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 sparrow_state mode_find_self(GstSparrow *sparrow, guint8 *in, guint8 *out);
  29 INVISIBLE void finalise_find_self(GstSparrow *sparrow);
  30
  31 /* edges.c */
  32 INVISIBLE void init_find_edges(GstSparrow *sparrow);
  33 INVISIBLE sparrow_state mode_find_edges(GstSparrow *sparrow, guint8 *in, guint8 *out);
  34 INVISIBLE void finalise_find_edges(GstSparrow *sparrow);
  35
  36 /* floodfill.c */
  37 INVISIBLE void init_find_screen(GstSparrow *sparrow);
  38 INVISIBLE sparrow_state mode_find_screen(GstSparrow *sparrow, guint8 *in, guint8 *out);
  39 INVISIBLE void finalise_find_screen(GstSparrow *sparrow);
  40
  41 /* itworks.c */
  42 INVISIBLE void init_process_frame(GstSparrow *sparrow);
  43 INVISIBLE sparrow_state mode_process_frame(GstSparrow *sparrow, guint8 *in, guint8 *out);
  44 INVISIBLE void finalise_process_frame(GstSparrow *sparrow);
  45
  46 /* sparrow.c */
  47 INVISIBLE void debug_frame(GstSparrow *sparrow, guint8 *data, guint32 width, guint32 height, int pixsize);
  48 INVISIBLE void sparrow_rotate_history(GstSparrow *sparrow, GstBuffer *inbuf);
  49 INVISIBLE void sparrow_pre_init(GstSparrow *sparrow);
  50 INVISIBLE gboolean sparrow_init(GstSparrow *sparrow, GstCaps *incaps, GstCaps *outcaps);
  51 INVISIBLE void sparrow_transform(GstSparrow *sparrow, guint8 *in, guint8 *out);
  52 INVISIBLE void sparrow_finalise(GstSparrow *sparrow);
  53
  54
  55 #define SPARROW_CALIBRATE_ON  1
  56
  57 #define MAYBE_DEBUG_IPL(ipl)((sparrow->debug) ?                         \
  58       debug_frame(sparrow, (guint8*)(ipl)->imageData, (ipl)->width,     \
  59           (ipl)->height, (ipl)->nChannels):0)
  60
  61
  62 #define CALIBRATE_WAIT_SIGNAL_THRESHOLD 32
  63
  64
  65
  66 /*memory allocation */
  67 #define ALIGNMENT 16
  68
  69 static inline __attribute__((malloc)) UNUSED void *
  70 malloc_or_die(size_t size){
  71   void *p = malloc(size);
  72   if (!p){
  73     GST_ERROR("malloc would not allocate %u bytes! seriously!\n", size);
  74     exit(EXIT_FAILURE);
  75   }
  76   return p;
  77 }
  78
  79 static inline __attribute__((malloc)) UNUSED void *
  80 malloc_aligned_or_die(size_t size){
  81   void *mem;
  82   int err = posix_memalign(&mem, ALIGNMENT, size);
  83   if (err){
  84     GST_ERROR("posix_memalign returned %d trying to allocate %u bytes aligned on %u byte boundaries\n",
  85         err, size, ALIGNMENT);
  86     exit(EXIT_FAILURE);
  87   }
  88   return mem;
  89 }
  90
  91 static inline __attribute__((malloc)) UNUSED void *
  92 zalloc_aligned_or_die(size_t size){
  93   void *mem = malloc_aligned_or_die(size);
  94   memset(mem, 0, size);
  95   return mem;
  96 }
  97
  98 static inline __attribute__((malloc)) UNUSED void *
  99 zalloc_or_die(size_t size){
 100   void *mem = calloc(size, 1);
 101   if (!mem){
 102     GST_ERROR("calloc would not allocate %u bytes!\n", size);
 103     exit(EXIT_FAILURE);
 104   }
 105   return mem;
 106 }
 107
 108 /*RNG macros */
 109
 110 static inline UNUSED guint32
 111 rng_uniform_int(GstSparrow *sparrow, guint32 limit){
 112   double d = dsfmt_genrand_close_open(sparrow->dsfmt);
 113   double d2 = d * limit;
 114   guint32 i = (guint32)d2;
 115   return i;
 116 }
 117
 118 static inline UNUSED double
 119 rng_uniform_double(GstSparrow *sparrow, double limit){
 120     return dsfmt_genrand_close_open(sparrow->dsfmt) * limit;
 121 }
 122
 123 #define rng_uniform(sparrow) dsfmt_genrand_close_open((sparrow)->dsfmt)
 124
 125 #define RANDINT(sparrow, start, end)((start) + rng_uniform_int(sparrow, (end) - (start)))
 126
 127
 128 #define DISASTEROUS_CRASH(msg) GST_ERROR("DISASTER: %s\n%-25s  line %4d \n", (msg), __func__, __LINE__);
 129
 130
 131
 132 static inline guint32
 133 popcount64(guint64 x64)
 134 {
 135   guint32 x = x64 & (guint32)-1;
 136   guint32 y = x64 >> 32;
 137   x = x - ((x >> 1) & 0x55555555);
 138   y = y - ((y >> 1) & 0x55555555);
 139   x = (x & 0x33333333) + ((x >> 2) & 0x33333333);
 140   y = (y & 0x33333333) + ((y >> 2) & 0x33333333);
 141   x = (x + (x >> 4)) & 0x0F0F0F0F;
 142   y = (y + (y >> 4)) & 0x0F0F0F0F;
 143   x = x + (x >> 8);
 144   y = y + (y >> 8);
 145   x = x + (x >> 16);
 146   y = y + (y >> 16);
 147   return (x + y) & 0x000000FF;
 148 }
 149
 150 static inline guint32
 151 hamming_distance64(guint64 a, guint64 b, guint64 mask){
 152   a &= mask;
 153   b &= mask;
 154   /* count where the two differ */
 155   return popcount64(a ^ b);
 156 }
 157
 158 static inline gint
 159 mask_to_shift(guint32 mask){
 160   /*mask is big-endian, so these numbers are reversed */
 161   switch(mask){
 162   case 0x000000ff:
 163     return 24;
 164   case 0x0000ff00:
 165     return 16;
 166   case 0x00ff0000:
 167     return 8;
 168   case 0xff000000:
 169     return 0;
 170   }
 171   GST_WARNING("mask not byte aligned: %x\n", mask);
 172   return 0;
 173 }
 174
 175 static inline IplImage *
 176 init_ipl_image(sparrow_format *dim){
 177   CvSize size = {dim->width, dim->height};
 178   IplImage* im = cvCreateImageHeader(size, IPL_DEPTH_8U, PIXSIZE);
 179   return cvInitImageHeader(im, size, IPL_DEPTH_8U, PIXSIZE, 0, 8);
 180 }
 181
 182
 183 #endif /* __SPARROW_SPARROW_H__ */