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285 lines
7.6 KiB
285 lines
7.6 KiB
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//
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// for testing: make && ./vidoiltank -rotate 270 -samples 1 -debug /mnt/heizoel-data
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//
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#include <stdlib.h>
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#include <stdio.h>
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#include <time.h>
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#include "vidoiltank.h"
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char conf_devname[LEN_FILENAME] = "/dev/video0";
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char conf_debugout[LEN_FILENAME] = "";
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int conf_width = 1920;
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int conf_height = 1080;
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int conf_iomode = IOM_MMAP;
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int conf_samples = 25;
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float conf_filter = 0.1;
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int conf_rotate = 0;
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Rect conf_rect = { .x = 315, .y = 0, .w = 70, .h = 1910 };
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char conf_outdate[LEN_FILENAME];
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int detect_level(ImageFloat *imgf);
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/*
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* open video device
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* read multiple images into memory
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* close video device
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*
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* calculate images together
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* find position
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*
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* save all data
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*/
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void help() {
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printf ("\t-dev DEVICE video device file (default /dev/video0)\n");
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printf ("\t-s w,h define with and height\n");
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printf ("\t-debug OUTDIR debug files output dir\n");
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printf ("\t-ioread use read instead of mmap\n");
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printf ("\t-samples NUM samples to read\n");
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printf ("\t-filter NUM filter over NUM lines for detection\n");
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printf ("\t-rect X,Y,W,H part of the screen to search for the level\n");
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printf ("\t-rotate DEG rotate image by 0,90,180,270\n");
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printf ("\t-help display this help\n");
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}
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int main(int argc, char **argv) {
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Video *video;
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ImageRaw *img = NULL;
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ImageRaw *tmpimg = NULL;
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ImageFloat *imgf = NULL;
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char fn[3*LEN_FILENAME];
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int i, c, b, level, cont, bright, min, max;
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// for debugging only
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time_t curtime = time(NULL);
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struct tm *curtime_tm = NULL;
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curtime_tm = localtime(&curtime);
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strftime(conf_outdate, LEN_FILENAME-1, "%Y%m%d-%H%M%S", curtime_tm);
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for (int i = 1; i < argc; i++) {
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if (strcmp(argv[i], "-dev") == 0) {
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i++;
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strncpy (conf_devname, argv[i], LEN_FILENAME-1);
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}
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else if (strcmp(argv[i], "-s") == 0){
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i++;
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sscanf (argv[i], "%d,%d", &conf_width, &conf_height);
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}
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else if (strcmp(argv[i], "-rect") == 0){
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i++;
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sscanf (argv[i], "%d,%d,%d,%d", &conf_rect.x, &conf_rect.y, &conf_rect.w, &conf_rect.h);
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}
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else if (strcmp(argv[i], "-samples") == 0){
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i++;
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conf_samples = atoi (argv[i]);
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}
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else if (strcmp(argv[i], "-filter") == 0){
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i++;
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conf_filter = 1.0/(float)atoi (argv[i]);
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}
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else if (strcmp(argv[i], "-debug") == 0){
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i++;
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strncpy (conf_debugout, argv[i], LEN_FILENAME-1);
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}
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else if (strcmp(argv[i], "-ioread") == 0){
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conf_iomode = IOM_READ;
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}
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else if (strcmp(argv[i], "-rotate") == 0){
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i++;
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conf_rotate = atoi (argv[i]);
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if (conf_rotate != 0 && conf_rotate != 90 && conf_rotate != 180 && conf_rotate != 270) {
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printf ("rotate can only work for 0°, 90°, 180°, 270°. Rotation of %d° is not supported\n", conf_rotate);
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return 1;
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}
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}
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else if (strcmp(argv[i], "-help") == 0){
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help();
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return 0;
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}
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}
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// printf ("vidoiltank\n");
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// printf (" device: %s (%d x %d)\n", conf_devname, conf_width, conf_height);
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//
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// open video device
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if ((video = vid_open("/dev/video0")) == NULL) return -1;
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if (vid_start(video, conf_iomode, conf_width, conf_height) == -1) return -1;
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//
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// search for god brightness and contrast
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printf ("check controls\n");
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cont = 200; // just picked some random numbers
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bright = 170; // just picked some random numbers
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for (level = 0, c = 32; c <= 250; c += 64)
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for (b = 32; b <= 250; b += 64) {
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vid_setctrls(video, b, c);
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do {} while ((tmpimg = vid_grabimage(video, img)) == NULL && errno == EAGAIN);
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if (tmpimg == NULL) {
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printf ("could not grab image\n");
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exit(1);
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}
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img = tmpimg;
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image_get_minmax (img, &conf_rect, &min, &max);
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if (max-min > level) {
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cont = c;
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bright = b;
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level = max-min;
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}
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}
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printf ("found best control: contrast: %d brightness: %d\n", cont, bright);
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vid_setctrls(video, bright, cont);
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//
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// get samples
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printf ("Read Samples\n");
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for (i = 0; i < conf_samples; i++) {
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do {} while ((tmpimg = vid_grabimage(video, img)) == NULL && errno == EAGAIN);
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if (tmpimg == NULL) {
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printf ("could not grab image\n");
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exit(1);
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}
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img = tmpimg;
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image_rotate(img, conf_rotate);
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if (i == 0) imgf = imageF_copy(img, &conf_rect);
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else {
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imageF_add (imgf, img, &conf_rect);
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}
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if (i == 0) {
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snprintf (fn, 3*LEN_FILENAME, "%s/%s-img-%02d-%02d.jpg", conf_debugout, conf_outdate, bright, cont);
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image_draw_rect(img, &conf_rect, 0x00FFFF);
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if (strlen(conf_debugout) > 0) image_save(img, fn, 98);
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}
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}
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if (vid_stop(video) == -1) return -1;
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vid_close(video);
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video = NULL;
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tmpimg = image_copyF(imgf);
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snprintf (fn, 3*LEN_FILENAME, "%s/%s-imgf-%03d.jpg", conf_debugout, conf_outdate, conf_samples);
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if (strlen(conf_debugout) > 0) image_save(tmpimg, fn, 98);
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printf ("detect level\n");
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level = detect_level(imgf);
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printf ("got %d\n", level);
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tmpimg = image_copyF(imgf);
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Rect r = {.x = 0, .y = level, .w = 10, .h = 1};
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image_draw_rect(tmpimg, &r, 0x0000FF00);
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snprintf (fn, 3*LEN_FILENAME, "%s/%s-img-data.jpg", conf_debugout, conf_outdate);
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if (strlen(conf_debugout) > 0) image_save(tmpimg, fn, 98);
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printf ("%s Found Level: %5.2f Y-Pos: %d\n", conf_outdate, 100.0 * (1.0-(float)level/(float)imgf->h), level);
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return 0;
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};
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int detect_level(ImageFloat *imgf) {
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int y, x, level;
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float v = 0.0, vmin, vmax;
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FILE * outfile;
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float deltamin = 0;
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float deltamax = 0;
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int deltamin_y = 0;
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int deltamax_y = 0;
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if (imgf == NULL) return -1;
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float *deltas = malloc(sizeof(float) * imgf->h); // deltas
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float *deltasf = malloc(sizeof(float) * imgf->h); // filtered deltas
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if (deltas == NULL) {
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printf ("%s:%d could not allocate memory. Error:%s\n", __FILE__, __LINE__, strerror(errno));
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return -1;
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}
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//
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// calculate average, and save value in left row
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for (y = 0; y < imgf->h; y++) {
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for (v = 0.0, x = 0; x < imgf->w; x++)
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v += imgf->data[x + y * imgf->w];
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v = v / (float) x;
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if (y == 0) vmin = vmax = v;
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if (vmin > v) vmin = v;
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if (vmax < v) vmax = v;
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// save result in the top left position,
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// together with a bar for display
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imgf->data[y * imgf->w] = v;
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}
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//
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// normalize 0.0 .. 1.0
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for (y = 0; y < imgf->h; y++) for (x = 0; x < imgf->w; x++) {
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imgf->data[x + y * imgf->w] = (imgf->data[x + y * imgf->w]-vmin)/(vmax-vmin);
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}
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vmin = 1.0;
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vmax = 0.0;
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int outavg_with = 8;
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// generate average and delta
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level = 0;
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float delta = 0.0, deltaf = 0.0;
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for (y = 0; y < imgf->h; y++) {
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// average
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v = 0.0;
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for (x = 0; x < imgf->w; x++) v += imgf->data[x + (y) * imgf->w];
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v /= (float)imgf->w;
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// output
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for (x = 0; x < outavg_with; x++) imgf->data[x + (y) * imgf->w] = v;
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// delta
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if (y > 0) {
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delta = imgf->data[0 + y * imgf->w] - imgf->data[0 + (y-1) * imgf->w];
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deltaf = deltasf[y-1] * (1.0-conf_filter) + delta * conf_filter;
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}
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else {
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delta = 0.0;
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deltamin_y = 0;
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deltamax_y = 0;
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deltamin = delta;
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deltamax = delta;
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deltas[0] = delta;
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deltasf[0] = delta;
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}
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if (deltamin > deltaf) {
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deltamin = deltaf;
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deltamin_y = y;
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}
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if (deltamax > deltaf) {
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deltamax = deltaf;
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deltamax_y = y;
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}
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deltas[y] = delta;
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deltasf[y] = deltaf;
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}
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// debugging write output
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if (strlen(conf_debugout) > 0) {
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char fn[3*LEN_FILENAME];
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snprintf (fn, 3*LEN_FILENAME, "%s/%s-data.csv", conf_debugout, conf_outdate);
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if ((outfile = fopen(fn, "wb")) == NULL) {
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fprintf(stderr, "%s:%d can't open %s error:%s\n", __FILE__, __LINE__, fn, strerror(errno));
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exit(1);
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}
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for (y = 0; y < imgf->h; y++) {
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fprintf(outfile, "%05d\t%f\t%f\t%f\n", y, imgf->data[y * imgf->w], deltas[y], deltasf[y]);
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}
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fclose (outfile);
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}
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//
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// search for the level from below
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level = deltamin_y;
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free(deltas);
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free(deltasf);
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return level;
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};
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