mirror of
https://github.com/jomjol/AI-on-the-edge-device.git
synced 2025-12-06 19:46:54 +03:00
58185a0569
* centralize PSRAM usage (application code only) * update logging * update logging * fix use after free * initialize buffer * free rgb_image before ussing it for new allocation * use wrapper function * switch log level to debug * . * undo adding free() calls * . * add names to all CImage instances * . * . * . * revert changes of stbi_image_free() with free_psram_heap() on the places where is is not in PSRAM * . * typos * typo * Added MQTT Outbox explanation/warning * added CONFIG_SPIRAM_USE_MEMMAP explanation --------- Co-authored-by: CaCO3 <caco@ruinelli.ch>
394 lines
13 KiB
C++
394 lines
13 KiB
C++
#include "ClassFlowAlignment.h"
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#include "ClassFlowTakeImage.h"
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#include "ClassFlow.h"
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#include "server_tflite.h"
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#include "CRotateImage.h"
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#include "esp_log.h"
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#include "ClassLogFile.h"
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#include "psram.h"
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#include "../../include/defines.h"
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static const char *TAG = "ALIGN";
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// #define DEBUG_DETAIL_ON
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void ClassFlowAlignment::SetInitialParameter(void)
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{
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initalrotate = 0;
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anz_ref = 0;
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initialmirror = false;
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use_antialiasing = false;
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initialflip = false;
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SaveAllFiles = false;
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namerawimage = "/sdcard/img_tmp/raw.jpg";
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FileStoreRefAlignment = "/sdcard/config/align.txt";
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ListFlowControll = NULL;
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AlignAndCutImage = NULL;
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ImageBasis = NULL;
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ImageTMP = NULL;
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#ifdef ALGROI_LOAD_FROM_MEM_AS_JPG
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AlgROI = (ImageData*)malloc_psram_heap(std::string(TAG) + "->AlgROI", sizeof(ImageData), MALLOC_CAP_8BIT | MALLOC_CAP_SPIRAM);
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#endif
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previousElement = NULL;
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disabled = false;
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SAD_criteria = 0.05;
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}
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ClassFlowAlignment::ClassFlowAlignment(std::vector<ClassFlow*>* lfc)
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{
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SetInitialParameter();
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ListFlowControll = lfc;
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for (int i = 0; i < ListFlowControll->size(); ++i)
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{
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if (((*ListFlowControll)[i])->name().compare("ClassFlowTakeImage") == 0)
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{
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ImageBasis = ((ClassFlowTakeImage*) (*ListFlowControll)[i])->rawImage;
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}
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}
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if (!ImageBasis) // the function take pictures does not exist --> must be created first ONLY FOR TEST PURPOSES
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{
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ESP_LOGD(TAG, "CImageBasis had to be created");
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ImageBasis = new CImageBasis("ImageBasis", namerawimage);
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}
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}
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bool ClassFlowAlignment::ReadParameter(FILE* pfile, string& aktparamgraph)
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{
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std::vector<string> splitted;
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int suchex = 40;
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int suchey = 40;
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int alg_algo = 0; //default=0; 1 =HIGHACCURACY; 2= FAST; 3= OFF //add disable aligment algo |01.2023
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aktparamgraph = trim(aktparamgraph);
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if (aktparamgraph.size() == 0)
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if (!this->GetNextParagraph(pfile, aktparamgraph))
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return false;
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if (aktparamgraph.compare("[Alignment]") != 0) //Paragraph does not fit Alignment
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return false;
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while (this->getNextLine(pfile, &aktparamgraph) && !this->isNewParagraph(aktparamgraph))
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{
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splitted = ZerlegeZeile(aktparamgraph);
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if ((toUpper(splitted[0]) == "FLIPIMAGESIZE") && (splitted.size() > 1))
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{
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if (toUpper(splitted[1]) == "TRUE")
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initialflip = true;
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}
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if ((toUpper(splitted[0]) == "INITIALMIRROR") && (splitted.size() > 1))
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{
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if (toUpper(splitted[1]) == "TRUE")
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initialmirror = true;
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}
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if (((toUpper(splitted[0]) == "INITALROTATE") || (toUpper(splitted[0]) == "INITIALROTATE")) && (splitted.size() > 1))
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{
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this->initalrotate = std::stod(splitted[1]);
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}
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if ((toUpper(splitted[0]) == "SEARCHFIELDX") && (splitted.size() > 1))
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{
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suchex = std::stod(splitted[1]);
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}
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if ((toUpper(splitted[0]) == "SEARCHFIELDY") && (splitted.size() > 1))
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{
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suchey = std::stod(splitted[1]);
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}
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if ((toUpper(splitted[0]) == "ANTIALIASING") && (splitted.size() > 1))
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{
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if (toUpper(splitted[1]) == "TRUE")
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use_antialiasing = true;
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}
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if ((splitted.size() == 3) && (anz_ref < 2))
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{
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References[anz_ref].image_file = FormatFileName("/sdcard" + splitted[0]);
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References[anz_ref].target_x = std::stod(splitted[1]);
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References[anz_ref].target_y = std::stod(splitted[2]);
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anz_ref++;
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}
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if ((toUpper(splitted[0]) == "SAVEALLFILES") && (splitted.size() > 1))
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{
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if (toUpper(splitted[1]) == "TRUE")
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SaveAllFiles = true;
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}
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if ((toUpper(splitted[0]) == "ALIGNMENTALGO") && (splitted.size() > 1))
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{
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#ifdef DEBUG_DETAIL_ON
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std::string zw2 = "Alignment mode selected: " + splitted[1];
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LogFile.WriteToFile(ESP_LOG_DEBUG, TAG, zw2);
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#endif
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if (toUpper(splitted[1]) == "HIGHACCURACY")
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alg_algo = 1;
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if (toUpper(splitted[1]) == "FAST")
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alg_algo = 2;
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if (toUpper(splitted[1]) == "OFF") //no align algo if set to 3 = off => no draw ref //add disable aligment algo |01.2023
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alg_algo = 3;
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}
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}
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for (int i = 0; i < anz_ref; ++i)
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{
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References[i].search_x = suchex;
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References[i].search_y = suchey;
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References[i].fastalg_SAD_criteria = SAD_criteria;
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References[i].alignment_algo = alg_algo;
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#ifdef DEBUG_DETAIL_ON
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std::string zw2 = "Alignment mode written: " + std::to_string(alg_algo);
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LogFile.WriteToFile(ESP_LOG_DEBUG, TAG, zw2);
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#endif
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}
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//no align algo if set to 3 = off => no draw ref //add disable aligment algo |01.2023
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if(References[0].alignment_algo != 3){
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LoadReferenceAlignmentValues();
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}
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return true;
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}
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string ClassFlowAlignment::getHTMLSingleStep(string host)
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{
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string result;
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result = "<p>Rotated Image: </p> <p><img src=\"" + host + "/img_tmp/rot.jpg\"></p>\n";
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result = result + "<p>Found Alignment: </p> <p><img src=\"" + host + "/img_tmp/rot_roi.jpg\"></p>\n";
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result = result + "<p>Aligned Image: </p> <p><img src=\"" + host + "/img_tmp/alg.jpg\"></p>\n";
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return result;
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}
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bool ClassFlowAlignment::doFlow(string time)
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{
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#ifdef ALGROI_LOAD_FROM_MEM_AS_JPG
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if (!AlgROI) // AlgROI needs to be allocated before ImageTMP to avoid heap fragmentation
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{
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AlgROI = (ImageData*)heap_caps_realloc(AlgROI, sizeof(ImageData), MALLOC_CAP_8BIT | MALLOC_CAP_SPIRAM);
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if (!AlgROI)
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{
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LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "Can't allocate AlgROI");
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LogFile.WriteHeapInfo("ClassFlowAlignment-doFlow");
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}
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}
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if (AlgROI)
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{
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ImageBasis->writeToMemoryAsJPG((ImageData*)AlgROI, 90);
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}
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#endif
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if (!ImageTMP)
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{
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ImageTMP = new CImageBasis("ImageTMP", ImageBasis);
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if (!ImageTMP)
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{
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LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "Can't allocate ImageTMP -> Exec this round aborted!");
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LogFile.WriteHeapInfo("ClassFlowAlignment-doFlow");
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return false;
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}
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}
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delete AlignAndCutImage;
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AlignAndCutImage = new CAlignAndCutImage("AlignAndCutImage", ImageBasis, ImageTMP);
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if (!AlignAndCutImage)
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{
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LogFile.WriteToFile(ESP_LOG_ERROR, TAG, "Can't allocate AlignAndCutImage -> Exec this round aborted!");
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LogFile.WriteHeapInfo("ClassFlowAlignment-doFlow");
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return false;
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}
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CRotateImage rt("rawImage", AlignAndCutImage, ImageTMP, initialflip);
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if (initialflip)
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{
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int _zw = ImageBasis->height;
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ImageBasis->height = ImageBasis->width;
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ImageBasis->width = _zw;
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_zw = ImageTMP->width;
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ImageTMP->width = ImageTMP->height;
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ImageTMP->height = _zw;
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}
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if (initialmirror)
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{
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ESP_LOGD(TAG, "do mirror");
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rt.Mirror();
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if (SaveAllFiles)
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AlignAndCutImage->SaveToFile(FormatFileName("/sdcard/img_tmp/mirror.jpg"));
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}
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if ((initalrotate != 0) || initialflip)
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{
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if (use_antialiasing)
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rt.RotateAntiAliasing(initalrotate);
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else
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rt.Rotate(initalrotate);
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if (SaveAllFiles)
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AlignAndCutImage->SaveToFile(FormatFileName("/sdcard/img_tmp/rot.jpg"));
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}
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//no align algo if set to 3 = off //add disable aligment algo |01.2023
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if(References[0].alignment_algo != 3){
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if (!AlignAndCutImage->Align(&References[0], &References[1]))
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{
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SaveReferenceAlignmentValues();
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}
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}// no align
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#ifdef ALGROI_LOAD_FROM_MEM_AS_JPG
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if (AlgROI) {
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//no align algo if set to 3 = off => no draw ref //add disable aligment algo |01.2023
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if(References[0].alignment_algo != 3){
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DrawRef(ImageTMP);
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}
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tfliteflow.DigitalDrawROI(ImageTMP);
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tfliteflow.AnalogDrawROI(ImageTMP);
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ImageTMP->writeToMemoryAsJPG((ImageData*)AlgROI, 90);
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}
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#endif
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if (SaveAllFiles)
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{
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AlignAndCutImage->SaveToFile(FormatFileName("/sdcard/img_tmp/alg.jpg"));
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ImageTMP->SaveToFile(FormatFileName("/sdcard/img_tmp/alg_roi.jpg"));
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}
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// must be deleted to have memory space for loading tflite
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delete ImageTMP;
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ImageTMP = NULL;
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//no align algo if set to 3 = off => no draw ref //add disable aligment algo |01.2023
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if(References[0].alignment_algo != 3){
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LoadReferenceAlignmentValues();
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}
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return true;
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}
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void ClassFlowAlignment::SaveReferenceAlignmentValues()
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{
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FILE* pFile;
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std::string zwtime, zwvalue;
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pFile = fopen(FileStoreRefAlignment.c_str(), "w");
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if (strlen(zwtime.c_str()) == 0)
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{
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time_t rawtime;
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struct tm* timeinfo;
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char buffer[80];
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time(&rawtime);
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timeinfo = localtime(&rawtime);
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strftime(buffer, 80, "%Y-%m-%dT%H:%M:%S", timeinfo);
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zwtime = std::string(buffer);
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}
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fputs(zwtime.c_str(), pFile);
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fputs("\n", pFile);
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zwvalue = std::to_string(References[0].fastalg_x) + "\t" + std::to_string(References[0].fastalg_y);
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zwvalue = zwvalue + "\t" +std::to_string(References[0].fastalg_SAD)+ "\t" +std::to_string(References[0].fastalg_min);
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zwvalue = zwvalue + "\t" +std::to_string(References[0].fastalg_max)+ "\t" +std::to_string(References[0].fastalg_avg);
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fputs(zwvalue.c_str(), pFile);
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fputs("\n", pFile);
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zwvalue = std::to_string(References[1].fastalg_x) + "\t" + std::to_string(References[1].fastalg_y);
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zwvalue = zwvalue + "\t" +std::to_string(References[1].fastalg_SAD)+ "\t" +std::to_string(References[1].fastalg_min);
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zwvalue = zwvalue + "\t" +std::to_string(References[1].fastalg_max)+ "\t" +std::to_string(References[1].fastalg_avg);
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fputs(zwvalue.c_str(), pFile);
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fputs("\n", pFile);
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fclose(pFile);
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}
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bool ClassFlowAlignment::LoadReferenceAlignmentValues(void)
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{
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FILE* pFile;
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char zw[1024];
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string zwvalue;
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std::vector<string> splitted;
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pFile = fopen(FileStoreRefAlignment.c_str(), "r");
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if (pFile == NULL)
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return false;
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fgets(zw, 1024, pFile);
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ESP_LOGD(TAG, "%s", zw);
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fgets(zw, 1024, pFile);
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splitted = ZerlegeZeile(std::string(zw), " \t");
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if (splitted.size() < 6)
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{
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fclose(pFile);
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return false;
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}
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References[0].fastalg_x = stoi(splitted[0]);
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References[0].fastalg_y = stoi(splitted[1]);
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References[0].fastalg_SAD = stof(splitted[2]);
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References[0].fastalg_min = stoi(splitted[3]);
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References[0].fastalg_max = stoi(splitted[4]);
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References[0].fastalg_avg = stof(splitted[5]);
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fgets(zw, 1024, pFile);
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splitted = ZerlegeZeile(std::string(zw));
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if (splitted.size() < 6)
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{
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fclose(pFile);
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return false;
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}
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References[1].fastalg_x = stoi(splitted[0]);
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References[1].fastalg_y = stoi(splitted[1]);
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References[1].fastalg_SAD = stof(splitted[2]);
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References[1].fastalg_min = stoi(splitted[3]);
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References[1].fastalg_max = stoi(splitted[4]);
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References[1].fastalg_avg = stof(splitted[5]);
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fclose(pFile);
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/*#ifdef DEBUG_DETAIL_ON
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std::string _zw = "\tLoadReferences[0]\tx,y:\t" + std::to_string(References[0].fastalg_x) + "\t" + std::to_string(References[0].fastalg_x);
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_zw = _zw + "\tSAD, min, max, avg:\t" + std::to_string(References[0].fastalg_SAD) + "\t" + std::to_string(References[0].fastalg_min);
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_zw = _zw + "\t" + std::to_string(References[0].fastalg_max) + "\t" + std::to_string(References[0].fastalg_avg);
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LogFile.WriteToDedicatedFile("/sdcard/alignment.txt", _zw);
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_zw = "\tLoadReferences[1]\tx,y:\t" + std::to_string(References[1].fastalg_x) + "\t" + std::to_string(References[1].fastalg_x);
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_zw = _zw + "\tSAD, min, max, avg:\t" + std::to_string(References[1].fastalg_SAD) + "\t" + std::to_string(References[1].fastalg_min);
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_zw = _zw + "\t" + std::to_string(References[1].fastalg_max) + "\t" + std::to_string(References[1].fastalg_avg);
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LogFile.WriteToDedicatedFile("/sdcard/alignment.txt", _zw);
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#endif*/
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return true;
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}
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void ClassFlowAlignment::DrawRef(CImageBasis *_zw)
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{
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if (_zw->ImageOkay())
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{
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_zw->drawRect(References[0].target_x, References[0].target_y, References[0].width, References[0].height, 255, 0, 0, 2);
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_zw->drawRect(References[1].target_x, References[1].target_y, References[1].width, References[1].height, 255, 0, 0, 2);
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}
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}
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