106 lines
2.5 KiB
Text
106 lines
2.5 KiB
Text
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/*
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* history implementation
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*
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* Copyright (C) Stanislav Serebryakov
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*
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* Released under the GPL version 3.
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*
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*/
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#include "history.h"
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#include <cv.h>
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Frame *allocFrame3DData(CvSize pmdSz) {
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Frame *f = (Frame*)cvAlloc(sizeof(Frame));
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f->sz = pmdSz;
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f->img = 0;
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f->trn = cvCreateMat(3, 1, CV_32FC1);
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f->rot = cvCreateMat(3, 1, CV_32FC1);
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f->status = (CvPoint**) cvAlloc(pmdSz.height * sizeof(CvPoint*));
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f->pts = (CvPoint3D32f**) cvAlloc(pmdSz.height * sizeof(CvPoint3D32f*));
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for(int i = 0; i < pmdSz.height; i++) {
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f->status[i] = (CvPoint*) cvAlloc(pmdSz.width * sizeof(CvPoint));
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f->pts[i] = (CvPoint3D32f*) cvAlloc(pmdSz.width * sizeof(CvPoint3D32f));
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}
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return f;
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}
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void fillFrame(Frame *f, IplImage *img, CvSize pmdSz, CvPoint3D32f **pts, CvPoint **status
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, CvMat *rot, CvMat *trn, double alignError) {
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assert(pmdSz.width == f->sz.width || pmdSz.height == f->sz.height);
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if(f->img) cvCopy(img, f->img, NULL);
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else f->img = cvCloneImage(img);
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f->alignError = alignError;
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for(int j = 0; j < pmdSz.width; j++)
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for(int i = 0; i < pmdSz.height; i++) {
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f->status[i][j] = status[i][j];
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f->pts[i][j] = pts[i][j];
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}
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cvCopy(rot, f->rot, NULL);
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cvCopy(trn, f->trn, NULL);
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}
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void releaseFrame(Frame **f) {
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Frame *t = *f;
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cvReleaseImage(&t->img);
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cvReleaseMat(&t->rot);
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cvReleaseMat(&t->trn);
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for(int i = 0; i < t->sz.height; i++) {
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cvFree(&t->pts[i]);
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cvFree(&t->status[i]);
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}
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cvFree(&t->pts);
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cvFree(&t->status);
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*f = NULL;
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}
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History *createHistory() {
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History *h = (History*)cvAlloc(sizeof(History));
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h->frame = 0;
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h->prev = 0; // essential!!!
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return h;
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}
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History *addFrame(History *h, Frame *f) {
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if(!h->frame) { // first frame, FIXME: should be out here
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h->prev = 0; // ensure
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h->frame = f;
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return h;
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}
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// else
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History *n = (History*)cvAlloc(sizeof(History));
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n->prev = h;
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n->frame = f;
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return n;
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}
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void releaseTail(History *h) {
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History *tmp = h->prev;
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History *prev = 0;
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h->prev = 0;
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while(tmp) {
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prev = tmp->prev;
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releaseFrame(&tmp->frame);
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cvFree(&tmp);
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tmp = prev;
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}
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}
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void checkHistoryLen(History *h, int maxLen) {
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History *histI = h;
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for(int i = 0; histI->prev; i++)
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if(i > maxLen-2) // -2 because I release *prev* elemnents
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releaseTail(histI);
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else histI = histI->prev;
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}
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