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https://github.com/openmv/openmv.git
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1039 lines
30 KiB
C
1039 lines
30 KiB
C
/*
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* This file is part of the OpenMV project.
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* Copyright (c) 2013/2014 Ibrahim Abdelkader <i.abdalkader@gmail.com>
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* This work is licensed under the MIT license, see the file LICENSE for details.
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*
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* Image Python module.
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*
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*/
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#include "mp.h"
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#include "imlib.h"
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#include "array.h"
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#include "sensor.h"
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#include "xalloc.h"
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#include "py_assert.h"
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#include "py_image.h"
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#include "py_file.h"
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#include "arm_math.h"
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extern struct sensor_dev sensor;
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static const mp_obj_type_t py_cascade_type;
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static const mp_obj_type_t py_image_type;
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/* Haar Cascade */
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typedef struct _py_cascade_obj_t {
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mp_obj_base_t base;
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struct cascade _cobj;
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} py_cascade_obj_t;
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void *py_cascade_cobj(mp_obj_t cascade)
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{
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PY_ASSERT_TYPE(cascade, &py_cascade_type);
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return &((py_cascade_obj_t *)cascade)->_cobj;
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}
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static void py_cascade_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind)
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{
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py_cascade_obj_t *self = self_in;
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/* print some info */
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print(env, "width:%d height:%d n_stages:%d n_features:%d n_rectangles:%d\n", self->_cobj.window.w,
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self->_cobj.window.h, self->_cobj.n_stages, self->_cobj.n_features, self->_cobj.n_rectangles);
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}
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static const mp_obj_type_t py_cascade_type = {
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{ &mp_type_type },
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.name = MP_QSTR_Cascade,
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.print = py_cascade_print,
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};
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/* Keypoints object */
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typedef struct _py_kp_obj_t {
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mp_obj_base_t base;
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int size;
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kp_t *kpts;
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int threshold;
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bool normalized;
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} py_kp_obj_t;
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static void py_kp_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind)
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{
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py_kp_obj_t *self = self_in;
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print(env, "size:%d threshold:%d normalized:%d\n", self->size, self->threshold, self->normalized);
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}
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static const mp_obj_type_t py_kp_type = {
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{ &mp_type_type },
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.name = MP_QSTR_kp_desc,
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.print = py_kp_print,
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};
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/* LBP descriptor */
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typedef struct _py_lbp_obj_t {
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mp_obj_base_t base;
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uint8_t *hist;
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} py_lbp_obj_t;
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static void py_lbp_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind)
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{
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print(env, "<lbp descriptor>");
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}
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static const mp_obj_type_t py_lbp_type = {
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{ &mp_type_type },
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.name = MP_QSTR_lbp_desc,
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.print = py_lbp_print,
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};
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/* Image */
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typedef struct _py_image_obj_t {
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mp_obj_base_t base;
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struct image _cobj;
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} py_image_obj_t;
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void *py_image_cobj(mp_obj_t image)
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{
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PY_ASSERT_TYPE(image, &py_image_type);
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return &((py_image_obj_t *)image)->_cobj;
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}
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static void py_image_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind)
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{
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py_image_obj_t *self = self_in;
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print(env, "<image width:%d height:%d bpp:%d>", self->_cobj.w, self->_cobj.h, self->_cobj.bpp);
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}
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static mp_int_t py_image_get_buffer(mp_obj_t self_in, mp_buffer_info_t *bufinfo, mp_uint_t flags) {
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image_t *image = py_image_cobj(self_in);
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if (flags == MP_BUFFER_READ) {
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bufinfo->buf = (void*)image->pixels;
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if (image->bpp > 2) { //JPEG
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bufinfo->len = image->bpp;
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} else {
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bufinfo->len = image->w*image->h*image->bpp;
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}
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bufinfo->typecode = 'b';
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return 0;
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} else {
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// disable write for now
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bufinfo->buf = NULL;
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bufinfo->len = 0;
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bufinfo->typecode = -1;
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return 1;
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}
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}
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static mp_obj_t py_image_size(mp_obj_t self_in)
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{
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uint32_t len;
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image_t *image = py_image_cobj(self_in);
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if (image->bpp > 2) { //JPEG
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len = image->bpp;
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} else {
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len = image->w*image->h*image->bpp;
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}
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return mp_obj_new_int(len);
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}
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static mp_obj_t py_image_save(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
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{
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int res;
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image_t *image = py_image_cobj(args[0]);
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const char *path = mp_obj_str_get_str(args[1]);
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mp_map_elem_t *kw_subimage = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(qstr_from_str("subimage")), MP_MAP_LOOKUP);
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if (kw_subimage != NULL) {
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mp_obj_t *array;
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mp_obj_get_array_fixed_n(kw_subimage->value, 4, &array);
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rectangle_t r = {
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mp_obj_get_int(array[0]),
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mp_obj_get_int(array[1]),
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mp_obj_get_int(array[2]),
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mp_obj_get_int(array[3]),
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};
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res = imlib_save_image(image, path, &r);
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} else {
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res = imlib_save_image(image, path, NULL);
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}
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if (res != FR_OK) {
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nlr_raise(mp_obj_new_exception_msg(&mp_type_OSError, ffs_strerror(res)));
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}
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return mp_const_true;
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}
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static mp_obj_t py_image_scale(mp_obj_t image_obj, mp_obj_t size_obj)
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{
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int w,h;
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mp_obj_t *array;
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image_t *src_image = NULL;
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/* get C image pointer */
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src_image = py_image_cobj(image_obj);
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/* get x,y */
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mp_obj_get_array_fixed_n(size_obj, 2, &array);
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w = mp_obj_get_int(array[0]);
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h = mp_obj_get_int(array[1]);
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image_t dst_image = {
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.w=w,
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.h=h,
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.bpp=src_image->bpp,
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.pixels=xalloc(w*h*src_image->bpp)
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};
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imlib_scale(src_image, &dst_image, INTERP_BILINEAR);
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*src_image = dst_image;
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return image_obj;
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}
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static mp_obj_t py_image_scaled(mp_obj_t image_obj, mp_obj_t size_obj)
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{
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int w,h;
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mp_obj_t *array;
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image_t *src_image = NULL;
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/* get C image pointer */
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src_image = py_image_cobj(image_obj);
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/* get x,y */
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mp_obj_get_array_fixed_n(size_obj, 2, &array);
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w = mp_obj_get_int(array[0]);
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h = mp_obj_get_int(array[1]);
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image_t dst_image = {
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.w=w,
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.h=h,
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.bpp=src_image->bpp,
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.pixels=xalloc(w*h*src_image->bpp)
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};
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imlib_scale(src_image, &dst_image, INTERP_NEAREST);
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return py_image_from_struct(&dst_image);
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}
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static mp_obj_t py_image_subimg(mp_obj_t image_obj, mp_obj_t subimg_obj)
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{
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rectangle_t r;
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image_t *image;
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mp_obj_t *array;
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/* image pointer */
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image = py_image_cobj(image_obj);
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/* sub image */
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mp_obj_get_array_fixed_n(subimg_obj, 4, &array);
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r.x = mp_obj_get_int(array[0]);
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r.y = mp_obj_get_int(array[1]);
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r.w = mp_obj_get_int(array[2]);
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r.h = mp_obj_get_int(array[3]);
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image_t subimg = {
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.w=r.w,
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.h=r.h,
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.bpp=image->bpp,
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.pixels=xalloc(r.w*r.h*image->bpp)
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};
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imlib_subimage(image, &subimg, r.x, r.y);
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return py_image_from_struct(&subimg);
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}
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static mp_obj_t py_image_blit(mp_obj_t dst_image_obj, mp_obj_t src_image_obj, mp_obj_t offset_obj)
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{
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int x,y;
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image_t *src_image = NULL;
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image_t *dst_image = NULL;
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/* get C image pointer */
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src_image = py_image_cobj(src_image_obj);
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dst_image = py_image_cobj(dst_image_obj);
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/* get x,y */
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mp_obj_t *array;
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mp_obj_get_array_fixed_n(offset_obj, 2, &array);
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x = mp_obj_get_int(array[0]);
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y = mp_obj_get_int(array[1]);
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if ((src_image->w+x)>dst_image->w ||
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(src_image->h+y)>dst_image->h) {
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printf("src image > dst image\n");
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return mp_const_none;
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}
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imlib_blit(src_image, dst_image, x, y);
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return mp_const_none;
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}
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static mp_obj_t py_image_blend(mp_obj_t dst_image_obj,
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mp_obj_t src_image_obj, mp_obj_t param_obj)
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{
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int x,y;
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float alpha;
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image_t *src_image = NULL;
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image_t *dst_image = NULL;
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/* get C image pointer */
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src_image = py_image_cobj(src_image_obj);
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dst_image = py_image_cobj(dst_image_obj);
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/* get x,y,alpha */
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mp_obj_t *array;
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mp_obj_get_array_fixed_n(param_obj, 3, &array);
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x = mp_obj_get_int(array[0]);
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y = mp_obj_get_int(array[1]);
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alpha = mp_obj_get_float(array[2]);
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if ((src_image->w+x)>dst_image->w ||
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(src_image->h+y)>dst_image->h) {
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printf("src image > dst image\n");
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return mp_const_none;
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}
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imlib_blend(src_image, dst_image, x, y, (uint8_t)(alpha*256));
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return mp_const_none;
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}
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static mp_obj_t py_image_histeq(mp_obj_t image_obj)
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{
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struct image *image;
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/* get image pointer */
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image = (struct image*) py_image_cobj(image_obj);
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/* sanity checks */
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PY_ASSERT_TRUE(image->bpp == 1);
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imlib_histeq(image);
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return mp_const_none;
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}
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static mp_obj_t py_image_median(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
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{
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int ksize = 1;
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/* get image pointer */
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image_t *image = py_image_cobj(args[0]);
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mp_map_elem_t *kw_ksize = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(qstr_from_str("size")), MP_MAP_LOOKUP);
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if (kw_ksize != NULL) {
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ksize = mp_obj_get_int(kw_ksize->value);
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}
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imlib_median_filter(image, ksize);
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return mp_const_none;
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}
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static mp_obj_t py_image_invert(mp_obj_t image_obj)
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{
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image_t *image;
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image = py_image_cobj(image_obj);
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/* Sanity checks */
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PY_ASSERT_TRUE(image->bpp == 1);
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/* Threshold image */
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imlib_invert(image);
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return mp_const_none;
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}
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static mp_obj_t py_image_binary(mp_obj_t image_obj, mp_obj_t threshold)
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{
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image_t *image;
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/* sanity checks */
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PY_ASSERT_TRUE(sensor.framesize <= FRAMESIZE_QCIF);
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PY_ASSERT_TRUE(sensor.pixformat == PIXFORMAT_GRAYSCALE);
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/* read arguments */
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image = py_image_cobj(image_obj);
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int thresh = mp_obj_get_int(threshold);
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/* Threshold image */
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imlib_binary(image, thresh);
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return mp_const_none;
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}
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static mp_obj_t py_image_threshold(mp_obj_t image_obj, mp_obj_t color_list_obj, mp_obj_t threshold)
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{
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color_t *color;
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image_t *image;
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/* sanity checks */
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PY_ASSERT_TRUE(sensor.pixformat == PIXFORMAT_RGB565);
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PY_ASSERT_TRUE(sensor.framesize <= FRAMESIZE_QCIF);
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/* read arguments */
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image = py_image_cobj(image_obj);
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int thresh = mp_obj_get_int(threshold);
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/* returned image */
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image_t bimage = {
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.w=image->w,
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.h=image->h,
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.bpp=1,
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.pixels=image->data+(image->w*image->h*image->bpp)
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};
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/* copy color list */
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uint len;
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mp_obj_t *color_arr;
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mp_obj_get_array(color_list_obj, &len, &color_arr);
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color = xalloc(len*sizeof*color);
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for (int i=0; i<len; i++) {
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mp_obj_t *color_obj;
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mp_obj_get_array_fixed_n(color_arr[i], 3, &color_obj);
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color[i].r = mp_obj_get_int(color_obj[0]);
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color[i].g = mp_obj_get_int(color_obj[1]);
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color[i].b = mp_obj_get_int(color_obj[2]);
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}
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/* Threshold image using reference color */
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imlib_threshold(image, &bimage, color, len, thresh);
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return py_image_from_struct(&bimage);
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}
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static mp_obj_t py_image_rainbow(mp_obj_t src_image_obj)
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{
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image_t *src_image = NULL;
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/* get C image pointer */
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src_image = py_image_cobj(src_image_obj);
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/* sanity checks */
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PY_ASSERT_TRUE(src_image->bpp==1);
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image_t dst_image = {
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.w=src_image->w,
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.h=src_image->h,
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.bpp=2,
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.pixels=xalloc(src_image->w*src_image->h*2)
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};
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imlib_rainbow(src_image, &dst_image);
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*src_image = dst_image;
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return src_image_obj;
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}
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static mp_obj_t py_image_compress(mp_obj_t image_obj, mp_obj_t quality)
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{
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image_t *image = py_image_cobj(image_obj);
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image_t cimage = {
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.w=image->w,
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.h=image->h,
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.bpp=0,
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.pixels= NULL
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};
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jpeg_compress(image, &cimage, mp_obj_get_int(quality));
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return py_image_from_struct(&cimage);
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}
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static mp_obj_t py_image_draw_line(mp_obj_t image_obj, mp_obj_t line_obj)
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{
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/* get image pointer */
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struct image *image;
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image = py_image_cobj(image_obj);
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mp_obj_t *array;
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mp_obj_get_array_fixed_n(line_obj, 4, &array);
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int x0 = mp_obj_get_int(array[0]);
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int y0 = mp_obj_get_int(array[1]);
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int x1 = mp_obj_get_int(array[2]);
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int y1 = mp_obj_get_int(array[3]);
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imlib_draw_line(image, x0, y0, x1, y1);
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return mp_const_none;
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}
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static mp_obj_t py_image_draw_circle(mp_obj_t image_obj, mp_obj_t c_obj, mp_obj_t r_obj)
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{
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int cx, cy, r;
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mp_obj_t *array;
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struct image *image;
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color_t c = {.r=0xFF, .g=0xFF, .b=0xFF};
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/* get image pointer */
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image = py_image_cobj(image_obj);
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/* center */
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mp_obj_get_array_fixed_n(c_obj, 2, &array);
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cx = mp_obj_get_int(array[0]);
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cy = mp_obj_get_int(array[1]);
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/* radius */
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r = mp_obj_get_int(r_obj);
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imlib_draw_circle(image, cx, cy, r, &c);
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return mp_const_none;
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}
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static mp_obj_t py_image_draw_string(uint n_args, const mp_obj_t *args)
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{
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int x = mp_obj_get_int(args[1]);
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int y = mp_obj_get_int(args[2]);
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image_t *image =py_image_cobj(args[0]);
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const char *str = mp_obj_str_get_str(args[3]);
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color_t c = {.r=0xFF, .g=0xFF, .b=0xFF};
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if (n_args == 5) {
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// get color
|
|
mp_obj_t *array;
|
|
mp_obj_get_array_fixed_n(args[4], 3, &array);
|
|
c.r = mp_obj_get_int(array[0]);
|
|
c.g = mp_obj_get_int(array[1]);
|
|
c.b = mp_obj_get_int(array[2]);
|
|
}
|
|
imlib_draw_string(image, x, y, str, &c);
|
|
return mp_const_none;
|
|
}
|
|
|
|
|
|
static mp_obj_t py_image_erode(mp_obj_t image_obj, mp_obj_t ksize_obj)
|
|
{
|
|
image_t *image = NULL;
|
|
image = py_image_cobj(image_obj);
|
|
|
|
/* sanity checks */
|
|
PY_ASSERT_TRUE(image->bpp==1);
|
|
|
|
imlib_erode(image, mp_obj_get_int(ksize_obj));
|
|
return mp_const_none;
|
|
}
|
|
|
|
static mp_obj_t py_image_dilate(mp_obj_t image_obj, mp_obj_t ksize_obj)
|
|
{
|
|
image_t *image = NULL;
|
|
image = py_image_cobj(image_obj);
|
|
|
|
/* sanity checks */
|
|
PY_ASSERT_TRUE(image->bpp==1);
|
|
|
|
imlib_dilate(image, mp_obj_get_int(ksize_obj));
|
|
return mp_const_none;
|
|
}
|
|
|
|
static mp_obj_t py_image_morph(mp_obj_t image_obj, mp_obj_t ksize_obj)
|
|
{
|
|
image_t *image = NULL;
|
|
image = py_image_cobj(image_obj);
|
|
|
|
/* sanity checks */
|
|
PY_ASSERT_TRUE(image->bpp==1);
|
|
|
|
imlib_morph(image, NULL, mp_obj_get_int(ksize_obj));
|
|
|
|
return mp_const_none;
|
|
}
|
|
|
|
static mp_obj_t py_image_draw_rectangle(mp_obj_t image_obj, mp_obj_t rectangle_obj)
|
|
{
|
|
struct rectangle r;
|
|
struct image *image;
|
|
mp_obj_t *array;
|
|
|
|
mp_obj_get_array_fixed_n(rectangle_obj, 4, &array);
|
|
r.x = mp_obj_get_int(array[0]);
|
|
r.y = mp_obj_get_int(array[1]);
|
|
r.w = mp_obj_get_int(array[2]);
|
|
r.h = mp_obj_get_int(array[3]);
|
|
|
|
/* get image pointer */
|
|
image = py_image_cobj(image_obj);
|
|
|
|
imlib_draw_rectangle(image, &r);
|
|
return mp_const_none;
|
|
}
|
|
|
|
static mp_obj_t py_image_draw_keypoints(mp_obj_t image_obj, mp_obj_t kpts_obj)
|
|
{
|
|
image_t *image = NULL;
|
|
py_kp_obj_t *kpts=NULL;
|
|
|
|
/* get pointer */
|
|
image = py_image_cobj(image_obj);
|
|
kpts = (py_kp_obj_t*)kpts_obj;
|
|
|
|
PY_ASSERT_TRUE(image->bpp == 1);
|
|
PY_ASSERT_TYPE(kpts_obj, &py_kp_type);
|
|
|
|
color_t cl = {.r=0xFF, .g=0xFF, .b=0xFF};
|
|
for (int i=0; i<kpts->size; i++) {
|
|
kp_t *kp = &kpts->kpts[i];
|
|
float co = arm_cos_f32(kp->angle);
|
|
float si = arm_sin_f32(kp->angle);
|
|
imlib_draw_line(image, kp->x, kp->y, kp->x+(co*10), kp->y+(si*10));
|
|
imlib_draw_circle(image, kp->x, kp->y, 4, &cl);
|
|
}
|
|
|
|
return mp_const_none;
|
|
}
|
|
|
|
static mp_obj_t py_image_find_blobs(mp_obj_t image_obj)
|
|
{
|
|
/* C stuff */
|
|
array_t *blobs;
|
|
struct image *image;
|
|
mp_obj_t blob_obj[6];
|
|
|
|
/* MP List */
|
|
mp_obj_t objects_list = mp_const_none;
|
|
|
|
/* get image pointer */
|
|
image = py_image_cobj(image_obj);
|
|
|
|
/* run color dector */
|
|
blobs = imlib_count_blobs(image);
|
|
|
|
/* Create empty Python list */
|
|
objects_list = mp_obj_new_list(0, NULL);
|
|
|
|
if (array_length(blobs)) {
|
|
for (int j=0; j<array_length(blobs); j++) {
|
|
blob_t *r = array_at(blobs, j);
|
|
blob_obj[0] = mp_obj_new_int(r->x);
|
|
blob_obj[1] = mp_obj_new_int(r->y);
|
|
blob_obj[2] = mp_obj_new_int(r->w);
|
|
blob_obj[3] = mp_obj_new_int(r->h);
|
|
blob_obj[4] = mp_obj_new_int(r->c);
|
|
blob_obj[5] = mp_obj_new_int(r->id);
|
|
mp_obj_list_append(objects_list, mp_obj_new_tuple(6, blob_obj));
|
|
}
|
|
}
|
|
array_free(blobs);
|
|
return objects_list;
|
|
}
|
|
|
|
static mp_obj_t py_image_find_features(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
|
|
{
|
|
struct image *image = NULL;
|
|
struct cascade *cascade = NULL;
|
|
|
|
struct array *objects_array=NULL;
|
|
mp_obj_t objects_list = mp_const_none;
|
|
|
|
/* sanity checks */
|
|
PY_ASSERT_TRUE(sensor.framesize <= FRAMESIZE_QCIF);
|
|
PY_ASSERT_TRUE(sensor.pixformat == PIXFORMAT_GRAYSCALE);
|
|
|
|
/* read arguments */
|
|
image = py_image_cobj(args[0]);
|
|
cascade = py_cascade_cobj(args[1]);
|
|
|
|
/* set some defaults */
|
|
cascade->threshold = 0.65f;
|
|
cascade->scale_factor = 1.65f;
|
|
|
|
/* read kw args */
|
|
mp_map_elem_t *kw_thresh = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(qstr_from_str("threshold")), MP_MAP_LOOKUP);
|
|
if (kw_thresh != NULL) {
|
|
cascade->threshold = mp_obj_get_float(kw_thresh->value);
|
|
}
|
|
|
|
mp_map_elem_t *kw_scalef = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(qstr_from_str("scale")), MP_MAP_LOOKUP);
|
|
if (kw_scalef != NULL) {
|
|
cascade->scale_factor = mp_obj_get_float(kw_scalef->value);
|
|
}
|
|
|
|
/* Detect objects */
|
|
objects_array = imlib_detect_objects(image, cascade);
|
|
|
|
/* Create empty Python list */
|
|
objects_list = mp_obj_new_list(0, NULL);
|
|
|
|
/* Add detected objects to the list */
|
|
for (int i=0; i<array_length(objects_array); i++) {
|
|
struct rectangle *r = array_at(objects_array, 0);
|
|
mp_obj_t rec_obj[4] = {
|
|
mp_obj_new_int(r->x),
|
|
mp_obj_new_int(r->y),
|
|
mp_obj_new_int(r->w),
|
|
mp_obj_new_int(r->h),
|
|
};
|
|
mp_obj_list_append(objects_list, mp_obj_new_tuple(4, rec_obj));
|
|
}
|
|
|
|
/* Free the objects array */
|
|
array_free(objects_array);
|
|
|
|
return objects_list;
|
|
}
|
|
|
|
static mp_obj_t py_image_find_template(mp_obj_t image_obj, mp_obj_t template_obj, mp_obj_t threshold)
|
|
{
|
|
struct rectangle r;
|
|
struct image *image = NULL;
|
|
struct image *template = NULL;
|
|
mp_obj_t rec_obj[4];
|
|
mp_obj_t obj=mp_const_none;
|
|
|
|
/* sanity checks */
|
|
PY_ASSERT_TRUE(sensor.framesize <= FRAMESIZE_QQVGA);
|
|
PY_ASSERT_TRUE(sensor.pixformat == PIXFORMAT_GRAYSCALE);
|
|
|
|
/* get C image pointer */
|
|
image = py_image_cobj(image_obj);
|
|
template= py_image_cobj(template_obj);
|
|
|
|
float t = mp_obj_get_float(threshold);
|
|
|
|
/* look for object */
|
|
float corr = imlib_template_match(image, template, &r);
|
|
//printf("t:%f coor:%f\n", (double)t, (double)corr);
|
|
if (corr > t) {
|
|
rec_obj[0] = mp_obj_new_int(r.x);
|
|
rec_obj[1] = mp_obj_new_int(r.y);
|
|
rec_obj[2] = mp_obj_new_int(r.w);
|
|
rec_obj[3] = mp_obj_new_int(r.h);
|
|
obj = mp_obj_new_tuple(4, rec_obj);
|
|
}
|
|
return obj;
|
|
}
|
|
|
|
static mp_obj_t py_image_find_keypoints(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
|
|
{
|
|
int threshold = 20;
|
|
bool normalized = false;
|
|
|
|
int kpts_size = 0;
|
|
kp_t *kpts = NULL;
|
|
py_kp_obj_t *kp_obj =NULL;
|
|
|
|
/* make sure image is grayscale */
|
|
image_t *image = py_image_cobj(args[0]);
|
|
rectangle_t roi={0, 0, image->w, image->h};
|
|
PY_ASSERT_TRUE(image->bpp == 1);
|
|
|
|
/* read var args */
|
|
mp_map_elem_t *kw_thresh = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(qstr_from_str("threshold")), MP_MAP_LOOKUP);
|
|
if (kw_thresh != NULL) {
|
|
threshold = mp_obj_get_int(kw_thresh->value);
|
|
}
|
|
|
|
mp_map_elem_t *kw_norm = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(qstr_from_str("normalized")), MP_MAP_LOOKUP);
|
|
if (kw_norm != NULL) {
|
|
normalized = mp_obj_get_int(kw_norm->value);
|
|
}
|
|
|
|
mp_map_elem_t *kw_roi = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(qstr_from_str("roi")), MP_MAP_LOOKUP);
|
|
if (kw_roi != NULL) {
|
|
mp_obj_t *array;
|
|
mp_obj_get_array_fixed_n(kw_roi->value, 4, &array);
|
|
roi.x=mp_obj_get_int(array[0]);
|
|
roi.y=mp_obj_get_int(array[1]);
|
|
roi.w=mp_obj_get_int(array[2]);
|
|
roi.h=mp_obj_get_int(array[3]);
|
|
}
|
|
|
|
/* run keypoint extractor on ROI */
|
|
kpts = fast_detect(image, threshold, &kpts_size, &roi);
|
|
|
|
if (kpts_size) {
|
|
/* run keypoint descriptor */
|
|
freak_find_keypoints(image, kpts, kpts_size, normalized, normalized);
|
|
|
|
/* return keypoints MP object */
|
|
kp_obj = m_new_obj(py_kp_obj_t);
|
|
kp_obj->base.type = &py_kp_type;
|
|
kp_obj->kpts = kpts;
|
|
kp_obj->size = kpts_size;
|
|
kp_obj->threshold = threshold;
|
|
kp_obj->normalized = normalized;
|
|
return kp_obj;
|
|
}
|
|
return mp_const_none;
|
|
}
|
|
|
|
static mp_obj_t py_image_find_lbp(mp_obj_t image_obj, mp_obj_t roi_obj)
|
|
{
|
|
image_t *image;
|
|
py_lbp_obj_t *lbp_obj;
|
|
|
|
image = py_image_cobj(image_obj);
|
|
PY_ASSERT_TRUE(image->bpp == 1);
|
|
|
|
mp_obj_t *array;
|
|
mp_obj_get_array_fixed_n(roi_obj, 4, &array);
|
|
|
|
rectangle_t roi = {
|
|
mp_obj_get_int(array[0]),
|
|
mp_obj_get_int(array[1]),
|
|
mp_obj_get_int(array[2]),
|
|
mp_obj_get_int(array[3]),
|
|
};
|
|
|
|
lbp_obj = m_new_obj(py_lbp_obj_t);
|
|
lbp_obj->base.type = &py_lbp_type;
|
|
lbp_obj->hist = imlib_lbp_cascade(image, &roi);
|
|
return lbp_obj;
|
|
}
|
|
|
|
static mp_obj_t py_image_match_keypoints(uint n_args, const mp_obj_t *args)
|
|
{
|
|
image_t *image = py_image_cobj(args[0]);
|
|
py_kp_obj_t *kpts1 = ((py_kp_obj_t*)args[1]);
|
|
py_kp_obj_t *kpts2 = ((py_kp_obj_t*)args[2]);
|
|
int threshold = mp_obj_get_int(args[3]);
|
|
|
|
// sanity checks
|
|
PY_ASSERT_TRUE(image->bpp == 1);
|
|
PY_ASSERT_TYPE(kpts1, &py_kp_type);
|
|
PY_ASSERT_TYPE(kpts2, &py_kp_type);
|
|
|
|
if (kpts1->size == 0 || kpts2->size == 0) {
|
|
return mp_const_none;
|
|
}
|
|
|
|
// match the keypoint sets
|
|
int16_t *kpts_match = freak_match_keypoints(kpts1->kpts, kpts1->size, kpts2->kpts, kpts2->size, threshold);
|
|
|
|
int match=0, cx=0, cy=0;
|
|
//color_t cl = {.r=0xFF, .g=0xFF, .b=0xFF};
|
|
for (int i=0; i<kpts1->size; i++) {
|
|
if (kpts_match[i] != -1) {
|
|
kp_t *kp = &kpts2->kpts[kpts_match[i]];
|
|
cx += kp->x; cy += kp->y;
|
|
match++;
|
|
}
|
|
}
|
|
|
|
if (match>=(kpts1->size/16)) {
|
|
mp_obj_t rec_obj[2] = {
|
|
mp_obj_new_int(cx/match),
|
|
mp_obj_new_int(cy/match),
|
|
};
|
|
return mp_obj_new_tuple(2, rec_obj);
|
|
}
|
|
return mp_const_none;
|
|
}
|
|
|
|
static mp_obj_t py_image_match_lbp(mp_obj_t image_obj, mp_obj_t d0_obj, mp_obj_t d1_obj)
|
|
{
|
|
// image_t *image;
|
|
// image = py_image_cobj(image_obj);
|
|
py_lbp_obj_t *d0 = ((py_lbp_obj_t*)d0_obj);
|
|
py_lbp_obj_t *d1 = ((py_lbp_obj_t*)d1_obj);
|
|
return mp_obj_new_int(imlib_lbp_desc_distance(d0->hist, d1->hist));
|
|
}
|
|
|
|
mp_obj_t py_image_load_image(mp_obj_t path_obj)
|
|
{
|
|
mp_obj_t image_obj =NULL;
|
|
struct image *image;
|
|
const char *path = mp_obj_str_get_str(path_obj);
|
|
image_obj = py_image(0, 0, 0, 0);
|
|
|
|
/* get image pointer */
|
|
image = py_image_cobj(image_obj);
|
|
|
|
int res = imlib_load_image(image, path);
|
|
if (res != FR_OK) {
|
|
nlr_raise(mp_obj_new_exception_msg(&mp_type_OSError, ffs_strerror(res)));
|
|
}
|
|
|
|
return image_obj;
|
|
}
|
|
|
|
mp_obj_t py_image_load_cascade(mp_obj_t path_obj)
|
|
{
|
|
py_cascade_obj_t *o =NULL;
|
|
|
|
/* detection parameters */
|
|
struct cascade cascade = {
|
|
.step = 2,
|
|
};
|
|
|
|
const char *path = mp_obj_str_get_str(path_obj);
|
|
int res = imlib_load_cascade(&cascade, path);
|
|
if (res != FR_OK) {
|
|
nlr_raise(mp_obj_new_exception_msg(&mp_type_OSError, ffs_strerror(res)));
|
|
}
|
|
|
|
o = m_new_obj(py_cascade_obj_t);
|
|
o->base.type = &py_cascade_type;
|
|
o->_cobj = cascade;
|
|
return o;
|
|
}
|
|
|
|
mp_obj_t py_image_load_descriptor(mp_obj_t path_obj)
|
|
{
|
|
kp_t *kpts=NULL;
|
|
int kpts_size =0;
|
|
|
|
py_kp_obj_t *kp_obj =NULL;
|
|
const char *path = mp_obj_str_get_str(path_obj);
|
|
|
|
int res = freak_load_descriptor(&kpts, &kpts_size, path);
|
|
if (res != FR_OK) {
|
|
nlr_raise(mp_obj_new_exception_msg(&mp_type_OSError, ffs_strerror(res)));
|
|
}
|
|
/* return keypoints MP object */
|
|
kp_obj = m_new_obj(py_kp_obj_t);
|
|
kp_obj->base.type = &py_kp_type;
|
|
kp_obj->kpts = kpts;
|
|
kp_obj->size = kpts_size;
|
|
kp_obj->threshold = 10;
|
|
kp_obj->normalized = false;
|
|
return kp_obj;
|
|
}
|
|
|
|
mp_obj_t py_image_load_lbp(mp_obj_t path_obj)
|
|
{
|
|
py_lbp_obj_t *lbp = m_new_obj(py_lbp_obj_t);
|
|
lbp->base.type = &py_lbp_type;
|
|
|
|
int res = imlib_lbp_desc_load(mp_obj_str_get_str(path_obj), &lbp->hist);
|
|
if (res != FR_OK) {
|
|
nlr_raise(mp_obj_new_exception_msg(&mp_type_OSError, ffs_strerror(res)));
|
|
}
|
|
return lbp;
|
|
}
|
|
|
|
mp_obj_t py_image_save_descriptor(mp_obj_t path_obj, mp_obj_t kpts_obj)
|
|
{
|
|
py_kp_obj_t *kpts = ((py_kp_obj_t*)kpts_obj);
|
|
const char *path = mp_obj_str_get_str(path_obj);
|
|
|
|
int res = freak_save_descriptor(kpts->kpts, kpts->size, path);
|
|
if (res != FR_OK) {
|
|
nlr_raise(mp_obj_new_exception_msg(&mp_type_OSError, ffs_strerror(res)));
|
|
}
|
|
return mp_const_true;
|
|
}
|
|
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_size_obj, py_image_size);
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_save_obj, 2, py_image_save);
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_image_scale_obj, py_image_scale);
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_image_scaled_obj, py_image_scaled);
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_image_subimg_obj, py_image_subimg);
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_3(py_image_blit_obj, py_image_blit);
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_3(py_image_blend_obj, py_image_blend);
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_histeq_obj, py_image_histeq);
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_median_obj, 1, py_image_median);
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_invert_obj, py_image_invert);
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_image_binary_obj, py_image_binary);
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_3(py_image_threshold_obj, py_image_threshold);
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_rainbow_obj, py_image_rainbow);
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_image_erode_obj, py_image_erode);
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_image_dilate_obj, py_image_dilate);
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_image_morph_obj, py_image_morph);
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_image_compress_obj, py_image_compress);
|
|
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_image_draw_line_obj, py_image_draw_line);
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STATIC MP_DEFINE_CONST_FUN_OBJ_3(py_image_draw_circle_obj, py_image_draw_circle);
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STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_image_draw_rectangle_obj, py_image_draw_rectangle);
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STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_image_draw_keypoints_obj, py_image_draw_keypoints);
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(py_image_draw_string_obj, 4, 5, py_image_draw_string);
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_find_blobs_obj, py_image_find_blobs);
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STATIC MP_DEFINE_CONST_FUN_OBJ_3(py_image_find_template_obj, py_image_find_template);
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STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_features_obj, 2, py_image_find_features);
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STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_keypoints_obj, 1, py_image_find_keypoints);
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STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_image_find_lbp_obj, py_image_find_lbp);
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(py_image_match_keypoints_obj, 4, 4, py_image_match_keypoints);
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STATIC MP_DEFINE_CONST_FUN_OBJ_3(py_image_match_lbp_obj, py_image_match_lbp);
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static const mp_map_elem_t locals_dict_table[] = {
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{MP_OBJ_NEW_QSTR(MP_QSTR_size), (mp_obj_t)&py_image_size_obj},
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/* basic image functions */
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{MP_OBJ_NEW_QSTR(MP_QSTR_save), (mp_obj_t)&py_image_save_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_scale), (mp_obj_t)&py_image_scale_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_scaled), (mp_obj_t)&py_image_scaled_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_subimg), (mp_obj_t)&py_image_subimg_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_blit), (mp_obj_t)&py_image_blit_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_blend), (mp_obj_t)&py_image_blend_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_histeq), (mp_obj_t)&py_image_histeq_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_median), (mp_obj_t)&py_image_median_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_invert), (mp_obj_t)&py_image_invert_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_binary), (mp_obj_t)&py_image_binary_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_threshold), (mp_obj_t)&py_image_threshold_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_rainbow), (mp_obj_t)&py_image_rainbow_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_erode), (mp_obj_t)&py_image_erode_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_dilate), (mp_obj_t)&py_image_dilate_obj},
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// {MP_OBJ_NEW_QSTR(MP_QSTR_morph), (mp_obj_t)&py_image_morph_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_compress), (mp_obj_t)&py_image_compress_obj},
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/* drawing functions */
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{MP_OBJ_NEW_QSTR(MP_QSTR_draw_line), (mp_obj_t)&py_image_draw_line_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_draw_circle), (mp_obj_t)&py_image_draw_circle_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_draw_rectangle), (mp_obj_t)&py_image_draw_rectangle_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_draw_keypoints), (mp_obj_t)&py_image_draw_keypoints_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_draw_string), (mp_obj_t)&py_image_draw_string_obj},
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/* objects/feature detection */
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{MP_OBJ_NEW_QSTR(MP_QSTR_find_blobs), (mp_obj_t)&py_image_find_blobs_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_find_template), (mp_obj_t)&py_image_find_template_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_find_features), (mp_obj_t)&py_image_find_features_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_find_keypoints), (mp_obj_t)&py_image_find_keypoints_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_find_lbp), (mp_obj_t)&py_image_find_lbp_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_match_keypoints), (mp_obj_t)&py_image_match_keypoints_obj},
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{MP_OBJ_NEW_QSTR(MP_QSTR_match_lbp), (mp_obj_t)&py_image_match_lbp_obj},
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{ NULL, NULL },
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};
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STATIC MP_DEFINE_CONST_DICT(locals_dict, locals_dict_table);
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static const mp_obj_type_t py_image_type = {
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{ &mp_type_type },
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.name = MP_QSTR_image,
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.print = py_image_print,
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.buffer_p = { .get_buffer = py_image_get_buffer },
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.locals_dict = (mp_obj_t)&locals_dict,
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};
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mp_obj_t py_image(int w, int h, int bpp, void *pixels)
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{
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py_image_obj_t *o = m_new_obj(py_image_obj_t);
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o->base.type = &py_image_type;
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o->_cobj.w =w;
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o->_cobj.h =h;
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o->_cobj.bpp =bpp;
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o->_cobj.pixels =pixels;
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return o;
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}
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mp_obj_t py_image_from_struct(image_t *image)
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{
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py_image_obj_t *o = m_new_obj(py_image_obj_t);
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o->base.type = &py_image_type;
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o->_cobj =*image;
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return o;
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}
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int py_image_descriptor_from_roi(image_t *image, const char *path, rectangle_t *roi)
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{
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int kpts_size = 0;
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kp_t *kpts = NULL;
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int threshold = 10;
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bool normalized = false;
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kpts = fast_detect(image, threshold, &kpts_size, roi);
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freak_find_keypoints(image, kpts, kpts_size, normalized, normalized);
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printf("Save Descriptor: KPTS(%d)\n", kpts_size);
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printf("Save Descriptor: ROI(%d %d %d %d)\n", roi->x, roi->y, roi->w, roi->h);
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if (kpts_size ==0) {
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return 0;
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}
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int res = freak_save_descriptor(kpts, kpts_size, path);
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if (res != FR_OK) {
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nlr_raise(mp_obj_new_exception_msg(&mp_type_OSError, ffs_strerror(res)));
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}
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return 0;
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}
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