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/*
* feature_match.cpp - optical flow feature match
*
* Copyright (c) 2016-2017 Intel Corporation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* Author: Wind Yuan <feng.yuan@intel.com>
* Author: Yinhang Liu <yinhangx.liu@intel.com>
*/
#include "feature_match.h"
#define XCAM_FM_DEBUG 0
namespace XCam {
FeatureMatch::FeatureMatch ()
: _x_offset (0.0f)
, _y_offset (0.0f)
, _mean_offset (0.0f)
, _mean_offset_y (0.0f)
, _valid_count (0)
, _fm_idx (-1)
, _frame_num (0)
{
}
void
FeatureMatch::set_config (FMConfig &config)
{
_config = config;
}
FMConfig
FeatureMatch::get_config ()
{
return _config;
}
void
FeatureMatch::set_fm_index (int idx)
{
_fm_idx = idx;
}
void
FeatureMatch::reset_offsets ()
{
_x_offset = 0.0f;
_y_offset = 0.0f;
_mean_offset = 0.0f;
_mean_offset_y = 0.0f;
}
bool
FeatureMatch::get_mean_offset (std::vector<float> &offsets, float sum, int &count, float &mean_offset)
{
if (count < _config.min_corners || count <= 0)
return false;
mean_offset = sum / count;
#if XCAM_FM_DEBUG
XCAM_LOG_INFO (
"FeatureMatch(idx:%d): X-axis mean offset:%.2f, pre_mean_offset:%.2f (%d times, count:%d)",
_fm_idx, mean_offset, 0.0f, 0, count);
#endif
bool ret = true;
float delta = 20.0f;//mean_offset;
float pre_mean_offset = mean_offset;
for (int try_times = 1; try_times < 4; ++try_times) {
int recur_count = 0;
sum = 0.0f;
for (size_t i = 0; i < offsets.size (); ++i) {
if (fabs (offsets[i] - mean_offset) >= _config.recur_offset_error)
continue;
sum += offsets[i];
++recur_count;
}
if (recur_count < _config.min_corners || recur_count <= 0) {
ret = false;
break;
}
mean_offset = sum / recur_count;
#if XCAM_FM_DEBUG
XCAM_LOG_INFO (
"FeatureMatch(idx:%d): X-axis mean_offset:%.2f, pre_mean_offset:%.2f (%d times, count:%d)",
_fm_idx, mean_offset, pre_mean_offset, try_times, recur_count);
#endif
if (mean_offset == pre_mean_offset && recur_count == count)
return true;
if (fabs (mean_offset - pre_mean_offset) > fabs (delta) * 1.2f) {
ret = false;
break;
}
delta = mean_offset - pre_mean_offset;
pre_mean_offset = mean_offset;
count = recur_count;
}
return ret;
}
}
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