Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. */
/*------------------------------------------------------------*/
+#include <stdlib.h>
+#include <stdint.h>
+#include <assert.h>
+
#include "filter.h"
#include "utils_math.h"
+#include "utils_image.h"
+#define DEG_TO_RAD(x) ((x) * 2.0 * M_PI / 360.0 )
// Lookup Tables for Trig-functions and interpolator
#define NATAN 2048
#define NSQRT 2048
-int *atan_LU;
-int *sqrt_LU;
-int *mweights[256];
-
-
-void matrix_matrix_mult ( double m1[3][3],double m2[3][3],double result[3][3]);
-void PV_transForm( TrformStr *TrPtr, int dist_r, int dist_e, int mt[3][3]);
-int PV_atan2(int y, int x);
-int PV_sqrt( int x1, int x2 );
-
-
-// Bilinear interpolator
-
-static void bil( unsigned char *dst, unsigned char **rgb,
- int dx,int dy)
-{
- int yr, yg, yb,weight;
- int rd, gd, bd ;
- register unsigned char *r;
- int *w1, *w2;
-
+static void matrix_matrix_mult( double m1[3][3],double m2[3][3],double result[3][3])
+{
+ int i,k;
- w1 = mweights[dx]; w2 = mweights[255 - dx];
+ for(i=0;i<3;i++)
+ for(k=0; k<3; k++)
+ result[i][k] = m1[i][0] * m2[0][k] + m1[i][1] * m2[1][k] + m1[i][2] * m2[2][k];
+} /* void matrix_matrix_mult */
- r = rgb[0] + 1;
-
- rd = w2[*r++]; gd = w2[*r++]; bd = w2[*r++];
- //weight = 255 - dx; rd = weight * *r++; gd = weight * *r++; bd = weight * *r++;
+/* Set matrix elements based on Euler angles a, b, c */
+static void set_transformation_matrix (double m[3][3],
+ double a, double b, double c)
+{
+ double mx[3][3], my[3][3], mz[3][3], dummy[3][3];
+
- r++;
- rd += w1[*r++]; gd += w1[*r++]; bd += w1[*r];
- //rd += dx * *r++; gd += dx * *r++; bd += dx * *r;
+ // Calculate Matrices;
+ mx[0][0] = 1.0 ; mx[0][1] = 0.0 ; mx[0][2] = 0.0;
+ mx[1][0] = 0.0 ; mx[1][1] = cos(a) ; mx[1][2] = sin(a);
+ mx[2][0] = 0.0 ; mx[2][1] =-mx[1][2] ; mx[2][2] = mx[1][1];
- r = rgb[1] + 1;
-
- yr = w2[*r++]; yg = w2[*r++]; yb = w2[*r++];
- //rd = weight * *r++; gd = weight * *r++; bd = weight * *r++;
-
- r++;
- yr += w1[*r++]; yg += w1[*r++]; yb += w1[*r];
- //rd += dx * *r++; gd += dx * *r++; bd += dx * *r;
+ my[0][0] = cos(b); my[0][1] = 0.0 ; my[0][2] =-sin(b);
+ my[1][0] = 0.0 ; my[1][1] = 1.0 ; my[1][2] = 0.0;
+ my[2][0] = -my[0][2]; my[2][1] = 0.0 ; my[2][2] = my[0][0];
- weight = 255 - dy;
- rd = rd * weight + yr * dy;
- gd = gd * weight + yg * dy;
- bd = bd * weight + yb * dy;
-
- *dst++ = rd >> 16;
- *dst++ = gd >> 16;
- *dst = bd >> 16;
-}
+ mz[0][0] = cos(c) ; mz[0][1] = sin(c) ; mz[0][2] = 0.0;
+ mz[1][0] =-mz[0][1] ; mz[1][1] = mz[0][0] ; mz[1][2] = 0.0;
+ mz[2][0] = 0.0 ; mz[2][1] = 0.0 ; mz[2][2] = 1.0;
+ /* Calculate `m = mz * mx * my' */
+ matrix_matrix_mult( mz, mx, dummy);
+ matrix_matrix_mult( dummy, my, m);
+} /* void SetMatrix */
/*
* Extract image from pano in TrPtr->src using parameters in prefs (ignore
* image parameters in TrPtr)
*/
-void PV_ExtractStill( TrformStr *TrPtr )
+typedef enum interpolator_e
{
- /* field of view in rad */
- double a;
- double b;
-
- double p[2];
- double mt[3][3];
- int mi[3][3],i,k;
+ NNEIGHBOUR,
+ BILINEAR
+} interpolator_t;
+
+static int copy_pixel (ui_image_t *dest, const ui_image_t *src,
+ int x_dest, int y_dest,
+ double x_src_fp, double y_src_fp,
+ interpolator_t interp)
+{
+ uint32_t pixel_dest = (y_dest * dest->width) + x_dest;
- a = DEG_TO_RAD( TrPtr->dest->hfov ); // field of view in rad
- b = DEG_TO_RAD( TrPtr->src->hfov );
+ interp = NNEIGHBOUR;
- /* Set up the transformation matrix `mt' using Euler angles (somehow..) */
- SetMatrix (DEG_TO_RAD (TrPtr->dest->pitch), /* alpha */
- DEG_TO_RAD (TrPtr->dest->yaw), /* beta */
- 0.0, /* gamma */
- mt, /* output */
- 1);
+ if (interp == NNEIGHBOUR)
+ {
+ int x_src = (int) (x_src_fp + 0.5) % src->width;
+ int y_src = (int) (y_src_fp + 0.5) % src->height;
+ if ((x_src < 0) || (x_src >= src->width)
+ || (y_src < 0) || (y_src >= src->height))
+ {
+ dest->data[0][pixel_dest] = 0;
+ dest->data[1][pixel_dest] = 0;
+ dest->data[2][pixel_dest] = 0;
+ }
+ else
+ {
+ uint32_t pixel_src = (y_src * src->width) + x_src;
- p[0] = (double)TrPtr->dest->width/ (2.0 * tan( a / 2.0 ) );
- p[1] = (double) TrPtr->src->width / b;
-
- for(i=0; i<3; i++){
- for(k=0; k<3; k++){
- mi[i][k] = 256 * mt[i][k];
+ dest->data[0][pixel_dest] = src->data[0][pixel_src];
+ dest->data[1][pixel_dest] = src->data[1][pixel_src];
+ dest->data[2][pixel_dest] = src->data[2][pixel_src];
}
}
-
- PV_transForm( TrPtr, (int)(p[0]+.5), (int)(p[1]+.5), mi);
- return;
-}
-
-
-
-
+ return (0);
+} /* int copy_pixel */
// Main transformation function. Destination image is calculated using transformation
// Function "func". Either all colors (color = 0) or one of rgb (color =1,2,3) are
// determined. If successful, TrPtr->success = 1. Memory for destination image
// must have been allocated and locked!
-void PV_transForm( TrformStr *TrPtr, int dist_r, int dist_e, int mt[3][3])
+int pl_extract_view (ui_image_t *view, const ui_image_t *pano,
+ double pitch, double yaw, double fov)
{
- int x_dest, y_dest; // Loop through destination image
- unsigned char *dest,*src,*sry, *dst;// Source and destination image data
- long cy; // rownum in destimage
- int dx,dy;
-
- int x_src, y_src;
+ int x_dest, y_dest; // Loop through destination image
- unsigned char *rgb[2] ,
- cdata[16]; // Image data handed to sampler
+ int dest_width_left = view->width / 2 ;
+ int dest_height_top = view->height / 2 ;
+ int src_width_left = pano->width / 2 ;
+ int src_height_top = pano->height / 2 ;
+
+ double v[3];
+ int x_min, x_max, y_min, y_max;
+ /* The transformation matrix */
+ double tm[3][3];
- int mix = TrPtr->src->width - 1; // maximum x-index src
- int miy = TrPtr->src->height - 1;// maximum y-index src
+ double dist_r;
+ double dist_e;
- // Variables used to convert screen coordinates to cartesian coordinates
+ { /* What the fuck does this? -octo */
+ double a = DEG_TO_RAD (fov);
+ double b = 2.0 * M_PI; /* DEG_TO_RAD (360.0) */
-
- int w2 = TrPtr->dest->width / 2 ;
- int h2 = TrPtr->dest->height / 2 ;
- int sw2 = TrPtr->src->width / 2 ;
- int sh2 = TrPtr->src->height / 2 ;
-
- int BytesPerLine = TrPtr->src->bytesPerLine;
- int v[3];
- int x_min, x_max, y_min, y_max;
+ dist_r = ((double) view->width) / (2.0 * tan (a / 2.0));
+ dist_e = ((double) pano->width) / b;
+ }
- int dr1, dr2, dr3;
+ set_transformation_matrix (tm, DEG_TO_RAD (pitch), DEG_TO_RAD (yaw), 0.0);
- dr1 = mt[2][0] * dist_r;
- dr2 = mt[2][1] * dist_r;
- dr3 = mt[2][2] * dist_r;
-
- dest = *TrPtr->dest->data;
- src = *TrPtr->src->data; // is locked
+ x_min = -dest_width_left; x_max = view->width - dest_width_left;
+ y_min = -dest_height_top; y_max = view->height - dest_height_top;
- x_min = -w2; x_max = TrPtr->dest->width - w2;
- y_min = -h2; y_max = TrPtr->dest->height - h2;
-
- cy = 0;
-
- if( TrPtr->interpolator == _bilinear )
+ for(y_dest = y_min; y_dest < y_max; y_dest++)
{
- for(y_dest = y_min; y_dest < y_max; y_dest++, cy+=TrPtr->dest->bytesPerLine)
+ for(x_dest = x_min; x_dest < x_max; x_dest++)
{
- dst = dest + cy + 1;
- for(x_dest = x_min; x_dest < x_max; x_dest++, dst+=4)
- {
- v[0] = mt[0][0] * x_dest + mt[1][0] * y_dest + dr1;
- v[1] = mt[0][1] * x_dest + mt[1][1] * y_dest + dr2;
- v[2] = mt[0][2] * x_dest + mt[1][2] * y_dest + dr3;
-
- v[0] = v[0] >> 8; v[2] = v[2] >> 8;
-
- x_src = dist_e * PV_atan2( v[0], v[2] ) / NATAN ;
- y_src = dist_e * PV_atan2( v[1], utils_sqrt2 ( abs(v[2]), abs(v[0]) ) ) / NATAN ;
-
- dx = x_src & 255; dy = y_src & 255; // fraction
-
- x_src = (x_src >> 8) + sw2;
- y_src = (y_src >> 8) + sh2;
-
-
- if( y_src >= 0 && y_src < miy && x_src >= 0 && x_src < mix ) // all interpolation pixels inside image
- // (most pixels)
- {
- sry = src + y_src * BytesPerLine + x_src * 4;
- rgb[0] = sry;
- rgb[1] = sry + BytesPerLine;
- }
- else // edge pixels
- {
- int x_copy = x_src;
-
- rgb[0] = cdata;
- if( y_src < 0 )
- sry = src;
- else if( y_src > miy )
- sry = src + miy * BytesPerLine;
- else
- sry = src + y_src * BytesPerLine;
-
- if( x_src < 0 ) x_src = mix;
- if( x_src > mix) x_src = 0;
- *(long*)rgb[0] = *(long*)(sry + x_src*4);
-
- x_src = x_copy+1;
- if( x_src < 0 ) x_src = mix;
- if( x_src > mix) x_src = 0;
- *(long*)(rgb[0]+4) = *(long*)(sry + x_src*4);
-
-
-
- rgb[1] = cdata+8;
- y_src+=1;
- if( y_src < 0 )
- sry = src;
- else if( y_src > miy )
- sry = src + miy * BytesPerLine;
- else
- sry = src + y_src * BytesPerLine;
- x_src = x_copy;
- if( x_src < 0 ) x_src = mix;
- if( x_src > mix) x_src = 0;
- *(long*)rgb[1] = *(long*)(sry + x_src*4);
- x_src = x_copy+1;
- if( x_src < 0 ) x_src = mix;
- if( x_src > mix) x_src = 0;
- *(long*)(rgb[1]+4) = *(long*)(sry + x_src*4);
-
-
- }
- bil( dst, rgb, dx, dy );
- }
+ double x_src_fp;
+ double y_src_fp;
+
+ v[0] = tm[0][0] * x_dest + tm[1][0] * y_dest + tm[2][0] * dist_r;
+ v[1] = tm[0][1] * x_dest + tm[1][1] * y_dest + tm[2][1] * dist_r;
+ v[2] = tm[0][2] * x_dest + tm[1][2] * y_dest + tm[2][2] * dist_r;
+
+ x_src_fp = dist_e * atan2 (v[0], v[2]);
+ y_src_fp = dist_e * atan2 (v[1], sqrt (v[2] * v[2] + v[0] * v[0]));
+
+ copy_pixel (view, pano,
+ dest_width_left + x_dest, dest_height_top + y_dest,
+ src_width_left + x_src_fp, src_height_top + y_src_fp,
+ NNEIGHBOUR);
}
}
- else if( TrPtr->interpolator == _nn )
- {
- for(y_dest = y_min; y_dest < y_max; y_dest++, cy+=TrPtr->dest->bytesPerLine)
- {
- dst = dest + cy;
- for(x_dest = x_min; x_dest < x_max; x_dest++, dst+=4)
- {
- v[0] = mt[0][0] * x_dest + mt[1][0] * y_dest + dr1;
- v[1] = mt[0][1] * x_dest + mt[1][1] * y_dest + dr2;
- v[2] = mt[0][2] * x_dest + mt[1][2] * y_dest + dr3;
-
- v[0] = v[0] >> 8; v[2] = v[2] >> 8;
- x_src = dist_e * PV_atan2( v[0], v[2] ) / NATAN ;
-
- y_src = dist_e * PV_atan2( v[1], utils_sqrt2( abs(v[2]), abs(v[0]) ) ) / NATAN ;
-
- dx = x_src & 255; dy = y_src & 255; // fraction
-
-
- x_src = (x_src >> 8) + sw2;
- y_src = (y_src >> 8) + sh2;
-
- if( x_src < 0 ) x_src = 0;
- if( x_src > mix ) x_src = mix;
- if( y_src < 0) y_src = 0;
- if( y_src > miy ) y_src = miy;
-
- *(long*)dst = *(long*)(src + y_src * BytesPerLine + x_src * 4);
- }
- }
- }
-
- TrPtr->success = 1;
- return;
+ return (0);
}
#if 0
}
#endif
-// Set matrix elements based on Euler angles a, b, c
-
-void SetMatrix( double a, double b, double c , double m[3][3], int cl )
-{
- double mx[3][3], my[3][3], mz[3][3], dummy[3][3];
-
-
- // Calculate Matrices;
-
- mx[0][0] = 1.0 ; mx[0][1] = 0.0 ; mx[0][2] = 0.0;
- mx[1][0] = 0.0 ; mx[1][1] = cos(a) ; mx[1][2] = sin(a);
- mx[2][0] = 0.0 ; mx[2][1] =-mx[1][2] ; mx[2][2] = mx[1][1];
-
- my[0][0] = cos(b); my[0][1] = 0.0 ; my[0][2] =-sin(b);
- my[1][0] = 0.0 ; my[1][1] = 1.0 ; my[1][2] = 0.0;
- my[2][0] = -my[0][2]; my[2][1] = 0.0 ; my[2][2] = my[0][0];
-
- mz[0][0] = cos(c) ; mz[0][1] = sin(c) ; mz[0][2] = 0.0;
- mz[1][0] =-mz[0][1] ; mz[1][1] = mz[0][0] ; mz[1][2] = 0.0;
- mz[2][0] = 0.0 ; mz[2][1] = 0.0 ; mz[2][2] = 1.0;
-
- /* Calculate `m = mz * mx * my' */
-
- if( cl )
- matrix_matrix_mult( mz, mx, dummy);
- else
- matrix_matrix_mult( mx, mz, dummy);
- matrix_matrix_mult( dummy, my, m);
-} /* void SetMatrix */
-
-void matrix_matrix_mult( double m1[3][3],double m2[3][3],double result[3][3])
-{
- register int i,k;
-
- for(i=0;i<3;i++)
- for(k=0; k<3; k++)
- result[i][k] = m1[i][0] * m2[0][k] + m1[i][1] * m2[1][k] + m1[i][2] * m2[2][k];
-} /* void matrix_matrix_mult */
-
-
-
-int PV_atan2(int y, int x)
-{
- // return atan2(y,x) * 256*NATAN;
- if( x > 0 )
- {
- if( y > 0 )
- {
- return atan_LU[(int)( NATAN * y / ( x + y ))];
- }
- else
- {
- return -atan_LU[ (int)(NATAN * (-y) / ( x - y ))];
- }
- }
-
- if( x == 0 )
- {
- if( y > 0 )
- return (int)(256*NATAN*PI / 2.0);
- else
- return -(int)(256*NATAN*PI / 2.0);
- }
-
- if( y < 0 )
- {
- return atan_LU[(int)( NATAN * y / ( x + y ))] - (int)(PI*256*NATAN);
- }
- else
- {
- return -atan_LU[ (int)(NATAN * (-y) / ( x - y ))] + (int)(PI*256*NATAN);
- }
-
-}
-
-
-
-int SetUpAtan()
-{
- int i;
- double dz = 1.0 / (double)NATAN;
- double z = 0.0;
-
- atan_LU = (int*) malloc( (NATAN+1) * sizeof( int ));
-
- if( atan_LU == NULL )
- return -1;
-
- for( i=0; i< NATAN; i++, z+=dz )
- atan_LU[i] = atan( z / (1.0 - z ) ) * NATAN * 256;
-
- atan_LU[NATAN] = PI/4.0 * NATAN * 256;
-
- // Print a test
-#if 0
- for(i = -10; i< 10; i++)
- {
- int k;
- for(k=-10; k<10; k++)
- {
- printf("i = %d k = %d atan2(i,k) = %g LUatan(i,k) = %g diff = %g\n", i,k,atan2(i,k),
- (double)PV_atan2(i,k) / (256*NATAN) , atan2(i,k) - (double)PV_atan2(i,k) / (256*NATAN));
- }
- }
- exit(0);
-#endif
- return 0;
-}
-
-int SetUpSqrt()
-{
- int i;
- double dz = 1.0 / (double)NSQRT;
- double z = 0.0;
-
- sqrt_LU = (int*) malloc( (NSQRT+1) * sizeof( int ));
-
- if( sqrt_LU == NULL )
- return -1;
-
- for( i=0; i< NSQRT; i++, z+=dz )
- sqrt_LU[i] = sqrt( 1.0 + z*z ) * 256 * NSQRT;
-
- sqrt_LU[NSQRT] = sqrt(2.0) * 256 * NSQRT;
-
- return 0;
-}
-
-int SetUpMweights()
-{
- int i,k;
-
- for(i=0; i<256; i++)
- {
- mweights[i] = (int*)malloc( 256 * sizeof(int) );
- if( mweights[i] == NULL ) return -1;
- }
- for(i=0; i<256; i++)
- {
- for(k=0; k<256; k++)
- {
- mweights[i][k] = i*k;
- }
- }
-
- return 0;
-}
-
-
-int PV_sqrt( int x1, int x2 )
-{
- if( x1 > x2 )
- {
- return x1 * sqrt_LU[ NSQRT * x2 / x1 ] / NSQRT;
- }
- else
- {
- if( x2 == 0 ) return 0;
- return x2 * sqrt_LU[ NSQRT * x1 / x2 ] / NSQRT;
- }
-}
-
-
#define ID_0 0xff
#define ID_1 0xd8
#define ID_2 0xff
projects / libopano.git / blobdiff