static void
icvCornerEigenValsVecs( const CvMat* src, CvMat* eigenv, int block_size,
int aperture_size, int op_type, double k=0. )
{
CvFilterState* dxstate = 0;
CvFilterState* dystate = 0;
CvFilterState* blurstate = 0;
CvMat *tempsrc = 0;
CvMat *Dx = 0, *Dy = 0, *cov = 0;
CvMat *sqrt_buf = 0;
int buf_size = 1 << 12;
CV_FUNCNAME( "icvCornerEigenValsVecs" );
__BEGIN__;
int i, j, y, dst_y = 0, max_dy, delta = 0;
int aperture_size0 = aperture_size;
int temp_step = 0, d_step;
uchar* shifted_ptr = 0;
int depth, d_depth, datatype;
int stage = CV_START;
CvSobelFixedIPPFunc ipp_sobel_vert = 0, ipp_sobel_horiz = 0;
CvFilterFixedIPPFunc ipp_scharr_vert = 0, ipp_scharr_horiz = 0;
CvFilterFunc opencv_derv_func = 0;
CvSize el_size, size, stripe_size;
int aligned_width;
CvPoint el_anchor;
double factorx, factory;
if( block_size < 3 || !(block_size & 1) )
CV_ERROR( CV_StsOutOfRange, "averaging window size must be an odd number >= 3" );
if( aperture_size < 3 && aperture_size != CV_SCHARR || !(aperture_size & 1) )
CV_ERROR( CV_StsOutOfRange,
"Derivative filter aperture size must be a positive odd number >=3 or CV_SCHARR" );
depth = CV_MAT_DEPTH(src->type);
d_depth = depth == CV_8U ? CV_16S : CV_32F;
datatype = depth == CV_8U ? cv8u : cv32f;
size = cvGetMatSize(src);
aligned_width = cvAlign(size.width, 4);
aperture_size = aperture_size == CV_SCHARR ? 3 : aperture_size;
el_size = cvSize( aperture_size, aperture_size );
el_anchor = cvPoint( aperture_size/2, aperture_size/2 );
if( aperture_size <= 5 && icvFilterSobelVert_8u16s_C1R_p )
{
if( depth == CV_8U && aperture_size0 == CV_SCHARR )
{
ipp_scharr_vert = icvFilterScharrVert_8u16s_C1R_p;
ipp_scharr_horiz = icvFilterScharrHoriz_8u16s_C1R_p;
}
else if( depth == CV_32F && aperture_size0 == CV_SCHARR )
{
ipp_scharr_vert = icvFilterScharrVert_32f_C1R_p;
ipp_scharr_horiz = icvFilterScharrHoriz_32f_C1R_p;
}
else if( depth == CV_8U )
{
ipp_sobel_vert = icvFilterSobelVert_8u16s_C1R_p;
ipp_sobel_horiz = icvFilterSobelHoriz_8u16s_C1R_p;
}
else if( depth == CV_32F )
{
ipp_sobel_vert = icvFilterSobelVert_32f_C1R_p;
ipp_sobel_horiz = icvFilterSobelHoriz_32f_C1R_p;
}
}
if( ipp_sobel_vert && ipp_sobel_horiz ||
ipp_scharr_vert && ipp_scharr_horiz )
{
CV_CALL( tempsrc = icvIPPFilterInit( src, buf_size,
cvSize(el_size.width,el_size.height + block_size)));
shifted_ptr = tempsrc->data.ptr + el_anchor.y*tempsrc->step +
el_anchor.x*CV_ELEM_SIZE(depth);
temp_step = tempsrc->step ? tempsrc->step : CV_STUB_STEP;
max_dy = tempsrc->rows - aperture_size + 1;
}
else
{
ipp_sobel_vert = ipp_sobel_horiz = 0;
ipp_scharr_vert = ipp_scharr_horiz = 0;
CV_CALL( dxstate = icvSobelInitAlloc( size.width, datatype, aperture_size0,
CV_ORIGIN_TL, 1, 0 ));
CV_CALL( dystate = icvSobelInitAlloc( size.width, datatype, aperture_size0,
CV_ORIGIN_TL, 0, 1 ));
max_dy = buf_size / src->cols;
max_dy = MAX( max_dy, aperture_size + block_size );
opencv_derv_func = depth == CV_8U ? (CvFilterFunc)icvSobel_8u16s_C1R :
(CvFilterFunc)icvSobel_32f_C1R;
}
CV_CALL( Dx = cvCreateMat( max_dy, aligned_width, d_depth ));
CV_CALL( Dy = cvCreateMat( max_dy, aligned_width, d_depth ));
CV_CALL( cov = cvCreateMat( max_dy + block_size + 1, size.width, CV_32FC3 ));
CV_CALL( sqrt_buf = cvCreateMat( 2, size.width, CV_32F ));
if( opencv_derv_func )
max_dy -= aperture_size - 1;
d_step = Dx->step ? Dx->step : CV_STUB_STEP;
CV_CALL( blurstate = icvBlurInitAlloc( size.width, cv32f, 3, block_size ));
blurstate->divisor = 1; // avoid scaling
stripe_size = size;
factorx = (double)(1 << (aperture_size - 1)) * block_size;
if( aperture_size0 == CV_SCHARR )
factorx *= 2;
if( depth == CV_8U )
factorx *= 255.;
factory = factorx = 1./factorx;
if( ipp_sobel_vert )
factory = -factory;
for( y = 0; y < size.height; y += delta )
{
if( opencv_derv_func )
{
delta = MIN( size.height - y, max_dy );
if( y + delta == size.height )
stage = stage & CV_START ? CV_START + CV_END : CV_END;
stripe_size.height = delta;
IPPI_CALL( opencv_derv_func( src->data.ptr + y*src->step, src->step, Dx->data.ptr,
Dx->step, &stripe_size, dxstate, stage ));
stripe_size.height = delta;
IPPI_CALL( opencv_derv_func( src->data.ptr + y*src->step, src->step, Dy->data.ptr,
Dy->step, &stripe_size, dystate, stage ));
}
else
{
delta = icvIPPFilterNextStripe( src, tempsrc, y, el_size, el_anchor );
stripe_size.height = delta;
if( ipp_sobel_vert )
{
IPPI_CALL( ipp_sobel_vert( shifted_ptr, temp_step,
Dx->data.ptr, d_step, stripe_size,
aperture_size*10 + aperture_size ));
IPPI_CALL( ipp_sobel_horiz( shifted_ptr, temp_step,
Dy->data.ptr, d_step, stripe_size,
aperture_size*10 + aperture_size ));
}
else /*if( ipp_scharr_vert )*/
{
IPPI_CALL( ipp_scharr_vert( shifted_ptr, temp_step,
Dx->data.ptr, d_step, stripe_size ));
IPPI_CALL( ipp_scharr_horiz( shifted_ptr, temp_step,
Dy->data.ptr, d_step, stripe_size ));
}
}
for( i = 0; i < stripe_size.height; i++ )
{
float* cov_data = (float*)(cov->data.ptr + i*cov->step);
if( d_depth == CV_16S )
{
const short* dxdata = (const short*)(Dx->data.ptr + i*Dx->step);
const short* dydata = (const short*)(Dy->data.ptr + i*Dy->step);
for( j = 0; j < size.width; j++ )
{
double dx = dxdata[j]*factorx;
double dy = dydata[j]*factory;
cov_data[j*3] = (float)(dx*dx);
cov_data[j*3+1] = (float)(dx*dy);
cov_data[j*3+2] = (float)(dy*dy);
}
}
else
{
const float* dxdata = (const float*)(Dx->data.ptr + i*Dx->step);
const float* dydata = (const float*)(Dy->data.ptr + i*Dy->step);
for( j = 0; j < size.width; j++ )
{
double dx = dxdata[j]*factorx;
double dy = dydata[j]*factory;
cov_data[j*3] = (float)(dx*dx);
cov_data[j*3+1] = (float)(dx*dy);
cov_data[j*3+2] = (float)(dy*dy);
}
}
}
if( y + stripe_size.height >= size.height )
stage = stage & CV_START ? CV_START + CV_END : CV_END;
IPPI_CALL( icvBlur_32f_CnR( cov->data.fl, cov->step,
cov->data.fl, cov->step,
&stripe_size, blurstate, stage ));
if( op_type == ICV_MINEIGENVAL )
icvCalcMinEigenVal( cov->data.fl, cov->step,
(float*)(eigenv->data.ptr + dst_y*eigenv->step), eigenv->step,
stripe_size, sqrt_buf );
else if( op_type == ICV_HARRIS )
icvCalcHarris( cov->data.fl, cov->step,
(float*)(eigenv->data.ptr + dst_y*eigenv->step), eigenv->step,
stripe_size, sqrt_buf, k );
else if( op_type == ICV_EIGENVALSVECS )
icvCalcEigenValsVecs( cov->data.fl, cov->step,
(float*)(eigenv->data.ptr + dst_y*eigenv->step), eigenv->step,
stripe_size, sqrt_buf );
dst_y += stripe_size.height;
stage = CV_MIDDLE;
}
__END__;
icvFilterFree( &dxstate );
icvFilterFree( &dystate );
icvFilterFree( &blurstate );
cvReleaseMat( &Dx );
cvReleaseMat( &Dy );
cvReleaseMat( &cov );
cvReleaseMat( &sqrt_buf );
cvReleaseMat( &tempsrc );
}
CvStatus
_CalcDispMean( const CvMat* srcIm, CvMat* dispIm, CvMat* meanIm, int size )
{
//////////// check input parametrs ///////////////////
if( (srcIm == NULL) || (dispIm == NULL) || (meanIm == NULL) )
{
return CV_NULLPTR_ERR;
}
//////////// variables ///////////////
uchar *src;
int step_srcIm;
int number = 2 * size + 1;
CvSize roi_srcIm;
IplImage* AverageIm_f;
IplImage* Temp1_f;
IplImage* Temp2_f;
_CvConvState* convState;
/////////////// initialising /////////////////////////
cvGetRawData( srcIm, &src, &step_srcIm, &roi_srcIm );
//////////// creating images ///////////////////////
Temp2_f = cvCreateImage( roi_srcIm, IPL_DEPTH_32F, 1 );
AverageIm_f = cvCreateImage( roi_srcIm, IPL_DEPTH_32F, 1 );
Temp1_f = cvCreateImage( roi_srcIm, IPL_DEPTH_32F, 1 );
icvBlurInitAlloc( roi_srcIm.width, cv32f, number, &convState );
if( (Temp2_f == NULL) || (AverageIm_f == NULL) || (Temp1_f == NULL) || !convState )
{
cvReleaseImage( &Temp2_f );
cvReleaseImage( &AverageIm_f );
cvReleaseImage( &Temp1_f );
icvConvolFree( &convState );
return CV_OUTOFMEM_ERR;
}
////////////// calculating //////////////////////
cvConvertScale( srcIm, Temp2_f, 1, 0 );
icvBlur_32f_C1R( (float*)Temp2_f->imageData, Temp2_f->widthStep,
(float*)AverageIm_f->imageData, AverageIm_f->widthStep,
&roi_srcIm, convState, 0 );
cvMul( Temp2_f, Temp2_f, Temp1_f ); // square
icvBlur_32f_C1R( (float*)Temp1_f->imageData, Temp1_f->widthStep,
(float*)Temp2_f->imageData, Temp2_f->widthStep,
&roi_srcIm, convState, 0 );
cvSub( Temp2_f, AverageIm_f, Temp1_f ); // dispersion powered 2
cvConvertScale( Temp2_f, dispIm, 1.0 / (number * number), 0 ); // convert to IPL_DEPTH_8U
cvConvertScale( AverageIm_f, meanIm, 1.0 / (number * number), 0 );
///////////// relesing memory ///////////////////////////
cvReleaseImage( &Temp1_f );
cvReleaseImage( &Temp2_f );
cvReleaseImage( &AverageIm_f );
icvConvolFree( &convState );
return CV_NO_ERR;
} // CvStatus _CalcDispMean( IplImage* srcIm, IplImage* dispIm, IplImage* meanIm , int size )
