summaryrefslogtreecommitdiffstats
path: root/third_party/aom/av1/encoder/ransac.c
diff options
context:
space:
mode:
Diffstat (limited to 'third_party/aom/av1/encoder/ransac.c')
-rw-r--r--third_party/aom/av1/encoder/ransac.c335
1 files changed, 21 insertions, 314 deletions
diff --git a/third_party/aom/av1/encoder/ransac.c b/third_party/aom/av1/encoder/ransac.c
index 5d5dd7572..bbd2d179c 100644
--- a/third_party/aom/av1/encoder/ransac.c
+++ b/third_party/aom/av1/encoder/ransac.c
@@ -8,7 +8,6 @@
* Media Patent License 1.0 was not distributed with this source code in the
* PATENTS file, you can obtain it at www.aomedia.org/license/patent.
*/
-#define _POSIX_C_SOURCE 200112L // rand_r()
#include <memory.h>
#include <math.h>
#include <time.h>
@@ -17,6 +16,7 @@
#include <assert.h>
#include "av1/encoder/ransac.h"
+#include "av1/encoder/mathutils.h"
#define MAX_MINPTS 4
#define MAX_DEGENERATE_ITER 10
@@ -133,309 +133,6 @@ static void project_points_double_homography(double *mat, double *points,
}
}
-///////////////////////////////////////////////////////////////////////////////
-// svdcmp
-// Adopted from Numerical Recipes in C
-
-static const double TINY_NEAR_ZERO = 1.0E-12;
-
-static INLINE double sign(double a, double b) {
- return ((b) >= 0 ? fabs(a) : -fabs(a));
-}
-
-static INLINE double pythag(double a, double b) {
- double ct;
- const double absa = fabs(a);
- const double absb = fabs(b);
-
- if (absa > absb) {
- ct = absb / absa;
- return absa * sqrt(1.0 + ct * ct);
- } else {
- ct = absa / absb;
- return (absb == 0) ? 0 : absb * sqrt(1.0 + ct * ct);
- }
-}
-
-static void multiply_mat(const double *m1, const double *m2, double *res,
- const int m1_rows, const int inner_dim,
- const int m2_cols) {
- double sum;
-
- int row, col, inner;
- for (row = 0; row < m1_rows; ++row) {
- for (col = 0; col < m2_cols; ++col) {
- sum = 0;
- for (inner = 0; inner < inner_dim; ++inner)
- sum += m1[row * inner_dim + inner] * m2[inner * m2_cols + col];
- *(res++) = sum;
- }
- }
-}
-
-static int svdcmp(double **u, int m, int n, double w[], double **v) {
- const int max_its = 30;
- int flag, i, its, j, jj, k, l, nm;
- double anorm, c, f, g, h, s, scale, x, y, z;
- double *rv1 = (double *)aom_malloc(sizeof(*rv1) * (n + 1));
- g = scale = anorm = 0.0;
- for (i = 0; i < n; i++) {
- l = i + 1;
- rv1[i] = scale * g;
- g = s = scale = 0.0;
- if (i < m) {
- for (k = i; k < m; k++) scale += fabs(u[k][i]);
- if (scale != 0.) {
- for (k = i; k < m; k++) {
- u[k][i] /= scale;
- s += u[k][i] * u[k][i];
- }
- f = u[i][i];
- g = -sign(sqrt(s), f);
- h = f * g - s;
- u[i][i] = f - g;
- for (j = l; j < n; j++) {
- for (s = 0.0, k = i; k < m; k++) s += u[k][i] * u[k][j];
- f = s / h;
- for (k = i; k < m; k++) u[k][j] += f * u[k][i];
- }
- for (k = i; k < m; k++) u[k][i] *= scale;
- }
- }
- w[i] = scale * g;
- g = s = scale = 0.0;
- if (i < m && i != n - 1) {
- for (k = l; k < n; k++) scale += fabs(u[i][k]);
- if (scale != 0.) {
- for (k = l; k < n; k++) {
- u[i][k] /= scale;
- s += u[i][k] * u[i][k];
- }
- f = u[i][l];
- g = -sign(sqrt(s), f);
- h = f * g - s;
- u[i][l] = f - g;
- for (k = l; k < n; k++) rv1[k] = u[i][k] / h;
- for (j = l; j < m; j++) {
- for (s = 0.0, k = l; k < n; k++) s += u[j][k] * u[i][k];
- for (k = l; k < n; k++) u[j][k] += s * rv1[k];
- }
- for (k = l; k < n; k++) u[i][k] *= scale;
- }
- }
- anorm = fmax(anorm, (fabs(w[i]) + fabs(rv1[i])));
- }
-
- for (i = n - 1; i >= 0; i--) {
- if (i < n - 1) {
- if (g != 0.) {
- for (j = l; j < n; j++) v[j][i] = (u[i][j] / u[i][l]) / g;
- for (j = l; j < n; j++) {
- for (s = 0.0, k = l; k < n; k++) s += u[i][k] * v[k][j];
- for (k = l; k < n; k++) v[k][j] += s * v[k][i];
- }
- }
- for (j = l; j < n; j++) v[i][j] = v[j][i] = 0.0;
- }
- v[i][i] = 1.0;
- g = rv1[i];
- l = i;
- }
- for (i = AOMMIN(m, n) - 1; i >= 0; i--) {
- l = i + 1;
- g = w[i];
- for (j = l; j < n; j++) u[i][j] = 0.0;
- if (g != 0.) {
- g = 1.0 / g;
- for (j = l; j < n; j++) {
- for (s = 0.0, k = l; k < m; k++) s += u[k][i] * u[k][j];
- f = (s / u[i][i]) * g;
- for (k = i; k < m; k++) u[k][j] += f * u[k][i];
- }
- for (j = i; j < m; j++) u[j][i] *= g;
- } else {
- for (j = i; j < m; j++) u[j][i] = 0.0;
- }
- ++u[i][i];
- }
- for (k = n - 1; k >= 0; k--) {
- for (its = 0; its < max_its; its++) {
- flag = 1;
- for (l = k; l >= 0; l--) {
- nm = l - 1;
- if ((double)(fabs(rv1[l]) + anorm) == anorm || nm < 0) {
- flag = 0;
- break;
- }
- if ((double)(fabs(w[nm]) + anorm) == anorm) break;
- }
- if (flag) {
- c = 0.0;
- s = 1.0;
- for (i = l; i <= k; i++) {
- f = s * rv1[i];
- rv1[i] = c * rv1[i];
- if ((double)(fabs(f) + anorm) == anorm) break;
- g = w[i];
- h = pythag(f, g);
- w[i] = h;
- h = 1.0 / h;
- c = g * h;
- s = -f * h;
- for (j = 0; j < m; j++) {
- y = u[j][nm];
- z = u[j][i];
- u[j][nm] = y * c + z * s;
- u[j][i] = z * c - y * s;
- }
- }
- }
- z = w[k];
- if (l == k) {
- if (z < 0.0) {
- w[k] = -z;
- for (j = 0; j < n; j++) v[j][k] = -v[j][k];
- }
- break;
- }
- if (its == max_its - 1) {
- aom_free(rv1);
- return 1;
- }
- assert(k > 0);
- x = w[l];
- nm = k - 1;
- y = w[nm];
- g = rv1[nm];
- h = rv1[k];
- f = ((y - z) * (y + z) + (g - h) * (g + h)) / (2.0 * h * y);
- g = pythag(f, 1.0);
- f = ((x - z) * (x + z) + h * ((y / (f + sign(g, f))) - h)) / x;
- c = s = 1.0;
- for (j = l; j <= nm; j++) {
- i = j + 1;
- g = rv1[i];
- y = w[i];
- h = s * g;
- g = c * g;
- z = pythag(f, h);
- rv1[j] = z;
- c = f / z;
- s = h / z;
- f = x * c + g * s;
- g = g * c - x * s;
- h = y * s;
- y *= c;
- for (jj = 0; jj < n; jj++) {
- x = v[jj][j];
- z = v[jj][i];
- v[jj][j] = x * c + z * s;
- v[jj][i] = z * c - x * s;
- }
- z = pythag(f, h);
- w[j] = z;
- if (z != 0.) {
- z = 1.0 / z;
- c = f * z;
- s = h * z;
- }
- f = c * g + s * y;
- x = c * y - s * g;
- for (jj = 0; jj < m; jj++) {
- y = u[jj][j];
- z = u[jj][i];
- u[jj][j] = y * c + z * s;
- u[jj][i] = z * c - y * s;
- }
- }
- rv1[l] = 0.0;
- rv1[k] = f;
- w[k] = x;
- }
- }
- aom_free(rv1);
- return 0;
-}
-
-static int SVD(double *U, double *W, double *V, double *matx, int M, int N) {
- // Assumes allocation for U is MxN
- double **nrU = (double **)aom_malloc((M) * sizeof(*nrU));
- double **nrV = (double **)aom_malloc((N) * sizeof(*nrV));
- int problem, i;
-
- problem = !(nrU && nrV);
- if (!problem) {
- for (i = 0; i < M; i++) {
- nrU[i] = &U[i * N];
- }
- for (i = 0; i < N; i++) {
- nrV[i] = &V[i * N];
- }
- } else {
- if (nrU) aom_free(nrU);
- if (nrV) aom_free(nrV);
- return 1;
- }
-
- /* copy from given matx into nrU */
- for (i = 0; i < M; i++) {
- memcpy(&(nrU[i][0]), matx + N * i, N * sizeof(*matx));
- }
-
- /* HERE IT IS: do SVD */
- if (svdcmp(nrU, M, N, W, nrV)) {
- aom_free(nrU);
- aom_free(nrV);
- return 1;
- }
-
- /* aom_free Numerical Recipes arrays */
- aom_free(nrU);
- aom_free(nrV);
-
- return 0;
-}
-
-int pseudo_inverse(double *inv, double *matx, const int M, const int N) {
- double ans;
- int i, j, k;
- double *const U = (double *)aom_malloc(M * N * sizeof(*matx));
- double *const W = (double *)aom_malloc(N * sizeof(*matx));
- double *const V = (double *)aom_malloc(N * N * sizeof(*matx));
-
- if (!(U && W && V)) {
- return 1;
- }
- if (SVD(U, W, V, matx, M, N)) {
- aom_free(U);
- aom_free(W);
- aom_free(V);
- return 1;
- }
- for (i = 0; i < N; i++) {
- if (fabs(W[i]) < TINY_NEAR_ZERO) {
- aom_free(U);
- aom_free(W);
- aom_free(V);
- return 1;
- }
- }
-
- for (i = 0; i < N; i++) {
- for (j = 0; j < M; j++) {
- ans = 0;
- for (k = 0; k < N; k++) {
- ans += V[k + N * i] * U[k + N * j] / W[k];
- }
- inv[j + M * i] = ans;
- }
- }
- aom_free(U);
- aom_free(W);
- aom_free(V);
- return 0;
-}
-
static void normalize_homography(double *pts, int n, double *T) {
double *p = pts;
double mean[2] = { 0, 0 };
@@ -597,7 +294,7 @@ static int find_translation(int np, double *pts1, double *pts2, double *mat) {
static int find_rotzoom(int np, double *pts1, double *pts2, double *mat) {
const int np2 = np * 2;
- double *a = (double *)aom_malloc(sizeof(*a) * np2 * 9);
+ double *a = (double *)aom_malloc(sizeof(*a) * (np2 * 5 + 20));
double *b = a + np2 * 4;
double *temp = b + np2;
int i;
@@ -625,11 +322,10 @@ static int find_rotzoom(int np, double *pts1, double *pts2, double *mat) {
b[2 * i] = dx;
b[2 * i + 1] = dy;
}
- if (pseudo_inverse(temp, a, np2, 4)) {
+ if (!least_squares(4, a, np2, 4, b, temp, mat)) {
aom_free(a);
return 1;
}
- multiply_mat(temp, b, mat, 4, np2, 1);
denormalize_rotzoom_reorder(mat, T1, T2);
aom_free(a);
return 0;
@@ -637,7 +333,7 @@ static int find_rotzoom(int np, double *pts1, double *pts2, double *mat) {
static int find_affine(int np, double *pts1, double *pts2, double *mat) {
const int np2 = np * 2;
- double *a = (double *)aom_malloc(sizeof(*a) * np2 * 13);
+ double *a = (double *)aom_malloc(sizeof(*a) * (np2 * 7 + 42));
double *b = a + np2 * 6;
double *temp = b + np2;
int i;
@@ -669,11 +365,10 @@ static int find_affine(int np, double *pts1, double *pts2, double *mat) {
b[2 * i] = dx;
b[2 * i + 1] = dy;
}
- if (pseudo_inverse(temp, a, np2, 6)) {
+ if (!least_squares(6, a, np2, 6, b, temp, mat)) {
aom_free(a);
return 1;
}
- multiply_mat(temp, b, mat, 6, np2, 1);
denormalize_affine_reorder(mat, T1, T2);
aom_free(a);
return 0;
@@ -890,16 +585,22 @@ static int find_homography(int np, double *pts1, double *pts2, double *mat) {
return 0;
}
+// Generate a random number in the range [0, 32768).
+static unsigned int lcg_rand16(unsigned int *state) {
+ *state = (unsigned int)(*state * 1103515245ULL + 12345);
+ return *state / 65536 % 32768;
+}
+
static int get_rand_indices(int npoints, int minpts, int *indices,
unsigned int *seed) {
int i, j;
- int ptr = rand_r(seed) % npoints;
+ int ptr = lcg_rand16(seed) % npoints;
if (minpts > npoints) return 0;
indices[0] = ptr;
ptr = (ptr == npoints - 1 ? 0 : ptr + 1);
i = 1;
while (i < minpts) {
- int index = rand_r(seed) % npoints;
+ int index = lcg_rand16(seed) % npoints;
while (index) {
ptr = (ptr == npoints - 1 ? 0 : ptr + 1);
for (j = 0; j < i; ++j) {
@@ -986,6 +687,9 @@ static int ransac(const int *matched_points, int npoints,
double *cnp1, *cnp2;
+ for (i = 0; i < num_desired_motions; ++i) {
+ num_inliers_by_motion[i] = 0;
+ }
if (npoints < minpts * MINPTS_MULTIPLIER || npoints == 0) {
return 1;
}
@@ -1072,7 +776,7 @@ static int ransac(const int *matched_points, int npoints,
if (current_motion.num_inliers >= worst_kept_motion->num_inliers &&
current_motion.num_inliers > 1) {
int temp;
- double fracinliers, pNoOutliers, mean_distance;
+ double fracinliers, pNoOutliers, mean_distance, dtemp;
mean_distance = sum_distance / ((double)current_motion.num_inliers);
current_motion.variance =
sum_distance_squared / ((double)current_motion.num_inliers - 1.0) -
@@ -1092,7 +796,10 @@ static int ransac(const int *matched_points, int npoints,
pNoOutliers = 1 - pow(fracinliers, minpts);
pNoOutliers = fmax(EPS, pNoOutliers);
pNoOutliers = fmin(1 - EPS, pNoOutliers);
- temp = (int)(log(1.0 - PROBABILITY_REQUIRED) / log(pNoOutliers));
+ dtemp = log(1.0 - PROBABILITY_REQUIRED) / log(pNoOutliers);
+ temp = (dtemp > (double)INT32_MAX)
+ ? INT32_MAX
+ : dtemp < (double)INT32_MIN ? INT32_MIN : (int)dtemp;
if (temp > 0 && temp < N) {
N = AOMMAX(temp, MIN_TRIALS);
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-22 18:33:17 +0000