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Fix template matching
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e8a44ae066
commit
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@ -3,9 +3,8 @@
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#include <arm_math.h>
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float imlib_template_match(struct image *f, struct image *t_orig, struct rectangle *r)
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{
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int x,y,u,v;
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int den_b=0;
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float corr =0.0;
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float factor,scale_factor = 0.5f;
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struct image img;
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struct image *t=&img;
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@ -22,60 +21,52 @@ float imlib_template_match(struct image *f, struct image *t_orig, struct rectan
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/* allocate buffer for integral image */
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f_imgs->w = f->w;
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f_imgs->h = f->h;
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/* after the framebuffer */
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f_imgs->data = (uint32_t*) (f->data+(f->w * f->h*2));
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f_imgs->data = (uint32_t*) (f->data+(f->w * f->h*2));/* after the framebuffer */
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/* get integeral image */
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imlib_integral_image(f, f_imgs);
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for(factor=1.0f; (factor>0.25f); factor*=scale_factor) {
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t->w = (int) t_orig->w*factor;
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t->h = (int) t_orig->h*factor;
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imlib_scale_image(t_orig, t);
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/* copy template */
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t->w = (int) t_orig->w;
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t->h = (int) t_orig->h;
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memcpy(t->data, t_orig->data,(sizeof(*t->data)* t_orig->w * t_orig->h));
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int i;
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long b_den=0;
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int t_mean = imlib_image_mean(t);
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/* get normalized template sum of squares */
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int t_mean = imlib_image_mean(t);
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for (int i=0; i < (t->w*t->h); i++) {
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int c = (int8_t)t->data[i]-t_mean;
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den_b += c*c;
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t->data[i]=(int8_t)c;
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}
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/* get normalized template sum of squares */
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for (i=0; i < (t->w*t->h); i++) {
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int c = t->data[i]-t_mean;
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b_den += c*c;
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t->data[i]=(int8_t)c;
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}
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for (int v=0; v < f->h - t->h; v+=3) {
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for (int u=0; u < f->w - t->w; u+=3) {
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int num = 0;
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int den_a=0;
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uint32_t f_sum =imlib_integral_lookup(f_imgs, u, v, t->w, t->h);
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int f_mean = f_sum / (t->w*t->h);
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for (v=0; v < f->h - t->h; v+=3) {
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for (u=0; u < f->w - t->w; u+=3) {
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int sum_shift = 0;
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int f_sum = imlib_integral_lookup(f_imgs, u, v, t->w, t->h);
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int f_mean = f_sum / (t->w*t->h);
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//int f_sumsq = imlib_integral_lookup(f_imgsq, u, v, t->w, t->h);
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int f_sumsq=0;
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for (y=v; y<t->h+v; y++) {
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for (x=u; x<t->w+u; x++) {
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int a = f->data[y*f->w+x]-f_mean;
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int b = (int8_t) t->data[(y-v)*t->w+(x-u)];
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sum_shift += a*b;
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f_sumsq += f->data[y*f->w+x] * f->data[y*f->w+x];
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}
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}
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int a_den = f_sumsq-(f_sum*(long)f_sum)/(t->w*t->h);
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/* this overflows */
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//corr = sum_shift/sqrtf(a_den*b_den);
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float c = sum_shift/(fast_sqrtf(a_den)*fast_sqrtf(b_den));
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if (c > corr) {
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corr = c;
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r->x = u;
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r->y = v;
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r->w = t->w;
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r->h = t->h;
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for (int y=v; y<t->h+v; y++) {
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for (int x=u; x<t->w+u; x++) {
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int a = (int8_t)f->data[y*f->w+x]-f_mean;
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int b = (int8_t)t->data[(y-v)*t->w+(x-u)];
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num += a*b;
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den_a += a*a;
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}
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}
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/* this overflows */
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float c = num/(fast_sqrtf(den_a) *fast_sqrtf(den_b));
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if (c > corr) {
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corr = c;
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r->x = u;
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r->y = v;
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r->w = t->w;
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r->h = t->h;
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}
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}
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}
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xfree(t->data);
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return corr;
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