diff options
author | Sergey Sharybin <sergey.vfx@gmail.com> | 2011-11-29 01:48:49 +0400 |
---|---|---|
committer | Sergey Sharybin <sergey.vfx@gmail.com> | 2011-11-29 01:48:49 +0400 |
commit | 0668ad2d55935b5f7ecc6f8f4c9b38e27db7ec65 (patch) | |
tree | 4a4b810c0e9f5df432300237809361ecb8faa8cf /extern/libmv | |
parent | ac88b67b3034757854a3038582ef8dd31a2e91a7 (diff) |
Camera tracking: SAD tracker now supports patterns with any size
(rectangle patterns are getting enlarged to square like it's happening for KLT)
Diffstat (limited to 'extern/libmv')
-rw-r--r-- | extern/libmv/libmv-capi.cpp | 8 | ||||
-rw-r--r-- | extern/libmv/libmv-capi.h | 4 | ||||
-rw-r--r-- | extern/libmv/libmv/tracking/sad.cc | 23 |
3 files changed, 26 insertions, 9 deletions
diff --git a/extern/libmv/libmv-capi.cpp b/extern/libmv/libmv-capi.cpp index f08aea9fbd1..aa05279d731 100644 --- a/extern/libmv/libmv-capi.cpp +++ b/extern/libmv/libmv-capi.cpp @@ -297,16 +297,16 @@ void libmv_regionTrackerDestroy(libmv_RegionTracker *libmv_tracker) /* ************ Tracks ************ */ void libmv_SADSamplePattern(unsigned char *image, int stride, - float warp[3][2], unsigned char *pattern) + float warp[3][2], unsigned char *pattern, int pattern_size) { libmv::mat32 mat32; memcpy(mat32.data, warp, sizeof(float)*3*2); - libmv::SamplePattern(image, stride, mat32, pattern, 16); + libmv::SamplePattern(image, stride, mat32, pattern, pattern_size); } -float libmv_SADTrackerTrack(unsigned char *pattern, unsigned char *warped, unsigned char *image, int stride, +float libmv_SADTrackerTrack(unsigned char *pattern, unsigned char *warped, int pattern_size, unsigned char *image, int stride, int width, int height, float warp[3][2]) { float result; @@ -314,7 +314,7 @@ float libmv_SADTrackerTrack(unsigned char *pattern, unsigned char *warped, unsig memcpy(mat32.data, warp, sizeof(float)*3*2); - result = libmv::Track(pattern, warped, 16, image, stride, width, height, &mat32, 16, 16); + result = libmv::Track(pattern, warped, pattern_size, image, stride, width, height, &mat32, 16, 16); memcpy(warp, mat32.data, sizeof(float)*3*2); diff --git a/extern/libmv/libmv-capi.h b/extern/libmv/libmv-capi.h index 536f8a5f14c..321593520b5 100644 --- a/extern/libmv/libmv-capi.h +++ b/extern/libmv/libmv-capi.h @@ -50,8 +50,8 @@ void libmv_regionTrackerDestroy(struct libmv_RegionTracker *libmv_tracker); /* SAD Tracker */ void libmv_SADSamplePattern(unsigned char *image, int stride, - float warp[3][2], unsigned char *pattern); -float libmv_SADTrackerTrack(unsigned char *pattern, unsigned char *warped, unsigned char *image, + float warp[3][2], unsigned char *pattern, int pattern_size); +float libmv_SADTrackerTrack(unsigned char *pattern, unsigned char *warped, int pattern_size, unsigned char *image, int stride, int width, int height, float warp[3][2]); /* Tracks */ diff --git a/extern/libmv/libmv/tracking/sad.cc b/extern/libmv/libmv/tracking/sad.cc index 9b446bb4c35..0876ef2fe73 100644 --- a/extern/libmv/libmv/tracking/sad.cc +++ b/extern/libmv/libmv/tracking/sad.cc @@ -25,6 +25,7 @@ #include "libmv/tracking/sad.h" #include <stdlib.h> #include <math.h> +#include <stdio.h> namespace libmv { @@ -78,15 +79,31 @@ void SamplePattern(ubyte* image, int stride, mat32 warp, ubyte* pattern, int siz #ifdef __SSE2__ #include <emmintrin.h> -static uint SAD(const ubyte* pattern, const ubyte* image, int stride, int size) { + static uint SAD(/*const*/ ubyte* pattern, /*const*/ ubyte* image, int stride, int size) { + uint sad = 0; __m128i a = _mm_setzero_si128(); + for(int i = 0; i < size; i++) { - for(int j = 0; j < size/16; j++) { + int j = 0; + + for(j = 0; j < size/16; j++) { + if((i*size/16+j) % 32 == 0) { + sad += _mm_extract_epi16(a,0) + _mm_extract_epi16(a,4); + a = _mm_setzero_si128(); + } + a = _mm_adds_epu16(a, _mm_sad_epu8( _mm_loadu_si128((__m128i*)(pattern+i*size+j*16)), _mm_loadu_si128((__m128i*)(image+i*stride+j*16)))); } + + for(j = j*16; j < size; j++) { + sad += abs((int)pattern[i*size+j] - image[i*stride+j]); + } } - return _mm_extract_epi16(a,0) + _mm_extract_epi16(a,4); + + sad += _mm_extract_epi16(a,0) + _mm_extract_epi16(a,4); + + return sad; } #else static uint SAD(const ubyte* pattern, const ubyte* image, int stride, int size) { |