393 lines
15 KiB
C++
393 lines
15 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
|
//
|
|
// By downloading, copying, installing or using the software you agree to this license.
|
|
// If you do not agree to this license, do not download, install,
|
|
// copy or use the software.
|
|
//
|
|
//
|
|
// Intel License Agreement
|
|
// For Open Source Computer Vision Library
|
|
//
|
|
// Copyright (C) 2000, Intel Corporation, all rights reserved.
|
|
// Third party copyrights are property of their respective owners.
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without modification,
|
|
// are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistribution's of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
//
|
|
// * Redistribution's in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
//
|
|
// * The name of Intel Corporation may not be used to endorse or promote products
|
|
// derived from this software without specific prior written permission.
|
|
//
|
|
// This software is provided by the copyright holders and contributors "as is" and
|
|
// any express or implied warranties, including, but not limited to, the implied
|
|
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
|
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
|
// indirect, incidental, special, exemplary, or consequential damages
|
|
// (including, but not limited to, procurement of substitute goods or services;
|
|
// loss of use, data, or profits; or business interruption) however caused
|
|
// and on any theory of liability, whether in contract, strict liability,
|
|
// or tort (including negligence or otherwise) arising in any way out of
|
|
// the use of this software, even if advised of the possibility of such damage.
|
|
//
|
|
//M*/
|
|
#include "precomp.hpp"
|
|
#include <assert.h>
|
|
|
|
|
|
static CvStatus
|
|
icvMorphEpilines8uC3( uchar * first_pix, /* raster epiline from image 1 */
|
|
uchar * second_pix, /* raster epiline from image 2 */
|
|
uchar * dst_pix, /* raster epiline from dest image */
|
|
/* (it's an output parameter) */
|
|
float alpha, /* relative position of camera */
|
|
int *first, /* first sequence of runs */
|
|
int first_runs, /* it's length */
|
|
int *second, /* second sequence of runs */
|
|
int second_runs, int *first_corr, /* corr data for the 1st seq */
|
|
int *second_corr, /* corr data for the 2nd seq */
|
|
int dst_len )
|
|
{
|
|
|
|
float alpha1; /* alpha - 1.0 */
|
|
int s, s1; /* integer variant of alpha and alpha1 ( 0 <= s,s1 <= 256 ) */
|
|
int curr; /* current index in run's array */
|
|
|
|
float begLine; /* begin of current run */
|
|
float endLine; /* end of current run */
|
|
|
|
float begCorr; /* begin of correspondence destination of run */
|
|
float endCorr; /* end of correspondence destination of run */
|
|
|
|
int begDestLine; /* begin of current destanation of run */
|
|
int endDestLine; /* end of current destanation of run */
|
|
int begLineIndex;
|
|
int endLineIndex;
|
|
int indexImg1;
|
|
float step = 0;
|
|
int n;
|
|
|
|
memset( dst_pix, 0, dst_len );
|
|
alpha1 = (float) (1.0 - alpha);
|
|
|
|
s = (int) (alpha * 256);
|
|
s1 = 256 - s;
|
|
|
|
/* --------------Create first line------------- */
|
|
|
|
begLineIndex = first[0];
|
|
begLine = (float) begLineIndex;
|
|
|
|
curr = 0;
|
|
|
|
for( n = 0; n < first_runs; n++ )
|
|
{ /* for each run */
|
|
|
|
begCorr = (float) first_corr[curr];
|
|
curr++;
|
|
endCorr = (float) first_corr[curr];
|
|
curr++;
|
|
endLineIndex = first[curr];
|
|
endLine = (float) endLineIndex;
|
|
|
|
begDestLine = (int) (alpha * begLine + alpha1 * begCorr);
|
|
endDestLine = (int) (alpha * endLine + alpha1 * endCorr);
|
|
|
|
indexImg1 = begDestLine * 3;
|
|
|
|
step = 0;
|
|
if( endDestLine != begDestLine )
|
|
step = (endLine - begLine) / ((float) (endDestLine - begDestLine));
|
|
|
|
if( begCorr != endCorr )
|
|
{
|
|
|
|
for( ; begDestLine < endDestLine; begDestLine++ )
|
|
{
|
|
/* for each pixel */
|
|
|
|
begLineIndex = (int) begLine;
|
|
begLineIndex *= 3;
|
|
|
|
/* Blend R */
|
|
dst_pix[indexImg1] = (uchar) (((int) (first_pix[begLineIndex]) * s) >> 8);
|
|
|
|
indexImg1++;
|
|
|
|
/* Blend G */
|
|
dst_pix[indexImg1] = (uchar) (((int) (first_pix[begLineIndex + 1]) * s) >> 8);
|
|
|
|
indexImg1++;
|
|
|
|
/* Blend B */
|
|
dst_pix[indexImg1] = (uchar) (((int) (first_pix[begLineIndex + 2]) * s) >> 8);
|
|
|
|
indexImg1++;
|
|
|
|
begLine += step;
|
|
|
|
} /* for */
|
|
}
|
|
else
|
|
{
|
|
|
|
for( ; begDestLine < endDestLine; begDestLine++ )
|
|
{
|
|
/* for each pixel */
|
|
|
|
begLineIndex = (int) begLine;
|
|
begLineIndex *= 3;
|
|
|
|
/* Blend R */
|
|
dst_pix[indexImg1] = first_pix[begLineIndex];
|
|
indexImg1++;
|
|
|
|
/* Blend G */
|
|
dst_pix[indexImg1] = first_pix[begLineIndex + 1];
|
|
indexImg1++;
|
|
|
|
/* Blend B */
|
|
dst_pix[indexImg1] = first_pix[begLineIndex + 2];
|
|
|
|
indexImg1++;
|
|
|
|
begLine += step;
|
|
|
|
} /* for */
|
|
} /* if */
|
|
|
|
begLineIndex = endLineIndex;
|
|
begLine = endLine;
|
|
|
|
|
|
} /* for each runs in first line */
|
|
|
|
begLineIndex = second[0];
|
|
begLine = (float) begLineIndex;
|
|
|
|
curr = 0;
|
|
|
|
/* --------------Create second line------------- */
|
|
curr = 0;;
|
|
for( n = 0; n < second_runs; n++ )
|
|
{ /* for each run */
|
|
|
|
begCorr = (float) second_corr[curr];
|
|
curr++;
|
|
endCorr = (float) second_corr[curr];
|
|
curr++;
|
|
endLineIndex = second[curr];
|
|
endLine = (float) endLineIndex;
|
|
|
|
begDestLine = (int) (alpha1 * begLine + alpha * begCorr);
|
|
endDestLine = (int) (alpha1 * endLine + alpha * endCorr);
|
|
|
|
indexImg1 = begDestLine * 3;
|
|
|
|
step = 0;
|
|
if (endDestLine != begDestLine)
|
|
step = (endLine - begLine) / ((float) (endDestLine - begDestLine));
|
|
|
|
if( begCorr != endCorr )
|
|
{
|
|
|
|
for( ; begDestLine < endDestLine; begDestLine++ )
|
|
{
|
|
/* for each pixel */
|
|
|
|
begLineIndex = (int) begLine;
|
|
begLineIndex *= 3;
|
|
|
|
/* Blend R */
|
|
dst_pix[indexImg1] =
|
|
(uchar) (dst_pix[indexImg1] +
|
|
(uchar) (((unsigned int) (second_pix[begLineIndex]) * s1) >> 8));
|
|
|
|
indexImg1++;
|
|
|
|
/* Blend G */
|
|
dst_pix[indexImg1] =
|
|
(uchar) (dst_pix[indexImg1] +
|
|
(uchar) (((unsigned int) (second_pix[begLineIndex + 1]) * s1) >>
|
|
8));
|
|
|
|
indexImg1++;
|
|
|
|
/* Blend B */
|
|
dst_pix[indexImg1] =
|
|
(uchar) (dst_pix[indexImg1] +
|
|
(uchar) (((unsigned int) (second_pix[begLineIndex + 2]) * s1) >>
|
|
8));
|
|
|
|
indexImg1++;
|
|
|
|
begLine += step;
|
|
|
|
} /* for */
|
|
}
|
|
else
|
|
{
|
|
|
|
for( ; begDestLine < endDestLine; begDestLine++ )
|
|
{
|
|
/* for each pixel */
|
|
|
|
begLineIndex = (int) begLine;
|
|
begLineIndex *= 3;
|
|
|
|
/* Blend R */
|
|
dst_pix[indexImg1] = (uchar) (dst_pix[indexImg1] + second_pix[begLineIndex]);
|
|
indexImg1++;
|
|
|
|
/* Blend G */
|
|
dst_pix[indexImg1] =
|
|
(uchar) (dst_pix[indexImg1] + second_pix[begLineIndex + 1]);
|
|
indexImg1++;
|
|
|
|
/* Blend B */
|
|
dst_pix[indexImg1] =
|
|
(uchar) (dst_pix[indexImg1] + second_pix[begLineIndex + 2]);
|
|
/*assert(indexImg1 < dst_len); */
|
|
|
|
indexImg1++;
|
|
|
|
begLine += step;
|
|
|
|
} /* for */
|
|
} /* if */
|
|
|
|
begLineIndex = endLineIndex;
|
|
begLine = endLine;
|
|
|
|
} /* for each runs in second line */
|
|
|
|
return CV_NO_ERR;
|
|
|
|
} /* icvMorphEpilines8uC3 */
|
|
|
|
|
|
/*======================================================================================*/
|
|
|
|
static CvStatus
|
|
icvMorphEpilines8uC3Multi( int lines, /* number of lines */
|
|
uchar * first_pix, /* raster epilines from the first image */
|
|
int *first_num, /* numbers of pixel in first line */
|
|
uchar * second_pix, /* raster epilines from the second image */
|
|
int *second_num, /* numbers of pixel in second line */
|
|
uchar * dst_pix, /* raster epiline from the destination image */
|
|
/* (it's an output parameter) */
|
|
int *dst_num, /* numbers of pixel in output line */
|
|
float alpha, /* relative position of camera */
|
|
int *first, /* first sequence of runs */
|
|
int *first_runs, /* it's length */
|
|
int *second, /* second sequence of runs */
|
|
int *second_runs, int *first_corr, /* correspond information for the 1st seq */
|
|
int *second_corr ) /* correspond information for the 2nd seq */
|
|
{
|
|
CvStatus error;
|
|
int currLine;
|
|
int currFirstPix = 0;
|
|
//int currFirstNum = 0;
|
|
int currSecondPix = 0;
|
|
//int currSecondNum = 0;
|
|
int currDstPix = 0;
|
|
int currFirst = 0;
|
|
//int currFirstRuns = 0;
|
|
int currSecond = 0;
|
|
//int currSecondRuns = 0;
|
|
int currFirstCorr = 0;
|
|
int currSecondCorr = 0;
|
|
|
|
if( lines < 1 ||
|
|
first_pix == 0 ||
|
|
first_num == 0 ||
|
|
second_pix == 0 ||
|
|
second_num == 0 ||
|
|
dst_pix == 0 ||
|
|
dst_num == 0 ||
|
|
alpha < 0 ||
|
|
alpha > 1 ||
|
|
first == 0 ||
|
|
first_runs == 0 ||
|
|
second == 0 || second_runs == 0 || first_corr == 0 || second_corr == 0 )
|
|
return CV_BADFACTOR_ERR;
|
|
|
|
for( currLine = 0; currLine < lines; currLine++ )
|
|
{
|
|
|
|
error = icvMorphEpilines8uC3( &(first_pix[currFirstPix]),
|
|
&(second_pix[currSecondPix]),
|
|
&(dst_pix[currDstPix]),
|
|
alpha,
|
|
&(first[currFirst]),
|
|
first_runs[currLine],
|
|
&(second[currSecond]),
|
|
second_runs[currLine],
|
|
&(first_corr[currFirstCorr]),
|
|
&(second_corr[currSecondCorr]), dst_num[currLine] * 3 );
|
|
|
|
|
|
if( error != CV_NO_ERR )
|
|
return CV_NO_ERR;
|
|
|
|
currFirstPix += first_num[currLine] * 3;
|
|
currSecondPix += second_num[currLine] * 3;
|
|
currDstPix += dst_num[currLine] * 3;
|
|
currFirst += (first_runs[currLine] * 2) + 1;
|
|
currSecond += (second_runs[currLine] * 2) + 1;
|
|
currFirstCorr += first_runs[currLine] * 2;
|
|
currSecondCorr += second_runs[currLine] * 2;
|
|
|
|
} /* for */
|
|
|
|
return CV_NO_ERR;
|
|
|
|
} /* icvMorphEpilines8uC3Multi */
|
|
|
|
|
|
|
|
|
|
/*======================================================================================*/
|
|
|
|
CV_IMPL void
|
|
cvMorphEpilinesMulti( int lines, /* number of lines */
|
|
uchar * first_pix, /* raster epilines from the first image */
|
|
int *first_num, /* numbers of pixel in first line */
|
|
uchar * second_pix, /* raster epilines from the second image */
|
|
int *second_num, /* numbers of pixel in second line */
|
|
uchar * dst_pix, /* raster epiline from the destination image */
|
|
/* (it's an output parameter) */
|
|
int *dst_num, /* numbers of pixel in output line */
|
|
float alpha, /* relative position of camera */
|
|
int *first, /* first sequence of runs */
|
|
int *first_runs, /* it's length */
|
|
int *second, /* second sequence of runs */
|
|
int *second_runs, int *first_corr, /* correspond information for the 1st seq */
|
|
int *second_corr /* correspond information for the 2nd seq */
|
|
)
|
|
{
|
|
IPPI_CALL( icvMorphEpilines8uC3Multi( lines, /* number of lines */
|
|
first_pix, /* raster epilines from the first image */
|
|
first_num, /* numbers of pixel in first line */
|
|
second_pix, /* raster epilines from the second image */
|
|
second_num, /* numbers of pixel in second line */
|
|
dst_pix, /* raster epiline from the destination image */
|
|
/* (it's an output parameter) */
|
|
dst_num, /* numbers of pixel in output line */
|
|
alpha, /* relative position of camera */
|
|
first, /* first sequence of runs */
|
|
first_runs, /* it's length */
|
|
second, /* second sequence of runs */
|
|
second_runs, first_corr, /* correspond information for the 1st seq */
|
|
second_corr /* correspond information for the 2nd seq */
|
|
));
|
|
}
|
|
|