void db_FrameToReferenceRegistration::Set_H_dref_to_ins(double H[9])
{
double H_ins_to_ref[9];
db_Identity3x3(H_ins_to_ref); // Ensure it has proper values
db_InvertAffineTransform(H_ins_to_ref,m_H_ref_to_ins); // Invert to get ins to ref
db_Multiply3x3_3x3(m_H_dref_to_ref,H,H_ins_to_ref); // Update dref to ref using the input H from dref to ins
}
// This function computes fills the 4x4 matrices g_dAffinetrans,
// and g_dAffinetransPan using the specified 3x3 affine
// transformation between the first captured frame and the current frame.
// The computed g_dAffinetrans is such that it warps the preview mosaic in
// the last frame's coordinate system into the coordinate system of the
// current frame. Thus, applying this transformation will create the current
// frame mosaic but with the current frame missing. This frame will then be
// pasted in by gWarper2 after translating it by g_dTranslationToFBOCenter.
// The computed g_dAffinetransPan is such that it offsets the computed preview
// mosaic horizontally to make the viewfinder pan within the UI layout.
void UpdateWarpTransformation(float *trs)
{
double H[9], Hp[9], Htemp1[9], Htemp2[9], T[9];
for(int i = 0; i < 9; i++)
{
gThisH1t[i] = trs[i];
}
// Alignment is done based on low-res data.
// To render the preview mosaic, the translation of the high-res mosaic is estimated to
// H2L_FACTOR x low-res-based tranlation.
gThisH1t[2] *= H2L_FACTOR;
gThisH1t[5] *= H2L_FACTOR;
db_Identity3x3(T);
T[2] = -gCenterOffsetX;
T[5] = -gCenterOffsetY;
// H = ( inv(gThisH1t) * gLastH1t ) * T
db_Identity3x3(Htemp1);
db_Identity3x3(Htemp2);
db_Identity3x3(H);
db_InvertAffineTransform(Htemp1, gThisH1t);
db_Multiply3x3_3x3(Htemp2, Htemp1, gLastH1t);
db_Multiply3x3_3x3(H, Htemp2, T);
for(int i = 0; i < 9; i++)
{
gLastH1t[i] = gThisH1t[i];
}
// Move the origin such that the frame is centered in the previewFBO
// i.e. H = inv(T) * H
H[2] += gCenterOffsetX;
H[5] += gCenterOffsetY;
// Hp = inv(Km) * H * Km
// Km moves the coordinate system from openGL to image pixels so
// that the alignment transform H can be applied to them.
// inv(Km) moves the coordinate system back to openGL normalized
// coordinates so that the shader can correctly render it.
db_Identity3x3(Htemp1);
db_Multiply3x3_3x3(Htemp1, H, gKm);
db_Multiply3x3_3x3(Hp, gKminv, Htemp1);
ConvertAffine3x3toGL4x4(g_dAffinetrans, Hp);
////////////////////////////////////////////////
////// Compute g_dAffinetransPan now... //////
////////////////////////////////////////////////
gThisTx = trs[2];
if(gPanViewfinder)
{
gPanOffset += (gThisTx - gLastTx) * VIEWFINDER_PAN_FACTOR_HORZ;
}
gLastTx = gThisTx;
gPanViewfinder = continuePanningFBO(gPanOffset);
db_Identity3x3(H);
H[2] = gPanOffset;
// Hp = inv(Km) * H * Km
db_Identity3x3(Htemp1);
db_Multiply3x3_3x3(Htemp1, H, gKm);
db_Multiply3x3_3x3(Hp, gKminv, Htemp1);
//if (gIsLandscapeOrientation) {
ConvertAffine3x3toGL4x4(g_dAffinetransPan, Hp);
//} else {
// // rotate Hp by 90 degress.
// db_Multiply3x3_3x3(Htemp1, gRotation90, Hp);
// ConvertAffine3x3toGL4x4(g_dAffinetransPan, Htemp1);
// }
}
