AlignFeatures.h revision e295e32b68cf04f0d99138bf4a6d25555f3aef99 
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
32class Align {
33
34public:
35  // Types of alignment possible
36  static const int ALIGN_TYPE_PAN    = 1;
37
38  // Return codes
39  static const int ALIGN_RET_ERROR        = -1;
40  static const int ALIGN_RET_OK           = 0;
41
42  ///// Settings for feature-based alignment
43  // Number of features to use from corner detection
44  static const int DEFAULT_NR_CORNERS=750;
45  static const double DEFAULT_MAX_DISPARITY=0.1;//0.4;
46  // Type of homography to model
47  static const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_R_T;
48// static const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_PROJECTIVE;
49//  static const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_AFFINE;
50  static const unsigned int DEFAULT_REFERENCE_UPDATE_PERIOD=1500; //  Manual reference frame update so set this to a large number
51
52  Align();
53  ~Align();
54
55  // Initialization of structures, etc.
56  int initialize(int width, int height, bool quarter_res, float thresh_still);
57
58  // Add a frame.  Note: The alignment computation is performed
59  // in this function
60  int addFrameRGB(ImageType image);
61  int addFrame(ImageType image);
62
63  // Obtain the TRS matrix from the last two frames
64  int getLastTRS(double trs[3][3]);
65  char* getRegProfileString();
66
67protected:
68
69  db_FrameToReferenceRegistration reg;
70
71  int frame_number;
72  double Happly[9];  // Homography to apply
73  double Hcurr[9];   // Homography from last frame
74                     // (right now same as above)
75  double Hprev[9];   // Homography up until the last frame
76
77  int width,height;
78
79  bool quarter_res;     // Whether to process at quarter resolution
80  float thresh_still;   // Translation threshold in pixels to detect still camera
81  ImageType imageGray;
82};
83
84
85#endif
86