1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // Intel License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000, Intel Corporation, all rights reserved. 14 // Third party copyrights are property of their respective owners. 15 // 16 // Redistribution and use in source and binary forms, with or without modification, 17 // are permitted provided that the following conditions are met: 18 // 19 // * Redistribution's of source code must retain the above copyright notice, 20 // this list of conditions and the following disclaimer. 21 // 22 // * Redistribution's in binary form must reproduce the above copyright notice, 23 // this list of conditions and the following disclaimer in the documentation 24 // and/or other materials provided with the distribution. 25 // 26 // * The name of Intel Corporation may not be used to endorse or promote products 27 // derived from this software without specific prior written permission. 28 // 29 // This software is provided by the copyright holders and contributors "as is" and 30 // any express or implied warranties, including, but not limited to, the implied 31 // warranties of merchantability and fitness for a particular purpose are disclaimed. 32 // In no event shall the Intel Corporation or contributors be liable for any direct, 33 // indirect, incidental, special, exemplary, or consequential damages 34 // (including, but not limited to, procurement of substitute goods or services; 35 // loss of use, data, or profits; or business interruption) however caused 36 // and on any theory of liability, whether in contract, strict liability, 37 // or tort (including negligence or otherwise) arising in any way out of 38 // the use of this software, even if advised of the possibility of such damage. 39 // 40 //M*/ 41 #include "_cvaux.h" 42 #include <assert.h> 43 44 45 static CvStatus 46 icvMorphEpilines8uC3( uchar * first_pix, /* raster epiline from image 1 */ 47 uchar * second_pix, /* raster epiline from image 2 */ 48 uchar * dst_pix, /* raster epiline from dest image */ 49 /* (it's an output parameter) */ 50 float alpha, /* relative position of camera */ 51 int *first, /* first sequence of runs */ 52 int first_runs, /* it's length */ 53 int *second, /* second sequence of runs */ 54 int second_runs, int *first_corr, /* corr data for the 1st seq */ 55 int *second_corr, /* corr data for the 2nd seq */ 56 int dst_len ) 57 { 58 59 float alpha1; /* alpha - 1.0 */ 60 int s, s1; /* integer variant of alpha and alpha1 ( 0 <= s,s1 <= 256 ) */ 61 int curr; /* current index in run's array */ 62 63 float begLine; /* begin of current run */ 64 float endLine; /* end of current run */ 65 66 float begCorr; /* begin of correspondence destination of run */ 67 float endCorr; /* end of correspondence destination of run */ 68 69 int begDestLine; /* begin of current destanation of run */ 70 int endDestLine; /* end of current destanation of run */ 71 int begLineIndex; 72 int endLineIndex; 73 int indexImg1; 74 float step = 0; 75 int n; 76 77 memset( dst_pix, 0, dst_len ); 78 alpha1 = (float) (1.0 - alpha); 79 80 s = (int) (alpha * 256); 81 s1 = 256 - s; 82 83 /* --------------Create first line------------- */ 84 85 begLineIndex = first[0]; 86 begLine = (float) begLineIndex; 87 88 curr = 0; 89 90 for( n = 0; n < first_runs; n++ ) 91 { /* for each run */ 92 93 begCorr = (float) first_corr[curr]; 94 curr++; 95 endCorr = (float) first_corr[curr]; 96 curr++; 97 endLineIndex = first[curr]; 98 endLine = (float) endLineIndex; 99 100 begDestLine = (int) (alpha * begLine + alpha1 * begCorr); 101 endDestLine = (int) (alpha * endLine + alpha1 * endCorr); 102 103 indexImg1 = begDestLine * 3; 104 105 step = 0; 106 if( endDestLine != begDestLine ) 107 step = (endLine - begLine) / ((float) (endDestLine - begDestLine)); 108 109 if( begCorr != endCorr ) 110 { 111 112 for( ; begDestLine < endDestLine; begDestLine++ ) 113 { 114 /* for each pixel */ 115 116 begLineIndex = (int) begLine; 117 begLineIndex *= 3; 118 119 /* Blend R */ 120 dst_pix[indexImg1] = (uchar) (((int) (first_pix[begLineIndex]) * s) >> 8); 121 122 indexImg1++; 123 124 /* Blend G */ 125 dst_pix[indexImg1] = (uchar) (((int) (first_pix[begLineIndex + 1]) * s) >> 8); 126 127 indexImg1++; 128 129 /* Blend B */ 130 dst_pix[indexImg1] = (uchar) (((int) (first_pix[begLineIndex + 2]) * s) >> 8); 131 132 indexImg1++; 133 134 begLine += step; 135 136 } /* for */ 137 } 138 else 139 { 140 141 for( ; begDestLine < endDestLine; begDestLine++ ) 142 { 143 /* for each pixel */ 144 145 begLineIndex = (int) begLine; 146 begLineIndex *= 3; 147 148 /* Blend R */ 149 dst_pix[indexImg1] = first_pix[begLineIndex]; 150 indexImg1++; 151 152 /* Blend G */ 153 dst_pix[indexImg1] = first_pix[begLineIndex + 1]; 154 indexImg1++; 155 156 /* Blend B */ 157 dst_pix[indexImg1] = first_pix[begLineIndex + 2]; 158 159 indexImg1++; 160 161 begLine += step; 162 163 } /* for */ 164 } /* if */ 165 166 begLineIndex = endLineIndex; 167 begLine = endLine; 168 169 170 } /* for each runs in first line */ 171 172 begLineIndex = second[0]; 173 begLine = (float) begLineIndex; 174 175 curr = 0; 176 177 /* --------------Create second line------------- */ 178 curr = 0;; 179 for( n = 0; n < second_runs; n++ ) 180 { /* for each run */ 181 182 begCorr = (float) second_corr[curr]; 183 curr++; 184 endCorr = (float) second_corr[curr]; 185 curr++; 186 endLineIndex = second[curr]; 187 endLine = (float) endLineIndex; 188 189 begDestLine = (int) (alpha1 * begLine + alpha * begCorr); 190 endDestLine = (int) (alpha1 * endLine + alpha * endCorr); 191 192 indexImg1 = begDestLine * 3; 193 194 step = 0; 195 if (endDestLine != begDestLine) 196 step = (endLine - begLine) / ((float) (endDestLine - begDestLine)); 197 198 if( begCorr != endCorr ) 199 { 200 201 for( ; begDestLine < endDestLine; begDestLine++ ) 202 { 203 /* for each pixel */ 204 205 begLineIndex = (int) begLine; 206 begLineIndex *= 3; 207 208 /* Blend R */ 209 dst_pix[indexImg1] = 210 (uchar) (dst_pix[indexImg1] + 211 (uchar) (((unsigned int) (second_pix[begLineIndex]) * s1) >> 8)); 212 213 indexImg1++; 214 215 /* Blend G */ 216 dst_pix[indexImg1] = 217 (uchar) (dst_pix[indexImg1] + 218 (uchar) (((unsigned int) (second_pix[begLineIndex + 1]) * s1) >> 219 8)); 220 221 indexImg1++; 222 223 /* Blend B */ 224 dst_pix[indexImg1] = 225 (uchar) (dst_pix[indexImg1] + 226 (uchar) (((unsigned int) (second_pix[begLineIndex + 2]) * s1) >> 227 8)); 228 229 indexImg1++; 230 231 begLine += step; 232 233 } /* for */ 234 } 235 else 236 { 237 238 for( ; begDestLine < endDestLine; begDestLine++ ) 239 { 240 /* for each pixel */ 241 242 begLineIndex = (int) begLine; 243 begLineIndex *= 3; 244 245 /* Blend R */ 246 dst_pix[indexImg1] = (uchar) (dst_pix[indexImg1] + second_pix[begLineIndex]); 247 indexImg1++; 248 249 /* Blend G */ 250 dst_pix[indexImg1] = 251 (uchar) (dst_pix[indexImg1] + second_pix[begLineIndex + 1]); 252 indexImg1++; 253 254 /* Blend B */ 255 dst_pix[indexImg1] = 256 (uchar) (dst_pix[indexImg1] + second_pix[begLineIndex + 2]); 257 /*assert(indexImg1 < dst_len); */ 258 259 indexImg1++; 260 261 begLine += step; 262 263 } /* for */ 264 } /* if */ 265 266 begLineIndex = endLineIndex; 267 begLine = endLine; 268 269 } /* for each runs in second line */ 270 271 return CV_NO_ERR; 272 273 } /* icvMorphEpilines8uC3 */ 274 275 276 /*======================================================================================*/ 277 278 static CvStatus 279 icvMorphEpilines8uC3Multi( int lines, /* number of lines */ 280 uchar * first_pix, /* raster epilines from the first image */ 281 int *first_num, /* numbers of pixel in first line */ 282 uchar * second_pix, /* raster epilines from the second image */ 283 int *second_num, /* numbers of pixel in second line */ 284 uchar * dst_pix, /* raster epiline from the destination image */ 285 /* (it's an output parameter) */ 286 int *dst_num, /* numbers of pixel in output line */ 287 float alpha, /* relative position of camera */ 288 int *first, /* first sequence of runs */ 289 int *first_runs, /* it's length */ 290 int *second, /* second sequence of runs */ 291 int *second_runs, int *first_corr, /* correspond information for the 1st seq */ 292 int *second_corr ) /* correspond information for the 2nd seq */ 293 { 294 CvStatus error; 295 int currLine; 296 int currFirstPix = 0; 297 //int currFirstNum = 0; 298 int currSecondPix = 0; 299 //int currSecondNum = 0; 300 int currDstPix = 0; 301 int currFirst = 0; 302 //int currFirstRuns = 0; 303 int currSecond = 0; 304 //int currSecondRuns = 0; 305 int currFirstCorr = 0; 306 int currSecondCorr = 0; 307 308 if( lines < 1 || 309 first_pix == 0 || 310 first_num == 0 || 311 second_pix == 0 || 312 second_num == 0 || 313 dst_pix == 0 || 314 dst_num == 0 || 315 alpha < 0 || 316 alpha > 1 || 317 first == 0 || 318 first_runs == 0 || 319 second == 0 || second_runs == 0 || first_corr == 0 || second_corr == 0 ) 320 return CV_BADFACTOR_ERR; 321 322 for( currLine = 0; currLine < lines; currLine++ ) 323 { 324 325 error = icvMorphEpilines8uC3( &(first_pix[currFirstPix]), 326 &(second_pix[currSecondPix]), 327 &(dst_pix[currDstPix]), 328 alpha, 329 &(first[currFirst]), 330 first_runs[currLine], 331 &(second[currSecond]), 332 second_runs[currLine], 333 &(first_corr[currFirstCorr]), 334 &(second_corr[currSecondCorr]), dst_num[currLine] * 3 ); 335 336 337 if( error != CV_NO_ERR ) 338 return CV_NO_ERR; 339 340 currFirstPix += first_num[currLine] * 3; 341 currSecondPix += second_num[currLine] * 3; 342 currDstPix += dst_num[currLine] * 3; 343 currFirst += (first_runs[currLine] * 2) + 1; 344 currSecond += (second_runs[currLine] * 2) + 1; 345 currFirstCorr += first_runs[currLine] * 2; 346 currSecondCorr += second_runs[currLine] * 2; 347 348 } /* for */ 349 350 return CV_NO_ERR; 351 352 } /* icvMorphEpilines8uC3Multi */ 353 354 355 356 357 /*======================================================================================*/ 358 359 CV_IMPL void 360 cvMorphEpilinesMulti( int lines, /* number of lines */ 361 uchar * first_pix, /* raster epilines from the first image */ 362 int *first_num, /* numbers of pixel in first line */ 363 uchar * second_pix, /* raster epilines from the second image */ 364 int *second_num, /* numbers of pixel in second line */ 365 uchar * dst_pix, /* raster epiline from the destination image */ 366 /* (it's an output parameter) */ 367 int *dst_num, /* numbers of pixel in output line */ 368 float alpha, /* relative position of camera */ 369 int *first, /* first sequence of runs */ 370 int *first_runs, /* it's length */ 371 int *second, /* second sequence of runs */ 372 int *second_runs, int *first_corr, /* correspond information for the 1st seq */ 373 int *second_corr /* correspond information for the 2nd seq */ 374 ) 375 { 376 CV_FUNCNAME( "cvMorphEpilinesMulti" ); 377 __BEGIN__; 378 379 IPPI_CALL( icvMorphEpilines8uC3Multi( lines, /* number of lines */ 380 first_pix, /* raster epilines from the first image */ 381 first_num, /* numbers of pixel in first line */ 382 second_pix, /* raster epilines from the second image */ 383 second_num, /* numbers of pixel in second line */ 384 dst_pix, /* raster epiline from the destination image */ 385 /* (it's an output parameter) */ 386 dst_num, /* numbers of pixel in output line */ 387 alpha, /* relative position of camera */ 388 first, /* first sequence of runs */ 389 first_runs, /* it's length */ 390 second, /* second sequence of runs */ 391 second_runs, first_corr, /* correspond information for the 1st seq */ 392 second_corr /* correspond information for the 2nd seq */ 393 )); 394 __END__; 395 } 396 397
