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128 lines
4.3 KiB
C
128 lines
4.3 KiB
C
/*
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* SPDX-License-Identifier: MIT
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*
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* Copyright (C) 2013-2024 OpenMV, LLC.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*
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* Integral image.
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*/
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#include <stdlib.h>
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#include <string.h>
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#include <arm_math.h>
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#include "imlib.h"
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#include "fb_alloc.h"
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void imlib_integral_image_alloc(i_image_t *sum, int w, int h) {
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sum->w = w;
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sum->h = h;
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sum->data = fb_alloc(w * h * sizeof(*sum->data), FB_ALLOC_NO_HINT);
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}
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void imlib_integral_image_free(i_image_t *sum) {
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// 1 allocation
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fb_free();
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}
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void imlib_integral_image(image_t *src, i_image_t *sum) {
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typeof(*src->data) * img_data = src->data;
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typeof(*sum->data) * sum_data = sum->data;
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// Compute first column to avoid branching
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for (int s = 0, x = 0; x < src->w; x++) {
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/* sum of the current row (integer) */
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s += img_data[x];
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sum_data[x] = s;
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}
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for (int y = 1; y < src->h; y++) {
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/* loop over the number of columns */
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for (int s = 0, x = 0; x < src->w; x++) {
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/* sum of the current row (integer) */
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s += img_data[y * src->w + x];
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sum_data[y * src->w + x] = s + sum_data[(y - 1) * src->w + x];
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}
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}
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}
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void imlib_integral_image_scaled(image_t *src, i_image_t *sum) {
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typeof(*src->data) * img_data = src->data;
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typeof(*sum->data) * sum_data = sum->data;
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int x_ratio = (int) ((src->w << 16) / sum->w) + 1;
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int y_ratio = (int) ((src->h << 16) / sum->h) + 1;
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// Compute first column to avoid branching
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for (int s = 0, x = 0; x < sum->w; x++) {
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int sx = (x * x_ratio) >> 16;
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/* sum of the current row (integer) */
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s += img_data[sx];
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sum_data[x] = s;
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}
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for (int y = 1; y < sum->h; y++) {
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int sy = (y * y_ratio) >> 16;
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/* loop over the number of columns */
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for (int s = 0, x = 0; x < sum->w; x++) {
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int sx = (x * x_ratio) >> 16;
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/* sum of the current row (integer) */
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s += img_data[sy * src->w + sx];
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sum_data[y * sum->w + x] = s + sum_data[(y - 1) * sum->w + x];
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}
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}
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}
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void imlib_integral_image_sq(image_t *src, i_image_t *sum) {
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typeof(*src->data) * img_data = src->data;
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typeof(*sum->data) * sum_data = sum->data;
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// Compute first column to avoid branching
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for (uint32_t s = 0, x = 0; x < src->w; x++) {
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/* sum of the current row (integer) */
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s += img_data[x] * img_data[x];
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sum_data[x] = s;
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}
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for (uint32_t y = 1; y < src->h; y++) {
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/* loop over the number of columns */
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for (uint32_t s = 0, x = 0; x < src->w; x++) {
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/* sum of the current row (integer) */
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s += img_data[y * src->w + x] * img_data[y * src->w + x];
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sum_data[y * src->w + x] = s + sum_data[(y - 1) * src->w + x];
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}
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}
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}
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uint32_t imlib_integral_lookup(i_image_t *sum, int x, int y, int w, int h) {
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#define PIXEL_AT(x, y) \
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(sum->data[((y) - 1) * sum->w + ((x) - 1)])
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if (x == 0 && y == 0) {
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return PIXEL_AT(w, h);
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} else if (y == 0) {
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return PIXEL_AT(w + x, h) - PIXEL_AT(x, h);
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} else if (x == 0) {
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return PIXEL_AT(w, h + y) - PIXEL_AT(w, y);
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} else {
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return PIXEL_AT(w + x, h + y) + PIXEL_AT(x, y) - PIXEL_AT(w + x, y) - PIXEL_AT(x, h + y);
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}
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#undef PIXEL_AT
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}
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