refactor imgproc/utils (#2766)
* refactor imgproc/utils * const * space * return valuepull/19510/head
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cb238fd2ee
commit
554ea8f54a
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@ -2106,12 +2106,12 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
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CL_CHECK(clEnqueueReadBuffer(b->q, s->rgb_conv_result_cl, true, 0,
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b->rgb_width / NUM_SEGMENTS_X * b->rgb_height / NUM_SEGMENTS_Y * sizeof(int16_t), s->conv_result.get(), 0, 0, 0));
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get_lapmap_one(s->conv_result.get(), &s->lapres[roi_id], b->rgb_width / NUM_SEGMENTS_X, b->rgb_height / NUM_SEGMENTS_Y);
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s->lapres[roi_id] = get_lapmap_one(s->conv_result.get(), b->rgb_width / NUM_SEGMENTS_X, b->rgb_height / NUM_SEGMENTS_Y);
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// setup self recover
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const float lens_true_pos = s->rear.lens_true_pos;
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std::atomic<int>& self_recover = s->rear.self_recover;
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if (is_blur(&s->lapres[0]) &&
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if (is_blur(&s->lapres[0], std::size(s->lapres)) &&
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(lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_DOWN : OP3T_AF_DAC_DOWN) + 1 ||
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lens_true_pos > (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_UP : OP3T_AF_DAC_UP) - 1) &&
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self_recover < 2) {
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@ -1,43 +1,36 @@
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#include "utils.h"
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#include <stdio.h>
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#include <algorithm>
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#include <cmath>
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// calculate score based on laplacians in one area
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void get_lapmap_one(int16_t *lap, uint16_t *res, int x_pitch, int y_pitch) {
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int size = x_pitch * y_pitch;
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uint16_t get_lapmap_one(const int16_t *lap, int x_pitch, int y_pitch) {
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const int size = x_pitch * y_pitch;
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// avg and max of roi
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float fsum = 0;
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int16_t mean, max;
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max = 0;
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for (int i = 0; i < size; i++) {
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int x_offset = i % x_pitch;
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int y_offset = i / x_pitch;
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fsum += lap[x_offset + y_offset*x_pitch];
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max = std::max(lap[x_offset + y_offset*x_pitch], max);
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int16_t max = 0;
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int sum = 0;
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for (int i = 0; i < size; ++i) {
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const int16_t v = lap[i % x_pitch + (i / x_pitch) * x_pitch];
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sum += v;
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if (v > max) max = v;
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}
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mean = fsum / size;
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const int16_t mean = sum / size;
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// var of roi
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float fvar = 0;
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for (int i = 0; i < size; i++) {
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int x_offset = i % x_pitch;
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int y_offset = i / x_pitch;
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fvar += (float)((lap[x_offset + y_offset*x_pitch] - mean) * (lap[x_offset + y_offset*x_pitch] - mean));
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int var = 0;
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for (int i = 0; i < size; ++i) {
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var += std::pow(lap[i % x_pitch + (i / x_pitch) * x_pitch] - mean, 2);
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}
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fvar = fvar / size;
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*res = std::min(5 * fvar + max, (float)65535);
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const float fvar = (float)var / size;
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return std::min(5 * fvar + max, (float)65535);
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}
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bool is_blur(uint16_t *lapmap) {
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int n_roi = (ROI_X_MAX - ROI_X_MIN + 1) * (ROI_Y_MAX - ROI_Y_MIN + 1);
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bool is_blur(const uint16_t *lapmap, const size_t size) {
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float bad_sum = 0;
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for (int i = 0; i < n_roi; i++) {
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if (*(lapmap + i) < LM_THRESH) {
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bad_sum += 1/(float)n_roi;
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for (int i = 0; i < size; i++) {
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if (lapmap[i] < LM_THRESH) {
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bad_sum += 1 / (float)size;
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}
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}
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return (bad_sum > LM_PREC_THRESH);
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@ -1,8 +1,7 @@
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#ifndef IMGPROC_UTILS
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#define IMGPROC_UTILS
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#pragma once
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#include <stdint.h>
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#include <stddef.h>
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#define NUM_SEGMENTS_X 8
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#define NUM_SEGMENTS_Y 6
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@ -24,7 +23,5 @@ const int16_t lapl_conv_krnl[9] = {0, 1, 0,
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1, -4, 1,
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0, 1, 0};
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void get_lapmap_one(int16_t *lap, uint16_t *res, int x_pitch, int y_pitch);
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bool is_blur(uint16_t *lapmap);
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#endif
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uint16_t get_lapmap_one(const int16_t *lap, int x_pitch, int y_pitch);
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bool is_blur(const uint16_t *lapmap, const size_t size);
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