sparrow.h

   1 /* Copyright (C) <2010> Douglas Bagnall <douglas@halo.gen.nz>
   2  *
   3  * This library is free software; you can redistribute it and/or
   4  * modify it under the terms of the GNU Library General Public
   5  * License as published by the Free Software Foundation; either
   6  * version 2 of the License, or (at your option) any later version.
   7  *
   8  * This library is distributed in the hope that it will be useful,
   9  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * Library General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU Library General Public
  14  * License along with this library; if not, write to the
  15  * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
  16  * Boston, MA 02111-1307, USA.
  17  */
  18 #ifndef __SPARROW_SPARROW_H__
  19 #define __SPARROW_SPARROW_H__
  20
  21 #include <stdlib.h>
  22 #include "gstsparrow.h"
  23 #include "sparrow_false_colour_lut.h"
  24
  25 /* calibrate.c */
  26 INVISIBLE void init_find_self(GstSparrow *sparrow);
  27 INVISIBLE sparrow_state mode_find_self(GstSparrow *sparrow, guint8 *in, guint8 *out);
  28 INVISIBLE void finalise_find_self(GstSparrow *sparrow);
  29
  30 /* edges.c */
  31 INVISIBLE void init_find_edges(GstSparrow *sparrow);
  32 INVISIBLE sparrow_state mode_find_edges(GstSparrow *sparrow, guint8 *in, guint8 *out);
  33 INVISIBLE void finalise_find_edges(GstSparrow *sparrow);
  34
  35 /* floodfill.c */
  36 INVISIBLE void init_find_screen(GstSparrow *sparrow);
  37 INVISIBLE sparrow_state mode_find_screen(GstSparrow *sparrow, guint8 *in, guint8 *out);
  38 INVISIBLE void finalise_find_screen(GstSparrow *sparrow);
  39
  40 /* play.c */
  41 INVISIBLE void init_play(GstSparrow *sparrow);
  42 INVISIBLE sparrow_state mode_play(GstSparrow *sparrow, guint8 *in, guint8 *out);
  43 INVISIBLE void finalise_play(GstSparrow *sparrow);
  44
  45 /* sparrow.c */
  46 INVISIBLE void debug_frame(GstSparrow *sparrow, guint8 *data, guint32 width, guint32 height, int pixsize);
  47 INVISIBLE void sparrow_pre_init(GstSparrow *sparrow);
  48 INVISIBLE gboolean sparrow_init(GstSparrow *sparrow, GstCaps *incaps, GstCaps *outcaps);
  49 INVISIBLE void sparrow_transform(GstSparrow *sparrow, guint8 *in, guint8 *out);
  50 INVISIBLE void sparrow_finalise(GstSparrow *sparrow);
  51 INVISIBLE void ppm_dump(sparrow_format *rgb, guint8 *data, guint32 width, guint32 height, const char *name);
  52 INVISIBLE void pgm_dump(guint8 *data, guint32 width, guint32 height, const char *name);
  53
  54
  55 /* jpeg_src.c */
  56 INVISIBLE void decompress_buffer(struct jpeg_decompress_struct *cinfo, guint8 *src,
  57     int size, guint8 *dest, int *width, int *height);
  58 INVISIBLE void begin_reading_jpeg(GstSparrow *sparrow, guint8* src, int size);
  59 INVISIBLE void read_one_line(GstSparrow *sparrow, guint8* dest);
  60 INVISIBLE void finish_reading_jpeg(GstSparrow *sparrow);
  61 INVISIBLE void init_jpeg_src(GstSparrow *sparrow);
  62 INVISIBLE void finalise_jpeg_src(GstSparrow *sparrow);
  63
  64
  65
  66 /*load_images.c */
  67 INVISIBLE sparrow_shared_t * sparrow_get_shared(void);
  68 INVISIBLE void maybe_load_images(GstSparrow *sparrow);
  69 INVISIBLE void maybe_unload_images(GstSparrow *sparrow);
  70 INVISIBLE void maybe_load_index(GstSparrow *sparrow);
  71 INVISIBLE void maybe_unload_index(GstSparrow *sparrow);
  72
  73
  74 #define SPARROW_CALIBRATE_ON  1
  75
  76 #define MAYBE_DEBUG_IPL(ipl)((sparrow->debug) ?                         \
  77       debug_frame(sparrow, (guint8*)(ipl)->imageData, (ipl)->width,     \
  78           (ipl)->height, (ipl)->nChannels):(void)0)
  79
  80
  81 #define CALIBRATE_WAIT_SIGNAL_THRESHOLD 32
  82
  83
  84
  85 /*memory allocation */
  86 #define ALIGNMENT 16
  87
  88 static inline __attribute__((malloc)) UNUSED void *
  89 malloc_or_die(size_t size){
  90   void *p = malloc(size);
  91   if (!p){
  92     GST_ERROR("malloc would not allocate %u bytes! seriously!\n", size);
  93     exit(EXIT_FAILURE);
  94   }
  95   return p;
  96 }
  97
  98 static inline __attribute__((malloc)) UNUSED void *
  99 malloc_aligned_or_die(size_t size){
 100   void *mem;
 101   int err = posix_memalign(&mem, ALIGNMENT, size);
 102   if (err){
 103     GST_ERROR("posix_memalign returned %d trying to allocate %u bytes aligned on %u byte boundaries\n",
 104         err, size, ALIGNMENT);
 105     exit(EXIT_FAILURE);
 106   }
 107   return mem;
 108 }
 109
 110 static inline __attribute__((malloc)) UNUSED void *
 111 zalloc_aligned_or_die(size_t size){
 112   void *mem = malloc_aligned_or_die(size);
 113   memset(mem, 0, size);
 114   return mem;
 115 }
 116
 117 static inline __attribute__((malloc)) UNUSED void *
 118 zalloc_or_die(size_t size){
 119   void *mem = calloc(size, 1);
 120   if (!mem){
 121     GST_ERROR("calloc would not allocate %u bytes!\n", size);
 122     exit(EXIT_FAILURE);
 123   }
 124   return mem;
 125 }
 126
 127 /*RNG macros */
 128
 129 static inline UNUSED guint32
 130 rng_uniform_int(GstSparrow *sparrow, guint32 limit){
 131   double d = dsfmt_genrand_close_open(sparrow->dsfmt);
 132   double d2 = d * limit;
 133   guint32 i = (guint32)d2;
 134   return i;
 135 }
 136
 137 static inline UNUSED double
 138 rng_uniform_double(GstSparrow *sparrow, double limit){
 139     return dsfmt_genrand_close_open(sparrow->dsfmt) * limit;
 140 }
 141
 142 #define rng_uniform(sparrow) dsfmt_genrand_close_open((sparrow)->dsfmt)
 143
 144 #define RANDINT(sparrow, start, end)((start) + rng_uniform_int(sparrow, (end) - (start)))
 145
 146
 147 #define DISASTEROUS_CRASH(msg) GST_ERROR("DISASTER: %s\n%-25s  line %4d \n", (msg), __func__, __LINE__);
 148
 149 static inline guint32
 150 popcount32(guint32 x)
 151 {
 152   x = x - ((x >> 1) & 0x55555555);
 153   x = (x & 0x33333333) + ((x >> 2) & 0x33333333);
 154   x = (x + (x >> 4)) & 0x0F0F0F0F;
 155   x = x + (x >> 8);
 156   x = x + (x >> 16);
 157   return x & 0x000000FF;
 158 }
 159
 160
 161 /*XXX optimised for 32 bit!*/
 162 static inline guint32
 163 popcount64(guint64 x64)
 164 {
 165   guint32 x = x64 & (guint32)-1;
 166   guint32 y = x64 >> 32;
 167   x = x - ((x >> 1) & 0x55555555);
 168   y = y - ((y >> 1) & 0x55555555);
 169   x = (x & 0x33333333) + ((x >> 2) & 0x33333333);
 170   y = (y & 0x33333333) + ((y >> 2) & 0x33333333);
 171   x = (x + (x >> 4)) & 0x0F0F0F0F;
 172   y = (y + (y >> 4)) & 0x0F0F0F0F;
 173   x = x + (x >> 8);
 174   y = y + (y >> 8);
 175   x = x + (x >> 16);
 176   y = y + (y >> 16);
 177   return (x + y) & 0x000000FF;
 178 }
 179
 180 static inline guint32
 181 hamming_distance64(guint64 a, guint64 b, guint64 mask){
 182   a &= mask;
 183   b &= mask;
 184   /* count where the two differ */
 185   return popcount64(a ^ b);
 186 }
 187
 188 static inline gint
 189 mask_to_shift(guint32 mask){
 190   /*mask is big-endian, so these numbers are reversed */
 191   switch(mask){
 192   case 0x000000ff:
 193     return 24;
 194   case 0x0000ff00:
 195     return 16;
 196   case 0x00ff0000:
 197     return 8;
 198   case 0xff000000:
 199     return 0;
 200   }
 201   GST_WARNING("mask not byte aligned: %x\n", mask);
 202   return 0;
 203 }
 204
 205 static inline IplImage *
 206 init_ipl_image(sparrow_format *dim, int channels){
 207   CvSize size = {dim->width, dim->height};
 208   IplImage* im = cvCreateImageHeader(size, IPL_DEPTH_8U, channels);
 209   return cvInitImageHeader(im, size, IPL_DEPTH_8U, channels, 0, 8);
 210 }
 211
 212 #define SPARROW_IMAGE_DIR "/home/douglas/sparrow/content/jpg"
 213
 214 #endif /* __SPARROW_SPARROW_H__ */