diff --git a/jni/Android.mk b/jni/Android.mk index 8b816270..d48e0d8e 100755 --- a/jni/Android.mk +++ b/jni/Android.mk @@ -1,50 +1,53 @@ +local_target_dir := $(TARGET_OUT_DATA)/local/tmp + LOCAL_PATH:= $(call my-dir) include $(CLEAR_VARS) LOCAL_C_INCLUDES := \ - $(LOCAL_PATH)/feature_stab/db_vlvm \ - $(LOCAL_PATH)/feature_stab/src \ - $(LOCAL_PATH)/feature_stab/src/dbreg \ - $(LOCAL_PATH)/feature_mos/src \ - $(LOCAL_PATH)/feature_mos/src/mosaic - -LOCAL_CFLAGS := -O3 -DNDEBUG -LOCAL_CPPFLAGS := -std=gnu++98 - -LOCAL_SRC_FILES := \ - feature_mos_jni.cpp \ - mosaic_renderer_jni.cpp \ - feature_mos/src/mosaic/trsMatrix.cpp \ - feature_mos/src/mosaic/AlignFeatures.cpp \ - feature_mos/src/mosaic/Blend.cpp \ - feature_mos/src/mosaic/Delaunay.cpp \ - feature_mos/src/mosaic/ImageUtils.cpp \ - feature_mos/src/mosaic/Mosaic.cpp \ - feature_mos/src/mosaic/Pyramid.cpp \ - feature_mos/src/mosaic_renderer/Renderer.cpp \ - feature_mos/src/mosaic_renderer/WarpRenderer.cpp \ - feature_mos/src/mosaic_renderer/SurfaceTextureRenderer.cpp \ - feature_mos/src/mosaic_renderer/YVURenderer.cpp \ - feature_mos/src/mosaic_renderer/FrameBuffer.cpp \ - feature_stab/db_vlvm/db_feature_detection.cpp \ - feature_stab/db_vlvm/db_feature_matching.cpp \ - feature_stab/db_vlvm/db_framestitching.cpp \ - feature_stab/db_vlvm/db_image_homography.cpp \ - feature_stab/db_vlvm/db_rob_image_homography.cpp \ - feature_stab/db_vlvm/db_utilities.cpp \ - feature_stab/db_vlvm/db_utilities_camera.cpp \ - feature_stab/db_vlvm/db_utilities_indexing.cpp \ - feature_stab/db_vlvm/db_utilities_linalg.cpp \ - feature_stab/db_vlvm/db_utilities_poly.cpp \ - feature_stab/src/dbreg/dbreg.cpp \ - feature_stab/src/dbreg/dbstabsmooth.cpp \ - feature_stab/src/dbreg/vp_motionmodel.c + $(LOCAL_PATH)/feature_mos/src \ + $(LOCAL_PATH)/feature_stab/src \ + $(LOCAL_PATH)/feature_stab/db_vlvm -LOCAL_SHARED_LIBRARIES := liblog libnativehelper libGLESv2 -#LOCAL_LDLIBS := -L$(SYSROOT)/usr/lib -ldl -llog -lGLESv2 -L$(TARGET_OUT) +LOCAL_SRC_FILES := benchmark.cpp \ + feature_mos/src/mosaic/ImageUtils.cpp \ + feature_mos/src/mosaic/Mosaic.cpp \ + feature_mos/src/mosaic/AlignFeatures.cpp \ + feature_mos/src/mosaic/Blend.cpp \ + feature_mos/src/mosaic/Pyramid.cpp \ + feature_mos/src/mosaic/trsMatrix.cpp \ + feature_mos/src/mosaic/Delaunay.cpp \ + feature_mos/src/mosaic_renderer/Renderer.cpp \ + feature_mos/src/mosaic_renderer/WarpRenderer.cpp \ + feature_mos/src/mosaic_renderer/SurfaceTextureRenderer.cpp \ + feature_mos/src/mosaic_renderer/YVURenderer.cpp \ + feature_mos/src/mosaic_renderer/FrameBuffer.cpp \ + feature_stab/db_vlvm/db_rob_image_homography.cpp \ + feature_stab/db_vlvm/db_feature_detection.cpp \ + feature_stab/db_vlvm/db_image_homography.cpp \ + feature_stab/db_vlvm/db_framestitching.cpp \ + feature_stab/db_vlvm/db_feature_matching.cpp \ + feature_stab/db_vlvm/db_utilities.cpp \ + feature_stab/db_vlvm/db_utilities_camera.cpp \ + feature_stab/db_vlvm/db_utilities_indexing.cpp \ + feature_stab/db_vlvm/db_utilities_linalg.cpp \ + feature_stab/db_vlvm/db_utilities_poly.cpp \ + feature_stab/src/dbreg/dbstabsmooth.cpp \ + feature_stab/src/dbreg/dbreg.cpp \ + feature_stab/src/dbreg/vp_motionmodel.c -LOCAL_MODULE_TAGS := optional +LOCAL_CFLAGS := -O3 -DNDEBUG -Wno-unused-parameter -Wno-maybe-uninitialized +LOCAL_CFLAGS += $(CFLAGS_FOR_BENCH_SUITE) +LOCAL_LDFLAGS := $(LDFLAGS_FOR_BENCH_SUITE) +LOCAL_CPPFLAGS := -std=c++98 +LOCAL_MODULE_TAGS := tests +LOCAL_MODULE := panorama_bench +LOCAL_MODULE_STEM_32 := panorama_bench +LOCAL_MODULE_STEM_64 := panorama_bench64 +LOCAL_MULTILIB := both +LOCAL_MODULE_PATH := $(local_target_dir) +LOCAL_ADDITIONAL_DEPENDENCIES := $(LOCAL_PATH)/Android.mk +LOCAL_FORCE_STATIC_EXECUTABLE := true +LOCAL_STATIC_LIBRARIES := libc libm -LOCAL_MODULE := libjni_legacymosaic -include $(BUILD_SHARED_LIBRARY) +include $(BUILD_EXECUTABLE) diff --git a/jni/benchmark.cpp b/jni/benchmark.cpp new file mode 100755 index 00000000..2a6440f4 --- /dev/null +++ b/jni/benchmark.cpp @@ -0,0 +1,131 @@ +/* + * Copyright (C) 2012 The Android Open Source Project + * + * 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. + */ + +#include +#include +#include +#include + +#include "mosaic/Mosaic.h" +#include "mosaic/ImageUtils.h" + +#define MAX_FRAMES 200 +#define KERNEL_ITERATIONS 10 + +const int blendingType = Blend::BLEND_TYPE_HORZ; +const int stripType = Blend::STRIP_TYPE_WIDE; + +ImageType yvuFrames[MAX_FRAMES]; + +int loadImages(const char* basename, int &width, int &height) +{ + char filename[512]; + struct stat filestat; + int i; + + for (i = 0; i < MAX_FRAMES; i++) { + sprintf(filename, "%s_%03d.ppm", basename, i + 1); + if (stat(filename, &filestat) != 0) break; + ImageType rgbFrame = ImageUtils::readBinaryPPM(filename, width, height); + yvuFrames[i] = ImageUtils::allocateImage(width, height, + ImageUtils::IMAGE_TYPE_NUM_CHANNELS); + ImageUtils::rgb2yvu(yvuFrames[i], rgbFrame, width, height); + ImageUtils::freeImage(rgbFrame); + } + return i; +} + +int main(int argc, char **argv) +{ + struct timespec t1, t2, t3; + + int width, height; + float totalElapsedTime = 0; + + const char *basename; + const char *filename; + + if (argc != 3) { + printf("Usage: %s input_dir output_filename\n", argv[0]); + return 0; + } else { + basename = argv[1]; + filename = argv[2]; + } + + // Load the images outside the computational kernel + int totalFrames = loadImages(basename, width, height); + + if (totalFrames == 0) { + printf("Image files not found. Make sure %s exists.\n", + basename); + return 1; + } + + printf("%d frames loaded\n", totalFrames); + + + // Interesting stuff is here + for (int iteration = 0; iteration < KERNEL_ITERATIONS; iteration++) { + Mosaic mosaic; + + mosaic.initialize(blendingType, stripType, width, height, -1, false, 0); + + clock_gettime(CLOCK_MONOTONIC, &t1); + for (int i = 0; i < totalFrames; i++) { + mosaic.addFrame(yvuFrames[i]); + } + clock_gettime(CLOCK_MONOTONIC, &t2); + + float progress = 0.0; + bool cancelComputation = false; + + mosaic.createMosaic(progress, cancelComputation); + + int mosaicWidth, mosaicHeight; + ImageType resultYVU = mosaic.getMosaic(mosaicWidth, mosaicHeight); + + ImageType imageRGB = ImageUtils::allocateImage( + mosaicWidth, mosaicHeight, ImageUtils::IMAGE_TYPE_NUM_CHANNELS); + + clock_gettime(CLOCK_MONOTONIC, &t3); + + float elapsedTime = + (t3.tv_sec - t1.tv_sec) + (t3.tv_nsec - t1.tv_nsec)/1e9; + float addImageTime = + (t2.tv_sec - t1.tv_sec) + (t2.tv_nsec - t1.tv_nsec)/1e9; + float stitchImageTime = + (t3.tv_sec - t2.tv_sec) + (t3.tv_nsec - t2.tv_nsec)/1e9; + + totalElapsedTime += elapsedTime; + + printf("Iteration %d: %dx%d moasic created: " + "%.2f seconds (%.2f + %.2f)\n", + iteration, mosaicWidth, mosaicHeight, + elapsedTime, addImageTime, stitchImageTime); + + // Write the output only once for correctness check + if (iteration == 0) { + ImageUtils::yvu2rgb(imageRGB, resultYVU, mosaicWidth, + mosaicHeight); + ImageUtils::writeBinaryPPM(imageRGB, filename, mosaicWidth, + mosaicHeight); + } + } + printf("Total elapsed time: %.2f seconds\n", totalElapsedTime); + + return 0; +} diff --git a/jni/feature_mos/src/mosaic/AlignFeatures.cpp b/jni/feature_mos/src/mosaic/AlignFeatures.cpp index aeabf8f9..703a5ea5 100644 --- a/jni/feature_mos/src/mosaic/AlignFeatures.cpp +++ b/jni/feature_mos/src/mosaic/AlignFeatures.cpp @@ -30,6 +30,8 @@ #define LOG_TAG "AlignFeatures" +const double Align::DEFAULT_MAX_DISPARITY = 0.1; + Align::Align() { width = height = 0; diff --git a/jni/feature_mos/src/mosaic/AlignFeatures.h b/jni/feature_mos/src/mosaic/AlignFeatures.h index 19f39051..9999f575 100644 --- a/jni/feature_mos/src/mosaic/AlignFeatures.h +++ b/jni/feature_mos/src/mosaic/AlignFeatures.h @@ -44,7 +44,7 @@ public: ///// Settings for feature-based alignment // Number of features to use from corner detection static const int DEFAULT_NR_CORNERS=750; - static const double DEFAULT_MAX_DISPARITY=0.1;//0.4; + static const double DEFAULT_MAX_DISPARITY;//0.4; // Type of homography to model static const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_R_T; // static const int DEFAULT_MOTION_MODEL=DB_HOMOGRAPHY_TYPE_PROJECTIVE; diff --git a/jni/feature_mos/src/mosaic/Blend.cpp b/jni/feature_mos/src/mosaic/Blend.cpp index e37755de..b6a843a2 100644 --- a/jni/feature_mos/src/mosaic/Blend.cpp +++ b/jni/feature_mos/src/mosaic/Blend.cpp @@ -26,8 +26,8 @@ #include "Geometry.h" #include "trsMatrix.h" -#include "Log.h" -#define LOG_TAG "BLEND" +const float Blend::LIMIT_SIZE_MULTIPLIER = 50.f * 2.0f; +const float Blend::LIMIT_HEIGHT_MULTIPLIER = 2.5f; Blend::Blend() { @@ -67,7 +67,6 @@ int Blend::initialize(int blendingType, int stripType, int frame_width, int fram if (!m_pFrameYPyr || !m_pFrameUPyr || !m_pFrameVPyr) { - LOGE("Error: Could not allocate pyramids for blending"); return BLEND_RET_ERROR_MEMORY; } @@ -122,7 +121,6 @@ int Blend::runBlend(MosaicFrame **oframes, MosaicFrame **rframes, if (numCenters == 0) { - LOGE("Error: No frames to blend"); return BLEND_RET_ERROR; } @@ -228,9 +226,6 @@ int Blend::runBlend(MosaicFrame **oframes, MosaicFrame **rframes, if (xRightMost <= xLeftMost || yBottomMost <= yTopMost) { - LOGE("RunBlend: aborting -consistency check failed," - "(xLeftMost, xRightMost, yTopMost, yBottomMost): (%d, %d, %d, %d)", - xLeftMost, xRightMost, yTopMost, yBottomMost); return BLEND_RET_ERROR; } @@ -241,17 +236,12 @@ int Blend::runBlend(MosaicFrame **oframes, MosaicFrame **rframes, ret = MosaicSizeCheck(LIMIT_SIZE_MULTIPLIER, LIMIT_HEIGHT_MULTIPLIER); if (ret != BLEND_RET_OK) { - LOGE("RunBlend: aborting - mosaic size check failed, " - "(frame_width, frame_height) vs (mosaic_width, mosaic_height): " - "(%d, %d) vs (%d, %d)", width, height, Mwidth, Mheight); return ret; } - LOGI("Allocate mosaic image for blending - size: %d x %d", Mwidth, Mheight); YUVinfo *imgMos = YUVinfo::allocateImage(Mwidth, Mheight); if (imgMos == NULL) { - LOGE("RunBlend: aborting - couldn't alloc %d x %d mosaic image", Mwidth, Mheight); return BLEND_RET_ERROR_MEMORY; } @@ -362,7 +352,6 @@ int Blend::FillFramePyramid(MosaicFrame *mb) !PyramidShort::BorderReduce(m_pFrameUPyr, m_wb.nlevsC) || !PyramidShort::BorderExpand(m_pFrameUPyr, m_wb.nlevsC, -1) || !PyramidShort::BorderReduce(m_pFrameVPyr, m_wb.nlevsC) || !PyramidShort::BorderExpand(m_pFrameVPyr, m_wb.nlevsC, -1)) { - LOGE("Error: Could not generate Laplacian pyramids"); return BLEND_RET_ERROR; } else @@ -384,7 +373,6 @@ int Blend::DoMergeAndBlend(MosaicFrame **frames, int nsite, m_pMosaicVPyr = PyramidShort::allocatePyramidPacked(m_wb.nlevsC,(unsigned short)rect.Width(),(unsigned short)rect.Height(),BORDER); if (!m_pMosaicYPyr || !m_pMosaicUPyr || !m_pMosaicVPyr) { - LOGE("Error: Could not allocate pyramids for blending"); return BLEND_RET_ERROR_MEMORY; } @@ -579,6 +567,11 @@ int Blend::DoMergeAndBlend(MosaicFrame **frames, int nsite, // Blend PerformFinalBlending(imgMos, cropping_rect); + if (cropping_rect.Width() <= 0 || cropping_rect.Height() <= 0) + { + return BLEND_RET_ERROR; + } + if (m_pMosaicVPyr) free(m_pMosaicVPyr); if (m_pMosaicUPyr) free(m_pMosaicUPyr); if (m_pMosaicYPyr) free(m_pMosaicYPyr); @@ -632,7 +625,6 @@ int Blend::PerformFinalBlending(YUVinfo &imgMos, MosaicRect &cropping_rect) if (!PyramidShort::BorderExpand(m_pMosaicYPyr, m_wb.nlevs, 1) || !PyramidShort::BorderExpand(m_pMosaicUPyr, m_wb.nlevsC, 1) || !PyramidShort::BorderExpand(m_pMosaicVPyr, m_wb.nlevsC, 1)) { - LOGE("Error: Could not BorderExpand!"); return BLEND_RET_ERROR; } @@ -785,18 +777,31 @@ int Blend::PerformFinalBlending(YUVinfo &imgMos, MosaicRect &cropping_rect) break; } } + } + RoundingCroppingSizeToMultipleOf8(cropping_rect); + for(int j=0; j10^6 elements -#define NYL (-1) +#define NYL -1 #define valid(l) ccw(orig(basel), dest(l), dest(basel)) diff --git a/jni/feature_mos/src/mosaic/ImageUtils.cpp b/jni/feature_mos/src/mosaic/ImageUtils.cpp index 6d0aac0c..daa86060 100644 --- a/jni/feature_mos/src/mosaic/ImageUtils.cpp +++ b/jni/feature_mos/src/mosaic/ImageUtils.cpp @@ -283,7 +283,7 @@ ImageType ImageUtils::readBinaryPPM(const char *filename, int &width, int &heigh FILE *imgin = NULL; int mval=0, format=0, eret; - ImageType ret = IMAGE_TYPE_NOIMAGE; + ImageType ret = NULL;//IMAGE_TYPE_NOIMAGE; imgin = fopen(filename, "r"); if (imgin == NULL) { diff --git a/jni/feature_mos/src/mosaic/ImageUtils.h b/jni/feature_mos/src/mosaic/ImageUtils.h index 87782383..92965ca8 100644 --- a/jni/feature_mos/src/mosaic/ImageUtils.h +++ b/jni/feature_mos/src/mosaic/ImageUtils.h @@ -47,7 +47,7 @@ public: /** * Definition of an empty image. */ - static const int IMAGE_TYPE_NOIMAGE = NULL; + static const int IMAGE_TYPE_NOIMAGE = 0; /** * Convert image from BGR (interlaced) to YVU (non-interlaced) diff --git a/jni/feature_mos/src/mosaic/Log.h b/jni/feature_mos/src/mosaic/Log.h index cf6f14b1..2adfeda9 100644 --- a/jni/feature_mos/src/mosaic/Log.h +++ b/jni/feature_mos/src/mosaic/Log.h @@ -14,7 +14,7 @@ * limitations under the License. */ #ifndef LOG_H_ -#define LOG_H_ +#define LOG_H_ #include #define LOGV(...) __android_log_print(ANDROID_LOG_SILENT, LOG_TAG, __VA_ARGS__) diff --git a/jni/feature_mos/src/mosaic/Mosaic.cpp b/jni/feature_mos/src/mosaic/Mosaic.cpp index f17c030b..4abc6f68 100644 --- a/jni/feature_mos/src/mosaic/Mosaic.cpp +++ b/jni/feature_mos/src/mosaic/Mosaic.cpp @@ -26,9 +26,6 @@ #include "Mosaic.h" #include "trsMatrix.h" -#include "Log.h" -#define LOG_TAG "MOSAIC" - Mosaic::Mosaic() { initialized = false; @@ -47,6 +44,10 @@ Mosaic::~Mosaic() delete frames; delete rframes; + for (int j = 0; j < owned_size; j++) + delete owned_frames[j]; + delete owned_frames; + if (aligner != NULL) delete aligner; if (blender != NULL) @@ -88,13 +89,10 @@ int Mosaic::initialize(int blendingType, int stripType, int width, int height, i { frames[i] = NULL; } - - } - LOGV("Initialize %d %d", width, height); - LOGV("Frame width %d,%d", width, height); - LOGV("Max num frames %d", max_frames); + owned_frames = new ImageType[max_frames]; + owned_size = 0; aligner = new Align(); aligner->initialize(width, height,quarter_res,thresh_still); @@ -107,7 +105,6 @@ int Mosaic::initialize(int blendingType, int stripType, int width, int height, i blender->initialize(blendingType, stripType, width, height); } else { blender = NULL; - LOGE("Error: Unknown blending type %d",blendingType); return MOSAIC_RET_ERROR; } @@ -123,7 +120,15 @@ int Mosaic::addFrameRGB(ImageType imageRGB) imageYVU = ImageUtils::allocateImage(this->width, this->height, ImageUtils::IMAGE_TYPE_NUM_CHANNELS); ImageUtils::rgb2yvu(imageYVU, imageRGB, width, height); - return addFrame(imageYVU); + int existing_frames_size = frames_size; + int ret = addFrame(imageYVU); + + if (frames_size > existing_frames_size) + owned_frames[owned_size++] = imageYVU; + else + ImageUtils::freeImage(imageYVU); + + return ret; } int Mosaic::addFrame(ImageType imageYVU) @@ -146,8 +151,6 @@ int Mosaic::addFrame(ImageType imageYVU) if (frames_size >= max_frames) { - LOGV("WARNING: More frames than preallocated, ignoring." - "Increase maximum number of frames (-f ) to avoid this"); return MOSAIC_RET_ERROR; } diff --git a/jni/feature_mos/src/mosaic/Mosaic.h b/jni/feature_mos/src/mosaic/Mosaic.h index fc6ecd90..9dea6642 100644 --- a/jni/feature_mos/src/mosaic/Mosaic.h +++ b/jni/feature_mos/src/mosaic/Mosaic.h @@ -181,6 +181,12 @@ protected: int frames_size; int max_frames; + /** + * Implicitly created frames, should be freed by Mosaic. + */ + ImageType *owned_frames; + int owned_size; + /** * Initialization state. */ diff --git a/jni/feature_mos/src/mosaic/Pyramid.cpp b/jni/feature_mos/src/mosaic/Pyramid.cpp index 945eafba..b022d73d 100644 --- a/jni/feature_mos/src/mosaic/Pyramid.cpp +++ b/jni/feature_mos/src/mosaic/Pyramid.cpp @@ -154,24 +154,30 @@ void PyramidShort::BorderExpandOdd(PyramidShort *in, PyramidShort *out, PyramidS // Vertical Filter for (j = -off; j < in->height + off; j++) { int j2 = j * 2; - for (i = -scr->border; i < scr->width + scr->border; i++) { + int limit = scr->width + scr->border; + for (i = -scr->border; i < limit; i++) { + int t1 = in->ptr[j][i]; + int t2 = in->ptr[j+1][i]; scr->ptr[j2][i] = (short) - ((6 * in->ptr[j][i] + (in->ptr[j-1][i] + in->ptr[j+1][i]) + 4) >> 3); - scr->ptr[j2+1][i] = (short)((in->ptr[j][i] + in->ptr[j+1][i] + 1) >> 1); + ((6 * t1 + (in->ptr[j-1][i] + t2) + 4) >> 3); + scr->ptr[j2+1][i] = (short)((t1 + t2 + 1) >> 1); } } BorderSpread(scr, 0, 0, 3, 3); // Horizontal Filter - for (i = -off; i < scr->width + off; i++) { - int i2 = i * 2; - for (j = -out->border; j < out->height + out->border; j++) { + int limit = out->height + out->border; + for (j = -out->border; j < limit; j++) { + for (i = -off; i < scr->width + off; i++) { + int i2 = i * 2; + int t1 = scr->ptr[j][i]; + int t2 = scr->ptr[j][i+1]; out->ptr[j][i2] = (short) (out->ptr[j][i2] + - (mode * ((6 * scr->ptr[j][i] + - scr->ptr[j][i-1] + scr->ptr[j][i+1] + 4) >> 3))); + (mode * ((6 * t1 + + scr->ptr[j][i-1] + t2 + 4) >> 3))); out->ptr[j][i2+1] = (short) (out->ptr[j][i2+1] + - (mode * ((scr->ptr[j][i] + scr->ptr[j][i+1] + 1) >> 1))); + (mode * ((t1 + t2 + 1) >> 1))); } } diff --git a/jni/feature_mos/src/mosaic_renderer/FrameBuffer.cpp b/jni/feature_mos/src/mosaic_renderer/FrameBuffer.cpp index 9a07e496..a956f23b 100755 --- a/jni/feature_mos/src/mosaic_renderer/FrameBuffer.cpp +++ b/jni/feature_mos/src/mosaic_renderer/FrameBuffer.cpp @@ -55,6 +55,8 @@ bool FrameBuffer::Init(int width, int height, GLenum format) { GL_TEXTURE_2D, mTextureName, 0); + checkFramebufferStatus("FrameBuffer.cpp"); + checkGlError("framebuffertexture2d"); if (!checkGlError("texture setup")) { return false; @@ -94,6 +96,3 @@ int FrameBuffer::GetWidth() const { int FrameBuffer::GetHeight() const { return mHeight; } - - - diff --git a/jni/feature_mos/src/mosaic_renderer/FrameBuffer.h b/jni/feature_mos/src/mosaic_renderer/FrameBuffer.h index b6a20ad1..314b1262 100755 --- a/jni/feature_mos/src/mosaic_renderer/FrameBuffer.h +++ b/jni/feature_mos/src/mosaic_renderer/FrameBuffer.h @@ -4,7 +4,10 @@ #include #include -extern bool checkGlError(const char* op); +#define checkGlError(op) checkGLErrorDetail(__FILE__, __LINE__, (op)) + +extern bool checkGLErrorDetail(const char* file, int line, const char* op); +extern void checkFramebufferStatus(const char* name); class FrameBuffer { public: diff --git a/jni/feature_mos/src/mosaic_renderer/Renderer.cpp b/jni/feature_mos/src/mosaic_renderer/Renderer.cpp index c5c143f9..b9938eb6 100755 --- a/jni/feature_mos/src/mosaic_renderer/Renderer.cpp +++ b/jni/feature_mos/src/mosaic_renderer/Renderer.cpp @@ -87,7 +87,7 @@ GLuint Renderer::createProgram(const char* pVertexSource, const char* pFragmentS GLint linkStatus = GL_FALSE; glGetProgramiv(program, GL_LINK_STATUS, &linkStatus); - LOGI("Program Linked!"); + LOGI("Program Linked (%d)!", program); if (linkStatus != GL_TRUE) { diff --git a/jni/feature_stab/db_vlvm/db_utilities_constants.h b/jni/feature_stab/db_vlvm/db_utilities_constants.h index 612fc783..07565efd 100644 --- a/jni/feature_stab/db_vlvm/db_utilities_constants.h +++ b/jni/feature_stab/db_vlvm/db_utilities_constants.h @@ -64,7 +64,7 @@ #define DB_DEFAULT_ABS_CORNER_THRESHOLD 50000000.0 #define DB_DEFAULT_REL_CORNER_THRESHOLD 0.00005 #define DB_DEFAULT_MAX_DISPARITY 0.1 -#define DB_DEFAULT_NO_DISPARITY (-1.0) +#define DB_DEFAULT_NO_DISPARITY -1.0 #define DB_DEFAULT_MAX_TRACK_LENGTH 300 #define DB_DEFAULT_MAX_NR_CAMERAS 1000 diff --git a/jni/feature_stab/src/dbreg/dbreg.cpp b/jni/feature_stab/src/dbreg/dbreg.cpp index dc7d58fe..da06aa2a 100644 --- a/jni/feature_stab/src/dbreg/dbreg.cpp +++ b/jni/feature_stab/src/dbreg/dbreg.cpp @@ -485,7 +485,8 @@ int db_FrameToReferenceRegistration::AddFrame(const unsigned char * const * im, if(m_do_motion_smoothing) SmoothMotion(); - db_PrintDoubleMatrix(m_H_ref_to_ins,3,3); + // Disable debug printing + // db_PrintDoubleMatrix(m_H_ref_to_ins,3,3); db_Copy9(H, m_H_ref_to_ins); diff --git a/jni/feature_stab/src/dbreg/dbstabsmooth.cpp b/jni/feature_stab/src/dbreg/dbstabsmooth.cpp index dffff8ab..2bb5d2e5 100644 --- a/jni/feature_stab/src/dbreg/dbstabsmooth.cpp +++ b/jni/feature_stab/src/dbreg/dbstabsmooth.cpp @@ -136,7 +136,7 @@ bool db_StabilizationSmoother::smoothMotionAdaptive(/*VP_BIMG *bimg,*/int hsize, smoothFactor = minSmoothFactor; // Find the amount of motion that must be compensated so that no "border" pixels are seen in the stable video - for (smoothFactor = smoothFactor; smoothFactor >= minSmoothFactor; smoothFactor -= 0.01) { + for (; smoothFactor >= minSmoothFactor; smoothFactor -= 0.01) { // Compute the smoothed motion if(!smoothMotion(inmot, &tmpMotion, smoothFactor)) break; diff --git a/jni/feature_stab/src/dbreg/vp_motionmodel.h b/jni/feature_stab/src/dbreg/vp_motionmodel.h index 71a7f7e7..a63ac001 100644 --- a/jni/feature_stab/src/dbreg/vp_motionmodel.h +++ b/jni/feature_stab/src/dbreg/vp_motionmodel.h @@ -120,7 +120,7 @@ enum VP_MOTION_MODEL { VP_VFE_AFFINE=120 }; -#define VP_REFID (-1) /* Default ID used for reference frame */ +#define VP_REFID -1 /* Default ID used for reference frame */ typedef struct { VP_TRS par; /* Contains the motion paramerers. @@ -205,16 +205,16 @@ typedef struct { /* Warp a 2d point (assuming the z component is zero) */ #define VP_WARP_POINT_2D(inx,iny,m,outx,outy) do {\ VP_PAR vpTmpWarpPnt___= MWX(m)*(inx)+MWY(m)*(iny)+MWW(m); \ - (outx) = (MXX(m)*((VP_PAR)(inx))+MXY(m)*((VP_PAR)(iny))+MXW(m))/vpTmpWarpPnt___; \ - (outy) = (MYX(m)*((VP_PAR)(inx))+MYY(m)*((VP_PAR)(iny))+MYW(m))/vpTmpWarpPnt___; } while (0) + outx = (MXX(m)*((VP_PAR)inx)+MXY(m)*((VP_PAR)iny)+MXW(m))/vpTmpWarpPnt___; \ + outy = (MYX(m)*((VP_PAR)inx)+MYY(m)*((VP_PAR)iny)+MYW(m))/vpTmpWarpPnt___; } while (0) /* Warp a 3d point */ #define VP_WARP_POINT_3D(inx,iny,inz,m,outx,outy,outz) do {\ - VP_PAR vpTmpWarpPnt___= MWX(m)*(inx)+MWY(m)*(iny)+MWZ(m)*((VP_PAR)(inz))+MWW(m); \ - (outx) = (MXX(m)*((VP_PAR)(inx))+MXY(m)*((VP_PAR)(iny))+MXZ(m)*((VP_PAR)(inz))+MXW(m))/vpTmpWarpPnt___; \ - (outy) = (MYX(m)*((VP_PAR)(inx))+MYY(m)*((VP_PAR)(iny))+MYZ(m)*((VP_PAR)(inz))+MYW(m))/vpTmpWarpPnt___; \ - (outz) = MZX(m)*((VP_PAR)(inx))+MZY(m)*((VP_PAR)(iny))+MZZ(m)*((VP_PAR)(inz))+MZW(m); \ - if ((m).type==VP_MOTION_PROJ_3D) (outz)/=vpTmpWarpPnt___; } while (0) + VP_PAR vpTmpWarpPnt___= MWX(m)*(inx)+MWY(m)*(iny)+MWZ(m)*((VP_PAR)inz)+MWW(m); \ + outx = (MXX(m)*((VP_PAR)inx)+MXY(m)*((VP_PAR)iny)+MXZ(m)*((VP_PAR)inz)+MXW(m))/vpTmpWarpPnt___; \ + outy = (MYX(m)*((VP_PAR)inx)+MYY(m)*((VP_PAR)iny)+MYZ(m)*((VP_PAR)inz)+MYW(m))/vpTmpWarpPnt___; \ + outz = MZX(m)*((VP_PAR)inx)+MZY(m)*((VP_PAR)iny)+MZZ(m)*((VP_PAR)inz)+MZW(m); \ + if ((m).type==VP_MOTION_PROJ_3D) outz/=vpTmpWarpPnt___; } while (0) /* Projections of each component */ #define VP_PROJW_3D(m,x,y,z,f) ( MWX(m)*(x)+MWY(m)*(y)+MWZ(m)*(z)+MWW(m) ) @@ -224,15 +224,15 @@ typedef struct { /* Scale Down a matrix by Sfactor */ #define VP_SCALEDOWN(m,Sfactor) do { \ - MXW(m) /= (VP_PAR)(Sfactor); MWX(m) *= (VP_PAR)(Sfactor); \ - MYW(m) /= (VP_PAR)(Sfactor); MWY(m) *= (VP_PAR)(Sfactor); \ - MZW(m) /= (VP_PAR)(Sfactor); MWZ(m) *= (VP_PAR)(Sfactor); } while (0) + MXW(m) /= (VP_PAR)Sfactor; MWX(m) *= (VP_PAR)Sfactor; \ + MYW(m) /= (VP_PAR)Sfactor; MWY(m) *= (VP_PAR)Sfactor; \ + MZW(m) /= (VP_PAR)Sfactor; MWZ(m) *= (VP_PAR)Sfactor; } while (0) /* Scale Up a matrix by Sfactor */ #define VP_SCALEUP(m,Sfactor) do { \ - MXW(m) *= (VP_PAR)(Sfactor); MWX(m) /= (VP_PAR)(Sfactor); \ - MYW(m) *= (VP_PAR)(Sfactor); MWY(m) /= (VP_PAR)(Sfactor); \ - MZW(m) *= (VP_PAR)(Sfactor); MWZ(m) /= (VP_PAR)(Sfactor); } while (0) + MXW(m) *= (VP_PAR)Sfactor; MWX(m) /= (VP_PAR)Sfactor; \ + MYW(m) *= (VP_PAR)Sfactor; MWY(m) /= (VP_PAR)Sfactor; \ + MZW(m) *= (VP_PAR)Sfactor; MWZ(m) /= (VP_PAR)Sfactor; } while (0) /* Normalize the transformation matrix so that MWW is 1 */ #define VP_NORMALIZE(m) if (MWW(m)!=(VP_PAR)0.0) do { \ @@ -253,15 +253,15 @@ typedef struct { /* w' projection given a point x,y,0,f */ #define VP_PROJZ(m,x,y,f) ( \ - MWX(m)*((VP_PAR)(x))+MWY(m)*((VP_PAR)(y))+MWW(m)*((VP_PAR)(f))) + MWX(m)*((VP_PAR)x)+MWY(m)*((VP_PAR)y)+MWW(m)*((VP_PAR)f)) /* X Projection given a point x,y,0,f and w' */ #define VP_PROJX(m,x,y,w,f) (\ - (MXX(m)*((VP_PAR)(x))+MXY(m)*((VP_PAR)(y))+MXW(m)*((VP_PAR)(f)))/((VP_PAR)(w))) + (MXX(m)*((VP_PAR)x)+MXY(m)*((VP_PAR)y)+MXW(m)*((VP_PAR)f))/((VP_PAR)w)) /* Y Projection given a point x,y,0,f and the w' */ #define VP_PROJY(m,x,y,w,f) (\ - (MYX(m)*((VP_PAR)(x))+MYY(m)*((VP_PAR)(y))+MYW(m)*((VP_PAR)(f)))/((VP_PAR)(w))) + (MYX(m)*((VP_PAR)x)+MYY(m)*((VP_PAR)y)+MYW(m)*((VP_PAR)f))/((VP_PAR)w)) /* Set the reference id for a motion */ #define VP_SET_REFID(m,id) do { (m).refid=id; } while (0)