 )
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{
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cmin = min1;
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cpath = 1;
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}
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else
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{
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cmin = min3;
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cpath = 3;
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} /* if */
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}
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else
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{
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if( min2 < min3 )
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{
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cmin = min2;
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cpath = 2;
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}
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else
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{
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cmin = min3;
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cpath = 3;
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} /* if */
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} /* if */
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costTable[i + j * row_size] = cmin;
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matchEdges[i + j * row_size] = cpath;
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} /* for */
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} /* for */
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/* =========== Reconstruct the Path =========== */
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i = first_runs;
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j = second_runs;
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first_curr = i * 2 - 2;
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second_curr = j * 2 - 2;
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while( i > 0 && j > 0 )
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{
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/* Connect begins */
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switch (matchEdges[i + j * row_size])
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{
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case 1: /* to diagonal */
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first_corr[first_curr] = second[second_curr];
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first_corr[first_curr + 1] = second[second_curr + 2];
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second_corr[second_curr] = first[first_curr];
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second_corr[second_curr + 1] = first[first_curr + 2];
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first_curr -= 2;
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second_curr -= 2;
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i--;
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j--;
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break;
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case 2: /* to left */
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first_corr[first_curr] = second[second_curr + 2];
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first_corr[first_curr + 1] = second[second_curr + 2];
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first_curr -= 2;
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i--;
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break;
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case 3: /* to up */
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second_corr[second_curr] = first[first_curr + 2];
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second_corr[second_curr + 1] = first[first_curr + 2];
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second_curr -= 2;
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j--;
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break;
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} /* switch */
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} /* while */
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/* construct rest of horisontal path if its need */
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while( i > 0 )
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{
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first_corr[first_curr] = second[second_curr + 2]; /* connect to begin */
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first_corr[first_curr + 1] = second[second_curr + 2]; /* connect to begin */
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first_curr -= 2;
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i--;
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} /* while */
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/* construct rest of vertical path if its need */
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while( j > 0 )
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{
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second_corr[second_curr] = first[first_curr + 2];
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second_corr[second_curr + 1] = first[first_curr + 2];
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second_curr -= 2;
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j--;
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} /* while */
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cvFree( &costTable );
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cvFree( &matchEdges );
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return CV_NO_ERR;
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} /* icvDynamicCorrespond */
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/*======================================================================================*/
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static CvStatus
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icvDynamicCorrespondMulti( int lines, /* number of scanlines */
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int *first, /* s0|w0|s1|w1|...s(n-1)|w(n-1)|sn */
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int *first_runs, /* numbers of runs */
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int *second, int *second_runs, int *first_corr, /* s0'|e0'|s1'|e1'|... */
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int *second_corr )
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{
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CvStatus error;
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int currFirst;
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int currSecond;
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int currFirstCorr;
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int currSecondCorr;
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int n;
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/* Test errors */
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if( (lines < 1) ||
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(first == 0) ||
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(first_runs == 0) ||
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(second == 0) || (second_runs == 0) || (first_corr == 0) || (second_corr == 0) )
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return CV_BADFACTOR_ERR;
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currFirst = 0;
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currSecond = 0;
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currFirstCorr = 0;
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currSecondCorr = 0;
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for( n = 0; n < lines; n++ )
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{
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error = icvDynamicCorrespond( &(first[currFirst]),
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first_runs[n],
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&(second[currSecond]),
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second_runs[n],
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&(first_corr[currFirstCorr]),
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&(second_corr[currSecondCorr]) );
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if( error != CV_NO_ERR )
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return error;
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currFirst += first_runs[n] * 2 + 1;
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currSecond += second_runs[n] * 2 + 1;
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currFirstCorr += first_runs[n] * 2;
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currSecondCorr += second_runs[n] * 2;
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}
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return CV_NO_ERR;
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} /* icvDynamicCorrespondMulti */
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/*======================================================================================*/
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/*F///////////////////////////////////////////////////////////////////////////////////////
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// Name: cvDynamicCorrespondMulti
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// Purpose: The functions
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// Context:
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// Parameters:
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//
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// Notes:
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//F*/
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CV_IMPL void
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cvDynamicCorrespondMulti( int lines, /* number of scanlines */
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int *first, /* s0|w0|s1|w1|...s(n-1)|w(n-1)|sn */
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int *first_runs, /* numbers of runs */
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int *second, int *second_runs, int *first_corr, /* s0'|e0'|s1'|e1'|... */
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int *second_corr )
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{
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IPPI_CALL( icvDynamicCorrespondMulti( lines, /* number of scanlines */
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first, /* s0|w0|s1|w1|...s(n-1)|w(n-1)|sn */
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first_runs, /* numbers of runs */
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second, second_runs, first_corr, /* s0'|e0'|s1'|e1'|... */
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second_corr ));
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}
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