Revision 0:7e50b328a66f, committed 2016-02-17

Comitter:

sylvainkritter

Date:

Wed Feb 17 16:53:33 2016 +0000

Commit message:

create imagetr library for image transformation

Changed in this revision

--- /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);
+}
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/imagetr.h	Wed Feb 17 16:53:33 2016 +0000
@@ -0,0 +1,55 @@
+#pragma once
+#include "mbed.h"
+#include "global.h"
+#include "SDFileSystem.h"
+#include "SPI_TFT_ILI9341.h"
+
+
+const int nc2=nc*2;
+const int nc2ta=ncta*2;
+const int tarray = nc*nl;
+const int tarrayta = ncta*nlta;
+const int tmarrayta = nc2ta*nlta;
+
+extern const int tmarray ;
+extern char desfile[25];
+extern Serial pc;
+extern unsigned char bank[];
+extern unsigned char bankf[];
+extern unsigned char bankt[nl][nc];
+extern unsigned char banktc[nl][nc];
+extern unsigned char bankta[nlta][ncta][nv];
+extern unsigned char banktatc[nlta][ncta];
+
+extern Timer Time;
+extern FILE *fp;
+extern SPI_TFT_ILI9341 TFT;
+
+class imagetr
+{
+public:
+
+    void rgbtoy(void);
+    void rgbtoyta(void);
+    void rgbtoytaed(void);
+    void ytorgb(unsigned char b[nl][nc]);
+    void ytorgbta(unsigned char b[nlta][ncta][nv], int nu,const char des[]);
+    void ytorgbtas(unsigned char b[nlta][ncta][nv], int nu);
+    void extcont(int minc, int maxc);
+    void templatematch(unsigned char t);
+    void getimage(const char nf[]);
+    void extedge(int minc, int maxc, int th);
+    void extedgeta(int minc, int maxc, int th);
+    void affine (int x, int y, float a, float z);
+    void genta (float tx , float ty, float a, float z);
+    void lumi (float z);
+    void avera (void);
+    void extrta(void);
+    void searchpat(int th, char name[]);
+    int ar(float a);
+    int BMP_tofile(unsigned int x, unsigned int y, const char *Name_BMP);
+
+
+};
+
+