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-rw-r--r--third_party/aom/av1/encoder/ransac.c313
1 files changed, 0 insertions, 313 deletions
diff --git a/third_party/aom/av1/encoder/ransac.c b/third_party/aom/av1/encoder/ransac.c
index 6d2eb4183..781f528eb 100644
--- a/third_party/aom/av1/encoder/ransac.c
+++ b/third_party/aom/av1/encoder/ransac.c
@@ -80,60 +80,6 @@ static void project_points_double_affine(double *mat, double *points,
}
}
-static void project_points_double_hortrapezoid(double *mat, double *points,
- double *proj, const int n,
- const int stride_points,
- const int stride_proj) {
- int i;
- double x, y, Z, Z_inv;
- for (i = 0; i < n; ++i) {
- x = *(points++), y = *(points++);
- Z_inv = mat[7] * y + 1;
- assert(fabs(Z_inv) > 0.000001);
- Z = 1. / Z_inv;
- *(proj++) = (mat[2] * x + mat[3] * y + mat[0]) * Z;
- *(proj++) = (mat[5] * y + mat[1]) * Z;
- points += stride_points - 2;
- proj += stride_proj - 2;
- }
-}
-
-static void project_points_double_vertrapezoid(double *mat, double *points,
- double *proj, const int n,
- const int stride_points,
- const int stride_proj) {
- int i;
- double x, y, Z, Z_inv;
- for (i = 0; i < n; ++i) {
- x = *(points++), y = *(points++);
- Z_inv = mat[6] * x + 1;
- assert(fabs(Z_inv) > 0.000001);
- Z = 1. / Z_inv;
- *(proj++) = (mat[2] * x + mat[0]) * Z;
- *(proj++) = (mat[4] * x + mat[5] * y + mat[1]) * Z;
- points += stride_points - 2;
- proj += stride_proj - 2;
- }
-}
-
-static void project_points_double_homography(double *mat, double *points,
- double *proj, const int n,
- const int stride_points,
- const int stride_proj) {
- int i;
- double x, y, Z, Z_inv;
- for (i = 0; i < n; ++i) {
- x = *(points++), y = *(points++);
- Z_inv = mat[6] * x + mat[7] * y + 1;
- assert(fabs(Z_inv) > 0.000001);
- Z = 1. / Z_inv;
- *(proj++) = (mat[2] * x + mat[3] * y + mat[0]) * Z;
- *(proj++) = (mat[4] * x + mat[5] * y + mat[1]) * Z;
- points += stride_points - 2;
- proj += stride_proj - 2;
- }
-}
-
static void normalize_homography(double *pts, int n, double *T) {
double *p = pts;
double mean[2] = { 0, 0 };
@@ -193,22 +139,6 @@ static void denormalize_homography(double *params, double *T1, double *T2) {
multiply_mat(iT2, params2, params, 3, 3, 3);
}
-static void denormalize_homography_reorder(double *params, double *T1,
- double *T2) {
- double params_denorm[MAX_PARAMDIM];
- memcpy(params_denorm, params, sizeof(*params) * 8);
- params_denorm[8] = 1.0;
- denormalize_homography(params_denorm, T1, T2);
- params[0] = params_denorm[2];
- params[1] = params_denorm[5];
- params[2] = params_denorm[0];
- params[3] = params_denorm[1];
- params[4] = params_denorm[3];
- params[5] = params_denorm[4];
- params[6] = params_denorm[6];
- params[7] = params_denorm[7];
-}
-
static void denormalize_affine_reorder(double *params, double *T1, double *T2) {
double params_denorm[MAX_PARAMDIM];
params_denorm[0] = params[0];
@@ -377,217 +307,6 @@ static int find_affine(int np, double *pts1, double *pts2, double *mat) {
return 0;
}
-static int find_vertrapezoid(int np, double *pts1, double *pts2, double *mat) {
- const int np3 = np * 3;
- double *a = (double *)aom_malloc(sizeof(*a) * np3 * 14);
- double *U = a + np3 * 7;
- double S[7], V[7 * 7], H[9];
- int i, mini;
- double sx, sy, dx, dy;
- double T1[9], T2[9];
-
- normalize_homography(pts1, np, T1);
- normalize_homography(pts2, np, T2);
-
- for (i = 0; i < np; ++i) {
- dx = *(pts2++);
- dy = *(pts2++);
- sx = *(pts1++);
- sy = *(pts1++);
-
- a[i * 3 * 7 + 0] = a[i * 3 * 7 + 1] = 0;
- a[i * 3 * 7 + 2] = -sx;
- a[i * 3 * 7 + 3] = -sy;
- a[i * 3 * 7 + 4] = -1;
- a[i * 3 * 7 + 5] = dy * sx;
- a[i * 3 * 7 + 6] = dy;
-
- a[(i * 3 + 1) * 7 + 0] = sx;
- a[(i * 3 + 1) * 7 + 1] = 1;
- a[(i * 3 + 1) * 7 + 2] = a[(i * 3 + 1) * 7 + 3] = a[(i * 3 + 1) * 7 + 4] =
- 0;
- a[(i * 3 + 1) * 7 + 5] = -dx * sx;
- a[(i * 3 + 1) * 7 + 6] = -dx;
-
- a[(i * 3 + 2) * 7 + 0] = -dy * sx;
- a[(i * 3 + 2) * 7 + 1] = -dy;
- a[(i * 3 + 2) * 7 + 2] = dx * sx;
- a[(i * 3 + 2) * 7 + 3] = dx * sy;
- a[(i * 3 + 2) * 7 + 4] = dx;
- a[(i * 3 + 2) * 7 + 5] = a[(i * 3 + 2) * 7 + 6] = 0;
- }
- if (SVD(U, S, V, a, np3, 7)) {
- aom_free(a);
- return 1;
- } else {
- double minS = 1e12;
- mini = -1;
- for (i = 0; i < 7; ++i) {
- if (S[i] < minS) {
- minS = S[i];
- mini = i;
- }
- }
- }
- H[1] = H[7] = 0;
- for (i = 0; i < 1; i++) H[i] = V[i * 7 + mini];
- for (; i < 6; i++) H[i + 1] = V[i * 7 + mini];
- for (; i < 7; i++) H[i + 2] = V[i * 7 + mini];
-
- denormalize_homography_reorder(H, T1, T2);
- aom_free(a);
- if (H[8] == 0.0) {
- return 1;
- } else {
- // normalize
- double f = 1.0 / H[8];
- for (i = 0; i < 8; i++) mat[i] = f * H[i];
- }
- return 0;
-}
-
-static int find_hortrapezoid(int np, double *pts1, double *pts2, double *mat) {
- const int np3 = np * 3;
- double *a = (double *)aom_malloc(sizeof(*a) * np3 * 14);
- double *U = a + np3 * 7;
- double S[7], V[7 * 7], H[9];
- int i, mini;
- double sx, sy, dx, dy;
- double T1[9], T2[9];
-
- normalize_homography(pts1, np, T1);
- normalize_homography(pts2, np, T2);
-
- for (i = 0; i < np; ++i) {
- dx = *(pts2++);
- dy = *(pts2++);
- sx = *(pts1++);
- sy = *(pts1++);
-
- a[i * 3 * 7 + 0] = a[i * 3 * 7 + 1] = a[i * 3 * 7 + 2] = 0;
- a[i * 3 * 7 + 3] = -sy;
- a[i * 3 * 7 + 4] = -1;
- a[i * 3 * 7 + 5] = dy * sy;
- a[i * 3 * 7 + 6] = dy;
-
- a[(i * 3 + 1) * 7 + 0] = sx;
- a[(i * 3 + 1) * 7 + 1] = sy;
- a[(i * 3 + 1) * 7 + 2] = 1;
- a[(i * 3 + 1) * 7 + 3] = a[(i * 3 + 1) * 7 + 4] = 0;
- a[(i * 3 + 1) * 7 + 5] = -dx * sy;
- a[(i * 3 + 1) * 7 + 6] = -dx;
-
- a[(i * 3 + 2) * 7 + 0] = -dy * sx;
- a[(i * 3 + 2) * 7 + 1] = -dy * sy;
- a[(i * 3 + 2) * 7 + 2] = -dy;
- a[(i * 3 + 2) * 7 + 3] = dx * sy;
- a[(i * 3 + 2) * 7 + 4] = dx;
- a[(i * 3 + 2) * 7 + 5] = a[(i * 3 + 2) * 7 + 6] = 0;
- }
-
- if (SVD(U, S, V, a, np3, 7)) {
- aom_free(a);
- return 1;
- } else {
- double minS = 1e12;
- mini = -1;
- for (i = 0; i < 7; ++i) {
- if (S[i] < minS) {
- minS = S[i];
- mini = i;
- }
- }
- }
- H[3] = H[6] = 0;
- for (i = 0; i < 3; i++) H[i] = V[i * 7 + mini];
- for (; i < 5; i++) H[i + 1] = V[i * 7 + mini];
- for (; i < 7; i++) H[i + 2] = V[i * 7 + mini];
-
- denormalize_homography_reorder(H, T1, T2);
- aom_free(a);
- if (H[8] == 0.0) {
- return 1;
- } else {
- // normalize
- double f = 1.0 / H[8];
- for (i = 0; i < 8; i++) mat[i] = f * H[i];
- }
- return 0;
-}
-
-static int find_homography(int np, double *pts1, double *pts2, double *mat) {
- // Implemented from Peter Kovesi's normalized implementation
- const int np3 = np * 3;
- double *a = (double *)aom_malloc(sizeof(*a) * np3 * 18);
- double *U = a + np3 * 9;
- double S[9], V[9 * 9], H[9];
- int i, mini;
- double sx, sy, dx, dy;
- double T1[9], T2[9];
-
- normalize_homography(pts1, np, T1);
- normalize_homography(pts2, np, T2);
-
- for (i = 0; i < np; ++i) {
- dx = *(pts2++);
- dy = *(pts2++);
- sx = *(pts1++);
- sy = *(pts1++);
-
- a[i * 3 * 9 + 0] = a[i * 3 * 9 + 1] = a[i * 3 * 9 + 2] = 0;
- a[i * 3 * 9 + 3] = -sx;
- a[i * 3 * 9 + 4] = -sy;
- a[i * 3 * 9 + 5] = -1;
- a[i * 3 * 9 + 6] = dy * sx;
- a[i * 3 * 9 + 7] = dy * sy;
- a[i * 3 * 9 + 8] = dy;
-
- a[(i * 3 + 1) * 9 + 0] = sx;
- a[(i * 3 + 1) * 9 + 1] = sy;
- a[(i * 3 + 1) * 9 + 2] = 1;
- a[(i * 3 + 1) * 9 + 3] = a[(i * 3 + 1) * 9 + 4] = a[(i * 3 + 1) * 9 + 5] =
- 0;
- a[(i * 3 + 1) * 9 + 6] = -dx * sx;
- a[(i * 3 + 1) * 9 + 7] = -dx * sy;
- a[(i * 3 + 1) * 9 + 8] = -dx;
-
- a[(i * 3 + 2) * 9 + 0] = -dy * sx;
- a[(i * 3 + 2) * 9 + 1] = -dy * sy;
- a[(i * 3 + 2) * 9 + 2] = -dy;
- a[(i * 3 + 2) * 9 + 3] = dx * sx;
- a[(i * 3 + 2) * 9 + 4] = dx * sy;
- a[(i * 3 + 2) * 9 + 5] = dx;
- a[(i * 3 + 2) * 9 + 6] = a[(i * 3 + 2) * 9 + 7] = a[(i * 3 + 2) * 9 + 8] =
- 0;
- }
-
- if (SVD(U, S, V, a, np3, 9)) {
- aom_free(a);
- return 1;
- } else {
- double minS = 1e12;
- mini = -1;
- for (i = 0; i < 9; ++i) {
- if (S[i] < minS) {
- minS = S[i];
- mini = i;
- }
- }
- }
-
- for (i = 0; i < 9; i++) H[i] = V[i * 9 + mini];
- denormalize_homography_reorder(H, T1, T2);
- aom_free(a);
- if (H[8] == 0.0) {
- return 1;
- } else {
- // normalize
- double f = 1.0 / H[8];
- for (i = 0; i < 8; i++) mat[i] = f * H[i];
- }
- return 0;
-}
-
static int get_rand_indices(int npoints, int minpts, int *indices,
unsigned int *seed) {
int i, j;
@@ -860,11 +579,6 @@ static int is_degenerate_affine(double *p) {
return is_collinear3(p, p + 2, p + 4);
}
-static int is_degenerate_homography(double *p) {
- return is_collinear3(p, p + 2, p + 4) || is_collinear3(p, p + 2, p + 6) ||
- is_collinear3(p, p + 4, p + 6) || is_collinear3(p + 2, p + 4, p + 6);
-}
-
int ransac_translation(int *matched_points, int npoints,
int *num_inliers_by_motion, double *params_by_motion,
int num_desired_motions) {
@@ -887,30 +601,3 @@ int ransac_affine(int *matched_points, int npoints, int *num_inliers_by_motion,
params_by_motion, num_desired_motions, 3, is_degenerate_affine,
find_affine, project_points_double_affine);
}
-
-int ransac_homography(int *matched_points, int npoints,
- int *num_inliers_by_motion, double *params_by_motion,
- int num_desired_motions) {
- return ransac(matched_points, npoints, num_inliers_by_motion,
- params_by_motion, num_desired_motions, 4,
- is_degenerate_homography, find_homography,
- project_points_double_homography);
-}
-
-int ransac_hortrapezoid(int *matched_points, int npoints,
- int *num_inliers_by_motion, double *params_by_motion,
- int num_desired_motions) {
- return ransac(matched_points, npoints, num_inliers_by_motion,
- params_by_motion, num_desired_motions, 4,
- is_degenerate_homography, find_hortrapezoid,
- project_points_double_hortrapezoid);
-}
-
-int ransac_vertrapezoid(int *matched_points, int npoints,
- int *num_inliers_by_motion, double *params_by_motion,
- int num_desired_motions) {
- return ransac(matched_points, npoints, num_inliers_by_motion,
- params_by_motion, num_desired_motions, 4,
- is_degenerate_homography, find_vertrapezoid,
- project_points_double_vertrapezoid);
-}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-27 11:29:10 +0000