/*
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* 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 "feature_match.h"
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#define XCAM_FM_DEBUG 0
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namespace XCam {
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FeatureMatch::FeatureMatch ()
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: _x_offset (0.0f)
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, _mean_offset (0.0f)
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, _valid_count (0)
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, _fm_idx (-1)
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, _frame_num (0)
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{
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}
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void
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FeatureMatch::set_config (CVFMConfig config)
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{
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_config = config;
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}
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CVFMConfig
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FeatureMatch::get_config ()
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{
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return _config;
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}
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void
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FeatureMatch::set_fm_index (int idx)
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{
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_fm_idx = idx;
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}
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void
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FeatureMatch::reset_offsets ()
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{
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_x_offset = 0.0f;
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_mean_offset = 0.0f;
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}
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bool
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FeatureMatch::get_mean_offset (std::vector<float> &offsets, float sum, int &count, float &mean_offset)
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{
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if (count < _config.min_corners)
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return false;
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mean_offset = sum / count;
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#if XCAM_FM_DEBUG
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XCAM_LOG_INFO (
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"FeatureMatch(idx:%d): X-axis mean offset:%.2f, pre_mean_offset:%.2f (%d times, count:%d)",
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_fm_idx, mean_offset, 0.0f, 0, count);
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#endif
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bool ret = true;
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float delta = 20.0f;//mean_offset;
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float pre_mean_offset = mean_offset;
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for (int try_times = 1; try_times < 4; ++try_times) {
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int recur_count = 0;
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sum = 0.0f;
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for (size_t i = 0; i < offsets.size (); ++i) {
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if (fabs (offsets[i] - mean_offset) >= _config.recur_offset_error)
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continue;
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sum += offsets[i];
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++recur_count;
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}
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if (recur_count < _config.min_corners) {
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ret = false;
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break;
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}
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mean_offset = sum / recur_count;
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#if XCAM_FM_DEBUG
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XCAM_LOG_INFO (
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"FeatureMatch(idx:%d): X-axis mean_offset:%.2f, pre_mean_offset:%.2f (%d times, count:%d)",
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_fm_idx, mean_offset, pre_mean_offset, try_times, recur_count);
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#endif
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if (mean_offset == pre_mean_offset && recur_count == count)
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return true;
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if (fabs (mean_offset - pre_mean_offset) > fabs (delta) * 1.2f) {
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ret = false;
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break;
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}
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delta = mean_offset - pre_mean_offset;
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pre_mean_offset = mean_offset;
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count = recur_count;
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}
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return ret;
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}
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void
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FeatureMatch::adjust_stitch_area (int dst_width, float &x_offset, Rect &stitch0, Rect &stitch1)
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{
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if (fabs (x_offset) < 5.0f)
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return;
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int last_overlap_width = stitch1.pos_x + stitch1.width + (dst_width - (stitch0.pos_x + stitch0.width));
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// int final_overlap_width = stitch1.pos_x + stitch1.width + (dst_width - (stitch0.pos_x - x_offset + stitch0.width));
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if ((stitch0.pos_x - x_offset + stitch0.width) > dst_width)
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x_offset = dst_width - (stitch0.pos_x + stitch0.width);
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int final_overlap_width = last_overlap_width + x_offset;
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final_overlap_width = XCAM_ALIGN_AROUND (final_overlap_width, 8);
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XCAM_ASSERT (final_overlap_width >= _config.sitch_min_width);
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int center = final_overlap_width / 2;
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XCAM_ASSERT (center >= _config.sitch_min_width / 2);
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stitch1.pos_x = XCAM_ALIGN_AROUND (center - _config.sitch_min_width / 2, 8);
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stitch1.width = _config.sitch_min_width;
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stitch0.pos_x = dst_width - final_overlap_width + stitch1.pos_x;
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stitch0.width = _config.sitch_min_width;
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float delta_offset = final_overlap_width - last_overlap_width;
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x_offset -= delta_offset;
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}
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}
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