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SimpleSkyCam
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adding second version of InputDetectCrossC - seems to work much better

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test16bit
Steffen Pohle 4 years ago
parent 488b392e39
commit c05a57c432
3 changed files with 126 additions and 5 deletions
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127
detect.cc
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@ -38,6 +38,7 @@ Detect::Detect() { // @suppress("Class members should be properly initialized")
maxx = NULL;
maxy = NULL;
detmatrix = NULL;
detmatrixv2 = NULL;
inputtype = 0;
};
@ -91,11 +92,24 @@ void Detect::Thread() {
case 1:
if (posx < objectW/2 || posy < objectH/2 ||
posx > (inFrame.w-objectW/2) || posy > (inFrame.h-objectH/2))
posx > (inFrame.w-objectW/2) || posy > (inFrame.h-objectH/2)) {
printf ("%s:%d %s find new position (last known:%d,%d)\n",
__FILE__, __LINE__, __FUNCTION__, posx, posy);
InputDetect(&posx, &posy);
}
else InputDetectCrossC(&posx, &posy);
break;
case 2:
if (posx < objectW/2 || posy < objectH/2 ||
posx > (inFrame.w-objectW/2) || posy > (inFrame.h-objectH/2)) {
printf ("%s:%d %s find new position (last known:%d,%d)\n",
__FILE__, __LINE__, __FUNCTION__, posx, posy);
InputDetect(&posx, &posy);
}
else InputDetectCrossCv2(&posx, &posy);
break;
default:
if (errorinputtype != inputtype)
printf ("%s:%d %s error: inputtype (%d) not found\n", __FILE__, __LINE__, __FUNCTION__, inputtype);
@ -138,7 +152,9 @@ void Detect::SetInputSize (int nw, int nh) {
if ((posmaxx * posmaxy) < (nw * nh) || detmatrix != NULL) {
free (detmatrix);
free (detmatrixv2);
detmatrix = (float*) malloc (sizeof(float) * nw * nh);
detmatrixv2 = (uint16_t*) malloc (sizeof(uint16_t) * nw * nh);
}
posmaxx = nw;
@ -219,7 +235,7 @@ void Detect::InputDetect(int *posx, int *posy) {
}
#define OBJSIZE 50
#define MAXSHIFT 20
// #define DEBUGTIMES 1
void Detect::InputDetectCrossC(int *posx, int *posy) {
@ -297,8 +313,110 @@ void Detect::InputDetectCrossC(int *posx, int *posy) {
// printf ("%s:%d %s pos (%d,%d) dpos (%d,%d) newpos (%d,%d)\n", __FILE__, __LINE__, __FUNCTION__,
// *posx, *posy, (mxx-MAXSHIFT/2), (mxy-MAXSHIFT/2), *posx - (mxx-MAXSHIFT/2), *posy - (mxy-MAXSHIFT/2));
*posx -= (mxx-MAXSHIFT/2);
*posy -= (mxy-MAXSHIFT/2);
*posx += (mxx-MAXSHIFT/2);
*posy += (mxy-MAXSHIFT/2);
//
// copy image data to destination
for (x = 0; x < objectW; x++) for (y = 0; y < objectH; y++) {
desti = 3*(x + y * objectW);
ini = 3*((x + *posx - objectW/2) + (y + *posy - objectH/2) * inFrame.w);
if (desti < 0 || desti > objectW*objectH*3) continue;
if (ini < 0 || ini > inFrame.w*inFrame.h*3) continue;
pxd[desti+0] = pxi[ini+0];
pxd[desti+1] = pxi[ini+1];
pxd[desti+2] = pxi[ini+2];
}
#ifdef DEBUGTIMES
f = get_cycletime(&t1);
printf ("%s:%d copy output:%f\n", __FILE__, __LINE__, f);
f = get_cycletime(&t2);
printf ("%s:%d time needed:%f\n", __FILE__, __LINE__, f);
#endif
}
#define OBJSIZE 50
#define MAXSHIFT 20
// #define DEBUGTIMES 1
void Detect::InputDetectCrossCv2(int *posx, int *posy) {
unsigned char *pxi; // input image
unsigned char *pxd; // destination image
unsigned char *pxo; // old image
int inx, iny, oldx, oldy;
struct timeval t1, t2;
int shiftx, shifty, x, y, ini, oldi, desti, mxi, mxx, mxy;
float f;
if (oldFrame.h != inFrame.h || oldFrame.w != inFrame.w || *posx == -1 || *posy == -1) {
*posx = -1;
*posy = -1;
return;
}
#ifdef DEBUGTIMES
f = get_cycletime(&t1);
t2 = t1;
#endif
if (objectW > inFrame.w || objectH > inFrame.h) {
printf ("%s:%d %s objectW,H (%d,%d) > inFrame.W,H (%d, %d)\n", __FILE__, __LINE__, __FUNCTION__,
objectW, objectH, inFrame.w, inFrame.h);
*posx = -1;
*posy = -1;
return;
}
image.SetSize (objectW, objectH);
SetInputSize(inFrame.w, inFrame.h);
pxi = inFrame.data;
pxo = oldFrame.data;
pxd = image.data;
#ifdef DEBUGTIMES
f = get_cycletime(&t1);
printf ("%s:%d setup memory time needed:%f\n", __FILE__, __LINE__, f);
#endif
mxx = mxy = 0;
for (shifty = 0; shifty < MAXSHIFT; shifty++) {
// printf ("%s:%d %s shift (%d)\n", __FILE__, __LINE__, __FUNCTION__, shifty);
mxi = shifty * objectW;
for (shiftx = 0; shiftx < MAXSHIFT; shiftx++, mxi++) {
// fixme: help help
f = 0.0;
for (y = 0; y < OBJSIZE; y++) {
oldx = (*posx)- OBJSIZE/2;
oldy = (*posy)- OBJSIZE/2 + y;
oldi = 3 * (oldx + oldFrame.w * oldy);
inx = oldx + shiftx - MAXSHIFT/2;
iny = oldy + shifty - MAXSHIFT/2;
ini = 3* (inx + inFrame.w * iny);
for (x = 0; x < OBJSIZE; x++, oldi += 3, ini += 3, oldx++, inx++) {
if (oldx >= 0 && oldy >= 0 && oldx < oldFrame.w && oldy <= oldFrame.h &&
inx >= 0 && inx < inFrame.w && iny >= 0 && iny < inFrame.h) {
f += (float)(pxo[oldi+0])*(float)(pxi[ini+0]);
}
}
}
detmatrix[mxi] = f;
if (detmatrix[mxx + (mxy * objectW)] < f) {
mxx = shiftx;
mxy = shifty;
}
}
}
// printf ("%s:%d %s pos (%d,%d) dpos (%d,%d) newpos (%d,%d)\n", __FILE__, __LINE__, __FUNCTION__,
// *posx, *posy, (mxx-MAXSHIFT/2), (mxy-MAXSHIFT/2), *posx - (mxx-MAXSHIFT/2), *posy - (mxy-MAXSHIFT/2));
*posx += (mxx-MAXSHIFT/2);
*posy += (mxy-MAXSHIFT/2);
//
// copy image data to destination
@ -322,6 +440,7 @@ void Detect::InputDetectCrossC(int *posx, int *posy) {
void Detect::SetInputType(int intype) {
LockMutex();
inputtype = intype;

2
detect.h
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@ -40,6 +40,7 @@ private:
int posmaxx;
int posmaxy;
float *detmatrix;
uint16_t *detmatrixv2;
int objectW; // object Image Size Width
int objectH; // object Image Size Height
@ -49,6 +50,7 @@ private:
void InputDetect (int *posx, int *posy);
void InputDetectCrossC (int *posx, int *posy);
void InputDetectCrossCv2 (int *posx, int *posy); // MMX optimiert
void SetInputSize (int nw, int nh);
public:

2
simpleskycam.ui
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@ -542,7 +542,7 @@
</child>
<child>
<object class="GtkRadioButton" id="detect-type-indet3">
<property name="label" translatable="yes">unknown</property>
<property name="label" translatable="yes">neu InputDetect + InputDetectCrossCv2</property>
<property name="visible">True</property>
<property name="can-focus">True</property>
<property name="receives-default">False</property>

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