generic-library/vpx
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Adds translation model to global motion estimation

Browse Source 
Change-Id: Ie1791ab7cfdd3f7a1b03404627246c923f1bd51f
This commit is contained in:
Deb Mukherjee 2015-02-25 09:57:33 -08:00
parent caccf06acd
commit 9909903229
4 changed files with 130 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
vp9/encoder/vp9_global_motion.c
View File

@ -45,6 +45,8 @@ inline int get_numparams(TransformationType type) {
return 6;
case ROTZOOM:
return 4;
case TRANSLATION:
return 2;
default:
assert(0);
return 0;
@ -59,6 +61,8 @@ inline ransacType get_ransacType(TransformationType type) {
return ransacAffine;
case ROTZOOM:
return ransacRotZoom;
case TRANSLATION:
return ransacTranslation;
default:
assert(0);
return NULL;
@ -73,6 +77,8 @@ inline projectPointsType get_projectPointsType(TransformationType type) {
return projectPointsAffine;
case ROTZOOM:
return projectPointsRotZoom;
case TRANSLATION:
return projectPointsTranslation;
default:
assert(0);
return NULL;

3
vp9/encoder/vp9_global_motion.h
View File

@ -33,7 +33,8 @@ typedef enum {
UNKNOWN_TRANSFORM = -1,
HOMOGRAPHY, // homography, 8-parameter
AFFINE, // affine, 6-parameter
ROTZOOM // simplified affine with rotation and zoom only, 4-parameter
ROTZOOM, // simplified affine with rotation and zoom only, 4-parameter
TRANSLATION // translational motion 2-parameter
} TransformationType;
inline int get_numparams(TransformationType type);

129
vp9/encoder/vp9_ransac.c
View File

@ -632,7 +632,6 @@ static void denormalizeAffine(double *H, double *T1, double *T2) {
static void denormalizeRotZoom(double *H, double *T1, double *T2) {
double Ha[MAX_PARAMDIM];
memcpy(Ha, H, 6 * sizeof(*H));
Ha[0] = H[0];
Ha[1] = H[1];
Ha[2] = H[2];
@ -648,12 +647,32 @@ static void denormalizeRotZoom(double *H, double *T1, double *T2) {
H[3] = Ha[5];
}
static void denormalizeTranslation(double *H, double *T1, double *T2) {
double Ha[MAX_PARAMDIM];
Ha[0] = 1;
Ha[1] = 0;
Ha[2] = H[0];
Ha[3] = 0;
Ha[4] = 1;
Ha[5] = H[1];
Ha[6] = Ha[7] = 0;
Ha[8] = 1;
denormalizeHomography(Ha, T1, T2);
H[0] = Ha[2];
H[1] = Ha[5];
}
static int is_collinear3(double *p1, double *p2, double *p3) {
static const double collinear_eps = 1e-3;
const double v = (p2[0] - p1[0]) * (p3[1] - p1[1]) - (p2[1] - p1[1]) * (p3[0] - p1[0]);
const double v = (p2[0] - p1[0]) * (p3[1] - p1[1]) -
(p2[1] - p1[1]) * (p3[0] - p1[0]);
return fabs(v) < collinear_eps;
}
static int isDegenerateTranslation(double *p) {
return (p[0] - p[2]) * (p[0] - p[2]) + (p[1] - p[3]) * (p[1] - p[3]) <= 2;
}
static int isDegenerateAffine(double *p) {
return is_collinear3(p, p + 2, p + 4);
}
@ -665,7 +684,22 @@ static int isDegenerateHomography(double *p) {
is_collinear3(p + 2, p + 4, p + 6);
}
void projectPointsRotZoom(double *mat, double *points, double *proj, const int n,
void projectPointsTranslation(double *mat, double *points, double *proj,
const int n,
const int stride_points,
const int stride_proj) {
int i;
for (i = 0; i < n; ++i) {
const double x = *(points++), y = *(points++);
*(proj++) = x + mat[0];
*(proj++) = y + mat[1];
points += stride_points - 2;
proj += stride_proj - 2;
}
}
void projectPointsRotZoom(double *mat, double *points,
double *proj, const int n,
const int stride_points, const int stride_proj) {
int i;
for (i = 0; i < n; ++i) {
@ -677,7 +711,8 @@ void projectPointsRotZoom(double *mat, double *points, double *proj, const int n
}
}
void projectPointsAffine(double *mat, double *points, double *proj, const int n,
void projectPointsAffine(double *mat, double *points,
double *proj, const int n,
const int stride_points, const int stride_proj) {
int i;
for (i = 0; i < n; ++i) {
@ -689,7 +724,8 @@ void projectPointsAffine(double *mat, double *points, double *proj, const int n,
}
}
void projectPointsHomography(double *mat, double *points, double *proj, const int n,
void projectPointsHomography(double *mat, double *points,
double *proj, const int n,
const int stride_points, const int stride_proj) {
int i;
double x, y, Z;
@ -703,6 +739,33 @@ void projectPointsHomography(double *mat, double *points, double *proj, const in
}
}
int findTranslation(const int np, double *pts1, double *pts2, double *mat) {
const int np2 = np * 2;
int i;
double sx, sy, dx, dy;
double sumx, sumy;
double T1[9], T2[9];
normalizeHomography(pts1, np, T1);
normalizeHomography(pts2, np, T2);
sumx = 0;
sumy = 0;
for (i = 0; i < np; ++i) {
dx = *(pts2++);
dy = *(pts2++);
sx = *(pts1++);
sy = *(pts1++);
sumx += dx - sx;
sumy += dy - sy;
}
mat[0] = sumx / np;
mat[1] = sumy / np;
denormalizeTranslation(mat, T1, T2);
return 0;
}
int findRotZoom(const int np, double *pts1, double *pts2, double *mat) {
const int np2 = np * 2;
double *a = (double *)malloc(sizeof(double) * np2 * 9);
@ -849,9 +912,10 @@ int findHomography(const int np, double *pts1, double *pts2, double *mat) {
for (i = 0; i < 9; i++) mat[i] = V[i * 9 + mini];
denormalizeHomography(mat, T1, T2);
// if (mat[8] == 0.0) return 1;
// for (i = 0; i < 9; i++) mat[i] /= mat[8];
free(a);
if (mat[8] == 0.0) {
return 1;
}
return 0;
}
@ -899,6 +963,23 @@ int findHomographyScale1(const int np, double *pts1, double *pts2,
return 0;
}
int ransacTranslation(double *matched_points, int npoints,
int *number_of_inliers,
int *best_inlier_mask, double *bestH) {
return ransac_(matched_points,
npoints,
number_of_inliers,
best_inlier_mask,
bestH,
2,
2,
isDegenerateTranslation,
NULL, // normalizeHomography,
NULL, // denormalizeRotZoom,
findTranslation,
projectPointsTranslation);
}
int ransacRotZoom(double *matched_points, int npoints,
int *number_of_inliers,
int *best_inlier_mask, double *bestH) {
@ -936,16 +1017,26 @@ int ransacAffine(double *matched_points, int npoints,
int ransacHomography(double *matched_points, int npoints,
int *number_of_inliers,
int *best_inlier_mask, double *bestH) {
return ransac_(matched_points,
npoints,
number_of_inliers,
best_inlier_mask,
bestH,
4,
8,
isDegenerateHomography,
NULL, // normalizeHomography,
NULL, // denormalizeHomography,
findHomography,
projectPointsHomography);
int result =
ransac_(matched_points,
npoints,
number_of_inliers,
best_inlier_mask,
bestH,
4,
8,
isDegenerateHomography,
NULL, // normalizeHomography,
NULL, // denormalizeHomography,
findHomography,
projectPointsHomography);
if (!result) {
// normalize so that H33 = 1
int i;
double m = 1.0 / bestH[8];
for (i = 0; i < 8; ++i)
bestH[i] *= m;
bestH[8] = 1.0;
}
return result;
}

15
vp9/encoder/vp9_ransac.h
View File

@ -32,12 +32,21 @@ int ransacAffine(double *matched_points, int npoints,
int ransacRotZoom(double *matched_points, int npoints,
int *number_of_inliers, int *best_inlier_indices,
double *bestH);
int ransacTranslation(double *matched_points, int npoints,
int *number_of_inliers, int *best_inlier_indices,
double *bestH);
void projectPointsHomography(double *mat, double *points, double *proj,
const int n, const int stride_points, const int stride_proj);
const int n, const int stride_points,
const int stride_proj);
void projectPointsAffine(double *mat, double *points, double *proj,
const int n, const int stride_points, const int stride_proj);
const int n, const int stride_points,
const int stride_proj);
void projectPointsRotZoom(double *mat, double *points, double *proj,
const int n, const int stride_points, const int stride_proj);
const int n, const int stride_points,
const int stride_proj);
void projectPointsTranslation(double *mat, double *points, double *proj,
const int n, const int stride_points,
const int stride_proj);
#endif // VP9_ENCODER_VP9_RANSAC_H