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42
43#include "precomp.hpp"
44#include "opencv2/videostab/fast_marching.hpp"
45#include "opencv2/videostab/ring_buffer.hpp"
46
47namespace cv
48{
49namespace videostab
50{
51
52float FastMarchingMethod::solve(int x1, int y1, int x2, int y2) const
53{
54    float sol = inf_;
55    if (y1 >=0 && y1 < flag_.rows && x1 >= 0 && x1 < flag_.cols && flag_(y1,x1) == KNOWN)
56    {
57        float t1 = dist_(y1,x1);
58        if (y2 >=0 && y2 < flag_.rows && x2 >= 0 && x2 < flag_.cols && flag_(y2,x2) == KNOWN)
59        {
60            float t2 = dist_(y2,x2);
61            float r = std::sqrt(2 - sqr(t1 - t2));
62            float s = (t1 + t2 - r) / 2;
63
64            if (s >= t1 && s >= t2)
65                sol = s;
66            else
67            {
68                s += r;
69                if (s >= t1 && s >= t2)
70                    sol = s;
71            }
72        }
73        else
74            sol = 1 + t1;
75    }
76    else if (y2 >=0 && y2 < flag_.rows && x2 >= 0 && x2 < flag_.cols && flag_(y2,x2) == KNOWN)
77        sol = 1 + dist_(y2,x1);
78    return sol;
79}
80
81
82void FastMarchingMethod::heapUp(int idx)
83{
84    int p = (idx-1)/2;
85    while (idx > 0 && narrowBand_[idx] < narrowBand_[p])
86    {
87        std::swap(indexOf(narrowBand_[p]), indexOf(narrowBand_[idx]));
88        std::swap(narrowBand_[p], narrowBand_[idx]);
89        idx = p;
90        p = (idx-1)/2;
91    }
92}
93
94
95void FastMarchingMethod::heapDown(int idx)
96{
97    int l, r, smallest;
98    for(;;)
99    {
100        l = 2*idx+1;
101        r = 2*idx+2;
102        smallest = idx;
103
104        if (l < size_ && narrowBand_[l] < narrowBand_[smallest]) smallest = l;
105        if (r < size_ && narrowBand_[r] < narrowBand_[smallest]) smallest = r;
106
107        if (smallest == idx)
108            break;
109        else
110        {
111            std::swap(indexOf(narrowBand_[idx]), indexOf(narrowBand_[smallest]));
112            std::swap(narrowBand_[idx], narrowBand_[smallest]);
113            idx = smallest;
114        }
115    }
116}
117
118
119void FastMarchingMethod::heapAdd(const DXY &dxy)
120{
121    if (static_cast<int>(narrowBand_.size()) < size_ + 1)
122        narrowBand_.resize(size_*2 + 1);
123    narrowBand_[size_] = dxy;
124    indexOf(dxy) = size_++;
125    heapUp(size_-1);
126}
127
128
129void FastMarchingMethod::heapRemoveMin()
130{
131    if (size_ > 0)
132    {
133        size_--;
134        std::swap(indexOf(narrowBand_[0]), indexOf(narrowBand_[size_]));
135        std::swap(narrowBand_[0], narrowBand_[size_]);
136        heapDown(0);
137    }
138}
139
140} // namespace videostab
141} // namespace cv
142