/*
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* cv_feature_match.cpp - optical flow feature match
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*
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* Copyright (c) 2016-2017 Intel Corporation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Author: Wind Yuan <feng.yuan@intel.com>
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* Author: Yinhang Liu <yinhangx.liu@intel.com>
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*/
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#include "cv_feature_match.h"
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#include "xcam_obj_debug.h"
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#include "image_file_handle.h"
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#include "cl_utils.h"
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#define XCAM_CV_FM_DEBUG 0
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#define XCAM_CV_OF_DRAW_SCALE 2
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namespace XCam {
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#if XCAM_CV_FM_DEBUG
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static void debug_write_image (
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const SmartPtr<VideoBuffer> &buf, const Rect &rect, char *img_name, char *frame_str, char *fm_idx_str);
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#endif
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CVFeatureMatch::CVFeatureMatch ()
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: CVBaseClass ()
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, FeatureMatch ()
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{
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XCAM_ASSERT (_cv_context.ptr ());
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}
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bool
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CVFeatureMatch::get_crop_image (
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const SmartPtr<VideoBuffer> &buffer, const Rect &crop_rect, cv::UMat &img)
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{
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SmartPtr<CLBuffer> cl_buffer = convert_to_clbuffer (_cv_context->get_cl_context (), buffer);
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VideoBufferInfo info = buffer->get_video_info ();
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cl_mem cl_mem_id = cl_buffer->get_mem_id ();
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cv::UMat umat;
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cv::ocl::convertFromBuffer (cl_mem_id, info.strides[0], info.height, info.width, CV_8U, umat);
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if (umat.empty ()) {
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XCAM_LOG_ERROR ("FeatureMatch(idx:%d): convert bo buffer to UMat failed", _fm_idx);
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return false;
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}
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img = umat (cv::Rect(crop_rect.pos_x, crop_rect.pos_y, crop_rect.width, crop_rect.height));
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return true;
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}
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void
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CVFeatureMatch::add_detected_data (
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cv::InputArray image, cv::Ptr<cv::Feature2D> detector, std::vector<cv::Point2f> &corners)
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{
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std::vector<cv::KeyPoint> keypoints;
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detector->detect (image, keypoints);
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corners.reserve (corners.size () + keypoints.size ());
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for (size_t i = 0; i < keypoints.size (); ++i) {
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cv::KeyPoint &kp = keypoints[i];
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corners.push_back (kp.pt);
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}
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}
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void
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CVFeatureMatch::get_valid_offsets (
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std::vector<cv::Point2f> &corner0, std::vector<cv::Point2f> &corner1,
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std::vector<uchar> &status, std::vector<float> &error,
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std::vector<float> &offsets, float &sum, int &count,
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cv::InputOutputArray debug_img, cv::Size &img0_size)
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{
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count = 0;
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sum = 0.0f;
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for (uint32_t i = 0; i < status.size (); ++i) {
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if (!status[i])
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continue;
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#if XCAM_CV_FM_DEBUG
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cv::Point start = cv::Point(corner0[i]) * XCAM_CV_OF_DRAW_SCALE;
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cv::circle (debug_img, start, 4, cv::Scalar(255), XCAM_CV_OF_DRAW_SCALE);
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#endif
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if (error[i] > _config.max_track_error)
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continue;
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if (fabs(corner0[i].y - corner1[i].y) >= _config.max_valid_offset_y)
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continue;
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if (corner1[i].x < 0.0f || corner1[i].x > img0_size.width)
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continue;
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float offset = corner1[i].x - corner0[i].x;
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sum += offset;
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++count;
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offsets.push_back (offset);
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#if XCAM_CV_FM_DEBUG
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cv::Point end = (cv::Point(corner1[i]) + cv::Point (img0_size.width, 0)) * XCAM_CV_OF_DRAW_SCALE;
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cv::line (debug_img, start, end, cv::Scalar(255), XCAM_CV_OF_DRAW_SCALE);
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#else
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XCAM_UNUSED (debug_img);
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XCAM_UNUSED (img0_size);
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#endif
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}
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}
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void
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CVFeatureMatch::calc_of_match (
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cv::InputArray image0, cv::InputArray image1,
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std::vector<cv::Point2f> &corner0, std::vector<cv::Point2f> &corner1,
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std::vector<uchar> &status, std::vector<float> &error,
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int &last_count, float &last_mean_offset, float &out_x_offset)
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{
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cv::_InputOutputArray debug_img;
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cv::Size img0_size = image0.size ();
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XCAM_ASSERT (img0_size.height == image1.rows ());
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XCAM_UNUSED (image1);
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#if XCAM_CV_FM_DEBUG
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cv::Mat mat;
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cv::UMat umat;
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cv::Size img1_size = image1.size ();
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cv::Size size (img0_size.width + img1_size.width, img0_size.height);
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if (image0.isUMat ()) {
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umat.create (size, image0.type ());
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debug_img = cv::_InputOutputArray (umat);
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image0.copyTo (umat (cv::Rect(0, 0, img0_size.width, img0_size.height)));
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image1.copyTo (umat (cv::Rect(img0_size.width, 0, img1_size.width, img1_size.height)));
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umat.copyTo (debug_img);
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} else {
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mat.create (size, image0.type ());
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debug_img = cv::_InputOutputArray (mat);
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image0.copyTo (mat (cv::Rect(0, 0, img0_size.width, img0_size.height)));
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image1.copyTo (mat (cv::Rect(img0_size.width, 0, img1_size.width, img1_size.height)));
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mat.copyTo (debug_img);
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}
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cv::Size scale_size = size * XCAM_CV_OF_DRAW_SCALE;
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cv::resize (debug_img, debug_img, scale_size, 0, 0);
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#endif
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std::vector<float> offsets;
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float offset_sum = 0.0f;
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int count = 0;
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float mean_offset = 0.0f;
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offsets.reserve (corner0.size ());
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get_valid_offsets (corner0, corner1, status, error,
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offsets, offset_sum, count, debug_img, img0_size);
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#if XCAM_CV_FM_DEBUG
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XCAM_LOG_INFO ("FeatureMatch(idx:%d): valid offsets:%d", _fm_idx, offsets.size ());
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char file_name[256];
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std::snprintf (file_name, 256, "fm_optical_flow_%d_%d.jpg", _frame_num, _fm_idx);
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cv::imwrite (file_name, debug_img);
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#endif
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bool ret = get_mean_offset (offsets, offset_sum, count, mean_offset);
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if (ret) {
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if (fabs (mean_offset - last_mean_offset) < _config.delta_mean_offset) {
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out_x_offset = out_x_offset * _config.offset_factor + mean_offset * (1.0f - _config.offset_factor);
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if (fabs (out_x_offset) > _config.max_adjusted_offset)
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out_x_offset = (out_x_offset > 0.0f) ? _config.max_adjusted_offset : (-_config.max_adjusted_offset);
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}
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}
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last_count = count;
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last_mean_offset = mean_offset;
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}
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void
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CVFeatureMatch::detect_and_match (
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cv::InputArray img_left, cv::InputArray img_right, Rect &crop_left, Rect &crop_right,
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int &valid_count, float &mean_offset, float &x_offset, int dst_width)
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{
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std::vector<float> err;
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std::vector<uchar> status;
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std::vector<cv::Point2f> corner_left, corner_right;
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cv::Ptr<cv::Feature2D> fast_detector;
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cv::Size win_size = cv::Size (5, 5);
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if (img_left.isUMat ())
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win_size = cv::Size (16, 16);
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fast_detector = cv::FastFeatureDetector::create (20, true);
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add_detected_data (img_left, fast_detector, corner_left);
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if (corner_left.empty ()) {
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return;
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}
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cv::calcOpticalFlowPyrLK (
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img_left, img_right, corner_left, corner_right, status, err, win_size, 3,
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cv::TermCriteria (cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 10, 0.01f));
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cv::ocl::finish();
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calc_of_match (img_left, img_right, corner_left, corner_right,
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status, err, valid_count, mean_offset, x_offset);
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adjust_stitch_area (dst_width, x_offset, crop_left, crop_right);
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#if XCAM_CV_FM_DEBUG
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XCAM_LOG_INFO (
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"FeatureMatch(idx:%d): stiching area: left_area(pos_x:%d, width:%d), right_area(pos_x:%d, width:%d)",
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_fm_idx, crop_left.pos_x, crop_left.width, crop_right.pos_x, crop_right.width);
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#endif
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}
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void
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CVFeatureMatch::optical_flow_feature_match (
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const SmartPtr<VideoBuffer> &left_buf, const SmartPtr<VideoBuffer> &right_buf,
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Rect &left_crop_rect, Rect &right_crop_rect, int dst_width)
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{
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cv::UMat left_umat, right_umat;
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cv::Mat left_mat, right_mat;
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cv::_InputArray left_img, right_img;
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if (!get_crop_image (left_buf, left_crop_rect, left_umat)
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|| !get_crop_image (right_buf, right_crop_rect, right_umat))
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return;
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if (_use_ocl) {
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left_img = cv::_InputArray (left_umat);
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right_img = cv::_InputArray (right_umat);
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} else {
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left_mat = left_umat.getMat (cv::ACCESS_READ);
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right_mat = right_umat.getMat (cv::ACCESS_READ);
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left_img = cv::_InputArray (left_mat);
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right_img = cv::_InputArray (right_mat);
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}
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detect_and_match (left_img, right_img, left_crop_rect, right_crop_rect,
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_valid_count, _mean_offset, _x_offset, dst_width);
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#if XCAM_CV_FM_DEBUG
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XCAM_ASSERT (_fm_idx >= 0);
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char frame_str[64] = {'\0'};
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std::snprintf (frame_str, 64, "frame:%d", _frame_num);
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char fm_idx_str[64] = {'\0'};
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std::snprintf (fm_idx_str, 64, "fm_idx:%d", _fm_idx);
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char img_name[256] = {'\0'};
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std::snprintf (img_name, 256, "fm_in_stitch_area_%d_%d_0.jpg", _frame_num, _fm_idx);
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debug_write_image (left_buf, left_crop_rect, img_name, frame_str, fm_idx_str);
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std::snprintf (img_name, 256, "fm_in_stitch_area_%d_%d_1.jpg", _frame_num, _fm_idx);
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debug_write_image (right_buf, right_crop_rect, img_name, frame_str, fm_idx_str);
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XCAM_LOG_INFO ("FeatureMatch(idx:%d): frame number:%d done", _fm_idx, _frame_num);
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_frame_num++;
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#endif
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}
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#if XCAM_CV_FM_DEBUG
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static void
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debug_write_image (
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const SmartPtr<VideoBuffer> &buf, const Rect &rect, char *img_name, char *frame_str, char *fm_idx_str)
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{
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cv::Scalar color = cv::Scalar(0, 0, 255);
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VideoBufferInfo info = buf->get_video_info ();
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cv::Mat mat;
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CVBaseClass cv_obj;
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cv_obj.convert_to_mat (buf, mat);
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cv::putText (mat, frame_str, cv::Point(rect.pos_x, 30), cv::FONT_HERSHEY_COMPLEX, 0.8f, color, 2, 8, false);
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cv::putText (mat, fm_idx_str, cv::Point(rect.pos_x, 70), cv::FONT_HERSHEY_COMPLEX, 0.8f, color, 2, 8, false);
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cv::line (mat, cv::Point(rect.pos_x, rect.pos_y), cv::Point(rect.pos_x + rect.width, rect.pos_y), color, 1);
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cv::line (mat, cv::Point(rect.pos_x, rect.pos_y + rect.height),
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cv::Point(rect.pos_x + rect.width, rect.pos_y + rect.height), color, 1);
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cv::line (mat, cv::Point(rect.pos_x, 0), cv::Point(rect.pos_x, info.height), color, 2);
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cv::line (mat, cv::Point(rect.pos_x + rect.width, 0), cv::Point(rect.pos_x + rect.width, info.height), color, 2);
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cv::imwrite (img_name, mat);
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}
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#endif
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}
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