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org.bytedeco.javacpp.cvkernels.h Maven / Gradle / Ivy
/*
* Copyright (C) 2009-2012 Samuel Audet
*
* Licensed either under the Apache License, Version 2.0, or (at your option)
* under the terms of the GNU General Public License as published by
* the Free Software Foundation (subject to the "Classpath" exception),
* either version 2, or any later version (collectively, the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
* http://www.gnu.org/licenses/
* http://www.gnu.org/software/classpath/license.html
*
* or as provided in the LICENSE.txt file that accompanied this code.
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/**
*
* @author Samuel Audet
*
* OpenCL implementation also available in the ImageTransformer.cl file.
*
*/
#ifndef __JAVACV_CVKERNELS_H__
#define __JAVACV_CVKERNELS_H__
struct KernelData {
// input
IplImage *srcImg, *srcImg2, *subImg, *srcDotImg, *mask;
double zeroThreshold, outlierThreshold;
CvMat *H1, *H2, *X;
// output
IplImage *transImg, *dstImg;
int dstCount, dstCountZero, dstCountOutlier;
double srcDstDot, *dstDstDot;
};
#define PTYPE float
#define multiWarpColorTransform multiWarpColorTransform32F
#include "cvkernels.h"
#undef multiWarpColorTransform
#undef PTYPE
#define PTYPE unsigned char
#define multiWarpColorTransform multiWarpColorTransform8U
#include "cvkernels.h"
#undef multiWarpColorTransform
#undef PTYPE
#elif defined PTYPE //__JAVACV_CVKERNELS_H__
// transImg = warp(srcImg, H1) * (X*warp(srcImg2, H2))
// dstImg = transImg - subImg
// srcDstDot = dstImg · srcDotImg
// data[i].dstDstDot[j] = dstImg[i] · dstImg[j]
static inline void multiWarpColorTransform(KernelData data[], int size, CvRect* roi, CvScalar* fillColor) {
assert (size <= MAX_SIZE);
int srcStep [MAX_SIZE], srcWidth [MAX_SIZE], srcHeight [MAX_SIZE],
srcStep2[MAX_SIZE], srcWidth2[MAX_SIZE], srcHeight2[MAX_SIZE];
PTYPE *srcPixels[MAX_SIZE], *srcPixels2[MAX_SIZE], *transPixels [MAX_SIZE],
*subPixels[MAX_SIZE], *dstPixels [MAX_SIZE], *srcDotPixels[MAX_SIZE];
unsigned char* maskBytes[MAX_SIZE];
double zeroThreshold2[MAX_SIZE], outlierThreshold2[MAX_SIZE];
float h[MAX_SIZE][9], g[MAX_SIZE][9], Xa[MAX_SIZE][16];
IplImage* modelImage = NULL, *modelMask = NULL;
int i, j, allSrcEqual = 1;
for (i = 0; i < size; i++) {
srcStep [i] = data[i].srcImg->widthStep/sizeof(PTYPE);
srcWidth [i] = data[i].srcImg->width;
srcHeight[i] = data[i].srcImg->height;
if (data[i].srcImg2 != NULL) {
srcStep2 [i] = data[i].srcImg2->widthStep/sizeof(PTYPE);
srcWidth2 [i] = data[i].srcImg2->width;
srcHeight2[i] = data[i].srcImg2->height;
}
srcPixels [i] = (PTYPE*)data[i].srcImg ->imageData;
srcPixels2 [i] = data[i].srcImg2 == NULL ? NULL : (PTYPE*)data[i].srcImg2 ->imageData;
transPixels [i] = data[i].transImg == NULL ? NULL : (PTYPE*)data[i].transImg ->imageData;
subPixels [i] = data[i].subImg == NULL ? NULL : (PTYPE*)data[i].subImg ->imageData;
dstPixels [i] = data[i].dstImg == NULL ? NULL : (PTYPE*)data[i].dstImg ->imageData;
srcDotPixels[i] = data[i].srcDotImg == NULL ? NULL : (PTYPE*)data[i].srcDotImg->imageData;
maskBytes [i] = data[i].mask == NULL ? NULL : (unsigned char*)data[i].mask->imageData;
zeroThreshold2 [i] = data[i].zeroThreshold *data[i].zeroThreshold;
outlierThreshold2[i] = data[i].outlierThreshold*data[i].outlierThreshold;
if (i > 0 && (data[i].srcImg != data[i-1].srcImg || data[i].srcImg2 != data[i-1].srcImg2 ||
data[i].subImg != data[i-1].subImg || data[i].srcDotImg != data[i-1].srcDotImg ||
data[i].mask != data[i-1].mask || zeroThreshold2[i] != zeroThreshold2[i-1] ||
outlierThreshold2[i] != outlierThreshold2[i-1])) {
allSrcEqual = 0;
}
data[i].dstCount = 0;
data[i].dstCountZero = 0;
data[i].dstCountOutlier = 0;
data[i].srcDstDot = 0;
if (data[i].dstDstDot != NULL) {
for (j = 0; j < size; j++) {
data[i].dstDstDot[j] = 0;
}
}
for (j = 0; j < 9; j++) {
h[i][j] = (float)data[i].H1->data.db[j];
}
if (data[i].H2 != NULL) {
for (j = 0; j < 9; j++) {
g[i][j] = (float)data[i].H2->data.db[j];
}
}
if (data[i].X != NULL) {
for (j = 0; j < 16; j++) {
Xa[i][j] = (float)data[i].X->data.db[j];
}
} else {
// identity matrix
for (j = 0; j < 16; j++) {
Xa[i][j] = j%4 == j/4 ? 1 : 0;
}
}
if (data[i].transImg != NULL) {
modelImage = data[i].transImg;
} else if (data[i].dstImg != NULL) {
modelImage = data[i].dstImg;
} else if (data[i].subImg != NULL) {
modelImage = data[i].subImg;
} else if (data[i].srcDotImg != NULL) {
modelImage = data[i].srcDotImg;
}
if (data[i].mask != NULL) {
modelMask = data[i].mask;
}
}
int startx = 0;
int starty = 0;
int step = modelImage->widthStep/sizeof(PTYPE);
int channels = modelImage->nChannels;
int colors = channels > 3 ? 3 : channels; // ignore alpha channel
int endx = modelImage->width;
int endy = modelImage->height;
int maskStep = modelMask == NULL ? 0 : modelMask->widthStep;
if (roi != NULL) {
startx = roi->x;
starty = roi->y;
endx = startx + roi->width;
endy = starty + roi->height;
}
PTYPE fill[4] = { 0 };
if (fillColor != NULL) {
fill[0] = (PTYPE)fillColor->val[0];
fill[1] = (PTYPE)fillColor->val[1];
fill[2] = (PTYPE)fillColor->val[2];
fill[3] = (PTYPE)fillColor->val[3];
}
int x, y, z;
int line = starty*step;
int maskLine = starty*maskStep;
for (y = starty; y < endy; y++, line += step, maskLine += maskStep) {
int pixel = line + startx*channels;
float h3[MAX_SIZE], h1[MAX_SIZE], h2[MAX_SIZE], g3[MAX_SIZE], g1[MAX_SIZE], g2[MAX_SIZE];
for (i = 0; i < size; i++) {
h3[i] = startx*h[i][6] + y*h[i][7] + h[i][8];
h1[i] = startx*h[i][0] + y*h[i][1] + h[i][2];
h2[i] = startx*h[i][3] + y*h[i][4] + h[i][5];
g3[i] = startx*g[i][6] + y*g[i][7] + g[i][8];
g1[i] = startx*g[i][0] + y*g[i][1] + g[i][2];
g2[i] = startx*g[i][3] + y*g[i][4] + g[i][5];
}
for (x = startx; x < endx; x++, pixel += channels) {
if (x > startx) {
for (i = 0; i < size; i++) {
h3[i] += h[i][6];
h1[i] += h[i][0];
h2[i] += h[i][3];
g3[i] += g[i][6];
g1[i] += g[i][0];
g2[i] += g[i][3];
}
}
if (allSrcEqual) {
if (maskBytes[0] != NULL && maskBytes[0][maskLine + x] == 0) {
continue;
} else if (srcDotPixels[0] != NULL) {
double d, magnitude2 = 0;
switch (colors) {
//case 4: d = srcDotPixels[0][pixel+3]; magnitude2 += d*d;
case 3: d = srcDotPixels[0][pixel+2]; magnitude2 += d*d;
case 2: d = srcDotPixels[0][pixel+1]; magnitude2 += d*d;
case 1: d = srcDotPixels[0][pixel+0]; magnitude2 += d*d; break;
default: assert (0);
}
if (magnitude2 < zeroThreshold2[0]) {
for (i = 0; i < size; i++) {
data[i].dstCount++;
data[i].dstCountZero++;
}
continue;
} else if (outlierThreshold2[0] > 0 &&
magnitude2 > outlierThreshold2[0]) {
for (i = 0; i < size; i++) {
data[i].dstCount++;
data[i].dstCountOutlier++;
}
continue;
}
}
}
float dst[MAX_SIZE][4];
for (i = 0; i < size; i++) {
if (!allSrcEqual) {
if (maskBytes[i] != NULL && maskBytes[i][maskLine + x] == 0) {
continue;
} else if (srcDotPixels[i] != NULL) {
double d, magnitude2 = 0;
switch (colors) {
//case 4: d = srcDotPixels[i][pixel+3]; magnitude2 += d*d;
case 3: d = srcDotPixels[i][pixel+2]; magnitude2 += d*d;
case 2: d = srcDotPixels[i][pixel+1]; magnitude2 += d*d;
case 1: d = srcDotPixels[i][pixel+0]; magnitude2 += d*d; break;
default: assert (0);
}
if (magnitude2 < zeroThreshold2[i]) {
dst[i][0] = dst[i][1] = dst[i][2] = dst[i][3] = 0;
data[i].dstCount++;
data[i].dstCountZero++;
continue;
} else if (outlierThreshold2[i] > 0 &&
magnitude2 > outlierThreshold2[i]) {
dst[i][0] = dst[i][1] = dst[i][2] = dst[i][3] = 0;
data[i].dstCount++;
data[i].dstCountOutlier++;
continue;
}
}
}
data[i].dstCount++;
float w2 = 1/h3[i];
float x2 = h1[i]*w2;
float y2 = h2[i]*w2;
int xi2 = cvFloor(x2);
int yi2 = cvFloor(y2);
PTYPE src[4] = { fill[0], fill[1], fill[2], fill[3] };
PTYPE *src00 = fill;
PTYPE *src10 = fill;
PTYPE *src01 = fill;
PTYPE *src11 = fill;
int inside = 0;
if (xi2 >= 0 && xi2 < srcWidth[i]-1 && yi2 >= 0 && yi2 < srcHeight[i]-1) {
inside = 1;
src00 = srcPixels[i] + yi2*srcStep[i] + xi2*channels;
src10 = src00 + channels;
src01 = src00 + srcStep[i];
src11 = src00 + srcStep[i] + channels;
} else if (xi2 >= -1 && xi2 < srcWidth[i] && yi2 >= -1 && yi2 < srcHeight[i]) {
inside = 1;
if (xi2 >= 0 && yi2 >= 0) {
src00 = srcPixels[i] + yi2*srcStep[i] + xi2*channels;
}
if (xi2 < srcWidth[i]-1 && yi2 >= 0) {
src10 = srcPixels[i] + yi2*srcStep[i] + (xi2+1)*channels;
}
if (xi2 >= 0 && yi2 < srcHeight[i]-1) {
src01 = srcPixels[i] + (yi2+1)*srcStep[i] + xi2*channels;
}
if (xi2 < srcWidth[i]-1 && yi2 < srcHeight[i]-1) {
src11 = srcPixels[i] + (yi2+1)*srcStep[i] + (xi2+1)*channels;
}
}
if (inside) {
float xn = x2 - xi2;
float yn = y2 - yi2;
for (z = 0; z < colors; z++) {
float f00 = src00[z];
float f10 = src10[z];
float f01 = src01[z];
float f11 = src11[z];
float f0 = f00*(1-xn) + f10*xn;
float f1 = f01*(1-xn) + f11*xn;
src[z] = f0*(1-yn) + f1*yn;
}
}
switch (colors) {
//case 4: dst[i][3] = Xa[i][12]*src[0] + Xa[i][13]*src[1] + Xa[i][14]*src[2] + Xa[i][15]*src[3];
case 3: dst[i][2] = Xa[i][8 ]*src[0] + Xa[i][9 ]*src[1] + Xa[i][10]*src[2] + Xa[i][11]*src[3];
case 2: dst[i][1] = Xa[i][4 ]*src[0] + Xa[i][5 ]*src[1] + Xa[i][6 ]*src[2] + Xa[i][7 ]*src[3];
case 1: dst[i][0] = Xa[i][0 ]*src[0] + Xa[i][1 ]*src[1] + Xa[i][2 ]*src[2] + Xa[i][3 ]*src[3]; break;
default: assert (0);
}
if (srcPixels2[i] != NULL) {
float w3 = 1/g3[i];
float x3 = g1[i]*w3;
float y3 = g2[i]*w3;
int xi3 = cvFloor(x3);
int yi3 = cvFloor(y3);
src00 = fill;
src10 = fill;
src01 = fill;
src11 = fill;
inside = 0;
if (xi3 >= 0 && xi3 < srcWidth2[i]-1 && yi3 >= 0 && yi3 < srcHeight2[i]-1) {
inside = 1;
src00 = srcPixels2[i] + yi3*srcStep2[i] + xi3*channels;
src10 = src00 + channels;
src01 = src00 + srcStep2[i];
src11 = src00 + srcStep2[i] + channels;
} else if (xi3 >= -1 && xi3 < srcWidth2[i] && yi3 >= -1 && yi3 < srcHeight2[i]) {
inside = 1;
if (xi3 >= 0 && yi3 >= 0) {
src00 = srcPixels2[i] + yi3*srcStep2[i] + xi3*channels;
}
if (xi3 < srcWidth2[i]-1 && yi3 >= 0) {
src10 = srcPixels2[i] + yi3*srcStep2[i] + (xi3+1)*channels;
}
if (xi3 >= 0 && yi3 < srcHeight2[i]-1) {
src01 = srcPixels2[i] + (yi3+1)*srcStep2[i] + xi3*channels;
}
if (xi3 < srcWidth2[i]-1 && yi3 < srcHeight2[i]-1) {
src11 = srcPixels2[i] + (yi3+1)*srcStep2[i] + (xi3+1)*channels;
}
}
if (inside) {
float xn = x3 - xi3;
float yn = y3 - yi3;
for (z = 0; z < colors; z++) {
float f00 = src00[z];
float f10 = src10[z];
float f01 = src01[z];
float f11 = src11[z];
float f0 = f00*(1-xn) + f10*xn;
float f1 = f01*(1-xn) + f11*xn;
dst[i][z] *= f0*(1-yn) + f1*yn;
}
} else {
dst[i][0] *= fill[0];
dst[i][1] *= fill[1];
dst[i][2] *= fill[2];
dst[i][3] *= fill[3];
}
}
for (z = 0; z < channels; z++) {
if (transPixels[i] != NULL) {
transPixels[i][pixel+z] = dst[i][z];
}
if (subPixels[i] != NULL && z < colors) {
dst[i][z] -= subPixels[i][pixel+z];
}
if (dstPixels[i] != NULL) {
dstPixels[i][pixel+z] = dst[i][z];
}
if (srcDotPixels[i] != NULL && z < colors) {
data[i].srcDstDot += srcDotPixels[i][pixel+z]*dst[i][z];
}
}
}
switch (colors) {
case 1:
for (i = 0; i < size; i++) {
if (data[i].dstDstDot != NULL) {
for (j = i; j < size; j++) {
data[i].dstDstDot[j] += dst[i][0]*dst[j][0];
}
}
}
break;
case 2:
for (i = 0; i < size; i++) {
if (data[i].dstDstDot != NULL) {
for (j = i; j < size; j++) {
data[i].dstDstDot[j] += dst[i][0]*dst[j][0] + dst[i][1]*dst[j][1];
}
}
}
break;
case 3:
for (i = 0; i < size; i++) {
if (data[i].dstDstDot != NULL) {
for (j = i; j < size; j++) {
data[i].dstDstDot[j] += dst[i][0]*dst[j][0] + dst[i][1]*dst[j][1] +
dst[i][2]*dst[j][2];
}
}
}
break;
// case 4:
// for (i = 0; i < size; i++) {
// if (data[i].dstDstDot != NULL) {
// for (j = i; j < size; j++) {
// data[i].dstDstDot[j] += dst[i][0]*dst[j][0] + dst[i][1]*dst[j][1] +
// dst[i][2]*dst[j][2] + dst[i][3]*dst[j][3];
// }
// }
// }
// break;
default: assert (0);
}
}
}
// fill in other half of Hessian or whatever
for (i = 0; i < size; i++) {
if (data[i].dstDstDot != NULL) {
for (j = 0; j < i; j++) {
data[i].dstDstDot[j] = data[j].dstDstDot[i];
}
}
}
}
#endif //__JAVACV_CVKERNELS_H__
