The Android Open Source Project | 7f81d9b | 2009-03-03 19:30:08 -0800 | [diff] [blame] | 1 | /* |
| 2 | * Copyright (C) 2008 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 | /* ---- includes ----------------------------------------------------------- */ |
| 18 | |
| 19 | #include "b_BasicEm/Functions.h" |
| 20 | #include "b_BasicEm/Math.h" |
| 21 | #include "b_ImageEm/Functions.h" |
| 22 | #include "b_BitFeatureEm/LocalScanDetector.h" |
| 23 | |
| 24 | /* ------------------------------------------------------------------------- */ |
| 25 | |
| 26 | /* ========================================================================= */ |
| 27 | /* */ |
| 28 | /* ---- \ghd{ auxiliary functions } ---------------------------------------- */ |
| 29 | /* */ |
| 30 | /* ========================================================================= */ |
| 31 | |
| 32 | /* ------------------------------------------------------------------------- */ |
| 33 | |
| 34 | /** applies PCA mapping |
| 35 | * Input and output clusters may be identical |
| 36 | */ |
| 37 | void bbf_LocalScanDetector_pcaMap( struct bbs_Context* cpA, |
| 38 | const struct bbf_LocalScanDetector* ptrA, |
| 39 | const struct bts_IdCluster2D* inClusterPtrA, |
| 40 | struct bts_IdCluster2D* outClusterPtrA ) |
| 41 | { |
| 42 | bbs_DEF_fNameL( "bbf_LocalScanDetector_pcaMap" ) |
| 43 | |
| 44 | struct bts_Cluster2D* tmpCl1PtrL = ( struct bts_Cluster2D* )&ptrA->tmpCluster1E; |
| 45 | struct bts_Cluster2D* tmpCl2PtrL = ( struct bts_Cluster2D* )&ptrA->tmpCluster2E; |
| 46 | struct bts_RBFMap2D* rbfPtrL = ( struct bts_RBFMap2D* )&ptrA->rbfMapE; |
| 47 | struct bts_Flt16Alt2D altL; |
| 48 | uint32 outBbpL = inClusterPtrA->clusterE.bbpE; |
| 49 | uint32 iL, jL; |
| 50 | |
| 51 | /* setup two equivalent clusters holding the essential (alt-free) moves to be handled by PCA */ |
| 52 | bts_IdCluster2D_convertToEqivalentClusters( cpA, |
| 53 | inClusterPtrA, |
| 54 | &ptrA->pcaClusterE, |
| 55 | tmpCl1PtrL, |
| 56 | tmpCl2PtrL ); |
| 57 | |
| 58 | altL = bts_Cluster2D_alt( cpA, tmpCl1PtrL, tmpCl2PtrL, bts_ALT_RIGID ); |
| 59 | bts_Cluster2D_transform( cpA, tmpCl1PtrL, altL ); |
| 60 | bts_RBFMap2D_compute( cpA, rbfPtrL, tmpCl2PtrL, tmpCl1PtrL ); |
| 61 | bts_RBFMap2D_mapCluster( cpA, rbfPtrL, &ptrA->pcaClusterE.clusterE, tmpCl1PtrL, 6/* ! */ ); |
| 62 | |
| 63 | /* PCA projection: cluster1 -> cluster1 */ |
| 64 | { |
| 65 | /* mat elements: 8.8 */ |
| 66 | const int16* matPtrL = ptrA->pcaMatE.arrPtrE; |
| 67 | |
| 68 | /* same bbp as pca cluster */ |
| 69 | const int16* avgPtrL = ptrA->pcaAvgE.arrPtrE; |
| 70 | |
| 71 | struct bts_Int16Vec2D* vecArrL = tmpCl1PtrL->vecArrE; |
| 72 | |
| 73 | /* projected vector */ |
| 74 | int32 prjVecL[ bpi_LOCAL_SCAN_DETECTOR_MAX_PCA_DIM ]; |
| 75 | |
| 76 | /* width of matrix */ |
| 77 | uint16 matWidthL = tmpCl1PtrL->sizeE * 2; |
| 78 | |
| 79 | if( ptrA->pcaDimSubSpaceE > bpi_LOCAL_SCAN_DETECTOR_MAX_PCA_DIM ) |
| 80 | { |
| 81 | bbs_ERROR1( "%s:\nbpi_RF_LANDMARKER_MAX_PCA_DIM exceeded", fNameL ); |
| 82 | return; |
| 83 | } |
| 84 | |
| 85 | /* forward trafo */ |
| 86 | for( iL = 0; iL < ptrA->pcaDimSubSpaceE; iL++ ) |
| 87 | { |
| 88 | int32 sumL = 0; |
| 89 | avgPtrL = ptrA->pcaAvgE.arrPtrE; |
| 90 | for( jL = 0; jL < tmpCl1PtrL->sizeE; jL++ ) |
| 91 | { |
| 92 | sumL += matPtrL[ 0 ] * ( vecArrL[ jL ].xE - avgPtrL[ 0 ] ); |
| 93 | sumL += matPtrL[ 1 ] * ( vecArrL[ jL ].yE - avgPtrL[ 1 ] ); |
| 94 | avgPtrL += 2; |
| 95 | matPtrL += 2; |
| 96 | } |
| 97 | prjVecL[ iL ] = ( sumL + 128 ) >> 8; |
| 98 | } |
| 99 | |
| 100 | matPtrL = ptrA->pcaMatE.arrPtrE; |
| 101 | avgPtrL = ptrA->pcaAvgE.arrPtrE; |
| 102 | vecArrL = tmpCl1PtrL->vecArrE; |
| 103 | |
| 104 | /* backward trafo */ |
| 105 | for( jL = 0; jL < tmpCl1PtrL->sizeE; jL++ ) |
| 106 | { |
| 107 | int32 sumL = 0; |
| 108 | for( iL = 0; iL < ptrA->pcaDimSubSpaceE; iL++ ) |
| 109 | { |
| 110 | sumL += matPtrL[ iL * matWidthL + 0 ] * prjVecL[ iL ]; |
| 111 | } |
| 112 | |
| 113 | vecArrL[ jL ].xE = ( ( sumL + 128 ) >> 8 ) + avgPtrL[ 0 ]; |
| 114 | |
| 115 | sumL = 0; |
| 116 | for( iL = 0; iL < ptrA->pcaDimSubSpaceE; iL++ ) |
| 117 | { |
| 118 | sumL += matPtrL[ iL * matWidthL + 1 ] * prjVecL[ iL ]; |
| 119 | } |
| 120 | |
| 121 | vecArrL[ jL ].yE = ( ( sumL + 128 ) >> 8 ) + avgPtrL[ 1 ]; |
| 122 | |
| 123 | matPtrL += 2; |
| 124 | avgPtrL += 2; |
| 125 | } |
| 126 | } |
| 127 | |
| 128 | /* ALT backtransformation */ |
| 129 | bts_IdCluster2D_copy( cpA, outClusterPtrA, &ptrA->pcaClusterE ); |
| 130 | bts_Cluster2D_copyTransform( cpA, &outClusterPtrA->clusterE, tmpCl1PtrL, bts_Flt16Alt2D_inverted( &altL ), outBbpL ); |
| 131 | } |
| 132 | |
| 133 | /* ------------------------------------------------------------------------- */ |
| 134 | |
| 135 | /* ========================================================================= */ |
| 136 | /* */ |
| 137 | /* ---- \ghd{ constructor / destructor } ----------------------------------- */ |
| 138 | /* */ |
| 139 | /* ========================================================================= */ |
| 140 | |
| 141 | /* ------------------------------------------------------------------------- */ |
| 142 | |
| 143 | void bbf_LocalScanDetector_init( struct bbs_Context* cpA, |
| 144 | struct bbf_LocalScanDetector* ptrA ) |
| 145 | { |
| 146 | bbs_memset16( ptrA->ftrPtrArrE, 0, bbs_SIZEOF16( ptrA->ftrPtrArrE ) ); |
| 147 | bts_RBFMap2D_init( cpA, &ptrA->rbfMapE ); |
| 148 | bts_Cluster2D_init( cpA, &ptrA->tmpCluster1E ); |
| 149 | bts_Cluster2D_init( cpA, &ptrA->tmpCluster2E ); |
| 150 | bts_Cluster2D_init( cpA, &ptrA->tmpCluster3E ); |
| 151 | bts_Cluster2D_init( cpA, &ptrA->tmpCluster4E ); |
| 152 | bbf_LocalScanner_init( cpA, &ptrA->scannerE ); |
| 153 | bbs_Int32Arr_init( cpA, &ptrA->actArrE ); |
| 154 | bbs_Int16Arr_init( cpA, &ptrA->idxArrE ); |
| 155 | bbs_UInt8Arr_init( cpA, &ptrA->workImageBufE ); |
| 156 | ptrA->maxImageWidthE = 0; |
| 157 | ptrA->maxImageHeightE = 0; |
| 158 | |
| 159 | ptrA->patchWidthE = 0; |
| 160 | ptrA->patchHeightE = 0; |
| 161 | ptrA->scanWidthE = 0; |
| 162 | ptrA->scanHeightE = 0; |
| 163 | ptrA->scaleExpE = 0; |
| 164 | ptrA->interpolatedWarpingE = TRUE; |
| 165 | ptrA->warpScaleThresholdE = 0; |
| 166 | bts_IdCluster2D_init( cpA, &ptrA->refClusterE ); |
| 167 | bts_Cluster2D_init( cpA, &ptrA->scanClusterE ); |
| 168 | bbs_UInt16Arr_init( cpA, &ptrA->ftrDataArrE ); |
| 169 | bbf_BitParam_init( cpA, &ptrA->bitParamE ); |
| 170 | ptrA->outlierDistanceE = 0; |
| 171 | bts_IdCluster2D_init( cpA, &ptrA->pcaClusterE ); |
| 172 | bbs_Int16Arr_init( cpA, &ptrA->pcaAvgE ); |
| 173 | bbs_Int16Arr_init( cpA, &ptrA->pcaMatE ); |
| 174 | ptrA->pcaDimSubSpaceE = 0; |
| 175 | ptrA->maxImageWidthE = 0; |
| 176 | ptrA->maxImageHeightE = 0; |
| 177 | } |
| 178 | |
| 179 | /* ------------------------------------------------------------------------- */ |
| 180 | |
| 181 | void bbf_LocalScanDetector_exit( struct bbs_Context* cpA, |
| 182 | struct bbf_LocalScanDetector* ptrA ) |
| 183 | { |
| 184 | uint16 iL; |
| 185 | for( iL = 0; iL < ptrA->scanClusterE.sizeE; iL++ ) bbf_featureExit( cpA, ptrA->ftrPtrArrE[ iL ] ); |
| 186 | bbs_memset16( ptrA->ftrPtrArrE, 0, bbs_SIZEOF16( ptrA->ftrPtrArrE ) ); |
| 187 | |
| 188 | bts_RBFMap2D_exit( cpA, &ptrA->rbfMapE ); |
| 189 | bts_Cluster2D_exit( cpA, &ptrA->tmpCluster1E ); |
| 190 | bts_Cluster2D_exit( cpA, &ptrA->tmpCluster2E ); |
| 191 | bts_Cluster2D_exit( cpA, &ptrA->tmpCluster3E ); |
| 192 | bts_Cluster2D_exit( cpA, &ptrA->tmpCluster4E ); |
| 193 | bbf_LocalScanner_exit( cpA, &ptrA->scannerE ); |
| 194 | bbs_Int32Arr_exit( cpA, &ptrA->actArrE ); |
| 195 | bbs_Int16Arr_exit( cpA, &ptrA->idxArrE ); |
| 196 | bbs_UInt8Arr_exit( cpA, &ptrA->workImageBufE ); |
| 197 | ptrA->maxImageWidthE = 0; |
| 198 | ptrA->maxImageHeightE = 0; |
| 199 | |
| 200 | ptrA->patchWidthE = 0; |
| 201 | ptrA->patchHeightE = 0; |
| 202 | ptrA->scanWidthE = 0; |
| 203 | ptrA->scanHeightE = 0; |
| 204 | ptrA->scaleExpE = 0; |
| 205 | ptrA->interpolatedWarpingE = TRUE; |
| 206 | ptrA->warpScaleThresholdE = 0; |
| 207 | bts_IdCluster2D_exit( cpA, &ptrA->refClusterE ); |
| 208 | bts_Cluster2D_exit( cpA, &ptrA->scanClusterE ); |
| 209 | bbs_UInt16Arr_exit( cpA, &ptrA->ftrDataArrE ); |
| 210 | bbf_BitParam_exit( cpA, &ptrA->bitParamE ); |
| 211 | ptrA->outlierDistanceE = 0; |
| 212 | bts_IdCluster2D_exit( cpA, &ptrA->pcaClusterE ); |
| 213 | bbs_Int16Arr_exit( cpA, &ptrA->pcaAvgE ); |
| 214 | bbs_Int16Arr_exit( cpA, &ptrA->pcaMatE ); |
| 215 | ptrA->pcaDimSubSpaceE = 0; |
| 216 | ptrA->maxImageWidthE = 0; |
| 217 | ptrA->maxImageHeightE = 0; |
| 218 | } |
| 219 | |
| 220 | /* ------------------------------------------------------------------------- */ |
| 221 | |
| 222 | /* ========================================================================= */ |
| 223 | /* */ |
| 224 | /* ---- \ghd{ operators } -------------------------------------------------- */ |
| 225 | /* */ |
| 226 | /* ========================================================================= */ |
| 227 | |
| 228 | /* ------------------------------------------------------------------------- */ |
| 229 | |
| 230 | void bbf_LocalScanDetector_copy( struct bbs_Context* cpA, |
| 231 | struct bbf_LocalScanDetector* ptrA, |
| 232 | const struct bbf_LocalScanDetector* srcPtrA ) |
| 233 | { |
| 234 | bbs_ERROR0( "bbf_LocalScanDetector_copy:\n Function is not available" ); |
| 235 | } |
| 236 | |
| 237 | /* ------------------------------------------------------------------------- */ |
| 238 | |
| 239 | flag bbf_LocalScanDetector_equal( struct bbs_Context* cpA, |
| 240 | const struct bbf_LocalScanDetector* ptrA, |
| 241 | const struct bbf_LocalScanDetector* srcPtrA ) |
| 242 | { |
| 243 | bbs_ERROR0( "bbf_LocalScanDetector_equal:\n Function is not available" ); |
| 244 | return TRUE; |
| 245 | } |
| 246 | |
| 247 | /* ------------------------------------------------------------------------- */ |
| 248 | |
| 249 | /* ========================================================================= */ |
| 250 | /* */ |
| 251 | /* ---- \ghd{ query functions } -------------------------------------------- */ |
| 252 | /* */ |
| 253 | /* ========================================================================= */ |
| 254 | |
| 255 | /* ------------------------------------------------------------------------- */ |
| 256 | |
| 257 | /* ========================================================================= */ |
| 258 | /* */ |
| 259 | /* ---- \ghd{ modify functions } ------------------------------------------- */ |
| 260 | /* */ |
| 261 | /* ========================================================================= */ |
| 262 | |
| 263 | /* ------------------------------------------------------------------------- */ |
| 264 | |
| 265 | /* ========================================================================= */ |
| 266 | /* */ |
| 267 | /* ---- \ghd{ I/O } -------------------------------------------------------- */ |
| 268 | /* */ |
| 269 | /* ========================================================================= */ |
| 270 | |
| 271 | /* ------------------------------------------------------------------------- */ |
| 272 | |
| 273 | uint32 bbf_LocalScanDetector_memSize( struct bbs_Context* cpA, |
| 274 | const struct bbf_LocalScanDetector* ptrA ) |
| 275 | { |
| 276 | uint32 iL; |
| 277 | uint32 memSizeL = bbs_SIZEOF16( uint32 ) + |
| 278 | bbs_SIZEOF16( uint32 ); /* version */ |
| 279 | |
| 280 | memSizeL += bbs_SIZEOF16( ptrA->patchWidthE ); |
| 281 | memSizeL += bbs_SIZEOF16( ptrA->patchHeightE ); |
| 282 | memSizeL += bbs_SIZEOF16( ptrA->scanWidthE ); |
| 283 | memSizeL += bbs_SIZEOF16( ptrA->scanHeightE ); |
| 284 | memSizeL += bbs_SIZEOF16( ptrA->scaleExpE ); |
| 285 | memSizeL += bbs_SIZEOF16( ptrA->interpolatedWarpingE ); |
| 286 | memSizeL += bbs_SIZEOF16( ptrA->warpScaleThresholdE ); |
| 287 | memSizeL += bts_IdCluster2D_memSize( cpA, &ptrA->refClusterE ); |
| 288 | memSizeL += bts_Cluster2D_memSize( cpA, &ptrA->scanClusterE ); |
| 289 | memSizeL += bbf_BitParam_memSize( cpA, &ptrA->bitParamE ); |
| 290 | memSizeL += bbs_SIZEOF16( ptrA->outlierDistanceE ); |
| 291 | memSizeL += bts_IdCluster2D_memSize( cpA, &ptrA->pcaClusterE ); |
| 292 | memSizeL += bbs_Int16Arr_memSize( cpA, &ptrA->pcaAvgE ); |
| 293 | memSizeL += bbs_Int16Arr_memSize( cpA, &ptrA->pcaMatE ); |
| 294 | memSizeL += bbs_SIZEOF16( ptrA->pcaDimSubSpaceE ); |
| 295 | memSizeL += bbs_SIZEOF16( ptrA->maxImageWidthE ); |
| 296 | memSizeL += bbs_SIZEOF16( ptrA->maxImageHeightE ); |
| 297 | for( iL = 0; iL < ptrA->scanClusterE.sizeE; iL++ ) memSizeL += bbf_featureMemSize( cpA, ptrA->ftrPtrArrE[ iL ] ); |
| 298 | |
| 299 | return memSizeL; |
| 300 | } |
| 301 | |
| 302 | /* ------------------------------------------------------------------------- */ |
| 303 | |
| 304 | uint32 bbf_LocalScanDetector_memWrite( struct bbs_Context* cpA, |
| 305 | const struct bbf_LocalScanDetector* ptrA, |
| 306 | uint16* memPtrA ) |
| 307 | { |
| 308 | uint32 iL; |
| 309 | uint32 memSizeL = bbf_LocalScanDetector_memSize( cpA, ptrA ); |
| 310 | memPtrA += bbs_memWrite32( &memSizeL, memPtrA ); |
| 311 | memPtrA += bbs_memWriteUInt32( bbf_LOCAL_SCAN_DETECTOR_VERSION, memPtrA ); |
| 312 | |
| 313 | memPtrA += bbs_memWrite32( &ptrA->patchWidthE, memPtrA ); |
| 314 | memPtrA += bbs_memWrite32( &ptrA->patchHeightE, memPtrA ); |
| 315 | memPtrA += bbs_memWrite32( &ptrA->scanWidthE, memPtrA ); |
| 316 | memPtrA += bbs_memWrite32( &ptrA->scanHeightE, memPtrA ); |
| 317 | memPtrA += bbs_memWrite32( &ptrA->scaleExpE, memPtrA ); |
| 318 | memPtrA += bbs_memWrite32( &ptrA->interpolatedWarpingE, memPtrA ); |
| 319 | memPtrA += bbs_memWrite32( &ptrA->warpScaleThresholdE, memPtrA ); |
| 320 | memPtrA += bts_IdCluster2D_memWrite( cpA, &ptrA->refClusterE, memPtrA ); |
| 321 | memPtrA += bts_Cluster2D_memWrite( cpA, &ptrA->scanClusterE, memPtrA ); |
| 322 | memPtrA += bbf_BitParam_memWrite( cpA, &ptrA->bitParamE, memPtrA ); |
| 323 | memPtrA += bbs_memWrite32( &ptrA->outlierDistanceE, memPtrA ); |
| 324 | memPtrA += bts_IdCluster2D_memWrite( cpA, &ptrA->pcaClusterE, memPtrA ); |
| 325 | memPtrA += bbs_Int16Arr_memWrite( cpA, &ptrA->pcaAvgE, memPtrA ); |
| 326 | memPtrA += bbs_Int16Arr_memWrite( cpA, &ptrA->pcaMatE, memPtrA ); |
| 327 | memPtrA += bbs_memWrite32( &ptrA->pcaDimSubSpaceE, memPtrA ); |
| 328 | memPtrA += bbs_memWrite32( &ptrA->maxImageWidthE, memPtrA ); |
| 329 | memPtrA += bbs_memWrite32( &ptrA->maxImageHeightE, memPtrA ); |
| 330 | |
| 331 | for( iL = 0; iL < ptrA->scanClusterE.sizeE; iL++ ) memPtrA += bbf_featureMemWrite( cpA, ptrA->ftrPtrArrE[ iL ], memPtrA ); |
| 332 | |
| 333 | return memSizeL; |
| 334 | } |
| 335 | |
| 336 | /* ------------------------------------------------------------------------- */ |
| 337 | |
| 338 | uint32 bbf_LocalScanDetector_memRead( struct bbs_Context* cpA, |
| 339 | struct bbf_LocalScanDetector* ptrA, |
| 340 | const uint16* memPtrA, |
| 341 | struct bbs_MemTbl* mtpA ) |
| 342 | { |
| 343 | uint32 iL; |
| 344 | uint32 memSizeL, versionL; |
| 345 | struct bbs_MemTbl memTblL = *mtpA; |
| 346 | struct bbs_MemSeg* espL = bbs_MemTbl_segPtr( cpA, &memTblL, 0 ); |
| 347 | struct bbs_MemSeg* sspL = bbs_MemTbl_sharedSegPtr( cpA, &memTblL, 0 ); |
| 348 | if( bbs_Context_error( cpA ) ) return 0; |
| 349 | |
| 350 | memPtrA += bbs_memRead32( &memSizeL, memPtrA ); |
| 351 | memPtrA += bbs_memReadVersion32( cpA, &versionL, bbf_LOCAL_SCAN_DETECTOR_VERSION, memPtrA ); |
| 352 | |
| 353 | |
| 354 | memPtrA += bbs_memRead32( &ptrA->patchWidthE, memPtrA ); |
| 355 | memPtrA += bbs_memRead32( &ptrA->patchHeightE, memPtrA ); |
| 356 | memPtrA += bbs_memRead32( &ptrA->scanWidthE, memPtrA ); |
| 357 | memPtrA += bbs_memRead32( &ptrA->scanHeightE, memPtrA ); |
| 358 | memPtrA += bbs_memRead32( &ptrA->scaleExpE, memPtrA ); |
| 359 | memPtrA += bbs_memRead32( &ptrA->interpolatedWarpingE, memPtrA ); |
| 360 | memPtrA += bbs_memRead32( &ptrA->warpScaleThresholdE, memPtrA ); |
| 361 | memPtrA += bts_IdCluster2D_memRead( cpA, &ptrA->refClusterE, memPtrA, espL ); |
| 362 | memPtrA += bts_Cluster2D_memRead( cpA, &ptrA->scanClusterE, memPtrA, espL ); |
| 363 | memPtrA += bbf_BitParam_memRead( cpA, &ptrA->bitParamE, memPtrA ); |
| 364 | memPtrA += bbs_memRead32( &ptrA->outlierDistanceE, memPtrA ); |
| 365 | memPtrA += bts_IdCluster2D_memRead( cpA, &ptrA->pcaClusterE, memPtrA, espL ); |
| 366 | memPtrA += bbs_Int16Arr_memRead( cpA, &ptrA->pcaAvgE, memPtrA, espL ); |
| 367 | memPtrA += bbs_Int16Arr_memRead( cpA, &ptrA->pcaMatE, memPtrA, espL ); |
| 368 | memPtrA += bbs_memRead32( &ptrA->pcaDimSubSpaceE, memPtrA ); |
| 369 | memPtrA += bbs_memRead32( &ptrA->maxImageWidthE, memPtrA ); |
| 370 | memPtrA += bbs_memRead32( &ptrA->maxImageHeightE, memPtrA ); |
| 371 | |
| 372 | /* check features & allocate data buffer */ |
| 373 | { |
| 374 | const uint16* memPtrL = memPtrA; |
| 375 | uint32 dataSizeL = 0; |
| 376 | for( iL = 0; iL < ptrA->scanClusterE.sizeE; iL++ ) |
| 377 | { |
| 378 | enum bbf_FeatureType typeL = ( enum bbf_FeatureType )bbs_memPeek32( memPtrL + 4 ); |
| 379 | dataSizeL += bbf_featureSizeOf16( cpA, typeL ); |
| 380 | memPtrL += bbs_memPeek32( memPtrL ); |
| 381 | } |
| 382 | bbs_UInt16Arr_create( cpA, &ptrA->ftrDataArrE, dataSizeL, espL ); |
| 383 | } |
| 384 | |
| 385 | /* load features & initialize pointers */ |
| 386 | { |
| 387 | uint16* dataPtrL = ptrA->ftrDataArrE.arrPtrE; |
| 388 | for( iL = 0; iL < ptrA->scanClusterE.sizeE; iL++ ) |
| 389 | { |
| 390 | enum bbf_FeatureType typeL = ( enum bbf_FeatureType )bbs_memPeek32( memPtrA + 4 ); |
| 391 | ptrA->ftrPtrArrE[ iL ] = ( struct bbf_Feature* )dataPtrL; |
| 392 | bbf_featureInit( cpA, ptrA->ftrPtrArrE[ iL ], typeL ); |
| 393 | memPtrA += bbf_featureMemRead( cpA, ptrA->ftrPtrArrE[ iL ], memPtrA, &memTblL ); |
| 394 | dataPtrL += bbf_featureSizeOf16( cpA, typeL ); |
| 395 | } |
| 396 | } |
| 397 | |
| 398 | if( memSizeL != bbf_LocalScanDetector_memSize( cpA, ptrA ) ) |
| 399 | { |
| 400 | bbs_ERR0( bbs_ERR_CORRUPT_DATA, "uint32 bbf_LocalScanDetector_memRead( struct bem_ScanGradientMove* ptrA, const uint16* memPtrA ):\n" |
| 401 | "size mismatch" ); |
| 402 | return 0; |
| 403 | } |
| 404 | |
| 405 | if( ptrA->maxImageWidthE * ptrA->maxImageHeightE == 0 ) |
| 406 | { |
| 407 | bbs_ERR0( bbs_ERR_CORRUPT_DATA, "uint32 bbf_LocalScanDetector_memRead( struct bem_ScanGradientMove* ptrA, const uint16* memPtrA ):\n" |
| 408 | "maximum image width/height not set" ); |
| 409 | return 0; |
| 410 | } |
| 411 | |
| 412 | /* initialize internal data */ |
| 413 | |
| 414 | /* ought to be placed on shared memory later */ |
| 415 | bts_RBFMap2D_create( cpA, &ptrA->rbfMapE, bpi_LOCAL_SCAN_DETECTOR_MAX_CLUSTER_SIZE, sspL ); |
| 416 | ptrA->rbfMapE.RBFTypeE = bts_RBF_LINEAR; |
| 417 | ptrA->rbfMapE.altTypeE = bts_ALT_RIGID; |
| 418 | |
| 419 | bts_Cluster2D_create( cpA, &ptrA->tmpCluster1E, bpi_LOCAL_SCAN_DETECTOR_MAX_CLUSTER_SIZE, sspL ); |
| 420 | bts_Cluster2D_create( cpA, &ptrA->tmpCluster2E, bpi_LOCAL_SCAN_DETECTOR_MAX_CLUSTER_SIZE, sspL ); |
| 421 | bts_Cluster2D_create( cpA, &ptrA->tmpCluster3E, bpi_LOCAL_SCAN_DETECTOR_MAX_CLUSTER_SIZE, sspL ); |
| 422 | bts_Cluster2D_create( cpA, &ptrA->tmpCluster4E, bpi_LOCAL_SCAN_DETECTOR_MAX_CLUSTER_SIZE, sspL ); |
| 423 | |
| 424 | bbs_Int32Arr_create( cpA, &ptrA->actArrE, bpi_LOCAL_SCAN_DETECTOR_MAX_CLUSTER_SIZE, sspL ); |
| 425 | bbs_Int16Arr_create( cpA, &ptrA->idxArrE, bpi_LOCAL_SCAN_DETECTOR_MAX_CLUSTER_SIZE, sspL ); |
| 426 | |
| 427 | /* working image memory */ |
| 428 | /* ought to be placed on shared memory later */ |
| 429 | bbs_UInt8Arr_create( cpA, &ptrA->workImageBufE, ptrA->maxImageWidthE * ptrA->maxImageHeightE, sspL ); |
| 430 | |
| 431 | /* initialize local scanner (be aware of shared memory usage when moving this create function) */ |
| 432 | bbf_LocalScanner_create( cpA, &ptrA->scannerE, |
| 433 | ptrA->patchWidthE, |
| 434 | ptrA->patchHeightE, |
| 435 | ptrA->scaleExpE, |
| 436 | ptrA->maxImageWidthE, |
| 437 | ptrA->maxImageHeightE, |
| 438 | ptrA->scaleExpE, |
| 439 | ptrA->bitParamE.outerRadiusE, |
| 440 | &memTblL ); |
| 441 | |
| 442 | return memSizeL; |
| 443 | } |
| 444 | |
| 445 | /* ------------------------------------------------------------------------- */ |
| 446 | |
| 447 | /* ========================================================================= */ |
| 448 | /* */ |
| 449 | /* ---- \ghd{ exec functions } --------------------------------------------- */ |
| 450 | /* */ |
| 451 | /* ========================================================================= */ |
| 452 | |
| 453 | /* ------------------------------------------------------------------------- */ |
| 454 | |
| 455 | int32 bbf_LocalScanDetector_process( struct bbs_Context* cpA, |
| 456 | const struct bbf_LocalScanDetector* ptrA, |
| 457 | uint8* imagePtrA, |
| 458 | uint32 imageWidthA, |
| 459 | uint32 imageHeightA, |
| 460 | const struct bts_Int16Vec2D* offsPtrA, |
| 461 | const struct bts_IdCluster2D* inClusterPtrA, |
| 462 | struct bts_IdCluster2D* outClusterPtrA ) |
| 463 | { |
| 464 | bbs_DEF_fNameL( "bbf_LocalScanDetector_process" ) |
| 465 | |
| 466 | int32 pw0L = ptrA->patchWidthE; |
| 467 | int32 ph0L = ptrA->patchHeightE; |
| 468 | int32 pw1L = pw0L << ptrA->scaleExpE; |
| 469 | int32 ph1L = ph0L << ptrA->scaleExpE; |
| 470 | |
| 471 | struct bts_Cluster2D* wrkClPtrL = ( struct bts_Cluster2D* )&ptrA->tmpCluster1E; |
| 472 | struct bts_Cluster2D* refClPtrL = ( struct bts_Cluster2D* )&ptrA->tmpCluster2E; |
| 473 | struct bts_Cluster2D* dstClPtrL = ( struct bts_Cluster2D* )&ptrA->tmpCluster3E; |
| 474 | struct bts_Cluster2D* tmpClPtrL = ( struct bts_Cluster2D* )&ptrA->tmpCluster4E; |
| 475 | struct bts_RBFMap2D* rbfPtrL = ( struct bts_RBFMap2D* )&ptrA->rbfMapE; |
| 476 | struct bbf_LocalScanner* scnPtrL = ( struct bbf_LocalScanner* )&ptrA->scannerE; |
| 477 | |
| 478 | int32* actArrL = ( int32* )ptrA->actArrE.arrPtrE; |
| 479 | int16* idxArrL = ( int16* )ptrA->idxArrE.arrPtrE; |
| 480 | |
| 481 | uint32 workImageWidthL, workImageHeightL; |
| 482 | |
| 483 | struct bts_Flt16Alt2D altL; |
| 484 | |
| 485 | int32 confidenceL; |
| 486 | uint32 iL; |
| 487 | uint32 sizeL = ptrA->scanClusterE.sizeE; |
| 488 | |
| 489 | if( sizeL > bpi_LOCAL_SCAN_DETECTOR_MAX_CLUSTER_SIZE ) |
| 490 | { |
| 491 | bbs_ERROR1( "%s:\nScan cluster size exceeds bpi_LOCAL_SCAN_DETECTOR_MAX_CLUSTER_SIZE", fNameL ); |
| 492 | return 0; |
| 493 | } |
| 494 | |
| 495 | /* compute equivalent clusters (matching ids) from input and reference cluster */ |
| 496 | bts_IdCluster2D_convertToEqivalentClusters( cpA, inClusterPtrA, &ptrA->refClusterE, wrkClPtrL, refClPtrL ); |
| 497 | |
| 498 | /* altL: orig image -> normalized image */ |
| 499 | altL = bts_Cluster2D_alt( cpA, wrkClPtrL, refClPtrL, bts_ALT_RIGID ); |
| 500 | |
| 501 | /* transorm work cluster to normalized image */ |
| 502 | bts_Cluster2D_transformBbp( cpA, wrkClPtrL, altL, 6 ); |
| 503 | |
| 504 | /* map: ref cluster -> work cluster */ |
| 505 | bts_RBFMap2D_compute( cpA, rbfPtrL, refClPtrL, wrkClPtrL ); |
| 506 | |
| 507 | /* copy: scanClusterE -> work cluster */ |
| 508 | bts_Cluster2D_copy( cpA, wrkClPtrL, &ptrA->scanClusterE ); |
| 509 | |
| 510 | /* copy: refClusterE -> ref cluster */ |
| 511 | bts_Cluster2D_copy( cpA, refClPtrL, &ptrA->refClusterE.clusterE ); |
| 512 | |
| 513 | /* apply map to work cluster */ |
| 514 | bts_Cluster2D_rbfTransform( cpA, wrkClPtrL, rbfPtrL ); |
| 515 | |
| 516 | /* apply map to ref cluster */ |
| 517 | bts_Cluster2D_rbfTransform( cpA, refClPtrL, rbfPtrL ); |
| 518 | |
| 519 | { |
| 520 | /* analyze boundaries; get exact dimensions of working image */ |
| 521 | int32 workBorderWL = ( ( ptrA->scanWidthE + pw1L + 1 ) >> 1 ) + 1; /* add a pixel to ensure full search area */ |
| 522 | int32 workBorderHL = ( ( ptrA->scanHeightE + ph1L + 1 ) >> 1 ) + 1; /* add a pixel to ensure full search area */ |
| 523 | struct bts_Int16Rect workAreaL = bts_Cluster2D_boundingBox( cpA, wrkClPtrL ); |
| 524 | workAreaL.x1E = workAreaL.x1E >> wrkClPtrL->bbpE; |
| 525 | workAreaL.y1E = workAreaL.y1E >> wrkClPtrL->bbpE; |
| 526 | workAreaL.x2E = workAreaL.x2E >> wrkClPtrL->bbpE; |
| 527 | workAreaL.y2E = workAreaL.y2E >> wrkClPtrL->bbpE; |
| 528 | workAreaL.x1E -= workBorderWL; |
| 529 | workAreaL.y1E -= workBorderHL; |
| 530 | workAreaL.x2E += workBorderWL; |
| 531 | workAreaL.y2E += workBorderHL; |
| 532 | |
| 533 | workImageWidthL = workAreaL.x2E - workAreaL.x1E; |
| 534 | workImageHeightL = workAreaL.y2E - workAreaL.y1E; |
| 535 | |
| 536 | /* truncate if necessary (should not occur in normal operation) */ |
| 537 | workImageWidthL = workImageWidthL > ptrA->maxImageWidthE ? ptrA->maxImageWidthE : workImageWidthL; |
| 538 | workImageHeightL = workImageHeightL > ptrA->maxImageHeightE ? ptrA->maxImageHeightE : workImageHeightL; |
| 539 | |
| 540 | /* adjust ALT */ |
| 541 | altL.vecE.xE -= workAreaL.x1E << altL.vecE.bbpE; |
| 542 | altL.vecE.yE -= workAreaL.y1E << altL.vecE.bbpE; |
| 543 | |
| 544 | /* adjust work cluster */ |
| 545 | for( iL = 0; iL < wrkClPtrL->sizeE; iL++ ) |
| 546 | { |
| 547 | wrkClPtrL->vecArrE[ iL ].xE -= workAreaL.x1E << wrkClPtrL->bbpE; |
| 548 | wrkClPtrL->vecArrE[ iL ].yE -= workAreaL.y1E << wrkClPtrL->bbpE; |
| 549 | } |
| 550 | |
| 551 | /* adjust ref cluster */ |
| 552 | for( iL = 0; iL < wrkClPtrL->sizeE; iL++ ) |
| 553 | { |
| 554 | refClPtrL->vecArrE[ iL ].xE -= workAreaL.x1E << refClPtrL->bbpE; |
| 555 | refClPtrL->vecArrE[ iL ].yE -= workAreaL.y1E << refClPtrL->bbpE; |
| 556 | } |
| 557 | |
| 558 | /* transform image */ |
| 559 | bim_filterWarp( cpA, |
| 560 | ptrA->workImageBufE.arrPtrE, |
| 561 | imagePtrA, imageWidthA, imageHeightA, |
| 562 | offsPtrA, |
| 563 | &altL, |
| 564 | workImageWidthL, workImageHeightL, |
| 565 | NULL, |
| 566 | ptrA->warpScaleThresholdE, |
| 567 | ptrA->interpolatedWarpingE ); |
| 568 | |
| 569 | } |
| 570 | |
| 571 | /* scan over all positions of work cluster; target positions are stored in *dstClPtrL*/ |
| 572 | { |
| 573 | int32 regionWHL = ( ptrA->scanWidthE + pw1L + 1 ) >> 1; |
| 574 | int32 regionHHL = ( ptrA->scanHeightE + ph1L + 1 ) >> 1; |
| 575 | struct bts_Int16Vec2D* srcVecArrL = wrkClPtrL->vecArrE; |
| 576 | struct bts_Int16Vec2D* dstVecArrL = dstClPtrL->vecArrE; |
| 577 | int32 vecBbpL = wrkClPtrL->bbpE; |
| 578 | bts_Cluster2D_size( cpA, dstClPtrL, sizeL ); |
| 579 | dstClPtrL->bbpE = vecBbpL; |
| 580 | |
| 581 | /* initialize scanner */ |
| 582 | scnPtrL->patchWidthE = ptrA->patchWidthE; |
| 583 | scnPtrL->patchHeightE = ptrA->patchWidthE; |
| 584 | scnPtrL->scaleExpE = ptrA->scaleExpE; |
| 585 | |
| 586 | bbf_LocalScanner_assign( cpA, scnPtrL, ptrA->workImageBufE.arrPtrE, workImageWidthL, workImageHeightL, &ptrA->bitParamE ); |
| 587 | |
| 588 | bbs_memset32( actArrL, 0x80000000, sizeL ); |
| 589 | |
| 590 | do |
| 591 | { |
| 592 | for( iL = 0; iL < sizeL; iL++ ) |
| 593 | { |
| 594 | int32 bestActL = 0x80000000; |
| 595 | uint32 bestIdxL = 0; |
| 596 | struct bbf_Feature* ftrPtrL = ptrA->ftrPtrArrE[ iL ]; |
| 597 | |
| 598 | /* set scan region */ |
| 599 | { |
| 600 | int32 x0L = ( ( wrkClPtrL->vecArrE[ iL ].xE >> ( wrkClPtrL->bbpE - 1 ) ) + 1 ) >> 1; |
| 601 | int32 y0L = ( ( wrkClPtrL->vecArrE[ iL ].yE >> ( wrkClPtrL->bbpE - 1 ) ) + 1 ) >> 1; |
| 602 | struct bts_Int16Rect scanRegionL = bts_Int16Rect_create( x0L - regionWHL, y0L - regionHHL, x0L + regionWHL, y0L + regionHHL ); |
| 603 | bbf_LocalScanner_origScanRegion( cpA, scnPtrL, &scanRegionL ); |
| 604 | } |
| 605 | |
| 606 | do |
| 607 | { |
| 608 | int32 actL = ftrPtrL->vpActivityE( ftrPtrL, bbf_LocalScanner_getPatch( scnPtrL ) ); |
| 609 | |
| 610 | if( actL > bestActL ) |
| 611 | { |
| 612 | bestActL = actL; |
| 613 | bestIdxL = bbf_LocalScanner_scanIndex( scnPtrL ); |
| 614 | } |
| 615 | } |
| 616 | while( bbf_LocalScanner_next( cpA, scnPtrL ) ); |
| 617 | |
| 618 | { |
| 619 | int32 xL, yL; /* 16.16 */ |
| 620 | bbf_LocalScanner_idxPos( scnPtrL, bestIdxL, &xL, &yL ); |
| 621 | xL += pw1L << 15; |
| 622 | yL += ph1L << 15; |
| 623 | if( bestActL > actArrL[ iL ] ) |
| 624 | { |
| 625 | dstVecArrL[ iL ].xE = ( ( xL >> ( 15 - vecBbpL ) ) + 1 ) >> 1; |
| 626 | dstVecArrL[ iL ].yE = ( ( yL >> ( 15 - vecBbpL ) ) + 1 ) >> 1; |
| 627 | actArrL[ iL ] = bestActL; |
| 628 | } |
| 629 | } |
| 630 | } |
| 631 | } |
| 632 | while( bbf_LocalScanner_nextOffset( cpA, scnPtrL ) ); |
| 633 | |
| 634 | /* outlier analysis: outliers are disabled by setting their similarity to -1 */ |
| 635 | if( ptrA->outlierDistanceE > 0 ) |
| 636 | { |
| 637 | /* altL: work cluster -> ref cluster */ |
| 638 | struct bts_Flt16Alt2D localAltL = bts_Cluster2D_alt( cpA, wrkClPtrL, dstClPtrL, bts_ALT_RIGID ); |
| 639 | |
| 640 | /* squared distance 16.16 */ |
| 641 | uint32 dist2L = ( ptrA->outlierDistanceE >> 8 ) * ( ptrA->outlierDistanceE >> 8 ); |
| 642 | |
| 643 | /* analyze deviations */ |
| 644 | for( iL = 0; iL < sizeL; iL++ ) |
| 645 | { |
| 646 | struct bts_Flt16Vec2D vecL = bts_Flt16Vec2D_create32( srcVecArrL[ iL ].xE, srcVecArrL[ iL ].yE, vecBbpL ); |
| 647 | uint32 dev2L; /* squared deviation 16.16 */ |
| 648 | vecL = bts_Flt16Alt2D_mapFlt( &localAltL, &vecL ); |
| 649 | vecL = bts_Flt16Vec2D_sub( vecL, bts_Flt16Vec2D_create32( dstVecArrL[ iL ].xE, dstVecArrL[ iL ].yE, vecBbpL ) ); |
| 650 | dev2L = bbs_convertU32( bts_Flt16Vec2D_norm2( &vecL ), vecL.bbpE << 1, 16 ); |
| 651 | if( dev2L > dist2L ) actArrL[ iL ] = 0xF0000000; |
| 652 | } |
| 653 | } |
| 654 | |
| 655 | /* remove undetected positions but keep at least 1/2 best positions */ |
| 656 | { |
| 657 | flag sortedL; |
| 658 | |
| 659 | /* bubble sort (no speed issue in this case) */ |
| 660 | for( iL = 0; iL < sizeL; iL++ ) idxArrL[ iL ] = iL; |
| 661 | |
| 662 | do |
| 663 | { |
| 664 | sortedL = TRUE; |
| 665 | for( iL = 1; iL < sizeL; iL++ ) |
| 666 | { |
| 667 | if( actArrL[ idxArrL[ iL - 1 ] ] < actArrL[ idxArrL[ iL ] ] ) |
| 668 | { |
| 669 | int16 tmpL = idxArrL[ iL - 1 ]; |
| 670 | idxArrL[ iL - 1 ] = idxArrL[ iL ]; |
| 671 | idxArrL[ iL ] = tmpL; |
| 672 | sortedL = FALSE; |
| 673 | } |
| 674 | } |
| 675 | } |
| 676 | while( !sortedL ); |
| 677 | |
Colin Cross | 4822232 | 2017-10-07 18:40:45 -0700 | [diff] [blame^] | 678 | for( iL = ( sizeL >> 1 ); iL < sizeL && actArrL[ idxArrL[ iL ] ] >= 0; iL++ ) |
| 679 | ; |
The Android Open Source Project | 7f81d9b | 2009-03-03 19:30:08 -0800 | [diff] [blame] | 680 | |
| 681 | { |
| 682 | uint32 subSizeL = iL; |
| 683 | |
| 684 | /* reorder clusters */ |
| 685 | bts_Cluster2D_size( cpA, tmpClPtrL, subSizeL ); |
| 686 | { |
| 687 | struct bts_Int16Vec2D* tmpVecArrL = tmpClPtrL->vecArrE; |
| 688 | for( iL = 0; iL < subSizeL; iL++ ) tmpVecArrL[ iL ] = srcVecArrL[ idxArrL[ iL ] ]; |
| 689 | for( iL = 0; iL < subSizeL; iL++ ) srcVecArrL[ iL ] = tmpVecArrL[ iL ]; |
| 690 | for( iL = 0; iL < subSizeL; iL++ ) tmpVecArrL[ iL ] = dstVecArrL[ idxArrL[ iL ] ]; |
| 691 | for( iL = 0; iL < subSizeL; iL++ ) dstVecArrL[ iL ] = tmpVecArrL[ iL ]; |
| 692 | } |
| 693 | bts_Cluster2D_size( cpA, wrkClPtrL, subSizeL ); |
| 694 | bts_Cluster2D_size( cpA, dstClPtrL, subSizeL ); |
| 695 | } |
| 696 | } |
| 697 | |
| 698 | /* compute confidence */ |
| 699 | { |
| 700 | int16* idxArrL = ptrA->idxArrE.arrPtrE; |
| 701 | int32* actArrL = ptrA->actArrE.arrPtrE; |
| 702 | int32 actSumL = 0; /* .20 */ |
| 703 | for( iL = 0; iL < sizeL; iL++ ) |
| 704 | { |
| 705 | float actL = ( actArrL[ idxArrL[ iL ] ] + 128 ) >> 8; |
| 706 | if( actL < 0 ) break; |
| 707 | actSumL += actL; |
| 708 | } |
| 709 | |
| 710 | /* actSumL = average positive activity */ |
| 711 | actSumL = ( iL > 0 ) ? actSumL / iL : 0; |
| 712 | |
| 713 | confidenceL = ( ( ( int32 )iL << 20 ) - ( ( ( int32 )1 << 20 ) - actSumL ) ) / sizeL; |
| 714 | |
| 715 | /* adjust to 4.28 */ |
| 716 | confidenceL <<= 8; |
| 717 | } |
| 718 | |
| 719 | } |
| 720 | |
| 721 | /* map: wrkCluster -> dstCluster */ |
| 722 | bts_RBFMap2D_compute( cpA, rbfPtrL, wrkClPtrL, dstClPtrL ); |
| 723 | |
| 724 | /* apply map to ref cluster */ |
| 725 | bts_Cluster2D_rbfTransform( cpA, refClPtrL, rbfPtrL ); |
| 726 | |
| 727 | /* copy ref cluster to outCluster */ |
| 728 | bts_Cluster2D_copy( cpA, &outClusterPtrA->clusterE, refClPtrL ); |
| 729 | bbs_Int16Arr_copy( cpA, &outClusterPtrA->idArrE, &ptrA->refClusterE.idArrE ); |
| 730 | |
| 731 | /* PCA Mapping */ |
| 732 | if( ptrA->pcaDimSubSpaceE > 0 ) |
| 733 | { |
| 734 | bbf_LocalScanDetector_pcaMap( cpA, ptrA, outClusterPtrA, outClusterPtrA ); |
| 735 | } |
| 736 | |
| 737 | /* backtransform out cluster to original image */ |
| 738 | bts_Cluster2D_transformBbp( cpA, &outClusterPtrA->clusterE, bts_Flt16Alt2D_inverted( &altL ), inClusterPtrA->clusterE.bbpE ); |
| 739 | |
| 740 | return confidenceL; |
| 741 | } |
| 742 | |
| 743 | /* ------------------------------------------------------------------------- */ |
| 744 | |
| 745 | /* ========================================================================= */ |
| 746 | |