Picture Picture::operator +(Picture const& pic) const
{
if (pic.getColors() != this->getColors() || pic.getHeight() != this->getHeight() || pic.getWidth() != this->getWidth()) return Picture(0, 0);
Picture res = pic.clone();
for (int c = 0; c < colors; ++c)
{
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < height; ++j)
{
int sum = pic.get(i, j, c);
sum += get(i, j, c);
res.at(i, j, c) = (unsigned char) (sum % 256);
}
}
}
return res;
}
void Mediator::nextStep()
{
DWORD tm = GetTickCount();
prevImage = curImage;
DWORD tm1 = GetTickCount();
bitmap *bitMap = frameReader.nextFrame();
Picture basePic(width, height, 3);
basePic.copyPic(bitMap->data);
basePic = picConverter.fixDistortions(converter, basePic);
Picture smallGreyPic = picConverter.convertColor(basePic);
if (downscale > 1.05)
{
smallGreyPic = picConverter.downscale(smallGreyPic, downscale);
}
Picture curImage1 = smallGreyPic;//.getRectMiddle(0);// - gauss.apply(smallGreyPic);/*gauss.apply(smallGreyPic);*/
Capture_Log::getInstance()->log_write("Preprocess time is %d\n", GetTickCount() - tm1);
Homography h**o = homoEstimator.getHomography(prevImage.getWidth() != 0 ? prevImage : curImage1, curImage1, stepSize);
h**o.applyDownscale(1.0 / (double)downscale);
Homography clearHomo = kalmanHomo.observe(h**o);
Matrix clearHomoMatrix = clearHomo.getHomoMatrix3x3();
Matrix clHomoObr = clearHomoMatrix.obratn();
Matrix homoMatr = h**o.getHomoMatrix3x3();
Matrix HnoiseMatr = clHomoObr * homoMatr;
Capture_Log::getInstance()->log_write("\n\n\n");
Capture_Log::getInstance()->log_write("Estimated h**o is\n");
h**o.printLog();
Capture_Log::getInstance()->log_write("Kalman h**o is\n");
clearHomo.printLog();
Capture_Log::getInstance()->log_write("Kalman obratn h**o is\n");
dif_lib::print(clHomoObr);
Capture_Log::getInstance()->log_write("Noise h**o is\n");
dif_lib::print(HnoiseMatr);
// curHomo = Homography(HnoiseMatr);
Capture_Log::getInstance()->log_write("Check base h**o is\n");
dif_lib::print(clearHomoMatrix * HnoiseMatr);
curHomo.printLog();
Capture_Log::getInstance()->log_write("\n\n\n");
/* Homography homoE = Homography();
curHomo = homoE * beta1 + h**o * alpha1 + curHomo * (1 - alpha1 - beta1);*/
// curImage = curImage1;
curImage = picConverter.applyHomo(curImage1, curHomo);
if (prevPic.getWidth() == 0)
{
prevPic = basePic.clone();
}
Gaussian gs(width, height, 2.0);
if (0 && params.debug && bitMap->data && prevPic.getWidth() > 0)
{
// Capture_Log::getInstance()->log_write("Gaussian full time is %d\n", GetTickCount() - tm);
static int frameId = 0;
char name1[11] = "filea.jpeg";
char name2[12] = "fileaa.jpeg";
name1[4] += frameId;
name2[4] += frameId;
frameId++;
/* Picture pic0 = gs.apply(prevPic);
Picture pic1 = picConverter.applyHomo(basePic, h**o);
Picture pic = gs.apply(pic1);
double dist = tester.imgDistace(pic0.getPictureChar(), pic.getPictureChar(), 3);*/
frameReader.saveFrame(curImage1.getPictureChar(), smallGreyPic.getWidth(), smallGreyPic.getHeight(), smallGreyPic.getColors(), name1);
/* frameReader.saveFrame(pic.getPictureChar(), width, height, 3, name2);
Capture_Log::getInstance()->log_write("Pictures distance is %.2f\n", dist);*/
}
// Picture img = gs.apply(basePic);
tm1 = GetTickCount();
convImage = picConverter.applyHomo(basePic, curHomo);
Capture_Log::getInstance()->log_write("H**o time is %d\n", GetTickCount() - tm1);
tm1 = GetTickCount();
// convImage = gauss.apply(convImage);
Capture_Log::getInstance()->log_write("Gauss time is %d\n", GetTickCount() - tm1);
if (params.debug)
{
laplas = basePic.clone();//picConverter.convertGrey(curImage1/* - gs.apply(curImage1)*/, 3);//convImage;// - gs.apply(convImage);
}
else
{
laplas = convImage;
}
tm1 = GetTickCount();
Picture rect = convImage.getRectMiddle(bandWidth);
frameReader.saveFrame(rect.getPictureChar(), rect.getWidth(), rect.getHeight(), 3);
/* rect = basePic.getRectMiddle(bandWidth);
frameReader.saveFrame(rect.getPictureChar(), rect.getWidth(), rect.getHeight(), 3);*/
Capture_Log::getInstance()->log_write("Save time is %d\n", GetTickCount() - tm1);
// prevPic = basePic.clone();
bitmap_release(bitMap);
Capture_Log::getInstance()->log_write("Step time is %d\n\n\n", GetTickCount() - tm);
}