+++ /dev/null
-/*M///////////////////////////////////////////////////////////////////////////////////////
-//
-// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
-//
-// By downloading, copying, installing or using the software you agree to this license.
-// If you do not agree to this license, do not download, install,
-// copy or use the software.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright (C) 2000, Intel Corporation, all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
-//
-// * Redistribution's of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistribution's in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// * The name of Intel Corporation may not be used to endorse or promote products
-// derived from this software without specific prior written permission.
-//
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//
-//M*/
-#include "_cv.h"
-
-CV_IMPL void
-cvFindCornerSubPix( const void* srcarr, CvPoint2D32f* corners,
- int count, CvSize win, CvSize zeroZone,
- CvTermCriteria criteria )
-{
- float* buffer = 0;
-
- CV_FUNCNAME( "cvFindCornerSubPix" );
-
- __BEGIN__;
-
- const int MAX_ITERS = 100;
- const float drv_x[] = { -1.f, 0.f, 1.f };
- const float drv_y[] = { 0.f, 0.5f, 0.f };
- float *maskX;
- float *maskY;
- float *mask;
- float *src_buffer;
- float *gx_buffer;
- float *gy_buffer;
- int win_w = win.width * 2 + 1, win_h = win.height * 2 + 1;
- int win_rect_size = (win_w + 4) * (win_h + 4);
- double coeff;
- CvSize size, src_buf_size;
- int i, j, k, pt_i;
- int max_iters, buffer_size;
- double eps;
-
- CvMat stub, *src = (CvMat*)srcarr;
- CV_CALL( src = cvGetMat( srcarr, &stub ));
-
- if( CV_MAT_TYPE( src->type ) != CV_8UC1 )
- CV_ERROR( CV_StsBadMask, "" );
-
- if( !corners )
- CV_ERROR( CV_StsNullPtr, "" );
-
- if( count < 0 )
- CV_ERROR( CV_StsBadSize, "" );
-
- if( count == 0 )
- EXIT;
-
- if( win.width <= 0 || win.height <= 0 )
- CV_ERROR( CV_StsBadSize, "" );
-
- size = cvGetMatSize( src );
-
- if( size.width < win_w + 4 || size.height < win_h + 4 )
- CV_ERROR( CV_StsBadSize, "" );
-
- /* initialize variables, controlling loop termination */
- switch( criteria.type )
- {
- case CV_TERMCRIT_ITER:
- eps = 0.f;
- max_iters = criteria.max_iter;
- break;
- case CV_TERMCRIT_EPS:
- eps = criteria.epsilon;
- max_iters = MAX_ITERS;
- break;
- case CV_TERMCRIT_ITER | CV_TERMCRIT_EPS:
- eps = criteria.epsilon;
- max_iters = criteria.max_iter;
- break;
- default:
- assert( 0 );
- CV_ERROR( CV_StsBadFlag, "" );
- }
-
- eps = MAX( eps, 0 );
- eps *= eps; /* use square of error in comparsion operations. */
-
- max_iters = MAX( max_iters, 1 );
- max_iters = MIN( max_iters, MAX_ITERS );
-
- /* setup buffer */
- buffer_size = (win_rect_size * 5 + win_w + win_h + 32) * sizeof(float);
- buffer = (float*)cvAlloc( buffer_size );
-
- /* assign pointers */
- maskX = buffer;
- maskY = maskX + win_w + 4;
- mask = maskY + win_h + 4;
- src_buffer = mask + win_w * win_h;
- gx_buffer = src_buffer + win_rect_size;
- gy_buffer = gx_buffer + win_rect_size;
-
- coeff = 1. / (win.width * win.width);
-
- /* calculate mask */
- for( i = -win.width, k = 0; i <= win.width; i++, k++ )
- {
- maskX[k] = (float)exp( -i * i * coeff );
- }
-
- if( win.width == win.height )
- {
- maskY = maskX;
- }
- else
- {
- coeff = 1. / (win.height * win.height);
- for( i = -win.height, k = 0; i <= win.height; i++, k++ )
- {
- maskY[k] = (float) exp( -i * i * coeff );
- }
- }
-
- for( i = 0; i < win_h; i++ )
- {
- for( j = 0; j < win_w; j++ )
- {
- mask[i * win_w + j] = maskX[j] * maskY[i];
- }
- }
-
-
- /* make zero_zone */
- if( zeroZone.width >= 0 && zeroZone.height >= 0 &&
- zeroZone.width * 2 + 1 < win_w && zeroZone.height * 2 + 1 < win_h )
- {
- for( i = win.height - zeroZone.height; i <= win.height + zeroZone.height; i++ )
- {
- for( j = win.width - zeroZone.width; j <= win.width + zeroZone.width; j++ )
- {
- mask[i * win_w + j] = 0;
- }
- }
- }
-
- /* set sizes of image rectangles, used in convolutions */
- src_buf_size.width = win_w + 2;
- src_buf_size.height = win_h + 2;
-
- /* do optimization loop for all the points */
- for( pt_i = 0; pt_i < count; pt_i++ )
- {
- CvPoint2D32f cT = corners[pt_i], cI = cT;
- int iter = 0;
- double err;
-
- do
- {
- CvPoint2D32f cI2;
- double a, b, c, bb1, bb2;
-
- IPPI_CALL( icvGetRectSubPix_8u32f_C1R( (uchar*)src->data.ptr, src->step, size,
- src_buffer, (win_w + 2) * sizeof( src_buffer[0] ),
- cvSize( win_w + 2, win_h + 2 ), cI ));
-
- /* calc derivatives */
- icvSepConvSmall3_32f( src_buffer, src_buf_size.width * sizeof(src_buffer[0]),
- gx_buffer, win_w * sizeof(gx_buffer[0]),
- src_buf_size, drv_x, drv_y, buffer );
-
- icvSepConvSmall3_32f( src_buffer, src_buf_size.width * sizeof(src_buffer[0]),
- gy_buffer, win_w * sizeof(gy_buffer[0]),
- src_buf_size, drv_y, drv_x, buffer );
-
- a = b = c = bb1 = bb2 = 0;
-
- /* process gradient */
- for( i = 0, k = 0; i < win_h; i++ )
- {
- double py = i - win.height;
-
- for( j = 0; j < win_w; j++, k++ )
- {
- double m = mask[k];
- double tgx = gx_buffer[k];
- double tgy = gy_buffer[k];
- double gxx = tgx * tgx * m;
- double gxy = tgx * tgy * m;
- double gyy = tgy * tgy * m;
- double px = j - win.width;
-
- a += gxx;
- b += gxy;
- c += gyy;
-
- bb1 += gxx * px + gxy * py;
- bb2 += gxy * px + gyy * py;
- }
- }
-
- {
- double A[4];
- double InvA[4];
- CvMat matA, matInvA;
-
- A[0] = a;
- A[1] = A[2] = b;
- A[3] = c;
-
- cvInitMatHeader( &matA, 2, 2, CV_64F, A );
- cvInitMatHeader( &matInvA, 2, 2, CV_64FC1, InvA );
-
- cvInvert( &matA, &matInvA, CV_SVD );
- cI2.x = (float)(cI.x + InvA[0]*bb1 + InvA[1]*bb2);
- cI2.y = (float)(cI.y + InvA[2]*bb1 + InvA[3]*bb2);
- }
-
- err = (cI2.x - cI.x) * (cI2.x - cI.x) + (cI2.y - cI.y) * (cI2.y - cI.y);
- cI = cI2;
- }
- while( ++iter < max_iters && err > eps );
-
- /* if new point is too far from initial, it means poor convergence.
- leave initial point as the result */
- if( fabs( cI.x - cT.x ) > win.width || fabs( cI.y - cT.y ) > win.height )
- {
- cI = cT;
- }
-
- corners[pt_i] = cI; /* store result */
- }
-
- __CLEANUP__;
- __END__;
-
- cvFree( &buffer );
-}
-
-/* End of file. */
projects / opencv / blobdiff