path: root/android_bench_suite/panorama.diff

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 <time.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <unistd.h>
+
+#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; j<imgMos.Y.height; j++)
     {
         delete b[j];
     }
 
-    delete b;
+    delete[] b;
 
     return BLEND_RET_OK;
 }
 
+void Blend::RoundingCroppingSizeToMultipleOf8(MosaicRect &rect) {
+    int height = rect.bottom - rect.top + 1;
+    int residue = height & 7;
+    rect.bottom -= residue;
+
+    int width = rect.right - rect.left + 1;
+    residue = width & 7;
+    rect.right -= residue;
+}
+
 void Blend::ComputeMask(CSite *csite, BlendRect &vcrect, BlendRect &brect, MosaicRect &rect, YUVinfo &imgMos, int site_idx)
 {
     PyramidShort *dptr = m_pMosaicYPyr;
diff --git a/jni/feature_mos/src/mosaic/Blend.h b/jni/feature_mos/src/mosaic/Blend.h
index 6371fdeb..175eacd4 100644
--- a/jni/feature_mos/src/mosaic/Blend.h
+++ b/jni/feature_mos/src/mosaic/Blend.h
@@ -119,9 +119,10 @@ protected:
   void CropFinalMosaic(YUVinfo &imgMos, MosaicRect &cropping_rect);
 
 private:
-   static const float LIMIT_SIZE_MULTIPLIER = 5.0f * 2.0f;
-   static const float LIMIT_HEIGHT_MULTIPLIER = 2.5f;
+   static const float LIMIT_SIZE_MULTIPLIER;
+   static const float LIMIT_HEIGHT_MULTIPLIER;
    int MosaicSizeCheck(float sizeMultiplier, float heightMultiplier);
+   void RoundingCroppingSizeToMultipleOf8(MosaicRect& rect);
 };
 
 #endif
diff --git a/jni/feature_mos/src/mosaic/Delaunay.cpp b/jni/feature_mos/src/mosaic/Delaunay.cpp
index 82f5d203..0ce09fc5 100644
--- a/jni/feature_mos/src/mosaic/Delaunay.cpp
+++ b/jni/feature_mos/src/mosaic/Delaunay.cpp
@@ -24,7 +24,7 @@
 
 #define QQ 9   // Optimal value as determined by testing
 #define DM 38  // 2^(1+DM/2) element sort capability. DM=38 for >10^6 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 <android/log.h>
 #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 <max_frames>) 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 <GLES2/gl2.h>
 #include <GLES2/gl2ext.h>
 
-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)