Commit 1a2b35f9 authored by Debargha Mukherjee's avatar Debargha Mukherjee

Remove code for homography models

Change-Id: Ib93f090f395e52bd69c59e1229e2e035a8772af5
parent 945176aa
......@@ -71,10 +71,7 @@ typedef enum {
TRANSLATION = 1, // translational motion 2-parameter
ROTZOOM = 2, // simplified affine with rotation + zoom only, 4-parameter
AFFINE = 3, // affine, 6-parameter
HORTRAPEZOID = 4, // constrained homography, hor trapezoid, 6-parameter
VERTRAPEZOID = 5, // constrained homography, ver trapezoid, 6-parameter
HOMOGRAPHY = 6, // homography, 8-parameter
TRANS_TYPES = 7,
TRANS_TYPES,
} TransformationType;
/* clang-format on */
......@@ -103,7 +100,7 @@ typedef struct {
} WarpTypesAllowed;
// number of parameters used by each transformation in TransformationTypes
static const int trans_model_params[TRANS_TYPES] = { 0, 2, 4, 6, 6, 6, 8 };
static const int trans_model_params[TRANS_TYPES] = { 0, 2, 4, 6 };
// The order of values in the wmmat matrix below is best described
// by the homography:
......@@ -308,11 +305,6 @@ static INLINE int_mv gm_get_motion_vector(const WarpedMotionParams *gm,
}
static INLINE TransformationType get_gmtype(const WarpedMotionParams *gm) {
if (gm->wmmat[6] != 0 || gm->wmmat[7] != 0) {
if (!gm->wmmat[6] && !gm->wmmat[4]) return HORTRAPEZOID;
if (!gm->wmmat[7] && !gm->wmmat[3]) return VERTRAPEZOID;
return HOMOGRAPHY;
}
if (gm->wmmat[5] == (1 << WARPEDMODEL_PREC_BITS) && !gm->wmmat[4] &&
gm->wmmat[2] == (1 << WARPEDMODEL_PREC_BITS) && !gm->wmmat[3]) {
return ((!gm->wmmat[1] && !gm->wmmat[0]) ? IDENTITY : TRANSLATION);
......
......@@ -93,9 +93,6 @@ static const int error_measure_lut[512] = {
static ProjectPointsFunc get_project_points_type(TransformationType type) {
switch (type) {
case VERTRAPEZOID: return project_points_vertrapezoid;
case HORTRAPEZOID: return project_points_hortrapezoid;
case HOMOGRAPHY: return project_points_homography;
case AFFINE: return project_points_affine;
case ROTZOOM: return project_points_rotzoom;
case TRANSLATION: return project_points_translation;
......
......@@ -2829,21 +2829,6 @@ static int read_global_motion_params(WarpedMotionParams *params,
*params = default_warp_params;
params->wmtype = type;
switch (type) {
case HOMOGRAPHY:
case HORTRAPEZOID:
case VERTRAPEZOID:
if (type != HORTRAPEZOID)
params->wmmat[6] =
aom_rb_read_signed_primitive_refsubexpfin(
rb, GM_ROW3HOMO_MAX + 1, SUBEXPFIN_K,
(ref_params->wmmat[6] >> GM_ROW3HOMO_PREC_DIFF)) *
GM_ROW3HOMO_DECODE_FACTOR;
if (type != VERTRAPEZOID)
params->wmmat[7] =
aom_rb_read_signed_primitive_refsubexpfin(
rb, GM_ROW3HOMO_MAX + 1, SUBEXPFIN_K,
(ref_params->wmmat[7] >> GM_ROW3HOMO_PREC_DIFF)) *
GM_ROW3HOMO_DECODE_FACTOR;
case AFFINE:
case ROTZOOM:
params->wmmat[2] = aom_rb_read_signed_primitive_refsubexpfin(
......@@ -2852,17 +2837,15 @@ static int read_global_motion_params(WarpedMotionParams *params,
(1 << GM_ALPHA_PREC_BITS)) *
GM_ALPHA_DECODE_FACTOR +
(1 << WARPEDMODEL_PREC_BITS);
if (type != VERTRAPEZOID)
params->wmmat[3] = aom_rb_read_signed_primitive_refsubexpfin(
params->wmmat[3] = aom_rb_read_signed_primitive_refsubexpfin(
rb, GM_ALPHA_MAX + 1, SUBEXPFIN_K,
(ref_params->wmmat[3] >> GM_ALPHA_PREC_DIFF)) *
GM_ALPHA_DECODE_FACTOR;
if (type >= AFFINE) {
params->wmmat[4] = aom_rb_read_signed_primitive_refsubexpfin(
rb, GM_ALPHA_MAX + 1, SUBEXPFIN_K,
(ref_params->wmmat[3] >> GM_ALPHA_PREC_DIFF)) *
(ref_params->wmmat[4] >> GM_ALPHA_PREC_DIFF)) *
GM_ALPHA_DECODE_FACTOR;
if (type >= AFFINE) {
if (type != HORTRAPEZOID)
params->wmmat[4] = aom_rb_read_signed_primitive_refsubexpfin(
rb, GM_ALPHA_MAX + 1, SUBEXPFIN_K,
(ref_params->wmmat[4] >> GM_ALPHA_PREC_DIFF)) *
GM_ALPHA_DECODE_FACTOR;
params->wmmat[5] = aom_rb_read_signed_primitive_refsubexpfin(
rb, GM_ALPHA_MAX + 1, SUBEXPFIN_K,
(ref_params->wmmat[5] >> GM_ALPHA_PREC_DIFF) -
......
......@@ -3914,20 +3914,6 @@ static void write_global_motion_params(const WarpedMotionParams *params,
}
switch (type) {
case HOMOGRAPHY:
case HORTRAPEZOID:
case VERTRAPEZOID:
if (type != HORTRAPEZOID)
aom_wb_write_signed_primitive_refsubexpfin(
wb, GM_ROW3HOMO_MAX + 1, SUBEXPFIN_K,
(ref_params->wmmat[6] >> GM_ROW3HOMO_PREC_DIFF),
(params->wmmat[6] >> GM_ROW3HOMO_PREC_DIFF));
if (type != VERTRAPEZOID)
aom_wb_write_signed_primitive_refsubexpfin(
wb, GM_ROW3HOMO_MAX + 1, SUBEXPFIN_K,
(ref_params->wmmat[7] >> GM_ROW3HOMO_PREC_DIFF),
(params->wmmat[7] >> GM_ROW3HOMO_PREC_DIFF));
// fallthrough intended
case AFFINE:
case ROTZOOM:
aom_wb_write_signed_primitive_refsubexpfin(
......@@ -3935,17 +3921,15 @@ static void write_global_motion_params(const WarpedMotionParams *params,
(ref_params->wmmat[2] >> GM_ALPHA_PREC_DIFF) -
(1 << GM_ALPHA_PREC_BITS),
(params->wmmat[2] >> GM_ALPHA_PREC_DIFF) - (1 << GM_ALPHA_PREC_BITS));
if (type != VERTRAPEZOID)
aom_wb_write_signed_primitive_refsubexpfin(
wb, GM_ALPHA_MAX + 1, SUBEXPFIN_K,
(ref_params->wmmat[3] >> GM_ALPHA_PREC_DIFF),
(params->wmmat[3] >> GM_ALPHA_PREC_DIFF));
if (type >= AFFINE) {
aom_wb_write_signed_primitive_refsubexpfin(
wb, GM_ALPHA_MAX + 1, SUBEXPFIN_K,
(ref_params->wmmat[3] >> GM_ALPHA_PREC_DIFF),
(params->wmmat[3] >> GM_ALPHA_PREC_DIFF));
if (type >= AFFINE) {
if (type != HORTRAPEZOID)
aom_wb_write_signed_primitive_refsubexpfin(
wb, GM_ALPHA_MAX + 1, SUBEXPFIN_K,
(ref_params->wmmat[4] >> GM_ALPHA_PREC_DIFF),
(params->wmmat[4] >> GM_ALPHA_PREC_DIFF));
(ref_params->wmmat[4] >> GM_ALPHA_PREC_DIFF),
(params->wmmat[4] >> GM_ALPHA_PREC_DIFF));
aom_wb_write_signed_primitive_refsubexpfin(
wb, GM_ALPHA_MAX + 1, SUBEXPFIN_K,
(ref_params->wmmat[5] >> GM_ALPHA_PREC_DIFF) -
......
......@@ -3654,37 +3654,21 @@ static int gm_get_params_cost(const WarpedMotionParams *gm,
int params_cost = 0;
int trans_bits, trans_prec_diff;
switch (gm->wmtype) {
case HOMOGRAPHY:
case HORTRAPEZOID:
case VERTRAPEZOID:
if (gm->wmtype != HORTRAPEZOID)
params_cost += aom_count_signed_primitive_refsubexpfin(
GM_ROW3HOMO_MAX + 1, SUBEXPFIN_K,
(ref_gm->wmmat[6] >> GM_ROW3HOMO_PREC_DIFF),
(gm->wmmat[6] >> GM_ROW3HOMO_PREC_DIFF));
if (gm->wmtype != VERTRAPEZOID)
params_cost += aom_count_signed_primitive_refsubexpfin(
GM_ROW3HOMO_MAX + 1, SUBEXPFIN_K,
(ref_gm->wmmat[7] >> GM_ROW3HOMO_PREC_DIFF),
(gm->wmmat[7] >> GM_ROW3HOMO_PREC_DIFF));
// Fallthrough intended
case AFFINE:
case ROTZOOM:
params_cost += aom_count_signed_primitive_refsubexpfin(
GM_ALPHA_MAX + 1, SUBEXPFIN_K,
(ref_gm->wmmat[2] >> GM_ALPHA_PREC_DIFF) - (1 << GM_ALPHA_PREC_BITS),
(gm->wmmat[2] >> GM_ALPHA_PREC_DIFF) - (1 << GM_ALPHA_PREC_BITS));
if (gm->wmtype != VERTRAPEZOID)
params_cost += aom_count_signed_primitive_refsubexpfin(
GM_ALPHA_MAX + 1, SUBEXPFIN_K,
(ref_gm->wmmat[3] >> GM_ALPHA_PREC_DIFF),
(gm->wmmat[3] >> GM_ALPHA_PREC_DIFF));
if (gm->wmtype >= AFFINE) {
params_cost += aom_count_signed_primitive_refsubexpfin(
GM_ALPHA_MAX + 1, SUBEXPFIN_K,
(ref_gm->wmmat[3] >> GM_ALPHA_PREC_DIFF),
(gm->wmmat[3] >> GM_ALPHA_PREC_DIFF));
if (gm->wmtype >= AFFINE) {
if (gm->wmtype != HORTRAPEZOID)
params_cost += aom_count_signed_primitive_refsubexpfin(
GM_ALPHA_MAX + 1, SUBEXPFIN_K,
(ref_gm->wmmat[4] >> GM_ALPHA_PREC_DIFF),
(gm->wmmat[4] >> GM_ALPHA_PREC_DIFF));
(ref_gm->wmmat[4] >> GM_ALPHA_PREC_DIFF),
(gm->wmmat[4] >> GM_ALPHA_PREC_DIFF));
params_cost += aom_count_signed_primitive_refsubexpfin(
GM_ALPHA_MAX + 1, SUBEXPFIN_K,
(ref_gm->wmmat[5] >> GM_ALPHA_PREC_DIFF) -
......
......@@ -116,9 +116,6 @@ static void force_wmtype(WarpedMotionParams *wm, TransformationType wmtype) {
wm->wmmat[3] = 0;
case ROTZOOM: wm->wmmat[4] = -wm->wmmat[3]; wm->wmmat[5] = wm->wmmat[2];
case AFFINE: wm->wmmat[6] = wm->wmmat[7] = 0; break;
case HORTRAPEZOID: wm->wmmat[6] = wm->wmmat[4] = 0; break;
case VERTRAPEZOID: wm->wmmat[7] = wm->wmmat[3] = 0; break;
case HOMOGRAPHY: break;
default: assert(0);
}
wm->wmtype = wmtype;
......@@ -134,7 +131,7 @@ int64_t refine_integerized_param(WarpedMotionParams *wm,
int d_height, int d_stride, int n_refinements,
int64_t best_frame_error) {
static const int max_trans_model_params[TRANS_TYPES] = {
0, 2, 4, 6, 8, 8, 8
0, 2, 4, 6,
};
const int border = ERRORADV_BORDER;
int i = 0, p;
......@@ -161,8 +158,6 @@ int64_t refine_integerized_param(WarpedMotionParams *wm,
for (p = 0; p < n_params; ++p) {
int step_dir = 0;
// Skip searches for parameters that are forced to be 0
if (wmtype == HORTRAPEZOID && (p == 4 || p == 6)) continue;
if (wmtype == VERTRAPEZOID && (p == 3 || p == 7)) continue;
param = param_mat + p;
curr_param = *param;
best_param = curr_param;
......@@ -229,9 +224,6 @@ int64_t refine_integerized_param(WarpedMotionParams *wm,
static INLINE RansacFunc get_ransac_type(TransformationType type) {
switch (type) {
case HOMOGRAPHY: return ransac_homography;
case HORTRAPEZOID: return ransac_hortrapezoid;
case VERTRAPEZOID: return ransac_vertrapezoid;
case AFFINE: return ransac_affine;
case ROTZOOM: return ransac_rotzoom;
case TRANSLATION: return ransac_translation;
......
......@@ -80,60 +80,6 @@ static void project_points_double_affine(double *mat, double *points,
}
}
static void project_points_double_hortrapezoid(double *mat, double *points,
double *proj, const int n,
const int stride_points,
const int stride_proj) {
int i;
double x, y, Z, Z_inv;
for (i = 0; i < n; ++i) {
x = *(points++), y = *(points++);
Z_inv = mat[7] * y + 1;
assert(fabs(Z_inv) > 0.000001);
Z = 1. / Z_inv;
*(proj++) = (mat[2] * x + mat[3] * y + mat[0]) * Z;
*(proj++) = (mat[5] * y + mat[1]) * Z;
points += stride_points - 2;
proj += stride_proj - 2;
}
}
static void project_points_double_vertrapezoid(double *mat, double *points,
double *proj, const int n,
const int stride_points,
const int stride_proj) {
int i;
double x, y, Z, Z_inv;
for (i = 0; i < n; ++i) {
x = *(points++), y = *(points++);
Z_inv = mat[6] * x + 1;
assert(fabs(Z_inv) > 0.000001);
Z = 1. / Z_inv;
*(proj++) = (mat[2] * x + mat[0]) * Z;
*(proj++) = (mat[4] * x + mat[5] * y + mat[1]) * Z;
points += stride_points - 2;
proj += stride_proj - 2;
}
}
static void project_points_double_homography(double *mat, double *points,
double *proj, const int n,
const int stride_points,
const int stride_proj) {
int i;
double x, y, Z, Z_inv;
for (i = 0; i < n; ++i) {
x = *(points++), y = *(points++);
Z_inv = mat[6] * x + mat[7] * y + 1;
assert(fabs(Z_inv) > 0.000001);
Z = 1. / Z_inv;
*(proj++) = (mat[2] * x + mat[3] * y + mat[0]) * Z;
*(proj++) = (mat[4] * x + mat[5] * y + mat[1]) * Z;
points += stride_points - 2;
proj += stride_proj - 2;
}
}
static void normalize_homography(double *pts, int n, double *T) {
double *p = pts;
double mean[2] = { 0, 0 };
......@@ -193,22 +139,6 @@ static void denormalize_homography(double *params, double *T1, double *T2) {
multiply_mat(iT2, params2, params, 3, 3, 3);
}
static void denormalize_homography_reorder(double *params, double *T1,
double *T2) {
double params_denorm[MAX_PARAMDIM];
memcpy(params_denorm, params, sizeof(*params) * 8);
params_denorm[8] = 1.0;
denormalize_homography(params_denorm, T1, T2);
params[0] = params_denorm[2];
params[1] = params_denorm[5];
params[2] = params_denorm[0];
params[3] = params_denorm[1];
params[4] = params_denorm[3];
params[5] = params_denorm[4];
params[6] = params_denorm[6];
params[7] = params_denorm[7];
}
static void denormalize_affine_reorder(double *params, double *T1, double *T2) {
double params_denorm[MAX_PARAMDIM];
params_denorm[0] = params[0];
......@@ -377,217 +307,6 @@ static int find_affine(int np, double *pts1, double *pts2, double *mat) {
return 0;
}
static int find_vertrapezoid(int np, double *pts1, double *pts2, double *mat) {
const int np3 = np * 3;
double *a = (double *)aom_malloc(sizeof(*a) * np3 * 14);
double *U = a + np3 * 7;
double S[7], V[7 * 7], H[9];
int i, mini;
double sx, sy, dx, dy;
double T1[9], T2[9];
normalize_homography(pts1, np, T1);
normalize_homography(pts2, np, T2);
for (i = 0; i < np; ++i) {
dx = *(pts2++);
dy = *(pts2++);
sx = *(pts1++);
sy = *(pts1++);
a[i * 3 * 7 + 0] = a[i * 3 * 7 + 1] = 0;
a[i * 3 * 7 + 2] = -sx;
a[i * 3 * 7 + 3] = -sy;
a[i * 3 * 7 + 4] = -1;
a[i * 3 * 7 + 5] = dy * sx;
a[i * 3 * 7 + 6] = dy;
a[(i * 3 + 1) * 7 + 0] = sx;
a[(i * 3 + 1) * 7 + 1] = 1;
a[(i * 3 + 1) * 7 + 2] = a[(i * 3 + 1) * 7 + 3] = a[(i * 3 + 1) * 7 + 4] =
0;
a[(i * 3 + 1) * 7 + 5] = -dx * sx;
a[(i * 3 + 1) * 7 + 6] = -dx;
a[(i * 3 + 2) * 7 + 0] = -dy * sx;
a[(i * 3 + 2) * 7 + 1] = -dy;
a[(i * 3 + 2) * 7 + 2] = dx * sx;
a[(i * 3 + 2) * 7 + 3] = dx * sy;
a[(i * 3 + 2) * 7 + 4] = dx;
a[(i * 3 + 2) * 7 + 5] = a[(i * 3 + 2) * 7 + 6] = 0;
}
if (SVD(U, S, V, a, np3, 7)) {
aom_free(a);
return 1;
} else {
double minS = 1e12;
mini = -1;
for (i = 0; i < 7; ++i) {
if (S[i] < minS) {
minS = S[i];
mini = i;
}
}
}
H[1] = H[7] = 0;
for (i = 0; i < 1; i++) H[i] = V[i * 7 + mini];
for (; i < 6; i++) H[i + 1] = V[i * 7 + mini];
for (; i < 7; i++) H[i + 2] = V[i * 7 + mini];
denormalize_homography_reorder(H, T1, T2);
aom_free(a);
if (H[8] == 0.0) {
return 1;
} else {
// normalize
double f = 1.0 / H[8];
for (i = 0; i < 8; i++) mat[i] = f * H[i];
}
return 0;
}
static int find_hortrapezoid(int np, double *pts1, double *pts2, double *mat) {
const int np3 = np * 3;
double *a = (double *)aom_malloc(sizeof(*a) * np3 * 14);
double *U = a + np3 * 7;
double S[7], V[7 * 7], H[9];
int i, mini;
double sx, sy, dx, dy;
double T1[9], T2[9];
normalize_homography(pts1, np, T1);
normalize_homography(pts2, np, T2);
for (i = 0; i < np; ++i) {
dx = *(pts2++);
dy = *(pts2++);
sx = *(pts1++);
sy = *(pts1++);
a[i * 3 * 7 + 0] = a[i * 3 * 7 + 1] = a[i * 3 * 7 + 2] = 0;
a[i * 3 * 7 + 3] = -sy;
a[i * 3 * 7 + 4] = -1;
a[i * 3 * 7 + 5] = dy * sy;
a[i * 3 * 7 + 6] = dy;
a[(i * 3 + 1) * 7 + 0] = sx;
a[(i * 3 + 1) * 7 + 1] = sy;
a[(i * 3 + 1) * 7 + 2] = 1;
a[(i * 3 + 1) * 7 + 3] = a[(i * 3 + 1) * 7 + 4] = 0;
a[(i * 3 + 1) * 7 + 5] = -dx * sy;
a[(i * 3 + 1) * 7 + 6] = -dx;
a[(i * 3 + 2) * 7 + 0] = -dy * sx;
a[(i * 3 + 2) * 7 + 1] = -dy * sy;
a[(i * 3 + 2) * 7 + 2] = -dy;
a[(i * 3 + 2) * 7 + 3] = dx * sy;
a[(i * 3 + 2) * 7 + 4] = dx;
a[(i * 3 + 2) * 7 + 5] = a[(i * 3 + 2) * 7 + 6] = 0;
}
if (SVD(U, S, V, a, np3, 7)) {
aom_free(a);
return 1;
} else {
double minS = 1e12;
mini = -1;
for (i = 0; i < 7; ++i) {
if (S[i] < minS) {
minS = S[i];
mini = i;
}
}
}
H[3] = H[6] = 0;
for (i = 0; i < 3; i++) H[i] = V[i * 7 + mini];
for (; i < 5; i++) H[i + 1] = V[i * 7 + mini];
for (; i < 7; i++) H[i + 2] = V[i * 7 + mini];
denormalize_homography_reorder(H, T1, T2);
aom_free(a);
if (H[8] == 0.0) {
return 1;
} else {
// normalize
double f = 1.0 / H[8];
for (i = 0; i < 8; i++) mat[i] = f * H[i];
}
return 0;
}
static int find_homography(int np, double *pts1, double *pts2, double *mat) {
// Implemented from Peter Kovesi's normalized implementation
const int np3 = np * 3;
double *a = (double *)aom_malloc(sizeof(*a) * np3 * 18);
double *U = a + np3 * 9;
double S[9], V[9 * 9], H[9];
int i, mini;
double sx, sy, dx, dy;
double T1[9], T2[9];
normalize_homography(pts1, np, T1);
normalize_homography(pts2, np, T2);
for (i = 0; i < np; ++i) {
dx = *(pts2++);
dy = *(pts2++);
sx = *(pts1++);
sy = *(pts1++);
a[i * 3 * 9 + 0] = a[i * 3 * 9 + 1] = a[i * 3 * 9 + 2] = 0;
a[i * 3 * 9 + 3] = -sx;
a[i * 3 * 9 + 4] = -sy;
a[i * 3 * 9 + 5] = -1;
a[i * 3 * 9 + 6] = dy * sx;
a[i * 3 * 9 + 7] = dy * sy;
a[i * 3 * 9 + 8] = dy;
a[(i * 3 + 1) * 9 + 0] = sx;
a[(i * 3 + 1) * 9 + 1] = sy;
a[(i * 3 + 1) * 9 + 2] = 1;
a[(i * 3 + 1) * 9 + 3] = a[(i * 3 + 1) * 9 + 4] = a[(i * 3 + 1) * 9 + 5] =
0;
a[(i * 3 + 1) * 9 + 6] = -dx * sx;
a[(i * 3 + 1) * 9 + 7] = -dx * sy;
a[(i * 3 + 1) * 9 + 8] = -dx;
a[(i * 3 + 2) * 9 + 0] = -dy * sx;
a[(i * 3 + 2) * 9 + 1] = -dy * sy;
a[(i * 3 + 2) * 9 + 2] = -dy;
a[(i * 3 + 2) * 9 + 3] = dx * sx;
a[(i * 3 + 2) * 9 + 4] = dx * sy;
a[(i * 3 + 2) * 9 + 5] = dx;
a[(i * 3 + 2) * 9 + 6] = a[(i * 3 + 2) * 9 + 7] = a[(i * 3 + 2) * 9 + 8] =
0;
}
if (SVD(U, S, V, a, np3, 9)) {
aom_free(a);
return 1;
} else {
double minS = 1e12;
mini = -1;
for (i = 0; i < 9; ++i) {
if (S[i] < minS) {
minS = S[i];
mini = i;
}
}
}
for (i = 0; i < 9; i++) H[i] = V[i * 9 + mini];
denormalize_homography_reorder(H, T1, T2);
aom_free(a);
if (H[8] == 0.0) {
return 1;
} else {
// normalize
double f = 1.0 / H[8];
for (i = 0; i < 8; i++) mat[i] = f * H[i];
}
return 0;
}
static int get_rand_indices(int npoints, int minpts, int *indices,
unsigned int *seed) {
int i, j;
......@@ -860,11 +579,6 @@ static int is_degenerate_affine(double *p) {
return is_collinear3(p, p + 2, p + 4);
}
static int is_degenerate_homography(double *p) {
return is_collinear3(p, p + 2, p + 4) || is_collinear3(p, p + 2, p + 6) ||
is_collinear3(p, p + 4, p + 6) || is_collinear3(p + 2, p + 4, p + 6);
}
int ransac_translation(int *matched_points, int npoints,
int *num_inliers_by_motion, double *params_by_motion,
int num_desired_motions) {
......@@ -887,30 +601,3 @@ int ransac_affine(int *matched_points, int npoints, int *num_inliers_by_motion,
params_by_motion, num_desired_motions, 3, is_degenerate_affine,
find_affine, project_points_double_affine);
}
int ransac_homography(int *matched_points, int npoints,
int *num_inliers_by_motion, double *params_by_motion,
int num_desired_motions) {
return ransac(matched_points, npoints, num_inliers_by_motion,
params_by_motion, num_desired_motions, 4,
is_degenerate_homography, find_homography,
project_points_double_homography);
}
int ransac_hortrapezoid(int *matched_points, int npoints,
int *num_inliers_by_motion, double *params_by_motion,
int num_desired_motions) {
return ransac(matched_points, npoints, num_inliers_by_motion,
params_by_motion, num_desired_motions, 4,
is_degenerate_homography, find_hortrapezoid,
project_points_double_hortrapezoid);
}
int ransac_vertrapezoid(int *matched_points, int npoints,
int *num_inliers_by_motion, double *params_by_motion,
int num_desired_motions) {
return ransac(matched_points, npoints, num_inliers_by_motion,
params_by_motion, num_desired_motions, 4,
is_degenerate_homography, find_vertrapezoid,
project_points_double_vertrapezoid);
}
......@@ -25,17 +25,8 @@ typedef int (*RansacFunc)(int *matched_points, int npoints,
/* Each of these functions fits a motion model from a set of
corresponding points in 2 frames using RANSAC. */
int ransac_homography(int *matched_points, int npoints,
int *num_inliers_by_motion, double *params_by_motion,
int num_motions);
int ransac_affine(int *matched_points, int npoints, int *num_inliers_by_motion,
double *params_by_motion, int num_motions);
int ransac_hortrapezoid(int *matched_points, int npoints,
int *num_inliers_by_motion, double *params_by_motion,
int num_motions);
int ransac_vertrapezoid(int *matched_points, int npoints,
int *num_inliers_by_motion, double *params_by_motion,
int num_motions);
int ransac_rotzoom(int *matched_points, int npoints, int *num_inliers_by_motion,
double *params_by_motion, int num_motions);
int ransac_translation(int *matched_points, int npoints,
......