133 lines
5.2 KiB
C++
133 lines
5.2 KiB
C++
/*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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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., 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 the copyright holders 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 "exposure_compensate.hpp"
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#include "util.hpp"
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using namespace std;
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using namespace cv;
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Ptr<ExposureCompensator> ExposureCompensator::createDefault(int type)
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{
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if (type == NO)
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return new NoExposureCompensator();
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if (type == OVERLAP)
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return new OverlapExposureCompensator();
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CV_Error(CV_StsBadArg, "unsupported exposure compensation method");
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return NULL;
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}
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void OverlapExposureCompensator::feed(const vector<Point> &corners, const vector<Mat> &images,
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const vector<Mat> &masks)
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{
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const int num_images = static_cast<int>(images.size());
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Mat_<int> N(num_images, num_images); N.setTo(0);
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Mat_<double> I(num_images, num_images); I.setTo(0);
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Rect dst_roi = resultRoi(corners, images);
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Mat subimg1, subimg2;
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Mat_<uchar> submask1, submask2, overlap;
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for (int i = 0; i < num_images; ++i)
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{
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for (int j = i; j < num_images; ++j)
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{
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Rect roi;
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if (overlapRoi(corners[i], corners[j], images[i].size(), images[j].size(), roi))
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{
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subimg1 = images[i](Rect(roi.tl() - corners[i], roi.br() - corners[i]));
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subimg2 = images[j](Rect(roi.tl() - corners[j], roi.br() - corners[j]));
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submask1 = masks[i](Rect(roi.tl() - corners[i], roi.br() - corners[i]));
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submask2 = masks[j](Rect(roi.tl() - corners[j], roi.br() - corners[j]));
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overlap = submask1 & submask2;
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N(i, j) = N(j, i) = countNonZero(overlap);
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double Isum1 = 0, Isum2 = 0;
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for (int y = 0; y < roi.height; ++y)
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{
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const Point3_<uchar>* r1 = subimg1.ptr<Point3_<uchar> >(y);
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const Point3_<uchar>* r2 = subimg2.ptr<Point3_<uchar> >(y);
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for (int x = 0; x < roi.width; ++x)
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{
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if (overlap(y, x))
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{
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Isum1 += sqrt(static_cast<double>(sqr(r1[x].x) + sqr(r1[x].y) + sqr(r1[x].z)));
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Isum2 += sqrt(static_cast<double>(sqr(r2[x].x) + sqr(r2[x].y) + sqr(r2[x].z)));
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}
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}
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}
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I(i, j) = Isum1 / max(N(i, j), 1);
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I(j, i) = Isum2 / max(N(i, j), 1);
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}
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}
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}
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double alpha = 0.01;
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double beta = 100;
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Mat_<double> A(num_images, num_images); A.setTo(0);
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Mat_<double> b(num_images, 1); b.setTo(0);
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for (int i = 0; i < num_images; ++i)
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{
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for (int j = 0; j < num_images; ++j)
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{
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b(i, 0) += beta * N(i, j);
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A(i, i) += beta * N(i, j);
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if (j == i) continue;
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A(i, i) += 2 * alpha * I(i, j) * I(i, j) * N(i, j);
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A(i, j) -= 2 * alpha * I(i, j) * I(j, i) * N(i, j);
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}
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}
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solve(A, b, gains_, DECOMP_SVD);
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}
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void OverlapExposureCompensator::apply(int index, Point /*corner*/, Mat &image, const Mat &/*mask*/)
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{
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image *= gains_(index, 0);
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}
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