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      1 /*
      2  * feature_match.h - optical flow feature match
      3  *
      4  *  Copyright (c) 2016-2017 Intel Corporation
      5  *
      6  * Licensed under the Apache License, Version 2.0 (the "License");
      7  * you may not use this file except in compliance with the License.
      8  * You may obtain a copy of the License at
      9  *
     10  *   http://www.apache.org/licenses/LICENSE-2.0
     11  *
     12  * Unless required by applicable law or agreed to in writing, software
     13  * distributed under the License is distributed on an "AS IS" BASIS,
     14  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
     15  * See the License for the specific language governing permissions and
     16  * limitations under the License.
     17  *
     18  * Author: Wind Yuan <feng.yuan (at) intel.com>
     19  * Author: Yinhang Liu <yinhangx.liu (at) intel.com>
     20  */
     21 
     22 #ifndef XCAM_FEATURE_MATCH_H
     23 #define XCAM_FEATURE_MATCH_H
     24 
     25 #include <xcam_std.h>
     26 #include <video_buffer.h>
     27 #include <interface/data_types.h>
     28 
     29 namespace XCam {
     30 
     31 struct CVFMConfig {
     32     int sitch_min_width;
     33     int min_corners;           // number of minimum efficient corners
     34     float offset_factor;       // last_offset * offset_factor + cur_offset * (1.0f - offset_factor)
     35     float delta_mean_offset;   // cur_mean_offset - last_mean_offset
     36     float recur_offset_error;  // cur_offset - mean_offset
     37     float max_adjusted_offset; // maximum offset of each adjustment
     38     float max_valid_offset_y;  // valid maximum offset in vertical direction
     39     float max_track_error;     // maximum track error
     40 
     41     CVFMConfig ()
     42         : sitch_min_width (56)
     43         , min_corners (8)
     44         , offset_factor (0.8f)
     45         , delta_mean_offset (5.0f)
     46         , recur_offset_error (8.0f)
     47         , max_adjusted_offset (12.0f)
     48         , max_valid_offset_y (8.0f)
     49         , max_track_error (24.0f)
     50     {}
     51 };
     52 
     53 class FeatureMatch
     54 {
     55 public:
     56     explicit FeatureMatch ();
     57     virtual ~FeatureMatch () {};
     58 
     59     void set_config (CVFMConfig config);
     60     CVFMConfig get_config ();
     61 
     62     void set_fm_index (int idx);
     63 
     64     void reset_offsets ();
     65 
     66     virtual void optical_flow_feature_match (
     67         const SmartPtr<VideoBuffer> &left_buf, const SmartPtr<VideoBuffer> &right_buf,
     68         Rect &left_crop_rect, Rect &right_crop_rect, int dst_width) = 0;
     69 
     70     float get_current_left_offset_x () const {
     71         return _x_offset;
     72     }
     73 
     74     virtual void set_ocl (bool use_ocl) = 0;
     75     virtual bool is_ocl_path () = 0;
     76 
     77 protected:
     78     bool get_mean_offset (std::vector<float> &offsets, float sum, int &count, float &mean_offset);
     79 
     80     void adjust_stitch_area (int dst_width, float &x_offset, Rect &stitch0, Rect &stitch1);
     81 
     82 private:
     83     XCAM_DEAD_COPY (FeatureMatch);
     84 
     85 protected:
     86     float                _x_offset;
     87     float                _mean_offset;
     88     int                  _valid_count;
     89     CVFMConfig           _config;
     90 
     91     // debug parameters
     92     int                  _fm_idx;
     93     uint                 _frame_num;
     94 };
     95 
     96 }
     97 
     98 #endif // XCAM_FEATURE_MATCH_H
     99