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