mirror of
https://github.com/jomjol/AI-on-the-edge-device.git
synced 2025-12-06 19:46:54 +03:00
compatibitly mit esp-idf pure
This commit is contained in:
jomjol
547
code/components/jomjol_image_proc/CFindTemplate.cpp
Normal file
547
code/components/jomjol_image_proc/CFindTemplate.cpp
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@@ -0,0 +1,547 @@
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#include "CFindTemplate.h"
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#include "Helper.h"
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#include "ClassLogFile.h"
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#include "esp_system.h"
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#define _USE_MATH_DEFINES
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#include <math.h>
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#include <algorithm>
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#define _ESP32_PSRAM
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using namespace std;
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#define GET_MEMORY malloc
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/*
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CResizeImage::CResizeImage(std::string _image, int _new_dx, int _new_dy)
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{
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CImageBasis::CImageBasis(_image);
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}
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*/
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uint8_t CImageBasis::GetPixelColor(int x, int y, int ch)
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{
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stbi_uc* p_source;
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p_source = this->rgb_image + (this->channels * (y * this->width + x));
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return p_source[ch];
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}
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void CResizeImage::Resize(int _new_dx, int _new_dy)
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{
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int memsize = _new_dx * _new_dy * this->channels;
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uint8_t* odata = (unsigned char*)GET_MEMORY(memsize);
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stbir_resize_uint8(this->rgb_image, this->width, this->height, 0, odata, _new_dx, _new_dy, 0, this->channels);
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stbi_image_free(this->rgb_image);
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this->rgb_image = (unsigned char*)GET_MEMORY(memsize);
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this->memCopy(odata, this->rgb_image, memsize);
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this->width = _new_dx;
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this->height = _new_dy;
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stbi_image_free(odata);
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}
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void CRotate::Mirror(){
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int memsize = this->width * this->height * this->channels;
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uint8_t* odata = (unsigned char*)GET_MEMORY(memsize);
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int x_source, y_source;
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stbi_uc* p_target;
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stbi_uc* p_source;
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for (int x = 0; x < this->width; ++x)
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for (int y = 0; y < this->height; ++y)
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{
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p_target = odata + (this->channels * (y * this->width + x));
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x_source = this->width - x;
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y_source = y;
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p_source = this->rgb_image + (this->channels * (y_source * this->width + x_source));
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for (int channels = 0; channels < this->channels; ++channels)
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p_target[channels] = p_source[channels];
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}
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// memcpy(this->rgb_image, odata, memsize);
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this->memCopy(odata, this->rgb_image, memsize);
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stbi_image_free(odata);
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}
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void CRotate::Rotate(float _angle, int _centerx, int _centery)
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{
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float m[2][3];
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float x_center = _centerx;
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float y_center = _centery;
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_angle = _angle / 180 * M_PI;
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m[0][0] = cos(_angle);
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m[0][1] = sin(_angle);
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m[0][2] = (1 - m[0][0]) * x_center - m[0][1] * y_center;
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m[1][0] = -m[0][1];
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m[1][1] = m[0][0];
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m[1][2] = m[0][1] * x_center + (1 - m[0][0]) * y_center;
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int memsize = this->width * this->height * this->channels;
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uint8_t* odata = (unsigned char*)GET_MEMORY(memsize);
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int x_source, y_source;
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stbi_uc* p_target;
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stbi_uc* p_source;
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for (int x = 0; x < this->width; ++x)
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for (int y = 0; y < this->height; ++y)
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{
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p_target = odata + (this->channels * (y * this->width + x));
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x_source = int(m[0][0] * x + m[0][1] * y);
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y_source = int(m[1][0] * x + m[1][1] * y);
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x_source += int(m[0][2]);
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y_source += int(m[1][2]);
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if ((x_source >= 0) && (x_source < this->width) && (y_source >= 0) && (y_source < this->height))
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{
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p_source = this->rgb_image + (this->channels * (y_source * this->width + x_source));
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for (int channels = 0; channels < this->channels; ++channels)
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p_target[channels] = p_source[channels];
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}
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else
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{
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for (int channels = 0; channels < this->channels; ++channels)
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p_target[channels] = 255;
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}
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}
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// memcpy(this->rgb_image, odata, memsize);
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this->memCopy(odata, this->rgb_image, memsize);
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stbi_image_free(odata);
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}
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void CRotate::Rotate(float _angle)
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{
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this->Rotate(_angle, this->width / 2, this->height / 2);
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}
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void CRotate::Translate(int _dx, int _dy)
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{
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int memsize = this->width * this->height * this->channels;
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uint8_t* odata = (unsigned char*)GET_MEMORY(memsize);
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int x_source, y_source;
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stbi_uc* p_target;
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stbi_uc* p_source;
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for (int x = 0; x < this->width; ++x)
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for (int y = 0; y < this->height; ++y)
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{
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p_target = odata + (this->channels * (y * this->width + x));
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x_source = x - _dx;
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y_source = y - _dy;
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if ((x_source >= 0) && (x_source < this->width) && (y_source >= 0) && (y_source < this->height))
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{
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p_source = this->rgb_image + (this->channels * (y_source * this->width + x_source));
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for (int channels = 0; channels < this->channels; ++channels)
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p_target[channels] = p_source[channels];
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}
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else
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{
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for (int channels = 0; channels < this->channels; ++channels)
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p_target[channels] = 255;
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}
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}
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// memcpy(this->rgb_image, odata, memsize);
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this->memCopy(odata, this->rgb_image, memsize);
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stbi_image_free(odata);
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}
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CFindTemplate::CFindTemplate(std::string _image)
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{
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this->channels = 1;
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this->rgb_image = stbi_load(_image.c_str(), &(this->width), &(this->height), &(this->bpp), this->channels);
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}
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void CFindTemplate::FindTemplate(std::string _template, int* found_x, int* found_y)
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{
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this->FindTemplate(_template, found_x, found_y, 0, 0);
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}
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void CFindTemplate::FindTemplate(std::string _template, int* found_x, int* found_y, int _dx, int _dy)
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{
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uint8_t* rgb_template = stbi_load(_template.c_str(), &tpl_width, &tpl_height, &tpl_bpp, this->channels);
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int ow, ow_start, ow_stop;
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int oh, oh_start, oh_stop;
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if (_dx == 0)
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{
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_dx = this->width;
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*found_x = 0;
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}
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if (_dy == 0)
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{
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_dy = this->height;
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*found_y = 0;
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}
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ow_start = *found_x - _dx;
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ow_start = std::max(ow_start, 0);
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ow_stop = *found_x + _dx;
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if ((ow_stop + tpl_width) > this->width)
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ow_stop = this->width - tpl_width;
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ow = ow_stop - ow_start + 1;
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oh_start = *found_y - _dy;
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oh_start = std::max(oh_start, 0);
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oh_stop = *found_y + _dy;
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if ((oh_stop + tpl_height) > this->height)
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oh_stop = this->height - tpl_height;
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oh = oh_stop - oh_start + 1;
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uint8_t* odata = (unsigned char*)GET_MEMORY(ow * oh * this->channels);
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double aktSAD;
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double minSAD = pow(tpl_width * tpl_height * 255, 2);
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for (int xouter = ow_start; xouter <= ow_stop; xouter++)
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for (int youter = oh_start; youter <= oh_stop; ++youter)
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{
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aktSAD = 0;
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for (int tpl_x = 0; tpl_x < tpl_width; tpl_x++)
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for (int tpl_y = 0; tpl_y < tpl_height; tpl_y++)
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{
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stbi_uc* p_org = this->rgb_image + (this->channels * ((youter + tpl_y) * this->width + (xouter + tpl_x)));
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stbi_uc* p_tpl = rgb_template + (this->channels * (tpl_y * tpl_width + tpl_x));
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aktSAD += pow(p_tpl[0] - p_org[0], 2);
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}
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stbi_uc* p_out = odata + (this->channels * ((youter - oh_start) * ow + (xouter - ow_start)));
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p_out[0] = int(sqrt(aktSAD / (tpl_width * tpl_height)));
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if (aktSAD < minSAD)
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{
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minSAD = aktSAD;
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*found_x = xouter;
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*found_y = youter;
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}
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}
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stbi_write_bmp("sdcard\\find.bmp", ow, oh, this->channels, odata);
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stbi_image_free(odata);
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stbi_image_free(rgb_template);
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}
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void CFindTemplate::FindTemplate(std::string _template, int* found_x, int* found_y, std::string _imageout)
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{
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this->FindTemplate(_template, found_x, found_y);
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this->SaveToFile(_imageout);
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}
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void CFindTemplate::FindTemplate(std::string _template, int* found_x, int* found_y, int _dx, int _dy, std::string _imageout)
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{
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this->FindTemplate(_template, found_x, found_y, _dx, _dy);
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this->SaveToFile(_imageout);
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}
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void CImageBasis::memCopy(uint8_t* _source, uint8_t* _target, int _size)
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{
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#ifdef _ESP32_PSRAM
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for (int i = 0; i < _size; ++i)
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*(_target + i) = *(_source + i);
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#else
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memcpy(_target, _source, _size);
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#endif
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}
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bool CImageBasis::isInImage(int x, int y)
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{
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if ((x < 0) || (x > this->width - 1))
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return false;
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if ((y < 0) || (y > this->height- 1))
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return false;
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return true;
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}
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void CImageBasis::setPixelColor(int x, int y, int r, int g, int b)
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{
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stbi_uc* p_source;
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p_source = this->rgb_image + (this->channels * (y * this->width + x));
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p_source[0] = r;
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if (this-> channels > 2)
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{
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p_source[1] = g;
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p_source[2] = b;
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}
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}
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void CImageBasis::drawRect(int x, int y, int dx, int dy, int r, int g, int b, int thickness)
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{
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int zwx1, zwx2, zwy1, zwy2;
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int _x, _y, _thick;
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zwx1 = x - thickness + 1;
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zwx2 = x + dx + thickness - 1;
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zwy1 = y;
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zwy2 = y;
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for (_thick = 0; _thick < thickness; _thick++)
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for (_x = zwx1; _x <= zwx2; ++_x)
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for (_y = zwy1; _y <= zwy2; _y++)
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if (isInImage(_x, _y))
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setPixelColor(_x, _y - _thick, r, g, b);
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zwx1 = x - thickness + 1;
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zwx2 = x + dx + thickness - 1;
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zwy1 = y + dy;
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zwy2 = y + dy;
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for (_thick = 0; _thick < thickness; _thick++)
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for (_x = zwx1; _x <= zwx2; ++_x)
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for (_y = zwy1; _y <= zwy2; _y++)
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if (isInImage(_x, _y))
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setPixelColor(_x, _y + _thick, r, g, b);
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zwx1 = x;
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zwx2 = x;
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zwy1 = y;
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zwy2 = y + dy;
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for (_thick = 0; _thick < thickness; _thick++)
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for (_x = zwx1; _x <= zwx2; ++_x)
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for (_y = zwy1; _y <= zwy2; _y++)
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if (isInImage(_x, _y))
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setPixelColor(_x - _thick, _y, r, g, b);
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zwx1 = x + dx;
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zwx2 = x + dx;
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zwy1 = y;
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zwy2 = y + dy;
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for (_thick = 0; _thick < thickness; _thick++)
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for (_x = zwx1; _x <= zwx2; ++_x)
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for (_y = zwy1; _y <= zwy2; _y++)
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if (isInImage(_x, _y))
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setPixelColor(_x + _thick, _y, r, g, b);
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}
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void CImageBasis::drawLine(int x1, int y1, int x2, int y2, int r, int g, int b, int thickness)
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{
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int _x, _y, _thick;
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int _zwy1, _zwy2;
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thickness = (thickness-1) / 2;
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for (_thick = 0; _thick <= thickness; ++_thick)
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for (_x = x1 - _thick; _x <= x2 + _thick; ++_x)
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{
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if (x2 == x1)
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{
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_zwy1 = y1;
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_zwy2 = y2;
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}
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else
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{
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_zwy1 = (y2 - y1) * (float)(_x - x1) / (float)(x2 - x1) + y1;
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_zwy2 = (y2 - y1) * (float)(_x + 1 - x1) / (float)(x2 - x1) + y1;
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||||
}
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for (_y = _zwy1 - _thick; _y <= _zwy2 + _thick; _y++)
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if (isInImage(_x, _y))
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setPixelColor(_x, _y, r, g, b);
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}
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}
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||||
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void CImageBasis::drawCircle(int x1, int y1, int rad, int r, int g, int b, int thickness)
|
||||
{
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||||
float deltarad, aktrad;
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||||
int _thick, _x, _y;
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||||
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||||
deltarad = 1 / (4 * M_PI * (rad + thickness - 1));
|
||||
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||||
for (aktrad = 0; aktrad <= (2 * M_PI); aktrad += deltarad)
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||||
for (_thick = 0; _thick < thickness; ++_thick)
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||||
{
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||||
_x = sin(aktrad) * (rad + _thick) + x1;
|
||||
_y = cos(aktrad) * (rad + _thick) + y1;
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||||
if (isInImage(_x, _y))
|
||||
setPixelColor(_x, _y, r, g, b);
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||||
}
|
||||
}
|
||||
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||||
CImageBasis::CImageBasis()
|
||||
{
|
||||
this->externalImage = false;
|
||||
}
|
||||
|
||||
CImageBasis::CImageBasis(std::string _image)
|
||||
{
|
||||
channels = 3;
|
||||
externalImage = false;
|
||||
filename = _image;
|
||||
// long freebefore = esp_get_free_heap_size();
|
||||
|
||||
rgb_image = stbi_load(_image.c_str(), &width, &height, &bpp, channels);
|
||||
// if (rgb_image == NULL)
|
||||
// LogFile.WriteToFile("Image Load failed:" + _image + " FreeHeapSize before: " + to_string(freebefore) + " after: " + to_string(esp_get_free_heap_size()));
|
||||
// printf("CImageBasis after load\n");
|
||||
// printf("w %d, h %d, b %d, c %d", this->width, this->height, this->bpp, this->channels);
|
||||
}
|
||||
|
||||
bool CImageBasis::ImageOkay(){
|
||||
return rgb_image != NULL;
|
||||
}
|
||||
|
||||
CImageBasis::CImageBasis(uint8_t* _rgb_image, int _channels, int _width, int _height, int _bpp)
|
||||
{
|
||||
this->rgb_image = _rgb_image;
|
||||
this->channels = _channels;
|
||||
this->width = _width;
|
||||
this->height = _height;
|
||||
this->bpp = _bpp;
|
||||
this->externalImage = true;
|
||||
}
|
||||
|
||||
void CImageBasis::Contrast(float _contrast) //input range [-100..100]
|
||||
{
|
||||
stbi_uc* p_source;
|
||||
|
||||
float contrast = (_contrast/100) + 1; //convert to decimal & shift range: [0..2]
|
||||
float intercept = 128 * (1 - contrast);
|
||||
|
||||
for (int x = 0; x < width; ++x)
|
||||
for (int y = 0; y < height; ++y)
|
||||
{
|
||||
p_source = this->rgb_image + (this->channels * (y * this->width + x));
|
||||
for (int channels = 0; channels < this->channels; ++channels)
|
||||
p_source[channels] = (uint8_t) std::min(255, std::max(0, (int) (p_source[channels] * contrast + intercept)));
|
||||
}
|
||||
}
|
||||
|
||||
CImageBasis::~CImageBasis()
|
||||
{
|
||||
if (!this->externalImage)
|
||||
stbi_image_free(this->rgb_image);
|
||||
}
|
||||
|
||||
void CImageBasis::SaveToFile(std::string _imageout)
|
||||
{
|
||||
string typ = getFileType(_imageout);
|
||||
|
||||
if ((typ == "jpg") || (typ == "JPG")) // ACHTUNG PROBLEMATISCH IM ESP32
|
||||
{
|
||||
stbi_write_jpg(_imageout.c_str(), this->width, this->height, this->channels, this->rgb_image, 0);
|
||||
}
|
||||
|
||||
if ((typ == "bmp") || (typ == "BMP"))
|
||||
{
|
||||
stbi_write_bmp(_imageout.c_str(), this->width, this->height, this->channels, this->rgb_image);
|
||||
}
|
||||
// stbi_write_jpg(_imageout.c_str(), this->width, this->height, this->channels, this->rgb_image, 0);
|
||||
// stbi_write_bmp(_imageout.c_str(), this->width, this->height, this->channels, this->rgb_image);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void CAlignAndCutImage::Align(std::string _template0, int ref0_x, int ref0_y, std::string _template1, int ref1_x, int ref1_y, int deltax, int deltay, std::string imageROI)
|
||||
{
|
||||
int dx, dy;
|
||||
int r0_x, r0_y, r1_x, r1_y;
|
||||
|
||||
CFindTemplate* ft = new CFindTemplate(this->filename);
|
||||
|
||||
r0_x = ref0_x;
|
||||
r0_y = ref0_y;
|
||||
ft->FindTemplate(_template0, &r0_x, &r0_y, deltax, deltay);
|
||||
t0_dx = ft->tpl_width;
|
||||
t0_dy = ft->tpl_height;
|
||||
|
||||
r1_x = ref1_x;
|
||||
r1_y = ref1_y;
|
||||
ft->FindTemplate(_template1, &r1_x, &r1_y, deltax, deltay);
|
||||
t1_dx = ft->tpl_width;
|
||||
t1_dy = ft->tpl_height;
|
||||
|
||||
delete ft;
|
||||
|
||||
|
||||
dx = ref0_x - r0_x;
|
||||
dy = ref0_y - r0_y;
|
||||
|
||||
r0_x += dx;
|
||||
r0_y += dy;
|
||||
|
||||
r1_x += dx;
|
||||
r1_y += dy;
|
||||
|
||||
float w_org, w_ist, d_winkel;
|
||||
|
||||
w_org = atan2(ref1_y - ref0_y, ref1_x - ref0_x);
|
||||
w_ist = atan2(r1_y - r0_y, r1_x - r0_x);
|
||||
|
||||
d_winkel = (w_org - w_ist) * 180 / M_PI;
|
||||
|
||||
if (imageROI.length() > 0)
|
||||
{
|
||||
CImageBasis* imgzw = new CImageBasis(this->filename);
|
||||
imgzw->drawRect(r0_x, r0_y, t0_dx, t0_dy, 255, 0, 0, 2);
|
||||
imgzw->drawRect(r1_x, r1_y, t1_dx, t1_dy, 255, 0, 0, 2);
|
||||
imgzw->SaveToFile(imageROI);
|
||||
printf("Alignment: alignment ROI created: %s\n", imageROI.c_str());
|
||||
delete imgzw;
|
||||
}
|
||||
|
||||
string zw = "\tdx:\t" + to_string(dx) + "\tdy:\t" + to_string(dy) + "\td_winkel:\t" + to_string(d_winkel);
|
||||
LogFile.WriteToDedicatedFile("/sdcard/alignment.txt", zw);
|
||||
|
||||
CRotate rt(this->rgb_image, this->channels, this->width, this->height, this->bpp);
|
||||
rt.Translate(dx, dy);
|
||||
rt.Rotate(d_winkel, ref0_x, ref0_y);
|
||||
printf("Alignment: dx %d - dy %d - rot %f\n", dx, dy, d_winkel);
|
||||
}
|
||||
|
||||
void CAlignAndCutImage::CutAndSave(std::string _template1, int x1, int y1, int dx, int dy)
|
||||
{
|
||||
|
||||
int x2, y2;
|
||||
|
||||
x2 = x1 + dx;
|
||||
y2 = y1 + dy;
|
||||
x2 = min(x2, this->width - 1);
|
||||
y2 = min(y2, this->height - 1);
|
||||
|
||||
dx = x2 - x1;
|
||||
dy = y2 - y1;
|
||||
|
||||
int memsize = dx * dy * this->channels;
|
||||
uint8_t* odata = (unsigned char*)GET_MEMORY(memsize);
|
||||
|
||||
stbi_uc* p_target;
|
||||
stbi_uc* p_source;
|
||||
|
||||
for (int x = x1; x < x2; ++x)
|
||||
for (int y = y1; y < y2; ++y)
|
||||
{
|
||||
p_target = odata + (this->channels * ((y - y1) * dx + (x - x1)));
|
||||
p_source = this->rgb_image + (this->channels * (y * this->width + x));
|
||||
for (int channels = 0; channels < this->channels; ++channels)
|
||||
p_target[channels] = p_source[channels];
|
||||
}
|
||||
|
||||
// stbi_write_jpg(_template1.c_str(), dx, dy, this->channels, odata, 0);
|
||||
stbi_write_bmp(_template1.c_str(), dx, dy, this->channels, odata);
|
||||
|
||||
stbi_image_free(odata);
|
||||
}
|
||||
Reference in New Issue
Block a user