1 /* 2 * Copyright (C) 2011 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17 /////////////////////////////////////////////////// 18 // Align.h 19 // S.O. # : 20 // Author(s): zkira 21 // $Id: AlignFeatures.h,v 1.13 2011/06/17 13:35:47 mbansal Exp $ 22 23 #ifndef ALIGN_H 24 #define ALIGN_H 25 26 #include "dbreg/dbreg.h" 27 #include <db_utilities_camera.h> 28 29 #include "ImageUtils.h" 30 #include "MatrixUtils.h" 31 32 class Align { 33 34 public: 35 // Types of alignment possible 36 static const int ALIGN_TYPE_PAN = 1; 37 38 // Return codes 39 static const int ALIGN_RET_LOW_TEXTURE = -2; 40 static const int ALIGN_RET_ERROR = -1; 41 static const int ALIGN_RET_OK = 0; 42 static const int ALIGN_RET_FEW_INLIERS = 1; 43 44 ///// Settings for feature-based alignment 45 // Number of features to use from corner detection 46 static const int DEFAULT_NR_CORNERS=750; 47 static const double DEFAULT_MAX_DISPARITY=0.1;//0.4; 48 // Type of homography to model 49 static const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_R_T; 50 // static const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_PROJECTIVE; 51 // static const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_AFFINE; 52 static const unsigned int DEFAULT_REFERENCE_UPDATE_PERIOD=1500; // Manual reference frame update so set this to a large number 53 54 static const int MIN_NR_REF_CORNERS = 25; 55 static const int MIN_NR_INLIERS = 10; 56 57 Align(); 58 ~Align(); 59 60 // Initialization of structures, etc. 61 int initialize(int width, int height, bool quarter_res, float thresh_still); 62 63 // Add a frame. Note: The alignment computation is performed 64 // in this function 65 int addFrameRGB(ImageType image); 66 int addFrame(ImageType image); 67 68 // Obtain the TRS matrix from the last two frames 69 int getLastTRS(double trs[3][3]); 70 char* getRegProfileString(); 71 72 protected: 73 74 db_FrameToReferenceRegistration reg; 75 76 int frame_number; 77 78 double Hcurr[9]; // Homography from the alignment reference to the frame-t 79 double Hprev[9]; // Homography from frame-0 to the frame-(t-1) 80 81 int reference_frame_index; // Index of the reference frame from all captured frames 82 int num_frames_captured; // Total number of frames captured (different from frame_number) 83 double average_tx_per_frame; // Average pixel translation per captured frame 84 85 int width,height; 86 87 bool quarter_res; // Whether to process at quarter resolution 88 float thresh_still; // Translation threshold in pixels to detect still camera 89 ImageType imageGray; 90 }; 91 92 93 #endif 94