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#include "lagrcv.h"
/*
void calcImagePyr(char *src, int sizeY, int sizeX, int level, char *pyr){
pyr=(char*) malloc(sizeof(char)*(int)sizeY*sizeX*4/3);
int i, startPnt, nX, nY;
memcpy(pyr,src, sizeY*sizeX);
nY=sizeY;
nX=sizeX;
for(i=0; i<level; i++){
nY = (nY + 1) >> 1;
nX = (nX + 1) >> 1;
calcSubsample(pyr, sizeY, sizeX, pyr+sizeY*sizeX)
}
free(pyr);
}
*/
void calcSubSampleAvg(double *src, int sizeY, int sizeX, double *dest, int destSizeY, int destSizeX){
int i, j, idx,
destI, destJ, idxDest;
for(i=0, destI=0; destI<destSizeX; i+=2, destI++){
for(j=0, destJ=0; destJ<destSizeY; j+=2, destJ++){
idx=i*sizeX+j;
idxDest=destI*destSizeY+destJ;
dest[idxDest]=(src[idx]+src[idx+1]+src[idx+sizeY]+src[idx+sizeY+1])/4;
}
}
}
void calcImgBlur(double *src, int sizeY, int sizeX, double *dest){
double kernel[]={0.0625, 0.25, 0.375, 0.25, 0.0625};
double *temp;
temp=(double*) malloc(sizeof(double)*sizeY*sizeX);
int i, j, idx, idxCol;
for(i=2; i<sizeX-2;i++){
idxCol=i*sizeY;
for(j=0;j<sizeY; j++){
idx=idxCol+j;
temp[idx]=src[idx-2*sizeY]/16+src[idx-sizeY]/4
+src[idx]*3/8+src[idx+sizeY]/4+src[idx+2*sizeY]/16;
}
}
for(i=0; i<sizeX;i++){
idxCol=i*sizeY;
for(j=2;j<sizeY-2; j++){
idx=idxCol+j;
dest[idx]=temp[idx-2]/16+temp[idx-1]/4
+temp[idx]*3/8+temp[idx+1]/4+temp[idx+2]/16;
}
}
free(temp);
}
void calcImgResize(double *src, int sizeY, int sizeX, double *dest, int dstSizeY, int dstSizeX){
double ker[]={ 0.0039, 0.0156, 0.0234, 0.0156, 0.0039,
0.0156, 0.0625, 0.0938, 0.0625, 0.0156,
0.0234, 0.0938, 0.1406, 0.0938, 0.0234,
0.0156, 0.0625, 0.0938, 0.0625, 0.0156,
0.0039, 0.0156, 0.0234, 0.0156, 0.0039};
int srcI, srcJ, dstI, dstJ, srcIdx, dstIdx, idxCol_1, idxCol1, idxCol_2, idxCol2;
for(srcI=2, dstI=1; srcI<sizeX-2; srcI+=2, dstI++){
for(srcJ=2, dstJ=1; srcJ<sizeY-2; srcJ+=2, dstJ++){
srcIdx=srcI*sizeY+srcJ;
dstIdx=dstI*dstSizeY+dstJ;
idxCol_1=srcIdx-sizeY;
idxCol_2=srcIdx-2*sizeY;
idxCol1=srcIdx+sizeY;
idxCol2=srcIdx+2*sizeY;
dest[dstIdx]=
src[idxCol_2-2]*ker[0]+src[idxCol_1-2]*ker[1]
+src[srcIdx-2]*ker[2]+src[idxCol1-2]*ker[3]+src[idxCol2-2]*ker[4]
+src[idxCol_2-1]*ker[5]+src[idxCol_1-1]*ker[6]
+src[srcIdx-1]*ker[7]+src[idxCol1-1]*ker[8]+src[idxCol2-1]*ker[9]
+src[idxCol_2]*ker[10]+src[idxCol_1]*ker[11]
+src[srcIdx]*ker[12]+src[idxCol1]*ker[13]+src[idxCol2]*ker[14]
+src[idxCol_2+1]*ker[5]+src[idxCol_1+1]*ker[16]
+src[srcIdx+1]*ker[17]+src[idxCol1+1]*ker[18]+src[idxCol2+1]*ker[19];
+src[idxCol_2+2]*ker[20]+src[idxCol_1+2]*ker[21]
+src[srcIdx+2]*ker[22]+src[idxCol1+2]*ker[23]+src[idxCol2+2]*ker[24];
}
}
}
void calcGradient(double *src, int sizeY, int sizeX, double *dX, double *dY){
int i, j, idx;
for(i=1; i<sizeX; i++){
for(j=1; j<sizeY; j++){
idx=i*sizeY+j;
dX[idx]=src[idx]-src[idx-sizeY];
dY[idx]=src[idx]-src[idx-1];
}
}
}
void calcGradient(char *src, int sizeY, int sizeX, char *dX, char *dY){
int i, j, idx;
for(i=1; i<sizeX; i++){
for(j=1; j<sizeY; j++){
idx=i*sizeY+j;
dX[idx]=src[idx]-src[idx-sizeY];
dY[idx]=src[idx]-src[idx-1];
}
}
}
void calcSobel(double *src, int sizeY, int sizeX, double *dX, double *dY){
//char kernelV[9]={-1, -2, -1, 0, 0, 0, 1, 2, 1};
//char kernelH[9]={-1, 0, 1, -2, 0, 2, -1, 0, 1};
//const int kerSize=3;
int i, j, idx, idxPrevCol, idxNextCol;
for(i=1; i<sizeX-1; i++){
for(j=1; j<sizeY-1; j++){
idx=i*sizeY+j;
idxPrevCol=idx-sizeY;
idxNextCol=idx+sizeY;
dX[idx]=src[idxPrevCol-1]*-0.0938f+src[idxPrevCol]*-0.3125f+src[idxPrevCol+1]*-0.0938f
+src[idxNextCol-1]*0.0938f+src[idxNextCol]*0.3125f+src[idxNextCol+1]*0.0938f;
dY[idx]=src[idxPrevCol-1]*-0.0938f+src[idx-1]*-0.3125f+src[idxNextCol-1]*-0.0938f
+src[idxPrevCol+1]*0.0938f+src[idx+1]*0.3125f+src[idxNextCol+1]*0.0938f;
/*
dX[idx]=(src[idxPrevCol-1]*-1+src[idxPrevCol]*-2+src[idxPrevCol+1]*-1
+src[idxNextCol-1]*1+src[idxNextCol]*2+src[idxNextCol+1]*1)*0.0625;
dY[idx]=(src[idxPrevCol-1]*-1+src[idx-1]*-2+src[idxNextCol-1]*-1
+src[idxPrevCol+1]*1+src[idx+1]*2+src[idxNextCol+1]*1)*0.0625;
*/
}
}
}
void calcGoodFeature(double *dX, double *dY, int sizeY, int sizeX, int winSize, double* lambda, double* tr, double* det,
double* c_xx, double* c_xy, double* c_yy){
double *xx, *xy, *yy;
int i,j,idx;
xx=(double*)malloc(sizeof(double)*sizeY*sizeX);
xy=(double*)malloc(sizeof(double)*sizeY*sizeX);
yy=(double*)malloc(sizeof(double)*sizeY*sizeX);
for(idx=0; idx<sizeX*sizeY; idx++){
xx[idx]=dX[idx]*dX[idx];
xy[idx]=dX[idx]*dY[idx];
yy[idx]=dY[idx]*dY[idx];
}
calcAreaSum(xx, sizeY, sizeX, winSize, c_xx);
calcAreaSum(xy, sizeY, sizeX, winSize, c_xy);
calcAreaSum(yy, sizeY, sizeX, winSize, c_yy);
for(idx=0; idx<sizeX*sizeY; idx++){
tr[idx
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