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Formatted all .cc and .h code in rtengine, rtexif and rtgui using astyle

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This commit is contained in:
DrSlony
2015-08-11 11:55:03 +02:00
parent effb46c3e1
commit 0e0cfb9b25
452 changed files with 133354 additions and 99460 deletions
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189
rtengine/calc_distort.cc
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@@ -1,7 +1,7 @@
/**********************************************************************
Finds the N_FEATURES best features in an image, and tracks these
features to the next image. Saves the feature
locations (before and after tracking) to text files and to PPM files,
locations (before and after tracking) to text files and to PPM files,
and prints the features to the screen.
**********************************************************************/
@@ -21,13 +21,14 @@ and prints the features to the screen.
#ifdef DEBUG_IMG
void drawDotXY(unsigned char* img, int ncols, int nrows, int x, int y, int color)
{
img[x+y*ncols] = color;
img[x + y * ncols] = color;
}
void drawDot(unsigned char* img, int ncols, int nrows, double r0, double r10, int color)
{
if (r0>=0 && r0<1 && r10 >=0.8 && r10 <1.2)
drawDotXY (img, ncols, nrows, (int)(r0*ncols), (int)((r10-0.8)*2.5*nrows), color);
if (r0 >= 0 && r0 < 1 && r10 >= 0.8 && r10 < 1.2) {
drawDotXY (img, ncols, nrows, (int)(r0 * ncols), (int)((r10 - 0.8) * 2.5 * nrows), color);
}
}
#endif
@@ -36,13 +37,13 @@ int calcDistortion(unsigned char* img1, unsigned char* img2, int ncols, int nrow
KLT_TrackingContext tc;
KLT_FeatureList fl;
KLT_FeatureTable ft;
int i,n;
int i, n;
double radius, wc, hc;
double r0[N_FEATURES*nfactor];
memset(r0,0,N_FEATURES*nfactor*sizeof(double));
double r10[N_FEATURES*nfactor];
memset(r10,0,N_FEATURES*nfactor*sizeof(double));
double r0[N_FEATURES * nfactor];
memset(r0, 0, N_FEATURES * nfactor * sizeof(double));
double r10[N_FEATURES * nfactor];
memset(r10, 0, N_FEATURES * nfactor * sizeof(double));
tc = KLTCreateTrackingContext();
//tc->mindist = 20;
@@ -51,12 +52,12 @@ int calcDistortion(unsigned char* img1, unsigned char* img2, int ncols, int nrow
tc->step_factor = 2.0;
tc->max_iterations = 20;
//KLTPrintTrackingContext(tc);
fl = KLTCreateFeatureList(N_FEATURES*nfactor);
ft = KLTCreateFeatureTable(2, N_FEATURES*nfactor);
fl = KLTCreateFeatureList(N_FEATURES * nfactor);
ft = KLTCreateFeatureTable(2, N_FEATURES * nfactor);
radius = sqrt(ncols*ncols+nrows*nrows)/2.0;
wc=((double)ncols)/2.0-0.5;
hc=((double)nrows)/2.0-0.5;
radius = sqrt(ncols * ncols + nrows * nrows) / 2.0;
wc = ((double)ncols) / 2.0 - 0.5;
hc = ((double)nrows) / 2.0 - 0.5;
KLTSelectGoodFeatures(tc, img1, ncols, nrows, fl);
KLTStoreFeatureList(fl, ft, 0);
@@ -65,31 +66,36 @@ int calcDistortion(unsigned char* img1, unsigned char* img2, int ncols, int nrow
KLTStoreFeatureList(fl, ft, 1);
// add a shade to img2, we want to draw something on top of it.
for (i=0;i<ncols*nrows;i++) {
img2[i]=(img2[i]/2)+16;
for (i = 0; i < ncols * nrows; i++) {
img2[i] = (img2[i] / 2) + 16;
}
// find the best comp and scale when assume r1 = r0*(1.0-comp+(r0*comp))*scale;
n=0;
double total_r10=0.0, total_r0=0.0;
for (i=0;i<N_FEATURES*nfactor;i++) {
if (ft->feature[i][1]->val>=0) {
double x0,y0,x1,y1;
x0=ft->feature[i][0]->x;
y0=ft->feature[i][0]->y;
x1=ft->feature[i][1]->x;
y1=ft->feature[i][1]->y;
r0[n]=sqrt((x0-wc)*(x0-wc)+(y0-hc)*(y0-hc))/radius;
// find the best comp and scale when assume r1 = r0*(1.0-comp+(r0*comp))*scale;
n = 0;
double total_r10 = 0.0, total_r0 = 0.0;
for (i = 0; i < N_FEATURES * nfactor; i++) {
if (ft->feature[i][1]->val >= 0) {
double x0, y0, x1, y1;
x0 = ft->feature[i][0]->x;
y0 = ft->feature[i][0]->y;
x1 = ft->feature[i][1]->x;
y1 = ft->feature[i][1]->y;
r0[n] = sqrt((x0 - wc) * (x0 - wc) + (y0 - hc) * (y0 - hc)) / radius;
// dots too close to the center tends to have big diviation and create noise, extract them
if (r0[n]<CENTER_R)
if (r0[n] < CENTER_R) {
continue;
r10[n]=(sqrt((x1-wc)*(x1-wc)+(y1-hc)*(y1-hc))/radius)/r0[n];
}
r10[n] = (sqrt((x1 - wc) * (x1 - wc) + (y1 - hc) * (y1 - hc)) / radius) / r0[n];
total_r10 += r10[n];
total_r0 += r0[n];
n++;
} else {
ft->feature[i][0]->x=-1.0;
ft->feature[i][0]->y=-1.0;
ft->feature[i][0]->x = -1.0;
ft->feature[i][0]->y = -1.0;
}
}
@@ -105,25 +111,28 @@ int calcDistortion(unsigned char* img1, unsigned char* img2, int ncols, int nrow
double Sxy = 0.0;
double Syy = 0.0;
for (i=0;i<n;i++) {
Sxx += (r0[i] - avg_r0) * (r0[i] - avg_r0);
Sxy += (r0[i] - avg_r0) * (r10[i] - avg_r10);
Syy += (r10[i] - avg_r10) * (r10[i] - avg_r10);
for (i = 0; i < n; i++) {
Sxx += (r0[i] - avg_r0) * (r0[i] - avg_r0);
Sxy += (r0[i] - avg_r0) * (r10[i] - avg_r10);
Syy += (r10[i] - avg_r10) * (r10[i] - avg_r10);
}
double u = Sxy/Sxx;
double u = Sxy / Sxx;
double v = avg_r10 - u * avg_r0;
double b = u + v;
double a = u / b;
double total_delta = 0.0;
double rxy = Sxy/sqrt(Sxx*Syy);
double rxy = Sxy / sqrt(Sxx * Syy);
if (rxy<0) rxy= -rxy;
if (rxy < 0) {
rxy = -rxy;
}
int new_n = n;
int new_n=n;
// calculate deviation
for (i=0;i<n;i++) {
double delta = r10[i] - (1.0-a+(r0[i]*a))*b;
for (i = 0; i < n; i++) {
double delta = r10[i] - (1.0 - a + (r0[i] * a)) * b;
delta = delta >= 0 ? delta : -delta;
#ifdef DEBUG_IMG
@@ -140,7 +149,7 @@ int calcDistortion(unsigned char* img1, unsigned char* img2, int ncols, int nrow
total_delta += delta;
}
printf ("distortion amount=%lf scale=%lf deviation=%lf, rxy=%lf\n", a, b, total_delta/n, rxy);
printf ("distortion amount=%lf scale=%lf deviation=%lf, rxy=%lf\n", a, b, total_delta / n, rxy);
if (new_n < 5) {
printf ("Not sufficient features.\n");
@@ -148,73 +157,97 @@ int calcDistortion(unsigned char* img1, unsigned char* img2, int ncols, int nrow
return -1;
}
printf ("Removed %d outstading data points\n", n-new_n);
printf ("Removed %d outstading data points\n", n - new_n);
avg_r10 = total_r10 / new_n;
avg_r0 = total_r0 / new_n;
Sxx = 0.0;
Sxy = 0.0;
Syy = 0.0;
for (i=0;i<n;i++) {
if (r0[i]<0) continue;
Sxx += (r0[i] - avg_r0) * (r0[i] - avg_r0);
Sxy += (r0[i] - avg_r0) * (r10[i] - avg_r10);
Syy += (r10[i] - avg_r10) * (r10[i] - avg_r10);
for (i = 0; i < n; i++) {
if (r0[i] < 0) {
continue;
}
Sxx += (r0[i] - avg_r0) * (r0[i] - avg_r0);
Sxy += (r0[i] - avg_r0) * (r10[i] - avg_r10);
Syy += (r10[i] - avg_r10) * (r10[i] - avg_r10);
}
u = Sxy/Sxx;
u = Sxy / Sxx;
v = avg_r10 - u * avg_r0;
b = u + v;
a = u / b;
total_delta = 0.0;
rxy = Sxy/sqrt(Sxx*Syy);
if (rxy<0) rxy= -rxy;
rxy = Sxy / sqrt(Sxx * Syy);
if (rxy < 0) {
rxy = -rxy;
}
#ifdef DEBUG_IMG
// draw lines for curve and different deviation level, for debugging purpose
for (i=0; i< ncols; i++) {
double val= (1.0-a+((i/(double)ncols)*a))*b;
if (val >=0.8 && val <1.2) {
if (img2[i+((int)((val-0.8)*2.5*nrows))*ncols] != 255)
img2[i+((int)((val-0.8)*2.5*nrows))*ncols] = 0;
for (i = 0; i < ncols; i++) {
double val = (1.0 - a + ((i / (double)ncols) * a)) * b;
if (val >= 0.8 && val < 1.2) {
if (img2[i + ((int)((val - 0.8) * 2.5 * nrows))*ncols] != 255) {
img2[i + ((int)((val - 0.8) * 2.5 * nrows))*ncols] = 0;
}
}
val += DELTA_1;
if (val >=0.8 && val <1.2) {
if (img2[i+((int)((val-0.8)*2.5*nrows))*ncols] != 255)
img2[i+((int)((val-0.8)*2.5*nrows))*ncols] = 8;
if (val >= 0.8 && val < 1.2) {
if (img2[i + ((int)((val - 0.8) * 2.5 * nrows))*ncols] != 255) {
img2[i + ((int)((val - 0.8) * 2.5 * nrows))*ncols] = 8;
}
}
val -= DELTA_1*2;
if (val >=0.8 && val <1.2) {
if (img2[i+((int)((val-0.8)*2.5*nrows))*ncols] != 255)
img2[i+((int)((val-0.8)*2.5*nrows))*ncols] = 8;
val -= DELTA_1 * 2;
if (val >= 0.8 && val < 1.2) {
if (img2[i + ((int)((val - 0.8) * 2.5 * nrows))*ncols] != 255) {
img2[i + ((int)((val - 0.8) * 2.5 * nrows))*ncols] = 8;
}
}
val += DELTA_1+DELTA_2;
if (val >=0.8 && val <1.2) {
if (img2[i+((int)((val-0.8)*2.5*nrows))*ncols] != 255)
img2[i+((int)((val-0.8)*2.5*nrows))*ncols] = 16;
val += DELTA_1 + DELTA_2;
if (val >= 0.8 && val < 1.2) {
if (img2[i + ((int)((val - 0.8) * 2.5 * nrows))*ncols] != 255) {
img2[i + ((int)((val - 0.8) * 2.5 * nrows))*ncols] = 16;
}
}
val -= DELTA_2*2;
if (val >=0.8 && val <1.2) {
if (img2[i+((int)((val-0.8)*2.5*nrows))*ncols] != 255)
img2[i+((int)((val-0.8)*2.5*nrows))*ncols] = 16;
val -= DELTA_2 * 2;
if (val >= 0.8 && val < 1.2) {
if (img2[i + ((int)((val - 0.8) * 2.5 * nrows))*ncols] != 255) {
img2[i + ((int)((val - 0.8) * 2.5 * nrows))*ncols] = 16;
}
}
}
KLTExtractFeatureList(fl, ft, 0);
KLTWriteFeatureListToPPM(fl,img1,ncols,nrows,"/tmp/feat0.ppm");
KLTWriteFeatureListToPPM(fl, img1, ncols, nrows, "/tmp/feat0.ppm");
KLTExtractFeatureList(fl, ft, 1);
KLTWriteFeatureListToPPM(fl,img2,ncols,nrows,"/tmp/feat1.ppm");
KLTWriteFeatureListToPPM(fl, img2, ncols, nrows, "/tmp/feat1.ppm");
#endif
// calculate deviation
for (i=0;i<n;i++) {
if (r0[i]<0) continue;
double delta = r10[i] - (1.0-a+(r0[i]*a))*b;
for (i = 0; i < n; i++) {
if (r0[i] < 0) {
continue;
}
double delta = r10[i] - (1.0 - a + (r0[i] * a)) * b;
delta = delta >= 0 ? delta : -delta;
total_delta += delta;
}
printf ("distortion amount=%lf scale=%lf deviation=%lf, rxy=%lf\n", a, b, total_delta/n, rxy);
printf ("distortion amount=%lf scale=%lf deviation=%lf, rxy=%lf\n", a, b, total_delta / n, rxy);
if (total_delta / new_n > DELTA_2) {
printf ("Deviation is too big.\n");
@@ -228,7 +261,7 @@ int calcDistortion(unsigned char* img1, unsigned char* img2, int ncols, int nrow
return -3;
}
printf ("distortion amount=%lf scale=%lf deviation=%lf, rxy=%lf\n", a, b, total_delta/n, rxy);
printf ("distortion amount=%lf scale=%lf deviation=%lf, rxy=%lf\n", a, b, total_delta / n, rxy);
distortion = a;
return 1;
}