Users » RyoheiHagimoto » Code » zbar_010

ZBar bar code reader . http://zbar.sourceforge.net/ ZBar is licensed under the GNU LGPL 2.1 to enable development of both open source and commercial projects.

Dependents: GR-PEACH_Camera_in_barcode levkov_ov7670

LICENSE

You can redistribute this library and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA

ISAAC is based on the public domain implementation by Robert J. Jenkins Jr., and is itself public domain.

Portions of the bit stream reader are copyright (C) The Xiph.Org Foundation 1994-2008, and are licensed under a BSD-style license.

zbar/qrcode/qrdec.c@1:500d42699c34, 2016-04-19 (annotated)

Committer:: RyoheiHagimoto
Date:: Tue Apr 19 02:19:39 2016 +0000
Revision:: 1:500d42699c34
Parent:: 0:56c5742b9e2b

Add copying.txt and license.txt

Who changed what in which revision?

User	Revision	Line number	New contents of line
RyoheiHagimoto	0:56c5742b9e2b	1	/*Copyright (C) 2008-2009 Timothy B. Terriberry (tterribe@xiph.org)
RyoheiHagimoto	0:56c5742b9e2b	2	You can redistribute this library and/or modify it under the terms of the
RyoheiHagimoto	0:56c5742b9e2b	3	GNU Lesser General Public License as published by the Free Software
RyoheiHagimoto	0:56c5742b9e2b	4	Foundation; either version 2.1 of the License, or (at your option) any later
RyoheiHagimoto	0:56c5742b9e2b	5	version.*/
RyoheiHagimoto	0:56c5742b9e2b	6	#include <stdlib.h>
RyoheiHagimoto	0:56c5742b9e2b	7	#include <limits.h>
RyoheiHagimoto	0:56c5742b9e2b	8	#include <string.h>
RyoheiHagimoto	0:56c5742b9e2b	9	#include <time.h>
RyoheiHagimoto	0:56c5742b9e2b	10	#include "qrcode.h"
RyoheiHagimoto	0:56c5742b9e2b	11	#include "qrdec.h"
RyoheiHagimoto	0:56c5742b9e2b	12	#include "bch15_5.h"
RyoheiHagimoto	0:56c5742b9e2b	13	#include "rs.h"
RyoheiHagimoto	0:56c5742b9e2b	14	#include "isaac.h"
RyoheiHagimoto	0:56c5742b9e2b	15	#include "util.h"
RyoheiHagimoto	0:56c5742b9e2b	16	#include "binarize.h"
RyoheiHagimoto	0:56c5742b9e2b	17	#include "image.h"
RyoheiHagimoto	0:56c5742b9e2b	18	#include "error.h"
RyoheiHagimoto	0:56c5742b9e2b	19	#include "svg.h"
RyoheiHagimoto	0:56c5742b9e2b	20
RyoheiHagimoto	0:56c5742b9e2b	21	typedef int qr_line[3];
RyoheiHagimoto	0:56c5742b9e2b	22
RyoheiHagimoto	0:56c5742b9e2b	23	typedef struct qr_finder_cluster qr_finder_cluster;
RyoheiHagimoto	0:56c5742b9e2b	24	typedef struct qr_finder_edge_pt qr_finder_edge_pt;
RyoheiHagimoto	0:56c5742b9e2b	25	typedef struct qr_finder_center qr_finder_center;
RyoheiHagimoto	0:56c5742b9e2b	26
RyoheiHagimoto	0:56c5742b9e2b	27	typedef struct qr_aff qr_aff;
RyoheiHagimoto	0:56c5742b9e2b	28	typedef struct qr_hom qr_hom;
RyoheiHagimoto	0:56c5742b9e2b	29
RyoheiHagimoto	0:56c5742b9e2b	30	typedef struct qr_finder qr_finder;
RyoheiHagimoto	0:56c5742b9e2b	31
RyoheiHagimoto	0:56c5742b9e2b	32	typedef struct qr_hom_cell qr_hom_cell;
RyoheiHagimoto	0:56c5742b9e2b	33	typedef struct qr_sampling_grid qr_sampling_grid;
RyoheiHagimoto	0:56c5742b9e2b	34	typedef struct qr_pack_buf qr_pack_buf;
RyoheiHagimoto	0:56c5742b9e2b	35
RyoheiHagimoto	0:56c5742b9e2b	36	/*The number of bits in an int.
RyoheiHagimoto	0:56c5742b9e2b	37	Note the cast to (int): this prevents this value from "promoting" whole
RyoheiHagimoto	0:56c5742b9e2b	38	expressions to an (unsigned) size_t.*/
RyoheiHagimoto	0:56c5742b9e2b	39	#define QR_INT_BITS ((int)sizeof(int)*CHAR_BIT)
RyoheiHagimoto	0:56c5742b9e2b	40	#define QR_INT_LOGBITS (QR_ILOG(QR_INT_BITS))
RyoheiHagimoto	0:56c5742b9e2b	41
RyoheiHagimoto	0:56c5742b9e2b	42	/*A 14 bit resolution for a homography ensures that the ideal module size for a
RyoheiHagimoto	0:56c5742b9e2b	43	version 40 code differs from that of a version 39 code by at least 2.*/
RyoheiHagimoto	0:56c5742b9e2b	44	#define QR_HOM_BITS (14)
RyoheiHagimoto	0:56c5742b9e2b	45
RyoheiHagimoto	0:56c5742b9e2b	46	/*The number of bits of sub-module precision to use when searching for
RyoheiHagimoto	0:56c5742b9e2b	47	alignment patterns.
RyoheiHagimoto	0:56c5742b9e2b	48	Two bits allows an alignment pattern to be found even if the modules have
RyoheiHagimoto	0:56c5742b9e2b	49	been eroded by up to 50% (due to blurring, etc.).
RyoheiHagimoto	0:56c5742b9e2b	50	This must be at least one, since it affects the dynamic range of the
RyoheiHagimoto	0:56c5742b9e2b	51	transforms, and we sample at half-module resolution to compute a bounding
RyoheiHagimoto	0:56c5742b9e2b	52	quadrilateral for the code.*/
RyoheiHagimoto	0:56c5742b9e2b	53	#define QR_ALIGN_SUBPREC (2)
RyoheiHagimoto	0:56c5742b9e2b	54
RyoheiHagimoto	0:56c5742b9e2b	55
RyoheiHagimoto	0:56c5742b9e2b	56	/* collection of finder lines */
RyoheiHagimoto	0:56c5742b9e2b	57	typedef struct qr_finder_lines {
RyoheiHagimoto	0:56c5742b9e2b	58	qr_finder_line *lines;
RyoheiHagimoto	0:56c5742b9e2b	59	int nlines, clines;
RyoheiHagimoto	0:56c5742b9e2b	60	} qr_finder_lines;
RyoheiHagimoto	0:56c5742b9e2b	61
RyoheiHagimoto	0:56c5742b9e2b	62
RyoheiHagimoto	0:56c5742b9e2b	63	struct qr_reader {
RyoheiHagimoto	0:56c5742b9e2b	64	/The GF(256) representation used in Reed-Solomon decoding./
RyoheiHagimoto	0:56c5742b9e2b	65	rs_gf256 gf;
RyoheiHagimoto	0:56c5742b9e2b	66	/The random number generator used by RANSAC./
RyoheiHagimoto	0:56c5742b9e2b	67	isaac_ctx isaac;
RyoheiHagimoto	0:56c5742b9e2b	68	/* current finder state, horizontal and vertical lines */
RyoheiHagimoto	0:56c5742b9e2b	69	qr_finder_lines finder_lines[2];
RyoheiHagimoto	0:56c5742b9e2b	70	};
RyoheiHagimoto	0:56c5742b9e2b	71
RyoheiHagimoto	0:56c5742b9e2b	72
RyoheiHagimoto	0:56c5742b9e2b	73	/Initializes a client reader handle./
RyoheiHagimoto	0:56c5742b9e2b	74	static void qr_reader_init (qr_reader *reader)
RyoheiHagimoto	0:56c5742b9e2b	75	{
RyoheiHagimoto	0:56c5742b9e2b	76	/*time_t now;
RyoheiHagimoto	0:56c5742b9e2b	77	now=time(NULL);
RyoheiHagimoto	0:56c5742b9e2b	78	isaac_init(&_reader->isaac,&now,sizeof(now));*/
RyoheiHagimoto	0:56c5742b9e2b	79	isaac_init(&reader->isaac, NULL, 0);
RyoheiHagimoto	0:56c5742b9e2b	80	rs_gf256_init(&reader->gf, QR_PPOLY);
RyoheiHagimoto	0:56c5742b9e2b	81	}
RyoheiHagimoto	0:56c5742b9e2b	82
RyoheiHagimoto	0:56c5742b9e2b	83	/Allocates a client reader handle./
RyoheiHagimoto	0:56c5742b9e2b	84	qr_reader *_zbar_qr_create (void)
RyoheiHagimoto	0:56c5742b9e2b	85	{
RyoheiHagimoto	0:56c5742b9e2b	86	qr_reader reader = (qr_reader)calloc(1, sizeof(*reader));
RyoheiHagimoto	0:56c5742b9e2b	87	qr_reader_init(reader);
RyoheiHagimoto	0:56c5742b9e2b	88	return(reader);
RyoheiHagimoto	0:56c5742b9e2b	89	}
RyoheiHagimoto	0:56c5742b9e2b	90
RyoheiHagimoto	0:56c5742b9e2b	91	/Frees a client reader handle./
RyoheiHagimoto	0:56c5742b9e2b	92	void _zbar_qr_destroy (qr_reader *reader)
RyoheiHagimoto	0:56c5742b9e2b	93	{
RyoheiHagimoto	0:56c5742b9e2b	94	zprintf(1, "max finder lines = %dx%d\n",
RyoheiHagimoto	0:56c5742b9e2b	95	reader->finder_lines[0].clines,
RyoheiHagimoto	0:56c5742b9e2b	96	reader->finder_lines[1].clines);
RyoheiHagimoto	0:56c5742b9e2b	97	if(reader->finder_lines[0].lines)
RyoheiHagimoto	0:56c5742b9e2b	98	free(reader->finder_lines[0].lines);
RyoheiHagimoto	0:56c5742b9e2b	99	if(reader->finder_lines[1].lines)
RyoheiHagimoto	0:56c5742b9e2b	100	free(reader->finder_lines[1].lines);
RyoheiHagimoto	0:56c5742b9e2b	101	free(reader);
RyoheiHagimoto	0:56c5742b9e2b	102	}
RyoheiHagimoto	0:56c5742b9e2b	103
RyoheiHagimoto	0:56c5742b9e2b	104	/* reset finder state between scans */
RyoheiHagimoto	0:56c5742b9e2b	105	void _zbar_qr_reset (qr_reader *reader)
RyoheiHagimoto	0:56c5742b9e2b	106	{
RyoheiHagimoto	0:56c5742b9e2b	107	reader->finder_lines[0].nlines = 0;
RyoheiHagimoto	0:56c5742b9e2b	108	reader->finder_lines[1].nlines = 0;
RyoheiHagimoto	0:56c5742b9e2b	109	}
RyoheiHagimoto	0:56c5742b9e2b	110
RyoheiHagimoto	0:56c5742b9e2b	111
RyoheiHagimoto	0:56c5742b9e2b	112	/A cluster of lines crossing a finder pattern (all in the same direction)./
RyoheiHagimoto	0:56c5742b9e2b	113	struct qr_finder_cluster{
RyoheiHagimoto	0:56c5742b9e2b	114	/Pointers to the lines crossing the pattern./
RyoheiHagimoto	0:56c5742b9e2b	115	qr_finder_line **lines;
RyoheiHagimoto	0:56c5742b9e2b	116	/The number of lines in the cluster./
RyoheiHagimoto	0:56c5742b9e2b	117	int nlines;
RyoheiHagimoto	0:56c5742b9e2b	118	};
RyoheiHagimoto	0:56c5742b9e2b	119
RyoheiHagimoto	0:56c5742b9e2b	120
RyoheiHagimoto	0:56c5742b9e2b	121	/*A point on the edge of a finder pattern.
RyoheiHagimoto	0:56c5742b9e2b	122	These are obtained from the endpoints of the lines crossing this particular
RyoheiHagimoto	0:56c5742b9e2b	123	pattern.*/
RyoheiHagimoto	0:56c5742b9e2b	124	struct qr_finder_edge_pt{
RyoheiHagimoto	0:56c5742b9e2b	125	/The location of the edge point./
RyoheiHagimoto	0:56c5742b9e2b	126	qr_point pos;
RyoheiHagimoto	0:56c5742b9e2b	127	/*A label classifying which edge this belongs to:
RyoheiHagimoto	0:56c5742b9e2b	128	0: negative u edge (left)
RyoheiHagimoto	0:56c5742b9e2b	129	1: positive u edge (right)
RyoheiHagimoto	0:56c5742b9e2b	130	2: negative v edge (top)
RyoheiHagimoto	0:56c5742b9e2b	131	3: positive v edge (bottom)*/
RyoheiHagimoto	0:56c5742b9e2b	132	int edge;
RyoheiHagimoto	0:56c5742b9e2b	133	/*The (signed) perpendicular distance of the edge point from a line parallel
RyoheiHagimoto	0:56c5742b9e2b	134	to the edge passing through the finder center, in (u,v) coordinates.
RyoheiHagimoto	0:56c5742b9e2b	135	This is also re-used by RANSAC to store inlier flags.*/
RyoheiHagimoto	0:56c5742b9e2b	136	int extent;
RyoheiHagimoto	0:56c5742b9e2b	137	};
RyoheiHagimoto	0:56c5742b9e2b	138
RyoheiHagimoto	0:56c5742b9e2b	139
RyoheiHagimoto	0:56c5742b9e2b	140	/*The center of a finder pattern obtained from the crossing of one or more
RyoheiHagimoto	0:56c5742b9e2b	141	clusters of horizontal finder lines with one or more clusters of vertical
RyoheiHagimoto	0:56c5742b9e2b	142	finder lines.*/
RyoheiHagimoto	0:56c5742b9e2b	143	struct qr_finder_center{
RyoheiHagimoto	0:56c5742b9e2b	144	/The estimated location of the finder center./
RyoheiHagimoto	0:56c5742b9e2b	145	qr_point pos;
RyoheiHagimoto	0:56c5742b9e2b	146	/The list of edge points from the crossing lines./
RyoheiHagimoto	0:56c5742b9e2b	147	qr_finder_edge_pt *edge_pts;
RyoheiHagimoto	0:56c5742b9e2b	148	/The number of edge points from the crossing lines./
RyoheiHagimoto	0:56c5742b9e2b	149	int nedge_pts;
RyoheiHagimoto	0:56c5742b9e2b	150	};
RyoheiHagimoto	0:56c5742b9e2b	151
RyoheiHagimoto	0:56c5742b9e2b	152
RyoheiHagimoto	0:56c5742b9e2b	153	static int qr_finder_vline_cmp(const void _a,const void _b){
RyoheiHagimoto	0:56c5742b9e2b	154	const qr_finder_line *a;
RyoheiHagimoto	0:56c5742b9e2b	155	const qr_finder_line *b;
RyoheiHagimoto	0:56c5742b9e2b	156	a=(const qr_finder_line *)_a;
RyoheiHagimoto	0:56c5742b9e2b	157	b=(const qr_finder_line *)_b;
RyoheiHagimoto	0:56c5742b9e2b	158	return ((a->pos[0]>b->pos[0])-(a->pos[0]<b->pos[0])<<1)+
RyoheiHagimoto	0:56c5742b9e2b	159	(a->pos[1]>b->pos[1])-(a->pos[1]<b->pos[1]);
RyoheiHagimoto	0:56c5742b9e2b	160	}
RyoheiHagimoto	0:56c5742b9e2b	161
RyoheiHagimoto	0:56c5742b9e2b	162	/*Clusters adjacent lines into groups that are large enough to be crossing a
RyoheiHagimoto	0:56c5742b9e2b	163	finder pattern (relative to their length).
RyoheiHagimoto	0:56c5742b9e2b	164	_clusters: The buffer in which to store the clusters found.
RyoheiHagimoto	0:56c5742b9e2b	165	_neighbors: The buffer used to store the lists of lines in each cluster.
RyoheiHagimoto	0:56c5742b9e2b	166	_lines: The list of lines to cluster.
RyoheiHagimoto	0:56c5742b9e2b	167	Horizontal lines must be sorted in ascending order by Y
RyoheiHagimoto	0:56c5742b9e2b	168	coordinate, with ties broken by X coordinate.
RyoheiHagimoto	0:56c5742b9e2b	169	Vertical lines must be sorted in ascending order by X coordinate,
RyoheiHagimoto	0:56c5742b9e2b	170	with ties broken by Y coordinate.
RyoheiHagimoto	0:56c5742b9e2b	171	_nlines: The number of lines in the set of lines to cluster.
RyoheiHagimoto	0:56c5742b9e2b	172	_v: 0 for horizontal lines, or 1 for vertical lines.
RyoheiHagimoto	0:56c5742b9e2b	173	Return: The number of clusters.*/
RyoheiHagimoto	0:56c5742b9e2b	174	static int qr_finder_cluster_lines(qr_finder_cluster *_clusters,
RyoheiHagimoto	0:56c5742b9e2b	175	qr_finder_line *_neighbors,qr_finder_line _lines,int _nlines,int _v){
RyoheiHagimoto	0:56c5742b9e2b	176	unsigned char *mark;
RyoheiHagimoto	0:56c5742b9e2b	177	qr_finder_line **neighbors;
RyoheiHagimoto	0:56c5742b9e2b	178	int nneighbors;
RyoheiHagimoto	0:56c5742b9e2b	179	int nclusters;
RyoheiHagimoto	0:56c5742b9e2b	180	int i;
RyoheiHagimoto	0:56c5742b9e2b	181	/TODO: Kalman filters!/
RyoheiHagimoto	0:56c5742b9e2b	182	mark=(unsigned char )calloc(_nlines,sizeof(mark));
RyoheiHagimoto	0:56c5742b9e2b	183	neighbors=_neighbors;
RyoheiHagimoto	0:56c5742b9e2b	184	nclusters=0;
RyoheiHagimoto	0:56c5742b9e2b	185	for(i=0;i<_nlines-1;i++)if(!mark[i]){
RyoheiHagimoto	0:56c5742b9e2b	186	int len;
RyoheiHagimoto	0:56c5742b9e2b	187	int j;
RyoheiHagimoto	0:56c5742b9e2b	188	nneighbors=1;
RyoheiHagimoto	0:56c5742b9e2b	189	neighbors[0]=_lines+i;
RyoheiHagimoto	0:56c5742b9e2b	190	len=_lines[i].len;
RyoheiHagimoto	0:56c5742b9e2b	191	for(j=i+1;j<_nlines;j++)if(!mark[j]){
RyoheiHagimoto	0:56c5742b9e2b	192	const qr_finder_line *a;
RyoheiHagimoto	0:56c5742b9e2b	193	const qr_finder_line *b;
RyoheiHagimoto	0:56c5742b9e2b	194	int thresh;
RyoheiHagimoto	0:56c5742b9e2b	195	a=neighbors[nneighbors-1];
RyoheiHagimoto	0:56c5742b9e2b	196	b=_lines+j;
RyoheiHagimoto	0:56c5742b9e2b	197	/*The clustering threshold is proportional to the size of the lines,
RyoheiHagimoto	0:56c5742b9e2b	198	since minor noise in large areas can interrupt patterns more easily
RyoheiHagimoto	0:56c5742b9e2b	199	at high resolutions.*/
RyoheiHagimoto	0:56c5742b9e2b	200	thresh=a->len+7>>2;
RyoheiHagimoto	0:56c5742b9e2b	201	if(abs(a->pos[1-_v]-b->pos[1-_v])>thresh)break;
RyoheiHagimoto	0:56c5742b9e2b	202	if(abs(a->pos[_v]-b->pos[_v])>thresh)continue;
RyoheiHagimoto	0:56c5742b9e2b	203	if(abs(a->pos[_v]+a->len-b->pos[_v]-b->len)>thresh)continue;
RyoheiHagimoto	0:56c5742b9e2b	204	if(a->boffs>0&&b->boffs>0&&
RyoheiHagimoto	0:56c5742b9e2b	205	abs(a->pos[_v]-a->boffs-b->pos[_v]+b->boffs)>thresh){
RyoheiHagimoto	0:56c5742b9e2b	206	continue;
RyoheiHagimoto	0:56c5742b9e2b	207	}
RyoheiHagimoto	0:56c5742b9e2b	208	if(a->eoffs>0&&b->eoffs>0&&
RyoheiHagimoto	0:56c5742b9e2b	209	abs(a->pos[_v]+a->len+a->eoffs-b->pos[_v]-b->len-b->eoffs)>thresh){
RyoheiHagimoto	0:56c5742b9e2b	210	continue;
RyoheiHagimoto	0:56c5742b9e2b	211	}
RyoheiHagimoto	0:56c5742b9e2b	212	neighbors[nneighbors++]=_lines+j;
RyoheiHagimoto	0:56c5742b9e2b	213	len+=b->len;
RyoheiHagimoto	0:56c5742b9e2b	214	}
RyoheiHagimoto	0:56c5742b9e2b	215	/*We require at least three lines to form a cluster, which eliminates a
RyoheiHagimoto	0:56c5742b9e2b	216	large number of false positives, saving considerable decoding time.
RyoheiHagimoto	0:56c5742b9e2b	217	This should still be sufficient for 1-pixel codes with no noise.*/
RyoheiHagimoto	0:56c5742b9e2b	218	if(nneighbors<3)continue;
RyoheiHagimoto	0:56c5742b9e2b	219	/*The expected number of lines crossing a finder pattern is equal to their
RyoheiHagimoto	0:56c5742b9e2b	220	average length.
RyoheiHagimoto	0:56c5742b9e2b	221	We accept the cluster if size is at least 1/3 their average length (this
RyoheiHagimoto	0:56c5742b9e2b	222	is a very small threshold, but was needed for some test images).*/
RyoheiHagimoto	0:56c5742b9e2b	223	len=((len<<1)+nneighbors)/(nneighbors<<1);
RyoheiHagimoto	0:56c5742b9e2b	224	if(nneighbors*(5<<QR_FINDER_SUBPREC)>=len){
RyoheiHagimoto	0:56c5742b9e2b	225	_clusters[nclusters].lines=neighbors;
RyoheiHagimoto	0:56c5742b9e2b	226	_clusters[nclusters].nlines=nneighbors;
RyoheiHagimoto	0:56c5742b9e2b	227	for(j=0;j<nneighbors;j++)mark[neighbors[j]-_lines]=1;
RyoheiHagimoto	0:56c5742b9e2b	228	neighbors+=nneighbors;
RyoheiHagimoto	0:56c5742b9e2b	229	nclusters++;
RyoheiHagimoto	0:56c5742b9e2b	230	}
RyoheiHagimoto	0:56c5742b9e2b	231	}
RyoheiHagimoto	0:56c5742b9e2b	232	free(mark);
RyoheiHagimoto	0:56c5742b9e2b	233	return nclusters;
RyoheiHagimoto	0:56c5742b9e2b	234	}
RyoheiHagimoto	0:56c5742b9e2b	235
RyoheiHagimoto	0:56c5742b9e2b	236	/*Adds the coordinates of the edge points from the lines contained in the
RyoheiHagimoto	0:56c5742b9e2b	237	given list of clusters to the list of edge points for a finder center.
RyoheiHagimoto	0:56c5742b9e2b	238	Only the edge point position is initialized.
RyoheiHagimoto	0:56c5742b9e2b	239	The edge label and extent are set by qr_finder_edge_pts_aff_classify()
RyoheiHagimoto	0:56c5742b9e2b	240	or qr_finder_edge_pts_hom_classify().
RyoheiHagimoto	0:56c5742b9e2b	241	_edge_pts: The buffer in which to store the edge points.
RyoheiHagimoto	0:56c5742b9e2b	242	_nedge_pts: The current number of edge points in the buffer.
RyoheiHagimoto	0:56c5742b9e2b	243	_neighbors: The list of lines in the cluster.
RyoheiHagimoto	0:56c5742b9e2b	244	_nneighbors: The number of lines in the list of lines in the cluster.
RyoheiHagimoto	0:56c5742b9e2b	245	_v: 0 for horizontal lines and 1 for vertical lines.
RyoheiHagimoto	0:56c5742b9e2b	246	Return: The new total number of edge points.*/
RyoheiHagimoto	0:56c5742b9e2b	247	static int qr_finder_edge_pts_fill(qr_finder_edge_pt *_edge_pts,int _nedge_pts,
RyoheiHagimoto	0:56c5742b9e2b	248	qr_finder_cluster **_neighbors,int _nneighbors,int _v){
RyoheiHagimoto	0:56c5742b9e2b	249	int i;
RyoheiHagimoto	0:56c5742b9e2b	250	for(i=0;i<_nneighbors;i++){
RyoheiHagimoto	0:56c5742b9e2b	251	qr_finder_cluster *c;
RyoheiHagimoto	0:56c5742b9e2b	252	int j;
RyoheiHagimoto	0:56c5742b9e2b	253	c=_neighbors[i];
RyoheiHagimoto	0:56c5742b9e2b	254	for(j=0;j<c->nlines;j++){
RyoheiHagimoto	0:56c5742b9e2b	255	qr_finder_line *l;
RyoheiHagimoto	0:56c5742b9e2b	256	l=c->lines[j];
RyoheiHagimoto	0:56c5742b9e2b	257	if(l->boffs>0){
RyoheiHagimoto	0:56c5742b9e2b	258	_edge_pts[_nedge_pts].pos[0]=l->pos[0];
RyoheiHagimoto	0:56c5742b9e2b	259	_edge_pts[_nedge_pts].pos[1]=l->pos[1];
RyoheiHagimoto	0:56c5742b9e2b	260	_edge_pts[_nedge_pts].pos[_v]-=l->boffs;
RyoheiHagimoto	0:56c5742b9e2b	261	_nedge_pts++;
RyoheiHagimoto	0:56c5742b9e2b	262	}
RyoheiHagimoto	0:56c5742b9e2b	263	if(l->eoffs>0){
RyoheiHagimoto	0:56c5742b9e2b	264	_edge_pts[_nedge_pts].pos[0]=l->pos[0];
RyoheiHagimoto	0:56c5742b9e2b	265	_edge_pts[_nedge_pts].pos[1]=l->pos[1];
RyoheiHagimoto	0:56c5742b9e2b	266	_edge_pts[_nedge_pts].pos[_v]+=l->len+l->eoffs;
RyoheiHagimoto	0:56c5742b9e2b	267	_nedge_pts++;
RyoheiHagimoto	0:56c5742b9e2b	268	}
RyoheiHagimoto	0:56c5742b9e2b	269	}
RyoheiHagimoto	0:56c5742b9e2b	270	}
RyoheiHagimoto	0:56c5742b9e2b	271	return _nedge_pts;
RyoheiHagimoto	0:56c5742b9e2b	272	}
RyoheiHagimoto	0:56c5742b9e2b	273
RyoheiHagimoto	0:56c5742b9e2b	274	static int qr_finder_center_cmp(const void _a,const void _b){
RyoheiHagimoto	0:56c5742b9e2b	275	const qr_finder_center *a;
RyoheiHagimoto	0:56c5742b9e2b	276	const qr_finder_center *b;
RyoheiHagimoto	0:56c5742b9e2b	277	a=(const qr_finder_center *)_a;
RyoheiHagimoto	0:56c5742b9e2b	278	b=(const qr_finder_center *)_b;
RyoheiHagimoto	0:56c5742b9e2b	279	return ((b->nedge_pts>a->nedge_pts)-(b->nedge_pts<a->nedge_pts)<<2)+
RyoheiHagimoto	0:56c5742b9e2b	280	((a->pos[1]>b->pos[1])-(a->pos[1]<b->pos[1])<<1)+
RyoheiHagimoto	0:56c5742b9e2b	281	(a->pos[0]>b->pos[0])-(a->pos[0]<b->pos[0]);
RyoheiHagimoto	0:56c5742b9e2b	282	}
RyoheiHagimoto	0:56c5742b9e2b	283
RyoheiHagimoto	0:56c5742b9e2b	284	/*Determine if a horizontal line crosses a vertical line.
RyoheiHagimoto	0:56c5742b9e2b	285	_hline: The horizontal line.
RyoheiHagimoto	0:56c5742b9e2b	286	_vline: The vertical line.
RyoheiHagimoto	0:56c5742b9e2b	287	Return: A non-zero value if the lines cross, or zero if they do not.*/
RyoheiHagimoto	0:56c5742b9e2b	288	static int qr_finder_lines_are_crossing(const qr_finder_line *_hline,
RyoheiHagimoto	0:56c5742b9e2b	289	const qr_finder_line *_vline){
RyoheiHagimoto	0:56c5742b9e2b	290	return
RyoheiHagimoto	0:56c5742b9e2b	291	_hline->pos[0]<=_vline->pos[0]&&_vline->pos[0]<_hline->pos[0]+_hline->len&&
RyoheiHagimoto	0:56c5742b9e2b	292	_vline->pos[1]<=_hline->pos[1]&&_hline->pos[1]<_vline->pos[1]+_vline->len;
RyoheiHagimoto	0:56c5742b9e2b	293	}
RyoheiHagimoto	0:56c5742b9e2b	294
RyoheiHagimoto	0:56c5742b9e2b	295	/*Finds horizontal clusters that cross corresponding vertical clusters,
RyoheiHagimoto	0:56c5742b9e2b	296	presumably corresponding to a finder center.
RyoheiHagimoto	0:56c5742b9e2b	297	_center: The buffer in which to store putative finder centers.
RyoheiHagimoto	0:56c5742b9e2b	298	_edge_pts: The buffer to use for the edge point lists for each finder
RyoheiHagimoto	0:56c5742b9e2b	299	center.
RyoheiHagimoto	0:56c5742b9e2b	300	_hclusters: The clusters of horizontal lines crossing finder patterns.
RyoheiHagimoto	0:56c5742b9e2b	301	_nhclusters: The number of horizontal line clusters.
RyoheiHagimoto	0:56c5742b9e2b	302	_vclusters: The clusters of vertical lines crossing finder patterns.
RyoheiHagimoto	0:56c5742b9e2b	303	_nvclusters: The number of vertical line clusters.
RyoheiHagimoto	0:56c5742b9e2b	304	Return: The number of putative finder centers.*/
RyoheiHagimoto	0:56c5742b9e2b	305	static int qr_finder_find_crossings(qr_finder_center *_centers,
RyoheiHagimoto	0:56c5742b9e2b	306	qr_finder_edge_pt _edge_pts,qr_finder_cluster _hclusters,int _nhclusters,
RyoheiHagimoto	0:56c5742b9e2b	307	qr_finder_cluster *_vclusters,int _nvclusters){
RyoheiHagimoto	0:56c5742b9e2b	308	qr_finder_cluster **hneighbors;
RyoheiHagimoto	0:56c5742b9e2b	309	qr_finder_cluster **vneighbors;
RyoheiHagimoto	0:56c5742b9e2b	310	unsigned char *hmark;
RyoheiHagimoto	0:56c5742b9e2b	311	unsigned char *vmark;
RyoheiHagimoto	0:56c5742b9e2b	312	int ncenters;
RyoheiHagimoto	0:56c5742b9e2b	313	int i;
RyoheiHagimoto	0:56c5742b9e2b	314	int j;
RyoheiHagimoto	0:56c5742b9e2b	315	hneighbors=(qr_finder_cluster *)malloc(_nhclusterssizeof(*hneighbors));
RyoheiHagimoto	0:56c5742b9e2b	316	vneighbors=(qr_finder_cluster *)malloc(_nvclusterssizeof(*vneighbors));
RyoheiHagimoto	0:56c5742b9e2b	317	hmark=(unsigned char )calloc(_nhclusters,sizeof(hmark));
RyoheiHagimoto	0:56c5742b9e2b	318	vmark=(unsigned char )calloc(_nvclusters,sizeof(vmark));
RyoheiHagimoto	0:56c5742b9e2b	319	ncenters=0;
RyoheiHagimoto	0:56c5742b9e2b	320	/*TODO: This may need some re-working.
RyoheiHagimoto	0:56c5742b9e2b	321	We should be finding groups of clusters such that _all_ horizontal lines in
RyoheiHagimoto	0:56c5742b9e2b	322	_all_ horizontal clusters in the group cross _all_ vertical lines in _all_
RyoheiHagimoto	0:56c5742b9e2b	323	vertical clusters in the group.
RyoheiHagimoto	0:56c5742b9e2b	324	This is equivalent to finding the maximum bipartite clique in the
RyoheiHagimoto	0:56c5742b9e2b	325	connectivity graph, which requires linear progamming to solve efficiently.
RyoheiHagimoto	0:56c5742b9e2b	326	In principle, that is easy to do, but a realistic implementation without
RyoheiHagimoto	0:56c5742b9e2b	327	floating point is a lot of work (and computationally expensive).
RyoheiHagimoto	0:56c5742b9e2b	328	Right now we are relying on a sufficient border around the finder patterns
RyoheiHagimoto	0:56c5742b9e2b	329	to prevent false positives.*/
RyoheiHagimoto	0:56c5742b9e2b	330	for(i=0;i<_nhclusters;i++)if(!hmark[i]){
RyoheiHagimoto	0:56c5742b9e2b	331	qr_finder_line *a;
RyoheiHagimoto	0:56c5742b9e2b	332	qr_finder_line *b;
RyoheiHagimoto	0:56c5742b9e2b	333	int nvneighbors;
RyoheiHagimoto	0:56c5742b9e2b	334	int nedge_pts;
RyoheiHagimoto	0:56c5742b9e2b	335	int y;
RyoheiHagimoto	0:56c5742b9e2b	336	a=_hclusters[i].lines[_hclusters[i].nlines>>1];
RyoheiHagimoto	0:56c5742b9e2b	337	y=nvneighbors=0;
RyoheiHagimoto	0:56c5742b9e2b	338	for(j=0;j<_nvclusters;j++)if(!vmark[j]){
RyoheiHagimoto	0:56c5742b9e2b	339	b=_vclusters[j].lines[_vclusters[j].nlines>>1];
RyoheiHagimoto	0:56c5742b9e2b	340	if(qr_finder_lines_are_crossing(a,b)){
RyoheiHagimoto	0:56c5742b9e2b	341	vmark[j]=1;
RyoheiHagimoto	0:56c5742b9e2b	342	y+=(b->pos[1]<<1)+b->len;
RyoheiHagimoto	0:56c5742b9e2b	343	if(b->boffs>0&&b->eoffs>0)y+=b->eoffs-b->boffs;
RyoheiHagimoto	0:56c5742b9e2b	344	vneighbors[nvneighbors++]=_vclusters+j;
RyoheiHagimoto	0:56c5742b9e2b	345	}
RyoheiHagimoto	0:56c5742b9e2b	346	}
RyoheiHagimoto	0:56c5742b9e2b	347	if(nvneighbors>0){
RyoheiHagimoto	0:56c5742b9e2b	348	qr_finder_center *c;
RyoheiHagimoto	0:56c5742b9e2b	349	int nhneighbors;
RyoheiHagimoto	0:56c5742b9e2b	350	int x;
RyoheiHagimoto	0:56c5742b9e2b	351	x=(a->pos[0]<<1)+a->len;
RyoheiHagimoto	0:56c5742b9e2b	352	if(a->boffs>0&&a->eoffs>0)x+=a->eoffs-a->boffs;
RyoheiHagimoto	0:56c5742b9e2b	353	hneighbors[0]=_hclusters+i;
RyoheiHagimoto	0:56c5742b9e2b	354	nhneighbors=1;
RyoheiHagimoto	0:56c5742b9e2b	355	j=nvneighbors>>1;
RyoheiHagimoto	0:56c5742b9e2b	356	b=vneighbors[j]->lines[vneighbors[j]->nlines>>1];
RyoheiHagimoto	0:56c5742b9e2b	357	for(j=i+1;j<_nhclusters;j++)if(!hmark[j]){
RyoheiHagimoto	0:56c5742b9e2b	358	a=_hclusters[j].lines[_hclusters[j].nlines>>1];
RyoheiHagimoto	0:56c5742b9e2b	359	if(qr_finder_lines_are_crossing(a,b)){
RyoheiHagimoto	0:56c5742b9e2b	360	hmark[j]=1;
RyoheiHagimoto	0:56c5742b9e2b	361	x+=(a->pos[0]<<1)+a->len;
RyoheiHagimoto	0:56c5742b9e2b	362	if(a->boffs>0&&a->eoffs>0)x+=a->eoffs-a->boffs;
RyoheiHagimoto	0:56c5742b9e2b	363	hneighbors[nhneighbors++]=_hclusters+j;
RyoheiHagimoto	0:56c5742b9e2b	364	}
RyoheiHagimoto	0:56c5742b9e2b	365	}
RyoheiHagimoto	0:56c5742b9e2b	366	c=_centers+ncenters++;
RyoheiHagimoto	0:56c5742b9e2b	367	c->pos[0]=(x+nhneighbors)/(nhneighbors<<1);
RyoheiHagimoto	0:56c5742b9e2b	368	c->pos[1]=(y+nvneighbors)/(nvneighbors<<1);
RyoheiHagimoto	0:56c5742b9e2b	369	c->edge_pts=_edge_pts;
RyoheiHagimoto	0:56c5742b9e2b	370	nedge_pts=qr_finder_edge_pts_fill(_edge_pts,0,
RyoheiHagimoto	0:56c5742b9e2b	371	hneighbors,nhneighbors,0);
RyoheiHagimoto	0:56c5742b9e2b	372	nedge_pts=qr_finder_edge_pts_fill(_edge_pts,nedge_pts,
RyoheiHagimoto	0:56c5742b9e2b	373	vneighbors,nvneighbors,1);
RyoheiHagimoto	0:56c5742b9e2b	374	c->nedge_pts=nedge_pts;
RyoheiHagimoto	0:56c5742b9e2b	375	_edge_pts+=nedge_pts;
RyoheiHagimoto	0:56c5742b9e2b	376	}
RyoheiHagimoto	0:56c5742b9e2b	377	}
RyoheiHagimoto	0:56c5742b9e2b	378	free(vmark);
RyoheiHagimoto	0:56c5742b9e2b	379	free(hmark);
RyoheiHagimoto	0:56c5742b9e2b	380	free(vneighbors);
RyoheiHagimoto	0:56c5742b9e2b	381	free(hneighbors);
RyoheiHagimoto	0:56c5742b9e2b	382	/Sort the centers by decreasing numbers of edge points./
RyoheiHagimoto	0:56c5742b9e2b	383	qsort(_centers,ncenters,sizeof(*_centers),qr_finder_center_cmp);
RyoheiHagimoto	0:56c5742b9e2b	384	return ncenters;
RyoheiHagimoto	0:56c5742b9e2b	385	}
RyoheiHagimoto	0:56c5742b9e2b	386
RyoheiHagimoto	0:56c5742b9e2b	387	/*Locates a set of putative finder centers in the image.
RyoheiHagimoto	0:56c5742b9e2b	388	First we search for horizontal and vertical lines that have
RyoheiHagimoto	0:56c5742b9e2b	389	(dark:light:dark:light:dark) runs with size ratios of roughly (1:1:3:1:1).
RyoheiHagimoto	0:56c5742b9e2b	390	Then we cluster them into groups such that each subsequent pair of endpoints
RyoheiHagimoto	0:56c5742b9e2b	391	is close to the line before it in the cluster.
RyoheiHagimoto	0:56c5742b9e2b	392	This will locate many line clusters that don't cross a finder pattern, but
RyoheiHagimoto	0:56c5742b9e2b	393	qr_finder_find_crossings() will filter most of them out.
RyoheiHagimoto	0:56c5742b9e2b	394	Where horizontal and vertical clusters cross, a prospective finder center is
RyoheiHagimoto	0:56c5742b9e2b	395	returned.
RyoheiHagimoto	0:56c5742b9e2b	396	_centers: Returns a pointer to a freshly-allocated list of finder centers.
RyoheiHagimoto	0:56c5742b9e2b	397	This must be freed by the caller.
RyoheiHagimoto	0:56c5742b9e2b	398	_edge_pts: Returns a pointer to a freshly-allocated list of edge points
RyoheiHagimoto	0:56c5742b9e2b	399	around those centers.
RyoheiHagimoto	0:56c5742b9e2b	400	This must be freed by the caller.
RyoheiHagimoto	0:56c5742b9e2b	401	_img: The binary image to search.
RyoheiHagimoto	0:56c5742b9e2b	402	_width: The width of the image.
RyoheiHagimoto	0:56c5742b9e2b	403	_height: The height of the image.
RyoheiHagimoto	0:56c5742b9e2b	404	Return: The number of putative finder centers located.*/
RyoheiHagimoto	0:56c5742b9e2b	405	static int qr_finder_centers_locate(qr_finder_center **_centers,
RyoheiHagimoto	0:56c5742b9e2b	406	qr_finder_edge_pt *_edge_pts, qr_reader reader,
RyoheiHagimoto	0:56c5742b9e2b	407	int _width,int _height){
RyoheiHagimoto	0:56c5742b9e2b	408	qr_finder_line *hlines = reader->finder_lines[0].lines;
RyoheiHagimoto	0:56c5742b9e2b	409	int nhlines = reader->finder_lines[0].nlines;
RyoheiHagimoto	0:56c5742b9e2b	410	qr_finder_line *vlines = reader->finder_lines[1].lines;
RyoheiHagimoto	0:56c5742b9e2b	411	int nvlines = reader->finder_lines[1].nlines;
RyoheiHagimoto	0:56c5742b9e2b	412
RyoheiHagimoto	0:56c5742b9e2b	413	qr_finder_line **hneighbors;
RyoheiHagimoto	0:56c5742b9e2b	414	qr_finder_cluster *hclusters;
RyoheiHagimoto	0:56c5742b9e2b	415	int nhclusters;
RyoheiHagimoto	0:56c5742b9e2b	416	qr_finder_line **vneighbors;
RyoheiHagimoto	0:56c5742b9e2b	417	qr_finder_cluster *vclusters;
RyoheiHagimoto	0:56c5742b9e2b	418	int nvclusters;
RyoheiHagimoto	0:56c5742b9e2b	419	int ncenters;
RyoheiHagimoto	0:56c5742b9e2b	420
RyoheiHagimoto	0:56c5742b9e2b	421	/Cluster the detected lines./
RyoheiHagimoto	0:56c5742b9e2b	422	hneighbors=(qr_finder_line *)malloc(nhlinessizeof(*hneighbors));
RyoheiHagimoto	0:56c5742b9e2b	423	/We require more than one line per cluster, so there are at most nhlines/2./
RyoheiHagimoto	0:56c5742b9e2b	424	hclusters=(qr_finder_cluster )malloc((nhlines>>1)sizeof(*hclusters));
RyoheiHagimoto	0:56c5742b9e2b	425	nhclusters=qr_finder_cluster_lines(hclusters,hneighbors,hlines,nhlines,0);
RyoheiHagimoto	0:56c5742b9e2b	426	/*We need vertical lines to be sorted by X coordinate, with ties broken by Y
RyoheiHagimoto	0:56c5742b9e2b	427	coordinate, for clustering purposes.
RyoheiHagimoto	0:56c5742b9e2b	428	We scan the image in the opposite order for cache efficiency, so sort the
RyoheiHagimoto	0:56c5742b9e2b	429	lines we found here.*/
RyoheiHagimoto	0:56c5742b9e2b	430	qsort(vlines,nvlines,sizeof(*vlines),qr_finder_vline_cmp);
RyoheiHagimoto	0:56c5742b9e2b	431	vneighbors=(qr_finder_line *)malloc(nvlinessizeof(*vneighbors));
RyoheiHagimoto	0:56c5742b9e2b	432	/We require more than one line per cluster, so there are at most nvlines/2./
RyoheiHagimoto	0:56c5742b9e2b	433	vclusters=(qr_finder_cluster )malloc((nvlines>>1)sizeof(*vclusters));
RyoheiHagimoto	0:56c5742b9e2b	434	nvclusters=qr_finder_cluster_lines(vclusters,vneighbors,vlines,nvlines,1);
RyoheiHagimoto	0:56c5742b9e2b	435	/Find line crossings among the clusters./
RyoheiHagimoto	0:56c5742b9e2b	436	if(nhclusters>=3&&nvclusters>=3){
RyoheiHagimoto	0:56c5742b9e2b	437	qr_finder_edge_pt *edge_pts;
RyoheiHagimoto	0:56c5742b9e2b	438	qr_finder_center *centers;
RyoheiHagimoto	0:56c5742b9e2b	439	int nedge_pts;
RyoheiHagimoto	0:56c5742b9e2b	440	int i;
RyoheiHagimoto	0:56c5742b9e2b	441	nedge_pts=0;
RyoheiHagimoto	0:56c5742b9e2b	442	for(i=0;i<nhclusters;i++)nedge_pts+=hclusters[i].nlines;
RyoheiHagimoto	0:56c5742b9e2b	443	for(i=0;i<nvclusters;i++)nedge_pts+=vclusters[i].nlines;
RyoheiHagimoto	0:56c5742b9e2b	444	nedge_pts<<=1;
RyoheiHagimoto	0:56c5742b9e2b	445	edge_pts=(qr_finder_edge_pt )malloc(nedge_ptssizeof(*edge_pts));
RyoheiHagimoto	0:56c5742b9e2b	446	centers=(qr_finder_center *)malloc(
RyoheiHagimoto	0:56c5742b9e2b	447	QR_MINI(nhclusters,nvclusters)sizeof(centers));
RyoheiHagimoto	0:56c5742b9e2b	448	ncenters=qr_finder_find_crossings(centers,edge_pts,
RyoheiHagimoto	0:56c5742b9e2b	449	hclusters,nhclusters,vclusters,nvclusters);
RyoheiHagimoto	0:56c5742b9e2b	450	*_centers=centers;
RyoheiHagimoto	0:56c5742b9e2b	451	*_edge_pts=edge_pts;
RyoheiHagimoto	0:56c5742b9e2b	452	}
RyoheiHagimoto	0:56c5742b9e2b	453	else ncenters=0;
RyoheiHagimoto	0:56c5742b9e2b	454	free(vclusters);
RyoheiHagimoto	0:56c5742b9e2b	455	free(vneighbors);
RyoheiHagimoto	0:56c5742b9e2b	456	free(hclusters);
RyoheiHagimoto	0:56c5742b9e2b	457	free(hneighbors);
RyoheiHagimoto	0:56c5742b9e2b	458	return ncenters;
RyoheiHagimoto	0:56c5742b9e2b	459	}
RyoheiHagimoto	0:56c5742b9e2b	460
RyoheiHagimoto	0:56c5742b9e2b	461
RyoheiHagimoto	0:56c5742b9e2b	462
RyoheiHagimoto	0:56c5742b9e2b	463	static void qr_point_translate(qr_point _point,int _dx,int _dy){
RyoheiHagimoto	0:56c5742b9e2b	464	_point[0]+=_dx;
RyoheiHagimoto	0:56c5742b9e2b	465	_point[1]+=_dy;
RyoheiHagimoto	0:56c5742b9e2b	466	}
RyoheiHagimoto	0:56c5742b9e2b	467
RyoheiHagimoto	0:56c5742b9e2b	468	static unsigned qr_point_distance2(const qr_point _p1,const qr_point _p2){
RyoheiHagimoto	0:56c5742b9e2b	469	return (_p1[0]-_p2[0])(_p1[0]-_p2[0])+(_p1[1]-_p2[1])(_p1[1]-_p2[1]);
RyoheiHagimoto	0:56c5742b9e2b	470	}
RyoheiHagimoto	0:56c5742b9e2b	471
RyoheiHagimoto	0:56c5742b9e2b	472	/*Returns the cross product of the three points, which is positive if they are
RyoheiHagimoto	0:56c5742b9e2b	473	in CCW order (in a right-handed coordinate system), and 0 if they're
RyoheiHagimoto	0:56c5742b9e2b	474	colinear.*/
RyoheiHagimoto	0:56c5742b9e2b	475	static int qr_point_ccw(const qr_point _p0,
RyoheiHagimoto	0:56c5742b9e2b	476	const qr_point _p1,const qr_point _p2){
RyoheiHagimoto	0:56c5742b9e2b	477	return (_p1[0]-_p0[0])(_p2[1]-_p0[1])-(_p1[1]-_p0[1])(_p2[0]-_p0[0]);
RyoheiHagimoto	0:56c5742b9e2b	478	}
RyoheiHagimoto	0:56c5742b9e2b	479
RyoheiHagimoto	0:56c5742b9e2b	480
RyoheiHagimoto	0:56c5742b9e2b	481
RyoheiHagimoto	0:56c5742b9e2b	482	/*Evaluates a line equation at a point.
RyoheiHagimoto	0:56c5742b9e2b	483	_line: The line to evaluate.
RyoheiHagimoto	0:56c5742b9e2b	484	_x: The X coordinate of the point.
RyoheiHagimoto	0:56c5742b9e2b	485	_y: The y coordinate of the point.
RyoheiHagimoto	0:56c5742b9e2b	486	Return: The value of the line equation _line[0]_x+_line[1]_y+_line[2].*/
RyoheiHagimoto	0:56c5742b9e2b	487	static int qr_line_eval(qr_line _line,int _x,int _y){
RyoheiHagimoto	0:56c5742b9e2b	488	return _line[0]_x+_line[1]_y+_line[2];
RyoheiHagimoto	0:56c5742b9e2b	489	}
RyoheiHagimoto	0:56c5742b9e2b	490
RyoheiHagimoto	0:56c5742b9e2b	491	/*Computes a line passing through the given point using the specified second
RyoheiHagimoto	0:56c5742b9e2b	492	order statistics.
RyoheiHagimoto	0:56c5742b9e2b	493	Given a line defined by the equation
RyoheiHagimoto	0:56c5742b9e2b	494	Ax+By+C = 0 ,
RyoheiHagimoto	0:56c5742b9e2b	495	the least squares fit to n points (x_i,y_i) must satisfy the two equations
RyoheiHagimoto	0:56c5742b9e2b	496	A^2 + (Syy - Sxx)/SxyAB - B^2 = 0 ,
RyoheiHagimoto	0:56c5742b9e2b	497	C = -(xbarA+ybarB) ,
RyoheiHagimoto	0:56c5742b9e2b	498	where
RyoheiHagimoto	0:56c5742b9e2b	499	xbar = sum(x_i)/n ,
RyoheiHagimoto	0:56c5742b9e2b	500	ybar = sum(y_i)/n ,
RyoheiHagimoto	0:56c5742b9e2b	501	Sxx = sum((x_i-xbar)**2) ,
RyoheiHagimoto	0:56c5742b9e2b	502	Sxy = sum((x_i-xbar)*(y_i-ybar)) ,
RyoheiHagimoto	0:56c5742b9e2b	503	Syy = sum((y_i-ybar)**2) .
RyoheiHagimoto	0:56c5742b9e2b	504	The quadratic can be solved for the ratio (A/B) or (B/A):
RyoheiHagimoto	0:56c5742b9e2b	505	A/B = (Syy + sqrt((Sxx-Syy)*2 + 4Sxy*2) - Sxx)/(-2Sxy) ,
RyoheiHagimoto	0:56c5742b9e2b	506	B/A = (Sxx + sqrt((Sxx-Syy)*2 + 4Sxy*2) - Syy)/(-2Sxy) .
RyoheiHagimoto	0:56c5742b9e2b	507	We pick the one that leads to the larger ratio to avoid destructive
RyoheiHagimoto	0:56c5742b9e2b	508	cancellation (and e.g., 0/0 for horizontal or vertical lines).
RyoheiHagimoto	0:56c5742b9e2b	509	The above solutions correspond to the actual minimum.
RyoheiHagimoto	0:56c5742b9e2b	510	The other solution of the quadratic corresponds to a saddle point of the
RyoheiHagimoto	0:56c5742b9e2b	511	least squares objective function.
RyoheiHagimoto	0:56c5742b9e2b	512	_l: Returns the fitted line values A, B, and C.
RyoheiHagimoto	0:56c5742b9e2b	513	_x0: The X coordinate of the point the line is supposed to pass through.
RyoheiHagimoto	0:56c5742b9e2b	514	_y0: The Y coordinate of the point the line is supposed to pass through.
RyoheiHagimoto	0:56c5742b9e2b	515	_sxx: The sum Sxx.
RyoheiHagimoto	0:56c5742b9e2b	516	_sxy: The sum Sxy.
RyoheiHagimoto	0:56c5742b9e2b	517	_syy: The sum Syy.
RyoheiHagimoto	0:56c5742b9e2b	518	_res: The maximum number of bits occupied by the product of any two of
RyoheiHagimoto	0:56c5742b9e2b	519	_l[0] or _l[1].
RyoheiHagimoto	0:56c5742b9e2b	520	Smaller numbers give less angular resolution, but allow more overhead
RyoheiHagimoto	0:56c5742b9e2b	521	room for computations.*/
RyoheiHagimoto	0:56c5742b9e2b	522	static void qr_line_fit(qr_line _l,int _x0,int _y0,
RyoheiHagimoto	0:56c5742b9e2b	523	int _sxx,int _sxy,int _syy,int _res){
RyoheiHagimoto	0:56c5742b9e2b	524	int dshift;
RyoheiHagimoto	0:56c5742b9e2b	525	int dround;
RyoheiHagimoto	0:56c5742b9e2b	526	int u;
RyoheiHagimoto	0:56c5742b9e2b	527	int v;
RyoheiHagimoto	0:56c5742b9e2b	528	int w;
RyoheiHagimoto	0:56c5742b9e2b	529	u=abs(_sxx-_syy);
RyoheiHagimoto	0:56c5742b9e2b	530	v=-_sxy<<1;
RyoheiHagimoto	0:56c5742b9e2b	531	w=qr_ihypot(u,v);
RyoheiHagimoto	0:56c5742b9e2b	532	/*Computations in later stages can easily overflow with moderate sizes, so we
RyoheiHagimoto	0:56c5742b9e2b	533	compute a shift factor to scale things down into a managable range.
RyoheiHagimoto	0:56c5742b9e2b	534	We ensure that the product of any two of _l[0] and _l[1] fits within _res
RyoheiHagimoto	0:56c5742b9e2b	535	bits, which allows computation of line intersections without overflow.*/
RyoheiHagimoto	0:56c5742b9e2b	536	dshift=QR_MAXI(0,QR_MAXI(qr_ilog(u),qr_ilog(abs(v)))+1-(_res+1>>1));
RyoheiHagimoto	0:56c5742b9e2b	537	dround=(1<<dshift)>>1;
RyoheiHagimoto	0:56c5742b9e2b	538	if(_sxx>_syy){
RyoheiHagimoto	0:56c5742b9e2b	539	_l[0]=v+dround>>dshift;
RyoheiHagimoto	0:56c5742b9e2b	540	_l[1]=u+w+dround>>dshift;
RyoheiHagimoto	0:56c5742b9e2b	541	}
RyoheiHagimoto	0:56c5742b9e2b	542	else{
RyoheiHagimoto	0:56c5742b9e2b	543	_l[0]=u+w+dround>>dshift;
RyoheiHagimoto	0:56c5742b9e2b	544	_l[1]=v+dround>>dshift;
RyoheiHagimoto	0:56c5742b9e2b	545	}
RyoheiHagimoto	0:56c5742b9e2b	546	_l[2]=-(_x0_l[0]+_y0_l[1]);
RyoheiHagimoto	0:56c5742b9e2b	547	}
RyoheiHagimoto	0:56c5742b9e2b	548
RyoheiHagimoto	0:56c5742b9e2b	549	/*Perform a least-squares line fit to a list of points.
RyoheiHagimoto	0:56c5742b9e2b	550	At least two points are required.*/
RyoheiHagimoto	0:56c5742b9e2b	551	static void qr_line_fit_points(qr_line _l,qr_point *_p,int _np,int _res){
RyoheiHagimoto	0:56c5742b9e2b	552	int sx;
RyoheiHagimoto	0:56c5742b9e2b	553	int sy;
RyoheiHagimoto	0:56c5742b9e2b	554	int xmin;
RyoheiHagimoto	0:56c5742b9e2b	555	int xmax;
RyoheiHagimoto	0:56c5742b9e2b	556	int ymin;
RyoheiHagimoto	0:56c5742b9e2b	557	int ymax;
RyoheiHagimoto	0:56c5742b9e2b	558	int xbar;
RyoheiHagimoto	0:56c5742b9e2b	559	int ybar;
RyoheiHagimoto	0:56c5742b9e2b	560	int dx;
RyoheiHagimoto	0:56c5742b9e2b	561	int dy;
RyoheiHagimoto	0:56c5742b9e2b	562	int sxx;
RyoheiHagimoto	0:56c5742b9e2b	563	int sxy;
RyoheiHagimoto	0:56c5742b9e2b	564	int syy;
RyoheiHagimoto	0:56c5742b9e2b	565	int sshift;
RyoheiHagimoto	0:56c5742b9e2b	566	int sround;
RyoheiHagimoto	0:56c5742b9e2b	567	int i;
RyoheiHagimoto	0:56c5742b9e2b	568	sx=sy=0;
RyoheiHagimoto	0:56c5742b9e2b	569	ymax=xmax=INT_MIN;
RyoheiHagimoto	0:56c5742b9e2b	570	ymin=xmin=INT_MAX;
RyoheiHagimoto	0:56c5742b9e2b	571	for(i=0;i<_np;i++){
RyoheiHagimoto	0:56c5742b9e2b	572	sx+=_p[i][0];
RyoheiHagimoto	0:56c5742b9e2b	573	xmin=QR_MINI(xmin,_p[i][0]);
RyoheiHagimoto	0:56c5742b9e2b	574	xmax=QR_MAXI(xmax,_p[i][0]);
RyoheiHagimoto	0:56c5742b9e2b	575	sy+=_p[i][1];
RyoheiHagimoto	0:56c5742b9e2b	576	ymin=QR_MINI(ymin,_p[i][1]);
RyoheiHagimoto	0:56c5742b9e2b	577	ymax=QR_MAXI(ymax,_p[i][1]);
RyoheiHagimoto	0:56c5742b9e2b	578	}
RyoheiHagimoto	0:56c5742b9e2b	579	xbar=(sx+(_np>>1))/_np;
RyoheiHagimoto	0:56c5742b9e2b	580	ybar=(sy+(_np>>1))/_np;
RyoheiHagimoto	0:56c5742b9e2b	581	sshift=QR_MAXI(0,qr_ilog(_np*QR_MAXI(QR_MAXI(xmax-xbar,xbar-xmin),
RyoheiHagimoto	0:56c5742b9e2b	582	QR_MAXI(ymax-ybar,ybar-ymin)))-(QR_INT_BITS-1>>1));
RyoheiHagimoto	0:56c5742b9e2b	583	sround=(1<<sshift)>>1;
RyoheiHagimoto	0:56c5742b9e2b	584	sxx=sxy=syy=0;
RyoheiHagimoto	0:56c5742b9e2b	585	for(i=0;i<_np;i++){
RyoheiHagimoto	0:56c5742b9e2b	586	dx=_p[i][0]-xbar+sround>>sshift;
RyoheiHagimoto	0:56c5742b9e2b	587	dy=_p[i][1]-ybar+sround>>sshift;
RyoheiHagimoto	0:56c5742b9e2b	588	sxx+=dx*dx;
RyoheiHagimoto	0:56c5742b9e2b	589	sxy+=dx*dy;
RyoheiHagimoto	0:56c5742b9e2b	590	syy+=dy*dy;
RyoheiHagimoto	0:56c5742b9e2b	591	}
RyoheiHagimoto	0:56c5742b9e2b	592	qr_line_fit(_l,xbar,ybar,sxx,sxy,syy,_res);
RyoheiHagimoto	0:56c5742b9e2b	593	}
RyoheiHagimoto	0:56c5742b9e2b	594
RyoheiHagimoto	0:56c5742b9e2b	595	static void qr_line_orient(qr_line _l,int _x,int _y){
RyoheiHagimoto	0:56c5742b9e2b	596	if(qr_line_eval(_l,_x,_y)<0){
RyoheiHagimoto	0:56c5742b9e2b	597	_l[0]=-_l[0];
RyoheiHagimoto	0:56c5742b9e2b	598	_l[1]=-_l[1];
RyoheiHagimoto	0:56c5742b9e2b	599	_l[2]=-_l[2];
RyoheiHagimoto	0:56c5742b9e2b	600	}
RyoheiHagimoto	0:56c5742b9e2b	601	}
RyoheiHagimoto	0:56c5742b9e2b	602
RyoheiHagimoto	0:56c5742b9e2b	603	static int qr_line_isect(qr_point _p,const qr_line _l0,const qr_line _l1){
RyoheiHagimoto	0:56c5742b9e2b	604	int d;
RyoheiHagimoto	0:56c5742b9e2b	605	int x;
RyoheiHagimoto	0:56c5742b9e2b	606	int y;
RyoheiHagimoto	0:56c5742b9e2b	607	d=_l0[0]_l1[1]-_l0[1]_l1[0];
RyoheiHagimoto	0:56c5742b9e2b	608	if(d==0)return -1;
RyoheiHagimoto	0:56c5742b9e2b	609	x=_l0[1]_l1[2]-_l1[1]_l0[2];
RyoheiHagimoto	0:56c5742b9e2b	610	y=_l1[0]_l0[2]-_l0[0]_l1[2];
RyoheiHagimoto	0:56c5742b9e2b	611	if(d<0){
RyoheiHagimoto	0:56c5742b9e2b	612	x=-x;
RyoheiHagimoto	0:56c5742b9e2b	613	y=-y;
RyoheiHagimoto	0:56c5742b9e2b	614	d=-d;
RyoheiHagimoto	0:56c5742b9e2b	615	}
RyoheiHagimoto	0:56c5742b9e2b	616	_p[0]=QR_DIVROUND(x,d);
RyoheiHagimoto	0:56c5742b9e2b	617	_p[1]=QR_DIVROUND(y,d);
RyoheiHagimoto	0:56c5742b9e2b	618	return 0;
RyoheiHagimoto	0:56c5742b9e2b	619	}
RyoheiHagimoto	0:56c5742b9e2b	620
RyoheiHagimoto	0:56c5742b9e2b	621
RyoheiHagimoto	0:56c5742b9e2b	622
RyoheiHagimoto	0:56c5742b9e2b	623	/*An affine homography.
RyoheiHagimoto	0:56c5742b9e2b	624	This maps from the image (at subpel resolution) to a square domain with
RyoheiHagimoto	0:56c5742b9e2b	625	power-of-two sides (of res bits) and back.*/
RyoheiHagimoto	0:56c5742b9e2b	626	struct qr_aff{
RyoheiHagimoto	0:56c5742b9e2b	627	int fwd[2][2];
RyoheiHagimoto	0:56c5742b9e2b	628	int inv[2][2];
RyoheiHagimoto	0:56c5742b9e2b	629	int x0;
RyoheiHagimoto	0:56c5742b9e2b	630	int y0;
RyoheiHagimoto	0:56c5742b9e2b	631	int res;
RyoheiHagimoto	0:56c5742b9e2b	632	};
RyoheiHagimoto	0:56c5742b9e2b	633
RyoheiHagimoto	0:56c5742b9e2b	634
RyoheiHagimoto	0:56c5742b9e2b	635	static void qr_aff_init(qr_aff *_aff,
RyoheiHagimoto	0:56c5742b9e2b	636	const qr_point _p0,const qr_point _p1,const qr_point _p2,int _res){
RyoheiHagimoto	0:56c5742b9e2b	637	int det;
RyoheiHagimoto	0:56c5742b9e2b	638	int dx1;
RyoheiHagimoto	0:56c5742b9e2b	639	int dy1;
RyoheiHagimoto	0:56c5742b9e2b	640	int dx2;
RyoheiHagimoto	0:56c5742b9e2b	641	int dy2;
RyoheiHagimoto	0:56c5742b9e2b	642	/det is ensured to be positive by our caller./
RyoheiHagimoto	0:56c5742b9e2b	643	det=qr_point_ccw(_p0,_p1,_p2);
RyoheiHagimoto	0:56c5742b9e2b	644	dx1=_p1[0]-_p0[0];
RyoheiHagimoto	0:56c5742b9e2b	645	dx2=_p2[0]-_p0[0];
RyoheiHagimoto	0:56c5742b9e2b	646	dy1=_p1[1]-_p0[1];
RyoheiHagimoto	0:56c5742b9e2b	647	dy2=_p2[1]-_p0[1];
RyoheiHagimoto	0:56c5742b9e2b	648	_aff->fwd[0][0]=dx1;
RyoheiHagimoto	0:56c5742b9e2b	649	_aff->fwd[0][1]=dx2;
RyoheiHagimoto	0:56c5742b9e2b	650	_aff->fwd[1][0]=dy1;
RyoheiHagimoto	0:56c5742b9e2b	651	_aff->fwd[1][1]=dy2;
RyoheiHagimoto	0:56c5742b9e2b	652	_aff->inv[0][0]=QR_DIVROUND(dy2<<_res,det);
RyoheiHagimoto	0:56c5742b9e2b	653	_aff->inv[0][1]=QR_DIVROUND(-dx2<<_res,det);
RyoheiHagimoto	0:56c5742b9e2b	654	_aff->inv[1][0]=QR_DIVROUND(-dy1<<_res,det);
RyoheiHagimoto	0:56c5742b9e2b	655	_aff->inv[1][1]=QR_DIVROUND(dx1<<_res,det);
RyoheiHagimoto	0:56c5742b9e2b	656	_aff->x0=_p0[0];
RyoheiHagimoto	0:56c5742b9e2b	657	_aff->y0=_p0[1];
RyoheiHagimoto	0:56c5742b9e2b	658	_aff->res=_res;
RyoheiHagimoto	0:56c5742b9e2b	659	}
RyoheiHagimoto	0:56c5742b9e2b	660
RyoheiHagimoto	0:56c5742b9e2b	661	/Map from the image (at subpel resolution) into the square domain./
RyoheiHagimoto	0:56c5742b9e2b	662	static void qr_aff_unproject(qr_point _q,const qr_aff *_aff,
RyoheiHagimoto	0:56c5742b9e2b	663	int _x,int _y){
RyoheiHagimoto	0:56c5742b9e2b	664	_q[0]=_aff->inv[0][0](_x-_aff->x0)+_aff->inv[0][1](_y-_aff->y0);
RyoheiHagimoto	0:56c5742b9e2b	665	_q[1]=_aff->inv[1][0](_x-_aff->x0)+_aff->inv[1][1](_y-_aff->y0);
RyoheiHagimoto	0:56c5742b9e2b	666	}
RyoheiHagimoto	0:56c5742b9e2b	667
RyoheiHagimoto	0:56c5742b9e2b	668	/Map from the square domain into the image (at subpel resolution)./
RyoheiHagimoto	0:56c5742b9e2b	669	static void qr_aff_project(qr_point _p,const qr_aff *_aff,
RyoheiHagimoto	0:56c5742b9e2b	670	int _u,int _v){
RyoheiHagimoto	0:56c5742b9e2b	671	_p[0]=(_aff->fwd[0][0]_u+_aff->fwd[0][1]_v+(1<<_aff->res-1)>>_aff->res)
RyoheiHagimoto	0:56c5742b9e2b	672	+_aff->x0;
RyoheiHagimoto	0:56c5742b9e2b	673	_p[1]=(_aff->fwd[1][0]_u+_aff->fwd[1][1]_v+(1<<_aff->res-1)>>_aff->res)
RyoheiHagimoto	0:56c5742b9e2b	674	+_aff->y0;
RyoheiHagimoto	0:56c5742b9e2b	675	}
RyoheiHagimoto	0:56c5742b9e2b	676
RyoheiHagimoto	0:56c5742b9e2b	677
RyoheiHagimoto	0:56c5742b9e2b	678
RyoheiHagimoto	0:56c5742b9e2b	679	/*A full homography.
RyoheiHagimoto	0:56c5742b9e2b	680	Like the affine homography, this maps from the image (at subpel resolution)
RyoheiHagimoto	0:56c5742b9e2b	681	to a square domain with power-of-two sides (of res bits) and back.*/
RyoheiHagimoto	0:56c5742b9e2b	682	struct qr_hom{
RyoheiHagimoto	0:56c5742b9e2b	683	int fwd[3][2];
RyoheiHagimoto	0:56c5742b9e2b	684	int inv[3][2];
RyoheiHagimoto	0:56c5742b9e2b	685	int fwd22;
RyoheiHagimoto	0:56c5742b9e2b	686	int inv22;
RyoheiHagimoto	0:56c5742b9e2b	687	int x0;
RyoheiHagimoto	0:56c5742b9e2b	688	int y0;
RyoheiHagimoto	0:56c5742b9e2b	689	int res;
RyoheiHagimoto	0:56c5742b9e2b	690	};
RyoheiHagimoto	0:56c5742b9e2b	691
RyoheiHagimoto	0:56c5742b9e2b	692
RyoheiHagimoto	0:56c5742b9e2b	693	static void qr_hom_init(qr_hom *_hom,int _x0,int _y0,
RyoheiHagimoto	0:56c5742b9e2b	694	int _x1,int _y1,int _x2,int _y2,int _x3,int _y3,int _res){
RyoheiHagimoto	0:56c5742b9e2b	695	int dx10;
RyoheiHagimoto	0:56c5742b9e2b	696	int dx20;
RyoheiHagimoto	0:56c5742b9e2b	697	int dx30;
RyoheiHagimoto	0:56c5742b9e2b	698	int dx31;
RyoheiHagimoto	0:56c5742b9e2b	699	int dx32;
RyoheiHagimoto	0:56c5742b9e2b	700	int dy10;
RyoheiHagimoto	0:56c5742b9e2b	701	int dy20;
RyoheiHagimoto	0:56c5742b9e2b	702	int dy30;
RyoheiHagimoto	0:56c5742b9e2b	703	int dy31;
RyoheiHagimoto	0:56c5742b9e2b	704	int dy32;
RyoheiHagimoto	0:56c5742b9e2b	705	int a20;
RyoheiHagimoto	0:56c5742b9e2b	706	int a21;
RyoheiHagimoto	0:56c5742b9e2b	707	int a22;
RyoheiHagimoto	0:56c5742b9e2b	708	int b0;
RyoheiHagimoto	0:56c5742b9e2b	709	int b1;
RyoheiHagimoto	0:56c5742b9e2b	710	int b2;
RyoheiHagimoto	0:56c5742b9e2b	711	int s1;
RyoheiHagimoto	0:56c5742b9e2b	712	int s2;
RyoheiHagimoto	0:56c5742b9e2b	713	int r1;
RyoheiHagimoto	0:56c5742b9e2b	714	int r2;
RyoheiHagimoto	0:56c5742b9e2b	715	dx10=_x1-_x0;
RyoheiHagimoto	0:56c5742b9e2b	716	dx20=_x2-_x0;
RyoheiHagimoto	0:56c5742b9e2b	717	dx30=_x3-_x0;
RyoheiHagimoto	0:56c5742b9e2b	718	dx31=_x3-_x1;
RyoheiHagimoto	0:56c5742b9e2b	719	dx32=_x3-_x2;
RyoheiHagimoto	0:56c5742b9e2b	720	dy10=_y1-_y0;
RyoheiHagimoto	0:56c5742b9e2b	721	dy20=_y2-_y0;
RyoheiHagimoto	0:56c5742b9e2b	722	dy30=_y3-_y0;
RyoheiHagimoto	0:56c5742b9e2b	723	dy31=_y3-_y1;
RyoheiHagimoto	0:56c5742b9e2b	724	dy32=_y3-_y2;
RyoheiHagimoto	0:56c5742b9e2b	725	a20=dx32dy10-dx10dy32;
RyoheiHagimoto	0:56c5742b9e2b	726	a21=dx20dy31-dx31dy20;
RyoheiHagimoto	0:56c5742b9e2b	727	a22=dx32dy31-dx31dy32;
RyoheiHagimoto	0:56c5742b9e2b	728	/Figure out if we need to downscale anything./
RyoheiHagimoto	0:56c5742b9e2b	729	b0=qr_ilog(QR_MAXI(abs(dx10),abs(dy10)))+qr_ilog(abs(a20+a22));
RyoheiHagimoto	0:56c5742b9e2b	730	b1=qr_ilog(QR_MAXI(abs(dx20),abs(dy20)))+qr_ilog(abs(a21+a22));
RyoheiHagimoto	0:56c5742b9e2b	731	b2=qr_ilog(QR_MAXI(QR_MAXI(abs(a20),abs(a21)),abs(a22)));
RyoheiHagimoto	0:56c5742b9e2b	732	s1=QR_MAXI(0,_res+QR_MAXI(QR_MAXI(b0,b1),b2)-(QR_INT_BITS-2));
RyoheiHagimoto	0:56c5742b9e2b	733	r1=(1<<s1)>>1;
RyoheiHagimoto	0:56c5742b9e2b	734	/*Compute the final coefficients of the forward transform.
RyoheiHagimoto	0:56c5742b9e2b	735	The 32x32->64 bit multiplies are really needed for accuracy with large
RyoheiHagimoto	0:56c5742b9e2b	736	versions.*/
RyoheiHagimoto	0:56c5742b9e2b	737	_hom->fwd[0][0]=QR_FIXMUL(dx10,a20+a22,r1,s1);
RyoheiHagimoto	0:56c5742b9e2b	738	_hom->fwd[0][1]=QR_FIXMUL(dx20,a21+a22,r1,s1);
RyoheiHagimoto	0:56c5742b9e2b	739	_hom->x0=_x0;
RyoheiHagimoto	0:56c5742b9e2b	740	_hom->fwd[1][0]=QR_FIXMUL(dy10,a20+a22,r1,s1);
RyoheiHagimoto	0:56c5742b9e2b	741	_hom->fwd[1][1]=QR_FIXMUL(dy20,a21+a22,r1,s1);
RyoheiHagimoto	0:56c5742b9e2b	742	_hom->y0=_y0;
RyoheiHagimoto	0:56c5742b9e2b	743	_hom->fwd[2][0]=a20+r1>>s1;
RyoheiHagimoto	0:56c5742b9e2b	744	_hom->fwd[2][1]=a21+r1>>s1;
RyoheiHagimoto	0:56c5742b9e2b	745	_hom->fwd22=s1>_res?a22+(r1>>_res)>>s1-_res:a22<<_res-s1;
RyoheiHagimoto	0:56c5742b9e2b	746	/Now compute the inverse transform./
RyoheiHagimoto	0:56c5742b9e2b	747	b0=qr_ilog(QR_MAXI(QR_MAXI(abs(dx10),abs(dx20)),abs(dx30)))+
RyoheiHagimoto	0:56c5742b9e2b	748	qr_ilog(QR_MAXI(abs(_hom->fwd[0][0]),abs(_hom->fwd[1][0])));
RyoheiHagimoto	0:56c5742b9e2b	749	b1=qr_ilog(QR_MAXI(QR_MAXI(abs(dy10),abs(dy20)),abs(dy30)))+
RyoheiHagimoto	0:56c5742b9e2b	750	qr_ilog(QR_MAXI(abs(_hom->fwd[0][1]),abs(_hom->fwd[1][1])));
RyoheiHagimoto	0:56c5742b9e2b	751	b2=qr_ilog(abs(a22))-s1;
RyoheiHagimoto	0:56c5742b9e2b	752	s2=QR_MAXI(0,QR_MAXI(b0,b1)+b2-(QR_INT_BITS-3));
RyoheiHagimoto	0:56c5742b9e2b	753	r2=(1<<s2)>>1;
RyoheiHagimoto	0:56c5742b9e2b	754	s1+=s2;
RyoheiHagimoto	0:56c5742b9e2b	755	r1<<=s2;
RyoheiHagimoto	0:56c5742b9e2b	756	/*The 32x32->64 bit multiplies are really needed for accuracy with large
RyoheiHagimoto	0:56c5742b9e2b	757	versions.*/
RyoheiHagimoto	0:56c5742b9e2b	758	_hom->inv[0][0]=QR_FIXMUL(_hom->fwd[1][1],a22,r1,s1);
RyoheiHagimoto	0:56c5742b9e2b	759	_hom->inv[0][1]=QR_FIXMUL(-_hom->fwd[0][1],a22,r1,s1);
RyoheiHagimoto	0:56c5742b9e2b	760	_hom->inv[1][0]=QR_FIXMUL(-_hom->fwd[1][0],a22,r1,s1);
RyoheiHagimoto	0:56c5742b9e2b	761	_hom->inv[1][1]=QR_FIXMUL(_hom->fwd[0][0],a22,r1,s1);
RyoheiHagimoto	0:56c5742b9e2b	762	_hom->inv[2][0]=QR_FIXMUL(_hom->fwd[1][0],_hom->fwd[2][1],
RyoheiHagimoto	0:56c5742b9e2b	763	-QR_EXTMUL(_hom->fwd[1][1],_hom->fwd[2][0],r2),s2);
RyoheiHagimoto	0:56c5742b9e2b	764	_hom->inv[2][1]=QR_FIXMUL(_hom->fwd[0][1],_hom->fwd[2][0],
RyoheiHagimoto	0:56c5742b9e2b	765	-QR_EXTMUL(_hom->fwd[0][0],_hom->fwd[2][1],r2),s2);
RyoheiHagimoto	0:56c5742b9e2b	766	_hom->inv22=QR_FIXMUL(_hom->fwd[0][0],_hom->fwd[1][1],
RyoheiHagimoto	0:56c5742b9e2b	767	-QR_EXTMUL(_hom->fwd[0][1],_hom->fwd[1][0],r2),s2);
RyoheiHagimoto	0:56c5742b9e2b	768	_hom->res=_res;
RyoheiHagimoto	0:56c5742b9e2b	769	}
RyoheiHagimoto	0:56c5742b9e2b	770
RyoheiHagimoto	0:56c5742b9e2b	771
RyoheiHagimoto	0:56c5742b9e2b	772	/*Map from the image (at subpel resolution) into the square domain.
RyoheiHagimoto	0:56c5742b9e2b	773	Returns a negative value if the point went to infinity.*/
RyoheiHagimoto	0:56c5742b9e2b	774	static int qr_hom_unproject(qr_point _q,const qr_hom *_hom,int _x,int _y){
RyoheiHagimoto	0:56c5742b9e2b	775	int x;
RyoheiHagimoto	0:56c5742b9e2b	776	int y;
RyoheiHagimoto	0:56c5742b9e2b	777	int w;
RyoheiHagimoto	0:56c5742b9e2b	778	_x-=_hom->x0;
RyoheiHagimoto	0:56c5742b9e2b	779	_y-=_hom->y0;
RyoheiHagimoto	0:56c5742b9e2b	780	x=_hom->inv[0][0]_x+_hom->inv[0][1]_y;
RyoheiHagimoto	0:56c5742b9e2b	781	y=_hom->inv[1][0]_x+_hom->inv[1][1]_y;
RyoheiHagimoto	0:56c5742b9e2b	782	w=_hom->inv[2][0]_x+_hom->inv[2][1]_y
RyoheiHagimoto	0:56c5742b9e2b	783	+_hom->inv22+(1<<_hom->res-1)>>_hom->res;
RyoheiHagimoto	0:56c5742b9e2b	784	if(w==0){
RyoheiHagimoto	0:56c5742b9e2b	785	_q[0]=x<0?INT_MIN:INT_MAX;
RyoheiHagimoto	0:56c5742b9e2b	786	_q[1]=y<0?INT_MIN:INT_MAX;
RyoheiHagimoto	0:56c5742b9e2b	787	return -1;
RyoheiHagimoto	0:56c5742b9e2b	788	}
RyoheiHagimoto	0:56c5742b9e2b	789	else{
RyoheiHagimoto	0:56c5742b9e2b	790	if(w<0){
RyoheiHagimoto	0:56c5742b9e2b	791	x=-x;
RyoheiHagimoto	0:56c5742b9e2b	792	y=-y;
RyoheiHagimoto	0:56c5742b9e2b	793	w=-w;
RyoheiHagimoto	0:56c5742b9e2b	794	}
RyoheiHagimoto	0:56c5742b9e2b	795	_q[0]=QR_DIVROUND(x,w);
RyoheiHagimoto	0:56c5742b9e2b	796	_q[1]=QR_DIVROUND(y,w);
RyoheiHagimoto	0:56c5742b9e2b	797	}
RyoheiHagimoto	0:56c5742b9e2b	798	return 0;
RyoheiHagimoto	0:56c5742b9e2b	799	}
RyoheiHagimoto	0:56c5742b9e2b	800
RyoheiHagimoto	0:56c5742b9e2b	801	/*Finish a partial projection, converting from homogeneous coordinates to the
RyoheiHagimoto	0:56c5742b9e2b	802	normal 2-D representation.
RyoheiHagimoto	0:56c5742b9e2b	803	In loops, we can avoid many multiplies by computing the homogeneous _x, _y,
RyoheiHagimoto	0:56c5742b9e2b	804	and _w incrementally, but we cannot avoid the divisions, done here.*/
RyoheiHagimoto	0:56c5742b9e2b	805	static void qr_hom_fproject(qr_point _p,const qr_hom *_hom,
RyoheiHagimoto	0:56c5742b9e2b	806	int _x,int _y,int _w){
RyoheiHagimoto	0:56c5742b9e2b	807	if(_w==0){
RyoheiHagimoto	0:56c5742b9e2b	808	_p[0]=_x<0?INT_MIN:INT_MAX;
RyoheiHagimoto	0:56c5742b9e2b	809	_p[1]=_y<0?INT_MIN:INT_MAX;
RyoheiHagimoto	0:56c5742b9e2b	810	}
RyoheiHagimoto	0:56c5742b9e2b	811	else{
RyoheiHagimoto	0:56c5742b9e2b	812	if(_w<0){
RyoheiHagimoto	0:56c5742b9e2b	813	_x=-_x;
RyoheiHagimoto	0:56c5742b9e2b	814	_y=-_y;
RyoheiHagimoto	0:56c5742b9e2b	815	_w=-_w;
RyoheiHagimoto	0:56c5742b9e2b	816	}
RyoheiHagimoto	0:56c5742b9e2b	817	_p[0]=QR_DIVROUND(_x,_w)+_hom->x0;
RyoheiHagimoto	0:56c5742b9e2b	818	_p[1]=QR_DIVROUND(_y,_w)+_hom->y0;
RyoheiHagimoto	0:56c5742b9e2b	819	}
RyoheiHagimoto	0:56c5742b9e2b	820	}
RyoheiHagimoto	0:56c5742b9e2b	821
RyoheiHagimoto	0:56c5742b9e2b	822	#if defined(QR_DEBUG)
RyoheiHagimoto	0:56c5742b9e2b	823	/*Map from the square domain into the image (at subpel resolution).
RyoheiHagimoto	0:56c5742b9e2b	824	Currently only used directly by debug code.*/
RyoheiHagimoto	0:56c5742b9e2b	825	static void qr_hom_project(qr_point _p,const qr_hom *_hom,
RyoheiHagimoto	0:56c5742b9e2b	826	int _u,int _v){
RyoheiHagimoto	0:56c5742b9e2b	827	qr_hom_fproject(_p,_hom,
RyoheiHagimoto	0:56c5742b9e2b	828	_hom->fwd[0][0]_u+_hom->fwd[0][1]_v,
RyoheiHagimoto	0:56c5742b9e2b	829	_hom->fwd[1][0]_u+_hom->fwd[1][1]_v,
RyoheiHagimoto	0:56c5742b9e2b	830	_hom->fwd[2][0]_u+_hom->fwd[2][1]_v+_hom->fwd22);
RyoheiHagimoto	0:56c5742b9e2b	831	}
RyoheiHagimoto	0:56c5742b9e2b	832	#endif
RyoheiHagimoto	0:56c5742b9e2b	833
RyoheiHagimoto	0:56c5742b9e2b	834
RyoheiHagimoto	0:56c5742b9e2b	835
RyoheiHagimoto	0:56c5742b9e2b	836	/*All the information we've collected about a finder pattern in the current
RyoheiHagimoto	0:56c5742b9e2b	837	configuration.*/
RyoheiHagimoto	0:56c5742b9e2b	838	struct qr_finder{
RyoheiHagimoto	0:56c5742b9e2b	839	/The module size along each axis (in the square domain)./
RyoheiHagimoto	0:56c5742b9e2b	840	int size[2];
RyoheiHagimoto	0:56c5742b9e2b	841	/The version estimated from the module size along each axis./
RyoheiHagimoto	0:56c5742b9e2b	842	int eversion[2];
RyoheiHagimoto	0:56c5742b9e2b	843	/The list of classified edge points for each edge./
RyoheiHagimoto	0:56c5742b9e2b	844	qr_finder_edge_pt *edge_pts[4];
RyoheiHagimoto	0:56c5742b9e2b	845	/The number of edge points classified as belonging to each edge./
RyoheiHagimoto	0:56c5742b9e2b	846	int nedge_pts[4];
RyoheiHagimoto	0:56c5742b9e2b	847	/The number of inliers found after running RANSAC on each edge./
RyoheiHagimoto	0:56c5742b9e2b	848	int ninliers[4];
RyoheiHagimoto	0:56c5742b9e2b	849	/The center of the finder pattern (in the square domain)./
RyoheiHagimoto	0:56c5742b9e2b	850	qr_point o;
RyoheiHagimoto	0:56c5742b9e2b	851	/The finder center information from the original image./
RyoheiHagimoto	0:56c5742b9e2b	852	qr_finder_center *c;
RyoheiHagimoto	0:56c5742b9e2b	853	};
RyoheiHagimoto	0:56c5742b9e2b	854
RyoheiHagimoto	0:56c5742b9e2b	855
RyoheiHagimoto	0:56c5742b9e2b	856	static int qr_cmp_edge_pt(const void _a,const void _b){
RyoheiHagimoto	0:56c5742b9e2b	857	const qr_finder_edge_pt *a;
RyoheiHagimoto	0:56c5742b9e2b	858	const qr_finder_edge_pt *b;
RyoheiHagimoto	0:56c5742b9e2b	859	a=(const qr_finder_edge_pt *)_a;
RyoheiHagimoto	0:56c5742b9e2b	860	b=(const qr_finder_edge_pt *)_b;
RyoheiHagimoto	0:56c5742b9e2b	861	return ((a->edge>b->edge)-(a->edge<b->edge)<<1)+
RyoheiHagimoto	0:56c5742b9e2b	862	(a->extent>b->extent)-(a->extent<b->extent);
RyoheiHagimoto	0:56c5742b9e2b	863	}
RyoheiHagimoto	0:56c5742b9e2b	864
RyoheiHagimoto	0:56c5742b9e2b	865	/*Computes the index of the edge each edge point belongs to, and its (signed)
RyoheiHagimoto	0:56c5742b9e2b	866	distance along the corresponding axis from the center of the finder pattern
RyoheiHagimoto	0:56c5742b9e2b	867	(in the square domain).
RyoheiHagimoto	0:56c5742b9e2b	868	The resulting list of edge points is sorted by edge index, with ties broken
RyoheiHagimoto	0:56c5742b9e2b	869	by extent.*/
RyoheiHagimoto	0:56c5742b9e2b	870	static void qr_finder_edge_pts_aff_classify(qr_finder _f,const qr_aff _aff){
RyoheiHagimoto	0:56c5742b9e2b	871	qr_finder_center *c;
RyoheiHagimoto	0:56c5742b9e2b	872	int i;
RyoheiHagimoto	0:56c5742b9e2b	873	int e;
RyoheiHagimoto	0:56c5742b9e2b	874	c=_f->c;
RyoheiHagimoto	0:56c5742b9e2b	875	for(e=0;e<4;e++)_f->nedge_pts[e]=0;
RyoheiHagimoto	0:56c5742b9e2b	876	for(i=0;i<c->nedge_pts;i++){
RyoheiHagimoto	0:56c5742b9e2b	877	qr_point q;
RyoheiHagimoto	0:56c5742b9e2b	878	int d;
RyoheiHagimoto	0:56c5742b9e2b	879	qr_aff_unproject(q,_aff,c->edge_pts[i].pos[0],c->edge_pts[i].pos[1]);
RyoheiHagimoto	0:56c5742b9e2b	880	qr_point_translate(q,-_f->o[0],-_f->o[1]);
RyoheiHagimoto	0:56c5742b9e2b	881	d=abs(q[1])>abs(q[0]);
RyoheiHagimoto	0:56c5742b9e2b	882	e=d<<1\|(q[d]>=0);
RyoheiHagimoto	0:56c5742b9e2b	883	_f->nedge_pts[e]++;
RyoheiHagimoto	0:56c5742b9e2b	884	c->edge_pts[i].edge=e;
RyoheiHagimoto	0:56c5742b9e2b	885	c->edge_pts[i].extent=q[d];
RyoheiHagimoto	0:56c5742b9e2b	886	}
RyoheiHagimoto	0:56c5742b9e2b	887	qsort(c->edge_pts,c->nedge_pts,sizeof(*c->edge_pts),qr_cmp_edge_pt);
RyoheiHagimoto	0:56c5742b9e2b	888	_f->edge_pts[0]=c->edge_pts;
RyoheiHagimoto	0:56c5742b9e2b	889	for(e=1;e<4;e++)_f->edge_pts[e]=_f->edge_pts[e-1]+_f->nedge_pts[e-1];
RyoheiHagimoto	0:56c5742b9e2b	890	}
RyoheiHagimoto	0:56c5742b9e2b	891
RyoheiHagimoto	0:56c5742b9e2b	892	/*Computes the index of the edge each edge point belongs to, and its (signed)
RyoheiHagimoto	0:56c5742b9e2b	893	distance along the corresponding axis from the center of the finder pattern
RyoheiHagimoto	0:56c5742b9e2b	894	(in the square domain).
RyoheiHagimoto	0:56c5742b9e2b	895	The resulting list of edge points is sorted by edge index, with ties broken
RyoheiHagimoto	0:56c5742b9e2b	896	by extent.*/
RyoheiHagimoto	0:56c5742b9e2b	897	static void qr_finder_edge_pts_hom_classify(qr_finder _f,const qr_hom _hom){
RyoheiHagimoto	0:56c5742b9e2b	898	qr_finder_center *c;
RyoheiHagimoto	0:56c5742b9e2b	899	int i;
RyoheiHagimoto	0:56c5742b9e2b	900	int e;
RyoheiHagimoto	0:56c5742b9e2b	901	c=_f->c;
RyoheiHagimoto	0:56c5742b9e2b	902	for(e=0;e<4;e++)_f->nedge_pts[e]=0;
RyoheiHagimoto	0:56c5742b9e2b	903	for(i=0;i<c->nedge_pts;i++){
RyoheiHagimoto	0:56c5742b9e2b	904	qr_point q;
RyoheiHagimoto	0:56c5742b9e2b	905	int d;
RyoheiHagimoto	0:56c5742b9e2b	906	if(qr_hom_unproject(q,_hom,
RyoheiHagimoto	0:56c5742b9e2b	907	c->edge_pts[i].pos[0],c->edge_pts[i].pos[1])>=0){
RyoheiHagimoto	0:56c5742b9e2b	908	qr_point_translate(q,-_f->o[0],-_f->o[1]);
RyoheiHagimoto	0:56c5742b9e2b	909	d=abs(q[1])>abs(q[0]);
RyoheiHagimoto	0:56c5742b9e2b	910	e=d<<1\|(q[d]>=0);
RyoheiHagimoto	0:56c5742b9e2b	911	_f->nedge_pts[e]++;
RyoheiHagimoto	0:56c5742b9e2b	912	c->edge_pts[i].edge=e;
RyoheiHagimoto	0:56c5742b9e2b	913	c->edge_pts[i].extent=q[d];
RyoheiHagimoto	0:56c5742b9e2b	914	}
RyoheiHagimoto	0:56c5742b9e2b	915	else{
RyoheiHagimoto	0:56c5742b9e2b	916	c->edge_pts[i].edge=4;
RyoheiHagimoto	0:56c5742b9e2b	917	c->edge_pts[i].extent=q[0];
RyoheiHagimoto	0:56c5742b9e2b	918	}
RyoheiHagimoto	0:56c5742b9e2b	919	}
RyoheiHagimoto	0:56c5742b9e2b	920	qsort(c->edge_pts,c->nedge_pts,sizeof(*c->edge_pts),qr_cmp_edge_pt);
RyoheiHagimoto	0:56c5742b9e2b	921	_f->edge_pts[0]=c->edge_pts;
RyoheiHagimoto	0:56c5742b9e2b	922	for(e=1;e<4;e++)_f->edge_pts[e]=_f->edge_pts[e-1]+_f->nedge_pts[e-1];
RyoheiHagimoto	0:56c5742b9e2b	923	}
RyoheiHagimoto	0:56c5742b9e2b	924
RyoheiHagimoto	0:56c5742b9e2b	925	/*TODO: Perhaps these thresholds should be on the module size instead?
RyoheiHagimoto	0:56c5742b9e2b	926	Unfortunately, I'd need real-world images of codes with larger versions to
RyoheiHagimoto	0:56c5742b9e2b	927	see if these thresholds are still effective, but such versions aren't used
RyoheiHagimoto	0:56c5742b9e2b	928	often.*/
RyoheiHagimoto	0:56c5742b9e2b	929
RyoheiHagimoto	0:56c5742b9e2b	930	/*The amount that the estimated version numbers are allowed to differ from the
RyoheiHagimoto	0:56c5742b9e2b	931	real version number and still be considered valid.*/
RyoheiHagimoto	0:56c5742b9e2b	932	#define QR_SMALL_VERSION_SLACK (1)
RyoheiHagimoto	0:56c5742b9e2b	933	/*Since cell phone cameras can have severe radial distortion, the estimated
RyoheiHagimoto	0:56c5742b9e2b	934	version for larger versions can be off by larger amounts.*/
RyoheiHagimoto	0:56c5742b9e2b	935	#define QR_LARGE_VERSION_SLACK (3)
RyoheiHagimoto	0:56c5742b9e2b	936
RyoheiHagimoto	0:56c5742b9e2b	937	/*Estimates the size of a module after classifying the edge points.
RyoheiHagimoto	0:56c5742b9e2b	938	_width: The distance between UL and UR in the square domain.
RyoheiHagimoto	0:56c5742b9e2b	939	_height: The distance between UL and DL in the square domain.*/
RyoheiHagimoto	0:56c5742b9e2b	940	static int qr_finder_estimate_module_size_and_version(qr_finder *_f,
RyoheiHagimoto	0:56c5742b9e2b	941	int _width,int _height){
RyoheiHagimoto	0:56c5742b9e2b	942	qr_point offs;
RyoheiHagimoto	0:56c5742b9e2b	943	int sums[4];
RyoheiHagimoto	0:56c5742b9e2b	944	int nsums[4];
RyoheiHagimoto	0:56c5742b9e2b	945	int usize;
RyoheiHagimoto	0:56c5742b9e2b	946	int nusize;
RyoheiHagimoto	0:56c5742b9e2b	947	int vsize;
RyoheiHagimoto	0:56c5742b9e2b	948	int nvsize;
RyoheiHagimoto	0:56c5742b9e2b	949	int uversion;
RyoheiHagimoto	0:56c5742b9e2b	950	int vversion;
RyoheiHagimoto	0:56c5742b9e2b	951	int e;
RyoheiHagimoto	0:56c5742b9e2b	952	offs[0]=offs[1]=0;
RyoheiHagimoto	0:56c5742b9e2b	953	for(e=0;e<4;e++)if(_f->nedge_pts[e]>0){
RyoheiHagimoto	0:56c5742b9e2b	954	qr_finder_edge_pt *edge_pts;
RyoheiHagimoto	0:56c5742b9e2b	955	int sum;
RyoheiHagimoto	0:56c5742b9e2b	956	int mean;
RyoheiHagimoto	0:56c5742b9e2b	957	int n;
RyoheiHagimoto	0:56c5742b9e2b	958	int i;
RyoheiHagimoto	0:56c5742b9e2b	959	/Average the samples for this edge, dropping the top and bottom 25%./
RyoheiHagimoto	0:56c5742b9e2b	960	edge_pts=_f->edge_pts[e];
RyoheiHagimoto	0:56c5742b9e2b	961	n=_f->nedge_pts[e];
RyoheiHagimoto	0:56c5742b9e2b	962	sum=0;
RyoheiHagimoto	0:56c5742b9e2b	963	for(i=(n>>2);i<n-(n>>2);i++)sum+=edge_pts[i].extent;
RyoheiHagimoto	0:56c5742b9e2b	964	n=n-((n>>2)<<1);
RyoheiHagimoto	0:56c5742b9e2b	965	mean=QR_DIVROUND(sum,n);
RyoheiHagimoto	0:56c5742b9e2b	966	offs[e>>1]+=mean;
RyoheiHagimoto	0:56c5742b9e2b	967	sums[e]=sum;
RyoheiHagimoto	0:56c5742b9e2b	968	nsums[e]=n;
RyoheiHagimoto	0:56c5742b9e2b	969	}
RyoheiHagimoto	0:56c5742b9e2b	970	else nsums[e]=sums[e]=0;
RyoheiHagimoto	0:56c5742b9e2b	971	/*If we have samples on both sides of an axis, refine our idea of where the
RyoheiHagimoto	0:56c5742b9e2b	972	unprojected finder center is located.*/
RyoheiHagimoto	0:56c5742b9e2b	973	if(_f->nedge_pts[0]>0&&_f->nedge_pts[1]>0){
RyoheiHagimoto	0:56c5742b9e2b	974	_f->o[0]-=offs[0]>>1;
RyoheiHagimoto	0:56c5742b9e2b	975	sums[0]-=offs[0]*nsums[0]>>1;
RyoheiHagimoto	0:56c5742b9e2b	976	sums[1]-=offs[0]*nsums[1]>>1;
RyoheiHagimoto	0:56c5742b9e2b	977	}
RyoheiHagimoto	0:56c5742b9e2b	978	if(_f->nedge_pts[2]>0&&_f->nedge_pts[3]>0){
RyoheiHagimoto	0:56c5742b9e2b	979	_f->o[1]-=offs[1]>>1;
RyoheiHagimoto	0:56c5742b9e2b	980	sums[2]-=offs[1]*nsums[2]>>1;
RyoheiHagimoto	0:56c5742b9e2b	981	sums[3]-=offs[1]*nsums[3]>>1;
RyoheiHagimoto	0:56c5742b9e2b	982	}
RyoheiHagimoto	0:56c5742b9e2b	983	/*We must have _some_ samples along each axis... if we don't, our transform
RyoheiHagimoto	0:56c5742b9e2b	984	must be pretty severely distorting the original square (e.g., with
RyoheiHagimoto	0:56c5742b9e2b	985	coordinates so large as to cause overflow).*/
RyoheiHagimoto	0:56c5742b9e2b	986	nusize=nsums[0]+nsums[1];
RyoheiHagimoto	0:56c5742b9e2b	987	if(nusize<=0)return -1;
RyoheiHagimoto	0:56c5742b9e2b	988	/The module size is 1/3 the average edge extent./
RyoheiHagimoto	0:56c5742b9e2b	989	nusize*=3;
RyoheiHagimoto	0:56c5742b9e2b	990	usize=sums[1]-sums[0];
RyoheiHagimoto	0:56c5742b9e2b	991	usize=((usize<<1)+nusize)/(nusize<<1);
RyoheiHagimoto	0:56c5742b9e2b	992	if(usize<=0)return -1;
RyoheiHagimoto	0:56c5742b9e2b	993	/*Now estimate the version directly from the module size and the distance
RyoheiHagimoto	0:56c5742b9e2b	994	between the finder patterns.
RyoheiHagimoto	0:56c5742b9e2b	995	This is done independently using the extents along each axis.
RyoheiHagimoto	0:56c5742b9e2b	996	If either falls significantly outside the valid range (1 to 40), reject the
RyoheiHagimoto	0:56c5742b9e2b	997	configuration.*/
RyoheiHagimoto	0:56c5742b9e2b	998	uversion=(_width-8*usize)/(usize<<2);
RyoheiHagimoto	0:56c5742b9e2b	999	if(uversion<1\|\|uversion>40+QR_LARGE_VERSION_SLACK)return -1;
RyoheiHagimoto	0:56c5742b9e2b	1000	/Now do the same for the other axis./
RyoheiHagimoto	0:56c5742b9e2b	1001	nvsize=nsums[2]+nsums[3];
RyoheiHagimoto	0:56c5742b9e2b	1002	if(nvsize<=0)return -1;
RyoheiHagimoto	0:56c5742b9e2b	1003	nvsize*=3;
RyoheiHagimoto	0:56c5742b9e2b	1004	vsize=sums[3]-sums[2];
RyoheiHagimoto	0:56c5742b9e2b	1005	vsize=((vsize<<1)+nvsize)/(nvsize<<1);
RyoheiHagimoto	0:56c5742b9e2b	1006	if(vsize<=0)return -1;
RyoheiHagimoto	0:56c5742b9e2b	1007	vversion=(_height-8*vsize)/(vsize<<2);
RyoheiHagimoto	0:56c5742b9e2b	1008	if(vversion<1\|\|vversion>40+QR_LARGE_VERSION_SLACK)return -1;
RyoheiHagimoto	0:56c5742b9e2b	1009	/*If the estimated version using extents along one axis is significantly
RyoheiHagimoto	0:56c5742b9e2b	1010	different than the estimated version along the other axis, then the axes
RyoheiHagimoto	0:56c5742b9e2b	1011	have significantly different scalings (relative to the grid).
RyoheiHagimoto	0:56c5742b9e2b	1012	This can happen, e.g., when we have multiple adjacent QR codes, and we've
RyoheiHagimoto	0:56c5742b9e2b	1013	picked two finder patterns from one and the third finder pattern from
RyoheiHagimoto	0:56c5742b9e2b	1014	another, e.g.:
RyoheiHagimoto	0:56c5742b9e2b	1015	X---DL UL---X
RyoheiHagimoto	0:56c5742b9e2b	1016	\|.... \|....
RyoheiHagimoto	0:56c5742b9e2b	1017	X.... UR....
RyoheiHagimoto	0:56c5742b9e2b	1018	Such a configuration might even pass any other geometric checks if we
RyoheiHagimoto	0:56c5742b9e2b	1019	didn't reject it here.*/
RyoheiHagimoto	0:56c5742b9e2b	1020	if(abs(uversion-vversion)>QR_LARGE_VERSION_SLACK)return -1;
RyoheiHagimoto	0:56c5742b9e2b	1021	_f->size[0]=usize;
RyoheiHagimoto	0:56c5742b9e2b	1022	_f->size[1]=vsize;
RyoheiHagimoto	0:56c5742b9e2b	1023	/*We intentionally do not compute an average version from the sizes along
RyoheiHagimoto	0:56c5742b9e2b	1024	both axes.
RyoheiHagimoto	0:56c5742b9e2b	1025	In the presence of projective distortion, one of them will be much more
RyoheiHagimoto	0:56c5742b9e2b	1026	accurate than the other.*/
RyoheiHagimoto	0:56c5742b9e2b	1027	_f->eversion[0]=uversion;
RyoheiHagimoto	0:56c5742b9e2b	1028	_f->eversion[1]=vversion;
RyoheiHagimoto	0:56c5742b9e2b	1029	return 0;
RyoheiHagimoto	0:56c5742b9e2b	1030	}
RyoheiHagimoto	0:56c5742b9e2b	1031
RyoheiHagimoto	0:56c5742b9e2b	1032	/Eliminate outliers from the classified edge points with RANSAC./
RyoheiHagimoto	0:56c5742b9e2b	1033	static void qr_finder_ransac(qr_finder _f,const qr_aff _hom,
RyoheiHagimoto	0:56c5742b9e2b	1034	isaac_ctx *_isaac,int _e){
RyoheiHagimoto	0:56c5742b9e2b	1035	qr_finder_edge_pt *edge_pts;
RyoheiHagimoto	0:56c5742b9e2b	1036	int best_ninliers;
RyoheiHagimoto	0:56c5742b9e2b	1037	int n;
RyoheiHagimoto	0:56c5742b9e2b	1038	edge_pts=_f->edge_pts[_e];
RyoheiHagimoto	0:56c5742b9e2b	1039	n=_f->nedge_pts[_e];
RyoheiHagimoto	0:56c5742b9e2b	1040	best_ninliers=0;
RyoheiHagimoto	0:56c5742b9e2b	1041	if(n>1){
RyoheiHagimoto	0:56c5742b9e2b	1042	int max_iters;
RyoheiHagimoto	0:56c5742b9e2b	1043	int i;
RyoheiHagimoto	0:56c5742b9e2b	1044	int j;
RyoheiHagimoto	0:56c5742b9e2b	1045	/*17 iterations is enough to guarantee an outlier-free sample with more
RyoheiHagimoto	0:56c5742b9e2b	1046	than 99% probability given as many as 50% outliers.*/
RyoheiHagimoto	0:56c5742b9e2b	1047	max_iters=17;
RyoheiHagimoto	0:56c5742b9e2b	1048	for(i=0;i<max_iters;i++){
RyoheiHagimoto	0:56c5742b9e2b	1049	qr_point q0;
RyoheiHagimoto	0:56c5742b9e2b	1050	qr_point q1;
RyoheiHagimoto	0:56c5742b9e2b	1051	int ninliers;
RyoheiHagimoto	0:56c5742b9e2b	1052	int thresh;
RyoheiHagimoto	0:56c5742b9e2b	1053	int p0i;
RyoheiHagimoto	0:56c5742b9e2b	1054	int p1i;
RyoheiHagimoto	0:56c5742b9e2b	1055	int *p0;
RyoheiHagimoto	0:56c5742b9e2b	1056	int *p1;
RyoheiHagimoto	0:56c5742b9e2b	1057	int j;
RyoheiHagimoto	0:56c5742b9e2b	1058	/Pick two random points on this edge./
RyoheiHagimoto	0:56c5742b9e2b	1059	p0i=isaac_next_uint(_isaac,n);
RyoheiHagimoto	0:56c5742b9e2b	1060	p1i=isaac_next_uint(_isaac,n-1);
RyoheiHagimoto	0:56c5742b9e2b	1061	if(p1i>=p0i)p1i++;
RyoheiHagimoto	0:56c5742b9e2b	1062	p0=edge_pts[p0i].pos;
RyoheiHagimoto	0:56c5742b9e2b	1063	p1=edge_pts[p1i].pos;
RyoheiHagimoto	0:56c5742b9e2b	1064	/*If the corresponding line is not within 45 degrees of the proper
RyoheiHagimoto	0:56c5742b9e2b	1065	orientation in the square domain, reject it outright.
RyoheiHagimoto	0:56c5742b9e2b	1066	This can happen, e.g., when highly skewed orientations cause points to
RyoheiHagimoto	0:56c5742b9e2b	1067	be misclassified into the wrong edge.
RyoheiHagimoto	0:56c5742b9e2b	1068	The irony is that using such points might produce a line which _does_
RyoheiHagimoto	0:56c5742b9e2b	1069	pass the corresponding validity checks.*/
RyoheiHagimoto	0:56c5742b9e2b	1070	qr_aff_unproject(q0,_hom,p0[0],p0[1]);
RyoheiHagimoto	0:56c5742b9e2b	1071	qr_aff_unproject(q1,_hom,p1[0],p1[1]);
RyoheiHagimoto	0:56c5742b9e2b	1072	qr_point_translate(q0,-_f->o[0],-_f->o[1]);
RyoheiHagimoto	0:56c5742b9e2b	1073	qr_point_translate(q1,-_f->o[0],-_f->o[1]);
RyoheiHagimoto	0:56c5742b9e2b	1074	if(abs(q0[_e>>1]-q1[_e>>1])>abs(q0[1-(_e>>1)]-q1[1-(_e>>1)]))continue;
RyoheiHagimoto	0:56c5742b9e2b	1075	/*Identify the other edge points which are inliers.
RyoheiHagimoto	0:56c5742b9e2b	1076	The squared distance should be distributed as a \Chi^2 distribution
RyoheiHagimoto	0:56c5742b9e2b	1077	with one degree of freedom, which means for a 95% confidence the
RyoheiHagimoto	0:56c5742b9e2b	1078	point should lie within a factor 3.8414588 ~= 4 times the expected
RyoheiHagimoto	0:56c5742b9e2b	1079	variance of the point locations.
RyoheiHagimoto	0:56c5742b9e2b	1080	We grossly approximate the standard deviation as 1 pixel in one
RyoheiHagimoto	0:56c5742b9e2b	1081	direction, and 0.5 pixels in the other (because we average two
RyoheiHagimoto	0:56c5742b9e2b	1082	coordinates).*/
RyoheiHagimoto	0:56c5742b9e2b	1083	thresh=qr_isqrt(qr_point_distance2(p0,p1)<<2*QR_FINDER_SUBPREC+1);
RyoheiHagimoto	0:56c5742b9e2b	1084	ninliers=0;
RyoheiHagimoto	0:56c5742b9e2b	1085	for(j=0;j<n;j++){
RyoheiHagimoto	0:56c5742b9e2b	1086	if(abs(qr_point_ccw(p0,p1,edge_pts[j].pos))<=thresh){
RyoheiHagimoto	0:56c5742b9e2b	1087	edge_pts[j].extent\|=1;
RyoheiHagimoto	0:56c5742b9e2b	1088	ninliers++;
RyoheiHagimoto	0:56c5742b9e2b	1089	}
RyoheiHagimoto	0:56c5742b9e2b	1090	else edge_pts[j].extent&=~1;
RyoheiHagimoto	0:56c5742b9e2b	1091	}
RyoheiHagimoto	0:56c5742b9e2b	1092	if(ninliers>best_ninliers){
RyoheiHagimoto	0:56c5742b9e2b	1093	for(j=0;j<n;j++)edge_pts[j].extent<<=1;
RyoheiHagimoto	0:56c5742b9e2b	1094	best_ninliers=ninliers;
RyoheiHagimoto	0:56c5742b9e2b	1095	/*The actual number of iterations required is
RyoheiHagimoto	0:56c5742b9e2b	1096	log(1-\alpha)/log(1-r*r),
RyoheiHagimoto	0:56c5742b9e2b	1097	where \alpha is the required probability of taking a sample with
RyoheiHagimoto	0:56c5742b9e2b	1098	no outliers (e.g., 0.99) and r is the estimated ratio of inliers
RyoheiHagimoto	0:56c5742b9e2b	1099	(e.g. ninliers/n).
RyoheiHagimoto	0:56c5742b9e2b	1100	This is just a rough (but conservative) approximation, but it
RyoheiHagimoto	0:56c5742b9e2b	1101	should be good enough to stop the iteration early when we find
RyoheiHagimoto	0:56c5742b9e2b	1102	a good set of inliers.*/
RyoheiHagimoto	0:56c5742b9e2b	1103	if(ninliers>n>>1)max_iters=(67n-63ninliers-1)/(n<<1);
RyoheiHagimoto	0:56c5742b9e2b	1104	}
RyoheiHagimoto	0:56c5742b9e2b	1105	}
RyoheiHagimoto	0:56c5742b9e2b	1106	/Now collect all the inliers at the beginning of the list./
RyoheiHagimoto	0:56c5742b9e2b	1107	for(i=j=0;j<best_ninliers;i++)if(edge_pts[i].extent&2){
RyoheiHagimoto	0:56c5742b9e2b	1108	if(j<i){
RyoheiHagimoto	0:56c5742b9e2b	1109	qr_finder_edge_pt tmp;
RyoheiHagimoto	0:56c5742b9e2b	1110	&tmp=(edge_pts+i);
RyoheiHagimoto	0:56c5742b9e2b	1111	(edge_pts+j)=(edge_pts+i);
RyoheiHagimoto	0:56c5742b9e2b	1112	(edge_pts+i)=&tmp;
RyoheiHagimoto	0:56c5742b9e2b	1113	}
RyoheiHagimoto	0:56c5742b9e2b	1114	j++;
RyoheiHagimoto	0:56c5742b9e2b	1115	}
RyoheiHagimoto	0:56c5742b9e2b	1116	}
RyoheiHagimoto	0:56c5742b9e2b	1117	_f->ninliers[_e]=best_ninliers;
RyoheiHagimoto	0:56c5742b9e2b	1118	}
RyoheiHagimoto	0:56c5742b9e2b	1119
RyoheiHagimoto	0:56c5742b9e2b	1120	/*Perform a least-squares line fit to an edge of a finder pattern using the
RyoheiHagimoto	0:56c5742b9e2b	1121	inliers found by RANSAC.*/
RyoheiHagimoto	0:56c5742b9e2b	1122	static int qr_line_fit_finder_edge(qr_line _l,
RyoheiHagimoto	0:56c5742b9e2b	1123	const qr_finder *_f,int _e,int _res){
RyoheiHagimoto	0:56c5742b9e2b	1124	qr_finder_edge_pt *edge_pts;
RyoheiHagimoto	0:56c5742b9e2b	1125	qr_point *pts;
RyoheiHagimoto	0:56c5742b9e2b	1126	int npts;
RyoheiHagimoto	0:56c5742b9e2b	1127	int i;
RyoheiHagimoto	0:56c5742b9e2b	1128	npts=_f->ninliers[_e];
RyoheiHagimoto	0:56c5742b9e2b	1129	if(npts<2)return -1;
RyoheiHagimoto	0:56c5742b9e2b	1130	/*We could write a custom version of qr_line_fit_points that accesses
RyoheiHagimoto	0:56c5742b9e2b	1131	edge_pts directly, but this saves on code size and doesn't measurably slow
RyoheiHagimoto	0:56c5742b9e2b	1132	things down.*/
RyoheiHagimoto	0:56c5742b9e2b	1133	pts=(qr_point )malloc(nptssizeof(*pts));
RyoheiHagimoto	0:56c5742b9e2b	1134	edge_pts=_f->edge_pts[_e];
RyoheiHagimoto	0:56c5742b9e2b	1135	for(i=0;i<npts;i++){
RyoheiHagimoto	0:56c5742b9e2b	1136	pts[i][0]=edge_pts[i].pos[0];
RyoheiHagimoto	0:56c5742b9e2b	1137	pts[i][1]=edge_pts[i].pos[1];
RyoheiHagimoto	0:56c5742b9e2b	1138	}
RyoheiHagimoto	0:56c5742b9e2b	1139	qr_line_fit_points(_l,pts,npts,_res);
RyoheiHagimoto	0:56c5742b9e2b	1140	/*Make sure the center of the finder pattern lies in the positive halfspace
RyoheiHagimoto	0:56c5742b9e2b	1141	of the line.*/
RyoheiHagimoto	0:56c5742b9e2b	1142	qr_line_orient(_l,_f->c->pos[0],_f->c->pos[1]);
RyoheiHagimoto	0:56c5742b9e2b	1143	free(pts);
RyoheiHagimoto	0:56c5742b9e2b	1144	return 0;
RyoheiHagimoto	0:56c5742b9e2b	1145	}
RyoheiHagimoto	0:56c5742b9e2b	1146
RyoheiHagimoto	0:56c5742b9e2b	1147	/*Perform a least-squares line fit to a pair of common finder edges using the
RyoheiHagimoto	0:56c5742b9e2b	1148	inliers found by RANSAC.
RyoheiHagimoto	0:56c5742b9e2b	1149	Unlike a normal edge fit, we guarantee that this one succeeds by creating at
RyoheiHagimoto	0:56c5742b9e2b	1150	least one point on each edge using the estimated module size if it has no
RyoheiHagimoto	0:56c5742b9e2b	1151	inliers.*/
RyoheiHagimoto	0:56c5742b9e2b	1152	static void qr_line_fit_finder_pair(qr_line _l,const qr_aff *_aff,
RyoheiHagimoto	0:56c5742b9e2b	1153	const qr_finder _f0,const qr_finder _f1,int _e){
RyoheiHagimoto	0:56c5742b9e2b	1154	qr_point *pts;
RyoheiHagimoto	0:56c5742b9e2b	1155	int npts;
RyoheiHagimoto	0:56c5742b9e2b	1156	qr_finder_edge_pt *edge_pts;
RyoheiHagimoto	0:56c5742b9e2b	1157	qr_point q;
RyoheiHagimoto	0:56c5742b9e2b	1158	int n0;
RyoheiHagimoto	0:56c5742b9e2b	1159	int n1;
RyoheiHagimoto	0:56c5742b9e2b	1160	int i;
RyoheiHagimoto	0:56c5742b9e2b	1161	n0=_f0->ninliers[_e];
RyoheiHagimoto	0:56c5742b9e2b	1162	n1=_f1->ninliers[_e];
RyoheiHagimoto	0:56c5742b9e2b	1163	/*We could write a custom version of qr_line_fit_points that accesses
RyoheiHagimoto	0:56c5742b9e2b	1164	edge_pts directly, but this saves on code size and doesn't measurably slow
RyoheiHagimoto	0:56c5742b9e2b	1165	things down.*/
RyoheiHagimoto	0:56c5742b9e2b	1166	npts=QR_MAXI(n0,1)+QR_MAXI(n1,1);
RyoheiHagimoto	0:56c5742b9e2b	1167	pts=(qr_point )malloc(nptssizeof(*pts));
RyoheiHagimoto	0:56c5742b9e2b	1168	if(n0>0){
RyoheiHagimoto	0:56c5742b9e2b	1169	edge_pts=_f0->edge_pts[_e];
RyoheiHagimoto	0:56c5742b9e2b	1170	for(i=0;i<n0;i++){
RyoheiHagimoto	0:56c5742b9e2b	1171	pts[i][0]=edge_pts[i].pos[0];
RyoheiHagimoto	0:56c5742b9e2b	1172	pts[i][1]=edge_pts[i].pos[1];
RyoheiHagimoto	0:56c5742b9e2b	1173	}
RyoheiHagimoto	0:56c5742b9e2b	1174	}
RyoheiHagimoto	0:56c5742b9e2b	1175	else{
RyoheiHagimoto	0:56c5742b9e2b	1176	q[0]=_f0->o[0];
RyoheiHagimoto	0:56c5742b9e2b	1177	q[1]=_f0->o[1];
RyoheiHagimoto	0:56c5742b9e2b	1178	q[_e>>1]+=_f0->size[_e>>1](2(_e&1)-1);
RyoheiHagimoto	0:56c5742b9e2b	1179	qr_aff_project(pts[0],_aff,q[0],q[1]);
RyoheiHagimoto	0:56c5742b9e2b	1180	n0++;
RyoheiHagimoto	0:56c5742b9e2b	1181	}
RyoheiHagimoto	0:56c5742b9e2b	1182	if(n1>0){
RyoheiHagimoto	0:56c5742b9e2b	1183	edge_pts=_f1->edge_pts[_e];
RyoheiHagimoto	0:56c5742b9e2b	1184	for(i=0;i<n1;i++){
RyoheiHagimoto	0:56c5742b9e2b	1185	pts[n0+i][0]=edge_pts[i].pos[0];
RyoheiHagimoto	0:56c5742b9e2b	1186	pts[n0+i][1]=edge_pts[i].pos[1];
RyoheiHagimoto	0:56c5742b9e2b	1187	}
RyoheiHagimoto	0:56c5742b9e2b	1188	}
RyoheiHagimoto	0:56c5742b9e2b	1189	else{
RyoheiHagimoto	0:56c5742b9e2b	1190	q[0]=_f1->o[0];
RyoheiHagimoto	0:56c5742b9e2b	1191	q[1]=_f1->o[1];
RyoheiHagimoto	0:56c5742b9e2b	1192	q[_e>>1]+=_f1->size[_e>>1](2(_e&1)-1);
RyoheiHagimoto	0:56c5742b9e2b	1193	qr_aff_project(pts[n0],_aff,q[0],q[1]);
RyoheiHagimoto	0:56c5742b9e2b	1194	n1++;
RyoheiHagimoto	0:56c5742b9e2b	1195	}
RyoheiHagimoto	0:56c5742b9e2b	1196	qr_line_fit_points(_l,pts,npts,_aff->res);
RyoheiHagimoto	0:56c5742b9e2b	1197	/Make sure at least one finder center lies in the positive halfspace./
RyoheiHagimoto	0:56c5742b9e2b	1198	qr_line_orient(_l,_f0->c->pos[0],_f0->c->pos[1]);
RyoheiHagimoto	0:56c5742b9e2b	1199	free(pts);
RyoheiHagimoto	0:56c5742b9e2b	1200	}
RyoheiHagimoto	0:56c5742b9e2b	1201
RyoheiHagimoto	0:56c5742b9e2b	1202	static int qr_finder_quick_crossing_check(const unsigned char *_img,
RyoheiHagimoto	0:56c5742b9e2b	1203	int _width,int _height,int _x0,int _y0,int _x1,int _y1,int _v){
RyoheiHagimoto	0:56c5742b9e2b	1204	/*The points must be inside the image, and have a !_v:_v:!_v pattern.
RyoheiHagimoto	0:56c5742b9e2b	1205	We don't scan the whole line initially, but quickly reject if the endpoints
RyoheiHagimoto	0:56c5742b9e2b	1206	aren't !_v, or the midpoint isn't _v.
RyoheiHagimoto	0:56c5742b9e2b	1207	If either end point is out of the image, or we don't encounter a _v pixel,
RyoheiHagimoto	0:56c5742b9e2b	1208	we return a negative value, indicating the region should be considered
RyoheiHagimoto	0:56c5742b9e2b	1209	empty.
RyoheiHagimoto	0:56c5742b9e2b	1210	Otherwise, we return a positive value to indicate it is non-empty.*/
RyoheiHagimoto	0:56c5742b9e2b	1211	if(_x0<0\|\|_x0>=_width\|\|_y0<0\|\|_y0>=_height\|\|
RyoheiHagimoto	0:56c5742b9e2b	1212	_x1<0\|\|_x1>=_width\|\|_y1<0\|\|_y1>=_height){
RyoheiHagimoto	0:56c5742b9e2b	1213	return -1;
RyoheiHagimoto	0:56c5742b9e2b	1214	}
RyoheiHagimoto	0:56c5742b9e2b	1215	if(!_img[_y0_width+_x0]!=_v\|\|!_img[_y1_width+_x1]!=_v)return 1;
RyoheiHagimoto	0:56c5742b9e2b	1216	if(!_img[(_y0+_y1>>1)*_width+(_x0+_x1>>1)]==_v)return -1;
RyoheiHagimoto	0:56c5742b9e2b	1217	return 0;
RyoheiHagimoto	0:56c5742b9e2b	1218	}
RyoheiHagimoto	0:56c5742b9e2b	1219
RyoheiHagimoto	0:56c5742b9e2b	1220	/*Locate the midpoint of a _v segment along a !_v:_v:!_v line from (_x0,_y0) to
RyoheiHagimoto	0:56c5742b9e2b	1221	(_x1,_y1).
RyoheiHagimoto	0:56c5742b9e2b	1222	All coordinates, which are NOT in subpel resolution, must lie inside the
RyoheiHagimoto	0:56c5742b9e2b	1223	image, and the endpoints are already assumed to have the value !_v.
RyoheiHagimoto	0:56c5742b9e2b	1224	The returned value is in subpel resolution.*/
RyoheiHagimoto	0:56c5742b9e2b	1225	static int qr_finder_locate_crossing(const unsigned char *_img,
RyoheiHagimoto	0:56c5742b9e2b	1226	int _width,int _height,int _x0,int _y0,int _x1,int _y1,int _v,qr_point _p){
RyoheiHagimoto	0:56c5742b9e2b	1227	qr_point x0;
RyoheiHagimoto	0:56c5742b9e2b	1228	qr_point x1;
RyoheiHagimoto	0:56c5742b9e2b	1229	qr_point dx;
RyoheiHagimoto	0:56c5742b9e2b	1230	int step[2];
RyoheiHagimoto	0:56c5742b9e2b	1231	int steep;
RyoheiHagimoto	0:56c5742b9e2b	1232	int err;
RyoheiHagimoto	0:56c5742b9e2b	1233	int derr;
RyoheiHagimoto	0:56c5742b9e2b	1234	/*Use Bresenham's algorithm to trace along the line and find the exact
RyoheiHagimoto	0:56c5742b9e2b	1235	transitions from !_v to _v and back.*/
RyoheiHagimoto	0:56c5742b9e2b	1236	x0[0]=_x0;
RyoheiHagimoto	0:56c5742b9e2b	1237	x0[1]=_y0;
RyoheiHagimoto	0:56c5742b9e2b	1238	x1[0]=_x1;
RyoheiHagimoto	0:56c5742b9e2b	1239	x1[1]=_y1;
RyoheiHagimoto	0:56c5742b9e2b	1240	dx[0]=abs(_x1-_x0);
RyoheiHagimoto	0:56c5742b9e2b	1241	dx[1]=abs(_y1-_y0);
RyoheiHagimoto	0:56c5742b9e2b	1242	steep=dx[1]>dx[0];
RyoheiHagimoto	0:56c5742b9e2b	1243	err=0;
RyoheiHagimoto	0:56c5742b9e2b	1244	derr=dx[1-steep];
RyoheiHagimoto	0:56c5742b9e2b	1245	step[0]=((_x0<_x1)<<1)-1;
RyoheiHagimoto	0:56c5742b9e2b	1246	step[1]=((_y0<_y1)<<1)-1;
RyoheiHagimoto	0:56c5742b9e2b	1247	/Find the first crossing from !_v to _v./
RyoheiHagimoto	0:56c5742b9e2b	1248	for(;;){
RyoheiHagimoto	0:56c5742b9e2b	1249	/If we make it all the way to the other side, there's no crossing./
RyoheiHagimoto	0:56c5742b9e2b	1250	if(x0[steep]==x1[steep])return -1;
RyoheiHagimoto	0:56c5742b9e2b	1251	x0[steep]+=step[steep];
RyoheiHagimoto	0:56c5742b9e2b	1252	err+=derr;
RyoheiHagimoto	0:56c5742b9e2b	1253	if(err<<1>dx[steep]){
RyoheiHagimoto	0:56c5742b9e2b	1254	x0[1-steep]+=step[1-steep];
RyoheiHagimoto	0:56c5742b9e2b	1255	err-=dx[steep];
RyoheiHagimoto	0:56c5742b9e2b	1256	}
RyoheiHagimoto	0:56c5742b9e2b	1257	if(!_img[x0[1]*_width+x0[0]]!=_v)break;
RyoheiHagimoto	0:56c5742b9e2b	1258	}
RyoheiHagimoto	0:56c5742b9e2b	1259	/Find the last crossing from _v to !_v./
RyoheiHagimoto	0:56c5742b9e2b	1260	err=0;
RyoheiHagimoto	0:56c5742b9e2b	1261	for(;;){
RyoheiHagimoto	0:56c5742b9e2b	1262	if(x0[steep]==x1[steep])break;
RyoheiHagimoto	0:56c5742b9e2b	1263	x1[steep]-=step[steep];
RyoheiHagimoto	0:56c5742b9e2b	1264	err+=derr;
RyoheiHagimoto	0:56c5742b9e2b	1265	if(err<<1>dx[steep]){
RyoheiHagimoto	0:56c5742b9e2b	1266	x1[1-steep]-=step[1-steep];
RyoheiHagimoto	0:56c5742b9e2b	1267	err-=dx[steep];
RyoheiHagimoto	0:56c5742b9e2b	1268	}
RyoheiHagimoto	0:56c5742b9e2b	1269	if(!_img[x1[1]*_width+x1[0]]!=_v)break;
RyoheiHagimoto	0:56c5742b9e2b	1270	}
RyoheiHagimoto	0:56c5742b9e2b	1271	/Return the midpoint of the _v segment./
RyoheiHagimoto	0:56c5742b9e2b	1272	_p[0]=(x0[0]+x1[0]+1<<QR_FINDER_SUBPREC)>>1;
RyoheiHagimoto	0:56c5742b9e2b	1273	_p[1]=(x0[1]+x1[1]+1<<QR_FINDER_SUBPREC)>>1;
RyoheiHagimoto	0:56c5742b9e2b	1274	return 0;
RyoheiHagimoto	0:56c5742b9e2b	1275	}
RyoheiHagimoto	0:56c5742b9e2b	1276
RyoheiHagimoto	0:56c5742b9e2b	1277	static int qr_aff_line_step(const qr_aff *_aff,qr_line _l,
RyoheiHagimoto	0:56c5742b9e2b	1278	int _v,int _du,int *_dv){
RyoheiHagimoto	0:56c5742b9e2b	1279	int shift;
RyoheiHagimoto	0:56c5742b9e2b	1280	int round;
RyoheiHagimoto	0:56c5742b9e2b	1281	int dv;
RyoheiHagimoto	0:56c5742b9e2b	1282	int n;
RyoheiHagimoto	0:56c5742b9e2b	1283	int d;
RyoheiHagimoto	0:56c5742b9e2b	1284	n=_aff->fwd[0][_v]_l[0]+_aff->fwd[1][_v]_l[1];
RyoheiHagimoto	0:56c5742b9e2b	1285	d=_aff->fwd[0][1-_v]_l[0]+_aff->fwd[1][1-_v]_l[1];
RyoheiHagimoto	0:56c5742b9e2b	1286	if(d<0){
RyoheiHagimoto	0:56c5742b9e2b	1287	n=-n;
RyoheiHagimoto	0:56c5742b9e2b	1288	d=-d;
RyoheiHagimoto	0:56c5742b9e2b	1289	}
RyoheiHagimoto	0:56c5742b9e2b	1290	shift=QR_MAXI(0,qr_ilog(_du)+qr_ilog(abs(n))+3-QR_INT_BITS);
RyoheiHagimoto	0:56c5742b9e2b	1291	round=(1<<shift)>>1;
RyoheiHagimoto	0:56c5742b9e2b	1292	n=n+round>>shift;
RyoheiHagimoto	0:56c5742b9e2b	1293	d=d+round>>shift;
RyoheiHagimoto	0:56c5742b9e2b	1294	/*The line should not be outside 45 degrees of horizontal/vertical.
RyoheiHagimoto	0:56c5742b9e2b	1295	TODO: We impose this restriction to help ensure the loop below terminates,
RyoheiHagimoto	0:56c5742b9e2b	1296	but it should not technically be required.
RyoheiHagimoto	0:56c5742b9e2b	1297	It also, however, ensures we avoid division by zero.*/
RyoheiHagimoto	0:56c5742b9e2b	1298	if(abs(n)>=d)return -1;
RyoheiHagimoto	0:56c5742b9e2b	1299	n=-_du*n;
RyoheiHagimoto	0:56c5742b9e2b	1300	dv=QR_DIVROUND(n,d);
RyoheiHagimoto	0:56c5742b9e2b	1301	if(abs(dv)>=_du)return -1;
RyoheiHagimoto	0:56c5742b9e2b	1302	*_dv=dv;
RyoheiHagimoto	0:56c5742b9e2b	1303	return 0;
RyoheiHagimoto	0:56c5742b9e2b	1304	}
RyoheiHagimoto	0:56c5742b9e2b	1305
RyoheiHagimoto	0:56c5742b9e2b	1306	/*Computes the Hamming distance between two bit patterns (the number of bits
RyoheiHagimoto	0:56c5742b9e2b	1307	that differ).
RyoheiHagimoto	0:56c5742b9e2b	1308	May stop counting after _maxdiff differences.*/
RyoheiHagimoto	0:56c5742b9e2b	1309	static int qr_hamming_dist(unsigned _y1,unsigned _y2,int _maxdiff){
RyoheiHagimoto	0:56c5742b9e2b	1310	unsigned y;
RyoheiHagimoto	0:56c5742b9e2b	1311	int ret;
RyoheiHagimoto	0:56c5742b9e2b	1312	y=_y1^_y2;
RyoheiHagimoto	0:56c5742b9e2b	1313	for(ret=0;ret<_maxdiff&&y;ret++)y&=y-1;
RyoheiHagimoto	0:56c5742b9e2b	1314	return ret;
RyoheiHagimoto	0:56c5742b9e2b	1315	}
RyoheiHagimoto	0:56c5742b9e2b	1316
RyoheiHagimoto	0:56c5742b9e2b	1317	/*Retrieve a bit (guaranteed to be 0 or 1) from the image, given coordinates in
RyoheiHagimoto	0:56c5742b9e2b	1318	subpel resolution which have not been bounds checked.*/
RyoheiHagimoto	0:56c5742b9e2b	1319	static int qr_img_get_bit(const unsigned char *_img,int _width,int _height,
RyoheiHagimoto	0:56c5742b9e2b	1320	int _x,int _y){
RyoheiHagimoto	0:56c5742b9e2b	1321	_x>>=QR_FINDER_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	1322	_y>>=QR_FINDER_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	1323	return _img[QR_CLAMPI(0,_y,_height-1)*_width+QR_CLAMPI(0,_x,_width-1)]!=0;
RyoheiHagimoto	0:56c5742b9e2b	1324	}
RyoheiHagimoto	0:56c5742b9e2b	1325
RyoheiHagimoto	0:56c5742b9e2b	1326	#if defined(QR_DEBUG)
RyoheiHagimoto	0:56c5742b9e2b	1327	#include "image.h"
RyoheiHagimoto	0:56c5742b9e2b	1328
RyoheiHagimoto	0:56c5742b9e2b	1329	static void qr_finder_dump_aff_undistorted(qr_finder _ul,qr_finder _ur,
RyoheiHagimoto	0:56c5742b9e2b	1330	qr_finder _dl,qr_aff _aff,const unsigned char *_img,int _width,int _height){
RyoheiHagimoto	0:56c5742b9e2b	1331	unsigned char *gimg;
RyoheiHagimoto	0:56c5742b9e2b	1332	FILE *fout;
RyoheiHagimoto	0:56c5742b9e2b	1333	int lpsz;
RyoheiHagimoto	0:56c5742b9e2b	1334	int pixel_size;
RyoheiHagimoto	0:56c5742b9e2b	1335	int dim;
RyoheiHagimoto	0:56c5742b9e2b	1336	int min;
RyoheiHagimoto	0:56c5742b9e2b	1337	int max;
RyoheiHagimoto	0:56c5742b9e2b	1338	int u;
RyoheiHagimoto	0:56c5742b9e2b	1339	int y;
RyoheiHagimoto	0:56c5742b9e2b	1340	int i;
RyoheiHagimoto	0:56c5742b9e2b	1341	int j;
RyoheiHagimoto	0:56c5742b9e2b	1342	lpsz=qr_ilog(_ur->size[0]+_ur->size[1]+_dl->size[0]+_dl->size[1])-6;
RyoheiHagimoto	0:56c5742b9e2b	1343	pixel_size=1<<lpsz;
RyoheiHagimoto	0:56c5742b9e2b	1344	dim=(1<<_aff->res-lpsz)+128;
RyoheiHagimoto	0:56c5742b9e2b	1345	gimg=(unsigned char )malloc(dimdimsizeof(gimg));
RyoheiHagimoto	0:56c5742b9e2b	1346	for(i=0;i<dim;i++)for(j=0;j<dim;j++){
RyoheiHagimoto	0:56c5742b9e2b	1347	qr_point p;
RyoheiHagimoto	0:56c5742b9e2b	1348	qr_aff_project(p,_aff,(j-64)<<lpsz,(i-64)<<lpsz);
RyoheiHagimoto	0:56c5742b9e2b	1349	gimg[i*dim+j]=_img[
RyoheiHagimoto	0:56c5742b9e2b	1350	QR_CLAMPI(0,p[1]>>QR_FINDER_SUBPREC,_height-1)*_width+
RyoheiHagimoto	0:56c5742b9e2b	1351	QR_CLAMPI(0,p[0]>>QR_FINDER_SUBPREC,_width-1)];
RyoheiHagimoto	0:56c5742b9e2b	1352	}
RyoheiHagimoto	0:56c5742b9e2b	1353	{
RyoheiHagimoto	0:56c5742b9e2b	1354	min=(_ur->o[0]-7*_ur->size[0]>>lpsz)+64;
RyoheiHagimoto	0:56c5742b9e2b	1355	if(min<0)min=0;
RyoheiHagimoto	0:56c5742b9e2b	1356	max=(_ur->o[0]+7*_ur->size[0]>>lpsz)+64;
RyoheiHagimoto	0:56c5742b9e2b	1357	if(max>dim)max=dim;
RyoheiHagimoto	0:56c5742b9e2b	1358	for(y=-7;y<=7;y++){
RyoheiHagimoto	0:56c5742b9e2b	1359	i=(_ur->o[1]+y*_ur->size[1]>>lpsz)+64;
RyoheiHagimoto	0:56c5742b9e2b	1360	if(i<0\|\|i>=dim)continue;
RyoheiHagimoto	0:56c5742b9e2b	1361	for(j=min;j<max;j++)gimg[i*dim+j]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	1362	}
RyoheiHagimoto	0:56c5742b9e2b	1363	min=(_ur->o[1]-7*_ur->size[1]>>lpsz)+64;
RyoheiHagimoto	0:56c5742b9e2b	1364	if(min<0)min=0;
RyoheiHagimoto	0:56c5742b9e2b	1365	max=(_ur->o[1]+7*_ur->size[1]>>lpsz)+64;
RyoheiHagimoto	0:56c5742b9e2b	1366	if(max>dim)max=dim;
RyoheiHagimoto	0:56c5742b9e2b	1367	for(u=-7;u<=7;u++){
RyoheiHagimoto	0:56c5742b9e2b	1368	j=(_ur->o[0]+u*_ur->size[0]>>lpsz)+64;
RyoheiHagimoto	0:56c5742b9e2b	1369	if(j<0\|\|j>=dim)continue;
RyoheiHagimoto	0:56c5742b9e2b	1370	for(i=min;i<max;i++)gimg[i*dim+j]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	1371	}
RyoheiHagimoto	0:56c5742b9e2b	1372	}
RyoheiHagimoto	0:56c5742b9e2b	1373	{
RyoheiHagimoto	0:56c5742b9e2b	1374	min=(_dl->o[0]-7*_dl->size[0]>>lpsz)+64;
RyoheiHagimoto	0:56c5742b9e2b	1375	if(min<0)min=0;
RyoheiHagimoto	0:56c5742b9e2b	1376	max=(_dl->o[0]+7*_dl->size[0]>>lpsz)+64;
RyoheiHagimoto	0:56c5742b9e2b	1377	if(max>dim)max=dim;
RyoheiHagimoto	0:56c5742b9e2b	1378	for(y=-7;y<=7;y++){
RyoheiHagimoto	0:56c5742b9e2b	1379	i=(_dl->o[1]+y*_dl->size[1]>>lpsz)+64;
RyoheiHagimoto	0:56c5742b9e2b	1380	if(i<0\|\|i>=dim)continue;
RyoheiHagimoto	0:56c5742b9e2b	1381	for(j=min;j<max;j++)gimg[i*dim+j]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	1382	}
RyoheiHagimoto	0:56c5742b9e2b	1383	min=(_dl->o[1]-7*_dl->size[1]>>lpsz)+64;
RyoheiHagimoto	0:56c5742b9e2b	1384	if(min<0)min=0;
RyoheiHagimoto	0:56c5742b9e2b	1385	max=(_dl->o[1]+7*_dl->size[1]>>lpsz)+64;
RyoheiHagimoto	0:56c5742b9e2b	1386	if(max>dim)max=dim;
RyoheiHagimoto	0:56c5742b9e2b	1387	for(u=-7;u<=7;u++){
RyoheiHagimoto	0:56c5742b9e2b	1388	j=(_dl->o[0]+u*_dl->size[0]>>lpsz)+64;
RyoheiHagimoto	0:56c5742b9e2b	1389	if(j<0\|\|j>=dim)continue;
RyoheiHagimoto	0:56c5742b9e2b	1390	for(i=min;i<max;i++)gimg[i*dim+j]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	1391	}
RyoheiHagimoto	0:56c5742b9e2b	1392	}
RyoheiHagimoto	0:56c5742b9e2b	1393	fout=fopen("undistorted_aff.png","wb");
RyoheiHagimoto	0:56c5742b9e2b	1394	image_write_png(gimg,dim,dim,fout);
RyoheiHagimoto	0:56c5742b9e2b	1395	fclose(fout);
RyoheiHagimoto	0:56c5742b9e2b	1396	free(gimg);
RyoheiHagimoto	0:56c5742b9e2b	1397	}
RyoheiHagimoto	0:56c5742b9e2b	1398
RyoheiHagimoto	0:56c5742b9e2b	1399	static void qr_finder_dump_hom_undistorted(qr_finder _ul,qr_finder _ur,
RyoheiHagimoto	0:56c5742b9e2b	1400	qr_finder _dl,qr_hom _hom,const unsigned char *_img,int _width,int _height){
RyoheiHagimoto	0:56c5742b9e2b	1401	unsigned char *gimg;
RyoheiHagimoto	0:56c5742b9e2b	1402	FILE *fout;
RyoheiHagimoto	0:56c5742b9e2b	1403	int lpsz;
RyoheiHagimoto	0:56c5742b9e2b	1404	int pixel_size;
RyoheiHagimoto	0:56c5742b9e2b	1405	int dim;
RyoheiHagimoto	0:56c5742b9e2b	1406	int min;
RyoheiHagimoto	0:56c5742b9e2b	1407	int max;
RyoheiHagimoto	0:56c5742b9e2b	1408	int u;
RyoheiHagimoto	0:56c5742b9e2b	1409	int v;
RyoheiHagimoto	0:56c5742b9e2b	1410	int i;
RyoheiHagimoto	0:56c5742b9e2b	1411	int j;
RyoheiHagimoto	0:56c5742b9e2b	1412	lpsz=qr_ilog(_ur->size[0]+_ur->size[1]+_dl->size[0]+_dl->size[1])-6;
RyoheiHagimoto	0:56c5742b9e2b	1413	pixel_size=1<<lpsz;
RyoheiHagimoto	0:56c5742b9e2b	1414	dim=(1<<_hom->res-lpsz)+256;
RyoheiHagimoto	0:56c5742b9e2b	1415	gimg=(unsigned char )malloc(dimdimsizeof(gimg));
RyoheiHagimoto	0:56c5742b9e2b	1416	for(i=0;i<dim;i++)for(j=0;j<dim;j++){
RyoheiHagimoto	0:56c5742b9e2b	1417	qr_point p;
RyoheiHagimoto	0:56c5742b9e2b	1418	qr_hom_project(p,_hom,(j-128)<<lpsz,(i-128)<<lpsz);
RyoheiHagimoto	0:56c5742b9e2b	1419	gimg[i*dim+j]=_img[
RyoheiHagimoto	0:56c5742b9e2b	1420	QR_CLAMPI(0,p[1]>>QR_FINDER_SUBPREC,_height-1)*_width+
RyoheiHagimoto	0:56c5742b9e2b	1421	QR_CLAMPI(0,p[0]>>QR_FINDER_SUBPREC,_width-1)];
RyoheiHagimoto	0:56c5742b9e2b	1422	}
RyoheiHagimoto	0:56c5742b9e2b	1423	{
RyoheiHagimoto	0:56c5742b9e2b	1424	min=(_ur->o[0]-7*_ur->size[0]>>lpsz)+128;
RyoheiHagimoto	0:56c5742b9e2b	1425	if(min<0)min=0;
RyoheiHagimoto	0:56c5742b9e2b	1426	max=(_ur->o[0]+7*_ur->size[0]>>lpsz)+128;
RyoheiHagimoto	0:56c5742b9e2b	1427	if(max>dim)max=dim;
RyoheiHagimoto	0:56c5742b9e2b	1428	for(v=-7;v<=7;v++){
RyoheiHagimoto	0:56c5742b9e2b	1429	i=(_ur->o[1]+v*_ur->size[1]>>lpsz)+128;
RyoheiHagimoto	0:56c5742b9e2b	1430	if(i<0\|\|i>=dim)continue;
RyoheiHagimoto	0:56c5742b9e2b	1431	for(j=min;j<max;j++)gimg[i*dim+j]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	1432	}
RyoheiHagimoto	0:56c5742b9e2b	1433	min=(_ur->o[1]-7*_ur->size[1]>>lpsz)+128;
RyoheiHagimoto	0:56c5742b9e2b	1434	if(min<0)min=0;
RyoheiHagimoto	0:56c5742b9e2b	1435	max=(_ur->o[1]+7*_ur->size[1]>>lpsz)+128;
RyoheiHagimoto	0:56c5742b9e2b	1436	if(max>dim)max=dim;
RyoheiHagimoto	0:56c5742b9e2b	1437	for(u=-7;u<=7;u++){
RyoheiHagimoto	0:56c5742b9e2b	1438	j=(_ur->o[0]+u*_ur->size[0]>>lpsz)+128;
RyoheiHagimoto	0:56c5742b9e2b	1439	if(j<0\|\|j>=dim)continue;
RyoheiHagimoto	0:56c5742b9e2b	1440	for(i=min;i<max;i++)gimg[i*dim+j]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	1441	}
RyoheiHagimoto	0:56c5742b9e2b	1442	}
RyoheiHagimoto	0:56c5742b9e2b	1443	{
RyoheiHagimoto	0:56c5742b9e2b	1444	min=(_dl->o[0]-7*_dl->size[0]>>lpsz)+128;
RyoheiHagimoto	0:56c5742b9e2b	1445	if(min<0)min=0;
RyoheiHagimoto	0:56c5742b9e2b	1446	max=(_dl->o[0]+7*_dl->size[0]>>lpsz)+128;
RyoheiHagimoto	0:56c5742b9e2b	1447	if(max>dim)max=dim;
RyoheiHagimoto	0:56c5742b9e2b	1448	for(v=-7;v<=7;v++){
RyoheiHagimoto	0:56c5742b9e2b	1449	i=(_dl->o[1]+v*_dl->size[1]>>lpsz)+128;
RyoheiHagimoto	0:56c5742b9e2b	1450	if(i<0\|\|i>=dim)continue;
RyoheiHagimoto	0:56c5742b9e2b	1451	for(j=min;j<max;j++)gimg[i*dim+j]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	1452	}
RyoheiHagimoto	0:56c5742b9e2b	1453	min=(_dl->o[1]-7*_dl->size[1]>>lpsz)+128;
RyoheiHagimoto	0:56c5742b9e2b	1454	if(min<0)min=0;
RyoheiHagimoto	0:56c5742b9e2b	1455	max=(_dl->o[1]+7*_dl->size[1]>>lpsz)+128;
RyoheiHagimoto	0:56c5742b9e2b	1456	if(max>dim)max=dim;
RyoheiHagimoto	0:56c5742b9e2b	1457	for(u=-7;u<=7;u++){
RyoheiHagimoto	0:56c5742b9e2b	1458	j=(_dl->o[0]+u*_dl->size[0]>>lpsz)+128;
RyoheiHagimoto	0:56c5742b9e2b	1459	if(j<0\|\|j>=dim)continue;
RyoheiHagimoto	0:56c5742b9e2b	1460	for(i=min;i<max;i++)gimg[i*dim+j]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	1461	}
RyoheiHagimoto	0:56c5742b9e2b	1462	}
RyoheiHagimoto	0:56c5742b9e2b	1463	fout=fopen("undistorted_hom.png","wb");
RyoheiHagimoto	0:56c5742b9e2b	1464	image_write_png(gimg,dim,dim,fout);
RyoheiHagimoto	0:56c5742b9e2b	1465	fclose(fout);
RyoheiHagimoto	0:56c5742b9e2b	1466	free(gimg);
RyoheiHagimoto	0:56c5742b9e2b	1467	}
RyoheiHagimoto	0:56c5742b9e2b	1468	#endif
RyoheiHagimoto	0:56c5742b9e2b	1469
RyoheiHagimoto	0:56c5742b9e2b	1470
RyoheiHagimoto	0:56c5742b9e2b	1471
RyoheiHagimoto	0:56c5742b9e2b	1472	/*A homography from one region of the grid back to the image.
RyoheiHagimoto	0:56c5742b9e2b	1473	Unlike a qr_hom, this does not include an inverse transform and maps directly
RyoheiHagimoto	0:56c5742b9e2b	1474	from the grid points, not a square with power-of-two sides.*/
RyoheiHagimoto	0:56c5742b9e2b	1475	struct qr_hom_cell{
RyoheiHagimoto	0:56c5742b9e2b	1476	int fwd[3][3];
RyoheiHagimoto	0:56c5742b9e2b	1477	int x0;
RyoheiHagimoto	0:56c5742b9e2b	1478	int y0;
RyoheiHagimoto	0:56c5742b9e2b	1479	int u0;
RyoheiHagimoto	0:56c5742b9e2b	1480	int v0;
RyoheiHagimoto	0:56c5742b9e2b	1481	};
RyoheiHagimoto	0:56c5742b9e2b	1482
RyoheiHagimoto	0:56c5742b9e2b	1483
RyoheiHagimoto	0:56c5742b9e2b	1484	static void qr_hom_cell_init(qr_hom_cell *_cell,int _u0,int _v0,
RyoheiHagimoto	0:56c5742b9e2b	1485	int _u1,int _v1,int _u2,int _v2,int _u3,int _v3,int _x0,int _y0,
RyoheiHagimoto	0:56c5742b9e2b	1486	int _x1,int _y1,int _x2,int _y2,int _x3,int _y3){
RyoheiHagimoto	0:56c5742b9e2b	1487	int du10;
RyoheiHagimoto	0:56c5742b9e2b	1488	int du20;
RyoheiHagimoto	0:56c5742b9e2b	1489	int du30;
RyoheiHagimoto	0:56c5742b9e2b	1490	int du31;
RyoheiHagimoto	0:56c5742b9e2b	1491	int du32;
RyoheiHagimoto	0:56c5742b9e2b	1492	int dv10;
RyoheiHagimoto	0:56c5742b9e2b	1493	int dv20;
RyoheiHagimoto	0:56c5742b9e2b	1494	int dv30;
RyoheiHagimoto	0:56c5742b9e2b	1495	int dv31;
RyoheiHagimoto	0:56c5742b9e2b	1496	int dv32;
RyoheiHagimoto	0:56c5742b9e2b	1497	int dx10;
RyoheiHagimoto	0:56c5742b9e2b	1498	int dx20;
RyoheiHagimoto	0:56c5742b9e2b	1499	int dx30;
RyoheiHagimoto	0:56c5742b9e2b	1500	int dx31;
RyoheiHagimoto	0:56c5742b9e2b	1501	int dx32;
RyoheiHagimoto	0:56c5742b9e2b	1502	int dy10;
RyoheiHagimoto	0:56c5742b9e2b	1503	int dy20;
RyoheiHagimoto	0:56c5742b9e2b	1504	int dy30;
RyoheiHagimoto	0:56c5742b9e2b	1505	int dy31;
RyoheiHagimoto	0:56c5742b9e2b	1506	int dy32;
RyoheiHagimoto	0:56c5742b9e2b	1507	int a00;
RyoheiHagimoto	0:56c5742b9e2b	1508	int a01;
RyoheiHagimoto	0:56c5742b9e2b	1509	int a02;
RyoheiHagimoto	0:56c5742b9e2b	1510	int a10;
RyoheiHagimoto	0:56c5742b9e2b	1511	int a11;
RyoheiHagimoto	0:56c5742b9e2b	1512	int a12;
RyoheiHagimoto	0:56c5742b9e2b	1513	int a20;
RyoheiHagimoto	0:56c5742b9e2b	1514	int a21;
RyoheiHagimoto	0:56c5742b9e2b	1515	int a22;
RyoheiHagimoto	0:56c5742b9e2b	1516	int i00;
RyoheiHagimoto	0:56c5742b9e2b	1517	int i01;
RyoheiHagimoto	0:56c5742b9e2b	1518	int i10;
RyoheiHagimoto	0:56c5742b9e2b	1519	int i11;
RyoheiHagimoto	0:56c5742b9e2b	1520	int i20;
RyoheiHagimoto	0:56c5742b9e2b	1521	int i21;
RyoheiHagimoto	0:56c5742b9e2b	1522	int i22;
RyoheiHagimoto	0:56c5742b9e2b	1523	int b0;
RyoheiHagimoto	0:56c5742b9e2b	1524	int b1;
RyoheiHagimoto	0:56c5742b9e2b	1525	int b2;
RyoheiHagimoto	0:56c5742b9e2b	1526	int shift;
RyoheiHagimoto	0:56c5742b9e2b	1527	int round;
RyoheiHagimoto	0:56c5742b9e2b	1528	int x;
RyoheiHagimoto	0:56c5742b9e2b	1529	int y;
RyoheiHagimoto	0:56c5742b9e2b	1530	int w;
RyoheiHagimoto	0:56c5742b9e2b	1531	/*First, correct for the arrangement of the source points.
RyoheiHagimoto	0:56c5742b9e2b	1532	We take advantage of the fact that we know the source points have a very
RyoheiHagimoto	0:56c5742b9e2b	1533	limited dynamic range (so there will never be overflow) and a small amount
RyoheiHagimoto	0:56c5742b9e2b	1534	of projective distortion.*/
RyoheiHagimoto	0:56c5742b9e2b	1535	du10=_u1-_u0;
RyoheiHagimoto	0:56c5742b9e2b	1536	du20=_u2-_u0;
RyoheiHagimoto	0:56c5742b9e2b	1537	du30=_u3-_u0;
RyoheiHagimoto	0:56c5742b9e2b	1538	du31=_u3-_u1;
RyoheiHagimoto	0:56c5742b9e2b	1539	du32=_u3-_u2;
RyoheiHagimoto	0:56c5742b9e2b	1540	dv10=_v1-_v0;
RyoheiHagimoto	0:56c5742b9e2b	1541	dv20=_v2-_v0;
RyoheiHagimoto	0:56c5742b9e2b	1542	dv30=_v3-_v0;
RyoheiHagimoto	0:56c5742b9e2b	1543	dv31=_v3-_v1;
RyoheiHagimoto	0:56c5742b9e2b	1544	dv32=_v3-_v2;
RyoheiHagimoto	0:56c5742b9e2b	1545	/*Compute the coefficients of the forward transform from the unit square to
RyoheiHagimoto	0:56c5742b9e2b	1546	the source point configuration.*/
RyoheiHagimoto	0:56c5742b9e2b	1547	a20=du32dv10-du10dv32;
RyoheiHagimoto	0:56c5742b9e2b	1548	a21=du20dv31-du31dv20;
RyoheiHagimoto	0:56c5742b9e2b	1549	if(a20\|\|a21)a22=du32dv31-du31dv32;
RyoheiHagimoto	0:56c5742b9e2b	1550	/*If the source grid points aren't in a non-affine arrangement, there's no
RyoheiHagimoto	0:56c5742b9e2b	1551	reason to scale everything by du32dv31-du31dv32.
RyoheiHagimoto	0:56c5742b9e2b	1552	Not doing so allows a much larger dynamic range, and is the only way we can
RyoheiHagimoto	0:56c5742b9e2b	1553	initialize a base cell that covers the whole grid.*/
RyoheiHagimoto	0:56c5742b9e2b	1554	else a22=1;
RyoheiHagimoto	0:56c5742b9e2b	1555	a00=du10*(a20+a22);
RyoheiHagimoto	0:56c5742b9e2b	1556	a01=du20*(a21+a22);
RyoheiHagimoto	0:56c5742b9e2b	1557	a10=dv10*(a20+a22);
RyoheiHagimoto	0:56c5742b9e2b	1558	a11=dv20*(a21+a22);
RyoheiHagimoto	0:56c5742b9e2b	1559	/Now compute the inverse transform./
RyoheiHagimoto	0:56c5742b9e2b	1560	i00=a11*a22;
RyoheiHagimoto	0:56c5742b9e2b	1561	i01=-a01*a22;
RyoheiHagimoto	0:56c5742b9e2b	1562	i10=-a10*a22;
RyoheiHagimoto	0:56c5742b9e2b	1563	i11=a00*a22;
RyoheiHagimoto	0:56c5742b9e2b	1564	i20=a10a21-a11a20;
RyoheiHagimoto	0:56c5742b9e2b	1565	i21=a01a20-a00a21;
RyoheiHagimoto	0:56c5742b9e2b	1566	i22=a00a11-a01a10;
RyoheiHagimoto	0:56c5742b9e2b	1567	/*Invert the coefficients.
RyoheiHagimoto	0:56c5742b9e2b	1568	Since i22 is the largest, we divide it by all the others.
RyoheiHagimoto	0:56c5742b9e2b	1569	The quotient is often exact (e.g., when the source points contain no
RyoheiHagimoto	0:56c5742b9e2b	1570	projective distortion), and is never zero.
RyoheiHagimoto	0:56c5742b9e2b	1571	Hence we can use zero to signal "infinity" when the divisor is zero.*/
RyoheiHagimoto	0:56c5742b9e2b	1572	if(i00)i00=QR_FLIPSIGNI(QR_DIVROUND(i22,abs(i00)),i00);
RyoheiHagimoto	0:56c5742b9e2b	1573	if(i01)i01=QR_FLIPSIGNI(QR_DIVROUND(i22,abs(i01)),i01);
RyoheiHagimoto	0:56c5742b9e2b	1574	if(i10)i10=QR_FLIPSIGNI(QR_DIVROUND(i22,abs(i10)),i10);
RyoheiHagimoto	0:56c5742b9e2b	1575	if(i11)i11=QR_FLIPSIGNI(QR_DIVROUND(i22,abs(i11)),i11);
RyoheiHagimoto	0:56c5742b9e2b	1576	if(i20)i20=QR_FLIPSIGNI(QR_DIVROUND(i22,abs(i20)),i20);
RyoheiHagimoto	0:56c5742b9e2b	1577	if(i21)i21=QR_FLIPSIGNI(QR_DIVROUND(i22,abs(i21)),i21);
RyoheiHagimoto	0:56c5742b9e2b	1578	/Now compute the map from the unit square into the image./
RyoheiHagimoto	0:56c5742b9e2b	1579	dx10=_x1-_x0;
RyoheiHagimoto	0:56c5742b9e2b	1580	dx20=_x2-_x0;
RyoheiHagimoto	0:56c5742b9e2b	1581	dx30=_x3-_x0;
RyoheiHagimoto	0:56c5742b9e2b	1582	dx31=_x3-_x1;
RyoheiHagimoto	0:56c5742b9e2b	1583	dx32=_x3-_x2;
RyoheiHagimoto	0:56c5742b9e2b	1584	dy10=_y1-_y0;
RyoheiHagimoto	0:56c5742b9e2b	1585	dy20=_y2-_y0;
RyoheiHagimoto	0:56c5742b9e2b	1586	dy30=_y3-_y0;
RyoheiHagimoto	0:56c5742b9e2b	1587	dy31=_y3-_y1;
RyoheiHagimoto	0:56c5742b9e2b	1588	dy32=_y3-_y2;
RyoheiHagimoto	0:56c5742b9e2b	1589	a20=dx32dy10-dx10dy32;
RyoheiHagimoto	0:56c5742b9e2b	1590	a21=dx20dy31-dx31dy20;
RyoheiHagimoto	0:56c5742b9e2b	1591	a22=dx32dy31-dx31dy32;
RyoheiHagimoto	0:56c5742b9e2b	1592	/Figure out if we need to downscale anything./
RyoheiHagimoto	0:56c5742b9e2b	1593	b0=qr_ilog(QR_MAXI(abs(dx10),abs(dy10)))+qr_ilog(abs(a20+a22));
RyoheiHagimoto	0:56c5742b9e2b	1594	b1=qr_ilog(QR_MAXI(abs(dx20),abs(dy20)))+qr_ilog(abs(a21+a22));
RyoheiHagimoto	0:56c5742b9e2b	1595	b2=qr_ilog(QR_MAXI(QR_MAXI(abs(a20),abs(a21)),abs(a22)));
RyoheiHagimoto	0:56c5742b9e2b	1596	shift=QR_MAXI(0,QR_MAXI(QR_MAXI(b0,b1),b2)-(QR_INT_BITS-3-QR_ALIGN_SUBPREC));
RyoheiHagimoto	0:56c5742b9e2b	1597	round=(1<<shift)>>1;
RyoheiHagimoto	0:56c5742b9e2b	1598	/Compute the final coefficients of the forward transform./
RyoheiHagimoto	0:56c5742b9e2b	1599	a00=QR_FIXMUL(dx10,a20+a22,round,shift);
RyoheiHagimoto	0:56c5742b9e2b	1600	a01=QR_FIXMUL(dx20,a21+a22,round,shift);
RyoheiHagimoto	0:56c5742b9e2b	1601	a10=QR_FIXMUL(dy10,a20+a22,round,shift);
RyoheiHagimoto	0:56c5742b9e2b	1602	a11=QR_FIXMUL(dy20,a21+a22,round,shift);
RyoheiHagimoto	0:56c5742b9e2b	1603	/*And compose the two transforms.
RyoheiHagimoto	0:56c5742b9e2b	1604	Since we inverted the coefficients above, we divide by them here instead
RyoheiHagimoto	0:56c5742b9e2b	1605	of multiplying.
RyoheiHagimoto	0:56c5742b9e2b	1606	This lets us take advantage of the full dynamic range.
RyoheiHagimoto	0:56c5742b9e2b	1607	Note a zero divisor is really "infinity", and thus the quotient should also
RyoheiHagimoto	0:56c5742b9e2b	1608	be zero.*/
RyoheiHagimoto	0:56c5742b9e2b	1609	_cell->fwd[0][0]=(i00?QR_DIVROUND(a00,i00):0)+(i10?QR_DIVROUND(a01,i10):0);
RyoheiHagimoto	0:56c5742b9e2b	1610	_cell->fwd[0][1]=(i01?QR_DIVROUND(a00,i01):0)+(i11?QR_DIVROUND(a01,i11):0);
RyoheiHagimoto	0:56c5742b9e2b	1611	_cell->fwd[1][0]=(i00?QR_DIVROUND(a10,i00):0)+(i10?QR_DIVROUND(a11,i10):0);
RyoheiHagimoto	0:56c5742b9e2b	1612	_cell->fwd[1][1]=(i01?QR_DIVROUND(a10,i01):0)+(i11?QR_DIVROUND(a11,i11):0);
RyoheiHagimoto	0:56c5742b9e2b	1613	_cell->fwd[2][0]=(i00?QR_DIVROUND(a20,i00):0)+(i10?QR_DIVROUND(a21,i10):0)
RyoheiHagimoto	0:56c5742b9e2b	1614	+(i20?QR_DIVROUND(a22,i20):0)+round>>shift;
RyoheiHagimoto	0:56c5742b9e2b	1615	_cell->fwd[2][1]=(i01?QR_DIVROUND(a20,i01):0)+(i11?QR_DIVROUND(a21,i11):0)
RyoheiHagimoto	0:56c5742b9e2b	1616	+(i21?QR_DIVROUND(a22,i21):0)+round>>shift;
RyoheiHagimoto	0:56c5742b9e2b	1617	_cell->fwd[2][2]=a22+round>>shift;
RyoheiHagimoto	0:56c5742b9e2b	1618	/*Mathematically, a02 and a12 are exactly zero.
RyoheiHagimoto	0:56c5742b9e2b	1619	However, that concentrates all of the rounding error in the (_u3,_v3)
RyoheiHagimoto	0:56c5742b9e2b	1620	corner; we compute offsets which distribute it over the whole range.*/
RyoheiHagimoto	0:56c5742b9e2b	1621	x=_cell->fwd[0][0]du10+_cell->fwd[0][1]dv10;
RyoheiHagimoto	0:56c5742b9e2b	1622	y=_cell->fwd[1][0]du10+_cell->fwd[1][1]dv10;
RyoheiHagimoto	0:56c5742b9e2b	1623	w=_cell->fwd[2][0]du10+_cell->fwd[2][1]dv10+_cell->fwd[2][2];
RyoheiHagimoto	0:56c5742b9e2b	1624	a02=dx10*w-x;
RyoheiHagimoto	0:56c5742b9e2b	1625	a12=dy10*w-y;
RyoheiHagimoto	0:56c5742b9e2b	1626	x=_cell->fwd[0][0]du20+_cell->fwd[0][1]dv20;
RyoheiHagimoto	0:56c5742b9e2b	1627	y=_cell->fwd[1][0]du20+_cell->fwd[1][1]dv20;
RyoheiHagimoto	0:56c5742b9e2b	1628	w=_cell->fwd[2][0]du20+_cell->fwd[2][1]dv20+_cell->fwd[2][2];
RyoheiHagimoto	0:56c5742b9e2b	1629	a02+=dx20*w-x;
RyoheiHagimoto	0:56c5742b9e2b	1630	a12+=dy20*w-y;
RyoheiHagimoto	0:56c5742b9e2b	1631	x=_cell->fwd[0][0]du30+_cell->fwd[0][1]dv30;
RyoheiHagimoto	0:56c5742b9e2b	1632	y=_cell->fwd[1][0]du30+_cell->fwd[1][1]dv30;
RyoheiHagimoto	0:56c5742b9e2b	1633	w=_cell->fwd[2][0]du30+_cell->fwd[2][1]dv30+_cell->fwd[2][2];
RyoheiHagimoto	0:56c5742b9e2b	1634	a02+=dx30*w-x;
RyoheiHagimoto	0:56c5742b9e2b	1635	a12+=dy30*w-y;
RyoheiHagimoto	0:56c5742b9e2b	1636	_cell->fwd[0][2]=a02+2>>2;
RyoheiHagimoto	0:56c5742b9e2b	1637	_cell->fwd[1][2]=a12+2>>2;
RyoheiHagimoto	0:56c5742b9e2b	1638	_cell->x0=_x0;
RyoheiHagimoto	0:56c5742b9e2b	1639	_cell->y0=_y0;
RyoheiHagimoto	0:56c5742b9e2b	1640	_cell->u0=_u0;
RyoheiHagimoto	0:56c5742b9e2b	1641	_cell->v0=_v0;
RyoheiHagimoto	0:56c5742b9e2b	1642	}
RyoheiHagimoto	0:56c5742b9e2b	1643
RyoheiHagimoto	0:56c5742b9e2b	1644	/*Finish a partial projection, converting from homogeneous coordinates to the
RyoheiHagimoto	0:56c5742b9e2b	1645	normal 2-D representation.
RyoheiHagimoto	0:56c5742b9e2b	1646	In loops, we can avoid many multiplies by computing the homogeneous _x, _y,
RyoheiHagimoto	0:56c5742b9e2b	1647	and _w incrementally, but we cannot avoid the divisions, done here.*/
RyoheiHagimoto	0:56c5742b9e2b	1648	static void qr_hom_cell_fproject(qr_point _p,const qr_hom_cell *_cell,
RyoheiHagimoto	0:56c5742b9e2b	1649	int _x,int _y,int _w){
RyoheiHagimoto	0:56c5742b9e2b	1650	if(_w==0){
RyoheiHagimoto	0:56c5742b9e2b	1651	_p[0]=_x<0?INT_MIN:INT_MAX;
RyoheiHagimoto	0:56c5742b9e2b	1652	_p[1]=_y<0?INT_MIN:INT_MAX;
RyoheiHagimoto	0:56c5742b9e2b	1653	}
RyoheiHagimoto	0:56c5742b9e2b	1654	else{
RyoheiHagimoto	0:56c5742b9e2b	1655	if(_w<0){
RyoheiHagimoto	0:56c5742b9e2b	1656	_x=-_x;
RyoheiHagimoto	0:56c5742b9e2b	1657	_y=-_y;
RyoheiHagimoto	0:56c5742b9e2b	1658	_w=-_w;
RyoheiHagimoto	0:56c5742b9e2b	1659	}
RyoheiHagimoto	0:56c5742b9e2b	1660	_p[0]=QR_DIVROUND(_x,_w)+_cell->x0;
RyoheiHagimoto	0:56c5742b9e2b	1661	_p[1]=QR_DIVROUND(_y,_w)+_cell->y0;
RyoheiHagimoto	0:56c5742b9e2b	1662	}
RyoheiHagimoto	0:56c5742b9e2b	1663	}
RyoheiHagimoto	0:56c5742b9e2b	1664
RyoheiHagimoto	0:56c5742b9e2b	1665	static void qr_hom_cell_project(qr_point _p,const qr_hom_cell *_cell,
RyoheiHagimoto	0:56c5742b9e2b	1666	int _u,int _v,int _res){
RyoheiHagimoto	0:56c5742b9e2b	1667	_u-=_cell->u0<<_res;
RyoheiHagimoto	0:56c5742b9e2b	1668	_v-=_cell->v0<<_res;
RyoheiHagimoto	0:56c5742b9e2b	1669	qr_hom_cell_fproject(_p,_cell,
RyoheiHagimoto	0:56c5742b9e2b	1670	_cell->fwd[0][0]_u+_cell->fwd[0][1]_v+(_cell->fwd[0][2]<<_res),
RyoheiHagimoto	0:56c5742b9e2b	1671	_cell->fwd[1][0]_u+_cell->fwd[1][1]_v+(_cell->fwd[1][2]<<_res),
RyoheiHagimoto	0:56c5742b9e2b	1672	_cell->fwd[2][0]_u+_cell->fwd[2][1]_v+(_cell->fwd[2][2]<<_res));
RyoheiHagimoto	0:56c5742b9e2b	1673	}
RyoheiHagimoto	0:56c5742b9e2b	1674
RyoheiHagimoto	0:56c5742b9e2b	1675
RyoheiHagimoto	0:56c5742b9e2b	1676
RyoheiHagimoto	0:56c5742b9e2b	1677	/*Retrieves the bits corresponding to the alignment pattern template centered
RyoheiHagimoto	0:56c5742b9e2b	1678	at the given location in the original image (at subpel precision).*/
RyoheiHagimoto	0:56c5742b9e2b	1679	static unsigned qr_alignment_pattern_fetch(qr_point _p[5][5],int _x0,int _y0,
RyoheiHagimoto	0:56c5742b9e2b	1680	const unsigned char *_img,int _width,int _height){
RyoheiHagimoto	0:56c5742b9e2b	1681	unsigned v;
RyoheiHagimoto	0:56c5742b9e2b	1682	int i;
RyoheiHagimoto	0:56c5742b9e2b	1683	int j;
RyoheiHagimoto	0:56c5742b9e2b	1684	int k;
RyoheiHagimoto	0:56c5742b9e2b	1685	int dx;
RyoheiHagimoto	0:56c5742b9e2b	1686	int dy;
RyoheiHagimoto	0:56c5742b9e2b	1687	dx=_x0-_p[2][2][0];
RyoheiHagimoto	0:56c5742b9e2b	1688	dy=_y0-_p[2][2][1];
RyoheiHagimoto	0:56c5742b9e2b	1689	v=0;
RyoheiHagimoto	0:56c5742b9e2b	1690	for(k=i=0;i<5;i++)for(j=0;j<5;j++,k++){
RyoheiHagimoto	0:56c5742b9e2b	1691	v\|=qr_img_get_bit(_img,_width,_height,_p[i][j][0]+dx,_p[i][j][1]+dy)<<k;
RyoheiHagimoto	0:56c5742b9e2b	1692	}
RyoheiHagimoto	0:56c5742b9e2b	1693	return v;
RyoheiHagimoto	0:56c5742b9e2b	1694	}
RyoheiHagimoto	0:56c5742b9e2b	1695
RyoheiHagimoto	0:56c5742b9e2b	1696	/Searches for an alignment pattern near the given location./
RyoheiHagimoto	0:56c5742b9e2b	1697	static int qr_alignment_pattern_search(qr_point _p,const qr_hom_cell *_cell,
RyoheiHagimoto	0:56c5742b9e2b	1698	int _u,int _v,int _r,const unsigned char *_img,int _width,int _height){
RyoheiHagimoto	0:56c5742b9e2b	1699	qr_point c[4];
RyoheiHagimoto	0:56c5742b9e2b	1700	int nc[4];
RyoheiHagimoto	0:56c5742b9e2b	1701	qr_point p[5][5];
RyoheiHagimoto	0:56c5742b9e2b	1702	qr_point pc;
RyoheiHagimoto	0:56c5742b9e2b	1703	unsigned best_match;
RyoheiHagimoto	0:56c5742b9e2b	1704	int best_dist;
RyoheiHagimoto	0:56c5742b9e2b	1705	int bestx;
RyoheiHagimoto	0:56c5742b9e2b	1706	int besty;
RyoheiHagimoto	0:56c5742b9e2b	1707	unsigned match;
RyoheiHagimoto	0:56c5742b9e2b	1708	int dist;
RyoheiHagimoto	0:56c5742b9e2b	1709	int u;
RyoheiHagimoto	0:56c5742b9e2b	1710	int v;
RyoheiHagimoto	0:56c5742b9e2b	1711	int x0;
RyoheiHagimoto	0:56c5742b9e2b	1712	int y0;
RyoheiHagimoto	0:56c5742b9e2b	1713	int w0;
RyoheiHagimoto	0:56c5742b9e2b	1714	int x;
RyoheiHagimoto	0:56c5742b9e2b	1715	int y;
RyoheiHagimoto	0:56c5742b9e2b	1716	int w;
RyoheiHagimoto	0:56c5742b9e2b	1717	int dxdu;
RyoheiHagimoto	0:56c5742b9e2b	1718	int dydu;
RyoheiHagimoto	0:56c5742b9e2b	1719	int dwdu;
RyoheiHagimoto	0:56c5742b9e2b	1720	int dxdv;
RyoheiHagimoto	0:56c5742b9e2b	1721	int dydv;
RyoheiHagimoto	0:56c5742b9e2b	1722	int dwdv;
RyoheiHagimoto	0:56c5742b9e2b	1723	int dx;
RyoheiHagimoto	0:56c5742b9e2b	1724	int dy;
RyoheiHagimoto	0:56c5742b9e2b	1725	int i;
RyoheiHagimoto	0:56c5742b9e2b	1726	int j;
RyoheiHagimoto	0:56c5742b9e2b	1727	/*Build up a basic template using _cell to control shape and scale.
RyoheiHagimoto	0:56c5742b9e2b	1728	We project the points in the template back to the image just once, since if
RyoheiHagimoto	0:56c5742b9e2b	1729	the alignment pattern has moved, we don't really know why.
RyoheiHagimoto	0:56c5742b9e2b	1730	If it's because of radial distortion, or the code wasn't flat, or something
RyoheiHagimoto	0:56c5742b9e2b	1731	else, there's no reason to expect that a re-projection around each
RyoheiHagimoto	0:56c5742b9e2b	1732	subsequent search point would be any closer to the actual shape than our
RyoheiHagimoto	0:56c5742b9e2b	1733	first projection.
RyoheiHagimoto	0:56c5742b9e2b	1734	Therefore we simply slide this template around, as is.*/
RyoheiHagimoto	0:56c5742b9e2b	1735	u=(_u-2)-_cell->u0;
RyoheiHagimoto	0:56c5742b9e2b	1736	v=(_v-2)-_cell->v0;
RyoheiHagimoto	0:56c5742b9e2b	1737	x0=_cell->fwd[0][0]u+_cell->fwd[0][1]v+_cell->fwd[0][2];
RyoheiHagimoto	0:56c5742b9e2b	1738	y0=_cell->fwd[1][0]u+_cell->fwd[1][1]v+_cell->fwd[1][2];
RyoheiHagimoto	0:56c5742b9e2b	1739	w0=_cell->fwd[2][0]u+_cell->fwd[2][1]v+_cell->fwd[2][2];
RyoheiHagimoto	0:56c5742b9e2b	1740	dxdu=_cell->fwd[0][0];
RyoheiHagimoto	0:56c5742b9e2b	1741	dydu=_cell->fwd[1][0];
RyoheiHagimoto	0:56c5742b9e2b	1742	dwdu=_cell->fwd[2][0];
RyoheiHagimoto	0:56c5742b9e2b	1743	dxdv=_cell->fwd[0][1];
RyoheiHagimoto	0:56c5742b9e2b	1744	dydv=_cell->fwd[1][1];
RyoheiHagimoto	0:56c5742b9e2b	1745	dwdv=_cell->fwd[2][1];
RyoheiHagimoto	0:56c5742b9e2b	1746	for(i=0;i<5;i++){
RyoheiHagimoto	0:56c5742b9e2b	1747	x=x0;
RyoheiHagimoto	0:56c5742b9e2b	1748	y=y0;
RyoheiHagimoto	0:56c5742b9e2b	1749	w=w0;
RyoheiHagimoto	0:56c5742b9e2b	1750	for(j=0;j<5;j++){
RyoheiHagimoto	0:56c5742b9e2b	1751	qr_hom_cell_fproject(p[i][j],_cell,x,y,w);
RyoheiHagimoto	0:56c5742b9e2b	1752	x+=dxdu;
RyoheiHagimoto	0:56c5742b9e2b	1753	y+=dydu;
RyoheiHagimoto	0:56c5742b9e2b	1754	w+=dwdu;
RyoheiHagimoto	0:56c5742b9e2b	1755	}
RyoheiHagimoto	0:56c5742b9e2b	1756	x0+=dxdv;
RyoheiHagimoto	0:56c5742b9e2b	1757	y0+=dydv;
RyoheiHagimoto	0:56c5742b9e2b	1758	w0+=dwdv;
RyoheiHagimoto	0:56c5742b9e2b	1759	}
RyoheiHagimoto	0:56c5742b9e2b	1760	bestx=p[2][2][0];
RyoheiHagimoto	0:56c5742b9e2b	1761	besty=p[2][2][1];
RyoheiHagimoto	0:56c5742b9e2b	1762	best_match=qr_alignment_pattern_fetch(p,bestx,besty,_img,_width,_height);
RyoheiHagimoto	0:56c5742b9e2b	1763	best_dist=qr_hamming_dist(best_match,0x1F8D63F,25);
RyoheiHagimoto	0:56c5742b9e2b	1764	if(best_dist>0){
RyoheiHagimoto	0:56c5742b9e2b	1765	u=_u-_cell->u0;
RyoheiHagimoto	0:56c5742b9e2b	1766	v=_v-_cell->v0;
RyoheiHagimoto	0:56c5742b9e2b	1767	x=_cell->fwd[0][0]u+_cell->fwd[0][1]v+_cell->fwd[0][2]<<QR_ALIGN_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	1768	y=_cell->fwd[1][0]u+_cell->fwd[1][1]v+_cell->fwd[1][2]<<QR_ALIGN_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	1769	w=_cell->fwd[2][0]u+_cell->fwd[2][1]v+_cell->fwd[2][2]<<QR_ALIGN_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	1770	/*Search an area at most _r modules around the target location, in
RyoheiHagimoto	0:56c5742b9e2b	1771	concentric squares..*/
RyoheiHagimoto	0:56c5742b9e2b	1772	for(i=1;i<_r<<QR_ALIGN_SUBPREC;i++){
RyoheiHagimoto	0:56c5742b9e2b	1773	int side_len;
RyoheiHagimoto	0:56c5742b9e2b	1774	side_len=(i<<1)-1;
RyoheiHagimoto	0:56c5742b9e2b	1775	x-=dxdu+dxdv;
RyoheiHagimoto	0:56c5742b9e2b	1776	y-=dydu+dydv;
RyoheiHagimoto	0:56c5742b9e2b	1777	w-=dwdu+dwdv;
RyoheiHagimoto	0:56c5742b9e2b	1778	for(j=0;j<4*side_len;j++){
RyoheiHagimoto	0:56c5742b9e2b	1779	int dir;
RyoheiHagimoto	0:56c5742b9e2b	1780	qr_hom_cell_fproject(pc,_cell,x,y,w);
RyoheiHagimoto	0:56c5742b9e2b	1781	match=qr_alignment_pattern_fetch(p,pc[0],pc[1],_img,_width,_height);
RyoheiHagimoto	0:56c5742b9e2b	1782	dist=qr_hamming_dist(match,0x1F8D63F,best_dist+1);
RyoheiHagimoto	0:56c5742b9e2b	1783	if(dist<best_dist){
RyoheiHagimoto	0:56c5742b9e2b	1784	best_match=match;
RyoheiHagimoto	0:56c5742b9e2b	1785	best_dist=dist;
RyoheiHagimoto	0:56c5742b9e2b	1786	bestx=pc[0];
RyoheiHagimoto	0:56c5742b9e2b	1787	besty=pc[1];
RyoheiHagimoto	0:56c5742b9e2b	1788	}
RyoheiHagimoto	0:56c5742b9e2b	1789	if(j<2*side_len){
RyoheiHagimoto	0:56c5742b9e2b	1790	dir=j>=side_len;
RyoheiHagimoto	0:56c5742b9e2b	1791	x+=_cell->fwd[0][dir];
RyoheiHagimoto	0:56c5742b9e2b	1792	y+=_cell->fwd[1][dir];
RyoheiHagimoto	0:56c5742b9e2b	1793	w+=_cell->fwd[2][dir];
RyoheiHagimoto	0:56c5742b9e2b	1794	}
RyoheiHagimoto	0:56c5742b9e2b	1795	else{
RyoheiHagimoto	0:56c5742b9e2b	1796	dir=j>=3*side_len;
RyoheiHagimoto	0:56c5742b9e2b	1797	x-=_cell->fwd[0][dir];
RyoheiHagimoto	0:56c5742b9e2b	1798	y-=_cell->fwd[1][dir];
RyoheiHagimoto	0:56c5742b9e2b	1799	w-=_cell->fwd[2][dir];
RyoheiHagimoto	0:56c5742b9e2b	1800	}
RyoheiHagimoto	0:56c5742b9e2b	1801	if(!best_dist)break;
RyoheiHagimoto	0:56c5742b9e2b	1802	}
RyoheiHagimoto	0:56c5742b9e2b	1803	if(!best_dist)break;
RyoheiHagimoto	0:56c5742b9e2b	1804	}
RyoheiHagimoto	0:56c5742b9e2b	1805	}
RyoheiHagimoto	0:56c5742b9e2b	1806	/*If the best result we got was sufficiently bad, reject the match.
RyoheiHagimoto	0:56c5742b9e2b	1807	If we're wrong and we include it, we can grossly distort the nearby
RyoheiHagimoto	0:56c5742b9e2b	1808	region, whereas using the initial starting point should at least be
RyoheiHagimoto	0:56c5742b9e2b	1809	consistent with the geometry we already have.*/
RyoheiHagimoto	0:56c5742b9e2b	1810	if(best_dist>6){
RyoheiHagimoto	0:56c5742b9e2b	1811	_p[0]=p[2][2][0];
RyoheiHagimoto	0:56c5742b9e2b	1812	_p[1]=p[2][2][1];
RyoheiHagimoto	0:56c5742b9e2b	1813	return -1;
RyoheiHagimoto	0:56c5742b9e2b	1814	}
RyoheiHagimoto	0:56c5742b9e2b	1815	/Now try to get a more accurate location of the pattern center./
RyoheiHagimoto	0:56c5742b9e2b	1816	dx=bestx-p[2][2][0];
RyoheiHagimoto	0:56c5742b9e2b	1817	dy=besty-p[2][2][1];
RyoheiHagimoto	0:56c5742b9e2b	1818	memset(nc,0,sizeof(nc));
RyoheiHagimoto	0:56c5742b9e2b	1819	memset(c,0,sizeof(c));
RyoheiHagimoto	0:56c5742b9e2b	1820	/*We consider 8 lines across the finder pattern in turn.
RyoheiHagimoto	0:56c5742b9e2b	1821	If we actually found a symmetric pattern along that line, search for its
RyoheiHagimoto	0:56c5742b9e2b	1822	exact center in the image.
RyoheiHagimoto	0:56c5742b9e2b	1823	There are plenty more lines we could use if these don't work, but if we've
RyoheiHagimoto	0:56c5742b9e2b	1824	found anything remotely close to an alignment pattern, we should be able
RyoheiHagimoto	0:56c5742b9e2b	1825	to use most of these.*/
RyoheiHagimoto	0:56c5742b9e2b	1826	for(i=0;i<8;i++){
RyoheiHagimoto	0:56c5742b9e2b	1827	static const unsigned MASK_TESTS[8][2]={
RyoheiHagimoto	0:56c5742b9e2b	1828	{0x1040041,0x1000001},{0x0041040,0x0001000},
RyoheiHagimoto	0:56c5742b9e2b	1829	{0x0110110,0x0100010},{0x0011100,0x0001000},
RyoheiHagimoto	0:56c5742b9e2b	1830	{0x0420084,0x0400004},{0x0021080,0x0001000},
RyoheiHagimoto	0:56c5742b9e2b	1831	{0x0006C00,0x0004400},{0x0003800,0x0001000},
RyoheiHagimoto	0:56c5742b9e2b	1832	};
RyoheiHagimoto	0:56c5742b9e2b	1833	static const unsigned char MASK_COORDS[8][2]={
RyoheiHagimoto	0:56c5742b9e2b	1834	{0,0},{1,1},{4,0},{3,1},{2,0},{2,1},{0,2},{1,2}
RyoheiHagimoto	0:56c5742b9e2b	1835	};
RyoheiHagimoto	0:56c5742b9e2b	1836	if((best_match&MASK_TESTS[i][0])==MASK_TESTS[i][1]){
RyoheiHagimoto	0:56c5742b9e2b	1837	int x0;
RyoheiHagimoto	0:56c5742b9e2b	1838	int y0;
RyoheiHagimoto	0:56c5742b9e2b	1839	int x1;
RyoheiHagimoto	0:56c5742b9e2b	1840	int y1;
RyoheiHagimoto	0:56c5742b9e2b	1841	x0=p[MASK_COORDS[i][1]][MASK_COORDS[i][0]][0]+dx>>QR_FINDER_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	1842	if(x0<0\|\|x0>=_width)continue;
RyoheiHagimoto	0:56c5742b9e2b	1843	y0=p[MASK_COORDS[i][1]][MASK_COORDS[i][0]][1]+dy>>QR_FINDER_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	1844	if(y0<0\|\|y0>=_height)continue;
RyoheiHagimoto	0:56c5742b9e2b	1845	x1=p[4-MASK_COORDS[i][1]][4-MASK_COORDS[i][0]][0]+dx>>QR_FINDER_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	1846	if(x1<0\|\|x1>=_width)continue;
RyoheiHagimoto	0:56c5742b9e2b	1847	y1=p[4-MASK_COORDS[i][1]][4-MASK_COORDS[i][0]][1]+dy>>QR_FINDER_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	1848	if(y1<0\|\|y1>=_height)continue;
RyoheiHagimoto	0:56c5742b9e2b	1849	if(!qr_finder_locate_crossing(_img,_width,_height,x0,y0,x1,y1,i&1,pc)){
RyoheiHagimoto	0:56c5742b9e2b	1850	int w;
RyoheiHagimoto	0:56c5742b9e2b	1851	int cx;
RyoheiHagimoto	0:56c5742b9e2b	1852	int cy;
RyoheiHagimoto	0:56c5742b9e2b	1853	cx=pc[0]-bestx;
RyoheiHagimoto	0:56c5742b9e2b	1854	cy=pc[1]-besty;
RyoheiHagimoto	0:56c5742b9e2b	1855	if(i&1){
RyoheiHagimoto	0:56c5742b9e2b	1856	/*Weight crossings around the center dot more highly, as they are
RyoheiHagimoto	0:56c5742b9e2b	1857	generally more reliable.*/
RyoheiHagimoto	0:56c5742b9e2b	1858	w=3;
RyoheiHagimoto	0:56c5742b9e2b	1859	cx+=cx<<1;
RyoheiHagimoto	0:56c5742b9e2b	1860	cy+=cy<<1;
RyoheiHagimoto	0:56c5742b9e2b	1861	}
RyoheiHagimoto	0:56c5742b9e2b	1862	else w=1;
RyoheiHagimoto	0:56c5742b9e2b	1863	nc[i>>1]+=w;
RyoheiHagimoto	0:56c5742b9e2b	1864	c[i>>1][0]+=cx;
RyoheiHagimoto	0:56c5742b9e2b	1865	c[i>>1][1]+=cy;
RyoheiHagimoto	0:56c5742b9e2b	1866	}
RyoheiHagimoto	0:56c5742b9e2b	1867	}
RyoheiHagimoto	0:56c5742b9e2b	1868	}
RyoheiHagimoto	0:56c5742b9e2b	1869	/Sum offsets from lines in orthogonal directions./
RyoheiHagimoto	0:56c5742b9e2b	1870	for(i=0;i<2;i++){
RyoheiHagimoto	0:56c5742b9e2b	1871	int a;
RyoheiHagimoto	0:56c5742b9e2b	1872	int b;
RyoheiHagimoto	0:56c5742b9e2b	1873	a=nc[i<<1];
RyoheiHagimoto	0:56c5742b9e2b	1874	b=nc[i<<1\|1];
RyoheiHagimoto	0:56c5742b9e2b	1875	if(a&&b){
RyoheiHagimoto	0:56c5742b9e2b	1876	int w;
RyoheiHagimoto	0:56c5742b9e2b	1877	w=QR_MAXI(a,b);
RyoheiHagimoto	0:56c5742b9e2b	1878	c[i<<1][0]=QR_DIVROUND(w(bc[i<<1][0]+ac[i<<1\|1][0]),ab);
RyoheiHagimoto	0:56c5742b9e2b	1879	c[i<<1][1]=QR_DIVROUND(w(bc[i<<1][1]+ac[i<<1\|1][1]),ab);
RyoheiHagimoto	0:56c5742b9e2b	1880	nc[i<<1]=w<<1;
RyoheiHagimoto	0:56c5742b9e2b	1881	}
RyoheiHagimoto	0:56c5742b9e2b	1882	else{
RyoheiHagimoto	0:56c5742b9e2b	1883	c[i<<1][0]+=c[i<<1\|1][0];
RyoheiHagimoto	0:56c5742b9e2b	1884	c[i<<1][1]+=c[i<<1\|1][1];
RyoheiHagimoto	0:56c5742b9e2b	1885	nc[i<<1]+=b;
RyoheiHagimoto	0:56c5742b9e2b	1886	}
RyoheiHagimoto	0:56c5742b9e2b	1887	}
RyoheiHagimoto	0:56c5742b9e2b	1888	/Average offsets from pairs of orthogonal lines./
RyoheiHagimoto	0:56c5742b9e2b	1889	c[0][0]+=c[2][0];
RyoheiHagimoto	0:56c5742b9e2b	1890	c[0][1]+=c[2][1];
RyoheiHagimoto	0:56c5742b9e2b	1891	nc[0]+=nc[2];
RyoheiHagimoto	0:56c5742b9e2b	1892	/If we actually found any such lines, apply the adjustment./
RyoheiHagimoto	0:56c5742b9e2b	1893	if(nc[0]){
RyoheiHagimoto	0:56c5742b9e2b	1894	dx=QR_DIVROUND(c[0][0],nc[0]);
RyoheiHagimoto	0:56c5742b9e2b	1895	dy=QR_DIVROUND(c[0][1],nc[0]);
RyoheiHagimoto	0:56c5742b9e2b	1896	/But only if it doesn't make things worse./
RyoheiHagimoto	0:56c5742b9e2b	1897	match=qr_alignment_pattern_fetch(p,bestx+dx,besty+dy,_img,_width,_height);
RyoheiHagimoto	0:56c5742b9e2b	1898	dist=qr_hamming_dist(match,0x1F8D63F,best_dist+1);
RyoheiHagimoto	0:56c5742b9e2b	1899	if(dist<=best_dist){
RyoheiHagimoto	0:56c5742b9e2b	1900	bestx+=dx;
RyoheiHagimoto	0:56c5742b9e2b	1901	besty+=dy;
RyoheiHagimoto	0:56c5742b9e2b	1902	}
RyoheiHagimoto	0:56c5742b9e2b	1903	}
RyoheiHagimoto	0:56c5742b9e2b	1904	_p[0]=bestx;
RyoheiHagimoto	0:56c5742b9e2b	1905	_p[1]=besty;
RyoheiHagimoto	0:56c5742b9e2b	1906	return 0;
RyoheiHagimoto	0:56c5742b9e2b	1907	}
RyoheiHagimoto	0:56c5742b9e2b	1908
RyoheiHagimoto	0:56c5742b9e2b	1909	static int qr_hom_fit(qr_hom _hom,qr_finder _ul,qr_finder *_ur,
RyoheiHagimoto	0:56c5742b9e2b	1910	qr_finder _dl,qr_point _p[4],const qr_aff _aff,isaac_ctx *_isaac,
RyoheiHagimoto	0:56c5742b9e2b	1911	const unsigned char *_img,int _width,int _height){
RyoheiHagimoto	0:56c5742b9e2b	1912	qr_point *b;
RyoheiHagimoto	0:56c5742b9e2b	1913	int nb;
RyoheiHagimoto	0:56c5742b9e2b	1914	int cb;
RyoheiHagimoto	0:56c5742b9e2b	1915	qr_point *r;
RyoheiHagimoto	0:56c5742b9e2b	1916	int nr;
RyoheiHagimoto	0:56c5742b9e2b	1917	int cr;
RyoheiHagimoto	0:56c5742b9e2b	1918	qr_line l[4];
RyoheiHagimoto	0:56c5742b9e2b	1919	qr_point q;
RyoheiHagimoto	0:56c5742b9e2b	1920	qr_point p;
RyoheiHagimoto	0:56c5742b9e2b	1921	int ox;
RyoheiHagimoto	0:56c5742b9e2b	1922	int oy;
RyoheiHagimoto	0:56c5742b9e2b	1923	int ru;
RyoheiHagimoto	0:56c5742b9e2b	1924	int rv;
RyoheiHagimoto	0:56c5742b9e2b	1925	int dru;
RyoheiHagimoto	0:56c5742b9e2b	1926	int drv;
RyoheiHagimoto	0:56c5742b9e2b	1927	int bu;
RyoheiHagimoto	0:56c5742b9e2b	1928	int bv;
RyoheiHagimoto	0:56c5742b9e2b	1929	int dbu;
RyoheiHagimoto	0:56c5742b9e2b	1930	int dbv;
RyoheiHagimoto	0:56c5742b9e2b	1931	int rx;
RyoheiHagimoto	0:56c5742b9e2b	1932	int ry;
RyoheiHagimoto	0:56c5742b9e2b	1933	int drxi;
RyoheiHagimoto	0:56c5742b9e2b	1934	int dryi;
RyoheiHagimoto	0:56c5742b9e2b	1935	int drxj;
RyoheiHagimoto	0:56c5742b9e2b	1936	int dryj;
RyoheiHagimoto	0:56c5742b9e2b	1937	int rdone;
RyoheiHagimoto	0:56c5742b9e2b	1938	int nrempty;
RyoheiHagimoto	0:56c5742b9e2b	1939	int rlastfit;
RyoheiHagimoto	0:56c5742b9e2b	1940	int bx;
RyoheiHagimoto	0:56c5742b9e2b	1941	int by;
RyoheiHagimoto	0:56c5742b9e2b	1942	int dbxi;
RyoheiHagimoto	0:56c5742b9e2b	1943	int dbyi;
RyoheiHagimoto	0:56c5742b9e2b	1944	int dbxj;
RyoheiHagimoto	0:56c5742b9e2b	1945	int dbyj;
RyoheiHagimoto	0:56c5742b9e2b	1946	int bdone;
RyoheiHagimoto	0:56c5742b9e2b	1947	int nbempty;
RyoheiHagimoto	0:56c5742b9e2b	1948	int blastfit;
RyoheiHagimoto	0:56c5742b9e2b	1949	int shift;
RyoheiHagimoto	0:56c5742b9e2b	1950	int round;
RyoheiHagimoto	0:56c5742b9e2b	1951	int version4;
RyoheiHagimoto	0:56c5742b9e2b	1952	int brx;
RyoheiHagimoto	0:56c5742b9e2b	1953	int bry;
RyoheiHagimoto	0:56c5742b9e2b	1954	int i;
RyoheiHagimoto	0:56c5742b9e2b	1955	/*We attempt to correct large-scale perspective distortion by fitting lines
RyoheiHagimoto	0:56c5742b9e2b	1956	to the edge of the code area.
RyoheiHagimoto	0:56c5742b9e2b	1957	We could also look for an alignment pattern now, but that wouldn't work for
RyoheiHagimoto	0:56c5742b9e2b	1958	version 1 codes, which have no alignment pattern.
RyoheiHagimoto	0:56c5742b9e2b	1959	Even if the code is supposed to have one, there's go guarantee we'd find it
RyoheiHagimoto	0:56c5742b9e2b	1960	intact.*/
RyoheiHagimoto	0:56c5742b9e2b	1961	/*Fitting lines is easy for the edges on which we have two finder patterns.
RyoheiHagimoto	0:56c5742b9e2b	1962	After the fit, UL is guaranteed to be on the proper side, but if either of
RyoheiHagimoto	0:56c5742b9e2b	1963	the other two finder patterns aren't, something is wrong.*/
RyoheiHagimoto	0:56c5742b9e2b	1964	qr_finder_ransac(_ul,_aff,_isaac,0);
RyoheiHagimoto	0:56c5742b9e2b	1965	qr_finder_ransac(_dl,_aff,_isaac,0);
RyoheiHagimoto	0:56c5742b9e2b	1966	qr_line_fit_finder_pair(l[0],_aff,_ul,_dl,0);
RyoheiHagimoto	0:56c5742b9e2b	1967	if(qr_line_eval(l[0],_dl->c->pos[0],_dl->c->pos[1])<0\|\|
RyoheiHagimoto	0:56c5742b9e2b	1968	qr_line_eval(l[0],_ur->c->pos[0],_ur->c->pos[1])<0){
RyoheiHagimoto	0:56c5742b9e2b	1969	return -1;
RyoheiHagimoto	0:56c5742b9e2b	1970	}
RyoheiHagimoto	0:56c5742b9e2b	1971	qr_finder_ransac(_ul,_aff,_isaac,2);
RyoheiHagimoto	0:56c5742b9e2b	1972	qr_finder_ransac(_ur,_aff,_isaac,2);
RyoheiHagimoto	0:56c5742b9e2b	1973	qr_line_fit_finder_pair(l[2],_aff,_ul,_ur,2);
RyoheiHagimoto	0:56c5742b9e2b	1974	if(qr_line_eval(l[2],_dl->c->pos[0],_dl->c->pos[1])<0\|\|
RyoheiHagimoto	0:56c5742b9e2b	1975	qr_line_eval(l[2],_ur->c->pos[0],_ur->c->pos[1])<0){
RyoheiHagimoto	0:56c5742b9e2b	1976	return -1;
RyoheiHagimoto	0:56c5742b9e2b	1977	}
RyoheiHagimoto	0:56c5742b9e2b	1978	/*The edges which only have one finder pattern are more difficult.
RyoheiHagimoto	0:56c5742b9e2b	1979	We start by fitting a line to the edge of the one finder pattern we do
RyoheiHagimoto	0:56c5742b9e2b	1980	have.
RyoheiHagimoto	0:56c5742b9e2b	1981	This can fail due to an insufficient number of sample points, and even if
RyoheiHagimoto	0:56c5742b9e2b	1982	it succeeds can be fairly inaccurate, because all of the points are
RyoheiHagimoto	0:56c5742b9e2b	1983	clustered in one corner of the QR code.
RyoheiHagimoto	0:56c5742b9e2b	1984	If it fails, we just use an axis-aligned line in the affine coordinate
RyoheiHagimoto	0:56c5742b9e2b	1985	system.
RyoheiHagimoto	0:56c5742b9e2b	1986	Then we walk along the edge of the entire code, looking for
RyoheiHagimoto	0:56c5742b9e2b	1987	light:dark:light patterns perpendicular to the edge.
RyoheiHagimoto	0:56c5742b9e2b	1988	Wherever we find one, we take the center of the dark portion as an
RyoheiHagimoto	0:56c5742b9e2b	1989	additional sample point.
RyoheiHagimoto	0:56c5742b9e2b	1990	At the end, we re-fit the line using all such sample points found.*/
RyoheiHagimoto	0:56c5742b9e2b	1991	drv=_ur->size[1]>>1;
RyoheiHagimoto	0:56c5742b9e2b	1992	qr_finder_ransac(_ur,_aff,_isaac,1);
RyoheiHagimoto	0:56c5742b9e2b	1993	if(qr_line_fit_finder_edge(l[1],_ur,1,_aff->res)>=0){
RyoheiHagimoto	0:56c5742b9e2b	1994	if(qr_line_eval(l[1],_ul->c->pos[0],_ul->c->pos[1])<0\|\|
RyoheiHagimoto	0:56c5742b9e2b	1995	qr_line_eval(l[1],_dl->c->pos[0],_dl->c->pos[1])<0){
RyoheiHagimoto	0:56c5742b9e2b	1996	return -1;
RyoheiHagimoto	0:56c5742b9e2b	1997	}
RyoheiHagimoto	0:56c5742b9e2b	1998	/*Figure out the change in ru for a given change in rv when stepping along
RyoheiHagimoto	0:56c5742b9e2b	1999	the fitted line.*/
RyoheiHagimoto	0:56c5742b9e2b	2000	if(qr_aff_line_step(_aff,l[1],1,drv,&dru)<0)return -1;
RyoheiHagimoto	0:56c5742b9e2b	2001	}
RyoheiHagimoto	0:56c5742b9e2b	2002	else dru=0;
RyoheiHagimoto	0:56c5742b9e2b	2003	ru=_ur->o[0]+3_ur->size[0]-2dru;
RyoheiHagimoto	0:56c5742b9e2b	2004	rv=_ur->o[1]-2*drv;
RyoheiHagimoto	0:56c5742b9e2b	2005	dbu=_dl->size[0]>>1;
RyoheiHagimoto	0:56c5742b9e2b	2006	qr_finder_ransac(_dl,_aff,_isaac,3);
RyoheiHagimoto	0:56c5742b9e2b	2007	if(qr_line_fit_finder_edge(l[3],_dl,3,_aff->res)>=0){
RyoheiHagimoto	0:56c5742b9e2b	2008	if(qr_line_eval(l[3],_ul->c->pos[0],_ul->c->pos[1])<0\|\|
RyoheiHagimoto	0:56c5742b9e2b	2009	qr_line_eval(l[3],_ur->c->pos[0],_ur->c->pos[1])<0){
RyoheiHagimoto	0:56c5742b9e2b	2010	return -1;
RyoheiHagimoto	0:56c5742b9e2b	2011	}
RyoheiHagimoto	0:56c5742b9e2b	2012	/*Figure out the change in bv for a given change in bu when stepping along
RyoheiHagimoto	0:56c5742b9e2b	2013	the fitted line.*/
RyoheiHagimoto	0:56c5742b9e2b	2014	if(qr_aff_line_step(_aff,l[3],0,dbu,&dbv)<0)return -1;
RyoheiHagimoto	0:56c5742b9e2b	2015	}
RyoheiHagimoto	0:56c5742b9e2b	2016	else dbv=0;
RyoheiHagimoto	0:56c5742b9e2b	2017	bu=_dl->o[0]-2*dbu;
RyoheiHagimoto	0:56c5742b9e2b	2018	bv=_dl->o[1]+3_dl->size[1]-2dbv;
RyoheiHagimoto	0:56c5742b9e2b	2019	/Set up the initial point lists./
RyoheiHagimoto	0:56c5742b9e2b	2020	nr=rlastfit=_ur->ninliers[1];
RyoheiHagimoto	0:56c5742b9e2b	2021	cr=nr+(_dl->o[1]-rv+drv-1)/drv;
RyoheiHagimoto	0:56c5742b9e2b	2022	r=(qr_point )malloc(crsizeof(*r));
RyoheiHagimoto	0:56c5742b9e2b	2023	for(i=0;i<_ur->ninliers[1];i++){
RyoheiHagimoto	0:56c5742b9e2b	2024	memcpy(r[i],_ur->edge_pts[1][i].pos,sizeof(r[i]));
RyoheiHagimoto	0:56c5742b9e2b	2025	}
RyoheiHagimoto	0:56c5742b9e2b	2026	nb=blastfit=_dl->ninliers[3];
RyoheiHagimoto	0:56c5742b9e2b	2027	cb=nb+(_ur->o[0]-bu+dbu-1)/dbu;
RyoheiHagimoto	0:56c5742b9e2b	2028	b=(qr_point )malloc(cbsizeof(*b));
RyoheiHagimoto	0:56c5742b9e2b	2029	for(i=0;i<_dl->ninliers[3];i++){
RyoheiHagimoto	0:56c5742b9e2b	2030	memcpy(b[i],_dl->edge_pts[3][i].pos,sizeof(b[i]));
RyoheiHagimoto	0:56c5742b9e2b	2031	}
RyoheiHagimoto	0:56c5742b9e2b	2032	/Set up the step parameters for the affine projection./
RyoheiHagimoto	0:56c5742b9e2b	2033	ox=(_aff->x0<<_aff->res)+(1<<_aff->res-1);
RyoheiHagimoto	0:56c5742b9e2b	2034	oy=(_aff->y0<<_aff->res)+(1<<_aff->res-1);
RyoheiHagimoto	0:56c5742b9e2b	2035	rx=_aff->fwd[0][0]ru+_aff->fwd[0][1]rv+ox;
RyoheiHagimoto	0:56c5742b9e2b	2036	ry=_aff->fwd[1][0]ru+_aff->fwd[1][1]rv+oy;
RyoheiHagimoto	0:56c5742b9e2b	2037	drxi=_aff->fwd[0][0]dru+_aff->fwd[0][1]drv;
RyoheiHagimoto	0:56c5742b9e2b	2038	dryi=_aff->fwd[1][0]dru+_aff->fwd[1][1]drv;
RyoheiHagimoto	0:56c5742b9e2b	2039	drxj=_aff->fwd[0][0]*_ur->size[0];
RyoheiHagimoto	0:56c5742b9e2b	2040	dryj=_aff->fwd[1][0]*_ur->size[0];
RyoheiHagimoto	0:56c5742b9e2b	2041	bx=_aff->fwd[0][0]bu+_aff->fwd[0][1]bv+ox;
RyoheiHagimoto	0:56c5742b9e2b	2042	by=_aff->fwd[1][0]bu+_aff->fwd[1][1]bv+oy;
RyoheiHagimoto	0:56c5742b9e2b	2043	dbxi=_aff->fwd[0][0]dbu+_aff->fwd[0][1]dbv;
RyoheiHagimoto	0:56c5742b9e2b	2044	dbyi=_aff->fwd[1][0]dbu+_aff->fwd[1][1]dbv;
RyoheiHagimoto	0:56c5742b9e2b	2045	dbxj=_aff->fwd[0][1]*_dl->size[1];
RyoheiHagimoto	0:56c5742b9e2b	2046	dbyj=_aff->fwd[1][1]*_dl->size[1];
RyoheiHagimoto	0:56c5742b9e2b	2047	/Now step along the lines, looking for new sample points./
RyoheiHagimoto	0:56c5742b9e2b	2048	nrempty=nbempty=0;
RyoheiHagimoto	0:56c5742b9e2b	2049	for(;;){
RyoheiHagimoto	0:56c5742b9e2b	2050	int ret;
RyoheiHagimoto	0:56c5742b9e2b	2051	int x0;
RyoheiHagimoto	0:56c5742b9e2b	2052	int y0;
RyoheiHagimoto	0:56c5742b9e2b	2053	int x1;
RyoheiHagimoto	0:56c5742b9e2b	2054	int y1;
RyoheiHagimoto	0:56c5742b9e2b	2055	/*If we take too many steps without encountering a non-zero pixel, assume
RyoheiHagimoto	0:56c5742b9e2b	2056	we have wandered off the edge and stop looking before we hit the other
RyoheiHagimoto	0:56c5742b9e2b	2057	side of the quiet region.
RyoheiHagimoto	0:56c5742b9e2b	2058	Otherwise, stop when the lines cross (if they do so inside the affine
RyoheiHagimoto	0:56c5742b9e2b	2059	region) or come close to crossing (outside the affine region).
RyoheiHagimoto	0:56c5742b9e2b	2060	TODO: We don't have any way of detecting when we've wandered into the
RyoheiHagimoto	0:56c5742b9e2b	2061	code interior; we could stop if the outside sample ever shows up dark,
RyoheiHagimoto	0:56c5742b9e2b	2062	but this could happen because of noise in the quiet region, too.*/
RyoheiHagimoto	0:56c5742b9e2b	2063	rdone=rv>=QR_MINI(bv,_dl->o[1]+bv>>1)\|\|nrempty>14;
RyoheiHagimoto	0:56c5742b9e2b	2064	bdone=bu>=QR_MINI(ru,_ur->o[0]+ru>>1)\|\|nbempty>14;
RyoheiHagimoto	0:56c5742b9e2b	2065	if(!rdone&&(bdone\|\|rv<bu)){
RyoheiHagimoto	0:56c5742b9e2b	2066	x0=rx+drxj>>_aff->res+QR_FINDER_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	2067	y0=ry+dryj>>_aff->res+QR_FINDER_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	2068	x1=rx-drxj>>_aff->res+QR_FINDER_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	2069	y1=ry-dryj>>_aff->res+QR_FINDER_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	2070	if(nr>=cr){
RyoheiHagimoto	0:56c5742b9e2b	2071	cr=cr<<1\|1;
RyoheiHagimoto	0:56c5742b9e2b	2072	r=(qr_point )realloc(r,crsizeof(*r));
RyoheiHagimoto	0:56c5742b9e2b	2073	}
RyoheiHagimoto	0:56c5742b9e2b	2074	ret=qr_finder_quick_crossing_check(_img,_width,_height,x0,y0,x1,y1,1);
RyoheiHagimoto	0:56c5742b9e2b	2075	if(!ret){
RyoheiHagimoto	0:56c5742b9e2b	2076	ret=qr_finder_locate_crossing(_img,_width,_height,x0,y0,x1,y1,1,r[nr]);
RyoheiHagimoto	0:56c5742b9e2b	2077	}
RyoheiHagimoto	0:56c5742b9e2b	2078	if(ret>=0){
RyoheiHagimoto	0:56c5742b9e2b	2079	if(!ret){
RyoheiHagimoto	0:56c5742b9e2b	2080	qr_aff_unproject(q,_aff,r[nr][0],r[nr][1]);
RyoheiHagimoto	0:56c5742b9e2b	2081	/*Move the current point halfway towards the crossing.
RyoheiHagimoto	0:56c5742b9e2b	2082	We don't move the whole way to give us some robustness to noise.*/
RyoheiHagimoto	0:56c5742b9e2b	2083	ru=ru+q[0]>>1;
RyoheiHagimoto	0:56c5742b9e2b	2084	/But ensure that rv monotonically increases./
RyoheiHagimoto	0:56c5742b9e2b	2085	if(q[1]+drv>rv)rv=rv+q[1]>>1;
RyoheiHagimoto	0:56c5742b9e2b	2086	rx=_aff->fwd[0][0]ru+_aff->fwd[0][1]rv+ox;
RyoheiHagimoto	0:56c5742b9e2b	2087	ry=_aff->fwd[1][0]ru+_aff->fwd[1][1]rv+oy;
RyoheiHagimoto	0:56c5742b9e2b	2088	nr++;
RyoheiHagimoto	0:56c5742b9e2b	2089	/Re-fit the line to update the step direction periodically./
RyoheiHagimoto	0:56c5742b9e2b	2090	if(nr>QR_MAXI(1,rlastfit+(rlastfit>>2))){
RyoheiHagimoto	0:56c5742b9e2b	2091	qr_line_fit_points(l[1],r,nr,_aff->res);
RyoheiHagimoto	0:56c5742b9e2b	2092	if(qr_aff_line_step(_aff,l[1],1,drv,&dru)>=0){
RyoheiHagimoto	0:56c5742b9e2b	2093	drxi=_aff->fwd[0][0]dru+_aff->fwd[0][1]drv;
RyoheiHagimoto	0:56c5742b9e2b	2094	dryi=_aff->fwd[1][0]dru+_aff->fwd[1][1]drv;
RyoheiHagimoto	0:56c5742b9e2b	2095	}
RyoheiHagimoto	0:56c5742b9e2b	2096	rlastfit=nr;
RyoheiHagimoto	0:56c5742b9e2b	2097	}
RyoheiHagimoto	0:56c5742b9e2b	2098	}
RyoheiHagimoto	0:56c5742b9e2b	2099	else nrempty=0;
RyoheiHagimoto	0:56c5742b9e2b	2100	}
RyoheiHagimoto	0:56c5742b9e2b	2101	else nrempty++;
RyoheiHagimoto	0:56c5742b9e2b	2102	ru+=dru;
RyoheiHagimoto	0:56c5742b9e2b	2103	/Our final defense: if we overflow, stop./
RyoheiHagimoto	0:56c5742b9e2b	2104	if(rv+drv>rv)rv+=drv;
RyoheiHagimoto	0:56c5742b9e2b	2105	else nrempty=INT_MAX;
RyoheiHagimoto	0:56c5742b9e2b	2106	rx+=drxi;
RyoheiHagimoto	0:56c5742b9e2b	2107	ry+=dryi;
RyoheiHagimoto	0:56c5742b9e2b	2108	}
RyoheiHagimoto	0:56c5742b9e2b	2109	else if(!bdone){
RyoheiHagimoto	0:56c5742b9e2b	2110	x0=bx+dbxj>>_aff->res+QR_FINDER_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	2111	y0=by+dbyj>>_aff->res+QR_FINDER_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	2112	x1=bx-dbxj>>_aff->res+QR_FINDER_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	2113	y1=by-dbyj>>_aff->res+QR_FINDER_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	2114	if(nb>=cb){
RyoheiHagimoto	0:56c5742b9e2b	2115	cb=cb<<1\|1;
RyoheiHagimoto	0:56c5742b9e2b	2116	b=(qr_point )realloc(b,cbsizeof(*b));
RyoheiHagimoto	0:56c5742b9e2b	2117	}
RyoheiHagimoto	0:56c5742b9e2b	2118	ret=qr_finder_quick_crossing_check(_img,_width,_height,x0,y0,x1,y1,1);
RyoheiHagimoto	0:56c5742b9e2b	2119	if(!ret){
RyoheiHagimoto	0:56c5742b9e2b	2120	ret=qr_finder_locate_crossing(_img,_width,_height,x0,y0,x1,y1,1,b[nb]);
RyoheiHagimoto	0:56c5742b9e2b	2121	}
RyoheiHagimoto	0:56c5742b9e2b	2122	if(ret>=0){
RyoheiHagimoto	0:56c5742b9e2b	2123	if(!ret){
RyoheiHagimoto	0:56c5742b9e2b	2124	qr_aff_unproject(q,_aff,b[nb][0],b[nb][1]);
RyoheiHagimoto	0:56c5742b9e2b	2125	/*Move the current point halfway towards the crossing.
RyoheiHagimoto	0:56c5742b9e2b	2126	We don't move the whole way to give us some robustness to noise.*/
RyoheiHagimoto	0:56c5742b9e2b	2127	/But ensure that bu monotonically increases./
RyoheiHagimoto	0:56c5742b9e2b	2128	if(q[0]+dbu>bu)bu=bu+q[0]>>1;
RyoheiHagimoto	0:56c5742b9e2b	2129	bv=bv+q[1]>>1;
RyoheiHagimoto	0:56c5742b9e2b	2130	bx=_aff->fwd[0][0]bu+_aff->fwd[0][1]bv+ox;
RyoheiHagimoto	0:56c5742b9e2b	2131	by=_aff->fwd[1][0]bu+_aff->fwd[1][1]bv+oy;
RyoheiHagimoto	0:56c5742b9e2b	2132	nb++;
RyoheiHagimoto	0:56c5742b9e2b	2133	/Re-fit the line to update the step direction periodically./
RyoheiHagimoto	0:56c5742b9e2b	2134	if(nb>QR_MAXI(1,blastfit+(blastfit>>2))){
RyoheiHagimoto	0:56c5742b9e2b	2135	qr_line_fit_points(l[3],b,nb,_aff->res);
RyoheiHagimoto	0:56c5742b9e2b	2136	if(qr_aff_line_step(_aff,l[3],0,dbu,&dbv)>=0){
RyoheiHagimoto	0:56c5742b9e2b	2137	dbxi=_aff->fwd[0][0]dbu+_aff->fwd[0][1]dbv;
RyoheiHagimoto	0:56c5742b9e2b	2138	dbyi=_aff->fwd[1][0]dbu+_aff->fwd[1][1]dbv;
RyoheiHagimoto	0:56c5742b9e2b	2139	}
RyoheiHagimoto	0:56c5742b9e2b	2140	blastfit=nb;
RyoheiHagimoto	0:56c5742b9e2b	2141	}
RyoheiHagimoto	0:56c5742b9e2b	2142	}
RyoheiHagimoto	0:56c5742b9e2b	2143	nbempty=0;
RyoheiHagimoto	0:56c5742b9e2b	2144	}
RyoheiHagimoto	0:56c5742b9e2b	2145	else nbempty++;
RyoheiHagimoto	0:56c5742b9e2b	2146	/Our final defense: if we overflow, stop./
RyoheiHagimoto	0:56c5742b9e2b	2147	if(bu+dbu>bu)bu+=dbu;
RyoheiHagimoto	0:56c5742b9e2b	2148	else nbempty=INT_MAX;
RyoheiHagimoto	0:56c5742b9e2b	2149	bv+=dbv;
RyoheiHagimoto	0:56c5742b9e2b	2150	bx+=dbxi;
RyoheiHagimoto	0:56c5742b9e2b	2151	by+=dbyi;
RyoheiHagimoto	0:56c5742b9e2b	2152	}
RyoheiHagimoto	0:56c5742b9e2b	2153	else break;
RyoheiHagimoto	0:56c5742b9e2b	2154	}
RyoheiHagimoto	0:56c5742b9e2b	2155	/*Fit the new lines.
RyoheiHagimoto	0:56c5742b9e2b	2156	If we _still_ don't have enough sample points, then just use an
RyoheiHagimoto	0:56c5742b9e2b	2157	axis-aligned line from the affine coordinate system (e.g., one parallel
RyoheiHagimoto	0:56c5742b9e2b	2158	to the opposite edge in the image).*/
RyoheiHagimoto	0:56c5742b9e2b	2159	if(nr>1)qr_line_fit_points(l[1],r,nr,_aff->res);
RyoheiHagimoto	0:56c5742b9e2b	2160	else{
RyoheiHagimoto	0:56c5742b9e2b	2161	qr_aff_project(p,_aff,_ur->o[0]+3*_ur->size[0],_ur->o[1]);
RyoheiHagimoto	0:56c5742b9e2b	2162	shift=QR_MAXI(0,
RyoheiHagimoto	0:56c5742b9e2b	2163	qr_ilog(QR_MAXI(abs(_aff->fwd[0][1]),abs(_aff->fwd[1][1])))
RyoheiHagimoto	0:56c5742b9e2b	2164	-(_aff->res+1>>1));
RyoheiHagimoto	0:56c5742b9e2b	2165	round=(1<<shift)>>1;
RyoheiHagimoto	0:56c5742b9e2b	2166	l[1][0]=_aff->fwd[1][1]+round>>shift;
RyoheiHagimoto	0:56c5742b9e2b	2167	l[1][1]=-_aff->fwd[0][1]+round>>shift;
RyoheiHagimoto	0:56c5742b9e2b	2168	l[1][2]=-(l[1][0]p[0]+l[1][1]p[1]);
RyoheiHagimoto	0:56c5742b9e2b	2169	}
RyoheiHagimoto	0:56c5742b9e2b	2170	free(r);
RyoheiHagimoto	0:56c5742b9e2b	2171	if(nb>1)qr_line_fit_points(l[3],b,nb,_aff->res);
RyoheiHagimoto	0:56c5742b9e2b	2172	else{
RyoheiHagimoto	0:56c5742b9e2b	2173	qr_aff_project(p,_aff,_dl->o[0],_dl->o[1]+3*_dl->size[1]);
RyoheiHagimoto	0:56c5742b9e2b	2174	shift=QR_MAXI(0,
RyoheiHagimoto	0:56c5742b9e2b	2175	qr_ilog(QR_MAXI(abs(_aff->fwd[0][1]),abs(_aff->fwd[1][1])))
RyoheiHagimoto	0:56c5742b9e2b	2176	-(_aff->res+1>>1));
RyoheiHagimoto	0:56c5742b9e2b	2177	round=(1<<shift)>>1;
RyoheiHagimoto	0:56c5742b9e2b	2178	l[3][0]=_aff->fwd[1][0]+round>>shift;
RyoheiHagimoto	0:56c5742b9e2b	2179	l[3][1]=-_aff->fwd[0][0]+round>>shift;
RyoheiHagimoto	0:56c5742b9e2b	2180	l[3][2]=-(l[1][0]p[0]+l[1][1]p[1]);
RyoheiHagimoto	0:56c5742b9e2b	2181	}
RyoheiHagimoto	0:56c5742b9e2b	2182	free(b);
RyoheiHagimoto	0:56c5742b9e2b	2183	for(i=0;i<4;i++){
RyoheiHagimoto	0:56c5742b9e2b	2184	if(qr_line_isect(_p[i],l[i&1],l[2+(i>>1)])<0)return -1;
RyoheiHagimoto	0:56c5742b9e2b	2185	/*It's plausible for points to be somewhat outside the image, but too far
RyoheiHagimoto	0:56c5742b9e2b	2186	and too much of the pattern will be gone for it to be decodable.*/
RyoheiHagimoto	0:56c5742b9e2b	2187	if(_p[i][0]<-_width<<QR_FINDER_SUBPREC\|\|
RyoheiHagimoto	0:56c5742b9e2b	2188	_p[i][0]>=_width<<QR_FINDER_SUBPREC+1\|\|
RyoheiHagimoto	0:56c5742b9e2b	2189	_p[i][1]<-_height<<QR_FINDER_SUBPREC\|\|
RyoheiHagimoto	0:56c5742b9e2b	2190	_p[i][1]>=_height<<QR_FINDER_SUBPREC+1){
RyoheiHagimoto	0:56c5742b9e2b	2191	return -1;
RyoheiHagimoto	0:56c5742b9e2b	2192	}
RyoheiHagimoto	0:56c5742b9e2b	2193	}
RyoheiHagimoto	0:56c5742b9e2b	2194	/By default, use the edge intersection point for the bottom-right corner./
RyoheiHagimoto	0:56c5742b9e2b	2195	brx=_p[3][0];
RyoheiHagimoto	0:56c5742b9e2b	2196	bry=_p[3][1];
RyoheiHagimoto	0:56c5742b9e2b	2197	/*However, if our average version estimate is greater than 1, NOW we try to
RyoheiHagimoto	0:56c5742b9e2b	2198	search for an alignment pattern.
RyoheiHagimoto	0:56c5742b9e2b	2199	We get a much better success rate by doing this after our initial attempt
RyoheiHagimoto	0:56c5742b9e2b	2200	to promote the transform to a homography than before.
RyoheiHagimoto	0:56c5742b9e2b	2201	You might also think it would be more reliable to use the interior finder
RyoheiHagimoto	0:56c5742b9e2b	2202	pattern edges, since the outer ones may be obscured or damaged, and it
RyoheiHagimoto	0:56c5742b9e2b	2203	would save us a reprojection below, since they would form a nice square
RyoheiHagimoto	0:56c5742b9e2b	2204	with the location of the alignment pattern, but this turns out to be a bad
RyoheiHagimoto	0:56c5742b9e2b	2205	idea.
RyoheiHagimoto	0:56c5742b9e2b	2206	Non-linear distortion is usually maximal on the outside edge, and thus
RyoheiHagimoto	0:56c5742b9e2b	2207	estimating the grid position from points on the interior means we might
RyoheiHagimoto	0:56c5742b9e2b	2208	get mis-aligned by the time we reach the edge.*/
RyoheiHagimoto	0:56c5742b9e2b	2209	version4=_ul->eversion[0]+_ul->eversion[1]+_ur->eversion[0]+_dl->eversion[1];
RyoheiHagimoto	0:56c5742b9e2b	2210	if(version4>4){
RyoheiHagimoto	0:56c5742b9e2b	2211	qr_hom_cell cell;
RyoheiHagimoto	0:56c5742b9e2b	2212	qr_point p3;
RyoheiHagimoto	0:56c5742b9e2b	2213	int dim;
RyoheiHagimoto	0:56c5742b9e2b	2214	dim=17+version4;
RyoheiHagimoto	0:56c5742b9e2b	2215	qr_hom_cell_init(&cell,0,0,dim-1,0,0,dim-1,dim-1,dim-1,
RyoheiHagimoto	0:56c5742b9e2b	2216	_p[0][0],_p[0][1],_p[1][0],_p[1][1],
RyoheiHagimoto	0:56c5742b9e2b	2217	_p[2][0],_p[2][1],_p[3][0],_p[3][1]);
RyoheiHagimoto	0:56c5742b9e2b	2218	if(qr_alignment_pattern_search(p3,&cell,dim-7,dim-7,4,
RyoheiHagimoto	0:56c5742b9e2b	2219	_img,_width,_height)>=0){
RyoheiHagimoto	0:56c5742b9e2b	2220	int c21;
RyoheiHagimoto	0:56c5742b9e2b	2221	int dx21;
RyoheiHagimoto	0:56c5742b9e2b	2222	int dy21;
RyoheiHagimoto	0:56c5742b9e2b	2223	int mask;
RyoheiHagimoto	0:56c5742b9e2b	2224	int w;
RyoheiHagimoto	0:56c5742b9e2b	2225	/*There's no real need to update the bounding box corner, and in fact we
RyoheiHagimoto	0:56c5742b9e2b	2226	actively perform worse if we do.
RyoheiHagimoto	0:56c5742b9e2b	2227	Clearly it was good enough for us to find this alignment pattern, so
RyoheiHagimoto	0:56c5742b9e2b	2228	it should be good enough to use for grid initialization.
RyoheiHagimoto	0:56c5742b9e2b	2229	The point of doing the search was to get more accurate version
RyoheiHagimoto	0:56c5742b9e2b	2230	estimates and a better chance of decoding the version and format info.
RyoheiHagimoto	0:56c5742b9e2b	2231	This is particularly important for small versions that have no encoded
RyoheiHagimoto	0:56c5742b9e2b	2232	version info, since any mismatch in version renders the code
RyoheiHagimoto	0:56c5742b9e2b	2233	undecodable.*/
RyoheiHagimoto	0:56c5742b9e2b	2234	/*We do, however, need four points in a square to initialize our
RyoheiHagimoto	0:56c5742b9e2b	2235	homography, so project the point from the alignment center to the
RyoheiHagimoto	0:56c5742b9e2b	2236	corner of the code area.*/
RyoheiHagimoto	0:56c5742b9e2b	2237	c21=_p[2][0]_p[1][1]-_p[2][1]_p[1][0];
RyoheiHagimoto	0:56c5742b9e2b	2238	dx21=_p[2][0]-_p[1][0];
RyoheiHagimoto	0:56c5742b9e2b	2239	dy21=_p[2][1]-_p[1][1];
RyoheiHagimoto	0:56c5742b9e2b	2240	w=(dim-7)*c21
RyoheiHagimoto	0:56c5742b9e2b	2241	+(dim-13)(_p[0][0]dy21-_p[0][1]dx21)+6(p3[0]dy21-p3[1]dx21);
RyoheiHagimoto	0:56c5742b9e2b	2242	mask=QR_SIGNMASK(w);
RyoheiHagimoto	0:56c5742b9e2b	2243	w=abs(w);
RyoheiHagimoto	0:56c5742b9e2b	2244	brx=(int)QR_DIVROUND(QR_EXTMUL((dim-7)_p[0][0],p3[0]dy21,
RyoheiHagimoto	0:56c5742b9e2b	2245	QR_EXTMUL((dim-13)p3[0],c21-_p[0][1]dx21,
RyoheiHagimoto	0:56c5742b9e2b	2246	QR_EXTMUL(6_p[0][0],c21-p3[1]dx21,0)))+mask^mask,w);
RyoheiHagimoto	0:56c5742b9e2b	2247	bry=(int)QR_DIVROUND(QR_EXTMUL((dim-7)_p[0][1],-p3[1]dx21,
RyoheiHagimoto	0:56c5742b9e2b	2248	QR_EXTMUL((dim-13)p3[1],c21+_p[0][0]dy21,
RyoheiHagimoto	0:56c5742b9e2b	2249	QR_EXTMUL(6_p[0][1],c21+p3[0]dy21,0)))+mask^mask,w);
RyoheiHagimoto	0:56c5742b9e2b	2250	}
RyoheiHagimoto	0:56c5742b9e2b	2251	}
RyoheiHagimoto	0:56c5742b9e2b	2252	/Now we have four points that map to a square: initialize the projection./
RyoheiHagimoto	0:56c5742b9e2b	2253	qr_hom_init(_hom,_p[0][0],_p[0][1],_p[1][0],_p[1][1],
RyoheiHagimoto	0:56c5742b9e2b	2254	_p[2][0],_p[2][1],brx,bry,QR_HOM_BITS);
RyoheiHagimoto	0:56c5742b9e2b	2255	return 0;
RyoheiHagimoto	0:56c5742b9e2b	2256	}
RyoheiHagimoto	0:56c5742b9e2b	2257
RyoheiHagimoto	0:56c5742b9e2b	2258
RyoheiHagimoto	0:56c5742b9e2b	2259
RyoheiHagimoto	0:56c5742b9e2b	2260	/*The BCH(18,6,3) codes are only used for version information, which must lie
RyoheiHagimoto	0:56c5742b9e2b	2261	between 7 and 40 (inclusive).*/
RyoheiHagimoto	0:56c5742b9e2b	2262	static const unsigned BCH18_6_CODES[34]={
RyoheiHagimoto	0:56c5742b9e2b	2263	0x07C94,
RyoheiHagimoto	0:56c5742b9e2b	2264	0x085BC,0x09A99,0x0A4D3,0x0BBF6,0x0C762,0x0D847,0x0E60D,0x0F928,
RyoheiHagimoto	0:56c5742b9e2b	2265	0x10B78,0x1145D,0x12A17,0x13532,0x149A6,0x15683,0x168C9,0x177EC,
RyoheiHagimoto	0:56c5742b9e2b	2266	0x18EC4,0x191E1,0x1AFAB,0x1B08E,0x1CC1A,0x1D33F,0x1ED75,0x1F250,
RyoheiHagimoto	0:56c5742b9e2b	2267	0x209D5,0x216F0,0x228BA,0x2379F,0x24B0B,0x2542E,0x26A64,0x27541,
RyoheiHagimoto	0:56c5742b9e2b	2268	0x28C69
RyoheiHagimoto	0:56c5742b9e2b	2269	};
RyoheiHagimoto	0:56c5742b9e2b	2270
RyoheiHagimoto	0:56c5742b9e2b	2271	/*Corrects a BCH(18,6,3) code word.
RyoheiHagimoto	0:56c5742b9e2b	2272	_y: Contains the code word to be checked on input, and the corrected value on
RyoheiHagimoto	0:56c5742b9e2b	2273	output.
RyoheiHagimoto	0:56c5742b9e2b	2274	Return: The number of errors.
RyoheiHagimoto	0:56c5742b9e2b	2275	If more than 3 errors are detected, returns a negative value and
RyoheiHagimoto	0:56c5742b9e2b	2276	performs no correction.*/
RyoheiHagimoto	0:56c5742b9e2b	2277	static int bch18_6_correct(unsigned *_y){
RyoheiHagimoto	0:56c5742b9e2b	2278	unsigned x;
RyoheiHagimoto	0:56c5742b9e2b	2279	unsigned y;
RyoheiHagimoto	0:56c5742b9e2b	2280	int nerrs;
RyoheiHagimoto	0:56c5742b9e2b	2281	y=*_y;
RyoheiHagimoto	0:56c5742b9e2b	2282	/Check the easy case first: see if the data bits were uncorrupted./
RyoheiHagimoto	0:56c5742b9e2b	2283	x=y>>12;
RyoheiHagimoto	0:56c5742b9e2b	2284	if(x>=7&&x<=40){
RyoheiHagimoto	0:56c5742b9e2b	2285	nerrs=qr_hamming_dist(y,BCH18_6_CODES[x-7],4);
RyoheiHagimoto	0:56c5742b9e2b	2286	if(nerrs<4){
RyoheiHagimoto	0:56c5742b9e2b	2287	*_y=BCH18_6_CODES[x-7];
RyoheiHagimoto	0:56c5742b9e2b	2288	return nerrs;
RyoheiHagimoto	0:56c5742b9e2b	2289	}
RyoheiHagimoto	0:56c5742b9e2b	2290	}
RyoheiHagimoto	0:56c5742b9e2b	2291	/Exhaustive search is faster than field operations in GF(19)./
RyoheiHagimoto	0:56c5742b9e2b	2292	for(x=0;x<34;x++)if(x+7!=y>>12){
RyoheiHagimoto	0:56c5742b9e2b	2293	nerrs=qr_hamming_dist(y,BCH18_6_CODES[x],4);
RyoheiHagimoto	0:56c5742b9e2b	2294	if(nerrs<4){
RyoheiHagimoto	0:56c5742b9e2b	2295	*_y=BCH18_6_CODES[x];
RyoheiHagimoto	0:56c5742b9e2b	2296	return nerrs;
RyoheiHagimoto	0:56c5742b9e2b	2297	}
RyoheiHagimoto	0:56c5742b9e2b	2298	}
RyoheiHagimoto	0:56c5742b9e2b	2299	return -1;
RyoheiHagimoto	0:56c5742b9e2b	2300	}
RyoheiHagimoto	0:56c5742b9e2b	2301
RyoheiHagimoto	0:56c5742b9e2b	2302	#if 0
RyoheiHagimoto	0:56c5742b9e2b	2303	static unsigned bch18_6_encode(unsigned _x){
RyoheiHagimoto	0:56c5742b9e2b	2304	return (-(_x&1)&0x01F25)^(-(_x>>1&1)&0x0216F)^(-(_x>>2&1)&0x042DE)^
RyoheiHagimoto	0:56c5742b9e2b	2305	(-(_x>>3&1)&0x085BC)^(-(_x>>4&1)&0x10B78)^(-(_x>>5&1)&0x209D5);
RyoheiHagimoto	0:56c5742b9e2b	2306	}
RyoheiHagimoto	0:56c5742b9e2b	2307	#endif
RyoheiHagimoto	0:56c5742b9e2b	2308
RyoheiHagimoto	0:56c5742b9e2b	2309	/Reads the version bits near a finder module and decodes the version number./
RyoheiHagimoto	0:56c5742b9e2b	2310	static int qr_finder_version_decode(qr_finder _f,const qr_hom _hom,
RyoheiHagimoto	0:56c5742b9e2b	2311	const unsigned char *_img,int _width,int _height,int _dir){
RyoheiHagimoto	0:56c5742b9e2b	2312	qr_point q;
RyoheiHagimoto	0:56c5742b9e2b	2313	unsigned v;
RyoheiHagimoto	0:56c5742b9e2b	2314	int x0;
RyoheiHagimoto	0:56c5742b9e2b	2315	int y0;
RyoheiHagimoto	0:56c5742b9e2b	2316	int w0;
RyoheiHagimoto	0:56c5742b9e2b	2317	int dxi;
RyoheiHagimoto	0:56c5742b9e2b	2318	int dyi;
RyoheiHagimoto	0:56c5742b9e2b	2319	int dwi;
RyoheiHagimoto	0:56c5742b9e2b	2320	int dxj;
RyoheiHagimoto	0:56c5742b9e2b	2321	int dyj;
RyoheiHagimoto	0:56c5742b9e2b	2322	int dwj;
RyoheiHagimoto	0:56c5742b9e2b	2323	int ret;
RyoheiHagimoto	0:56c5742b9e2b	2324	int i;
RyoheiHagimoto	0:56c5742b9e2b	2325	int j;
RyoheiHagimoto	0:56c5742b9e2b	2326	int k;
RyoheiHagimoto	0:56c5742b9e2b	2327	v=0;
RyoheiHagimoto	0:56c5742b9e2b	2328	q[_dir]=_f->o[_dir]-7*_f->size[_dir];
RyoheiHagimoto	0:56c5742b9e2b	2329	q[1-_dir]=_f->o[1-_dir]-3*_f->size[1-_dir];
RyoheiHagimoto	0:56c5742b9e2b	2330	x0=_hom->fwd[0][0]q[0]+_hom->fwd[0][1]q[1];
RyoheiHagimoto	0:56c5742b9e2b	2331	y0=_hom->fwd[1][0]q[0]+_hom->fwd[1][1]q[1];
RyoheiHagimoto	0:56c5742b9e2b	2332	w0=_hom->fwd[2][0]q[0]+_hom->fwd[2][1]q[1]+_hom->fwd22;
RyoheiHagimoto	0:56c5742b9e2b	2333	dxi=_hom->fwd[0][1-_dir]*_f->size[1-_dir];
RyoheiHagimoto	0:56c5742b9e2b	2334	dyi=_hom->fwd[1][1-_dir]*_f->size[1-_dir];
RyoheiHagimoto	0:56c5742b9e2b	2335	dwi=_hom->fwd[2][1-_dir]*_f->size[1-_dir];
RyoheiHagimoto	0:56c5742b9e2b	2336	dxj=_hom->fwd[0][_dir]*_f->size[_dir];
RyoheiHagimoto	0:56c5742b9e2b	2337	dyj=_hom->fwd[1][_dir]*_f->size[_dir];
RyoheiHagimoto	0:56c5742b9e2b	2338	dwj=_hom->fwd[2][_dir]*_f->size[_dir];
RyoheiHagimoto	0:56c5742b9e2b	2339	for(k=i=0;i<6;i++){
RyoheiHagimoto	0:56c5742b9e2b	2340	int x;
RyoheiHagimoto	0:56c5742b9e2b	2341	int y;
RyoheiHagimoto	0:56c5742b9e2b	2342	int w;
RyoheiHagimoto	0:56c5742b9e2b	2343	x=x0;
RyoheiHagimoto	0:56c5742b9e2b	2344	y=y0;
RyoheiHagimoto	0:56c5742b9e2b	2345	w=w0;
RyoheiHagimoto	0:56c5742b9e2b	2346	for(j=0;j<3;j++,k++){
RyoheiHagimoto	0:56c5742b9e2b	2347	qr_point p;
RyoheiHagimoto	0:56c5742b9e2b	2348	qr_hom_fproject(p,_hom,x,y,w);
RyoheiHagimoto	0:56c5742b9e2b	2349	v\|=qr_img_get_bit(_img,_width,_height,p[0],p[1])<<k;
RyoheiHagimoto	0:56c5742b9e2b	2350	x+=dxj;
RyoheiHagimoto	0:56c5742b9e2b	2351	y+=dyj;
RyoheiHagimoto	0:56c5742b9e2b	2352	w+=dwj;
RyoheiHagimoto	0:56c5742b9e2b	2353	}
RyoheiHagimoto	0:56c5742b9e2b	2354	x0+=dxi;
RyoheiHagimoto	0:56c5742b9e2b	2355	y0+=dyi;
RyoheiHagimoto	0:56c5742b9e2b	2356	w0+=dwi;
RyoheiHagimoto	0:56c5742b9e2b	2357	}
RyoheiHagimoto	0:56c5742b9e2b	2358	ret=bch18_6_correct(&v);
RyoheiHagimoto	0:56c5742b9e2b	2359	/*TODO: I'd certainly hope the order the version bits is accessed in is
RyoheiHagimoto	0:56c5742b9e2b	2360	well-defined, but I seem to have images for two different codes with the
RyoheiHagimoto	0:56c5742b9e2b	2361	same version using two different orders?
RyoheiHagimoto	0:56c5742b9e2b	2362	Maybe the other one is a model 1 code?
RyoheiHagimoto	0:56c5742b9e2b	2363	Even if I parse the version here, I can't decode the rest of the code.
RyoheiHagimoto	0:56c5742b9e2b	2364	If this is really needed, we should just re-order the bits.*/
RyoheiHagimoto	0:56c5742b9e2b	2365	#if 0
RyoheiHagimoto	0:56c5742b9e2b	2366	if(ret<0){
RyoheiHagimoto	0:56c5742b9e2b	2367	/*17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
RyoheiHagimoto	0:56c5742b9e2b	2368	0 3 6 9 12 15 1 4 7 10 13 16 2 5 8 11 14 17
RyoheiHagimoto	0:56c5742b9e2b	2369	17 13 9 5 1 -3 10 6 2 -2 -6-10 3 -1 -5 -9-13-17*/
RyoheiHagimoto	0:56c5742b9e2b	2370	v=0;
RyoheiHagimoto	0:56c5742b9e2b	2371	for(k=i=0;i<3;i++){
RyoheiHagimoto	0:56c5742b9e2b	2372	p[_dir]=_f->o[_dir]+_f->size[_dir]*(-5-i);
RyoheiHagimoto	0:56c5742b9e2b	2373	for(j=0;j<6;j++,k++){
RyoheiHagimoto	0:56c5742b9e2b	2374	qr_point q;
RyoheiHagimoto	0:56c5742b9e2b	2375	p[1-_dir]=_f->o[1-_dir]+_f->size[1-_dir]*(2-j);
RyoheiHagimoto	0:56c5742b9e2b	2376	qr_hom_project(q,_hom,p[0],p[1]);
RyoheiHagimoto	0:56c5742b9e2b	2377	v\|=qr_img_get_bit(_img,_width,_height,q[0],q[1])<<k;
RyoheiHagimoto	0:56c5742b9e2b	2378	}
RyoheiHagimoto	0:56c5742b9e2b	2379	}
RyoheiHagimoto	0:56c5742b9e2b	2380	ret=bch18_6_correct(&v);
RyoheiHagimoto	0:56c5742b9e2b	2381	}
RyoheiHagimoto	0:56c5742b9e2b	2382	#endif
RyoheiHagimoto	0:56c5742b9e2b	2383	return ret>=0?(int)(v>>12):ret;
RyoheiHagimoto	0:56c5742b9e2b	2384	}
RyoheiHagimoto	0:56c5742b9e2b	2385
RyoheiHagimoto	0:56c5742b9e2b	2386	/Reads the format info bits near the finder modules and decodes them./
RyoheiHagimoto	0:56c5742b9e2b	2387	static int qr_finder_fmt_info_decode(qr_finder _ul,qr_finder _ur,
RyoheiHagimoto	0:56c5742b9e2b	2388	qr_finder _dl,const qr_hom _hom,
RyoheiHagimoto	0:56c5742b9e2b	2389	const unsigned char *_img,int _width,int _height){
RyoheiHagimoto	0:56c5742b9e2b	2390	qr_point p;
RyoheiHagimoto	0:56c5742b9e2b	2391	unsigned lo[2];
RyoheiHagimoto	0:56c5742b9e2b	2392	unsigned hi[2];
RyoheiHagimoto	0:56c5742b9e2b	2393	int u;
RyoheiHagimoto	0:56c5742b9e2b	2394	int v;
RyoheiHagimoto	0:56c5742b9e2b	2395	int x;
RyoheiHagimoto	0:56c5742b9e2b	2396	int y;
RyoheiHagimoto	0:56c5742b9e2b	2397	int w;
RyoheiHagimoto	0:56c5742b9e2b	2398	int dx;
RyoheiHagimoto	0:56c5742b9e2b	2399	int dy;
RyoheiHagimoto	0:56c5742b9e2b	2400	int dw;
RyoheiHagimoto	0:56c5742b9e2b	2401	int fmt_info[4];
RyoheiHagimoto	0:56c5742b9e2b	2402	int count[4];
RyoheiHagimoto	0:56c5742b9e2b	2403	int nerrs[4];
RyoheiHagimoto	0:56c5742b9e2b	2404	int nfmt_info;
RyoheiHagimoto	0:56c5742b9e2b	2405	int besti;
RyoheiHagimoto	0:56c5742b9e2b	2406	int imax;
RyoheiHagimoto	0:56c5742b9e2b	2407	int di;
RyoheiHagimoto	0:56c5742b9e2b	2408	int i;
RyoheiHagimoto	0:56c5742b9e2b	2409	int k;
RyoheiHagimoto	0:56c5742b9e2b	2410	/Read the bits around the UL corner./
RyoheiHagimoto	0:56c5742b9e2b	2411	lo[0]=0;
RyoheiHagimoto	0:56c5742b9e2b	2412	u=_ul->o[0]+5*_ul->size[0];
RyoheiHagimoto	0:56c5742b9e2b	2413	v=_ul->o[1]-3*_ul->size[1];
RyoheiHagimoto	0:56c5742b9e2b	2414	x=_hom->fwd[0][0]u+_hom->fwd[0][1]v;
RyoheiHagimoto	0:56c5742b9e2b	2415	y=_hom->fwd[1][0]u+_hom->fwd[1][1]v;
RyoheiHagimoto	0:56c5742b9e2b	2416	w=_hom->fwd[2][0]u+_hom->fwd[2][1]v+_hom->fwd22;
RyoheiHagimoto	0:56c5742b9e2b	2417	dx=_hom->fwd[0][1]*_ul->size[1];
RyoheiHagimoto	0:56c5742b9e2b	2418	dy=_hom->fwd[1][1]*_ul->size[1];
RyoheiHagimoto	0:56c5742b9e2b	2419	dw=_hom->fwd[2][1]*_ul->size[1];
RyoheiHagimoto	0:56c5742b9e2b	2420	for(k=i=0;;i++){
RyoheiHagimoto	0:56c5742b9e2b	2421	/Skip the timing pattern row./
RyoheiHagimoto	0:56c5742b9e2b	2422	if(i!=6){
RyoheiHagimoto	0:56c5742b9e2b	2423	qr_hom_fproject(p,_hom,x,y,w);
RyoheiHagimoto	0:56c5742b9e2b	2424	lo[0]\|=qr_img_get_bit(_img,_width,_height,p[0],p[1])<<k++;
RyoheiHagimoto	0:56c5742b9e2b	2425	/*Don't advance q in the last iteration... we'll start the next loop from
RyoheiHagimoto	0:56c5742b9e2b	2426	the current position.*/
RyoheiHagimoto	0:56c5742b9e2b	2427	if(i>=8)break;
RyoheiHagimoto	0:56c5742b9e2b	2428	}
RyoheiHagimoto	0:56c5742b9e2b	2429	x+=dx;
RyoheiHagimoto	0:56c5742b9e2b	2430	y+=dy;
RyoheiHagimoto	0:56c5742b9e2b	2431	w+=dw;
RyoheiHagimoto	0:56c5742b9e2b	2432	}
RyoheiHagimoto	0:56c5742b9e2b	2433	hi[0]=0;
RyoheiHagimoto	0:56c5742b9e2b	2434	dx=-_hom->fwd[0][0]*_ul->size[0];
RyoheiHagimoto	0:56c5742b9e2b	2435	dy=-_hom->fwd[1][0]*_ul->size[0];
RyoheiHagimoto	0:56c5742b9e2b	2436	dw=-_hom->fwd[2][0]*_ul->size[0];
RyoheiHagimoto	0:56c5742b9e2b	2437	while(i-->0){
RyoheiHagimoto	0:56c5742b9e2b	2438	x+=dx;
RyoheiHagimoto	0:56c5742b9e2b	2439	y+=dy;
RyoheiHagimoto	0:56c5742b9e2b	2440	w+=dw;
RyoheiHagimoto	0:56c5742b9e2b	2441	/Skip the timing pattern column./
RyoheiHagimoto	0:56c5742b9e2b	2442	if(i!=6){
RyoheiHagimoto	0:56c5742b9e2b	2443	qr_hom_fproject(p,_hom,x,y,w);
RyoheiHagimoto	0:56c5742b9e2b	2444	hi[0]\|=qr_img_get_bit(_img,_width,_height,p[0],p[1])<<k++;
RyoheiHagimoto	0:56c5742b9e2b	2445	}
RyoheiHagimoto	0:56c5742b9e2b	2446	}
RyoheiHagimoto	0:56c5742b9e2b	2447	/Read the bits next to the UR corner./
RyoheiHagimoto	0:56c5742b9e2b	2448	lo[1]=0;
RyoheiHagimoto	0:56c5742b9e2b	2449	u=_ur->o[0]+3*_ur->size[0];
RyoheiHagimoto	0:56c5742b9e2b	2450	v=_ur->o[1]+5*_ur->size[1];
RyoheiHagimoto	0:56c5742b9e2b	2451	x=_hom->fwd[0][0]u+_hom->fwd[0][1]v;
RyoheiHagimoto	0:56c5742b9e2b	2452	y=_hom->fwd[1][0]u+_hom->fwd[1][1]v;
RyoheiHagimoto	0:56c5742b9e2b	2453	w=_hom->fwd[2][0]u+_hom->fwd[2][1]v+_hom->fwd22;
RyoheiHagimoto	0:56c5742b9e2b	2454	dx=-_hom->fwd[0][0]*_ur->size[0];
RyoheiHagimoto	0:56c5742b9e2b	2455	dy=-_hom->fwd[1][0]*_ur->size[0];
RyoheiHagimoto	0:56c5742b9e2b	2456	dw=-_hom->fwd[2][0]*_ur->size[0];
RyoheiHagimoto	0:56c5742b9e2b	2457	for(k=0;k<8;k++){
RyoheiHagimoto	0:56c5742b9e2b	2458	qr_hom_fproject(p,_hom,x,y,w);
RyoheiHagimoto	0:56c5742b9e2b	2459	lo[1]\|=qr_img_get_bit(_img,_width,_height,p[0],p[1])<<k;
RyoheiHagimoto	0:56c5742b9e2b	2460	x+=dx;
RyoheiHagimoto	0:56c5742b9e2b	2461	y+=dy;
RyoheiHagimoto	0:56c5742b9e2b	2462	w+=dw;
RyoheiHagimoto	0:56c5742b9e2b	2463	}
RyoheiHagimoto	0:56c5742b9e2b	2464	/Read the bits next to the DL corner./
RyoheiHagimoto	0:56c5742b9e2b	2465	hi[1]=0;
RyoheiHagimoto	0:56c5742b9e2b	2466	u=_dl->o[0]+5*_dl->size[0];
RyoheiHagimoto	0:56c5742b9e2b	2467	v=_dl->o[1]-3*_dl->size[1];
RyoheiHagimoto	0:56c5742b9e2b	2468	x=_hom->fwd[0][0]u+_hom->fwd[0][1]v;
RyoheiHagimoto	0:56c5742b9e2b	2469	y=_hom->fwd[1][0]u+_hom->fwd[1][1]v;
RyoheiHagimoto	0:56c5742b9e2b	2470	w=_hom->fwd[2][0]u+_hom->fwd[2][1]v+_hom->fwd22;
RyoheiHagimoto	0:56c5742b9e2b	2471	dx=_hom->fwd[0][1]*_dl->size[1];
RyoheiHagimoto	0:56c5742b9e2b	2472	dy=_hom->fwd[1][1]*_dl->size[1];
RyoheiHagimoto	0:56c5742b9e2b	2473	dw=_hom->fwd[2][1]*_dl->size[1];
RyoheiHagimoto	0:56c5742b9e2b	2474	for(k=8;k<15;k++){
RyoheiHagimoto	0:56c5742b9e2b	2475	qr_hom_fproject(p,_hom,x,y,w);
RyoheiHagimoto	0:56c5742b9e2b	2476	hi[1]\|=qr_img_get_bit(_img,_width,_height,p[0],p[1])<<k;
RyoheiHagimoto	0:56c5742b9e2b	2477	x+=dx;
RyoheiHagimoto	0:56c5742b9e2b	2478	y+=dy;
RyoheiHagimoto	0:56c5742b9e2b	2479	w+=dw;
RyoheiHagimoto	0:56c5742b9e2b	2480	}
RyoheiHagimoto	0:56c5742b9e2b	2481	/*For the 8th bit we have 3 samples... use the majority value.
RyoheiHagimoto	0:56c5742b9e2b	2482	TODO: The DL bit appears to be wrong as much as right? Guess it's not
RyoheiHagimoto	0:56c5742b9e2b	2483	really a third copy after all, but doesn't appear to be used for data.
RyoheiHagimoto	0:56c5742b9e2b	2484	i=((lo[0]>>7&1)+(lo[1]>>7&1)+(hi[1]>>7&1)>>1)<<7;
RyoheiHagimoto	0:56c5742b9e2b	2485	lo[0]=lo[0]&~0x80\|i;
RyoheiHagimoto	0:56c5742b9e2b	2486	lo[1]=lo[1]&~0x80\|i;
RyoheiHagimoto	0:56c5742b9e2b	2487	hi[1]&=~0x80;*/
RyoheiHagimoto	0:56c5742b9e2b	2488	/*For the remaining bits we have two samples... try them in all
RyoheiHagimoto	0:56c5742b9e2b	2489	combinations and pick the most popular valid code, breaking ties using
RyoheiHagimoto	0:56c5742b9e2b	2490	the number of bit errors.*/
RyoheiHagimoto	0:56c5742b9e2b	2491	imax=2<<(hi[0]!=hi[1]);
RyoheiHagimoto	0:56c5742b9e2b	2492	di=1+(lo[0]==lo[1]);
RyoheiHagimoto	0:56c5742b9e2b	2493	nfmt_info=0;
RyoheiHagimoto	0:56c5742b9e2b	2494	for(i=0;i<imax;i+=di){
RyoheiHagimoto	0:56c5742b9e2b	2495	unsigned v;
RyoheiHagimoto	0:56c5742b9e2b	2496	int ret;
RyoheiHagimoto	0:56c5742b9e2b	2497	int j;
RyoheiHagimoto	0:56c5742b9e2b	2498	v=(lo[i&1]\|hi[i>>1])^0x5412;
RyoheiHagimoto	0:56c5742b9e2b	2499	ret=bch15_5_correct(&v);
RyoheiHagimoto	0:56c5742b9e2b	2500	v>>=10;
RyoheiHagimoto	0:56c5742b9e2b	2501	if(ret<0)ret=4;
RyoheiHagimoto	0:56c5742b9e2b	2502	for(j=0;;j++){
RyoheiHagimoto	0:56c5742b9e2b	2503	if(j>=nfmt_info){
RyoheiHagimoto	0:56c5742b9e2b	2504	fmt_info[j]=v;
RyoheiHagimoto	0:56c5742b9e2b	2505	count[j]=1;
RyoheiHagimoto	0:56c5742b9e2b	2506	nerrs[j]=ret;
RyoheiHagimoto	0:56c5742b9e2b	2507	nfmt_info++;
RyoheiHagimoto	0:56c5742b9e2b	2508	break;
RyoheiHagimoto	0:56c5742b9e2b	2509	}
RyoheiHagimoto	0:56c5742b9e2b	2510	if(fmt_info[j]==(int)v){
RyoheiHagimoto	0:56c5742b9e2b	2511	count[j]++;
RyoheiHagimoto	0:56c5742b9e2b	2512	if(ret<nerrs[j])nerrs[j]=ret;
RyoheiHagimoto	0:56c5742b9e2b	2513	break;
RyoheiHagimoto	0:56c5742b9e2b	2514	}
RyoheiHagimoto	0:56c5742b9e2b	2515	}
RyoheiHagimoto	0:56c5742b9e2b	2516	}
RyoheiHagimoto	0:56c5742b9e2b	2517	besti=0;
RyoheiHagimoto	0:56c5742b9e2b	2518	for(i=1;i<nfmt_info;i++){
RyoheiHagimoto	0:56c5742b9e2b	2519	if(nerrs[besti]>3&&nerrs[i]<=3\|\|
RyoheiHagimoto	0:56c5742b9e2b	2520	count[i]>count[besti]\|\|count[i]==count[besti]&&nerrs[i]<nerrs[besti]){
RyoheiHagimoto	0:56c5742b9e2b	2521	besti=i;
RyoheiHagimoto	0:56c5742b9e2b	2522	}
RyoheiHagimoto	0:56c5742b9e2b	2523	}
RyoheiHagimoto	0:56c5742b9e2b	2524	return nerrs[besti]<4?fmt_info[besti]:-1;
RyoheiHagimoto	0:56c5742b9e2b	2525	}
RyoheiHagimoto	0:56c5742b9e2b	2526
RyoheiHagimoto	0:56c5742b9e2b	2527
RyoheiHagimoto	0:56c5742b9e2b	2528
RyoheiHagimoto	0:56c5742b9e2b	2529	/*The grid used to sample the image bits.
RyoheiHagimoto	0:56c5742b9e2b	2530	The grid is divided into separate cells bounded by finder patterns and/or
RyoheiHagimoto	0:56c5742b9e2b	2531	alignment patterns, and a separate map back to the original image is
RyoheiHagimoto	0:56c5742b9e2b	2532	constructed for each cell.
RyoheiHagimoto	0:56c5742b9e2b	2533	All of these structural elements, as well as the timing patterns, version
RyoheiHagimoto	0:56c5742b9e2b	2534	info, and format info, are marked in fpmask so they can easily be skipped
RyoheiHagimoto	0:56c5742b9e2b	2535	during decode.*/
RyoheiHagimoto	0:56c5742b9e2b	2536	struct qr_sampling_grid{
RyoheiHagimoto	0:56c5742b9e2b	2537	qr_hom_cell *cells[6];
RyoheiHagimoto	0:56c5742b9e2b	2538	unsigned *fpmask;
RyoheiHagimoto	0:56c5742b9e2b	2539	int cell_limits[6];
RyoheiHagimoto	0:56c5742b9e2b	2540	int ncells;
RyoheiHagimoto	0:56c5742b9e2b	2541	};
RyoheiHagimoto	0:56c5742b9e2b	2542
RyoheiHagimoto	0:56c5742b9e2b	2543
RyoheiHagimoto	0:56c5742b9e2b	2544	/Mark a given region as belonging to the function pattern./
RyoheiHagimoto	0:56c5742b9e2b	2545	static void qr_sampling_grid_fp_mask_rect(qr_sampling_grid *_grid,int _dim,
RyoheiHagimoto	0:56c5742b9e2b	2546	int _u,int _v,int _w,int _h){
RyoheiHagimoto	0:56c5742b9e2b	2547	int i;
RyoheiHagimoto	0:56c5742b9e2b	2548	int j;
RyoheiHagimoto	0:56c5742b9e2b	2549	int stride;
RyoheiHagimoto	0:56c5742b9e2b	2550	stride=_dim+QR_INT_BITS-1>>QR_INT_LOGBITS;
RyoheiHagimoto	0:56c5742b9e2b	2551	/*Note that we store bits column-wise, since that's how they're read out of
RyoheiHagimoto	0:56c5742b9e2b	2552	the grid.*/
RyoheiHagimoto	0:56c5742b9e2b	2553	for(j=_u;j<_u+_w;j++)for(i=_v;i<_v+_h;i++){
RyoheiHagimoto	0:56c5742b9e2b	2554	_grid->fpmask[j*stride+(i>>QR_INT_LOGBITS)]\|=1<<(i&QR_INT_BITS-1);
RyoheiHagimoto	0:56c5742b9e2b	2555	}
RyoheiHagimoto	0:56c5742b9e2b	2556	}
RyoheiHagimoto	0:56c5742b9e2b	2557
RyoheiHagimoto	0:56c5742b9e2b	2558	/Determine if a given grid location is inside the function pattern./
RyoheiHagimoto	0:56c5742b9e2b	2559	static int qr_sampling_grid_is_in_fp(const qr_sampling_grid *_grid,int _dim,
RyoheiHagimoto	0:56c5742b9e2b	2560	int _u,int _v){
RyoheiHagimoto	0:56c5742b9e2b	2561	return _grid->fpmask[_u*(_dim+QR_INT_BITS-1>>QR_INT_LOGBITS)
RyoheiHagimoto	0:56c5742b9e2b	2562	+(_v>>QR_INT_LOGBITS)]>>(_v&QR_INT_BITS-1)&1;
RyoheiHagimoto	0:56c5742b9e2b	2563	}
RyoheiHagimoto	0:56c5742b9e2b	2564
RyoheiHagimoto	0:56c5742b9e2b	2565	/*The spacing between alignment patterns after the second for versions >= 7.
RyoheiHagimoto	0:56c5742b9e2b	2566	We could compact this more, but the code to access it would eliminate the
RyoheiHagimoto	0:56c5742b9e2b	2567	gains.*/
RyoheiHagimoto	0:56c5742b9e2b	2568	static const unsigned char QR_ALIGNMENT_SPACING[34]={
RyoheiHagimoto	0:56c5742b9e2b	2569	16,18,20,22,24,26,28,
RyoheiHagimoto	0:56c5742b9e2b	2570	20,22,24,24,26,28,28,
RyoheiHagimoto	0:56c5742b9e2b	2571	22,24,24,26,26,28,28,
RyoheiHagimoto	0:56c5742b9e2b	2572	24,24,26,26,26,28,28,
RyoheiHagimoto	0:56c5742b9e2b	2573	24,26,26,26,28,28
RyoheiHagimoto	0:56c5742b9e2b	2574	};
RyoheiHagimoto	0:56c5742b9e2b	2575
RyoheiHagimoto	0:56c5742b9e2b	2576	static inline void qr_svg_points(const char *cls,
RyoheiHagimoto	0:56c5742b9e2b	2577	qr_point *p,
RyoheiHagimoto	0:56c5742b9e2b	2578	int n)
RyoheiHagimoto	0:56c5742b9e2b	2579	{
RyoheiHagimoto	0:56c5742b9e2b	2580	svg_path_start(cls, 1, 0, 0);
RyoheiHagimoto	0:56c5742b9e2b	2581	int i;
RyoheiHagimoto	0:56c5742b9e2b	2582	for(i = 0; i < n; i++, p++)
RyoheiHagimoto	0:56c5742b9e2b	2583	svg_path_moveto(SVG_ABS, p[0][0], p[0][1]);
RyoheiHagimoto	0:56c5742b9e2b	2584	svg_path_end();
RyoheiHagimoto	0:56c5742b9e2b	2585	}
RyoheiHagimoto	0:56c5742b9e2b	2586
RyoheiHagimoto	0:56c5742b9e2b	2587	/*Initialize the sampling grid for each region of the code.
RyoheiHagimoto	0:56c5742b9e2b	2588	_version: The (decoded) version number.
RyoheiHagimoto	0:56c5742b9e2b	2589	_ul_pos: The location of the UL finder pattern.
RyoheiHagimoto	0:56c5742b9e2b	2590	_ur_pos: The location of the UR finder pattern.
RyoheiHagimoto	0:56c5742b9e2b	2591	_dl_pos: The location of the DL finder pattern.
RyoheiHagimoto	0:56c5742b9e2b	2592	_p: On input, contains estimated positions of the four corner modules.
RyoheiHagimoto	0:56c5742b9e2b	2593	On output, contains a bounding quadrilateral for the code.
RyoheiHagimoto	0:56c5742b9e2b	2594	_img: The binary input image.
RyoheiHagimoto	0:56c5742b9e2b	2595	_width: The width of the input image.
RyoheiHagimoto	0:56c5742b9e2b	2596	_height: The height of the input image.
RyoheiHagimoto	0:56c5742b9e2b	2597	Return: 0 on success, or a negative value on error.*/
RyoheiHagimoto	0:56c5742b9e2b	2598	static void qr_sampling_grid_init(qr_sampling_grid *_grid,int _version,
RyoheiHagimoto	0:56c5742b9e2b	2599	const qr_point _ul_pos,const qr_point _ur_pos,const qr_point _dl_pos,
RyoheiHagimoto	0:56c5742b9e2b	2600	qr_point _p[4],const unsigned char *_img,int _width,int _height){
RyoheiHagimoto	0:56c5742b9e2b	2601	qr_hom_cell base_cell;
RyoheiHagimoto	0:56c5742b9e2b	2602	int align_pos[7];
RyoheiHagimoto	0:56c5742b9e2b	2603	int dim;
RyoheiHagimoto	0:56c5742b9e2b	2604	int nalign;
RyoheiHagimoto	0:56c5742b9e2b	2605	int i;
RyoheiHagimoto	0:56c5742b9e2b	2606	dim=17+(_version<<2);
RyoheiHagimoto	0:56c5742b9e2b	2607	nalign=(_version/7)+2;
RyoheiHagimoto	0:56c5742b9e2b	2608	/Create a base cell to bootstrap the alignment pattern search./
RyoheiHagimoto	0:56c5742b9e2b	2609	qr_hom_cell_init(&base_cell,0,0,dim-1,0,0,dim-1,dim-1,dim-1,
RyoheiHagimoto	0:56c5742b9e2b	2610	_p[0][0],_p[0][1],_p[1][0],_p[1][1],_p[2][0],_p[2][1],_p[3][0],_p[3][1]);
RyoheiHagimoto	0:56c5742b9e2b	2611	/Allocate the array of cells./
RyoheiHagimoto	0:56c5742b9e2b	2612	_grid->ncells=nalign-1;
RyoheiHagimoto	0:56c5742b9e2b	2613	_grid->cells[0]=(qr_hom_cell *)malloc(
RyoheiHagimoto	0:56c5742b9e2b	2614	(nalign-1)(nalign-1)sizeof(*_grid->cells[0]));
RyoheiHagimoto	0:56c5742b9e2b	2615	for(i=1;i<_grid->ncells;i++)_grid->cells[i]=_grid->cells[i-1]+_grid->ncells;
RyoheiHagimoto	0:56c5742b9e2b	2616	/Initialize the function pattern mask./
RyoheiHagimoto	0:56c5742b9e2b	2617	_grid->fpmask=(unsigned *)calloc(dim,
RyoheiHagimoto	0:56c5742b9e2b	2618	(dim+QR_INT_BITS-1>>QR_INT_LOGBITS)sizeof(_grid->fpmask));
RyoheiHagimoto	0:56c5742b9e2b	2619	/Mask out the finder patterns (and separators and format info bits)./
RyoheiHagimoto	0:56c5742b9e2b	2620	qr_sampling_grid_fp_mask_rect(_grid,dim,0,0,9,9);
RyoheiHagimoto	0:56c5742b9e2b	2621	qr_sampling_grid_fp_mask_rect(_grid,dim,0,dim-8,9,8);
RyoheiHagimoto	0:56c5742b9e2b	2622	qr_sampling_grid_fp_mask_rect(_grid,dim,dim-8,0,8,9);
RyoheiHagimoto	0:56c5742b9e2b	2623	/Mask out the version number bits./
RyoheiHagimoto	0:56c5742b9e2b	2624	if(_version>6){
RyoheiHagimoto	0:56c5742b9e2b	2625	qr_sampling_grid_fp_mask_rect(_grid,dim,0,dim-11,6,3);
RyoheiHagimoto	0:56c5742b9e2b	2626	qr_sampling_grid_fp_mask_rect(_grid,dim,dim-11,0,3,6);
RyoheiHagimoto	0:56c5742b9e2b	2627	}
RyoheiHagimoto	0:56c5742b9e2b	2628	/Mask out the timing patterns./
RyoheiHagimoto	0:56c5742b9e2b	2629	qr_sampling_grid_fp_mask_rect(_grid,dim,9,6,dim-17,1);
RyoheiHagimoto	0:56c5742b9e2b	2630	qr_sampling_grid_fp_mask_rect(_grid,dim,6,9,1,dim-17);
RyoheiHagimoto	0:56c5742b9e2b	2631	/*If we have no alignment patterns (e.g., this is a version 1 code), just use
RyoheiHagimoto	0:56c5742b9e2b	2632	the base cell and hope it's good enough.*/
RyoheiHagimoto	0:56c5742b9e2b	2633	if(_version<2)memcpy(_grid->cells[0],&base_cell,sizeof(base_cell));
RyoheiHagimoto	0:56c5742b9e2b	2634	else{
RyoheiHagimoto	0:56c5742b9e2b	2635	qr_point *q;
RyoheiHagimoto	0:56c5742b9e2b	2636	qr_point *p;
RyoheiHagimoto	0:56c5742b9e2b	2637	int j;
RyoheiHagimoto	0:56c5742b9e2b	2638	int k;
RyoheiHagimoto	0:56c5742b9e2b	2639	q=(qr_point )malloc(nalignnalignsizeof(q));
RyoheiHagimoto	0:56c5742b9e2b	2640	p=(qr_point )malloc(nalignnalignsizeof(p));
RyoheiHagimoto	0:56c5742b9e2b	2641	/Initialize the alignment pattern position list./
RyoheiHagimoto	0:56c5742b9e2b	2642	align_pos[0]=6;
RyoheiHagimoto	0:56c5742b9e2b	2643	align_pos[nalign-1]=dim-7;
RyoheiHagimoto	0:56c5742b9e2b	2644	if(_version>6){
RyoheiHagimoto	0:56c5742b9e2b	2645	int d;
RyoheiHagimoto	0:56c5742b9e2b	2646	d=QR_ALIGNMENT_SPACING[_version-7];
RyoheiHagimoto	0:56c5742b9e2b	2647	for(i=nalign-1;i-->1;)align_pos[i]=align_pos[i+1]-d;
RyoheiHagimoto	0:56c5742b9e2b	2648	}
RyoheiHagimoto	0:56c5742b9e2b	2649	/*Three of the corners use a finder pattern instead of a separate
RyoheiHagimoto	0:56c5742b9e2b	2650	alignment pattern.*/
RyoheiHagimoto	0:56c5742b9e2b	2651	q[0][0]=3;
RyoheiHagimoto	0:56c5742b9e2b	2652	q[0][1]=3;
RyoheiHagimoto	0:56c5742b9e2b	2653	p[0][0]=_ul_pos[0];
RyoheiHagimoto	0:56c5742b9e2b	2654	p[0][1]=_ul_pos[1];
RyoheiHagimoto	0:56c5742b9e2b	2655	q[nalign-1][0]=dim-4;
RyoheiHagimoto	0:56c5742b9e2b	2656	q[nalign-1][1]=3;
RyoheiHagimoto	0:56c5742b9e2b	2657	p[nalign-1][0]=_ur_pos[0];
RyoheiHagimoto	0:56c5742b9e2b	2658	p[nalign-1][1]=_ur_pos[1];
RyoheiHagimoto	0:56c5742b9e2b	2659	q[(nalign-1)*nalign][0]=3;
RyoheiHagimoto	0:56c5742b9e2b	2660	q[(nalign-1)*nalign][1]=dim-4;
RyoheiHagimoto	0:56c5742b9e2b	2661	p[(nalign-1)*nalign][0]=_dl_pos[0];
RyoheiHagimoto	0:56c5742b9e2b	2662	p[(nalign-1)*nalign][1]=_dl_pos[1];
RyoheiHagimoto	0:56c5742b9e2b	2663	/Scan for alignment patterns using a diagonal sweep./
RyoheiHagimoto	0:56c5742b9e2b	2664	for(k=1;k<2*nalign-1;k++){
RyoheiHagimoto	0:56c5742b9e2b	2665	int jmin;
RyoheiHagimoto	0:56c5742b9e2b	2666	int jmax;
RyoheiHagimoto	0:56c5742b9e2b	2667	jmax=QR_MINI(k,nalign-1)-(k==nalign-1);
RyoheiHagimoto	0:56c5742b9e2b	2668	jmin=QR_MAXI(0,k-(nalign-1))+(k==nalign-1);
RyoheiHagimoto	0:56c5742b9e2b	2669	for(j=jmin;j<=jmax;j++){
RyoheiHagimoto	0:56c5742b9e2b	2670	qr_hom_cell *cell;
RyoheiHagimoto	0:56c5742b9e2b	2671	int u;
RyoheiHagimoto	0:56c5742b9e2b	2672	int v;
RyoheiHagimoto	0:56c5742b9e2b	2673	int k;
RyoheiHagimoto	0:56c5742b9e2b	2674	i=jmax-(j-jmin);
RyoheiHagimoto	0:56c5742b9e2b	2675	k=i*nalign+j;
RyoheiHagimoto	0:56c5742b9e2b	2676	u=align_pos[j];
RyoheiHagimoto	0:56c5742b9e2b	2677	v=align_pos[i];
RyoheiHagimoto	0:56c5742b9e2b	2678	q[k][0]=u;
RyoheiHagimoto	0:56c5742b9e2b	2679	q[k][1]=v;
RyoheiHagimoto	0:56c5742b9e2b	2680	/Mask out the alignment pattern./
RyoheiHagimoto	0:56c5742b9e2b	2681	qr_sampling_grid_fp_mask_rect(_grid,dim,u-2,v-2,5,5);
RyoheiHagimoto	0:56c5742b9e2b	2682	/Pick a cell to use to govern the alignment pattern search./
RyoheiHagimoto	0:56c5742b9e2b	2683	if(i>1&&j>1){
RyoheiHagimoto	0:56c5742b9e2b	2684	qr_point p0;
RyoheiHagimoto	0:56c5742b9e2b	2685	qr_point p1;
RyoheiHagimoto	0:56c5742b9e2b	2686	qr_point p2;
RyoheiHagimoto	0:56c5742b9e2b	2687	/*Each predictor is basically a straight-line extrapolation from two
RyoheiHagimoto	0:56c5742b9e2b	2688	neighboring alignment patterns (except possibly near the opposing
RyoheiHagimoto	0:56c5742b9e2b	2689	finder patterns).*/
RyoheiHagimoto	0:56c5742b9e2b	2690	qr_hom_cell_project(p0,_grid->cells[i-2]+j-1,u,v,0);
RyoheiHagimoto	0:56c5742b9e2b	2691	qr_hom_cell_project(p1,_grid->cells[i-2]+j-2,u,v,0);
RyoheiHagimoto	0:56c5742b9e2b	2692	qr_hom_cell_project(p2,_grid->cells[i-1]+j-2,u,v,0);
RyoheiHagimoto	0:56c5742b9e2b	2693	/Take the median of the predictions as the search center./
RyoheiHagimoto	0:56c5742b9e2b	2694	QR_SORT2I(p0[0],p1[0]);
RyoheiHagimoto	0:56c5742b9e2b	2695	QR_SORT2I(p0[1],p1[1]);
RyoheiHagimoto	0:56c5742b9e2b	2696	QR_SORT2I(p1[0],p2[0]);
RyoheiHagimoto	0:56c5742b9e2b	2697	QR_SORT2I(p1[1],p2[1]);
RyoheiHagimoto	0:56c5742b9e2b	2698	QR_SORT2I(p0[0],p1[0]);
RyoheiHagimoto	0:56c5742b9e2b	2699	QR_SORT2I(p0[1],p1[1]);
RyoheiHagimoto	0:56c5742b9e2b	2700	/*We need a cell that has the target point at a known (u,v) location.
RyoheiHagimoto	0:56c5742b9e2b	2701	Since our cells don't have inverses, just construct one from our
RyoheiHagimoto	0:56c5742b9e2b	2702	neighboring points.*/
RyoheiHagimoto	0:56c5742b9e2b	2703	cell=_grid->cells[i-1]+j-1;
RyoheiHagimoto	0:56c5742b9e2b	2704	qr_hom_cell_init(cell,
RyoheiHagimoto	0:56c5742b9e2b	2705	q[k-nalign-1][0],q[k-nalign-1][1],q[k-nalign][0],q[k-nalign][1],
RyoheiHagimoto	0:56c5742b9e2b	2706	q[k-1][0],q[k-1][1],q[k][0],q[k][1],
RyoheiHagimoto	0:56c5742b9e2b	2707	p[k-nalign-1][0],p[k-nalign-1][1],p[k-nalign][0],p[k-nalign][1],
RyoheiHagimoto	0:56c5742b9e2b	2708	p[k-1][0],p[k-1][1],p1[0],p1[1]);
RyoheiHagimoto	0:56c5742b9e2b	2709	}
RyoheiHagimoto	0:56c5742b9e2b	2710	else if(i>1&&j>0)cell=_grid->cells[i-2]+j-1;
RyoheiHagimoto	0:56c5742b9e2b	2711	else if(i>0&&j>1)cell=_grid->cells[i-1]+j-2;
RyoheiHagimoto	0:56c5742b9e2b	2712	else cell=&base_cell;
RyoheiHagimoto	0:56c5742b9e2b	2713	/*Use a very small search radius.
RyoheiHagimoto	0:56c5742b9e2b	2714	A large displacement here usually means a false positive (e.g., when
RyoheiHagimoto	0:56c5742b9e2b	2715	the real alignment pattern is damaged or missing), which can
RyoheiHagimoto	0:56c5742b9e2b	2716	severely distort the projection.*/
RyoheiHagimoto	0:56c5742b9e2b	2717	qr_alignment_pattern_search(p[k],cell,u,v,2,_img,_width,_height);
RyoheiHagimoto	0:56c5742b9e2b	2718	if(i>0&&j>0){
RyoheiHagimoto	0:56c5742b9e2b	2719	qr_hom_cell_init(_grid->cells[i-1]+j-1,
RyoheiHagimoto	0:56c5742b9e2b	2720	q[k-nalign-1][0],q[k-nalign-1][1],q[k-nalign][0],q[k-nalign][1],
RyoheiHagimoto	0:56c5742b9e2b	2721	q[k-1][0],q[k-1][1],q[k][0],q[k][1],
RyoheiHagimoto	0:56c5742b9e2b	2722	p[k-nalign-1][0],p[k-nalign-1][1],p[k-nalign][0],p[k-nalign][1],
RyoheiHagimoto	0:56c5742b9e2b	2723	p[k-1][0],p[k-1][1],p[k][0],p[k][1]);
RyoheiHagimoto	0:56c5742b9e2b	2724	}
RyoheiHagimoto	0:56c5742b9e2b	2725	}
RyoheiHagimoto	0:56c5742b9e2b	2726	}
RyoheiHagimoto	0:56c5742b9e2b	2727	qr_svg_points("align", p, nalign * nalign);
RyoheiHagimoto	0:56c5742b9e2b	2728	free(q);
RyoheiHagimoto	0:56c5742b9e2b	2729	free(p);
RyoheiHagimoto	0:56c5742b9e2b	2730	}
RyoheiHagimoto	0:56c5742b9e2b	2731	/Set the limits over which each cell is used./
RyoheiHagimoto	0:56c5742b9e2b	2732	memcpy(_grid->cell_limits,align_pos+1,
RyoheiHagimoto	0:56c5742b9e2b	2733	(_grid->ncells-1)sizeof(_grid->cell_limits));
RyoheiHagimoto	0:56c5742b9e2b	2734	_grid->cell_limits[_grid->ncells-1]=dim;
RyoheiHagimoto	0:56c5742b9e2b	2735	/*Produce a bounding square for the code (to mark finder centers with).
RyoheiHagimoto	0:56c5742b9e2b	2736	Because of non-linear distortion, this might not actually bound the code,
RyoheiHagimoto	0:56c5742b9e2b	2737	but it should be good enough.
RyoheiHagimoto	0:56c5742b9e2b	2738	I don't think it's worth computing a convex hull or anything silly like
RyoheiHagimoto	0:56c5742b9e2b	2739	that.*/
RyoheiHagimoto	0:56c5742b9e2b	2740	qr_hom_cell_project(_p[0],_grid->cells[0]+0,-1,-1,1);
RyoheiHagimoto	0:56c5742b9e2b	2741	qr_hom_cell_project(_p[1],_grid->cells[0]+_grid->ncells-1,(dim<<1)-1,-1,1);
RyoheiHagimoto	0:56c5742b9e2b	2742	qr_hom_cell_project(_p[2],_grid->cells[_grid->ncells-1]+0,-1,(dim<<1)-1,1);
RyoheiHagimoto	0:56c5742b9e2b	2743	qr_hom_cell_project(_p[3],_grid->cells[_grid->ncells-1]+_grid->ncells-1,
RyoheiHagimoto	0:56c5742b9e2b	2744	(dim<<1)-1,(dim<<1)-1,1);
RyoheiHagimoto	0:56c5742b9e2b	2745	/*Clamp the points somewhere near the image (this is really just in case a
RyoheiHagimoto	0:56c5742b9e2b	2746	corner is near the plane at infinity).*/
RyoheiHagimoto	0:56c5742b9e2b	2747	for(i=0;i<4;i++){
RyoheiHagimoto	0:56c5742b9e2b	2748	_p[i][0]=QR_CLAMPI(-_width<<QR_FINDER_SUBPREC,_p[i][0],
RyoheiHagimoto	0:56c5742b9e2b	2749	_width<<QR_FINDER_SUBPREC+1);
RyoheiHagimoto	0:56c5742b9e2b	2750	_p[i][1]=QR_CLAMPI(-_height<<QR_FINDER_SUBPREC,_p[i][1],
RyoheiHagimoto	0:56c5742b9e2b	2751	_height<<QR_FINDER_SUBPREC+1);
RyoheiHagimoto	0:56c5742b9e2b	2752	}
RyoheiHagimoto	0:56c5742b9e2b	2753	/*TODO: Make fine adjustments using the timing patterns.
RyoheiHagimoto	0:56c5742b9e2b	2754	Possible strategy: scan the timing pattern at QR_ALIGN_SUBPREC (or finer)
RyoheiHagimoto	0:56c5742b9e2b	2755	resolution, use dynamic programming to match midpoints between
RyoheiHagimoto	0:56c5742b9e2b	2756	transitions to the ideal grid locations.*/
RyoheiHagimoto	0:56c5742b9e2b	2757	}
RyoheiHagimoto	0:56c5742b9e2b	2758
RyoheiHagimoto	0:56c5742b9e2b	2759	static void qr_sampling_grid_clear(qr_sampling_grid *_grid){
RyoheiHagimoto	0:56c5742b9e2b	2760	free(_grid->fpmask);
RyoheiHagimoto	0:56c5742b9e2b	2761	free(_grid->cells[0]);
RyoheiHagimoto	0:56c5742b9e2b	2762	}
RyoheiHagimoto	0:56c5742b9e2b	2763
RyoheiHagimoto	0:56c5742b9e2b	2764
RyoheiHagimoto	0:56c5742b9e2b	2765
RyoheiHagimoto	0:56c5742b9e2b	2766	#if defined(QR_DEBUG)
RyoheiHagimoto	0:56c5742b9e2b	2767	static void qr_sampling_grid_dump(qr_sampling_grid *_grid,int _version,
RyoheiHagimoto	0:56c5742b9e2b	2768	const unsigned char *_img,int _width,int _height){
RyoheiHagimoto	0:56c5742b9e2b	2769	unsigned char *gimg;
RyoheiHagimoto	0:56c5742b9e2b	2770	FILE *fout;
RyoheiHagimoto	0:56c5742b9e2b	2771	int dim;
RyoheiHagimoto	0:56c5742b9e2b	2772	int u;
RyoheiHagimoto	0:56c5742b9e2b	2773	int v;
RyoheiHagimoto	0:56c5742b9e2b	2774	int x;
RyoheiHagimoto	0:56c5742b9e2b	2775	int y;
RyoheiHagimoto	0:56c5742b9e2b	2776	int w;
RyoheiHagimoto	0:56c5742b9e2b	2777	int i;
RyoheiHagimoto	0:56c5742b9e2b	2778	int j;
RyoheiHagimoto	0:56c5742b9e2b	2779	int r;
RyoheiHagimoto	0:56c5742b9e2b	2780	int s;
RyoheiHagimoto	0:56c5742b9e2b	2781	dim=17+(_version<<2)+8<<QR_ALIGN_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	2782	gimg=(unsigned char )malloc(dimdimsizeof(gimg));
RyoheiHagimoto	0:56c5742b9e2b	2783	for(i=0;i<dim;i++)for(j=0;j<dim;j++){
RyoheiHagimoto	0:56c5742b9e2b	2784	qr_hom_cell *cell;
RyoheiHagimoto	0:56c5742b9e2b	2785	if(i>=(4<<QR_ALIGN_SUBPREC)&&i<=dim-(5<<QR_ALIGN_SUBPREC)&&
RyoheiHagimoto	0:56c5742b9e2b	2786	j>=(4<<QR_ALIGN_SUBPREC)&&j<=dim-(5<<QR_ALIGN_SUBPREC)&&
RyoheiHagimoto	0:56c5742b9e2b	2787	((!(i&(1<<QR_ALIGN_SUBPREC)-1))^(!(j&(1<<QR_ALIGN_SUBPREC)-1)))){
RyoheiHagimoto	0:56c5742b9e2b	2788	gimg[i*dim+j]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	2789	}
RyoheiHagimoto	0:56c5742b9e2b	2790	else{
RyoheiHagimoto	0:56c5742b9e2b	2791	qr_point p;
RyoheiHagimoto	0:56c5742b9e2b	2792	u=(j>>QR_ALIGN_SUBPREC)-4;
RyoheiHagimoto	0:56c5742b9e2b	2793	v=(i>>QR_ALIGN_SUBPREC)-4;
RyoheiHagimoto	0:56c5742b9e2b	2794	for(r=0;r<_grid->ncells-1;r++)if(u<_grid->cell_limits[r])break;
RyoheiHagimoto	0:56c5742b9e2b	2795	for(s=0;s<_grid->ncells-1;s++)if(v<_grid->cell_limits[s])break;
RyoheiHagimoto	0:56c5742b9e2b	2796	cell=_grid->cells[s]+r;
RyoheiHagimoto	0:56c5742b9e2b	2797	u=j-(cell->u0+4<<QR_ALIGN_SUBPREC);
RyoheiHagimoto	0:56c5742b9e2b	2798	v=i-(cell->v0+4<<QR_ALIGN_SUBPREC);
RyoheiHagimoto	0:56c5742b9e2b	2799	x=cell->fwd[0][0]u+cell->fwd[0][1]v+(cell->fwd[0][2]<<QR_ALIGN_SUBPREC);
RyoheiHagimoto	0:56c5742b9e2b	2800	y=cell->fwd[1][0]u+cell->fwd[1][1]v+(cell->fwd[1][2]<<QR_ALIGN_SUBPREC);
RyoheiHagimoto	0:56c5742b9e2b	2801	w=cell->fwd[2][0]u+cell->fwd[2][1]v+(cell->fwd[2][2]<<QR_ALIGN_SUBPREC);
RyoheiHagimoto	0:56c5742b9e2b	2802	qr_hom_cell_fproject(p,cell,x,y,w);
RyoheiHagimoto	0:56c5742b9e2b	2803	gimg[i*dim+j]=_img[
RyoheiHagimoto	0:56c5742b9e2b	2804	QR_CLAMPI(0,p[1]>>QR_FINDER_SUBPREC,_height-1)*_width+
RyoheiHagimoto	0:56c5742b9e2b	2805	QR_CLAMPI(0,p[0]>>QR_FINDER_SUBPREC,_width-1)];
RyoheiHagimoto	0:56c5742b9e2b	2806	}
RyoheiHagimoto	0:56c5742b9e2b	2807	}
RyoheiHagimoto	0:56c5742b9e2b	2808	for(v=0;v<17+(_version<<2);v++)for(u=0;u<17+(_version<<2);u++){
RyoheiHagimoto	0:56c5742b9e2b	2809	if(qr_sampling_grid_is_in_fp(_grid,17+(_version<<2),u,v)){
RyoheiHagimoto	0:56c5742b9e2b	2810	j=u+4<<QR_ALIGN_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	2811	i=v+4<<QR_ALIGN_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	2812	gimg[(i-1)*dim+j-1]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	2813	gimg[(i-1)*dim+j]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	2814	gimg[(i-1)*dim+j+1]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	2815	gimg[i*dim+j-1]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	2816	gimg[i*dim+j+1]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	2817	gimg[(i+1)*dim+j-1]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	2818	gimg[(i+1)*dim+j]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	2819	gimg[(i+1)*dim+j+1]=0x7F;
RyoheiHagimoto	0:56c5742b9e2b	2820	}
RyoheiHagimoto	0:56c5742b9e2b	2821	}
RyoheiHagimoto	0:56c5742b9e2b	2822	fout=fopen("grid.png","wb");
RyoheiHagimoto	0:56c5742b9e2b	2823	image_write_png(gimg,dim,dim,fout);
RyoheiHagimoto	0:56c5742b9e2b	2824	fclose(fout);
RyoheiHagimoto	0:56c5742b9e2b	2825	free(gimg);
RyoheiHagimoto	0:56c5742b9e2b	2826	}
RyoheiHagimoto	0:56c5742b9e2b	2827	#endif
RyoheiHagimoto	0:56c5742b9e2b	2828
RyoheiHagimoto	0:56c5742b9e2b	2829	/Generate the data mask corresponding to the given mask pattern./
RyoheiHagimoto	0:56c5742b9e2b	2830	static void qr_data_mask_fill(unsigned *_mask,int _dim,int _pattern){
RyoheiHagimoto	0:56c5742b9e2b	2831	int stride;
RyoheiHagimoto	0:56c5742b9e2b	2832	int i;
RyoheiHagimoto	0:56c5742b9e2b	2833	int j;
RyoheiHagimoto	0:56c5742b9e2b	2834	stride=_dim+QR_INT_BITS-1>>QR_INT_LOGBITS;
RyoheiHagimoto	0:56c5742b9e2b	2835	/*Note that we store bits column-wise, since that's how they're read out of
RyoheiHagimoto	0:56c5742b9e2b	2836	the grid.*/
RyoheiHagimoto	0:56c5742b9e2b	2837	switch(_pattern){
RyoheiHagimoto	0:56c5742b9e2b	2838	/*10101010 i+j+1&1
RyoheiHagimoto	0:56c5742b9e2b	2839	01010101
RyoheiHagimoto	0:56c5742b9e2b	2840	10101010
RyoheiHagimoto	0:56c5742b9e2b	2841	01010101*/
RyoheiHagimoto	0:56c5742b9e2b	2842	case 0:{
RyoheiHagimoto	0:56c5742b9e2b	2843	int m;
RyoheiHagimoto	0:56c5742b9e2b	2844	m=0x55;
RyoheiHagimoto	0:56c5742b9e2b	2845	for(j=0;j<_dim;j++){
RyoheiHagimoto	0:56c5742b9e2b	2846	memset(_mask+jstride,m,stridesizeof(*_mask));
RyoheiHagimoto	0:56c5742b9e2b	2847	m^=0xFF;
RyoheiHagimoto	0:56c5742b9e2b	2848	}
RyoheiHagimoto	0:56c5742b9e2b	2849	}break;
RyoheiHagimoto	0:56c5742b9e2b	2850	/*11111111 i+1&1
RyoheiHagimoto	0:56c5742b9e2b	2851	00000000
RyoheiHagimoto	0:56c5742b9e2b	2852	11111111
RyoheiHagimoto	0:56c5742b9e2b	2853	00000000*/
RyoheiHagimoto	0:56c5742b9e2b	2854	case 1:memset(_mask,0x55,_dimstridesizeof(*_mask));break;
RyoheiHagimoto	0:56c5742b9e2b	2855	/*10010010 (j+1)%3&1
RyoheiHagimoto	0:56c5742b9e2b	2856	10010010
RyoheiHagimoto	0:56c5742b9e2b	2857	10010010
RyoheiHagimoto	0:56c5742b9e2b	2858	10010010*/
RyoheiHagimoto	0:56c5742b9e2b	2859	case 2:{
RyoheiHagimoto	0:56c5742b9e2b	2860	unsigned m;
RyoheiHagimoto	0:56c5742b9e2b	2861	m=0xFF;
RyoheiHagimoto	0:56c5742b9e2b	2862	for(j=0;j<_dim;j++){
RyoheiHagimoto	0:56c5742b9e2b	2863	memset(_mask+jstride,m&0xFF,stridesizeof(*_mask));
RyoheiHagimoto	0:56c5742b9e2b	2864	m=m<<8\|m>>16;
RyoheiHagimoto	0:56c5742b9e2b	2865	}
RyoheiHagimoto	0:56c5742b9e2b	2866	}break;
RyoheiHagimoto	0:56c5742b9e2b	2867	/*10010010 (i+j+1)%3&1
RyoheiHagimoto	0:56c5742b9e2b	2868	00100100
RyoheiHagimoto	0:56c5742b9e2b	2869	01001001
RyoheiHagimoto	0:56c5742b9e2b	2870	10010010*/
RyoheiHagimoto	0:56c5742b9e2b	2871	case 3:{
RyoheiHagimoto	0:56c5742b9e2b	2872	unsigned mi;
RyoheiHagimoto	0:56c5742b9e2b	2873	unsigned mj;
RyoheiHagimoto	0:56c5742b9e2b	2874	mj=0;
RyoheiHagimoto	0:56c5742b9e2b	2875	for(i=0;i<(QR_INT_BITS+2)/3;i++)mj\|=1<<3*i;
RyoheiHagimoto	0:56c5742b9e2b	2876	for(j=0;j<_dim;j++){
RyoheiHagimoto	0:56c5742b9e2b	2877	mi=mj;
RyoheiHagimoto	0:56c5742b9e2b	2878	for(i=0;i<stride;i++){
RyoheiHagimoto	0:56c5742b9e2b	2879	_mask[j*stride+i]=mi;
RyoheiHagimoto	0:56c5742b9e2b	2880	mi=mi>>QR_INT_BITS%3\|mi<<3-QR_INT_BITS%3;
RyoheiHagimoto	0:56c5742b9e2b	2881	}
RyoheiHagimoto	0:56c5742b9e2b	2882	mj=mj>>1\|mj<<2;
RyoheiHagimoto	0:56c5742b9e2b	2883	}
RyoheiHagimoto	0:56c5742b9e2b	2884	}break;
RyoheiHagimoto	0:56c5742b9e2b	2885	/*11100011 (i>>1)+(j/3)+1&1
RyoheiHagimoto	0:56c5742b9e2b	2886	11100011
RyoheiHagimoto	0:56c5742b9e2b	2887	00011100
RyoheiHagimoto	0:56c5742b9e2b	2888	00011100*/
RyoheiHagimoto	0:56c5742b9e2b	2889	case 4:{
RyoheiHagimoto	0:56c5742b9e2b	2890	unsigned m;
RyoheiHagimoto	0:56c5742b9e2b	2891	m=7;
RyoheiHagimoto	0:56c5742b9e2b	2892	for(j=0;j<_dim;j++){
RyoheiHagimoto	0:56c5742b9e2b	2893	memset(_mask+jstride,(0xCC^-(m&1))&0xFF,stridesizeof(*_mask));
RyoheiHagimoto	0:56c5742b9e2b	2894	m=m>>1\|m<<5;
RyoheiHagimoto	0:56c5742b9e2b	2895	}
RyoheiHagimoto	0:56c5742b9e2b	2896	}break;
RyoheiHagimoto	0:56c5742b9e2b	2897	/11111111 !((ij)%6)
RyoheiHagimoto	0:56c5742b9e2b	2898	10000010
RyoheiHagimoto	0:56c5742b9e2b	2899	10010010
RyoheiHagimoto	0:56c5742b9e2b	2900	10101010*/
RyoheiHagimoto	0:56c5742b9e2b	2901	case 5:{
RyoheiHagimoto	0:56c5742b9e2b	2902	for(j=0;j<_dim;j++){
RyoheiHagimoto	0:56c5742b9e2b	2903	unsigned m;
RyoheiHagimoto	0:56c5742b9e2b	2904	m=0;
RyoheiHagimoto	0:56c5742b9e2b	2905	for(i=0;i<6;i++)m\|=!((i*j)%6)<<i;
RyoheiHagimoto	0:56c5742b9e2b	2906	for(i=6;i<QR_INT_BITS;i<<=1)m\|=m<<i;
RyoheiHagimoto	0:56c5742b9e2b	2907	for(i=0;i<stride;i++){
RyoheiHagimoto	0:56c5742b9e2b	2908	_mask[j*stride+i]=m;
RyoheiHagimoto	0:56c5742b9e2b	2909	m=m>>QR_INT_BITS%6\|m<<6-QR_INT_BITS%6;
RyoheiHagimoto	0:56c5742b9e2b	2910	}
RyoheiHagimoto	0:56c5742b9e2b	2911	}
RyoheiHagimoto	0:56c5742b9e2b	2912	}break;
RyoheiHagimoto	0:56c5742b9e2b	2913	/11111111 (ij)%3+i*j+1&1
RyoheiHagimoto	0:56c5742b9e2b	2914	11100011
RyoheiHagimoto	0:56c5742b9e2b	2915	11011011
RyoheiHagimoto	0:56c5742b9e2b	2916	10101010*/
RyoheiHagimoto	0:56c5742b9e2b	2917	case 6:{
RyoheiHagimoto	0:56c5742b9e2b	2918	for(j=0;j<_dim;j++){
RyoheiHagimoto	0:56c5742b9e2b	2919	unsigned m;
RyoheiHagimoto	0:56c5742b9e2b	2920	m=0;
RyoheiHagimoto	0:56c5742b9e2b	2921	for(i=0;i<6;i++)m\|=((ij)%3+ij+1&1)<<i;
RyoheiHagimoto	0:56c5742b9e2b	2922	for(i=6;i<QR_INT_BITS;i<<=1)m\|=m<<i;
RyoheiHagimoto	0:56c5742b9e2b	2923	for(i=0;i<stride;i++){
RyoheiHagimoto	0:56c5742b9e2b	2924	_mask[j*stride+i]=m;
RyoheiHagimoto	0:56c5742b9e2b	2925	m=m>>QR_INT_BITS%6\|m<<6-QR_INT_BITS%6;
RyoheiHagimoto	0:56c5742b9e2b	2926	}
RyoheiHagimoto	0:56c5742b9e2b	2927	}
RyoheiHagimoto	0:56c5742b9e2b	2928	}break;
RyoheiHagimoto	0:56c5742b9e2b	2929	/10101010 (ij)%3+i+j+1&1
RyoheiHagimoto	0:56c5742b9e2b	2930	00011100
RyoheiHagimoto	0:56c5742b9e2b	2931	10001110
RyoheiHagimoto	0:56c5742b9e2b	2932	01010101*/
RyoheiHagimoto	0:56c5742b9e2b	2933	default:{
RyoheiHagimoto	0:56c5742b9e2b	2934	for(j=0;j<_dim;j++){
RyoheiHagimoto	0:56c5742b9e2b	2935	unsigned m;
RyoheiHagimoto	0:56c5742b9e2b	2936	m=0;
RyoheiHagimoto	0:56c5742b9e2b	2937	for(i=0;i<6;i++)m\|=((i*j)%3+i+j+1&1)<<i;
RyoheiHagimoto	0:56c5742b9e2b	2938	for(i=6;i<QR_INT_BITS;i<<=1)m\|=m<<i;
RyoheiHagimoto	0:56c5742b9e2b	2939	for(i=0;i<stride;i++){
RyoheiHagimoto	0:56c5742b9e2b	2940	_mask[j*stride+i]=m;
RyoheiHagimoto	0:56c5742b9e2b	2941	m=m>>QR_INT_BITS%6\|m<<6-QR_INT_BITS%6;
RyoheiHagimoto	0:56c5742b9e2b	2942	}
RyoheiHagimoto	0:56c5742b9e2b	2943	}
RyoheiHagimoto	0:56c5742b9e2b	2944	}break;
RyoheiHagimoto	0:56c5742b9e2b	2945	}
RyoheiHagimoto	0:56c5742b9e2b	2946	}
RyoheiHagimoto	0:56c5742b9e2b	2947
RyoheiHagimoto	0:56c5742b9e2b	2948	static void qr_sampling_grid_sample(const qr_sampling_grid *_grid,
RyoheiHagimoto	0:56c5742b9e2b	2949	unsigned *_data_bits,int _dim,int _fmt_info,
RyoheiHagimoto	0:56c5742b9e2b	2950	const unsigned char *_img,int _width,int _height){
RyoheiHagimoto	0:56c5742b9e2b	2951	int stride;
RyoheiHagimoto	0:56c5742b9e2b	2952	int u0;
RyoheiHagimoto	0:56c5742b9e2b	2953	int u1;
RyoheiHagimoto	0:56c5742b9e2b	2954	int j;
RyoheiHagimoto	0:56c5742b9e2b	2955	/*We initialize the buffer with the data mask and XOR bits into it as we read
RyoheiHagimoto	0:56c5742b9e2b	2956	them out of the image instead of unmasking in a separate step.*/
RyoheiHagimoto	0:56c5742b9e2b	2957	qr_data_mask_fill(_data_bits,_dim,_fmt_info&7);
RyoheiHagimoto	0:56c5742b9e2b	2958	stride=_dim+QR_INT_BITS-1>>QR_INT_LOGBITS;
RyoheiHagimoto	0:56c5742b9e2b	2959	u0=0;
RyoheiHagimoto	0:56c5742b9e2b	2960	svg_path_start("sampling-grid", 1, 0, 0);
RyoheiHagimoto	0:56c5742b9e2b	2961	/*We read data cell-by-cell to avoid having to constantly change which
RyoheiHagimoto	0:56c5742b9e2b	2962	projection we're using as we read each bit.
RyoheiHagimoto	0:56c5742b9e2b	2963	This (and the position-dependent data mask) is the reason we buffer the
RyoheiHagimoto	0:56c5742b9e2b	2964	bits we read instead of converting them directly to codewords here.
RyoheiHagimoto	0:56c5742b9e2b	2965	Note that bits are stored column-wise, since that's how we'll scan them.*/
RyoheiHagimoto	0:56c5742b9e2b	2966	for(j=0;j<_grid->ncells;j++){
RyoheiHagimoto	0:56c5742b9e2b	2967	int i;
RyoheiHagimoto	0:56c5742b9e2b	2968	int v0;
RyoheiHagimoto	0:56c5742b9e2b	2969	int v1;
RyoheiHagimoto	0:56c5742b9e2b	2970	u1=_grid->cell_limits[j];
RyoheiHagimoto	0:56c5742b9e2b	2971	v0=0;
RyoheiHagimoto	0:56c5742b9e2b	2972	for(i=0;i<_grid->ncells;i++){
RyoheiHagimoto	0:56c5742b9e2b	2973	qr_hom_cell *cell;
RyoheiHagimoto	0:56c5742b9e2b	2974	int x0;
RyoheiHagimoto	0:56c5742b9e2b	2975	int y0;
RyoheiHagimoto	0:56c5742b9e2b	2976	int w0;
RyoheiHagimoto	0:56c5742b9e2b	2977	int u;
RyoheiHagimoto	0:56c5742b9e2b	2978	int du;
RyoheiHagimoto	0:56c5742b9e2b	2979	int dv;
RyoheiHagimoto	0:56c5742b9e2b	2980	v1=_grid->cell_limits[i];
RyoheiHagimoto	0:56c5742b9e2b	2981	cell=_grid->cells[i]+j;
RyoheiHagimoto	0:56c5742b9e2b	2982	du=u0-cell->u0;
RyoheiHagimoto	0:56c5742b9e2b	2983	dv=v0-cell->v0;
RyoheiHagimoto	0:56c5742b9e2b	2984	x0=cell->fwd[0][0]du+cell->fwd[0][1]dv+cell->fwd[0][2];
RyoheiHagimoto	0:56c5742b9e2b	2985	y0=cell->fwd[1][0]du+cell->fwd[1][1]dv+cell->fwd[1][2];
RyoheiHagimoto	0:56c5742b9e2b	2986	w0=cell->fwd[2][0]du+cell->fwd[2][1]dv+cell->fwd[2][2];
RyoheiHagimoto	0:56c5742b9e2b	2987	for(u=u0;u<u1;u++){
RyoheiHagimoto	0:56c5742b9e2b	2988	int x;
RyoheiHagimoto	0:56c5742b9e2b	2989	int y;
RyoheiHagimoto	0:56c5742b9e2b	2990	int w;
RyoheiHagimoto	0:56c5742b9e2b	2991	int v;
RyoheiHagimoto	0:56c5742b9e2b	2992	x=x0;
RyoheiHagimoto	0:56c5742b9e2b	2993	y=y0;
RyoheiHagimoto	0:56c5742b9e2b	2994	w=w0;
RyoheiHagimoto	0:56c5742b9e2b	2995	for(v=v0;v<v1;v++){
RyoheiHagimoto	0:56c5742b9e2b	2996	/*Skip doing all the divisions and bounds checks if the bit is in the
RyoheiHagimoto	0:56c5742b9e2b	2997	function pattern.*/
RyoheiHagimoto	0:56c5742b9e2b	2998	if(!qr_sampling_grid_is_in_fp(_grid,_dim,u,v)){
RyoheiHagimoto	0:56c5742b9e2b	2999	qr_point p;
RyoheiHagimoto	0:56c5742b9e2b	3000	qr_hom_cell_fproject(p,cell,x,y,w);
RyoheiHagimoto	0:56c5742b9e2b	3001	_data_bits[u*stride+(v>>QR_INT_LOGBITS)]^=
RyoheiHagimoto	0:56c5742b9e2b	3002	qr_img_get_bit(_img,_width,_height,p[0],p[1])<<(v&QR_INT_BITS-1);
RyoheiHagimoto	0:56c5742b9e2b	3003	svg_path_moveto(SVG_ABS, p[0], p[1]);
RyoheiHagimoto	0:56c5742b9e2b	3004	}
RyoheiHagimoto	0:56c5742b9e2b	3005	x+=cell->fwd[0][1];
RyoheiHagimoto	0:56c5742b9e2b	3006	y+=cell->fwd[1][1];
RyoheiHagimoto	0:56c5742b9e2b	3007	w+=cell->fwd[2][1];
RyoheiHagimoto	0:56c5742b9e2b	3008	}
RyoheiHagimoto	0:56c5742b9e2b	3009	x0+=cell->fwd[0][0];
RyoheiHagimoto	0:56c5742b9e2b	3010	y0+=cell->fwd[1][0];
RyoheiHagimoto	0:56c5742b9e2b	3011	w0+=cell->fwd[2][0];
RyoheiHagimoto	0:56c5742b9e2b	3012	}
RyoheiHagimoto	0:56c5742b9e2b	3013	v0=v1;
RyoheiHagimoto	0:56c5742b9e2b	3014	}
RyoheiHagimoto	0:56c5742b9e2b	3015	u0=u1;
RyoheiHagimoto	0:56c5742b9e2b	3016	}
RyoheiHagimoto	0:56c5742b9e2b	3017	svg_path_end();
RyoheiHagimoto	0:56c5742b9e2b	3018	}
RyoheiHagimoto	0:56c5742b9e2b	3019
RyoheiHagimoto	0:56c5742b9e2b	3020	/*Arranges the sample bits read by qr_sampling_grid_sample() into bytes and
RyoheiHagimoto	0:56c5742b9e2b	3021	groups those bytes into Reed-Solomon blocks.
RyoheiHagimoto	0:56c5742b9e2b	3022	The individual block pointers are destroyed by this routine.*/
RyoheiHagimoto	0:56c5742b9e2b	3023	static void qr_samples_unpack(unsigned char **_blocks,int _nblocks,
RyoheiHagimoto	0:56c5742b9e2b	3024	int _nshort_data,int _nshort_blocks,const unsigned *_data_bits,
RyoheiHagimoto	0:56c5742b9e2b	3025	const unsigned *_fp_mask,int _dim){
RyoheiHagimoto	0:56c5742b9e2b	3026	unsigned bits;
RyoheiHagimoto	0:56c5742b9e2b	3027	int biti;
RyoheiHagimoto	0:56c5742b9e2b	3028	int stride;
RyoheiHagimoto	0:56c5742b9e2b	3029	int blocki;
RyoheiHagimoto	0:56c5742b9e2b	3030	int blockj;
RyoheiHagimoto	0:56c5742b9e2b	3031	int i;
RyoheiHagimoto	0:56c5742b9e2b	3032	int j;
RyoheiHagimoto	0:56c5742b9e2b	3033	stride=_dim+QR_INT_BITS-1>>QR_INT_LOGBITS;
RyoheiHagimoto	0:56c5742b9e2b	3034	/If _all_ the blocks are short, don't skip anything (see below)./
RyoheiHagimoto	0:56c5742b9e2b	3035	if(_nshort_blocks>=_nblocks)_nshort_blocks=0;
RyoheiHagimoto	0:56c5742b9e2b	3036	/Scan columns in pairs from right to left./
RyoheiHagimoto	0:56c5742b9e2b	3037	bits=0;
RyoheiHagimoto	0:56c5742b9e2b	3038	for(blocki=blockj=biti=0,j=_dim-1;j>0;j-=2){
RyoheiHagimoto	0:56c5742b9e2b	3039	unsigned data1;
RyoheiHagimoto	0:56c5742b9e2b	3040	unsigned data2;
RyoheiHagimoto	0:56c5742b9e2b	3041	unsigned fp_mask1;
RyoheiHagimoto	0:56c5742b9e2b	3042	unsigned fp_mask2;
RyoheiHagimoto	0:56c5742b9e2b	3043	int nbits;
RyoheiHagimoto	0:56c5742b9e2b	3044	int l;
RyoheiHagimoto	0:56c5742b9e2b	3045	/Scan up a pair of columns./
RyoheiHagimoto	0:56c5742b9e2b	3046	nbits=(_dim-1&QR_INT_BITS-1)+1;
RyoheiHagimoto	0:56c5742b9e2b	3047	l=j*stride;
RyoheiHagimoto	0:56c5742b9e2b	3048	for(i=stride;i-->0;){
RyoheiHagimoto	0:56c5742b9e2b	3049	data1=_data_bits[l+i];
RyoheiHagimoto	0:56c5742b9e2b	3050	fp_mask1=_fp_mask[l+i];
RyoheiHagimoto	0:56c5742b9e2b	3051	data2=_data_bits[l+i-stride];
RyoheiHagimoto	0:56c5742b9e2b	3052	fp_mask2=_fp_mask[l+i-stride];
RyoheiHagimoto	0:56c5742b9e2b	3053	while(nbits-->0){
RyoheiHagimoto	0:56c5742b9e2b	3054	/Pull a bit from the right column./
RyoheiHagimoto	0:56c5742b9e2b	3055	if(!(fp_mask1>>nbits&1)){
RyoheiHagimoto	0:56c5742b9e2b	3056	bits=bits<<1\|data1>>nbits&1;
RyoheiHagimoto	0:56c5742b9e2b	3057	biti++;
RyoheiHagimoto	0:56c5742b9e2b	3058	}
RyoheiHagimoto	0:56c5742b9e2b	3059	/Pull a bit from the left column./
RyoheiHagimoto	0:56c5742b9e2b	3060	if(!(fp_mask2>>nbits&1)){
RyoheiHagimoto	0:56c5742b9e2b	3061	bits=bits<<1\|data2>>nbits&1;
RyoheiHagimoto	0:56c5742b9e2b	3062	biti++;
RyoheiHagimoto	0:56c5742b9e2b	3063	}
RyoheiHagimoto	0:56c5742b9e2b	3064	/If we finished a byte, drop it in a block./
RyoheiHagimoto	0:56c5742b9e2b	3065	if(biti>=8){
RyoheiHagimoto	0:56c5742b9e2b	3066	biti-=8;
RyoheiHagimoto	0:56c5742b9e2b	3067	*_blocks[blocki++]++=(unsigned char)(bits>>biti);
RyoheiHagimoto	0:56c5742b9e2b	3068	/*For whatever reason, the long blocks are at the _end_ of the list,
RyoheiHagimoto	0:56c5742b9e2b	3069	instead of the beginning.
RyoheiHagimoto	0:56c5742b9e2b	3070	Even worse, the extra bytes they get come at the end of the data
RyoheiHagimoto	0:56c5742b9e2b	3071	bytes, before the parity bytes.
RyoheiHagimoto	0:56c5742b9e2b	3072	Hence the logic here: when we've filled up the data portion of the
RyoheiHagimoto	0:56c5742b9e2b	3073	short blocks, skip directly to the long blocks for the next byte.
RyoheiHagimoto	0:56c5742b9e2b	3074	It's also the reason we increment _blocks[blocki] on each store,
RyoheiHagimoto	0:56c5742b9e2b	3075	instead of just indexing with blockj (after this iteration the
RyoheiHagimoto	0:56c5742b9e2b	3076	number of bytes in each block differs).*/
RyoheiHagimoto	0:56c5742b9e2b	3077	if(blocki>=_nblocks)blocki=++blockj==_nshort_data?_nshort_blocks:0;
RyoheiHagimoto	0:56c5742b9e2b	3078	}
RyoheiHagimoto	0:56c5742b9e2b	3079	}
RyoheiHagimoto	0:56c5742b9e2b	3080	nbits=QR_INT_BITS;
RyoheiHagimoto	0:56c5742b9e2b	3081	}
RyoheiHagimoto	0:56c5742b9e2b	3082	j-=2;
RyoheiHagimoto	0:56c5742b9e2b	3083	/Skip the column with the vertical timing pattern./
RyoheiHagimoto	0:56c5742b9e2b	3084	if(j==6)j--;
RyoheiHagimoto	0:56c5742b9e2b	3085	/Scan down a pair of columns./
RyoheiHagimoto	0:56c5742b9e2b	3086	l=j*stride;
RyoheiHagimoto	0:56c5742b9e2b	3087	for(i=0;i<stride;i++){
RyoheiHagimoto	0:56c5742b9e2b	3088	data1=_data_bits[l+i];
RyoheiHagimoto	0:56c5742b9e2b	3089	fp_mask1=_fp_mask[l+i];
RyoheiHagimoto	0:56c5742b9e2b	3090	data2=_data_bits[l+i-stride];
RyoheiHagimoto	0:56c5742b9e2b	3091	fp_mask2=_fp_mask[l+i-stride];
RyoheiHagimoto	0:56c5742b9e2b	3092	nbits=QR_MINI(_dim-(i<<QR_INT_LOGBITS),QR_INT_BITS);
RyoheiHagimoto	0:56c5742b9e2b	3093	while(nbits-->0){
RyoheiHagimoto	0:56c5742b9e2b	3094	/Pull a bit from the right column./
RyoheiHagimoto	0:56c5742b9e2b	3095	if(!(fp_mask1&1)){
RyoheiHagimoto	0:56c5742b9e2b	3096	bits=bits<<1\|data1&1;
RyoheiHagimoto	0:56c5742b9e2b	3097	biti++;
RyoheiHagimoto	0:56c5742b9e2b	3098	}
RyoheiHagimoto	0:56c5742b9e2b	3099	data1>>=1;
RyoheiHagimoto	0:56c5742b9e2b	3100	fp_mask1>>=1;
RyoheiHagimoto	0:56c5742b9e2b	3101	/Pull a bit from the left column./
RyoheiHagimoto	0:56c5742b9e2b	3102	if(!(fp_mask2&1)){
RyoheiHagimoto	0:56c5742b9e2b	3103	bits=bits<<1\|data2&1;
RyoheiHagimoto	0:56c5742b9e2b	3104	biti++;
RyoheiHagimoto	0:56c5742b9e2b	3105	}
RyoheiHagimoto	0:56c5742b9e2b	3106	data2>>=1;
RyoheiHagimoto	0:56c5742b9e2b	3107	fp_mask2>>=1;
RyoheiHagimoto	0:56c5742b9e2b	3108	/If we finished a byte, drop it in a block./
RyoheiHagimoto	0:56c5742b9e2b	3109	if(biti>=8){
RyoheiHagimoto	0:56c5742b9e2b	3110	biti-=8;
RyoheiHagimoto	0:56c5742b9e2b	3111	*_blocks[blocki++]++=(unsigned char)(bits>>biti);
RyoheiHagimoto	0:56c5742b9e2b	3112	/See comments on the "up" loop for the reason behind this mess./
RyoheiHagimoto	0:56c5742b9e2b	3113	if(blocki>=_nblocks)blocki=++blockj==_nshort_data?_nshort_blocks:0;
RyoheiHagimoto	0:56c5742b9e2b	3114	}
RyoheiHagimoto	0:56c5742b9e2b	3115	}
RyoheiHagimoto	0:56c5742b9e2b	3116	}
RyoheiHagimoto	0:56c5742b9e2b	3117	}
RyoheiHagimoto	0:56c5742b9e2b	3118	}
RyoheiHagimoto	0:56c5742b9e2b	3119
RyoheiHagimoto	0:56c5742b9e2b	3120
RyoheiHagimoto	0:56c5742b9e2b	3121	/*Bit reading code blatantly stolen^W^Wadapted from libogg/libtheora (because
RyoheiHagimoto	0:56c5742b9e2b	3122	I've already debugged it and I know it works).
RyoheiHagimoto	0:56c5742b9e2b	3123	Portions (C) Xiph.Org Foundation 1994-2008, BSD-style license.*/
RyoheiHagimoto	0:56c5742b9e2b	3124	struct qr_pack_buf{
RyoheiHagimoto	0:56c5742b9e2b	3125	const unsigned char *buf;
RyoheiHagimoto	0:56c5742b9e2b	3126	int endbyte;
RyoheiHagimoto	0:56c5742b9e2b	3127	int endbit;
RyoheiHagimoto	0:56c5742b9e2b	3128	int storage;
RyoheiHagimoto	0:56c5742b9e2b	3129	};
RyoheiHagimoto	0:56c5742b9e2b	3130
RyoheiHagimoto	0:56c5742b9e2b	3131
RyoheiHagimoto	0:56c5742b9e2b	3132	static void qr_pack_buf_init(qr_pack_buf *_b,
RyoheiHagimoto	0:56c5742b9e2b	3133	const unsigned char *_data,int _ndata){
RyoheiHagimoto	0:56c5742b9e2b	3134	_b->buf=_data;
RyoheiHagimoto	0:56c5742b9e2b	3135	_b->storage=_ndata;
RyoheiHagimoto	0:56c5742b9e2b	3136	_b->endbyte=_b->endbit=0;
RyoheiHagimoto	0:56c5742b9e2b	3137	}
RyoheiHagimoto	0:56c5742b9e2b	3138
RyoheiHagimoto	0:56c5742b9e2b	3139	/Assumes 0<=_bits<=16./
RyoheiHagimoto	0:56c5742b9e2b	3140	static int qr_pack_buf_read(qr_pack_buf *_b,int _bits){
RyoheiHagimoto	0:56c5742b9e2b	3141	const unsigned char *p;
RyoheiHagimoto	0:56c5742b9e2b	3142	unsigned ret;
RyoheiHagimoto	0:56c5742b9e2b	3143	int m;
RyoheiHagimoto	0:56c5742b9e2b	3144	int d;
RyoheiHagimoto	0:56c5742b9e2b	3145	m=16-_bits;
RyoheiHagimoto	0:56c5742b9e2b	3146	_bits+=_b->endbit;
RyoheiHagimoto	0:56c5742b9e2b	3147	d=_b->storage-_b->endbyte;
RyoheiHagimoto	0:56c5742b9e2b	3148	if(d<=2){
RyoheiHagimoto	0:56c5742b9e2b	3149	/Not the main path./
RyoheiHagimoto	0:56c5742b9e2b	3150	if(d*8<_bits){
RyoheiHagimoto	0:56c5742b9e2b	3151	_b->endbyte+=_bits>>3;
RyoheiHagimoto	0:56c5742b9e2b	3152	_b->endbit=_bits&7;
RyoheiHagimoto	0:56c5742b9e2b	3153	return -1;
RyoheiHagimoto	0:56c5742b9e2b	3154	}
RyoheiHagimoto	0:56c5742b9e2b	3155	/*Special case to avoid reading p[0] below, which might be past the end of
RyoheiHagimoto	0:56c5742b9e2b	3156	the buffer; also skips some useless accounting.*/
RyoheiHagimoto	0:56c5742b9e2b	3157	else if(!_bits)return 0;
RyoheiHagimoto	0:56c5742b9e2b	3158	}
RyoheiHagimoto	0:56c5742b9e2b	3159	p=_b->buf+_b->endbyte;
RyoheiHagimoto	0:56c5742b9e2b	3160	ret=p[0]<<8+_b->endbit;
RyoheiHagimoto	0:56c5742b9e2b	3161	if(_bits>8){
RyoheiHagimoto	0:56c5742b9e2b	3162	ret\|=p[1]<<_b->endbit;
RyoheiHagimoto	0:56c5742b9e2b	3163	if(_bits>16)ret\|=p[2]>>8-_b->endbit;
RyoheiHagimoto	0:56c5742b9e2b	3164	}
RyoheiHagimoto	0:56c5742b9e2b	3165	_b->endbyte+=_bits>>3;
RyoheiHagimoto	0:56c5742b9e2b	3166	_b->endbit=_bits&7;
RyoheiHagimoto	0:56c5742b9e2b	3167	return (ret&0xFFFF)>>m;
RyoheiHagimoto	0:56c5742b9e2b	3168	}
RyoheiHagimoto	0:56c5742b9e2b	3169
RyoheiHagimoto	0:56c5742b9e2b	3170	static int qr_pack_buf_avail(const qr_pack_buf *_b){
RyoheiHagimoto	0:56c5742b9e2b	3171	return (_b->storage-_b->endbyte<<3)-_b->endbit;
RyoheiHagimoto	0:56c5742b9e2b	3172	}
RyoheiHagimoto	0:56c5742b9e2b	3173
RyoheiHagimoto	0:56c5742b9e2b	3174
RyoheiHagimoto	0:56c5742b9e2b	3175	/The characters available in QR_MODE_ALNUM./
RyoheiHagimoto	0:56c5742b9e2b	3176	static const unsigned char QR_ALNUM_TABLE[45]={
RyoheiHagimoto	0:56c5742b9e2b	3177	'0','1','2','3','4','5','6','7','8','9',
RyoheiHagimoto	0:56c5742b9e2b	3178	'A','B','C','D','E','F','G','H','I','J',
RyoheiHagimoto	0:56c5742b9e2b	3179	'K','L','M','N','O','P','Q','R','S','T',
RyoheiHagimoto	0:56c5742b9e2b	3180	'U','V','W','X','Y','Z',' ','$','%','*',
RyoheiHagimoto	0:56c5742b9e2b	3181	'+','-','.','/',':'
RyoheiHagimoto	0:56c5742b9e2b	3182	};
RyoheiHagimoto	0:56c5742b9e2b	3183
RyoheiHagimoto	0:56c5742b9e2b	3184	static int qr_code_data_parse(qr_code_data *_qrdata,int _version,
RyoheiHagimoto	0:56c5742b9e2b	3185	const unsigned char *_data,int _ndata){
RyoheiHagimoto	0:56c5742b9e2b	3186	qr_pack_buf qpb;
RyoheiHagimoto	0:56c5742b9e2b	3187	int centries;
RyoheiHagimoto	0:56c5742b9e2b	3188	int len_bits_idx;
RyoheiHagimoto	0:56c5742b9e2b	3189	/*Entries are stored directly in the struct during parsing.
RyoheiHagimoto	0:56c5742b9e2b	3190	Caller cleans up any allocated data on failure.*/
RyoheiHagimoto	0:56c5742b9e2b	3191	_qrdata->entries=NULL;
RyoheiHagimoto	0:56c5742b9e2b	3192	_qrdata->nentries=0;
RyoheiHagimoto	0:56c5742b9e2b	3193	_qrdata->sa_size=0;
RyoheiHagimoto	0:56c5742b9e2b	3194	centries=0;
RyoheiHagimoto	0:56c5742b9e2b	3195	/*The versions are divided into 3 ranges that each use a different number of
RyoheiHagimoto	0:56c5742b9e2b	3196	bits for length fields.*/
RyoheiHagimoto	0:56c5742b9e2b	3197	len_bits_idx=(_version>9)+(_version>26);
RyoheiHagimoto	0:56c5742b9e2b	3198	qr_pack_buf_init(&qpb,_data,_ndata);
RyoheiHagimoto	0:56c5742b9e2b	3199	/While we have enough bits to read a mode.../
RyoheiHagimoto	0:56c5742b9e2b	3200	while(qr_pack_buf_avail(&qpb)>=4){
RyoheiHagimoto	0:56c5742b9e2b	3201	qr_code_data_entry *entry;
RyoheiHagimoto	0:56c5742b9e2b	3202	int mode;
RyoheiHagimoto	0:56c5742b9e2b	3203	mode=qr_pack_buf_read(&qpb,4);
RyoheiHagimoto	0:56c5742b9e2b	3204	/Mode 0 is a terminator./
RyoheiHagimoto	0:56c5742b9e2b	3205	if(!mode)break;
RyoheiHagimoto	0:56c5742b9e2b	3206	if(_qrdata->nentries>=centries){
RyoheiHagimoto	0:56c5742b9e2b	3207	centries=centries<<1\|1;
RyoheiHagimoto	0:56c5742b9e2b	3208	_qrdata->entries=(qr_code_data_entry *)realloc(_qrdata->entries,
RyoheiHagimoto	0:56c5742b9e2b	3209	centriessizeof(_qrdata->entries));
RyoheiHagimoto	0:56c5742b9e2b	3210	}
RyoheiHagimoto	0:56c5742b9e2b	3211	entry=_qrdata->entries+_qrdata->nentries++;
RyoheiHagimoto	0:56c5742b9e2b	3212	/*Set the mode to an invalid value until we allocate a buffer for it.
RyoheiHagimoto	0:56c5742b9e2b	3213	This ensures we don't try to free it on clean-up until then.*/
RyoheiHagimoto	0:56c5742b9e2b	3214	entry->mode=-1;
RyoheiHagimoto	0:56c5742b9e2b	3215	switch(mode){
RyoheiHagimoto	0:56c5742b9e2b	3216	/*The number of bits used to encode the character count for each version
RyoheiHagimoto	0:56c5742b9e2b	3217	range and each data mode.*/
RyoheiHagimoto	0:56c5742b9e2b	3218	static const unsigned char LEN_BITS[3][4]={
RyoheiHagimoto	0:56c5742b9e2b	3219	{10, 9, 8, 8},
RyoheiHagimoto	0:56c5742b9e2b	3220	{12,11,16,10},
RyoheiHagimoto	0:56c5742b9e2b	3221	{14,13,16,12}
RyoheiHagimoto	0:56c5742b9e2b	3222	};
RyoheiHagimoto	0:56c5742b9e2b	3223	case QR_MODE_NUM:{
RyoheiHagimoto	0:56c5742b9e2b	3224	unsigned char *buf;
RyoheiHagimoto	0:56c5742b9e2b	3225	unsigned bits;
RyoheiHagimoto	0:56c5742b9e2b	3226	int len;
RyoheiHagimoto	0:56c5742b9e2b	3227	int count;
RyoheiHagimoto	0:56c5742b9e2b	3228	int rem;
RyoheiHagimoto	0:56c5742b9e2b	3229	len=qr_pack_buf_read(&qpb,LEN_BITS[len_bits_idx][0]);
RyoheiHagimoto	0:56c5742b9e2b	3230	if(len<0)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3231	/*Check to see if there are enough bits left now, so we don't have to
RyoheiHagimoto	0:56c5742b9e2b	3232	in the decode loop.*/
RyoheiHagimoto	0:56c5742b9e2b	3233	count=len/3;
RyoheiHagimoto	0:56c5742b9e2b	3234	rem=len%3;
RyoheiHagimoto	0:56c5742b9e2b	3235	if(qr_pack_buf_avail(&qpb)<10count+7(rem>>1&1)+4*(rem&1))return -1;
RyoheiHagimoto	0:56c5742b9e2b	3236	entry->mode=mode;
RyoheiHagimoto	0:56c5742b9e2b	3237	entry->payload.data.buf=buf=(unsigned char )malloc(lensizeof(*buf));
RyoheiHagimoto	0:56c5742b9e2b	3238	entry->payload.data.len=len;
RyoheiHagimoto	0:56c5742b9e2b	3239	/Read groups of 3 digits encoded in 10 bits./
RyoheiHagimoto	0:56c5742b9e2b	3240	while(count-->0){
RyoheiHagimoto	0:56c5742b9e2b	3241	bits=qr_pack_buf_read(&qpb,10);
RyoheiHagimoto	0:56c5742b9e2b	3242	if(bits>=1000)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3243	*buf++=(unsigned char)('0'+bits/100);
RyoheiHagimoto	0:56c5742b9e2b	3244	bits%=100;
RyoheiHagimoto	0:56c5742b9e2b	3245	*buf++=(unsigned char)('0'+bits/10);
RyoheiHagimoto	0:56c5742b9e2b	3246	*buf++=(unsigned char)('0'+bits%10);
RyoheiHagimoto	0:56c5742b9e2b	3247	}
RyoheiHagimoto	0:56c5742b9e2b	3248	/Read the last two digits encoded in 7 bits./
RyoheiHagimoto	0:56c5742b9e2b	3249	if(rem>1){
RyoheiHagimoto	0:56c5742b9e2b	3250	bits=qr_pack_buf_read(&qpb,7);
RyoheiHagimoto	0:56c5742b9e2b	3251	if(bits>=100)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3252	*buf++=(unsigned char)('0'+bits/10);
RyoheiHagimoto	0:56c5742b9e2b	3253	*buf++=(unsigned char)('0'+bits%10);
RyoheiHagimoto	0:56c5742b9e2b	3254	}
RyoheiHagimoto	0:56c5742b9e2b	3255	/Or the last one digit encoded in 4 bits./
RyoheiHagimoto	0:56c5742b9e2b	3256	else if(rem){
RyoheiHagimoto	0:56c5742b9e2b	3257	bits=qr_pack_buf_read(&qpb,4);
RyoheiHagimoto	0:56c5742b9e2b	3258	if(bits>=10)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3259	*buf++=(unsigned char)('0'+bits);
RyoheiHagimoto	0:56c5742b9e2b	3260	}
RyoheiHagimoto	0:56c5742b9e2b	3261	}break;
RyoheiHagimoto	0:56c5742b9e2b	3262	case QR_MODE_ALNUM:{
RyoheiHagimoto	0:56c5742b9e2b	3263	unsigned char *buf;
RyoheiHagimoto	0:56c5742b9e2b	3264	unsigned bits;
RyoheiHagimoto	0:56c5742b9e2b	3265	int len;
RyoheiHagimoto	0:56c5742b9e2b	3266	int count;
RyoheiHagimoto	0:56c5742b9e2b	3267	int rem;
RyoheiHagimoto	0:56c5742b9e2b	3268	len=qr_pack_buf_read(&qpb,LEN_BITS[len_bits_idx][1]);
RyoheiHagimoto	0:56c5742b9e2b	3269	if(len<0)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3270	/*Check to see if there are enough bits left now, so we don't have to
RyoheiHagimoto	0:56c5742b9e2b	3271	in the decode loop.*/
RyoheiHagimoto	0:56c5742b9e2b	3272	count=len>>1;
RyoheiHagimoto	0:56c5742b9e2b	3273	rem=len&1;
RyoheiHagimoto	0:56c5742b9e2b	3274	if(qr_pack_buf_avail(&qpb)<11count+6rem)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3275	entry->mode=mode;
RyoheiHagimoto	0:56c5742b9e2b	3276	entry->payload.data.buf=buf=(unsigned char )malloc(lensizeof(*buf));
RyoheiHagimoto	0:56c5742b9e2b	3277	entry->payload.data.len=len;
RyoheiHagimoto	0:56c5742b9e2b	3278	/Read groups of two characters encoded in 11 bits./
RyoheiHagimoto	0:56c5742b9e2b	3279	while(count-->0){
RyoheiHagimoto	0:56c5742b9e2b	3280	bits=qr_pack_buf_read(&qpb,11);
RyoheiHagimoto	0:56c5742b9e2b	3281	if(bits>=2025)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3282	*buf++=QR_ALNUM_TABLE[bits/45];
RyoheiHagimoto	0:56c5742b9e2b	3283	*buf++=QR_ALNUM_TABLE[bits%45];
RyoheiHagimoto	0:56c5742b9e2b	3284	len-=2;
RyoheiHagimoto	0:56c5742b9e2b	3285	}
RyoheiHagimoto	0:56c5742b9e2b	3286	/Read the last character encoded in 6 bits./
RyoheiHagimoto	0:56c5742b9e2b	3287	if(rem){
RyoheiHagimoto	0:56c5742b9e2b	3288	bits=qr_pack_buf_read(&qpb,6);
RyoheiHagimoto	0:56c5742b9e2b	3289	if(bits>=45)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3290	*buf++=QR_ALNUM_TABLE[bits];
RyoheiHagimoto	0:56c5742b9e2b	3291	}
RyoheiHagimoto	0:56c5742b9e2b	3292	}break;
RyoheiHagimoto	0:56c5742b9e2b	3293	/Structured-append header./
RyoheiHagimoto	0:56c5742b9e2b	3294	case QR_MODE_STRUCT:{
RyoheiHagimoto	0:56c5742b9e2b	3295	int bits;
RyoheiHagimoto	0:56c5742b9e2b	3296	entry->mode=mode;
RyoheiHagimoto	0:56c5742b9e2b	3297	bits=qr_pack_buf_read(&qpb,16);
RyoheiHagimoto	0:56c5742b9e2b	3298	if(bits<0)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3299	/*We also save a copy of the data in _qrdata for easy reference when
RyoheiHagimoto	0:56c5742b9e2b	3300	grouping structured-append codes.
RyoheiHagimoto	0:56c5742b9e2b	3301	If for some reason the code has multiple S-A headers, last one wins
RyoheiHagimoto	0:56c5742b9e2b	3302	(TODO: should we return an error instead?).*/
RyoheiHagimoto	0:56c5742b9e2b	3303	_qrdata->sa_index=entry->payload.sa.sa_index=
RyoheiHagimoto	0:56c5742b9e2b	3304	(unsigned char)(bits>>12&0xF);
RyoheiHagimoto	0:56c5742b9e2b	3305	_qrdata->sa_size=entry->payload.sa.sa_size=
RyoheiHagimoto	0:56c5742b9e2b	3306	(unsigned char)((bits>>8&0xF)+1);
RyoheiHagimoto	0:56c5742b9e2b	3307	_qrdata->sa_parity=entry->payload.sa.sa_parity=
RyoheiHagimoto	0:56c5742b9e2b	3308	(unsigned char)(bits&0xFF);
RyoheiHagimoto	0:56c5742b9e2b	3309	}break;
RyoheiHagimoto	0:56c5742b9e2b	3310	case QR_MODE_BYTE:{
RyoheiHagimoto	0:56c5742b9e2b	3311	unsigned char *buf;
RyoheiHagimoto	0:56c5742b9e2b	3312	int len;
RyoheiHagimoto	0:56c5742b9e2b	3313	len=qr_pack_buf_read(&qpb,LEN_BITS[len_bits_idx][2]);
RyoheiHagimoto	0:56c5742b9e2b	3314	if(len<0)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3315	/*Check to see if there are enough bits left now, so we don't have to
RyoheiHagimoto	0:56c5742b9e2b	3316	in the decode loop.*/
RyoheiHagimoto	0:56c5742b9e2b	3317	if(qr_pack_buf_avail(&qpb)<len<<3)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3318	entry->mode=mode;
RyoheiHagimoto	0:56c5742b9e2b	3319	entry->payload.data.buf=buf=(unsigned char )malloc(lensizeof(*buf));
RyoheiHagimoto	0:56c5742b9e2b	3320	entry->payload.data.len=len;
RyoheiHagimoto	0:56c5742b9e2b	3321	while(len-->0)*buf++=(unsigned char)qr_pack_buf_read(&qpb,8);
RyoheiHagimoto	0:56c5742b9e2b	3322	}break;
RyoheiHagimoto	0:56c5742b9e2b	3323	/FNC1 first position marker./
RyoheiHagimoto	0:56c5742b9e2b	3324	case QR_MODE_FNC1_1ST:entry->mode=mode;break;
RyoheiHagimoto	0:56c5742b9e2b	3325	/Extended Channel Interpretation data./
RyoheiHagimoto	0:56c5742b9e2b	3326	case QR_MODE_ECI:{
RyoheiHagimoto	0:56c5742b9e2b	3327	unsigned val;
RyoheiHagimoto	0:56c5742b9e2b	3328	int bits;
RyoheiHagimoto	0:56c5742b9e2b	3329	/ECI uses a variable-width encoding similar to UTF-8/
RyoheiHagimoto	0:56c5742b9e2b	3330	bits=qr_pack_buf_read(&qpb,8);
RyoheiHagimoto	0:56c5742b9e2b	3331	if(bits<0)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3332	/One byte:/
RyoheiHagimoto	0:56c5742b9e2b	3333	if(!(bits&0x80))val=bits;
RyoheiHagimoto	0:56c5742b9e2b	3334	/Two bytes:/
RyoheiHagimoto	0:56c5742b9e2b	3335	else if(!(bits&0x40)){
RyoheiHagimoto	0:56c5742b9e2b	3336	val=bits&0x3F<<8;
RyoheiHagimoto	0:56c5742b9e2b	3337	bits=qr_pack_buf_read(&qpb,8);
RyoheiHagimoto	0:56c5742b9e2b	3338	if(bits<0)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3339	val\|=bits;
RyoheiHagimoto	0:56c5742b9e2b	3340	}
RyoheiHagimoto	0:56c5742b9e2b	3341	/Three bytes:/
RyoheiHagimoto	0:56c5742b9e2b	3342	else if(!(bits&0x20)){
RyoheiHagimoto	0:56c5742b9e2b	3343	val=bits&0x1F<<16;
RyoheiHagimoto	0:56c5742b9e2b	3344	bits=qr_pack_buf_read(&qpb,16);
RyoheiHagimoto	0:56c5742b9e2b	3345	if(bits<0)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3346	val\|=bits;
RyoheiHagimoto	0:56c5742b9e2b	3347	/Valid ECI values are 0...999999./
RyoheiHagimoto	0:56c5742b9e2b	3348	if(val>=1000000)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3349	}
RyoheiHagimoto	0:56c5742b9e2b	3350	/Invalid lead byte./
RyoheiHagimoto	0:56c5742b9e2b	3351	else return -1;
RyoheiHagimoto	0:56c5742b9e2b	3352	entry->mode=mode;
RyoheiHagimoto	0:56c5742b9e2b	3353	entry->payload.eci=val;
RyoheiHagimoto	0:56c5742b9e2b	3354	}break;
RyoheiHagimoto	0:56c5742b9e2b	3355	case QR_MODE_KANJI:{
RyoheiHagimoto	0:56c5742b9e2b	3356	unsigned char *buf;
RyoheiHagimoto	0:56c5742b9e2b	3357	unsigned bits;
RyoheiHagimoto	0:56c5742b9e2b	3358	int len;
RyoheiHagimoto	0:56c5742b9e2b	3359	len=qr_pack_buf_read(&qpb,LEN_BITS[len_bits_idx][3]);
RyoheiHagimoto	0:56c5742b9e2b	3360	if(len<0)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3361	/*Check to see if there are enough bits left now, so we don't have to
RyoheiHagimoto	0:56c5742b9e2b	3362	in the decode loop.*/
RyoheiHagimoto	0:56c5742b9e2b	3363	if(qr_pack_buf_avail(&qpb)<13*len)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3364	entry->mode=mode;
RyoheiHagimoto	0:56c5742b9e2b	3365	entry->payload.data.buf=buf=(unsigned char )malloc(2lensizeof(buf));
RyoheiHagimoto	0:56c5742b9e2b	3366	entry->payload.data.len=2*len;
RyoheiHagimoto	0:56c5742b9e2b	3367	/Decode 2-byte SJIS characters encoded in 13 bits./
RyoheiHagimoto	0:56c5742b9e2b	3368	while(len-->0){
RyoheiHagimoto	0:56c5742b9e2b	3369	bits=qr_pack_buf_read(&qpb,13);
RyoheiHagimoto	0:56c5742b9e2b	3370	bits=(bits/0xC0<<8\|bits%0xC0)+0x8140;
RyoheiHagimoto	0:56c5742b9e2b	3371	if(bits>=0xA000)bits+=0x4000;
RyoheiHagimoto	0:56c5742b9e2b	3372	/*Are values 0xXX7F, 0xXXFD...0xXXFF always invalid?
RyoheiHagimoto	0:56c5742b9e2b	3373	Should we reject them here?*/
RyoheiHagimoto	0:56c5742b9e2b	3374	*buf++=(unsigned char)(bits>>8);
RyoheiHagimoto	0:56c5742b9e2b	3375	*buf++=(unsigned char)(bits&0xFF);
RyoheiHagimoto	0:56c5742b9e2b	3376	}
RyoheiHagimoto	0:56c5742b9e2b	3377	}break;
RyoheiHagimoto	0:56c5742b9e2b	3378	/FNC1 second position marker./
RyoheiHagimoto	0:56c5742b9e2b	3379	case QR_MODE_FNC1_2ND:entry->mode=mode;break;
RyoheiHagimoto	0:56c5742b9e2b	3380	/Unknown mode number:/
RyoheiHagimoto	0:56c5742b9e2b	3381	default:{
RyoheiHagimoto	0:56c5742b9e2b	3382	/*Unfortunately, because we have to understand the format of a mode to
RyoheiHagimoto	0:56c5742b9e2b	3383	know how many bits it occupies, we can't skip unknown modes.
RyoheiHagimoto	0:56c5742b9e2b	3384	Therefore we have to fail.*/
RyoheiHagimoto	0:56c5742b9e2b	3385	return -1;
RyoheiHagimoto	0:56c5742b9e2b	3386	}break;
RyoheiHagimoto	0:56c5742b9e2b	3387	}
RyoheiHagimoto	0:56c5742b9e2b	3388	}
RyoheiHagimoto	0:56c5742b9e2b	3389	/*TODO: If there was a S-A header, we should compute the parity of this
RyoheiHagimoto	0:56c5742b9e2b	3390	code; how are non-data modes handled (ECI, FNC1)?*/
RyoheiHagimoto	0:56c5742b9e2b	3391	_qrdata->self_parity=0;
RyoheiHagimoto	0:56c5742b9e2b	3392	/Success./
RyoheiHagimoto	0:56c5742b9e2b	3393	_qrdata->entries=(qr_code_data_entry *)realloc(_qrdata->entries,
RyoheiHagimoto	0:56c5742b9e2b	3394	_qrdata->nentriessizeof(_qrdata->entries));
RyoheiHagimoto	0:56c5742b9e2b	3395	return 0;
RyoheiHagimoto	0:56c5742b9e2b	3396	}
RyoheiHagimoto	0:56c5742b9e2b	3397
RyoheiHagimoto	0:56c5742b9e2b	3398	static void qr_code_data_clear(qr_code_data *_qrdata){
RyoheiHagimoto	0:56c5742b9e2b	3399	int i;
RyoheiHagimoto	0:56c5742b9e2b	3400	for(i=0;i<_qrdata->nentries;i++){
RyoheiHagimoto	0:56c5742b9e2b	3401	if(QR_MODE_HAS_DATA(_qrdata->entries[i].mode)){
RyoheiHagimoto	0:56c5742b9e2b	3402	free(_qrdata->entries[i].payload.data.buf);
RyoheiHagimoto	0:56c5742b9e2b	3403	}
RyoheiHagimoto	0:56c5742b9e2b	3404	}
RyoheiHagimoto	0:56c5742b9e2b	3405	free(_qrdata->entries);
RyoheiHagimoto	0:56c5742b9e2b	3406	}
RyoheiHagimoto	0:56c5742b9e2b	3407
RyoheiHagimoto	0:56c5742b9e2b	3408
RyoheiHagimoto	0:56c5742b9e2b	3409	void qr_code_data_list_init(qr_code_data_list *_qrlist){
RyoheiHagimoto	0:56c5742b9e2b	3410	_qrlist->qrdata=NULL;
RyoheiHagimoto	0:56c5742b9e2b	3411	_qrlist->nqrdata=_qrlist->cqrdata=0;
RyoheiHagimoto	0:56c5742b9e2b	3412	}
RyoheiHagimoto	0:56c5742b9e2b	3413
RyoheiHagimoto	0:56c5742b9e2b	3414	void qr_code_data_list_clear(qr_code_data_list *_qrlist){
RyoheiHagimoto	0:56c5742b9e2b	3415	int i;
RyoheiHagimoto	0:56c5742b9e2b	3416	for(i=0;i<_qrlist->nqrdata;i++)qr_code_data_clear(_qrlist->qrdata+i);
RyoheiHagimoto	0:56c5742b9e2b	3417	free(_qrlist->qrdata);
RyoheiHagimoto	0:56c5742b9e2b	3418	qr_code_data_list_init(_qrlist);
RyoheiHagimoto	0:56c5742b9e2b	3419	}
RyoheiHagimoto	0:56c5742b9e2b	3420
RyoheiHagimoto	0:56c5742b9e2b	3421	static void qr_code_data_list_add(qr_code_data_list *_qrlist,
RyoheiHagimoto	0:56c5742b9e2b	3422	qr_code_data *_qrdata){
RyoheiHagimoto	0:56c5742b9e2b	3423	if(_qrlist->nqrdata>=_qrlist->cqrdata){
RyoheiHagimoto	0:56c5742b9e2b	3424	_qrlist->cqrdata=_qrlist->cqrdata<<1\|1;
RyoheiHagimoto	0:56c5742b9e2b	3425	_qrlist->qrdata=(qr_code_data *)realloc(_qrlist->qrdata,
RyoheiHagimoto	0:56c5742b9e2b	3426	_qrlist->cqrdatasizeof(_qrlist->qrdata));
RyoheiHagimoto	0:56c5742b9e2b	3427	}
RyoheiHagimoto	0:56c5742b9e2b	3428	memcpy(_qrlist->qrdata+_qrlist->nqrdata++,_qrdata,sizeof(*_qrdata));
RyoheiHagimoto	0:56c5742b9e2b	3429	}
RyoheiHagimoto	0:56c5742b9e2b	3430
RyoheiHagimoto	0:56c5742b9e2b	3431	#if 0
RyoheiHagimoto	0:56c5742b9e2b	3432	static const unsigned short QR_NCODEWORDS[40]={
RyoheiHagimoto	0:56c5742b9e2b	3433	26, 44, 70, 100, 134, 172, 196, 242, 292, 346,
RyoheiHagimoto	0:56c5742b9e2b	3434	404, 466, 532, 581, 655, 733, 815, 901, 991,1085,
RyoheiHagimoto	0:56c5742b9e2b	3435	1156,1258,1364,1474,1588,1706,1828,1921,2051,2185,
RyoheiHagimoto	0:56c5742b9e2b	3436	2323,2465,2611,2761,2876,3034,3196,3362,3532,3706
RyoheiHagimoto	0:56c5742b9e2b	3437	};
RyoheiHagimoto	0:56c5742b9e2b	3438	#endif
RyoheiHagimoto	0:56c5742b9e2b	3439
RyoheiHagimoto	0:56c5742b9e2b	3440	/The total number of codewords in a QR code./
RyoheiHagimoto	0:56c5742b9e2b	3441	static int qr_code_ncodewords(unsigned _version){
RyoheiHagimoto	0:56c5742b9e2b	3442	unsigned nalign;
RyoheiHagimoto	0:56c5742b9e2b	3443	/*This is 24-27 instructions on ARM in thumb mode, or a 26-32 byte savings
RyoheiHagimoto	0:56c5742b9e2b	3444	over just using a table (not counting the instructions that would be
RyoheiHagimoto	0:56c5742b9e2b	3445	needed to do the table lookup).*/
RyoheiHagimoto	0:56c5742b9e2b	3446	if(_version==1)return 26;
RyoheiHagimoto	0:56c5742b9e2b	3447	nalign=(_version/7)+2;
RyoheiHagimoto	0:56c5742b9e2b	3448	return (_version<<4)*(_version+8)
RyoheiHagimoto	0:56c5742b9e2b	3449	-(5nalign)(5nalign-2)+36(_version<7)+83>>3;
RyoheiHagimoto	0:56c5742b9e2b	3450	}
RyoheiHagimoto	0:56c5742b9e2b	3451
RyoheiHagimoto	0:56c5742b9e2b	3452	#if 0
RyoheiHagimoto	0:56c5742b9e2b	3453	/*The number of parity bytes per Reed-Solomon block for each version and error
RyoheiHagimoto	0:56c5742b9e2b	3454	correction level.*/
RyoheiHagimoto	0:56c5742b9e2b	3455	static const unsigned char QR_RS_NPAR[40][4]={
RyoheiHagimoto	0:56c5742b9e2b	3456	{ 7,10,13,17},{10,16,22,28},{15,26,18,22},{20,18,26,16},
RyoheiHagimoto	0:56c5742b9e2b	3457	{26,24,18,22},{18,16,24,28},{20,18,18,26},{24,22,22,26},
RyoheiHagimoto	0:56c5742b9e2b	3458	{30,22,20,24},{18,26,24,28},{20,30,28,24},{24,22,26,28},
RyoheiHagimoto	0:56c5742b9e2b	3459	{26,22,24,22},{30,24,20,24},{22,24,30,24},{24,28,24,30},
RyoheiHagimoto	0:56c5742b9e2b	3460	{28,28,28,28},{30,26,28,28},{28,26,26,26},{28,26,30,28},
RyoheiHagimoto	0:56c5742b9e2b	3461	{28,26,28,30},{28,28,30,24},{30,28,30,30},{30,28,30,30},
RyoheiHagimoto	0:56c5742b9e2b	3462	{26,28,30,30},{28,28,28,30},{30,28,30,30},{30,28,30,30},
RyoheiHagimoto	0:56c5742b9e2b	3463	{30,28,30,30},{30,28,30,30},{30,28,30,30},{30,28,30,30},
RyoheiHagimoto	0:56c5742b9e2b	3464	{30,28,30,30},{30,28,30,30},{30,28,30,30},{30,28,30,30},
RyoheiHagimoto	0:56c5742b9e2b	3465	{30,28,30,30},{30,28,30,30},{30,28,30,30},{30,28,30,30}
RyoheiHagimoto	0:56c5742b9e2b	3466	};
RyoheiHagimoto	0:56c5742b9e2b	3467	#endif
RyoheiHagimoto	0:56c5742b9e2b	3468
RyoheiHagimoto	0:56c5742b9e2b	3469	/Bulk data for the number of parity bytes per Reed-Solomon block./
RyoheiHagimoto	0:56c5742b9e2b	3470	static const unsigned char QR_RS_NPAR_VALS[71]={
RyoheiHagimoto	0:56c5742b9e2b	3471	/[ 0]/ 7,10,13,17,
RyoheiHagimoto	0:56c5742b9e2b	3472	/[ 4]/10,16,22, 28,26,26, 26,22, 24,22,22, 26,24,18,22,
RyoheiHagimoto	0:56c5742b9e2b	3473	/[19]/15,26,18, 22,24, 30,24,20,24,
RyoheiHagimoto	0:56c5742b9e2b	3474	/[28]/18,16,24, 28, 28, 28,28,30,24,
RyoheiHagimoto	0:56c5742b9e2b	3475	/[37]/20,18, 18,26, 24,28,24, 30,26,28, 28, 26,28,30, 30,22,20,24,
RyoheiHagimoto	0:56c5742b9e2b	3476	/[55]/20,18,26,16,
RyoheiHagimoto	0:56c5742b9e2b	3477	/[59]/20,30,28, 24,22,26, 28,26, 30,28,30,30
RyoheiHagimoto	0:56c5742b9e2b	3478	};
RyoheiHagimoto	0:56c5742b9e2b	3479
RyoheiHagimoto	0:56c5742b9e2b	3480	/*An offset into QR_RS_NPAR_DATA for each version that gives the number of
RyoheiHagimoto	0:56c5742b9e2b	3481	parity bytes per Reed-Solomon block for each error correction level.*/
RyoheiHagimoto	0:56c5742b9e2b	3482	static const unsigned char QR_RS_NPAR_OFFS[40]={
RyoheiHagimoto	0:56c5742b9e2b	3483	0, 4,19,55,15,28,37,12,51,39,
RyoheiHagimoto	0:56c5742b9e2b	3484	59,62,10,24,22,41,31,44, 7,65,
RyoheiHagimoto	0:56c5742b9e2b	3485	47,33,67,67,48,32,67,67,67,67,
RyoheiHagimoto	0:56c5742b9e2b	3486	67,67,67,67,67,67,67,67,67,67
RyoheiHagimoto	0:56c5742b9e2b	3487	};
RyoheiHagimoto	0:56c5742b9e2b	3488
RyoheiHagimoto	0:56c5742b9e2b	3489	/*The number of Reed-Solomon blocks for each version and error correction
RyoheiHagimoto	0:56c5742b9e2b	3490	level.*/
RyoheiHagimoto	0:56c5742b9e2b	3491	static const unsigned char QR_RS_NBLOCKS[40][4]={
RyoheiHagimoto	0:56c5742b9e2b	3492	{ 1, 1, 1, 1},{ 1, 1, 1, 1},{ 1, 1, 2, 2},{ 1, 2, 2, 4},
RyoheiHagimoto	0:56c5742b9e2b	3493	{ 1, 2, 4, 4},{ 2, 4, 4, 4},{ 2, 4, 6, 5},{ 2, 4, 6, 6},
RyoheiHagimoto	0:56c5742b9e2b	3494	{ 2, 5, 8, 8},{ 4, 5, 8, 8},{ 4, 5, 8,11},{ 4, 8,10,11},
RyoheiHagimoto	0:56c5742b9e2b	3495	{ 4, 9,12,16},{ 4, 9,16,16},{ 6,10,12,18},{ 6,10,17,16},
RyoheiHagimoto	0:56c5742b9e2b	3496	{ 6,11,16,19},{ 6,13,18,21},{ 7,14,21,25},{ 8,16,20,25},
RyoheiHagimoto	0:56c5742b9e2b	3497	{ 8,17,23,25},{ 9,17,23,34},{ 9,18,25,30},{10,20,27,32},
RyoheiHagimoto	0:56c5742b9e2b	3498	{12,21,29,35},{12,23,34,37},{12,25,34,40},{13,26,35,42},
RyoheiHagimoto	0:56c5742b9e2b	3499	{14,28,38,45},{15,29,40,48},{16,31,43,51},{17,33,45,54},
RyoheiHagimoto	0:56c5742b9e2b	3500	{18,35,48,57},{19,37,51,60},{19,38,53,63},{20,40,56,66},
RyoheiHagimoto	0:56c5742b9e2b	3501	{21,43,59,70},{22,45,62,74},{24,47,65,77},{25,49,68,81}
RyoheiHagimoto	0:56c5742b9e2b	3502	};
RyoheiHagimoto	0:56c5742b9e2b	3503
RyoheiHagimoto	0:56c5742b9e2b	3504	/*Attempts to fully decode a QR code.
RyoheiHagimoto	0:56c5742b9e2b	3505	_qrdata: Returns the parsed code data.
RyoheiHagimoto	0:56c5742b9e2b	3506	_gf: Used for Reed-Solomon error correction.
RyoheiHagimoto	0:56c5742b9e2b	3507	_ul_pos: The location of the UL finder pattern.
RyoheiHagimoto	0:56c5742b9e2b	3508	_ur_pos: The location of the UR finder pattern.
RyoheiHagimoto	0:56c5742b9e2b	3509	_dl_pos: The location of the DL finder pattern.
RyoheiHagimoto	0:56c5742b9e2b	3510	_version: The (decoded) version number.
RyoheiHagimoto	0:56c5742b9e2b	3511	_fmt_info: The decoded format info.
RyoheiHagimoto	0:56c5742b9e2b	3512	_img: The binary input image.
RyoheiHagimoto	0:56c5742b9e2b	3513	_width: The width of the input image.
RyoheiHagimoto	0:56c5742b9e2b	3514	_height: The height of the input image.
RyoheiHagimoto	0:56c5742b9e2b	3515	Return: 0 on success, or a negative value on error.*/
RyoheiHagimoto	0:56c5742b9e2b	3516	static int qr_code_decode(qr_code_data _qrdata,const rs_gf256 _gf,
RyoheiHagimoto	0:56c5742b9e2b	3517	const qr_point _ul_pos,const qr_point _ur_pos,const qr_point _dl_pos,
RyoheiHagimoto	0:56c5742b9e2b	3518	int _version,int _fmt_info,
RyoheiHagimoto	0:56c5742b9e2b	3519	const unsigned char *_img,int _width,int _height){
RyoheiHagimoto	0:56c5742b9e2b	3520	qr_sampling_grid grid;
RyoheiHagimoto	0:56c5742b9e2b	3521	unsigned *data_bits;
RyoheiHagimoto	0:56c5742b9e2b	3522	unsigned char **blocks;
RyoheiHagimoto	0:56c5742b9e2b	3523	unsigned char *block_data;
RyoheiHagimoto	0:56c5742b9e2b	3524	int nblocks;
RyoheiHagimoto	0:56c5742b9e2b	3525	int nshort_blocks;
RyoheiHagimoto	0:56c5742b9e2b	3526	int ncodewords;
RyoheiHagimoto	0:56c5742b9e2b	3527	int block_sz;
RyoheiHagimoto	0:56c5742b9e2b	3528	int ecc_level;
RyoheiHagimoto	0:56c5742b9e2b	3529	int ndata;
RyoheiHagimoto	0:56c5742b9e2b	3530	int npar;
RyoheiHagimoto	0:56c5742b9e2b	3531	int dim;
RyoheiHagimoto	0:56c5742b9e2b	3532	int ret;
RyoheiHagimoto	0:56c5742b9e2b	3533	int i;
RyoheiHagimoto	0:56c5742b9e2b	3534	/Read the bits out of the image./
RyoheiHagimoto	0:56c5742b9e2b	3535	qr_sampling_grid_init(&grid,_version,_ul_pos,_ur_pos,_dl_pos,_qrdata->bbox,
RyoheiHagimoto	0:56c5742b9e2b	3536	_img,_width,_height);
RyoheiHagimoto	0:56c5742b9e2b	3537	#if defined(QR_DEBUG)
RyoheiHagimoto	0:56c5742b9e2b	3538	qr_sampling_grid_dump(&grid,_version,_img,_width,_height);
RyoheiHagimoto	0:56c5742b9e2b	3539	#endif
RyoheiHagimoto	0:56c5742b9e2b	3540	dim=17+(_version<<2);
RyoheiHagimoto	0:56c5742b9e2b	3541	data_bits=(unsigned *)malloc(
RyoheiHagimoto	0:56c5742b9e2b	3542	dim(dim+QR_INT_BITS-1>>QR_INT_LOGBITS)sizeof(*data_bits));
RyoheiHagimoto	0:56c5742b9e2b	3543	qr_sampling_grid_sample(&grid,data_bits,dim,_fmt_info,_img,_width,_height);
RyoheiHagimoto	0:56c5742b9e2b	3544	/Group those bits into Reed-Solomon codewords./
RyoheiHagimoto	0:56c5742b9e2b	3545	ecc_level=(_fmt_info>>3)^1;
RyoheiHagimoto	0:56c5742b9e2b	3546	nblocks=QR_RS_NBLOCKS[_version-1][ecc_level];
RyoheiHagimoto	0:56c5742b9e2b	3547	npar=*(QR_RS_NPAR_VALS+QR_RS_NPAR_OFFS[_version-1]+ecc_level);
RyoheiHagimoto	0:56c5742b9e2b	3548	ncodewords=qr_code_ncodewords(_version);
RyoheiHagimoto	0:56c5742b9e2b	3549	block_sz=ncodewords/nblocks;
RyoheiHagimoto	0:56c5742b9e2b	3550	nshort_blocks=nblocks-(ncodewords%nblocks);
RyoheiHagimoto	0:56c5742b9e2b	3551	blocks=(unsigned char *)malloc(nblockssizeof(*blocks));
RyoheiHagimoto	0:56c5742b9e2b	3552	block_data=(unsigned char )malloc(ncodewordssizeof(*block_data));
RyoheiHagimoto	0:56c5742b9e2b	3553	blocks[0]=block_data;
RyoheiHagimoto	0:56c5742b9e2b	3554	for(i=1;i<nblocks;i++)blocks[i]=blocks[i-1]+block_sz+(i>nshort_blocks);
RyoheiHagimoto	0:56c5742b9e2b	3555	qr_samples_unpack(blocks,nblocks,block_sz-npar,nshort_blocks,
RyoheiHagimoto	0:56c5742b9e2b	3556	data_bits,grid.fpmask,dim);
RyoheiHagimoto	0:56c5742b9e2b	3557	qr_sampling_grid_clear(&grid);
RyoheiHagimoto	0:56c5742b9e2b	3558	free(blocks);
RyoheiHagimoto	0:56c5742b9e2b	3559	free(data_bits);
RyoheiHagimoto	0:56c5742b9e2b	3560	/Perform the error correction./
RyoheiHagimoto	0:56c5742b9e2b	3561	ndata=0;
RyoheiHagimoto	0:56c5742b9e2b	3562	ncodewords=0;
RyoheiHagimoto	0:56c5742b9e2b	3563	ret=0;
RyoheiHagimoto	0:56c5742b9e2b	3564	for(i=0;i<nblocks;i++){
RyoheiHagimoto	0:56c5742b9e2b	3565	int block_szi;
RyoheiHagimoto	0:56c5742b9e2b	3566	int ndatai;
RyoheiHagimoto	0:56c5742b9e2b	3567	block_szi=block_sz+(i>=nshort_blocks);
RyoheiHagimoto	0:56c5742b9e2b	3568	if(rs_correct(_gf,QR_M0,block_data+ncodewords,block_szi,npar,NULL,0)<0){
RyoheiHagimoto	0:56c5742b9e2b	3569	ret=-1;
RyoheiHagimoto	0:56c5742b9e2b	3570	break;
RyoheiHagimoto	0:56c5742b9e2b	3571	}
RyoheiHagimoto	0:56c5742b9e2b	3572	ndatai=block_szi-npar;
RyoheiHagimoto	0:56c5742b9e2b	3573	memmove(block_data+ndata,block_data+ncodewords,ndataisizeof(block_data));
RyoheiHagimoto	0:56c5742b9e2b	3574	ncodewords+=block_szi;
RyoheiHagimoto	0:56c5742b9e2b	3575	ndata+=ndatai;
RyoheiHagimoto	0:56c5742b9e2b	3576	}
RyoheiHagimoto	0:56c5742b9e2b	3577	/Parse the corrected bitstream./
RyoheiHagimoto	0:56c5742b9e2b	3578	if(ret>=0){
RyoheiHagimoto	0:56c5742b9e2b	3579	ret=qr_code_data_parse(_qrdata,_version,block_data,ndata);
RyoheiHagimoto	0:56c5742b9e2b	3580	/*We could return any partially decoded data, but then we'd have to have
RyoheiHagimoto	0:56c5742b9e2b	3581	API support for that; a mode ignoring ECC errors might also be useful.*/
RyoheiHagimoto	0:56c5742b9e2b	3582	if(ret<0)qr_code_data_clear(_qrdata);
RyoheiHagimoto	0:56c5742b9e2b	3583	_qrdata->version=_version;
RyoheiHagimoto	0:56c5742b9e2b	3584	_qrdata->ecc_level=ecc_level;
RyoheiHagimoto	0:56c5742b9e2b	3585	}
RyoheiHagimoto	0:56c5742b9e2b	3586	free(block_data);
RyoheiHagimoto	0:56c5742b9e2b	3587	return ret;
RyoheiHagimoto	0:56c5742b9e2b	3588	}
RyoheiHagimoto	0:56c5742b9e2b	3589
RyoheiHagimoto	0:56c5742b9e2b	3590	/*Searches for an arrangement of these three finder centers that yields a valid
RyoheiHagimoto	0:56c5742b9e2b	3591	configuration.
RyoheiHagimoto	0:56c5742b9e2b	3592	_c: On input, the three finder centers to consider in any order.
RyoheiHagimoto	0:56c5742b9e2b	3593	Return: The detected version number, or a negative value on error.*/
RyoheiHagimoto	0:56c5742b9e2b	3594	static int qr_reader_try_configuration(qr_reader *_reader,
RyoheiHagimoto	0:56c5742b9e2b	3595	qr_code_data _qrdata,const unsigned char _img,int _width,int _height,
RyoheiHagimoto	0:56c5742b9e2b	3596	qr_finder_center *_c[3]){
RyoheiHagimoto	0:56c5742b9e2b	3597	int ci[7];
RyoheiHagimoto	0:56c5742b9e2b	3598	unsigned maxd;
RyoheiHagimoto	0:56c5742b9e2b	3599	int ccw;
RyoheiHagimoto	0:56c5742b9e2b	3600	int i0;
RyoheiHagimoto	0:56c5742b9e2b	3601	int i;
RyoheiHagimoto	0:56c5742b9e2b	3602	/Sort the points in counter-clockwise order./
RyoheiHagimoto	0:56c5742b9e2b	3603	ccw=qr_point_ccw(_c[0]->pos,_c[1]->pos,_c[2]->pos);
RyoheiHagimoto	0:56c5742b9e2b	3604	/Colinear points can't be the corners of a quadrilateral./
RyoheiHagimoto	0:56c5742b9e2b	3605	if(!ccw)return -1;
RyoheiHagimoto	0:56c5742b9e2b	3606	/Include a few extra copies of the cyclical list to avoid mods./
RyoheiHagimoto	0:56c5742b9e2b	3607	ci[6]=ci[3]=ci[0]=0;
RyoheiHagimoto	0:56c5742b9e2b	3608	ci[4]=ci[1]=1+(ccw<0);
RyoheiHagimoto	0:56c5742b9e2b	3609	ci[5]=ci[2]=2-(ccw<0);
RyoheiHagimoto	0:56c5742b9e2b	3610	/*Assume the points farthest from each other are the opposite corners, and
RyoheiHagimoto	0:56c5742b9e2b	3611	find the top-left point.*/
RyoheiHagimoto	0:56c5742b9e2b	3612	maxd=qr_point_distance2(_c[1]->pos,_c[2]->pos);
RyoheiHagimoto	0:56c5742b9e2b	3613	i0=0;
RyoheiHagimoto	0:56c5742b9e2b	3614	for(i=1;i<3;i++){
RyoheiHagimoto	0:56c5742b9e2b	3615	unsigned d;
RyoheiHagimoto	0:56c5742b9e2b	3616	d=qr_point_distance2(_c[ci[i+1]]->pos,_c[ci[i+2]]->pos);
RyoheiHagimoto	0:56c5742b9e2b	3617	if(d>maxd){
RyoheiHagimoto	0:56c5742b9e2b	3618	i0=i;
RyoheiHagimoto	0:56c5742b9e2b	3619	maxd=d;
RyoheiHagimoto	0:56c5742b9e2b	3620	}
RyoheiHagimoto	0:56c5742b9e2b	3621	}
RyoheiHagimoto	0:56c5742b9e2b	3622	/*However, try all three possible orderings, just to be sure (a severely
RyoheiHagimoto	0:56c5742b9e2b	3623	skewed projection could move opposite corners closer than adjacent).*/
RyoheiHagimoto	0:56c5742b9e2b	3624	for(i=i0;i<i0+3;i++){
RyoheiHagimoto	0:56c5742b9e2b	3625	qr_aff aff;
RyoheiHagimoto	0:56c5742b9e2b	3626	qr_hom hom;
RyoheiHagimoto	0:56c5742b9e2b	3627	qr_finder ul;
RyoheiHagimoto	0:56c5742b9e2b	3628	qr_finder ur;
RyoheiHagimoto	0:56c5742b9e2b	3629	qr_finder dl;
RyoheiHagimoto	0:56c5742b9e2b	3630	int res;
RyoheiHagimoto	0:56c5742b9e2b	3631	int ur_version;
RyoheiHagimoto	0:56c5742b9e2b	3632	int dl_version;
RyoheiHagimoto	0:56c5742b9e2b	3633	int fmt_info;
RyoheiHagimoto	0:56c5742b9e2b	3634	ul.c=_c[ci[i]];
RyoheiHagimoto	0:56c5742b9e2b	3635	ur.c=_c[ci[i+1]];
RyoheiHagimoto	0:56c5742b9e2b	3636	dl.c=_c[ci[i+2]];
RyoheiHagimoto	0:56c5742b9e2b	3637	/*Estimate the module size and version number from the two opposite corners.
RyoheiHagimoto	0:56c5742b9e2b	3638	The module size is not constant in the image, so we compute an affine
RyoheiHagimoto	0:56c5742b9e2b	3639	projection from the three points we have to a square domain, and
RyoheiHagimoto	0:56c5742b9e2b	3640	estimate it there.
RyoheiHagimoto	0:56c5742b9e2b	3641	Although it should be the same along both axes, we keep separate
RyoheiHagimoto	0:56c5742b9e2b	3642	estimates to account for any remaining projective distortion.*/
RyoheiHagimoto	0:56c5742b9e2b	3643	res=QR_INT_BITS-2-QR_FINDER_SUBPREC-qr_ilog(QR_MAXI(_width,_height)-1);
RyoheiHagimoto	0:56c5742b9e2b	3644	qr_aff_init(&aff,ul.c->pos,ur.c->pos,dl.c->pos,res);
RyoheiHagimoto	0:56c5742b9e2b	3645	qr_aff_unproject(ur.o,&aff,ur.c->pos[0],ur.c->pos[1]);
RyoheiHagimoto	0:56c5742b9e2b	3646	qr_finder_edge_pts_aff_classify(&ur,&aff);
RyoheiHagimoto	0:56c5742b9e2b	3647	if(qr_finder_estimate_module_size_and_version(&ur,1<<res,1<<res)<0)continue;
RyoheiHagimoto	0:56c5742b9e2b	3648	qr_aff_unproject(dl.o,&aff,dl.c->pos[0],dl.c->pos[1]);
RyoheiHagimoto	0:56c5742b9e2b	3649	qr_finder_edge_pts_aff_classify(&dl,&aff);
RyoheiHagimoto	0:56c5742b9e2b	3650	if(qr_finder_estimate_module_size_and_version(&dl,1<<res,1<<res)<0)continue;
RyoheiHagimoto	0:56c5742b9e2b	3651	/*If the estimated versions are significantly different, reject the
RyoheiHagimoto	0:56c5742b9e2b	3652	configuration.*/
RyoheiHagimoto	0:56c5742b9e2b	3653	if(abs(ur.eversion[1]-dl.eversion[0])>QR_LARGE_VERSION_SLACK)continue;
RyoheiHagimoto	0:56c5742b9e2b	3654	qr_aff_unproject(ul.o,&aff,ul.c->pos[0],ul.c->pos[1]);
RyoheiHagimoto	0:56c5742b9e2b	3655	qr_finder_edge_pts_aff_classify(&ul,&aff);
RyoheiHagimoto	0:56c5742b9e2b	3656	if(qr_finder_estimate_module_size_and_version(&ul,1<<res,1<<res)<0\|\|
RyoheiHagimoto	0:56c5742b9e2b	3657	abs(ul.eversion[1]-ur.eversion[1])>QR_LARGE_VERSION_SLACK\|\|
RyoheiHagimoto	0:56c5742b9e2b	3658	abs(ul.eversion[0]-dl.eversion[0])>QR_LARGE_VERSION_SLACK){
RyoheiHagimoto	0:56c5742b9e2b	3659	continue;
RyoheiHagimoto	0:56c5742b9e2b	3660	}
RyoheiHagimoto	0:56c5742b9e2b	3661	#if defined(QR_DEBUG)
RyoheiHagimoto	0:56c5742b9e2b	3662	qr_finder_dump_aff_undistorted(&ul,&ur,&dl,&aff,_img,_width,_height);
RyoheiHagimoto	0:56c5742b9e2b	3663	#endif
RyoheiHagimoto	0:56c5742b9e2b	3664	/*If we made it this far, upgrade the affine homography to a full
RyoheiHagimoto	0:56c5742b9e2b	3665	homography.*/
RyoheiHagimoto	0:56c5742b9e2b	3666	if(qr_hom_fit(&hom,&ul,&ur,&dl,_qrdata->bbox,&aff,
RyoheiHagimoto	0:56c5742b9e2b	3667	&_reader->isaac,_img,_width,_height)<0){
RyoheiHagimoto	0:56c5742b9e2b	3668	continue;
RyoheiHagimoto	0:56c5742b9e2b	3669	}
RyoheiHagimoto	0:56c5742b9e2b	3670	qr_hom_unproject(ul.o,&hom,ul.c->pos[0],ul.c->pos[1]);
RyoheiHagimoto	0:56c5742b9e2b	3671	qr_hom_unproject(ur.o,&hom,ur.c->pos[0],ur.c->pos[1]);
RyoheiHagimoto	0:56c5742b9e2b	3672	qr_hom_unproject(dl.o,&hom,dl.c->pos[0],dl.c->pos[1]);
RyoheiHagimoto	0:56c5742b9e2b	3673	qr_finder_edge_pts_hom_classify(&ur,&hom);
RyoheiHagimoto	0:56c5742b9e2b	3674	if(qr_finder_estimate_module_size_and_version(&ur,
RyoheiHagimoto	0:56c5742b9e2b	3675	ur.o[0]-ul.o[0],ur.o[0]-ul.o[0])<0){
RyoheiHagimoto	0:56c5742b9e2b	3676	continue;
RyoheiHagimoto	0:56c5742b9e2b	3677	}
RyoheiHagimoto	0:56c5742b9e2b	3678	qr_finder_edge_pts_hom_classify(&dl,&hom);
RyoheiHagimoto	0:56c5742b9e2b	3679	if(qr_finder_estimate_module_size_and_version(&dl,
RyoheiHagimoto	0:56c5742b9e2b	3680	dl.o[1]-ul.o[1],dl.o[1]-ul.o[1])<0){
RyoheiHagimoto	0:56c5742b9e2b	3681	continue;
RyoheiHagimoto	0:56c5742b9e2b	3682	}
RyoheiHagimoto	0:56c5742b9e2b	3683	#if defined(QR_DEBUG)
RyoheiHagimoto	0:56c5742b9e2b	3684	qr_finder_dump_hom_undistorted(&ul,&ur,&dl,&hom,_img,_width,_height);
RyoheiHagimoto	0:56c5742b9e2b	3685	#endif
RyoheiHagimoto	0:56c5742b9e2b	3686	/*If we have a small version (less than 7), there's no encoded version
RyoheiHagimoto	0:56c5742b9e2b	3687	information.
RyoheiHagimoto	0:56c5742b9e2b	3688	If the estimated version on the two corners matches and is sufficiently
RyoheiHagimoto	0:56c5742b9e2b	3689	small, we assume this is the case.*/
RyoheiHagimoto	0:56c5742b9e2b	3690	if(ur.eversion[1]==dl.eversion[0]&&ur.eversion[1]<7){
RyoheiHagimoto	0:56c5742b9e2b	3691	/*We used to do a whole bunch of extra geometric checks for small
RyoheiHagimoto	0:56c5742b9e2b	3692	versions, because with just an affine correction, it was fairly easy
RyoheiHagimoto	0:56c5742b9e2b	3693	to estimate two consistent module sizes given a random configuration.
RyoheiHagimoto	0:56c5742b9e2b	3694	However, now that we're estimating a full homography, these appear to
RyoheiHagimoto	0:56c5742b9e2b	3695	be unnecessary.*/
RyoheiHagimoto	0:56c5742b9e2b	3696	#if 0
RyoheiHagimoto	0:56c5742b9e2b	3697	static const signed char LINE_TESTS[12][6]={
RyoheiHagimoto	0:56c5742b9e2b	3698	/DL left, UL > 0, UR > 0/
RyoheiHagimoto	0:56c5742b9e2b	3699	{2,0,0, 1,1, 1},
RyoheiHagimoto	0:56c5742b9e2b	3700	/DL right, UL > 0, UR < 0/
RyoheiHagimoto	0:56c5742b9e2b	3701	{2,1,0, 1,1,-1},
RyoheiHagimoto	0:56c5742b9e2b	3702	/UR top, UL > 0, DL > 0/
RyoheiHagimoto	0:56c5742b9e2b	3703	{1,2,0, 1,2, 1},
RyoheiHagimoto	0:56c5742b9e2b	3704	/UR bottom, UL > 0, DL < 0/
RyoheiHagimoto	0:56c5742b9e2b	3705	{1,3,0, 1,2,-1},
RyoheiHagimoto	0:56c5742b9e2b	3706	/UR left, DL < 0, UL < 0/
RyoheiHagimoto	0:56c5742b9e2b	3707	{1,0,2,-1,0,-1},
RyoheiHagimoto	0:56c5742b9e2b	3708	/UR right, DL > 0, UL > 0/
RyoheiHagimoto	0:56c5742b9e2b	3709	{1,1,2, 1,0, 1},
RyoheiHagimoto	0:56c5742b9e2b	3710	/DL top, UR < 0, UL < 0/
RyoheiHagimoto	0:56c5742b9e2b	3711	{2,2,1,-1,0,-1},
RyoheiHagimoto	0:56c5742b9e2b	3712	/DL bottom, UR > 0, UL > 0/
RyoheiHagimoto	0:56c5742b9e2b	3713	{2,3,1, 1,0, 1},
RyoheiHagimoto	0:56c5742b9e2b	3714	/UL left, DL > 0, UR > 0/
RyoheiHagimoto	0:56c5742b9e2b	3715	{0,0,2, 1,1, 1},
RyoheiHagimoto	0:56c5742b9e2b	3716	/UL right, DL > 0, UR < 0/
RyoheiHagimoto	0:56c5742b9e2b	3717	{0,1,2, 1,1,-1},
RyoheiHagimoto	0:56c5742b9e2b	3718	/UL top, UR > 0, DL > 0/
RyoheiHagimoto	0:56c5742b9e2b	3719	{0,2,1, 1,2, 1},
RyoheiHagimoto	0:56c5742b9e2b	3720	/UL bottom, UR > 0, DL < 0/
RyoheiHagimoto	0:56c5742b9e2b	3721	{0,3,1, 1,2,-1}
RyoheiHagimoto	0:56c5742b9e2b	3722	};
RyoheiHagimoto	0:56c5742b9e2b	3723	qr_finder *f[3];
RyoheiHagimoto	0:56c5742b9e2b	3724	int j;
RyoheiHagimoto	0:56c5742b9e2b	3725	/*Start by decoding the format information.
RyoheiHagimoto	0:56c5742b9e2b	3726	This is cheap, but unlikely to reject invalid configurations.
RyoheiHagimoto	0:56c5742b9e2b	3727	56.25% of all bitstrings are valid, and we mix and match several pieces
RyoheiHagimoto	0:56c5742b9e2b	3728	until we find a valid combination, so our real chances of finding a
RyoheiHagimoto	0:56c5742b9e2b	3729	valid codeword in random bits are even higher.*/
RyoheiHagimoto	0:56c5742b9e2b	3730	fmt_info=qr_finder_fmt_info_decode(&ul,&ur,&dl,&aff,_img,_width,_height);
RyoheiHagimoto	0:56c5742b9e2b	3731	if(fmt_info<0)continue;
RyoheiHagimoto	0:56c5742b9e2b	3732	/*Now we fit lines to the edges of each finder pattern and check to make
RyoheiHagimoto	0:56c5742b9e2b	3733	sure the centers of the other finder patterns lie on the proper side.*/
RyoheiHagimoto	0:56c5742b9e2b	3734	f[0]=&ul;
RyoheiHagimoto	0:56c5742b9e2b	3735	f[1]=&ur;
RyoheiHagimoto	0:56c5742b9e2b	3736	f[2]=&dl;
RyoheiHagimoto	0:56c5742b9e2b	3737	for(j=0;j<12;j++){
RyoheiHagimoto	0:56c5742b9e2b	3738	const signed char *t;
RyoheiHagimoto	0:56c5742b9e2b	3739	qr_line l0;
RyoheiHagimoto	0:56c5742b9e2b	3740	int *p;
RyoheiHagimoto	0:56c5742b9e2b	3741	t=LINE_TESTS[j];
RyoheiHagimoto	0:56c5742b9e2b	3742	qr_finder_ransac(f[t[0]],&aff,&_reader->isaac,t[1]);
RyoheiHagimoto	0:56c5742b9e2b	3743	/*We may not have enough points to fit a line accurately here.
RyoheiHagimoto	0:56c5742b9e2b	3744	If not, we just skip the test.*/
RyoheiHagimoto	0:56c5742b9e2b	3745	if(qr_line_fit_finder_edge(l0,f[t[0]],t[1],res)<0)continue;
RyoheiHagimoto	0:56c5742b9e2b	3746	p=f[t[2]]->c->pos;
RyoheiHagimoto	0:56c5742b9e2b	3747	if(qr_line_eval(l0,p[0],p[1])*t[3]<0)break;
RyoheiHagimoto	0:56c5742b9e2b	3748	p=f[t[4]]->c->pos;
RyoheiHagimoto	0:56c5742b9e2b	3749	if(qr_line_eval(l0,p[0],p[1])*t[5]<0)break;
RyoheiHagimoto	0:56c5742b9e2b	3750	}
RyoheiHagimoto	0:56c5742b9e2b	3751	if(j<12)continue;
RyoheiHagimoto	0:56c5742b9e2b	3752	/All tests passed./
RyoheiHagimoto	0:56c5742b9e2b	3753	#endif
RyoheiHagimoto	0:56c5742b9e2b	3754	ur_version=ur.eversion[1];
RyoheiHagimoto	0:56c5742b9e2b	3755	}
RyoheiHagimoto	0:56c5742b9e2b	3756	else{
RyoheiHagimoto	0:56c5742b9e2b	3757	/*If the estimated versions are significantly different, reject the
RyoheiHagimoto	0:56c5742b9e2b	3758	configuration.*/
RyoheiHagimoto	0:56c5742b9e2b	3759	if(abs(ur.eversion[1]-dl.eversion[0])>QR_LARGE_VERSION_SLACK)continue;
RyoheiHagimoto	0:56c5742b9e2b	3760	/*Otherwise we try to read the actual version data from the image.
RyoheiHagimoto	0:56c5742b9e2b	3761	If the real version is not sufficiently close to our estimated version,
RyoheiHagimoto	0:56c5742b9e2b	3762	then we assume there was an unrecoverable decoding error (so many bit
RyoheiHagimoto	0:56c5742b9e2b	3763	errors we were within 3 errors of another valid code), and throw that
RyoheiHagimoto	0:56c5742b9e2b	3764	value away.
RyoheiHagimoto	0:56c5742b9e2b	3765	If no decoded version could be sufficiently close, we don't even try.*/
RyoheiHagimoto	0:56c5742b9e2b	3766	if(ur.eversion[1]>=7-QR_LARGE_VERSION_SLACK){
RyoheiHagimoto	0:56c5742b9e2b	3767	ur_version=qr_finder_version_decode(&ur,&hom,_img,_width,_height,0);
RyoheiHagimoto	0:56c5742b9e2b	3768	if(abs(ur_version-ur.eversion[1])>QR_LARGE_VERSION_SLACK)ur_version=-1;
RyoheiHagimoto	0:56c5742b9e2b	3769	}
RyoheiHagimoto	0:56c5742b9e2b	3770	else ur_version=-1;
RyoheiHagimoto	0:56c5742b9e2b	3771	if(dl.eversion[0]>=7-QR_LARGE_VERSION_SLACK){
RyoheiHagimoto	0:56c5742b9e2b	3772	dl_version=qr_finder_version_decode(&dl,&hom,_img,_width,_height,1);
RyoheiHagimoto	0:56c5742b9e2b	3773	if(abs(dl_version-dl.eversion[0])>QR_LARGE_VERSION_SLACK)dl_version=-1;
RyoheiHagimoto	0:56c5742b9e2b	3774	}
RyoheiHagimoto	0:56c5742b9e2b	3775	else dl_version=-1;
RyoheiHagimoto	0:56c5742b9e2b	3776	/*If we got at least one valid version, or we got two and they match,
RyoheiHagimoto	0:56c5742b9e2b	3777	then we found a valid configuration.*/
RyoheiHagimoto	0:56c5742b9e2b	3778	if(ur_version>=0){
RyoheiHagimoto	0:56c5742b9e2b	3779	if(dl_version>=0&&dl_version!=ur_version)continue;
RyoheiHagimoto	0:56c5742b9e2b	3780	}
RyoheiHagimoto	0:56c5742b9e2b	3781	else if(dl_version<0)continue;
RyoheiHagimoto	0:56c5742b9e2b	3782	else ur_version=dl_version;
RyoheiHagimoto	0:56c5742b9e2b	3783	}
RyoheiHagimoto	0:56c5742b9e2b	3784	qr_finder_edge_pts_hom_classify(&ul,&hom);
RyoheiHagimoto	0:56c5742b9e2b	3785	if(qr_finder_estimate_module_size_and_version(&ul,
RyoheiHagimoto	0:56c5742b9e2b	3786	ur.o[0]-dl.o[0],dl.o[1]-ul.o[1])<0\|\|
RyoheiHagimoto	0:56c5742b9e2b	3787	abs(ul.eversion[1]-ur.eversion[1])>QR_SMALL_VERSION_SLACK\|\|
RyoheiHagimoto	0:56c5742b9e2b	3788	abs(ul.eversion[0]-dl.eversion[0])>QR_SMALL_VERSION_SLACK){
RyoheiHagimoto	0:56c5742b9e2b	3789	continue;
RyoheiHagimoto	0:56c5742b9e2b	3790	}
RyoheiHagimoto	0:56c5742b9e2b	3791	fmt_info=qr_finder_fmt_info_decode(&ul,&ur,&dl,&hom,_img,_width,_height);
RyoheiHagimoto	0:56c5742b9e2b	3792	if(fmt_info<0)continue;
RyoheiHagimoto	0:56c5742b9e2b	3793	if(qr_code_decode(_qrdata,&_reader->gf,ul.c->pos,ur.c->pos,dl.c->pos,
RyoheiHagimoto	0:56c5742b9e2b	3794	ur_version,fmt_info,_img,_width,_height)<0){
RyoheiHagimoto	0:56c5742b9e2b	3795	/*TODO: Maybe somebody flipped the code?
RyoheiHagimoto	0:56c5742b9e2b	3796	We'd still get a valid version, and probably valid (but incorrect)
RyoheiHagimoto	0:56c5742b9e2b	3797	format info.
RyoheiHagimoto	0:56c5742b9e2b	3798	After we've come this far, it should be a simple matter to check.*/
RyoheiHagimoto	0:56c5742b9e2b	3799	continue;
RyoheiHagimoto	0:56c5742b9e2b	3800	}
RyoheiHagimoto	0:56c5742b9e2b	3801	return ur_version;
RyoheiHagimoto	0:56c5742b9e2b	3802	}
RyoheiHagimoto	0:56c5742b9e2b	3803	return -1;
RyoheiHagimoto	0:56c5742b9e2b	3804	}
RyoheiHagimoto	0:56c5742b9e2b	3805
RyoheiHagimoto	0:56c5742b9e2b	3806	void qr_reader_match_centers(qr_reader _reader,qr_code_data_list _qrlist,
RyoheiHagimoto	0:56c5742b9e2b	3807	qr_finder_center *_centers,int _ncenters,
RyoheiHagimoto	0:56c5742b9e2b	3808	const unsigned char *_img,int _width,int _height){
RyoheiHagimoto	0:56c5742b9e2b	3809	/*The number of centers should be small, so an O(n^3) exhaustive search of
RyoheiHagimoto	0:56c5742b9e2b	3810	which ones go together should be reasonable.*/
RyoheiHagimoto	0:56c5742b9e2b	3811	unsigned char *mark;
RyoheiHagimoto	0:56c5742b9e2b	3812	int i;
RyoheiHagimoto	0:56c5742b9e2b	3813	int j;
RyoheiHagimoto	0:56c5742b9e2b	3814	int k;
RyoheiHagimoto	0:56c5742b9e2b	3815	mark=(unsigned char )calloc(_ncenters,sizeof(mark));
RyoheiHagimoto	0:56c5742b9e2b	3816	for(i=0;i<_ncenters;i++){
RyoheiHagimoto	0:56c5742b9e2b	3817	/*TODO: We might be able to accelerate this step significantly by
RyoheiHagimoto	0:56c5742b9e2b	3818	considering the remaining finder centers in a more intelligent order,
RyoheiHagimoto	0:56c5742b9e2b	3819	based on the first finder center we just chose.*/
RyoheiHagimoto	0:56c5742b9e2b	3820	for(j=i+1;!mark[i]&&j<_ncenters;j++){
RyoheiHagimoto	0:56c5742b9e2b	3821	for(k=j+1;!mark[j]&&k<_ncenters;k++)if(!mark[k]){
RyoheiHagimoto	0:56c5742b9e2b	3822	qr_finder_center *c[3];
RyoheiHagimoto	0:56c5742b9e2b	3823	qr_code_data qrdata;
RyoheiHagimoto	0:56c5742b9e2b	3824	int version;
RyoheiHagimoto	0:56c5742b9e2b	3825	c[0]=_centers+i;
RyoheiHagimoto	0:56c5742b9e2b	3826	c[1]=_centers+j;
RyoheiHagimoto	0:56c5742b9e2b	3827	c[2]=_centers+k;
RyoheiHagimoto	0:56c5742b9e2b	3828	version=qr_reader_try_configuration(_reader,&qrdata,
RyoheiHagimoto	0:56c5742b9e2b	3829	_img,_width,_height,c);
RyoheiHagimoto	0:56c5742b9e2b	3830	if(version>=0){
RyoheiHagimoto	0:56c5742b9e2b	3831	int ninside;
RyoheiHagimoto	0:56c5742b9e2b	3832	int l;
RyoheiHagimoto	0:56c5742b9e2b	3833	/Add the data to the list./
RyoheiHagimoto	0:56c5742b9e2b	3834	qr_code_data_list_add(_qrlist,&qrdata);
RyoheiHagimoto	0:56c5742b9e2b	3835	/*Convert the bounding box we're returning to the user to normal
RyoheiHagimoto	0:56c5742b9e2b	3836	image coordinates.*/
RyoheiHagimoto	0:56c5742b9e2b	3837	for(l=0;l<4;l++){
RyoheiHagimoto	0:56c5742b9e2b	3838	_qrlist->qrdata[_qrlist->nqrdata-1].bbox[l][0]>>=QR_FINDER_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	3839	_qrlist->qrdata[_qrlist->nqrdata-1].bbox[l][1]>>=QR_FINDER_SUBPREC;
RyoheiHagimoto	0:56c5742b9e2b	3840	}
RyoheiHagimoto	0:56c5742b9e2b	3841	/Mark these centers as used./
RyoheiHagimoto	0:56c5742b9e2b	3842	mark[i]=mark[j]=mark[k]=1;
RyoheiHagimoto	0:56c5742b9e2b	3843	/Find any other finder centers located inside this code./
RyoheiHagimoto	0:56c5742b9e2b	3844	for(l=ninside=0;l<_ncenters;l++)if(!mark[l]){
RyoheiHagimoto	0:56c5742b9e2b	3845	if(qr_point_ccw(qrdata.bbox[0],qrdata.bbox[1],_centers[l].pos)>=0&&
RyoheiHagimoto	0:56c5742b9e2b	3846	qr_point_ccw(qrdata.bbox[1],qrdata.bbox[3],_centers[l].pos)>=0&&
RyoheiHagimoto	0:56c5742b9e2b	3847	qr_point_ccw(qrdata.bbox[3],qrdata.bbox[2],_centers[l].pos)>=0&&
RyoheiHagimoto	0:56c5742b9e2b	3848	qr_point_ccw(qrdata.bbox[2],qrdata.bbox[0],_centers[l].pos)>=0){
RyoheiHagimoto	0:56c5742b9e2b	3849	mark[l]=2;
RyoheiHagimoto	0:56c5742b9e2b	3850	ninside++;
RyoheiHagimoto	0:56c5742b9e2b	3851	}
RyoheiHagimoto	0:56c5742b9e2b	3852	}
RyoheiHagimoto	0:56c5742b9e2b	3853	if(ninside>=3){
RyoheiHagimoto	0:56c5742b9e2b	3854	/*We might have a "Double QR": a code inside a code.
RyoheiHagimoto	0:56c5742b9e2b	3855	Copy the relevant centers to a new array and do a search confined
RyoheiHagimoto	0:56c5742b9e2b	3856	to that subset.*/
RyoheiHagimoto	0:56c5742b9e2b	3857	qr_finder_center *inside;
RyoheiHagimoto	0:56c5742b9e2b	3858	inside=(qr_finder_center )malloc(ninsidesizeof(*inside));
RyoheiHagimoto	0:56c5742b9e2b	3859	for(l=ninside=0;l<_ncenters;l++){
RyoheiHagimoto	0:56c5742b9e2b	3860	if(mark[l]==2)&inside[ninside++]=&_centers[l];
RyoheiHagimoto	0:56c5742b9e2b	3861	}
RyoheiHagimoto	0:56c5742b9e2b	3862	qr_reader_match_centers(_reader,_qrlist,inside,ninside,
RyoheiHagimoto	0:56c5742b9e2b	3863	_img,_width,_height);
RyoheiHagimoto	0:56c5742b9e2b	3864	free(inside);
RyoheiHagimoto	0:56c5742b9e2b	3865	}
RyoheiHagimoto	0:56c5742b9e2b	3866	/Mark _all_ such centers used: codes cannot partially overlap./
RyoheiHagimoto	0:56c5742b9e2b	3867	for(l=0;l<_ncenters;l++)if(mark[l]==2)mark[l]=1;
RyoheiHagimoto	0:56c5742b9e2b	3868	}
RyoheiHagimoto	0:56c5742b9e2b	3869	}
RyoheiHagimoto	0:56c5742b9e2b	3870	}
RyoheiHagimoto	0:56c5742b9e2b	3871	}
RyoheiHagimoto	0:56c5742b9e2b	3872	free(mark);
RyoheiHagimoto	0:56c5742b9e2b	3873	}
RyoheiHagimoto	0:56c5742b9e2b	3874
RyoheiHagimoto	0:56c5742b9e2b	3875	int _zbar_qr_found_line (qr_reader *reader,
RyoheiHagimoto	0:56c5742b9e2b	3876	int dir,
RyoheiHagimoto	0:56c5742b9e2b	3877	const qr_finder_line *line)
RyoheiHagimoto	0:56c5742b9e2b	3878	{
RyoheiHagimoto	0:56c5742b9e2b	3879	/* minimally intrusive brute force version */
RyoheiHagimoto	0:56c5742b9e2b	3880	qr_finder_lines *lines = &reader->finder_lines[dir];
RyoheiHagimoto	0:56c5742b9e2b	3881
RyoheiHagimoto	0:56c5742b9e2b	3882	if(lines->nlines >= lines->clines) {
RyoheiHagimoto	0:56c5742b9e2b	3883	lines->clines *= 2;
RyoheiHagimoto	0:56c5742b9e2b	3884	lines->lines = realloc(lines->lines,
RyoheiHagimoto	0:56c5742b9e2b	3885	++lines->clines * sizeof(*lines->lines));
RyoheiHagimoto	0:56c5742b9e2b	3886	}
RyoheiHagimoto	0:56c5742b9e2b	3887
RyoheiHagimoto	0:56c5742b9e2b	3888	memcpy(lines->lines + lines->nlines++, line, sizeof(*line));
RyoheiHagimoto	0:56c5742b9e2b	3889
RyoheiHagimoto	0:56c5742b9e2b	3890	return(0);
RyoheiHagimoto	0:56c5742b9e2b	3891	}
RyoheiHagimoto	0:56c5742b9e2b	3892
RyoheiHagimoto	0:56c5742b9e2b	3893	static inline void qr_svg_centers (const qr_finder_center *centers,
RyoheiHagimoto	0:56c5742b9e2b	3894	int ncenters)
RyoheiHagimoto	0:56c5742b9e2b	3895	{
RyoheiHagimoto	0:56c5742b9e2b	3896	int i, j;
RyoheiHagimoto	0:56c5742b9e2b	3897	svg_path_start("centers", 1, 0, 0);
RyoheiHagimoto	0:56c5742b9e2b	3898	for(i = 0; i < ncenters; i++)
RyoheiHagimoto	0:56c5742b9e2b	3899	svg_path_moveto(SVG_ABS, centers[i].pos[0], centers[i].pos[1]);
RyoheiHagimoto	0:56c5742b9e2b	3900	svg_path_end();
RyoheiHagimoto	0:56c5742b9e2b	3901
RyoheiHagimoto	0:56c5742b9e2b	3902	svg_path_start("edge-pts", 1, 0, 0);
RyoheiHagimoto	0:56c5742b9e2b	3903	for(i = 0; i < ncenters; i++) {
RyoheiHagimoto	0:56c5742b9e2b	3904	const qr_finder_center *cen = centers + i;
RyoheiHagimoto	0:56c5742b9e2b	3905	for(j = 0; j < cen->nedge_pts; j++)
RyoheiHagimoto	0:56c5742b9e2b	3906	svg_path_moveto(SVG_ABS,
RyoheiHagimoto	0:56c5742b9e2b	3907	cen->edge_pts[j].pos[0], cen->edge_pts[j].pos[1]);
RyoheiHagimoto	0:56c5742b9e2b	3908	}
RyoheiHagimoto	0:56c5742b9e2b	3909	svg_path_end();
RyoheiHagimoto	0:56c5742b9e2b	3910	}
RyoheiHagimoto	0:56c5742b9e2b	3911
RyoheiHagimoto	0:56c5742b9e2b	3912	int _zbar_qr_decode (qr_reader *reader,
RyoheiHagimoto	0:56c5742b9e2b	3913	zbar_image_scanner_t *iscn,
RyoheiHagimoto	0:56c5742b9e2b	3914	zbar_image_t *img)
RyoheiHagimoto	0:56c5742b9e2b	3915	{
RyoheiHagimoto	0:56c5742b9e2b	3916	int nqrdata = 0;
RyoheiHagimoto	0:56c5742b9e2b	3917	qr_finder_edge_pt *edge_pts = NULL;
RyoheiHagimoto	0:56c5742b9e2b	3918	qr_finder_center *centers = NULL;
RyoheiHagimoto	0:56c5742b9e2b	3919
RyoheiHagimoto	0:56c5742b9e2b	3920	if(reader->finder_lines[0].nlines < 9 \|\|
RyoheiHagimoto	0:56c5742b9e2b	3921	reader->finder_lines[1].nlines < 9)
RyoheiHagimoto	0:56c5742b9e2b	3922	return(0);
RyoheiHagimoto	0:56c5742b9e2b	3923
RyoheiHagimoto	0:56c5742b9e2b	3924	svg_group_start("finder", 0, 1. / (1 << QR_FINDER_SUBPREC), 0, 0, 0);
RyoheiHagimoto	0:56c5742b9e2b	3925
RyoheiHagimoto	0:56c5742b9e2b	3926	int ncenters = qr_finder_centers_locate(&centers, &edge_pts, reader, 0, 0);
RyoheiHagimoto	0:56c5742b9e2b	3927
RyoheiHagimoto	0:56c5742b9e2b	3928	zprintf(14, "%dx%d finders, %d centers:\n",
RyoheiHagimoto	0:56c5742b9e2b	3929	reader->finder_lines[0].nlines,
RyoheiHagimoto	0:56c5742b9e2b	3930	reader->finder_lines[1].nlines,
RyoheiHagimoto	0:56c5742b9e2b	3931	ncenters);
RyoheiHagimoto	0:56c5742b9e2b	3932	qr_svg_centers(centers, ncenters);
RyoheiHagimoto	0:56c5742b9e2b	3933
RyoheiHagimoto	0:56c5742b9e2b	3934	if(ncenters >= 3) {
RyoheiHagimoto	0:56c5742b9e2b	3935	void *bin = qr_binarize(img->data, img->width, img->height);
RyoheiHagimoto	0:56c5742b9e2b	3936
RyoheiHagimoto	0:56c5742b9e2b	3937	qr_code_data_list qrlist;
RyoheiHagimoto	0:56c5742b9e2b	3938	qr_code_data_list_init(&qrlist);
RyoheiHagimoto	0:56c5742b9e2b	3939
RyoheiHagimoto	0:56c5742b9e2b	3940	qr_reader_match_centers(reader, &qrlist, centers, ncenters,
RyoheiHagimoto	0:56c5742b9e2b	3941	bin, img->width, img->height);
RyoheiHagimoto	0:56c5742b9e2b	3942
RyoheiHagimoto	0:56c5742b9e2b	3943	if(qrlist.nqrdata > 0)
RyoheiHagimoto	0:56c5742b9e2b	3944	nqrdata = qr_code_data_list_extract_text(&qrlist, iscn, img);
RyoheiHagimoto	0:56c5742b9e2b	3945
RyoheiHagimoto	0:56c5742b9e2b	3946	qr_code_data_list_clear(&qrlist);
RyoheiHagimoto	0:56c5742b9e2b	3947	free(bin);
RyoheiHagimoto	0:56c5742b9e2b	3948	}
RyoheiHagimoto	0:56c5742b9e2b	3949	svg_group_end();
RyoheiHagimoto	0:56c5742b9e2b	3950
RyoheiHagimoto	0:56c5742b9e2b	3951	if(centers)
RyoheiHagimoto	0:56c5742b9e2b	3952	free(centers);
RyoheiHagimoto	0:56c5742b9e2b	3953	if(edge_pts)
RyoheiHagimoto	0:56c5742b9e2b	3954	free(edge_pts);
RyoheiHagimoto	0:56c5742b9e2b	3955	return(nqrdata);
RyoheiHagimoto	0:56c5742b9e2b	3956	}
RyoheiHagimoto	0:56c5742b9e2b	3957

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Type:	Library
Created:	19 Apr 2016
Imports:	22
Forks:	0
Commits:	2
Dependents:	2
Dependencies:	0
Followers:	2

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zbar/qrcode/qrdec.c@1:500d42699c34, 2016-04-19 (annotated)

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