datamatrix.cpp

#include "precomp.hpp"

#if CV_SSE2
#include <xmmintrin.h>
#endif

#include <deque>
#include <algorithm>

using namespace std;

#undef NDEBUG
#include <assert.h>

class Sampler {
public:
  CvMat *im;
  CvPoint o;
  CvPoint c, cc;
  CvMat *perim;
  CvPoint fcoord(float fx, float fy);
  CvPoint coord(int ix, int iy);
  Sampler(CvMat *_im, CvPoint _o, CvPoint _c, CvPoint _cc);
  uchar getpixel(int ix, int iy);
  int isinside(int x, int y);
  int overlap(Sampler &other);
  int hasbars();
  void timing();
  CvMat *extract();
  Sampler():im(0),perim(0){}
  ~Sampler(){}
};

class code {    // used in this file only
public:
  char msg[4];
  CvMat *original;
  Sampler sa;
};

unsigned char cblk[256] = { 34,19,36,36,51,19,51,51,66,19,36,36,66,19,66,66,49,19,36,36,51,19,51,51,49,19,36,36,
    49,19,49,49,32,19,36,36,51,19,51,51,66,19,36,36,66,19,66,66,32,19,36,36,51,19,51,51,32,19,36,36,32,19,32,32,
    17,19,36,36,51,19,51,51,66,19,36,36,66,19,66,66,49,19,36,36,51,19,51,51,49,19,36,36,49,19,49,49,17,19,36,36,
    51,19,51,51,66,19,36,36,66,19,66,66,17,19,36,36,51,19,51,51,17,19,36,36,17,19,17,17,2,19,2,36,2,19,2,51,2,19,
    2,36,2,19,2,66,2,19,2,36,2,19,2,51,2,19,2,36,2,19,2,49,2,19,2,36,2,19,2,51,2,19,2,36,2,19,2,66,2,19,2,36,2,19,
    2,51,2,19,2,36,2,19,2,32,2,19,2,36,2,19,2,51,2,19,2,36,2,19,2,66,2,19,2,36,2,19,2,51,2,19,2,36,2,19,2,49,2,19,
    2,36,2,19,2,51,2,19,2,36,2,19,2,66,2,19,2,36,2,19,2,51,2,19,2,36,2,19,2,34 };
unsigned char ccblk[256] = { 34,17,2,17,19,19,2,17,36,36,2,36,19,19,2,17,51,51,2,51,19,19,2,51,36,36,2,36,19,19,2,17,
    66,66,2,66,19,19,2,66,36,36,2,36,19,19,2,66,51,51,2,51,19,19,2,51,36,36,2,36,19,19,2,17,49,49,2,49,19,19,2,49,36,
    36,2,36,19,19,2,49,51,51,2,51,19,19,2,51,36,36,2,36,19,19,2,49,66,66,2,66,19,19,2,66,36,36,2,36,19,19,2,66,51,51,
    2,51,19,19,2,51,36,36,2,36,19,19,2,17,32,32,2,32,19,19,2,32,36,36,2,36,19,19,2,32,51,51,2,51,19,19,2,51,36,36,2,
    36,19,19,2,32,66,66,2,66,19,19,2,66,36,36,2,36,19,19,2,66,51,51,2,51,19,19,2,51,36,36,2,36,19,19,2,32,49,49,2,49,
    19,19,2,49,36,36,2,36,19,19,2,49,51,51,2,51,19,19,2,51,36,36,2,36,19,19,2,49,66,66,2,66,19,19,2,66,36,36,2,36,19,
    19,2,66,51,51,2,51,19,19,2,51,36,36,2,36,19,19,2,34 };
static const CvPoint pickup[64] = { {7,6},{8,6},{7,5},{8,5},{1,5},{7,4},{8,4},{1,4},{1,8},{2,8},{1,7},{2,7},{3,7},
    {1,6},{2,6},{3,6},{3,2},{4,2},{3,1},{4,1},{5,1},{3,8},{4,8},{5,8},{6,1},{7,1},{6,8},{7,8},{8,8},{6,7},{7,7},{8,7},
    {4,7},{5,7},{4,6},{5,6},{6,6},{4,5},{5,5},{6,5},{2,5},{3,5},{2,4},{3,4},{4,4},{2,3},{3,3},{4,3},{8,3},{1,3},{8,2},
    {1,2},{2,2},{8,1},{1,1},{2,1},{5,4},{6,4},{5,3},{6,3},{7,3},{5,2},{6,2},{7,2} };
static const uchar Alog[256] = { 1,2,4,8,16,32,64,128,45,90,180,69,138,57,114,228,229,231,227,235,251,219,155,27,
    54,108,216,157,23,46,92,184,93,186,89,178,73,146,9,18,36,72,144,13,26,52,104,208,141,55,110,220,149,7,14,28,
    56,112,224,237,247,195,171,123,246,193,175,115,230,225,239,243,203,187,91,182,65,130,41,82,164,101,202,185,95,
    190,81,162,105,210,137,63,126,252,213,135,35,70,140,53,106,212,133,39,78,156,21,42,84,168,125,250,217,159,19,
    38,76,152,29,58,116,232,253,215,131,43,86,172,117,234,249,223,147,11,22,44,88,176,77,154,25,50,100,200,189,87,
    174,113,226,233,255,211,139,59,118,236,245,199,163,107,214,129,47,94,188,85,170,121,242,201,191,83,166,97,194,
    169,127,254,209,143,51,102,204,181,71,142,49,98,196,165,103,206,177,79,158,17,34,68,136,61,122,244,197,167,99,
    198,161,111,222,145,15,30,60,120,240,205,183,67,134,33,66,132,37,74,148,5,10,20,40,80,160,109,218,153,31,62,
    124,248,221,151,3,6,12,24,48,96,192,173,119,238,241,207,179,75,150,1 };
static const uchar Log[256] = { (uchar)-255,255,1,240,2,225,241,53,3,38,226,133,242,43,54,210,4,195,39,
    114,227,106,134,28,243,140,44,23,55,118,211,234,5,219,196,96,40,222,115,103,228,78,107,125,
    135,8,29,162,244,186,141,180,45,99,24,49,56,13,119,153,212,199,235,91,6,76,220,217,197,11,97,
    184,41,36,223,253,116,138,104,193,229,86,79,171,108,165,126,145,136,34,9,74,30,32,163,84,245,
    173,187,204,142,81,181,190,46,88,100,159,25,231,50,207,57,147,14,67,120,128,154,248,213,167,
    200,63,236,110,92,176,7,161,77,124,221,102,218,95,198,90,12,152,98,48,185,179,42,209,37,132,
    224,52,254,239,117,233,139,22,105,27,194,113,230,206,87,158,80,189,172,203,109,175,166,62,127,
    247,146,66,137,192,35,252,10,183,75,216,31,83,33,73,164,144,85,170,246,65,174,61,188,202,205,
    157,143,169,82,72,182,215,191,251,47,178,89,151,101,94,160,123,26,112,232,21,51,238,208,131,
    58,69,148,18,15,16,68,17,121,149,129,19,155,59,249,70,214,250,168,71,201,156,64,60,237,130,
    111,20,93,122,177,150 };

#define dethresh 0.92f
#define eincO    (2 * dethresh)         // e increment orthogonal
#define eincD    (1.414f * dethresh)     // e increment diagonal

static const float eincs[] = {
  eincO, eincD,
  eincO, eincD,
  eincO, eincD,
  eincO, eincD,
  999 };

#define Ki(x) _mm_set_epi32((x),(x),(x),(x))
#define Kf(x) _mm_set_ps((x),(x),(x),(x))

static const int CV_DECL_ALIGNED(16) absmask[] = {0x7fffffff, 0x7fffffff, 0x7fffffff, 0x7fffffff};
#define _mm_abs_ps(x) _mm_and_ps((x), *(const __m128*)absmask)

static void writexy(CvMat *m, int r, CvPoint p)
{
  int *pdst = (int*)cvPtr2D(m, r, 0);
  pdst[0] = p.x;
  pdst[1] = p.y;
}

Sampler::Sampler(CvMat *_im, CvPoint _o, CvPoint _c, CvPoint _cc)
{
  im = _im;
  o = _o;
  c = _c;
  cc = _cc;
  perim = cvCreateMat(4, 1, CV_32SC2);
  writexy(perim, 0, fcoord(-.2f,-.2f));
  writexy(perim, 1, fcoord(-.2f,1.2f));
  writexy(perim, 2, fcoord(1.2f,1.2f));
  writexy(perim, 3, fcoord(1.2f,-.2f));
  // printf("Sampler %d,%d %d,%d %d,%d\n", o.x, o.y, c.x, c.y, cc.x, cc.y);
}

CvPoint Sampler::fcoord(float fx, float fy)
{
  CvPoint r;
  r.x = (int)(o.x + fx * (cc.x - o.x) + fy * (c.x - o.x));
  r.y = (int)(o.y + fx * (cc.y - o.y) + fy * (c.y - o.y));
  return r;
}

CvPoint Sampler::coord(int ix, int iy)
{
  return fcoord(0.05f + 0.1f * ix, 0.05f + 0.1f * iy);
}

uchar Sampler::getpixel(int ix, int iy)
{
  CvPoint pt = coord(ix, iy);
  if ((0 <= pt.x) && (pt.x < im->cols) && (0 <= pt.y) && (pt.y < im->rows))
    return *cvPtr2D(im, pt.y, pt.x);
  else
    return 0;
}

int Sampler::isinside(int x, int y)
{
  CvPoint2D32f pt;
  pt.x = (float)x;
  pt.y = (float)y;
  if ((0 <= pt.x) && (pt.x < im->cols) && (0 <= pt.y) && (pt.y < im->rows))
    return cvPointPolygonTest(perim, pt, 0) < 0;
  else
    return 0;
}

int Sampler::overlap(Sampler &other)
{
  for (int i = 0; i < 4; i++) {
    CvScalar p;
    p = cvGet2D(other.perim, i, 0);
    if (isinside((int)p.val[0], (int)p.val[1]))
      return 1;
    p = cvGet2D(perim, i, 0);
    if (other.isinside((int)p.val[0], (int)p.val[1]))
      return 1;
  }
  return 0;
}

int Sampler::hasbars()
{
  return getpixel(9, 1) > getpixel(9, 0);
}

void Sampler::timing()
{
  /*uchar light, dark = getpixel(9, 0);
  for (int i = 1; i < 3; i += 2) {
    light = getpixel(9, i);
    // if (light <= dark)
    //  goto endo;
    dark = getpixel(9, i + 1);
    // if (up <= down)
    //  goto endo;
  }*/
}

CvMat *Sampler::extract()
{
  // return a 10x10 CvMat for the current contents, 0 is black, 255 is white
  // Sampler has (0,0) at bottom left, so invert Y
  CvMat *r = cvCreateMat(10, 10, CV_8UC1);
  for (int x = 0; x < 10; x++)
    for (int y = 0; y < 10; y++)
      *cvPtr2D(r, 9 - y, x) = (getpixel(x, y) < 128) ? 0 : 255;
  return r;
}

#if CV_SSE2
static void apron(CvMat *v)
{
  int r = v->rows;
  int c = v->cols;
  memset(cvPtr2D(v, 0, 0), 0x22, c);
  memset(cvPtr2D(v, 1, 0), 0x22, c);
  memset(cvPtr2D(v, r - 2, 0), 0x22, c);
  memset(cvPtr2D(v, r - 1, 0), 0x22, c);
  int y;
  for (y = 2; y < r - 2; y++) {
    uchar *lp = cvPtr2D(v, y, 0);
    lp[0] = 0x22;
    lp[1] = 0x22;
    lp[c-2] = 0x22;
    lp[c-1] = 0x22;
  }
}

static void cfollow(CvMat *src, CvMat *dst)
{
  int sx, sy;
  uchar *vpd = cvPtr2D(src, 0, 0);
  for (sy = 0; sy < src->rows; sy++) {
    short *wr = (short*)cvPtr2D(dst, sy, 0);
    for (sx = 0; sx < src->cols; sx++) {
      int x = sx;
      int y = sy;
      float e = 0;
      int ontrack = true;
      int dir;

      while (ontrack) {
        dir = vpd[y * src->step + x];
        int xd = ((dir & 0xf) - 2);
        int yd = ((dir >> 4) - 2);
        e += (dir == 0x22) ? 999 : ((dir & 1) ? eincD : eincO);
        x += xd;
        y += yd;
        if (e > 10.) {
          float d = (float)(((x - sx) * (x - sx)) + ((y - sy) * (y - sy)));
          ontrack = d > (e * e);
        }
      }
      if ((24 <= e) && (e < 999)) {
        // printf("sx=%d, sy=%d, x=%d, y=%d\n", sx, sy, x, y);
        *wr++ = (short)(x - sx);
        *wr++ = (short)(y - sy);
      } else {
        *wr++ = 0;
        *wr++ = 0;
      }
    }
  }
}

static uchar gf256mul(uchar a, uchar b)
{
    return Alog[(Log[a] + Log[b]) % 255];
}

static int decode(Sampler &sa, code &cc)
{
  uchar binary[8] = {0,0,0,0,0,0,0,0};
  uchar b = 0;
  int sum;

  sum = 0;

  for (int i = 0; i < 64; i++)
    sum += sa.getpixel(1 + (i & 7), 1 + (i >> 3));
  uchar mean = (uchar)(sum / 64);
  for (int i = 0; i < 64; i++) {
    b = (b << 1) + (sa.getpixel(pickup[i].x, pickup[i].y) <= mean);
    if ((i & 7) == 7) {
      binary[i >> 3] = b;
      b = 0;
    }
  }

  // Compute the 5 RS codewords for the 3 datawords

  uchar c[5] = {0,0,0,0,0};
  {
    uchar a[5] = {228, 48, 15, 111, 62};
    int k = 5;
    for (int i = 0; i < 3; i++) {
      uchar t = binary[i] ^ c[4];
      for (int j = k - 1; j != -1; j--) {
        if (t == 0)
            c[j] = 0;
        else
            c[j] = gf256mul(t, a[j]);
        if (j > 0)
            c[j] = c[j - 1] ^ c[j];
      }
    }
  }

  if ((c[4] == binary[3]) &&
      (c[3] == binary[4]) &&
      (c[2] == binary[5]) &&
      (c[1] == binary[6]) &&
      (c[0] == binary[7])) {
    uchar x = 0xff & (binary[0] - 1);
    uchar y = 0xff & (binary[1] - 1);
    uchar z = 0xff & (binary[2] - 1);
    cc.msg[0] = x;
    cc.msg[1] = y;
    cc.msg[2] = z;
    cc.msg[3] = 0;
    cc.sa = sa;
    cc.original = sa.extract();
    return 1;
  } else {
    return 0;
  }
}

static deque<CvPoint> trailto(CvMat *v, int x, int y, CvMat *terminal)
{
  CvPoint np;
  /* Return the last 10th of the trail of points following v from (x,y)
   * to terminal
   */

  int ex = x + ((short*)cvPtr2D(terminal, y, x))[0];
  int ey = y + ((short*)cvPtr2D(terminal, y, x))[1];
  deque<CvPoint> r;
  while ((x != ex) || (y != ey)) {
    np.x = x;
    np.y = y;
    r.push_back(np);
    int dir = *cvPtr2D(v, y, x);
    int xd = ((dir & 0xf) - 2);
    int yd = ((dir >> 4) - 2);
    x += xd;
    y += yd;
  }

  int l = (int)(r.size() * 9 / 10);
  while (l--)
    r.pop_front();
  return r;
}
#endif

deque <CvDataMatrixCode> cvFindDataMatrix(CvMat *im)
{
#if CV_SSE2
  int r = im->rows;
  int c = im->cols;

#define SAMESIZE(nm, ty) CvMat *nm = cvCreateMat(r, c, ty);

  SAMESIZE(thresh, CV_8UC1)
  SAMESIZE(vecpic, CV_8UC1)
  SAMESIZE(vc, CV_8UC1)
  SAMESIZE(vcc, CV_8UC1)
  SAMESIZE(cxy, CV_16SC2)
  SAMESIZE(ccxy, CV_16SC2)

  cvAdaptiveThreshold(im, thresh, 255.0, CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY, 13);
  {
    int x, y;
    int sstride = thresh->step;
    int sw = thresh->cols; // source width
    for (y = 2; y < thresh->rows - 2; y++) {
      uchar *ps = cvPtr2D(thresh, y, 0);
      uchar *pd = cvPtr2D(vecpic, y, 0);
      uchar *pvc = cvPtr2D(vc, y, 0);
      uchar *pvcc = cvPtr2D(vcc, y, 0);
      for (x = 0; x < sw; x++) {
        uchar v =
            (0x01 & ps[-2 * sstride]) |
            (0x02 & ps[-sstride + 1]) |
            (0x04 & ps[2]) |
            (0x08 & ps[sstride + 1]) |
            (0x10 & ps[2 * sstride]) |
            (0x20 & ps[sstride - 1]) |
            (0x40 & ps[-2]) |
            (0x80 & ps[-sstride -1]);
        *pd++ = v;
        *pvc++ = cblk[v];
        *pvcc++ = ccblk[v];
        ps++;
      }
    }
    apron(vc);
    apron(vcc);
  }

  cfollow(vc, cxy);
  cfollow(vcc, ccxy);

  deque <CvPoint> candidates;
  {
    int x, y;
    int rows = cxy->rows;
    int cols = cxy->cols;
    for (y = 0; y < rows; y++) {
      const short *cd = (const short*)cvPtr2D(cxy, y, 0);
      const short *ccd = (const short*)cvPtr2D(ccxy, y, 0);
      for (x = 0; x < cols; x += 4, cd += 8, ccd += 8) {
        __m128i v = _mm_loadu_si128((const __m128i*)cd);
        __m128 cyxyxA = _mm_cvtepi32_ps(_mm_srai_epi32(_mm_unpacklo_epi16(v, v), 16));
        __m128 cyxyxB = _mm_cvtepi32_ps(_mm_srai_epi32(_mm_unpackhi_epi16(v, v), 16));
        __m128 cx = _mm_shuffle_ps(cyxyxA, cyxyxB, _MM_SHUFFLE(2, 0, 2, 0));
        __m128 cy = _mm_shuffle_ps(cyxyxA, cyxyxB, _MM_SHUFFLE(3, 1, 3, 1));
        __m128 cmag = _mm_sqrt_ps(_mm_add_ps(_mm_mul_ps(cx, cx), _mm_mul_ps(cy, cy)));
        __m128 crmag = _mm_rcp_ps(cmag);
        __m128 ncx = _mm_mul_ps(cx, crmag);
        __m128 ncy = _mm_mul_ps(cy, crmag);

        v = _mm_loadu_si128((const __m128i*)ccd);
        __m128 ccyxyxA = _mm_cvtepi32_ps(_mm_srai_epi32(_mm_unpacklo_epi16(v, v), 16));
        __m128 ccyxyxB = _mm_cvtepi32_ps(_mm_srai_epi32(_mm_unpackhi_epi16(v, v), 16));
        __m128 ccx = _mm_shuffle_ps(ccyxyxA, ccyxyxB, _MM_SHUFFLE(2, 0, 2, 0));
        __m128 ccy = _mm_shuffle_ps(ccyxyxA, ccyxyxB, _MM_SHUFFLE(3, 1, 3, 1));
        __m128 ccmag = _mm_sqrt_ps(_mm_add_ps(_mm_mul_ps(ccx, ccx), _mm_mul_ps(ccy, ccy)));
        __m128 ccrmag = _mm_rcp_ps(ccmag);
        __m128 nccx = _mm_mul_ps(ccx, ccrmag);
        __m128 nccy = _mm_mul_ps(ccy, ccrmag);

        __m128 dot = _mm_mul_ps(_mm_mul_ps(ncx, nccx), _mm_mul_ps(ncy, nccy));
        // iscand = (cmag > 30) & (ccmag > 30) & (numpy.minimum(cmag, ccmag) * 1.1 > numpy.maximum(cmag, ccmag)) & (abs(dot) < 0.25)
        __m128 iscand = _mm_and_ps(_mm_cmpgt_ps(cmag, Kf(30)), _mm_cmpgt_ps(ccmag, Kf(30)));

        iscand = _mm_and_ps(iscand, _mm_cmpgt_ps(_mm_mul_ps(_mm_min_ps(cmag, ccmag), Kf(1.1f)), _mm_max_ps(cmag, ccmag)));
        iscand = _mm_and_ps(iscand, _mm_cmplt_ps(_mm_abs_ps(dot),  Kf(0.25f)));

        unsigned int CV_DECL_ALIGNED(16) result[4];
        _mm_store_ps((float*)result, iscand);
        int ix;
        CvPoint np;
        for (ix = 0; ix < 4; ix++) {
          if (result[ix]) {
            np.x = x + ix;
            np.y = y;
            candidates.push_back(np);
          }
        }
      }
    }
  }

  deque <code> codes;
  size_t i, j, k;
  while (!candidates.empty()) {
    CvPoint o = candidates.front();
    candidates.pop_front();
    deque<CvPoint> ptc = trailto(vc, o.x, o.y, cxy);
    deque<CvPoint> ptcc = trailto(vcc, o.x, o.y, ccxy);
    for (j = 0; j < ptc.size(); j++) {
      for (k = 0; k < ptcc.size(); k++) {
        code cc;
        Sampler sa(im, o, ptc[j], ptcc[k]);
        for (i = 0; i < codes.size(); i++) {
          if (sa.overlap(codes[i].sa))
          {
            cvReleaseMat(&sa.perim);
            goto endo;
          }
        }
        if (codes.size() > 0) {
          //printf("searching for more\n");
        }
        if (decode(sa, cc)) {
          codes.push_back(cc);
          goto endo;
        }

        cvReleaseMat(&sa.perim);
      }
    }
endo: ; // end search for this o
  }

  cvReleaseMat(&thresh);
  cvReleaseMat(&vecpic);
  cvReleaseMat(&vc);
  cvReleaseMat(&vcc);
  cvReleaseMat(&cxy);
  cvReleaseMat(&ccxy);

  deque <CvDataMatrixCode> rc;
  for (i = 0; i < codes.size(); i++) {
    CvDataMatrixCode cc;
    strcpy(cc.msg, codes[i].msg);
    cc.original = codes[i].original;
    cc.corners = codes[i].sa.perim;
    rc.push_back(cc);
  }
  return rc;
#else
  (void)im;
  deque <CvDataMatrixCode> rc;
  return rc;
#endif
}

#include <opencv2/imgproc/imgproc.hpp>

namespace cv
{

void findDataMatrix(InputArray _image,
                    vector<string>& codes,
                    OutputArray _corners,
                    OutputArrayOfArrays _dmtx)
{
    Mat image = _image.getMat();
    CvMat m(image);
    deque <CvDataMatrixCode> rc = cvFindDataMatrix(&m);
    int i, n = (int)rc.size();
    Mat corners;

    if( _corners.needed() )
    {
        _corners.create(n, 4, CV_32SC2);
        corners = _corners.getMat();
    }

    if( _dmtx.needed() )
        _dmtx.create(n, 1, CV_8U);

    codes.resize(n);

    for( i = 0; i < n; i++ )
    {
        CvDataMatrixCode& rc_i = rc[i];
        codes[i] = string(rc_i.msg);

        if( corners.data )
        {
            const Point* srcpt = (Point*)rc_i.corners->data.ptr;
            Point* dstpt = (Point*)corners.ptr(i);
            for( int k = 0; k < 4; k++ )
                dstpt[k] = srcpt[k];
        }
        cvReleaseMat(&rc_i.corners);

        if( _dmtx.needed() )
        {
            _dmtx.create(rc_i.original->rows, rc_i.original->cols, rc_i.original->type, i);
            Mat dst = _dmtx.getMat(i);
            Mat(rc_i.original).copyTo(dst);
        }
        cvReleaseMat(&rc_i.original);
    }
}

void drawDataMatrixCodes(InputOutputArray _image,
                         const vector<string>& codes,
                         InputArray _corners)
{
    Mat image = _image.getMat();
    Mat corners = _corners.getMat();
    int i, n = corners.rows;

    if( n > 0 )
    {
        CV_Assert( corners.depth() == CV_32S &&
                  corners.cols*corners.channels() == 8 &&
                  n == (int)codes.size() );
    }

    for( i = 0; i < n; i++ )
    {
        Scalar c(0, 255, 0);
        Scalar c2(255, 0,0);
        const Point* pt = (const Point*)corners.ptr(i);

        for( int k = 0; k < 4; k++ )
            line(image, pt[k], pt[(k+1)%4], c);
        //int baseline = 0;
        //Size sz = getTextSize(code_text, CV_FONT_HERSHEY_SIMPLEX, 1, 1, &baseline);
        putText(image, codes[i], pt[0], CV_FONT_HERSHEY_SIMPLEX, 0.8, c2, 1, CV_AA, false);
    }
}

}