mirror of
https://github.com/jomjol/AI-on-the-edge-device.git
synced 2026-01-29 13:50:39 +03:00
test1
This commit is contained in:
michael
@@ -1,37 +1,30 @@
|
||||
#include "defines.h"
|
||||
|
||||
#include "CFindTemplate.h"
|
||||
|
||||
#include "ClassLogFile.h"
|
||||
#include "Helper.h"
|
||||
#include "../../include/defines.h"
|
||||
|
||||
#include <esp_log.h>
|
||||
|
||||
static const char* TAG = "C FIND TEMPL";
|
||||
|
||||
// #define DEBUG_DETAIL_ON
|
||||
|
||||
static const char *TAG = "C FIND TEMPL";
|
||||
|
||||
bool CFindTemplate::FindTemplate(RefInfo *_ref)
|
||||
{
|
||||
uint8_t* rgb_template;
|
||||
|
||||
if (file_size(_ref->image_file.c_str()) == 0) {
|
||||
if (file_size(_ref->image_file.c_str()) == 0)
|
||||
{
|
||||
LogFile.WriteToFile(ESP_LOG_ERROR, TAG, _ref->image_file + " is empty!");
|
||||
return false;
|
||||
}
|
||||
|
||||
rgb_template = stbi_load(_ref->image_file.c_str(), &tpl_width, &tpl_height, &tpl_bpp, channels);
|
||||
|
||||
if (rgb_template == NULL) {
|
||||
uint8_t *rgb_template = stbi_load(_ref->image_file.c_str(), &tpl_width, &tpl_height, &tpl_bpp, channels);
|
||||
if (rgb_template == NULL)
|
||||
{
|
||||
LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "Failed to load " + _ref->image_file + "! Is it corrupted?");
|
||||
return false;
|
||||
}
|
||||
|
||||
// ESP_LOGD(TAG, "FindTemplate 01");
|
||||
|
||||
int ow, ow_start, ow_stop;
|
||||
int oh, oh_start, oh_stop;
|
||||
|
||||
// ESP_LOGD(TAG, "FindTemplate 01");
|
||||
if (_ref->search_x == 0)
|
||||
{
|
||||
_ref->search_x = width;
|
||||
@@ -44,148 +37,158 @@ bool CFindTemplate::FindTemplate(RefInfo *_ref)
|
||||
_ref->found_y = 0;
|
||||
}
|
||||
|
||||
int x_search_area_start = std::max((_ref->target_x - _ref->search_x), 0);
|
||||
int x_search_area_stop = _ref->target_x + _ref->search_x;
|
||||
|
||||
ow_start = _ref->target_x - _ref->search_x;
|
||||
ow_start = std::max(ow_start, 0);
|
||||
ow_stop = _ref->target_x + _ref->search_x;
|
||||
if ((ow_stop + tpl_width) > width)
|
||||
ow_stop = width - tpl_width;
|
||||
ow = ow_stop - ow_start + 1;
|
||||
|
||||
oh_start = _ref->target_y - _ref->search_y;
|
||||
oh_start = std::max(oh_start, 0);
|
||||
oh_stop = _ref->target_y + _ref->search_y;
|
||||
if ((oh_stop + tpl_height) > height)
|
||||
oh_stop = height - tpl_height;
|
||||
oh = oh_stop - oh_start + 1;
|
||||
|
||||
float avg, SAD;
|
||||
int min, max;
|
||||
bool isSimilar = false;
|
||||
|
||||
// ESP_LOGD(TAG, "FindTemplate 02");
|
||||
|
||||
if ((_ref->alignment_algo == 2) && (_ref->fastalg_x > -1) && (_ref->fastalg_y > -1)) // für Testzwecke immer Berechnen
|
||||
if ((x_search_area_stop + tpl_width) > width)
|
||||
{
|
||||
isSimilar = CalculateSimularities(rgb_template, _ref->fastalg_x, _ref->fastalg_y, ow, oh, min, avg, max, SAD, _ref->fastalg_SAD, _ref->fastalg_SAD_criteria);
|
||||
/*#ifdef DEBUG_DETAIL_ON
|
||||
std::string zw = "\t" + _ref->image_file + "\tt1_x_y:\t" + std::to_string(_ref->fastalg_x) + "\t" + std::to_string(_ref->fastalg_y);
|
||||
zw = zw + "\tpara1_found_min_avg_max_SAD:\t" + std::to_string(min) + "\t" + std::to_string(avg) + "\t" + std::to_string(max) + "\t"+ std::to_string(SAD);
|
||||
LogFile.WriteToDedicatedFile("/sdcard/alignment.txt", zw);
|
||||
#endif*/
|
||||
x_search_area_stop = width - tpl_width;
|
||||
}
|
||||
|
||||
// ESP_LOGD(TAG, "FindTemplate 03");
|
||||
int x_search_area = x_search_area_stop - x_search_area_start + 1;
|
||||
|
||||
int y_search_area_start = std::max((_ref->target_y - _ref->search_y), 0);
|
||||
int y_search_area_stop = _ref->target_y + _ref->search_y;
|
||||
|
||||
if ((y_search_area_stop + tpl_height) > height)
|
||||
{
|
||||
y_search_area_stop = height - tpl_height;
|
||||
}
|
||||
|
||||
int y_search_area = y_search_area_stop - y_search_area_start + 1;
|
||||
|
||||
float avg = 0, SAD = 0;
|
||||
int min = 0, max = 0;
|
||||
bool isSimilar = false;
|
||||
|
||||
// ESP_LOGD(TAG, "FindTemplate 02");
|
||||
if ((_ref->alignment_algo == 2) && (_ref->fastalg_x > -1) && (_ref->fastalg_y > -1))
|
||||
{
|
||||
isSimilar = CalculateSimularities(rgb_template, _ref->fastalg_x, _ref->fastalg_y, x_search_area, y_search_area, min, avg, max, SAD, _ref->fastalg_SAD, _ref->fastalg_SAD_criteria);
|
||||
}
|
||||
|
||||
// ESP_LOGD(TAG, "FindTemplate 03");
|
||||
if (isSimilar)
|
||||
{
|
||||
#ifdef DEBUG_DETAIL_ON
|
||||
LogFile.WriteToFile(ESP_LOG_INFO, TAG, "Use FastAlignment sucessfull");
|
||||
#endif
|
||||
_ref->found_x = _ref->fastalg_x;
|
||||
_ref->found_y = _ref->fastalg_y;
|
||||
|
||||
stbi_image_free(rgb_template);
|
||||
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
// ESP_LOGD(TAG, "FindTemplate 04");
|
||||
|
||||
|
||||
double aktSAD;
|
||||
// ESP_LOGD(TAG, "FindTemplate 04");
|
||||
double minSAD = pow(tpl_width * tpl_height * 255, 2);
|
||||
|
||||
RGBImageLock();
|
||||
|
||||
// ESP_LOGD(TAG, "FindTemplate 05");
|
||||
int xouter, youter, tpl_x, tpl_y, _ch;
|
||||
// ESP_LOGD(TAG, "FindTemplate 05");
|
||||
int _anzchannels = channels;
|
||||
if (_ref->alignment_algo == 0) // 0 = "Default" (nur R-Kanal)
|
||||
_anzchannels = 1;
|
||||
|
||||
for (xouter = ow_start; xouter <= ow_stop; xouter++)
|
||||
for (youter = oh_start; youter <= oh_stop; ++youter)
|
||||
if (_ref->alignment_algo == 0)
|
||||
{
|
||||
// 0 = "Default" (nur R-Kanal)
|
||||
_anzchannels = 1;
|
||||
}
|
||||
|
||||
for (int x_outer = x_search_area_start; x_outer <= x_search_area_stop; x_outer++)
|
||||
{
|
||||
for (int y_outer = y_search_area_start; y_outer <= y_search_area_stop; ++y_outer)
|
||||
{
|
||||
aktSAD = 0;
|
||||
for (tpl_x = 0; tpl_x < tpl_width; tpl_x++)
|
||||
for (tpl_y = 0; tpl_y < tpl_height; tpl_y++)
|
||||
double aktSAD = 0;
|
||||
|
||||
for (int tpl_x = 0; tpl_x < tpl_width; tpl_x++)
|
||||
{
|
||||
for (int tpl_y = 0; tpl_y < tpl_height; tpl_y++)
|
||||
{
|
||||
stbi_uc* p_org = rgb_image + (channels * ((youter + tpl_y) * width + (xouter + tpl_x)));
|
||||
stbi_uc* p_tpl = rgb_template + (channels * (tpl_y * tpl_width + tpl_x));
|
||||
for (_ch = 0; _ch < _anzchannels; ++_ch)
|
||||
stbi_uc *p_org = rgb_image + (channels * ((y_outer + tpl_y) * width + (x_outer + tpl_x)));
|
||||
stbi_uc *p_tpl = rgb_template + (channels * (tpl_y * tpl_width + tpl_x));
|
||||
|
||||
for (int tpl_ch = 0; tpl_ch < _anzchannels; ++tpl_ch)
|
||||
{
|
||||
aktSAD += pow(p_tpl[_ch] - p_org[_ch], 2);
|
||||
aktSAD += pow(p_tpl[tpl_ch] - p_org[tpl_ch], 2);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (aktSAD < minSAD)
|
||||
{
|
||||
minSAD = aktSAD;
|
||||
_ref->found_x = xouter;
|
||||
_ref->found_y = youter;
|
||||
|
||||
_ref->found_x = x_outer;
|
||||
_ref->found_y = y_outer;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ESP_LOGD(TAG, "FindTemplate 06");
|
||||
|
||||
|
||||
// ESP_LOGD(TAG, "FindTemplate 06");
|
||||
if (_ref->alignment_algo == 2)
|
||||
CalculateSimularities(rgb_template, _ref->found_x, _ref->found_y, ow, oh, min, avg, max, SAD, _ref->fastalg_SAD, _ref->fastalg_SAD_criteria);
|
||||
{
|
||||
isSimilar = CalculateSimularities(rgb_template, _ref->found_x, _ref->found_y, x_search_area, y_search_area, min, avg, max, SAD, _ref->fastalg_SAD, _ref->fastalg_SAD_criteria);
|
||||
}
|
||||
|
||||
// ESP_LOGD(TAG, "FindTemplate 07");
|
||||
if (isSimilar)
|
||||
{
|
||||
_ref->fastalg_x = _ref->found_x;
|
||||
_ref->fastalg_y = _ref->found_y;
|
||||
|
||||
// ESP_LOGD(TAG, "FindTemplate 07");
|
||||
_ref->fastalg_min = min;
|
||||
_ref->fastalg_max = max;
|
||||
|
||||
_ref->fastalg_x = _ref->found_x;
|
||||
_ref->fastalg_y = _ref->found_y;
|
||||
_ref->fastalg_min = min;
|
||||
_ref->fastalg_avg = avg;
|
||||
_ref->fastalg_max = max;
|
||||
_ref->fastalg_SAD = SAD;
|
||||
_ref->fastalg_avg = avg;
|
||||
_ref->fastalg_SAD = SAD;
|
||||
|
||||
|
||||
/*#ifdef DEBUG_DETAIL_ON
|
||||
std::string zw = "\t" + _ref->image_file + "\tt1_x_y:\t" + std::to_string(_ref->fastalg_x) + "\t" + std::to_string(_ref->fastalg_y);
|
||||
zw = zw + "\tpara1_found_min_avg_max_SAD:\t" + std::to_string(min) + "\t" + std::to_string(avg) + "\t" + std::to_string(max) + "\t"+ std::to_string(SAD);
|
||||
LogFile.WriteToDedicatedFile("/sdcard/alignment.txt", zw);
|
||||
#endif*/
|
||||
RGBImageRelease();
|
||||
stbi_image_free(rgb_template);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
RGBImageRelease();
|
||||
stbi_image_free(rgb_template);
|
||||
|
||||
// ESP_LOGD(TAG, "FindTemplate 08");
|
||||
|
||||
// ESP_LOGD(TAG, "FindTemplate 09");
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
bool CFindTemplate::CalculateSimularities(uint8_t* _rgb_tmpl, int _startx, int _starty, int _sizex, int _sizey, int &min, float &avg, int &max, float &SAD, float _SADold, float _SADcrit)
|
||||
bool CFindTemplate::CalculateSimularities(uint8_t *_rgb_tmpl, int _startx, int _starty, int _sizex, int _sizey, int &min, float &avg, int &max, float &SAD, float _SADold, float _SADcrit)
|
||||
{
|
||||
int dif;
|
||||
int dif = 0;
|
||||
int minDif = 255;
|
||||
int maxDif = -255;
|
||||
double avgDifSum = 0;
|
||||
long int anz = 0;
|
||||
double aktSAD = 0;
|
||||
double aktSAD = 0;
|
||||
|
||||
int xouter, youter, _ch;
|
||||
|
||||
for (xouter = 0; xouter <= _sizex; xouter++)
|
||||
for (youter = 0; youter <= _sizey; ++youter)
|
||||
for (int x_outer = 0; x_outer <= _sizex; x_outer++)
|
||||
{
|
||||
for (int y_outer = 0; y_outer <= _sizey; ++y_outer)
|
||||
{
|
||||
stbi_uc* p_org = rgb_image + (channels * ((youter + _starty) * width + (xouter + _startx)));
|
||||
stbi_uc* p_tpl = _rgb_tmpl + (channels * (youter * tpl_width + xouter));
|
||||
for (_ch = 0; _ch < channels; ++_ch)
|
||||
stbi_uc *p_org = rgb_image + (channels * ((y_outer + _starty) * width + (x_outer + _startx)));
|
||||
stbi_uc *p_tpl = _rgb_tmpl + (channels * (y_outer * tpl_width + x_outer));
|
||||
|
||||
for (int _ch = 0; _ch < channels; ++_ch)
|
||||
{
|
||||
dif = p_tpl[_ch] - p_org[_ch];
|
||||
aktSAD += pow(p_tpl[_ch] - p_org[_ch], 2);
|
||||
if (dif < minDif) minDif = dif;
|
||||
if (dif > maxDif) maxDif = dif;
|
||||
aktSAD += pow(p_tpl[_ch] - p_org[_ch], 2);
|
||||
|
||||
if (dif < minDif)
|
||||
{
|
||||
minDif = dif;
|
||||
}
|
||||
|
||||
if (dif > maxDif)
|
||||
{
|
||||
maxDif = dif;
|
||||
}
|
||||
|
||||
avgDifSum += dif;
|
||||
anz++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
avg = avgDifSum / anz;
|
||||
min = minDif;
|
||||
@@ -197,10 +200,9 @@ bool CFindTemplate::CalculateSimularities(uint8_t* _rgb_tmpl, int _startx, int _
|
||||
ESP_LOGD(TAG, "Anzahl %ld, avgDifSum %fd, avg %f, SAD_neu: %fd, _SAD_old: %f, _SAD_crit:%f", anz, avgDifSum, avg, SAD, _SADold, _SADdif);
|
||||
|
||||
if (_SADdif <= _SADcrit)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user