/*
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* cv_capi_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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* Author: Zong Wei <wei.zong@intel.com>
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*/
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#include "cv_capi_feature_match.h"
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#define XCAM_CV_CAPI_FM_DEBUG 0
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#if XCAM_CV_CAPI_FM_DEBUG
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#include "ocl/cv_base_class.h"
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#endif
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namespace XCam {
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#if XCAM_CV_CAPI_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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#endif
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CVCapiFeatureMatch::CVCapiFeatureMatch ()
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: FeatureMatch()
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{
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}
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bool
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CVCapiFeatureMatch::get_crop_image (
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const SmartPtr<VideoBuffer> &buffer, const Rect &crop_rect, std::vector<char> &crop_image, CvMat &img)
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{
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VideoBufferInfo info = buffer->get_video_info ();
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uint8_t* image_buffer = buffer->map();
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int offset = info.strides[NV12PlaneYIdx] * crop_rect.pos_y + crop_rect.pos_x;
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crop_image.resize (crop_rect.width * crop_rect.height);
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for (int i = 0; i < crop_rect.height; i++) {
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for (int j = 0; j < crop_rect.width; j++) {
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crop_image[i * crop_rect.width + j] =
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image_buffer[offset + i * info.strides[NV12PlaneYIdx] + j];
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}
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}
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img = cvMat (crop_rect.height, crop_rect.width, CV_8UC1, (void*)&crop_image[0]);
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return true;
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}
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void
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CVCapiFeatureMatch::add_detected_data (
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CvArr* image, std::vector<CvPoint2D32f> &corners)
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{
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std::vector<CvPoint2D32f> keypoints;
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int found_num = 300;
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double quality = 0.01;
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double min_dist = 5;
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corners.resize (found_num);
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CvPoint2D32f* corner_points = &corners[0];
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cvGoodFeaturesToTrack (image, NULL, NULL, corner_points, &found_num, quality, min_dist);
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XCAM_ASSERT (found_num <= 300);
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#if XCAM_CV_CAPI_FM_DEBUG
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XCAM_LOG_INFO ("FeatureMatch(idx:%d): detected corners:%d, reserved size:%d", _fm_idx, found_num, (int)corners.size ());
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#endif
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if (found_num < (int)corners.size ())
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corners.resize (found_num);
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}
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void
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CVCapiFeatureMatch::get_valid_offsets (
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std::vector<CvPoint2D32f> &corner0, std::vector<CvPoint2D32f> &corner1,
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std::vector<char> &status, std::vector<float> &error,
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std::vector<float> &offsets, float &sum, int &count,
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CvArr* image, CvSize &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_CAPI_FM_DEBUG
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cv::Mat mat = cv::cvarrToMat (image);
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cv::Point start = cv::Point (corner0[i].x, corner0[i].y);
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cv::circle (mat, start, 2, cv::Scalar(255), 2);
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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_CAPI_FM_DEBUG
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cv::line (mat, start, cv::Point(corner1[i].x + img0_size.width, corner1[i].y), cv::Scalar(255), 2);
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#else
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XCAM_UNUSED (image);
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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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CVCapiFeatureMatch::calc_of_match (
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CvArr* image0, CvArr* image1,
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std::vector<CvPoint2D32f> &corner0, std::vector<CvPoint2D32f> &corner1,
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std::vector<char> &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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CvMat debug_image;
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CvSize img0_size = cvSize(((CvMat*)image0)->width, ((CvMat*)image0)->height);
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XCAM_ASSERT (img0_size.height == ((CvMat*)image1)->height);
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XCAM_UNUSED (image1);
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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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#if XCAM_CV_CAPI_FM_DEBUG
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CvSize img1_size = cvSize(((CvMat*)image1)->width, ((CvMat*)image1)->height);
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cv::Mat mat;
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mat.create (img0_size.height, img0_size.width + img1_size.width, ((CvMat*)image0)->type);
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debug_image = cvMat (img0_size.height, img0_size.width + img1_size.width, ((CvMat*)image0)->type, mat.ptr());
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cv::cvarrToMat(image0, true).copyTo (mat (cv::Rect(0, 0, img0_size.width, img0_size.height)));
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cv::cvarrToMat(image1, true).copyTo (mat (cv::Rect(img0_size.width, 0, img1_size.width, img1_size.height)));
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#endif
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get_valid_offsets (corner0, corner1, status, error,
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offsets, offset_sum, count, &debug_image, img0_size);
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#if XCAM_CV_CAPI_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] = {'\0'};
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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, mat);
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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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CVCapiFeatureMatch::detect_and_match (
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CvArr* img_left, CvArr* 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<char> status;
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std::vector<CvPoint2D32f> corner_left, corner_right;
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CvSize win_size = cvSize (41, 41);
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add_detected_data (img_left, corner_left);
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int count = corner_left.size ();
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if (corner_left.empty ()) {
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return;
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}
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// find the corresponding points in img_right
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corner_right.resize (count);
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status.resize (count);
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err.resize (count);
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CvPoint2D32f* corner_points1 = &corner_left[0];
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CvPoint2D32f* corner_points2 = &corner_right[0];
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char* optflow_status = &status[0];
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float* optflow_errs = &err[0];
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cvCalcOpticalFlowPyrLK (
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img_left, img_right, 0, 0, corner_points1, corner_points2, count, win_size, 3,
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optflow_status, optflow_errs, cvTermCriteria(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 10, 0.01f), 0);
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#if XCAM_CV_CAPI_FM_DEBUG
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XCAM_LOG_INFO ("FeatureMatch(idx:%d): matched corners:%d", _fm_idx, count);
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#endif
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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_CAPI_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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CVCapiFeatureMatch::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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CvMat left_img, right_img;
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if (!get_crop_image (left_buf, left_crop_rect, _left_crop_image, left_img)
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|| !get_crop_image (right_buf, right_crop_rect, _right_crop_image, right_img))
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return;
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detect_and_match ((CvArr*)(&left_img), (CvArr*)(&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_CAPI_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_CAPI_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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