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Commit 5c1fafdd authored by Vadim Pisarevsky's avatar Vadim Pisarevsky
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moved precomp.hpp before all other headers (to repair PCH mechanism). moved… 

moved precomp.hpp before all other headers (to repair PCH mechanism). moved tables from the header to datamatrix.cpp
parent e9aa6fa0
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modules/objdetect/src/datamatrix.cpp 0 → 100644
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#include "precomp.hpp"
#if CV_SSE2
#include <xmmintrin.h>
#endif
#include <deque>
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() {}
Sampler(CvMat *_im, CvPoint _o, CvPoint _c, CvPoint _cc);
uint8 getpixel(int ix, int iy);
int isinside(int x, int y);
int overlap(Sampler &other);
int hasbars();
void timing();
CvMat *extract();
};
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 uint8 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 uint8 Log[256] = { -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);
}
uint8 Sampler::getpixel(int ix, int iy)
{
CvPoint pt = coord(ix, iy);
// printf("%d,%d\n", pt.x, pt.y);
return *cvPtr2D(im, pt.y, pt.x);
}
int Sampler::isinside(int x, int y)
{
CvPoint2D32f fp;
fp.x = (float)x;
fp.y = (float)y;
return cvPointPolygonTest(perim, fp, 0) < 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()
{
uint8 dark = getpixel(9, 0);
for (int i = 1; i < 3; i += 2) {
uint8 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;
}
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;
uint8 *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 uint8 gf256mul(uint8 a, uint8 b)
{
return Alog[(Log[a] + Log[b]) % 255];
}
static int decode(Sampler &sa, code &cc)
{
uint8 binary[8] = {0,0,0,0,0,0,0,0};
uint8 b = 0;
for (int i = 0; i < 64; i++) {
b = (b << 1) + (sa.getpixel(pickup[i].x, pickup[i].y) <= 128);
if ((i & 7) == 7) {
binary[i >> 3] = b;
b = 0;
}
}
// Compute the 5 RS codewords for the 3 datawords
uint8 c[5] = {0,0,0,0,0};
{
int i, j;
uint8 a[5] = {228, 48, 15, 111, 62};
int k = 5;
for (i = 0; i < 3; i++) {
uint8 t = binary[i] ^ c[4];
for (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])) {
uint8 x = 0xff & (binary[0] - 1);
uint8 y = 0xff & (binary[1] - 1);
uint8 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 = r.size() * 9 / 10;
while (l--)
r.pop_front();
return r;
}
deque <DataMatrixCode> 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++) {
uint8 *ps = cvPtr2D(thresh, y, 0);
uint8 *pd = cvPtr2D(vecpic, y, 0);
uint8 *pvc = cvPtr2D(vc, y, 0);
uint8 *pvcc = cvPtr2D(vcc, y, 0);
for (x = 0; x < sw; x++) {
uint8 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 r = cxy->rows;
int c = cxy->cols;
for (y = 0; y < r; y++) {
const short *cd = (const short*)cvPtr2D(cxy, y, 0);
const short *ccd = (const short*)cvPtr2D(ccxy, y, 0);
for (x = 0; x < c; 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(0, 2, 0, 2));
__m128 cy = _mm_shuffle_ps(cyxyxA, cyxyxB, _MM_SHUFFLE(1, 3, 1, 3));
__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(0, 2, 0, 2));
__m128 ccy = _mm_shuffle_ps(ccyxyxA, ccyxyxB, _MM_SHUFFLE(1, 3, 1, 3));
__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))
goto endo;
}
if (codes.size() > 0) {
printf("searching for more\n");
}
if (decode(sa, cc)) {
codes.push_back(cc);
goto endo;
}
}
}
endo: ; // end search for this o
}
cvFree(&thresh);
cvFree(&vecpic);
cvFree(&vc);
cvFree(&vcc);
cvFree(&cxy);
cvFree(&ccxy);
deque <DataMatrixCode> rc;
for (i = 0; i < codes.size(); i++) {
DataMatrixCode 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
deque <DataMatrixCode> rc;
return rc;
#endif
}
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