/*M/////////////////////////////////////////////////////////////////////////////////////// // // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. // // By downloading, copying, installing or using the software you agree to this license. // If you do not agree to this license, do not download, install, // copy or use the software. // // // Intel License Agreement // For Open Source Computer Vision Library // // Copyright (C) 2000, Intel Corporation, all rights reserved. // Third party copyrights are property of their respective owners. // // Redistribution and use in source and binary forms, with or without modification, // are permitted provided that the following conditions are met: // // * Redistribution's of source code must retain the above copyright notice, // this list of conditions and the following disclaimer. // // * Redistribution's in binary form must reproduce the above copyright notice, // this list of conditions and the following disclaimer in the documentation // and/or other materials provided with the distribution. // // * The name of Intel Corporation may not be used to endorse or promote products // derived from this software without specific prior written permission. // // This software is provided by the copyright holders and contributors "as is" and // any express or implied warranties, including, but not limited to, the implied // warranties of merchantability and fitness for a particular purpose are disclaimed. // In no event shall the Intel Corporation or contributors be liable for any direct, // indirect, incidental, special, exemplary, or consequential damages // (including, but not limited to, procurement of substitute goods or services; // loss of use, data, or profits; or business interruption) however caused // and on any theory of liability, whether in contract, strict liability, // or tort (including negligence or otherwise) arising in any way out of // the use of this software, even if advised of the possibility of such damage. // //M*/ #include "_cvaux.h" #include 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__; }