diff options
Diffstat (limited to 'intern/libmv/libmv/tracking/klt_region_tracker.cc')
| -rw-r--r-- | intern/libmv/libmv/tracking/klt_region_tracker.cc | 63 |
1 files changed, 36 insertions, 27 deletions
diff --git a/intern/libmv/libmv/tracking/klt_region_tracker.cc b/intern/libmv/libmv/tracking/klt_region_tracker.cc index dbbf9f0b996..df1ded65489 100644 --- a/intern/libmv/libmv/tracking/klt_region_tracker.cc +++ b/intern/libmv/libmv/tracking/klt_region_tracker.cc @@ -20,10 +20,10 @@ #include "libmv/tracking/klt_region_tracker.h" -#include "libmv/logging/logging.h" -#include "libmv/image/image.h" #include "libmv/image/convolve.h" +#include "libmv/image/image.h" #include "libmv/image/sample.h" +#include "libmv/logging/logging.h" namespace libmv { @@ -33,16 +33,18 @@ namespace libmv { // TODO(keir): The calls to SampleLinear() do boundary checking that should // instead happen outside the loop. Since this is the innermost loop, the extra // bounds checking hurts performance. -static void ComputeTrackingEquation(const Array3Df &image_and_gradient1, - const Array3Df &image_and_gradient2, - double x1, double y1, - double x2, double y2, +static void ComputeTrackingEquation(const Array3Df& image_and_gradient1, + const Array3Df& image_and_gradient2, + double x1, + double y1, + double x2, + double y2, int half_width, - float *gxx, - float *gxy, - float *gyy, - float *ex, - float *ey) { + float* gxx, + float* gxy, + float* gyy, + float* ex, + float* ey) { *gxx = *gxy = *gyy = 0; *ex = *ey = 0; for (int r = -half_width; r <= half_width; ++r) { @@ -51,8 +53,8 @@ static void ComputeTrackingEquation(const Array3Df &image_and_gradient1, float yy1 = y1 + r; float xx2 = x2 + c; float yy2 = y2 + r; - float I = SampleLinear(image_and_gradient1, yy1, xx1, 0); - float J = SampleLinear(image_and_gradient2, yy2, xx2, 0); + float I = SampleLinear(image_and_gradient1, yy1, xx1, 0); + float J = SampleLinear(image_and_gradient2, yy2, xx2, 0); float gx = SampleLinear(image_and_gradient2, yy2, xx2, 1); float gy = SampleLinear(image_and_gradient2, yy2, xx2, 2); *gxx += gx * gx; @@ -64,22 +66,21 @@ static void ComputeTrackingEquation(const Array3Df &image_and_gradient1, } } -static bool RegionIsInBounds(const FloatImage &image1, - double x, double y, - int half_window_size) { +static bool RegionIsInBounds(const FloatImage& image1, + double x, + double y, + int half_window_size) { // Check the minimum coordinates. int min_x = floor(x) - half_window_size - 1; int min_y = floor(y) - half_window_size - 1; - if (min_x < 0.0 || - min_y < 0.0) { + if (min_x < 0.0 || min_y < 0.0) { return false; } // Check the maximum coordinates. int max_x = ceil(x) + half_window_size + 1; int max_y = ceil(y) + half_window_size + 1; - if (max_x > image1.cols() || - max_y > image1.rows()) { + if (max_x > image1.cols() || max_y > image1.rows()) { return false; } @@ -87,10 +88,12 @@ static bool RegionIsInBounds(const FloatImage &image1, return true; } -bool KltRegionTracker::Track(const FloatImage &image1, - const FloatImage &image2, - double x1, double y1, - double *x2, double *y2) const { +bool KltRegionTracker::Track(const FloatImage& image1, + const FloatImage& image2, + double x1, + double y1, + double* x2, + double* y2) const { if (!RegionIsInBounds(image1, x1, y1, half_window_size)) { LG << "Fell out of image1's window with x1=" << x1 << ", y1=" << y1 << ", hw=" << half_window_size << "."; @@ -116,10 +119,16 @@ bool KltRegionTracker::Track(const FloatImage &image1, float gxx, gxy, gyy, ex, ey; ComputeTrackingEquation(image_and_gradient1, image_and_gradient2, - x1, y1, - *x2, *y2, + x1, + y1, + *x2, + *y2, half_window_size, - &gxx, &gxy, &gyy, &ex, &ey); + &gxx, + &gxy, + &gyy, + &ex, + &ey); // Solve the tracking equation // |