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/*
* feature_match.h - 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>
*/
#ifndef XCAM_FEATURE_MATCH_H
#define XCAM_FEATURE_MATCH_H
#include <xcam_std.h>
#include <video_buffer.h>
#include <interface/data_types.h>
namespace XCam {
struct FMConfig {
int sitch_min_width;
int min_corners; // number of minimum efficient corners
float offset_factor; // last_offset * offset_factor + cur_offset * (1.0f - offset_factor)
float delta_mean_offset; // cur_mean_offset - last_mean_offset
float recur_offset_error; // cur_offset - mean_offset
float max_adjusted_offset; // maximum offset of each adjustment
float max_valid_offset_y; // valid maximum offset in vertical direction
float max_track_error; // maximum track error
FMConfig ()
: sitch_min_width (56)
, min_corners (8)
, offset_factor (0.8f)
, delta_mean_offset (5.0f)
, recur_offset_error (8.0f)
, max_adjusted_offset (12.0f)
, max_valid_offset_y (8.0f)
, max_track_error (24.0f)
{}
};
class FeatureMatch
{
public:
explicit FeatureMatch ();
virtual ~FeatureMatch () {};
static SmartPtr<FeatureMatch> create_default_feature_match ();
static SmartPtr<FeatureMatch> create_cluster_feature_match ();
static SmartPtr<FeatureMatch> create_capi_feature_match ();
virtual void feature_match (
const SmartPtr<VideoBuffer> &left_buf, const SmartPtr<VideoBuffer> &right_buf) = 0;
void set_fm_index (int idx);
void set_config (const FMConfig &config);
void set_crop_rect (const Rect &left_rect, const Rect &right_rect);
void get_crop_rect (Rect &left_rect, Rect &right_rect);
void reset_offsets ();
float get_current_left_offset_x ();
float get_current_left_offset_y ();
virtual void set_dst_width (int width);
virtual void enable_adjust_crop_area ();
protected:
bool get_mean_offset (const std::vector<float> &offsets, float sum, int &count, float &mean_offset);
private:
XCAM_DEAD_COPY (FeatureMatch);
protected:
float _x_offset;
float _y_offset;
float _mean_offset;
float _mean_offset_y;
int _valid_count;
FMConfig _config;
Rect _left_rect;
Rect _right_rect;
// debug parameters
int _fm_idx;
uint32_t _frame_num;
};
}
#endif // XCAM_FEATURE_MATCH_H
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