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Open Source Computer Vision Library
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392 lines
15 KiB
392 lines
15 KiB
/*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 <assert.h> |
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static CvStatus |
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icvMorphEpilines8uC3( uchar * first_pix, /* raster epiline from image 1 */ |
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uchar * second_pix, /* raster epiline from image 2 */ |
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uchar * dst_pix, /* raster epiline from dest image */ |
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/* (it's an output parameter) */ |
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float alpha, /* relative position of camera */ |
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int *first, /* first sequence of runs */ |
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int first_runs, /* it's length */ |
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int *second, /* second sequence of runs */ |
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int second_runs, int *first_corr, /* corr data for the 1st seq */ |
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int *second_corr, /* corr data for the 2nd seq */ |
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int dst_len ) |
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{ |
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float alpha1; /* alpha - 1.0 */ |
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int s, s1; /* integer variant of alpha and alpha1 ( 0 <= s,s1 <= 256 ) */ |
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int curr; /* current index in run's array */ |
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float begLine; /* begin of current run */ |
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float endLine; /* end of current run */ |
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float begCorr; /* begin of correspondence destination of run */ |
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float endCorr; /* end of correspondence destination of run */ |
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int begDestLine; /* begin of current destanation of run */ |
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int endDestLine; /* end of current destanation of run */ |
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int begLineIndex; |
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int endLineIndex; |
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int indexImg1; |
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float step = 0; |
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int n; |
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memset( dst_pix, 0, dst_len ); |
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alpha1 = (float) (1.0 - alpha); |
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s = (int) (alpha * 256); |
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s1 = 256 - s; |
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/* --------------Create first line------------- */ |
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begLineIndex = first[0]; |
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begLine = (float) begLineIndex; |
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curr = 0; |
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for( n = 0; n < first_runs; n++ ) |
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{ /* for each run */ |
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begCorr = (float) first_corr[curr]; |
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curr++; |
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endCorr = (float) first_corr[curr]; |
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curr++; |
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endLineIndex = first[curr]; |
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endLine = (float) endLineIndex; |
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begDestLine = (int) (alpha * begLine + alpha1 * begCorr); |
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endDestLine = (int) (alpha * endLine + alpha1 * endCorr); |
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indexImg1 = begDestLine * 3; |
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step = 0; |
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if( endDestLine != begDestLine ) |
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step = (endLine - begLine) / ((float) (endDestLine - begDestLine)); |
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if( begCorr != endCorr ) |
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{ |
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for( ; begDestLine < endDestLine; begDestLine++ ) |
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{ |
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/* for each pixel */ |
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begLineIndex = (int) begLine; |
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begLineIndex *= 3; |
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/* Blend R */ |
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dst_pix[indexImg1] = (uchar) (((int) (first_pix[begLineIndex]) * s) >> 8); |
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indexImg1++; |
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/* Blend G */ |
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dst_pix[indexImg1] = (uchar) (((int) (first_pix[begLineIndex + 1]) * s) >> 8); |
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indexImg1++; |
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/* Blend B */ |
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dst_pix[indexImg1] = (uchar) (((int) (first_pix[begLineIndex + 2]) * s) >> 8); |
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indexImg1++; |
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begLine += step; |
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} /* for */ |
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} |
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else |
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{ |
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for( ; begDestLine < endDestLine; begDestLine++ ) |
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{ |
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/* for each pixel */ |
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begLineIndex = (int) begLine; |
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begLineIndex *= 3; |
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/* Blend R */ |
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dst_pix[indexImg1] = first_pix[begLineIndex]; |
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indexImg1++; |
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/* Blend G */ |
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dst_pix[indexImg1] = first_pix[begLineIndex + 1]; |
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indexImg1++; |
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/* Blend B */ |
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dst_pix[indexImg1] = first_pix[begLineIndex + 2]; |
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indexImg1++; |
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begLine += step; |
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} /* for */ |
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} /* if */ |
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begLineIndex = endLineIndex; |
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begLine = endLine; |
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} /* for each runs in first line */ |
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begLineIndex = second[0]; |
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begLine = (float) begLineIndex; |
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curr = 0; |
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/* --------------Create second line------------- */ |
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curr = 0;; |
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for( n = 0; n < second_runs; n++ ) |
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{ /* for each run */ |
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begCorr = (float) second_corr[curr]; |
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curr++; |
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endCorr = (float) second_corr[curr]; |
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curr++; |
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endLineIndex = second[curr]; |
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endLine = (float) endLineIndex; |
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begDestLine = (int) (alpha1 * begLine + alpha * begCorr); |
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endDestLine = (int) (alpha1 * endLine + alpha * endCorr); |
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indexImg1 = begDestLine * 3; |
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step = 0; |
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if (endDestLine != begDestLine) |
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step = (endLine - begLine) / ((float) (endDestLine - begDestLine)); |
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if( begCorr != endCorr ) |
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{ |
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for( ; begDestLine < endDestLine; begDestLine++ ) |
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{ |
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/* for each pixel */ |
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begLineIndex = (int) begLine; |
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begLineIndex *= 3; |
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/* Blend R */ |
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dst_pix[indexImg1] = |
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(uchar) (dst_pix[indexImg1] + |
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(uchar) (((unsigned int) (second_pix[begLineIndex]) * s1) >> 8)); |
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indexImg1++; |
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/* Blend G */ |
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dst_pix[indexImg1] = |
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(uchar) (dst_pix[indexImg1] + |
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(uchar) (((unsigned int) (second_pix[begLineIndex + 1]) * s1) >> |
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8)); |
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indexImg1++; |
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/* Blend B */ |
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dst_pix[indexImg1] = |
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(uchar) (dst_pix[indexImg1] + |
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(uchar) (((unsigned int) (second_pix[begLineIndex + 2]) * s1) >> |
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8)); |
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indexImg1++; |
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begLine += step; |
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} /* for */ |
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} |
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else |
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{ |
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for( ; begDestLine < endDestLine; begDestLine++ ) |
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{ |
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/* for each pixel */ |
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begLineIndex = (int) begLine; |
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begLineIndex *= 3; |
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/* Blend R */ |
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dst_pix[indexImg1] = (uchar) (dst_pix[indexImg1] + second_pix[begLineIndex]); |
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indexImg1++; |
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/* Blend G */ |
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dst_pix[indexImg1] = |
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(uchar) (dst_pix[indexImg1] + second_pix[begLineIndex + 1]); |
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indexImg1++; |
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/* Blend B */ |
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dst_pix[indexImg1] = |
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(uchar) (dst_pix[indexImg1] + second_pix[begLineIndex + 2]); |
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/*assert(indexImg1 < dst_len); */ |
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indexImg1++; |
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begLine += step; |
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} /* for */ |
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} /* if */ |
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begLineIndex = endLineIndex; |
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begLine = endLine; |
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} /* for each runs in second line */ |
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return CV_NO_ERR; |
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} /* icvMorphEpilines8uC3 */ |
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/*======================================================================================*/ |
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static CvStatus |
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icvMorphEpilines8uC3Multi( int lines, /* number of lines */ |
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uchar * first_pix, /* raster epilines from the first image */ |
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int *first_num, /* numbers of pixel in first line */ |
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uchar * second_pix, /* raster epilines from the second image */ |
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int *second_num, /* numbers of pixel in second line */ |
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uchar * dst_pix, /* raster epiline from the destination image */ |
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/* (it's an output parameter) */ |
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int *dst_num, /* numbers of pixel in output line */ |
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float alpha, /* relative position of camera */ |
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int *first, /* first sequence of runs */ |
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int *first_runs, /* it's length */ |
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int *second, /* second sequence of runs */ |
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int *second_runs, int *first_corr, /* correspond information for the 1st seq */ |
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int *second_corr ) /* correspond information for the 2nd seq */ |
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{ |
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CvStatus error; |
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int currLine; |
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int currFirstPix = 0; |
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//int currFirstNum = 0; |
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int currSecondPix = 0; |
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//int currSecondNum = 0; |
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int currDstPix = 0; |
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int currFirst = 0; |
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//int currFirstRuns = 0; |
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int currSecond = 0; |
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//int currSecondRuns = 0; |
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int currFirstCorr = 0; |
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int currSecondCorr = 0; |
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if( lines < 1 || |
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first_pix == 0 || |
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first_num == 0 || |
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second_pix == 0 || |
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second_num == 0 || |
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dst_pix == 0 || |
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dst_num == 0 || |
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alpha < 0 || |
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alpha > 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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for( currLine = 0; currLine < lines; currLine++ ) |
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{ |
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error = icvMorphEpilines8uC3( &(first_pix[currFirstPix]), |
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&(second_pix[currSecondPix]), |
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&(dst_pix[currDstPix]), |
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alpha, |
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&(first[currFirst]), |
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first_runs[currLine], |
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&(second[currSecond]), |
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second_runs[currLine], |
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&(first_corr[currFirstCorr]), |
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&(second_corr[currSecondCorr]), dst_num[currLine] * 3 ); |
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if( error != CV_NO_ERR ) |
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return CV_NO_ERR; |
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currFirstPix += first_num[currLine] * 3; |
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currSecondPix += second_num[currLine] * 3; |
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currDstPix += dst_num[currLine] * 3; |
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currFirst += (first_runs[currLine] * 2) + 1; |
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currSecond += (second_runs[currLine] * 2) + 1; |
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currFirstCorr += first_runs[currLine] * 2; |
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currSecondCorr += second_runs[currLine] * 2; |
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} /* for */ |
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return CV_NO_ERR; |
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} /* icvMorphEpilines8uC3Multi */ |
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/*======================================================================================*/ |
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CV_IMPL void |
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cvMorphEpilinesMulti( int lines, /* number of lines */ |
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uchar * first_pix, /* raster epilines from the first image */ |
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int *first_num, /* numbers of pixel in first line */ |
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uchar * second_pix, /* raster epilines from the second image */ |
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int *second_num, /* numbers of pixel in second line */ |
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uchar * dst_pix, /* raster epiline from the destination image */ |
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/* (it's an output parameter) */ |
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int *dst_num, /* numbers of pixel in output line */ |
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float alpha, /* relative position of camera */ |
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int *first, /* first sequence of runs */ |
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int *first_runs, /* it's length */ |
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int *second, /* second sequence of runs */ |
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int *second_runs, int *first_corr, /* correspond information for the 1st seq */ |
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int *second_corr /* correspond information for the 2nd seq */ |
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) |
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{ |
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IPPI_CALL( icvMorphEpilines8uC3Multi( lines, /* number of lines */ |
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first_pix, /* raster epilines from the first image */ |
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first_num, /* numbers of pixel in first line */ |
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second_pix, /* raster epilines from the second image */ |
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second_num, /* numbers of pixel in second line */ |
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dst_pix, /* raster epiline from the destination image */ |
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/* (it's an output parameter) */ |
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dst_num, /* numbers of pixel in output line */ |
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alpha, /* relative position of camera */ |
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first, /* first sequence of runs */ |
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first_runs, /* it's length */ |
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second, /* second sequence of runs */ |
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second_runs, first_corr, /* correspond information for the 1st seq */ |
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second_corr /* correspond information for the 2nd seq */ |
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)); |
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} |
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