sylvain kritter
image transformation and pattern matching (very basic)
Dependents: mycame Practica4_Camara
Diff: imagetr.cpp
- Revision:
- 0:7e50b328a66f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/imagetr.cpp Wed Feb 17 16:53:33 2016 +0000
@@ -0,0 +1,670 @@
+#pragma once
+#include "mbed.h"
+#include "global.h"
+#include "imagetr.h"
+#include "SDFileSystem.h"
+#include "SPI_TFT_ILI9341.h"
+
+
+//DigitalOut str(PB_3); // internal strobe for debug
+//DigitalOut str1(PC_8); // internal strobe for debug
+
+void imagetr::getimage( const char nf[])
+{
+ fp = fopen(nf, "r");
+ pc.printf("get %s\r\n", nf);
+ for (int i=0; i<tmarray; i++) {
+
+ bank[i] =fgetc(fp);
+ }
+ fclose(fp);
+}
+
+void imagetr::avera()
+{
+ int i,j,k,l, av;
+ for (i=1; i<nl-1; i=i+1) {
+ for (j=1; j<nc-1; j=j+1) {
+ av=0;
+ for (k=0; k<3; k++) {
+ for (l=0; l<3; l++) {
+ av=av+banktc[i-1+k][j-1+l];
+ }
+ }
+ banktc[i][j]=av/9;
+ }
+ }
+}
+
+
+void imagetr::extrta()
+{
+ for (int i=120-nlta; i<120; i++) {
+ for (int j=0; j<ncta; j++) {
+ bankta[i-120+nlta][j][0]=banktc[i][j];
+ }
+ }
+}
+int imagetr::ar(float a)
+{
+ int ai;
+ ai=a;
+ if (a-ai >=0.5f) {
+ return a+1;
+ } else {
+ return a;
+ }
+}
+
+void imagetr::affine (int x, int y, float a, float z)
+{
+ float cosa, sina, tif, tjf, dx, dy ;
+ int ti,tj,i,j, tm1i, tm1j, til, tih, tjl, tjh;
+ cosa=cos(a);
+ sina=sin(a);
+ for (i=0; i<nl; i++) {
+ for (j=0; j<nc; j++) {
+ banktc[i][j]=25;
+ }
+ }
+ for (i=0; i<nl; i++) {
+ for (j=0; j<nc; j++) {
+
+ dx=i-61;
+ dy=j-80;
+ tif=dx*cosa - dy*sina + 60;
+ tjf=dx*sina + dy*cosa + 80;
+ tif=tif-x;
+ tjf=tjf-y;
+ ti=ar((tif-60) * z + 60);
+ tj=ar((tjf-80) * z + 80 );
+ tm1i =ti;
+ if (tm1i<0) {
+ tm1i=0;
+ }
+ if (tm1i>nl-1) {
+ tm1i=nl-1;
+ }
+
+ dx=i-60;
+ dy=j-81;
+ tif=dx*cosa - dy*sina + 60;
+ tjf=dx*sina + dy*cosa + 80;
+ tif=tif-x;
+ tjf=tjf-y;
+ ti=ar((tif-60) * z + 60);
+ tj=ar((tjf-80) * z + 80 );
+ tm1j =tj;
+ if (tm1j<0) {
+ tm1j=0;
+ }
+ if (tm1j>=nc) {
+ tm1j=nc-1;
+ }
+
+ dx=i-60;
+ dy=j-80;
+ tif=dx*cosa - dy*sina + 60;
+ tjf=dx*sina + dy*cosa + 80;
+ tif=tif-x;
+ tjf=tjf-y;
+ ti=ar((tif-60) * z + 60);
+ tj=ar((tjf-80) * z + 80 );
+
+ if((ti>=0) && (tj >=0) && (ti <nl) && (tj < nc)) {
+ banktc[ti][tj]=bankt[i][j];
+ if (ti> tm1i) {
+ til = tm1i;
+ tih = ti;
+ } else {
+ til =ti;
+ tih = tm1i;
+ }
+
+ if (tj> tm1j) {
+ tjl = tm1j;
+ tjh = tj;
+ } else {
+ tjl =tj;
+ tjh = tm1j;
+ }
+ for (int k = til; k<tih+1; k++) {
+ for (int l = tjl; l<tjh+1; l++) {
+ banktc[k][l]=bankt[i][j];
+ }
+ }
+ }
+ }
+
+ }
+}
+void imagetr::genta (float tx, float ty, float a, float z)
+{
+ // generate multiple ta
+ float cosa, sina, tif, tjf, dx, dy ;
+ int ti,tj,i,j, tm1i, tm1j, til, tih, tjl, tjh;
+ cosa=cos(a);
+ sina=sin(a);
+ int nlta2=nlta/2;
+ int ncta2=ncta/2;
+ for (i=0; i<nlta; i++) {
+ for (j=0; j<ncta; j++) {
+ banktatc[i][j]=25;
+ }
+ }
+ for (i=0; i<nlta; i++) {
+ for (j=0; j<ncta; j++) {
+
+ dx=(i-nlta2-1)*tx;
+ dy=(j-ncta2)*ty;
+ tif=dx*cosa - dy*sina + nlta2;
+ tjf=dx*sina + dy*cosa + ncta2;
+ ti=ar((tif-nlta2) * z + nlta2);
+ tj=ar((tjf-ncta2) * z + ncta2 );
+ tm1i =ti;
+ if (tm1i<0) {
+ tm1i=0;
+ }
+ if (tm1i>nlta-1) {
+ tm1i=nlta-1;
+ }
+ dx=(i-nlta2)*tx;
+ dy=(j-ncta2-1)*ty;
+ tif=dx*cosa - dy*sina + nlta2;
+ tjf=dx*sina + dy*cosa + ncta2;
+ ti=ar((tif-nlta2) * z + nlta2);
+ tj=ar((tjf-ncta2) * z + ncta2 );
+ tm1j =tj;
+ if (tm1j<0) {
+ tm1j=0;
+ }
+ if (tm1j>=ncta) {
+ tm1j=ncta-1;
+ }
+
+ dx=(i-nlta2)*tx;
+ dy=(j-ncta2)*ty;
+ tif=dx*cosa - dy*sina + nlta2;
+ tjf=dx*sina + dy*cosa + ncta2;
+ ti=ar((tif-nlta2) * z + nlta2);
+ tj=ar((tjf-ncta2) * z + ncta2 );
+
+ if((ti>=0) && (tj >=0) && (ti <nlta) && (tj < ncta)) {
+ banktatc[ti][tj]=bankta[i][j][0];
+ if (ti> tm1i) {
+ til = tm1i;
+ tih = ti;
+ } else {
+ til =ti;
+ tih = tm1i;
+ }
+
+ if (tj> tm1j) {
+ tjl = tm1j;
+ tjh = tj;
+ } else {
+ tjl =tj;
+ tjh = tm1j;
+ }
+ for (int k = til; k<tih+1; k++) {
+ for (int l = tjl; l<tjh+1; l++) {
+ banktatc[k][l]=bankta[i][j][0];
+ }
+ }
+ }
+ }
+
+ }
+
+}
+void imagetr::lumi (float z)
+{
+ int i,j;
+ for (i=0; i<nl; i++) {
+ for (j=0; j<nc; j++) {
+ banktc[i][j]=banktc[i][j]*z;
+ }
+ }
+}
+
+void imagetr::rgbtoy(void)
+{
+ //transform bank in Y in table bankt
+ int R,G,G1,B,Y;
+ for (int i=0; i<tmarray; i=i+2) {
+
+ R=(bank[i+1]>>3);
+ G=(bank[i+1]&0x07)<<3;
+
+ G1=bank[i]>>5;
+ G= G|G1;
+ B=bank[i]&0x1f;
+
+ Y=ar(0.299f*R+0.587f*G+0.114f*B);
+ //pc.printf("i:%d\r\n",i);
+ bankt[i/nc2][(i/2)%nc]=Y;
+ }
+}
+void imagetr::rgbtoyta(void)
+{
+ //transform bank in Y in table bankta, create muliple view
+ int R,G,G1,B,Y;
+ for (int i=0; i<tmarrayta; i=i+2) {
+ R=(bank[i+1]>>3);
+ G=(bank[i+1]&0x07)<<3;
+
+ G1=bank[i]>>5;
+ G= G|G1;
+ B=bank[i]&0x1f;
+
+ Y=ar(0.299f*R+0.587f*G+0.114f*B);
+ bankta[i/nc2ta][(i/2)%ncta][0]=Y;
+ }
+
+
+ genta (1, 1, 0.17, 1); // 10 deg
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][1]= banktatc[i][j];
+ }
+ }
+ genta (1, 1, -0.17, 1); // -10 deg
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][2]= banktatc[i][j];
+ }
+ }
+ genta (1, 1, 0, 0.8); // zoom 0.8
+ for (int i=0; i<nlta; i++) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][3]= banktatc[i][j];
+ }
+ }
+ genta (1, 1, 0, 1.20); // zoom 1.2
+ for (int i=0; i<nlta; i++) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][4]= banktatc[i][j];
+ }
+ }/*
+ genta (0.9, 1, 0, 1);
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ // pc.printf("i %d, j %d b %02x\r\n", i, j, bankta[i][j][0]);
+ bankta[i][j][5]= banktatc[i][j];
+ }
+ }
+ //pc.printf("ty\r\n");
+ genta (1, 0.9, 0, 1);
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][6]= banktatc[i][j];
+ }
+ }*/
+}
+
+
+void imagetr::rgbtoytaed(void)
+{
+ //transform bank in Y in table bankta, create muliple view
+ int R,G,G1,B,Y;
+ for (int i=0; i<tmarrayta; i=i+2) {
+ R=(bank[i+1]>>3);
+ G=(bank[i+1]&0x07)<<3;
+
+ G1=bank[i]>>5;
+ G= G|G1;
+ B=bank[i]&0x1f;
+
+ Y=ar(0.299f*R+0.587f*G+0.114f*B);
+ bankta[i/nc2ta][(i/2)%ncta][0]=Y;
+ }
+
+ extedgeta(0,0,2);
+
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][0]= banktatc[i][j];
+ }
+ }
+
+ genta (1, 1, 0.17, 1); // 10 deg
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][1]= banktatc[i][j];
+ }
+ }
+ genta (1, 1, -0.17, 1); // -10 deg
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][2]= banktatc[i][j];
+ }
+ }
+ genta (1, 1, 0, 0.8); // zoom 0.8
+ for (int i=0; i<nlta; i++) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][3]= banktatc[i][j];
+ }
+ }
+ genta (1, 1, 0, 1.20); // zoom 1.2
+ for (int i=0; i<nlta; i++) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][4]= banktatc[i][j];
+ }
+ }/*
+ genta (0.9, 1, 0, 1);
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ // pc.printf("i %d, j %d b %02x\r\n", i, j, bankta[i][j][0]);
+ bankta[i][j][5]= banktatc[i][j];
+ }
+ }
+ //pc.printf("ty\r\n");
+ genta (1, 0.9, 0, 1);
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][6]= banktatc[i][j];
+ }
+ }*/
+}
+
+
+
+
+void imagetr::ytorgb(unsigned char b[nl][nc])
+{
+ //populate bank with table b
+ int R,G,G1,B,Y;
+ for (int i=0; i<tarray; i=i+1) {
+
+ Y=b[i/nc][i%nc];
+ // Y=Y*yco;
+ R=Y*0.71;
+ if (R>31) {
+ R=31;
+ }
+ G=Y*1.45;
+ if (G>63) {
+ G=63;
+ }
+ B=R;
+ G1=G>>3;
+ bank[2*i+1]=R<<3|G1;
+ bank[2*i]=G<<5|B;
+ }
+}
+
+void imagetr::ytorgbta(unsigned char b[nlta][ncta][nv], int nu,const char des[])
+{
+ //p0pulate bankf with table b special target, write targetf.txt
+ int R,G,G1,B,Y;
+ fp = fopen(des, "w");
+ for (int j=0; j<tmarray; j++) {
+ bank[j]=25;
+ }
+ for (int i=0; i<tarrayta; i=i+1) {
+
+ Y=b[i/ncta][i%ncta][nu];
+ // Y=Y*yco;
+ R=Y*0.71;
+ if (R>31) {
+ R=31;
+ }
+ G=Y*1.45;
+ if (G>63) {
+ G=63;
+ }
+ B=R;
+ G1=G>>3;
+ bank[2*i+1]=R<<3|G1;
+ bank[2*i]=G<<5|B;
+ fputc(bank[2*i], fp);
+ fputc(bank[2*i+1], fp);
+
+ }
+ fclose(fp);
+}
+void imagetr::ytorgbtas(unsigned char b[nlta][ncta][nv], int nu)
+{
+ //p0pulate bank with table b special target, without write targetfile
+ int R,G,G1,B,Y;
+
+ for (int j=0; j<tmarray; j++) {
+ bank[j]=25;
+ }
+ for (int i=0; i<tarrayta; i=i+1) {
+
+ Y=b[i/ncta][i%ncta][nu];
+ // Y=Y*yco;
+ R=Y*0.71;
+ if (R>31) {
+ R=31;
+ }
+ G=Y*1.45;
+ if (G>63) {
+ G=63;
+ }
+ B=R;
+ G1=G>>3;
+ bank[2*i+1]=R<<3|G1;
+ bank[2*i]=G<<5|B;
+ }
+}
+
+void imagetr::extcont(int minc, int maxc)
+{
+ // contrast expand
+ int Y;
+ for (int i=0; i<tarray; i=i+1) {
+
+ Y=bankt[i/nc][i%nc];
+ if (Y<=minc) {
+ Y=0;
+ }
+ if (Y>=maxc) {
+ Y=50;
+ }
+ banktc[i/nc][i%nc]=Y;
+ }
+}
+void imagetr::extedge(int minc, int maxc, int th)
+{
+ //edge extract
+ int Y,YG,YH,i,j;
+ int M=0;
+ for (i=0; i<nl; i++) {
+ for (j=0; j<nc; j++) {
+ M=M+bankt[i][j];
+
+ }
+ }
+ M=M/tarray;
+ // if (M>maxc ||M<minc) {
+ // th=1;
+ // } else {
+ // th=4;
+ // }
+ // th=6*M/minc;
+ // pc.printf( "M: %d th %d: minc: %d maxc; %d \r\n",M,th, minc, maxc);
+ for (i=1; i<nl; i++) {
+ for (j=1; j<nc; j++) {
+ Y=bankt[i][j];
+ YG=bankt[i][j-1];
+ YH=bankt[i-1][j];
+ if (abs(Y-YG) >th||abs(Y-YH) >th) {
+ Y=50;
+ } else {
+ Y=0;
+ }
+ banktc[i][j]=Y;
+ }
+ }
+}
+void imagetr::extedgeta(int minc, int maxc, int th)
+{
+ //edge extract
+ int Y,YG,YH,i,j;
+ int M=0;
+ for (i=0; i<nlta; i++) {
+ for (j=0; j<ncta; j++) {
+ M=M+bankta[i][j][0];
+
+ }
+ }
+ M=M/tarray;
+ // if (M>maxc ||M<minc) {
+ // th=1;
+ // } else {
+ // th=4;
+ // }
+ // th=6*M/minc;
+ // pc.printf( "M: %d th %d: minc: %d maxc; %d \r\n",M,th, minc, maxc);
+ for (i=1; i<nlta; i++) {
+ for (j=1; j<ncta; j++) {
+ Y=bankta[i][j][0];
+ YG=bankta[i][j-1][0];
+ YH=bankta[i-1][j][0];
+ if (abs(Y-YG) >th||abs(Y-YH) >th) {
+ Y=50;
+ } else {
+ Y=0;
+ }
+ banktatc[i][j]=Y;
+ }
+ }
+}
+
+
+void imagetr::searchpat(int th, char name[])
+{
+ int i,j,k, l, maxi, maxj, car, tt,n;
+ Time.start();
+ for (n=0; n<=nv; n++) {
+ for (i =0 ; i < nl-nlta; i++) {
+ for (j=0; j<nc-ncta; j++) {
+ tt=0;
+ for (k=0; k<nlta; k++) {
+ for (l=0; l<ncta; l++) {
+ car= bankta[k][l][n]-banktc[i+k][j+l];
+ tt=tt+(car*car);
+ if (tt>th) {
+ break;
+ }
+ }
+ }
+ if (tt<th) {
+ maxi=i;
+ maxj=j;
+ i=nl;
+ j=nc;
+ n=nv;
+ }
+ }
+ }
+ }
+ Time.stop();
+ if (tt<th) {
+ //pc.printf("line: %d, column: %d, n: %d max: %d time: %f \r\n",maxi,maxj,n0,tt, Time.read());
+ TFT.locate(160,20);
+ printf("Pat found %4.2f s",Time.read());
+ TFT.locate(160+maxj+(ncta/2),240-maxi-(nlta/2));
+ printf(name);
+ TFT.rect(160+maxj,240-maxi-nlta,160+maxj+ncta,240-maxi,Red);
+ } else {
+ TFT.locate(160,20);
+ printf("Not found %4.2f s",Time.read());
+ //pc.printf("not found time: %4f n:%d max: %d \r\n",Time.read(), n0,tt);
+ }
+ Time.reset();
+}
+
+int imagetr::BMP_tofile(unsigned int x, unsigned int y, const char *Name_BMP)
+{
+
+#define OffsetPixelWidth 18
+#define OffsetPixelHeigh 22
+#define OffsetFileSize 34
+#define OffsetPixData 10
+#define OffsetBPP 28
+
+ char filename[50];
+ unsigned char BMP_Header[54];
+ unsigned short BPP_t;
+ unsigned int PixelWidth,PixelHeigh,start_data;
+ unsigned int i,off;
+ int padd,j;
+ unsigned short *line;
+
+ // get the filename
+ i=0;
+ while (*Name_BMP!='\0') {
+ filename[i++]=*Name_BMP++;
+ }
+ filename[i] = 0;
+
+ FILE *Image = fopen((const char *)&filename[0], "rb"); // open the bmp file
+ if (!Image) {
+ return(0); // error file not found !
+ }
+
+ fread(&BMP_Header[0],1,54,Image); // get the BMP Header
+
+ if (BMP_Header[0] != 0x42 || BMP_Header[1] != 0x4D) { // check magic byte
+ fclose(Image);
+ return(-1); // error no BMP file
+ }
+
+ BPP_t = BMP_Header[OffsetBPP] + (BMP_Header[OffsetBPP + 1] << 8);
+ if (BPP_t != 0x0010) {
+ fclose(Image);
+ return(-2); // error no 16 bit BMP
+ }
+
+ PixelHeigh = BMP_Header[OffsetPixelHeigh] + (BMP_Header[OffsetPixelHeigh + 1] << 8) + (BMP_Header[OffsetPixelHeigh + 2] << 16) + (BMP_Header[OffsetPixelHeigh + 3] << 24);
+ PixelWidth = BMP_Header[OffsetPixelWidth] + (BMP_Header[OffsetPixelWidth + 1] << 8) + (BMP_Header[OffsetPixelWidth + 2] << 16) + (BMP_Header[OffsetPixelWidth + 3] << 24);
+ if (PixelHeigh > TFT.height() + y || PixelWidth > TFT.width() + x) {
+ fclose(Image);
+ return(-3); // to big
+ }
+
+ start_data = BMP_Header[OffsetPixData] + (BMP_Header[OffsetPixData + 1] << 8) + (BMP_Header[OffsetPixData + 2] << 16) + (BMP_Header[OffsetPixData + 3] << 24);
+
+ line = (unsigned short *) malloc (2 * PixelWidth); // we need a buffer for a line
+ if (line == NULL) {
+ return(-4); // error no memory
+ }
+
+ // the bmp lines are padded to multiple of 4 bytes
+ padd = -1;
+ do {
+ padd ++;
+ } while ((PixelWidth * 2 + padd)%4 != 0);
+
+ // GraphicsDisplay.window(x, y,PixelWidth ,PixelHeigh);
+ //GraphicsDisplay.wr_cmd(0x2C); // send pixel
+ //GraphicsDisplay.spi_16(1);
+ int compt=38400;
+ unsigned char c,c1;
+ for (j = PixelHeigh - 1; j >= 0; j--) { //Lines bottom up
+ off = j * (PixelWidth * 2 + padd) + start_data; // start of line
+ fseek(Image, off ,SEEK_SET);
+ fread(line,1,PixelWidth * 2,Image); // read a line - slow
+ // for (i = 0; i < PixelWidth; i++) { // copy pixel data to TFT
+ for (int i = PixelWidth-1; i >=0; i--) { // copy pixel data to TFT
+ compt = compt -1;
+ c=line[i]&0x00FF;
+ c1=line[i]>>8;
+ bank[compt] =c1 ;
+ compt = compt -1;
+ bank[compt] =c; // one 16 bit pixel
+ }
+ }
+ //spi_bsy();
+ //_cs = 1;
+ //spi_16(0);
+ free (line);
+ fclose(Image);
+ //WindowMax();
+ return(1);
+}
+
+