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 #include "sparrow_gamma_lut.h"
  25
  26 /* calibrate.c */
  27 INVISIBLE void init_find_self(GstSparrow *sparrow);
  28 INVISIBLE void init_pick_colour(GstSparrow *sparrow);
  29 INVISIBLE void init_wait_for_grid(GstSparrow *sparrow);
  30 INVISIBLE void init_find_grid(GstSparrow *sparrow);
  31 INVISIBLE void init_find_edges(GstSparrow *sparrow);
  32 INVISIBLE sparrow_state mode_find_self(GstSparrow *sparrow, guint8 *in, guint8 *out);
  33 INVISIBLE sparrow_state mode_pick_colour(GstSparrow *sparrow, guint8 *in, guint8 *out);
  34 INVISIBLE sparrow_state mode_wait_for_grid(GstSparrow *sparrow, guint8 *in, guint8 *out);
  35 INVISIBLE sparrow_state mode_find_grid(GstSparrow *sparrow, guint8 *in, guint8 *out);
  36 INVISIBLE sparrow_state mode_find_edges(GstSparrow *sparrow, guint8 *in, guint8 *out);
  37
  38 /* sparrow.c */
  39 INVISIBLE void debug_frame(GstSparrow *sparrow, guint8 *data, guint32 width, guint32 height);
  40 INVISIBLE void sparrow_rotate_history(GstSparrow *sparrow, GstBuffer *inbuf);
  41 INVISIBLE void sparrow_pre_init(GstSparrow *sparrow);
  42 INVISIBLE gboolean sparrow_init(GstSparrow *sparrow, GstCaps *incaps, GstCaps *outcaps);
  43 INVISIBLE void sparrow_transform(GstSparrow *sparrow, guint8 *in, guint8 *out);
  44 INVISIBLE void sparrow_finalise(GstSparrow *sparrow);
  45
  46 /*itworks.c*/
  47 INVISIBLE sparrow_state mode_process_frame(GstSparrow *sparrow, guint8 *in, guint8 *out);
  48
  49
  50 #define SPARROW_CALIBRATE_ON  1
  51
  52
  53 #define CALIBRATE_WAIT_SIGNAL_THRESHOLD 32
  54 #define ALIGNMENT 16
  55
  56
  57 /*memory allocation */
  58
  59 static inline __attribute__((malloc)) UNUSED void *
  60 malloc_or_die(size_t size){
  61   void *p = malloc(size);
  62   if (!p){
  63     GST_ERROR("malloc would not allocate %u bytes! seriously!\n", size);
  64     exit(EXIT_FAILURE);
  65   }
  66   return p;
  67 }
  68
  69 static inline __attribute__((malloc)) UNUSED void *
  70 malloc_aligned_or_die(size_t size){
  71   void *mem;
  72   int err = posix_memalign(&mem, ALIGNMENT, size);
  73   if (err){
  74     GST_ERROR("posix_memalign returned %d trying to allocate %u bytes aligned on %u byte boundaries\n",
  75         err, size, ALIGNMENT);
  76     exit(EXIT_FAILURE);
  77   }
  78   return mem;
  79 }
  80
  81 static inline __attribute__((malloc)) UNUSED void *
  82 zalloc_aligned_or_die(size_t size){
  83   void *mem = malloc_aligned_or_die(size);
  84   memset(mem, 0, size);
  85   return mem;
  86 }
  87
  88 /*RNG macros */
  89
  90 static inline UNUSED guint32
  91 rng_uniform_int(GstSparrow *sparrow, guint32 limit){
  92   double d = dsfmt_genrand_close_open(sparrow->dsfmt);
  93   double d2 = d * limit;
  94   guint32 i = (guint32)d2;
  95   return i;
  96 }
  97
  98 static inline UNUSED double
  99 rng_uniform_double(GstSparrow *sparrow, double limit){
 100     return dsfmt_genrand_close_open(sparrow->dsfmt) * limit;
 101 }
 102
 103 #define rng_uniform(sparrow) dsfmt_genrand_close_open((sparrow)->dsfmt)
 104
 105 #define RANDINT(sparrow, start, end)((start) + rng_uniform_int(sparrow, (end) - (start)))
 106
 107
 108 #define DISASTEROUS_CRASH(msg) GST_ERROR("DISASTER: %s\n%-25s  line %4d \n", (msg), __func__, __LINE__);
 109
 110
 111
 112 static inline guint32
 113 popcount64(guint64 x64)
 114 {
 115   guint32 x = x64 & (guint32)-1;
 116   guint32 y = x64 >> 32;
 117   x = x - ((x >> 1) & 0x55555555);
 118   y = y - ((y >> 1) & 0x55555555);
 119   x = (x & 0x33333333) + ((x >> 2) & 0x33333333);
 120   y = (y & 0x33333333) + ((y >> 2) & 0x33333333);
 121   x = (x + (x >> 4)) & 0x0F0F0F0F;
 122   y = (y + (y >> 4)) & 0x0F0F0F0F;
 123   x = x + (x >> 8);
 124   y = y + (y >> 8);
 125   x = x + (x >> 16);
 126   y = y + (y >> 16);
 127   return (x + y) & 0x000000FF;
 128 }
 129
 130 static inline guint32
 131 hamming_distance64(guint64 a, guint64 b, guint64 mask){
 132   a &= mask;
 133   b &= mask;
 134   /* count where the two differ */
 135   return popcount64(a ^ b);
 136 }
 137
 138 static inline gint
 139 mask_to_shift(guint32 mask){
 140   /*mask is big-endian, so these numbers are reversed */
 141   switch(mask){
 142   case 0x000000ff:
 143     return 24;
 144   case 0x0000ff00:
 145     return 16;
 146   case 0x00ff0000:
 147     return 8;
 148   case 0xff000000:
 149     return 0;
 150   }
 151   GST_WARNING("mask not byte aligned: %x\n", mask);
 152   return 0;
 153 }
 154
 155 static inline IplImage *
 156 init_ipl_image(sparrow_format *dim){
 157   CvSize size = {dim->width, dim->height};
 158   IplImage* im = cvCreateImageHeader(size, IPL_DEPTH_8U, PIXSIZE);
 159   return cvInitImageHeader(im, size, IPL_DEPTH_8U, PIXSIZE, 0, 8);
 160 }
 161
 162
 163 #endif /* __SPARROW_SPARROW_H__ */