From a0f501fa5650d0b6062cc8f26b34bce11137643d Mon Sep 17 00:00:00 2001 From: Patrick Roth Date: Fri, 4 Oct 2019 11:51:48 +0200 Subject: initial commit import from github --- CMakeLists.txt | 23 + ChangeLog | 6 + LICENSE | 165 ++++++ README.md | 39 ++ TODO | 10 + alg_ccm.h | 88 ++++ alg_debayer_bilinear.h | 271 ++++++++++ alg_gamma.h | 59 +++ alg_interpolate_mono_scalar.h | 84 ++++ alg_interpolate_rgb_scalar.h | 100 ++++ alg_rgb_to_yuv.h | 78 +++ alg_yuv_to_rgb.h | 79 +++ camera_calib.c | 769 ++++++++++++++++++++++++++++ cmake/toolchain_file_template.cmake | 17 + color.c | 422 ++++++++++++++++ color.h | 64 +++ color_pipe.c | 969 ++++++++++++++++++++++++++++++++++++ color_pipe.h | 328 ++++++++++++ color_pipe_private.h | 57 +++ cpu_feature.c | 122 +++++ cpu_feature.h | 48 ++ debayer.c | 243 +++++++++ filter.c | 532 ++++++++++++++++++++ filter.h | 52 ++ gamma_corr.c | 113 +++++ sharpening.c | 482 ++++++++++++++++++ white_balance.c | 285 +++++++++++ 27 files changed, 5505 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 ChangeLog create mode 100644 LICENSE create mode 100644 README.md create mode 100644 TODO create mode 100644 alg_ccm.h create mode 100644 alg_debayer_bilinear.h create mode 100644 alg_gamma.h create mode 100644 alg_interpolate_mono_scalar.h create mode 100644 alg_interpolate_rgb_scalar.h create mode 100644 alg_rgb_to_yuv.h create mode 100644 alg_yuv_to_rgb.h create mode 100644 camera_calib.c create mode 100644 cmake/toolchain_file_template.cmake create mode 100644 color.c create mode 100644 color.h create mode 100644 color_pipe.c create mode 100644 color_pipe.h create mode 100644 color_pipe_private.h create mode 100644 cpu_feature.c create mode 100644 cpu_feature.h create mode 100644 debayer.c create mode 100644 filter.c create mode 100644 filter.h create mode 100644 gamma_corr.c create mode 100644 sharpening.c create mode 100644 white_balance.c diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..3875638 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,23 @@ +# +# Color Image Processing Pipeline +# + +cmake_minimum_required(VERSION 2.4) + +include_directories(.) + +file(GLOB colorpipesources *.c *.h) + +add_library(o3000_imgpipe SHARED ${colorpipesources}) + +set_target_properties (o3000_imgpipe PROPERTIES + OUTPUT_NAME "o3000_imgpipe" + VERSION 1.0.0 + SOVERSION 1 + LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib" + ) + +target_compile_options(o3000_imgpipe PRIVATE -Wall -g -O3 -std=c11 -ggdb -D_XOPEN_SOURCE=500 -fPIC) + +install(TARGETS o3000_imgpipe DESTINATION lib) +install(FILES "color_pipe.h" DESTINATION "include/o3000") diff --git a/ChangeLog b/ChangeLog new file mode 100644 index 0000000..800f2fd --- /dev/null +++ b/ChangeLog @@ -0,0 +1,6 @@ +------------------------------------------------------------------------------- +- ChangeLog Color Image Processing Pipeline +------------------------------------------------------------------------------- + +Version 1.0.0 - 2015-10-16 (PR) + Inititial version diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..65c5ca8 --- /dev/null +++ b/LICENSE @@ -0,0 +1,165 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + + This version of the GNU Lesser General Public License incorporates +the terms and conditions of version 3 of the GNU General Public +License, supplemented by the additional permissions listed below. + + 0. Additional Definitions. + + As used herein, "this License" refers to version 3 of the GNU Lesser +General Public License, and the "GNU GPL" refers to version 3 of the GNU +General Public License. + + "The Library" refers to a covered work governed by this License, +other than an Application or a Combined Work as defined below. + + An "Application" is any work that makes use of an interface provided +by the Library, but which is not otherwise based on the Library. +Defining a subclass of a class defined by the Library is deemed a mode +of using an interface provided by the Library. + + A "Combined Work" is a work produced by combining or linking an +Application with the Library. The particular version of the Library +with which the Combined Work was made is also called the "Linked +Version". + + The "Minimal Corresponding Source" for a Combined Work means the +Corresponding Source for the Combined Work, excluding any source code +for portions of the Combined Work that, considered in isolation, are +based on the Application, and not on the Linked Version. + + The "Corresponding Application Code" for a Combined Work means the +object code and/or source code for the Application, including any data +and utility programs needed for reproducing the Combined Work from the +Application, but excluding the System Libraries of the Combined Work. + + 1. Exception to Section 3 of the GNU GPL. + + You may convey a covered work under sections 3 and 4 of this License +without being bound by section 3 of the GNU GPL. + + 2. Conveying Modified Versions. + + If you modify a copy of the Library, and, in your modifications, a +facility refers to a function or data to be supplied by an Application +that uses the facility (other than as an argument passed when the +facility is invoked), then you may convey a copy of the modified +version: + + a) under this License, provided that you make a good faith effort to + ensure that, in the event an Application does not supply the + function or data, the facility still operates, and performs + whatever part of its purpose remains meaningful, or + + b) under the GNU GPL, with none of the additional permissions of + this License applicable to that copy. + + 3. Object Code Incorporating Material from Library Header Files. + + The object code form of an Application may incorporate material from +a header file that is part of the Library. You may convey such object +code under terms of your choice, provided that, if the incorporated +material is not limited to numerical parameters, data structure +layouts and accessors, or small macros, inline functions and templates +(ten or fewer lines in length), you do both of the following: + + a) Give prominent notice with each copy of the object code that the + Library is used in it and that the Library and its use are + covered by this License. + + b) Accompany the object code with a copy of the GNU GPL and this license + document. + + 4. Combined Works. + + You may convey a Combined Work under terms of your choice that, +taken together, effectively do not restrict modification of the +portions of the Library contained in the Combined Work and reverse +engineering for debugging such modifications, if you also do each of +the following: + + a) Give prominent notice with each copy of the Combined Work that + the Library is used in it and that the Library and its use are + covered by this License. + + b) Accompany the Combined Work with a copy of the GNU GPL and this license + document. + + c) For a Combined Work that displays copyright notices during + execution, include the copyright notice for the Library among + these notices, as well as a reference directing the user to the + copies of the GNU GPL and this license document. + + d) Do one of the following: + + 0) Convey the Minimal Corresponding Source under the terms of this + License, and the Corresponding Application Code in a form + suitable for, and under terms that permit, the user to + recombine or relink the Application with a modified version of + the Linked Version to produce a modified Combined Work, in the + manner specified by section 6 of the GNU GPL for conveying + Corresponding Source. + + 1) Use a suitable shared library mechanism for linking with the + Library. A suitable mechanism is one that (a) uses at run time + a copy of the Library already present on the user's computer + system, and (b) will operate properly with a modified version + of the Library that is interface-compatible with the Linked + Version. + + e) Provide Installation Information, but only if you would otherwise + be required to provide such information under section 6 of the + GNU GPL, and only to the extent that such information is + necessary to install and execute a modified version of the + Combined Work produced by recombining or relinking the + Application with a modified version of the Linked Version. (If + you use option 4d0, the Installation Information must accompany + the Minimal Corresponding Source and Corresponding Application + Code. If you use option 4d1, you must provide the Installation + Information in the manner specified by section 6 of the GNU GPL + for conveying Corresponding Source.) + + 5. Combined Libraries. + + You may place library facilities that are a work based on the +Library side by side in a single library together with other library +facilities that are not Applications and are not covered by this +License, and convey such a combined library under terms of your +choice, if you do both of the following: + + a) Accompany the combined library with a copy of the same work based + on the Library, uncombined with any other library facilities, + conveyed under the terms of this License. + + b) Give prominent notice with the combined library that part of it + is a work based on the Library, and explaining where to find the + accompanying uncombined form of the same work. + + 6. Revised Versions of the GNU Lesser General Public License. + + The Free Software Foundation may publish revised and/or new versions +of the GNU Lesser General Public License from time to time. Such new +versions will be similar in spirit to the present version, but may +differ in detail to address new problems or concerns. + + Each version is given a distinguishing version number. If the +Library as you received it specifies that a certain numbered version +of the GNU Lesser General Public License "or any later version" +applies to it, you have the option of following the terms and +conditions either of that published version or of any later version +published by the Free Software Foundation. If the Library as you +received it does not specify a version number of the GNU Lesser +General Public License, you may choose any version of the GNU Lesser +General Public License ever published by the Free Software Foundation. + + If the Library as you received it specifies that a proxy can decide +whether future versions of the GNU Lesser General Public License shall +apply, that proxy's public statement of acceptance of any version is +permanent authorization for you to choose that version for the +Library. diff --git a/README.md b/README.md new file mode 100644 index 0000000..6e6fe08 --- /dev/null +++ b/README.md @@ -0,0 +1,39 @@ +# Why O-3000 +O-3000 is our answer to rigid and inflexible vision solutions. Maybe you know that. The camera you'd like to use +does not support your (embedded) operating system. The interface specification is top secret and certainly you won't +get any driver source code. Due to such experiences we developed the O-3000 cameras. In the meantime, O-3000 +has grown into a comprehensive vision system. Everything is open-source and all interface specifications are +freely available. These cameras are developed and produced in Switzerland. + +## Color Image Processing Pipeline +The pipeline applies serveral algorithms to captured images from the O-3000 camera. Following pipeline +stages are implemented: +
    +
  1. Debayering
    2. +
  2. Auto white balancing
    3. +
  3. Color Correction
    4. +
  4. Lense correction
    5. +
  5. Sharpening
    6. +
  6. Gamma correction
    7. +
+ + +### Build and install +``` +git clone https://stettbacher.ch/gitlab/o-3000/driver.git +cd color-pipe +mkdir build +cd build +cmake .. +sudo make install +``` + + +### Cross-Compile +A toolchain file is needed to specify the cross-compiler environment. As a starting point, +use the template 'cmake/toolchain_file_template.cmake'. Specify the cross-compiler and path. +Run cmake within build directory as follow: + +``` +cmake -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchain_file_template.cmake .. +``` diff --git a/TODO b/TODO new file mode 100644 index 0000000..039186d --- /dev/null +++ b/TODO @@ -0,0 +1,10 @@ +------------------------------------------------------------------------------- +- TODO Color Image Processing Pipeline +------------------------------------------------------------------------------- + +Add new image processing pipelines stages: + - Aperture correction depending on selected lense + - Defective pixel correction + +Define setpoint value (red, green. blue) for Auto-White-Balance algorithm +to control image color temperature. diff --git a/alg_ccm.h b/alg_ccm.h new file mode 100644 index 0000000..24d37bc --- /dev/null +++ b/alg_ccm.h @@ -0,0 +1,88 @@ +/** +* @file alg_ccm.h +* @brief color correction algorithm definition +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-08-26 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + + +/* + * This code inplements color correction algorithm and is pixel size independent. Including this code at the + * C-Source file will define the pixel-bit-depth (see color.c). + */ +// static void rgb_color_correction8(uint8_t *img_calib, const uint8_t *img_uncalib, const int color_bit_depth, const int height, const int width, float a[3][3]) +// static void rgb_color_correction16(uint16_t *img_calib, const uint16_t *img_uncalib, const int color_bit_depth, const int height, const int width, float a[3][3]) +{ + int y, x; + int uncal_red, uncal_green, uncal_blue; + int cal_red, cal_green, cal_blue; + int index; + int pix_max_val; + const int shift_fact = 16; + + const int a11 = (int) (a[0][0]*(1<> shift_fact; + cal_green = (uncal_red*a21 + uncal_green*a22 + uncal_blue*a23) >> shift_fact; + cal_blue = (uncal_red*a31 + uncal_green*a32 + uncal_blue*a33) >> shift_fact; + + // range check + if(cal_red > pix_max_val) cal_red = pix_max_val; + else if(cal_red < 0) cal_red = 0; + + if(cal_green > pix_max_val) cal_green = pix_max_val; + else if(cal_green < 0) cal_green = 0; + + if(cal_blue > pix_max_val) cal_blue = pix_max_val; + else if(cal_blue < 0) cal_blue = 0; + + // save calibrated color values at output image + img_calib[index] = cal_red; + img_calib[index+1] = cal_green; + img_calib[index+2] = cal_blue; + + index += 3; + + + } + } +} \ No newline at end of file diff --git a/alg_debayer_bilinear.h b/alg_debayer_bilinear.h new file mode 100644 index 0000000..45c8a8d --- /dev/null +++ b/alg_debayer_bilinear.h @@ -0,0 +1,271 @@ +/** +* @file alg_debayer_bilinear.h +* @brief bilinear demosaicing algorithm +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-08-20 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + + + +/* + * This code inplements a bilinear demosaicing algorithm and is pixel size independent. Including this code at the + * C-Source file will define the pixel-bit-depth (see debayer.c). + */ +// static void bilinear8(uint8_t *img_rgb, const uint8_t *img_bayer, const int height, const int width, const enum enumBayerPattern_t bayer_pattern) +// static void bilinear16(uint16_t *img_rgb, const uint16_t *img_bayer, const int height, const int width, const enum enumBayerPattern_t bayer_pattern) +{ + int x, y, red, green, blue; + int index_rgb, index_upper, index_center, index_lower; + enum enumBayerPattern_t pattern, pattern_nextline; + + + red = 0; + green = 0; + blue = 0; + pattern_nextline = bayer_pattern; + pattern = bayer_pattern; + + /* + * figure out pattern color with coordinate 1/1 (second line / second row) + */ + switch(bayer_pattern) { + case BP_GR: // green-red-green-red-... + pattern = BP_GB; + pattern_nextline = BP_RG; + break; + + case BP_RG: // red-green-red-green-... + pattern = BP_BG; + pattern_nextline = BP_GR; + break; + + case BP_BG: // blue-green-blue-green-... + pattern = BP_RG; + pattern_nextline = BP_GB; + break; + + case BP_GB: // green-blue-green-blue-... + pattern = BP_GR; + pattern_nextline = BP_BG; + break; + } + + /* + * loop through image without border area + */ + for(y = 1; y < (height-1); y++) { + + // initialize line indices used to reference pixel at 3x3 kernel + index_upper = (y-1)*width; + index_center = y*width; + index_lower = (y+1)*width; + + // initialize index used to reference pixel at RGB image + index_rgb = y*width*3+3; + + + for(x = 1; x < (width-1); x++) { + + calc_bilinear(img_bayer[index_upper], img_bayer[index_upper+1], img_bayer[index_upper+2], + img_bayer[index_center], img_bayer[index_center+1], img_bayer[index_center+2], + img_bayer[index_lower], img_bayer[index_lower+1], img_bayer[index_lower+2], + &pattern, &red, &green, &blue); + + img_rgb[index_rgb] = red; + img_rgb[index_rgb+1] = green; + img_rgb[index_rgb+2] = blue; + + index_rgb += 3; + index_upper++; + index_center++; + index_lower++; + } + + pattern = pattern_nextline; + pattern_nextline = getBayerType(pattern, 1, 0); + } + + /* + * handle pixels at horizontal upper border line + */ + pattern = getBayerType(bayer_pattern, 0, 1); + index_center = 0; + index_upper = width; + index_lower = width; + index_rgb = 3; + for(x = 1; x < (width-1); x++) { + + calc_bilinear(img_bayer[index_upper], img_bayer[index_upper+1], img_bayer[index_upper+2], + img_bayer[index_center], img_bayer[index_center+1], img_bayer[index_center+2], + img_bayer[index_lower], img_bayer[index_lower+1], img_bayer[index_lower+2], + &pattern, &red, &green, &blue); + + img_rgb[index_rgb] = red; + img_rgb[index_rgb+1] = green; + img_rgb[index_rgb+2] = blue; + + index_rgb += 3; + index_upper++; + index_center++; + index_lower++; + } + + /* + * handle pixels at horizontal lower border line + */ + pattern = getBayerType(bayer_pattern, height-1, 1); + index_center = (height-1)*width; + index_upper = index_center-width; + index_lower = index_center-width; + index_rgb = ((height-1)*width*3)+3; + for(x = 1; x < (width-1); x++) { + + calc_bilinear(img_bayer[index_upper], img_bayer[index_upper+1], img_bayer[index_upper+2], + img_bayer[index_center], img_bayer[index_center+1], img_bayer[index_center+2], + img_bayer[index_lower], img_bayer[index_lower+1], img_bayer[index_lower+2], + &pattern, &red, &green, &blue); + + img_rgb[index_rgb] = red; + img_rgb[index_rgb+1] = green; + img_rgb[index_rgb+2] = blue; + + index_rgb += 3; + index_upper++; + index_center++; + index_lower++; + } + + /* + * handle pixels at vertical left border line + */ + index_upper = 0; + index_center = width; + index_lower = 2*width; + index_rgb = width*3; + for(y = 1; y < (height-1); y++) { + pattern = getBayerType(bayer_pattern, y, 0); + calc_bilinear(img_bayer[index_upper+1], img_bayer[index_upper], img_bayer[index_upper+1], + img_bayer[index_center+1], img_bayer[index_center], img_bayer[index_center+1], + img_bayer[index_lower+1], img_bayer[index_lower], img_bayer[index_lower+1], + &pattern, &red, &green, &blue); + + img_rgb[index_rgb] = red; + img_rgb[index_rgb+1] = green; + img_rgb[index_rgb+2] = blue; + + index_rgb += 3*width; + index_upper += width; + index_center += width; + index_lower += width; + } + + /* + * handle pixels at vertical right border line + */ + index_upper = width-2; + index_center = index_upper+width; + index_lower = index_upper+2*width; + index_rgb = width*3*2-3; + for(y = 1; y < (height-1); y++) { + pattern = getBayerType(bayer_pattern, y, width-1); + calc_bilinear(img_bayer[index_upper], img_bayer[index_upper+1], img_bayer[index_upper], + img_bayer[index_center], img_bayer[index_center+1], img_bayer[index_center], + img_bayer[index_lower], img_bayer[index_lower+1], img_bayer[index_lower], + &pattern, &red, &green, &blue); + + img_rgb[index_rgb] = red; + img_rgb[index_rgb+1] = green; + img_rgb[index_rgb+2] = blue; + + index_rgb += 3*width; + index_upper += width; + index_center += width; + index_lower += width; + } + + + /* + * Handle upper left corner + */ + pattern = getBayerType(bayer_pattern, 0, 0); + index_upper = width; + index_lower = width; + calc_bilinear(img_bayer[index_upper+1], img_bayer[index_upper], img_bayer[index_upper+1], + img_bayer[1], img_bayer[0], img_bayer[1], + img_bayer[index_lower+1], img_bayer[index_lower], img_bayer[index_lower+1], + &pattern, &red, &green, &blue); + img_rgb[0] = red; + img_rgb[1] = green; + img_rgb[2] = blue; + + /* + * Handle upper right corner + */ + pattern = getBayerType(bayer_pattern, 0, width-1); + index_upper = 2*width-2; + index_center = width-2; + index_lower = 2*width-2; + calc_bilinear(img_bayer[index_upper], img_bayer[index_upper+1], img_bayer[index_upper], + img_bayer[index_center], img_bayer[index_center+1], img_bayer[index_center], + img_bayer[index_lower], img_bayer[index_lower+1], img_bayer[index_lower], + &pattern, &red, &green, &blue); + index_rgb = 3*width-3; + img_rgb[index_rgb] = red; + img_rgb[index_rgb+1] = green; + img_rgb[index_rgb+2] = blue; + + /* + * Handle lower left corner + */ + pattern = getBayerType(bayer_pattern, height-1, 0); + index_upper = (height-2)*width; + index_center = (height-1)*width; + index_lower = (height-2)*width; + calc_bilinear(img_bayer[index_upper+1], img_bayer[index_upper], img_bayer[index_upper+1], + img_bayer[index_center+1], img_bayer[index_center], img_bayer[index_center+1], + img_bayer[index_lower+1], img_bayer[index_lower], img_bayer[index_lower+1], + &pattern, &red, &green, &blue); + index_rgb = ((height-1)*width)*3; + img_rgb[index_rgb] = red; + img_rgb[index_rgb+1] = green; + img_rgb[index_rgb+2] = blue; + + /* + * Handle lower right corner + */ + pattern = getBayerType(bayer_pattern, height-1, width-1); + index_upper = (height-2)*width-2; + index_center = (height-1)*width-2; + index_lower = (height-2)*width-2; + calc_bilinear(img_bayer[index_upper], img_bayer[index_upper+1], img_bayer[index_upper], + img_bayer[index_center], img_bayer[index_center+1], img_bayer[index_center], + img_bayer[index_lower], img_bayer[index_lower+1], img_bayer[index_lower], + &pattern, &red, &green, &blue); + index_rgb = height*width*3-3; + img_rgb[index_rgb] = red; + img_rgb[index_rgb+1] = green; + img_rgb[index_rgb+2] = blue; + + +} \ No newline at end of file diff --git a/alg_gamma.h b/alg_gamma.h new file mode 100644 index 0000000..2f9a7ae --- /dev/null +++ b/alg_gamma.h @@ -0,0 +1,59 @@ +/** +* @file alg_gamma.h +* @brief gamma correction algorithm definition +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-09-08 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + + +/* + * This code inplements gamma correction algorithm and is pixel size independent. Including this code at the + * C-Source file will define the pixel-bit-depth (see gamma_corr.c). + */ +// static void gamma_corr8(uint8_t *img_rgb, const uint8_t *img_in, const int height, const int width, const int *gamma_table, const int is_color) +// static void gamma_corr16(uint8_t *img_rgb, const uint8_t *img_in, const int height, const int width, const int *gamma_table, const int is_color) +{ + int index, num_pixel; + + if(is_color) { + num_pixel = height*width*3; + } + else { + num_pixel = height*width; + } + + for(index = 0; index < num_pixel; index++) { + img_rgb[index] = gamma_table[img_in[index]]; + } +} + + + + + + + + + + diff --git a/alg_interpolate_mono_scalar.h b/alg_interpolate_mono_scalar.h new file mode 100644 index 0000000..9adda8b --- /dev/null +++ b/alg_interpolate_mono_scalar.h @@ -0,0 +1,84 @@ +/** +* @file alg_interpolate_mono_scalar.h +* @brief Monochrome pixel interpolation (scalar code) +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-11-09 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + + +/* + * This code inplements a monochrome pixel interpolator and is independent of the pixel-bit-depth. Including this code at the + * C-Source file will define the pixel-bit-depth (see camera_calib.c). + */ +// static void interpolate_mono8_scalar(uint8_t *img_out, const int x, const int y, const int height, const int width, +// const uint8_t *img_in, const int coord_x, const int coord_y, const int scale_fact) +// static void interpolate_mono16_scalar(uint16_t *img_out, const int x, const int y, const int height, const int width, +// const uint16_t *img_in, const int coord_x, const int coord_y, const int scale_fact) +{ + int x_start, y_start, x_end, y_end, index_start, index_end; + int wheight_x, wheight_y, a11, a12, a21, a22; + int mono; + int index; + const int max_val = (1<>scale_fact) > width || (coord_y>>scale_fact) > height || coord_x < 0 || coord_y < 0) { + // out of range --> return black value + img_out[index] = 0; + return; + } + + mono = 0; + + x_start = coord_x>>scale_fact; + y_start = coord_y>>scale_fact; + x_end = x_start + 1; + y_end = y_start + 1; + index_start = (y_start*width + x_start); + index_end = (y_end*width + x_end); + + // calculate wheights + wheight_x = coord_x % max_val; + wheight_y = coord_y % max_val; + a11 = (max_val - wheight_x)*(max_val - wheight_y); + a12 = wheight_x*(max_val - wheight_y); + a21 = (max_val - wheight_x)*wheight_y; + a22 = wheight_x*wheight_y; + + /* + * handle border region separately + */ + if(x_end < width || y_end < height) { + // pixels are not lying on border region + mono = img_in[index_start]*a11 + + img_in[index_start+1]*a12 + + img_in[index_end-1]*a21 + + img_in[index_end]*a22; + } + + img_out[index] = mono >> (2*scale_fact); +} diff --git a/alg_interpolate_rgb_scalar.h b/alg_interpolate_rgb_scalar.h new file mode 100644 index 0000000..aa17c54 --- /dev/null +++ b/alg_interpolate_rgb_scalar.h @@ -0,0 +1,100 @@ +/** +* @file alg_interpolate_rgb_scalar.h +* @brief RGB pixel interpolation (scalar code) +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-11-09 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + + +/* + * This code inplements an RGB pixel interpolator and is independent of the pixel-bit-depth. Including this code at the + * C-Source file will define the pixel-bit-depth (see camera_calib.c). + */ +// static void interpolate_rgb8_scalar(uint8_t *img_out, const int x, const int y, const int height, const int width, +// const uint8_t *img_in, const int coord_x, const int coord_y, const int scale_fact) +// static void interpolate_rgb16_scalar(uint16_t *img_out, const int x, const int y, const int height, const int width, +// const uint16_t *img_in, const int coord_x, const int coord_y, const int scale_fact) +{ + int x_start, y_start, x_end, y_end, index_start, index_end; + int wheight_x, wheight_y, a11, a12, a21, a22; + int red, green, blue; + int index; + const int max_val = (1<>scale_fact) > width || (coord_y>>scale_fact) > height || coord_x < 0 || coord_y < 0) { + // out of range --> return black value + img_out[index] = 0; + img_out[index+1] = 0; + img_out[index+2] = 0; + return; + } + + red = 0; + green = 0; + blue = 0; + + x_start = coord_x>>scale_fact; + y_start = coord_y>>scale_fact; + x_end = x_start + 1; + y_end = y_start + 1; + index_start = (y_start*width + x_start)*3; + index_end = (y_end*width + x_end)*3; + + // calculate wheights + wheight_x = coord_x % max_val; + wheight_y = coord_y % max_val; + a11 = (max_val - wheight_x)*(max_val - wheight_y); + a12 = wheight_x*(max_val - wheight_y); + a21 = (max_val - wheight_x)*wheight_y; + a22 = wheight_x*wheight_y; + + /* + * handle border region separately + */ + if(x_end < width || y_end < height) { + // pixels are not lying on border region + red = img_in[index_start]*a11 + + img_in[index_start+3]*a12 + + img_in[index_end-3]*a21 + + img_in[index_end]*a22; + + green = img_in[index_start+1]*a11 + + img_in[index_start+1+3]*a12 + + img_in[index_end+1-3]*a21 + + img_in[index_end+1]*a22; + + blue = img_in[index_start+2]*a11 + + img_in[index_start+2+3]*a12 + + img_in[index_end+2-3]*a21 + + img_in[index_end+2]*a22; + } + + img_out[index] = red >> (2*scale_fact); + img_out[index+1] = green >> (2*scale_fact); + img_out[index+2] = blue >> (2*scale_fact); +} diff --git a/alg_rgb_to_yuv.h b/alg_rgb_to_yuv.h new file mode 100644 index 0000000..f75df6a --- /dev/null +++ b/alg_rgb_to_yuv.h @@ -0,0 +1,78 @@ +/** +* @file alg_rgb_to_yuv.h +* @brief color space conversion definitions +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-08-20 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + + +/* + * This code inplements a RGB to YUV color space conversion and is pixel size independent. Including this code at the + * C-Source file will define the pixel-bit-depth (see color.c). + */ +// static void rgb8_to_yuv(int32_t *img_yuv, const uint8_t *img_rgb, const int height, const int width) +// static void rgb16_to_yuv(int32_t *img_yuv, const uint16_t *img_rgb, const int height, const int width) +{ + + int x, y, index; + int blue, green, red; + int pixel_y, pixel_u, pixel_v; + const int scale_fact = 10; + + const int y_r = (int)roundf(RGB2YUV_COEFF_Y_RED*(1<> scale_fact; + pixel_u = (u_r*red + u_g*green + u_b*blue) >> scale_fact; + pixel_v = (v_r*red + v_g*green + v_b*blue) >> scale_fact; + + img_yuv[index] = pixel_y; + img_yuv[index+1] = pixel_u; + img_yuv[index+2] = pixel_v; + + index += 3; + } + } +} diff --git a/alg_yuv_to_rgb.h b/alg_yuv_to_rgb.h new file mode 100644 index 0000000..c608a6d --- /dev/null +++ b/alg_yuv_to_rgb.h @@ -0,0 +1,79 @@ +/** +* @file alg_yuv_to_rgb.h +* @brief color space conversion definitions +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-08-27 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + + +/* + * This code inplements a RGB to YUV color space conversion and is pixel size independent. Including this code at the + * C-Source file will define the pixel-bit-depth (see color.c). + */ +// static void yuv_to_rgb8(uint8_t *img_rgb, const int32_t *img_yuv, const int height, const int width, const int pix_max) +// static void yuv_to_rgb16(uint16_t *img_rgb, const int32_t *img_yuv, const int height, const int width, const int pix_max) +{ + int x, y, index; + int blue, green, red; + int val_y, val_u, val_v; + const int scale_fact = 10; + + + const int green_y = (int)roundf(1.0*(1<> scale_fact; + blue = val_y + val_u; + + // range check red + if(red < 0) red = 0; + else if(red > pix_max) red = pix_max; + + // range check green + if(green < 0) green = 0; + else if(green > pix_max) green = pix_max; + + // range check blue + if(blue < 0) blue = 0; + else if(blue > pix_max) blue = pix_max; + + img_rgb[index] = red; + img_rgb[index+1] = green; + img_rgb[index+2] = blue; + + index += 3; + } + } +} diff --git a/camera_calib.c b/camera_calib.c new file mode 100644 index 0000000..78362bd --- /dev/null +++ b/camera_calib.c @@ -0,0 +1,769 @@ +/** +* @file camera_calib.c +* @brief camera calibration algorithm +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-08-20 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + +#include +#include + +#if (WITH_SIMD == 1) +#include // see /usr/lib64/gcc/x86_64-suse-linux/4.7/include/immintrin.h +#endif // WITH_SIMD + +#include "color_pipe_private.h" + + +#if 0 + +not used anymore!! + + +#ifdef __AVX__ +static inline void interpolate_avx(const int bit_channel, void *img_out, const int x, const int y, const int height, const int width, + const void *img_in, const int32_t x_corr_start, const int32_t y_corr_start, const int32_t x_weight, const int32_t y_weight, + const int shift_fact) { + + int x_coord_end, y_coord_end, index_start, index_end; + int a11, a12, a21, a22; + int red, green, blue; + int index; + uint8_t *out8 = img_out; + uint16_t *out16 = img_out; + const uint8_t *in8 = img_in; + const uint16_t *in16= img_in; + + // init pixel value to black + red = 0; + green = 0; + blue = 0; + + // calculate pixel index of destination image (calibrated image) + index = ((y*width)+x)*3; + + if(x_corr_start >= width || y_corr_start >= height || x_corr_start < 0 || y_corr_start < 0) { + // out of range --> return black value + goto _end_interpolate; + } + + + x_coord_end = x_corr_start + 1; + y_coord_end = y_corr_start + 1; + index_start = (y_corr_start*width + x_corr_start)*3; + index_end = (y_coord_end*width + x_coord_end)*3; + + // calculate wheights used for interpolation + a11 = ((1<> (2*shift_fact); + out8[index+1] = green >> (2*shift_fact); + out8[index+2] = blue >> (2*shift_fact); + } + else if(bit_channel <= 16) { + out16[index] = red >> (2*shift_fact); + out16[index+1] = green >> (2*shift_fact); + out16[index+2] = blue >> (2*shift_fact); + } +} + + +/** + * Calculate camera calibration lookup-table (by using AVX vector instructions). + * + * @param data required camera calibration data + */ +static void calc_calib_avx(struct cam_calib_data_t *data) { + int v, u, i, height, width, fov_x_start, fov_x_end, fov_y_start, fov_y_end; + float k1, k2, p1, p2, k3; + float fx, fy, cx, cy; + float _y; + void *img_calib, *img_uncalib; + int bit_channel; + const int shift_fact = 9; + + // align variable to 32-byte boundary + float _x[8] __attribute__((aligned(32))); + int32_t x_corr_start[8] __attribute__((aligned(32))); + int32_t y_corr_start[8] __attribute__((aligned(32))); + int32_t x_weight[8] __attribute__((aligned(32))); + int32_t y_weight[8] __attribute__((aligned(32))); + + + __m256 _y_vect, _y_sq_vect; + __m256 _x_vect, _x_sq_vect; + __m256 r_sq_vect, r_sqx2_vect, r_sqx3_vect; + __m256 dist_radial_vect, k1_vect, k2_vect, k3_vect, dist_radial_offset; + __m256 dist_tang_x_vect, dist_tang_y_vect, p1_vect, p2_vect, a_p1, a_p2; + __m256 dist_x_vect, dist_y_vect; + __m256 const_2_vect; + __m256 x_corr_vect, y_corr_vect; + __m256 fx_vect, cx_vect, fov_x_start_vect; + __m256 fy_vect, cy_vect, fov_y_start_vect; + __m256 _x_fact_y_vect; + __m256i x_corr_start_vect, y_corr_start_vect; + __m256 shift_fact_vect; + __m256i x_weight_vect, y_weight_vect; + + img_calib = data->img_calib; + img_uncalib = data->img_in; + bit_channel = data->bit_channel; + height = data->tot_height; + width = data->tot_width; + + fov_x_start = data->fov_x_start; + fov_x_end = data->fov_x_end; + fov_y_start = data->fov_y_start; + fov_y_end = data->fov_y_end; + fov_x_start_vect = _mm256_set1_ps(fov_x_start); + fov_y_start_vect = _mm256_set1_ps(fov_y_start); + + + k1 = data->dist_coeff.k1; + k2 = data->dist_coeff.k2; + k3 = data->dist_coeff.k3; + k1_vect = _mm256_set1_ps(k1); + k2_vect = _mm256_set1_ps(k2); + k3_vect = _mm256_set1_ps(k3); + + p1 = data->dist_coeff.p1; + p2 = data->dist_coeff.p2; + p1_vect = _mm256_set1_ps(p1); + p2_vect = _mm256_set1_ps(p2); + + fx = data->camera_matrix.a11; + fy = data->camera_matrix.a22; + cx = data->camera_matrix.a13; + cy = data->camera_matrix.a23; + fx_vect = _mm256_set1_ps(fx); + fy_vect = _mm256_set1_ps(fy); + cx_vect = _mm256_set1_ps(cx); + cy_vect = _mm256_set1_ps(cy); + + dist_radial_offset = _mm256_set1_ps(1.0); + const_2_vect = _mm256_set1_ps(2.0); + a_p1 = _mm256_mul_ps(_mm256_set1_ps(2.0), p1_vect); + a_p2 = _mm256_mul_ps(_mm256_set1_ps(2.0), p2_vect); + + shift_fact_vect = _mm256_set1_ps((float)(1<img_calib; + img_uncalib = data->img_in; + bit_channel = data->bit_channel; + height = data->tot_height; + width = data->tot_width; + fov_x_start = data->fov_x_start; + fov_x_end = data->fov_x_end; + fov_y_start = data->fov_y_start; + fov_y_end = data->fov_y_end; + + k1 = data->dist_coeff.k1; + k2 = data->dist_coeff.k2; + p1 = data->dist_coeff.p1; + p2 = data->dist_coeff.p2; + k3 = data->dist_coeff.k3; + + fx = data->camera_matrix.a11; + fy = data->camera_matrix.a22; + cx = data->camera_matrix.a13; + cy = data->camera_matrix.a23; + + + for(v = fov_y_start; v <= fov_y_end; v++) { + + _y = (v-cy)/fy; + _y_sq = _y*_y; + + for(u = fov_x_start; u <= fov_x_end; u++) { + + _x = (u-cx)/fx; + _x_sq = _x*_x; + + r_sq = _y_sq + _x_sq; + + dist_radial = (1 + k1*r_sq + k2*r_sq*r_sq + k3*r_sq*r_sq*r_sq); + + dist_tang_x = 2*p1*_x*_y + p2*(r_sq + 2*_x_sq); + dist_x = _x*dist_radial + dist_tang_x; + + dist_tang_y = p1*(r_sq + 2*_y_sq) + 2*p2*_x*_y; + dist_y = _y*dist_radial + dist_tang_y; + + x_corr = fx*dist_x + cx - fov_x_start; + y_corr = fy*dist_y + cy - fov_y_start; + + if(bit_channel <= 8) { + interpolate8(img_calib, u - fov_x_start, v - fov_y_start, height, width, img_uncalib, x_corr, y_corr); + } + else if(bit_channel <= 16) { + interpolate16(img_calib, u - fov_x_start, v - fov_y_start, height, width, img_uncalib, x_corr, y_corr); + } + } + } +} +#endif /* __AVX__ */ +#endif + + + +/** + * Calculate undistortion map used for camera calibration. + * + * The undistortion map corrects the radial and tangential distortion. + * The five distortion coefficients are used: k1, k2, p1, p2, k3 + * + * radial distortion causes barrel or pillow effect: + * + * x_dist = x*(1 + k1*r² + k2*r⁴ + k3*r⁶) + * y_dist = y*(1 + k1*r² + k2*r⁴ + k3*r⁶) + * + * + * tangention distortion (lense is not perfectly aligned): + * + * x_dist = x + (2*p1*x*y + p2*(r² + 2*x²)) + * y_dist = y + (p1*(r²+2*y²) + 2*p2*x*y) + * + * In addition, the intrincic parameters of the camera are used containing + * informations about the focal length (fx, fy) and optical center (cx, cy). + * + * | fx 0 cx | + * A = | 0 fy cy | + * | 0 0 1 | + * + * + * @param data required camera calibration data + */ +static void init_undistort_map_scalar(struct cam_calib_data_t *data) { + + int v, u, fov_x_start, fov_x_end, fov_y_start, fov_y_end; + float k1, k2, p1, p2, k3; + float fx, fy, cx, cy; + float dist_radial, dist_tang_x, dist_tang_y, dist_x, dist_y; + float _x, _y, _y_sq, _x_sq, r_sq; + float x_corr, y_corr; + struct lense_undistort_coord_t *map; + const int scale_fact = (1 << (data->calib_map_scale_fact)); + + + fov_x_start = data->fov_x_start; + fov_x_end = data->fov_x_end; + fov_y_start = data->fov_y_start; + fov_y_end = data->fov_y_end; + + k1 = data->dist_coeff.k1; + k2 = data->dist_coeff.k2; + p1 = data->dist_coeff.p1; + p2 = data->dist_coeff.p2; + k3 = data->dist_coeff.k3; + + fx = data->camera_matrix.a11; + fy = data->camera_matrix.a22; + cx = data->camera_matrix.a13; + cy = data->camera_matrix.a23; + + map = data->calib_map; + + for(v = fov_y_start; v <= fov_y_end; v++) { + + _y = (v-cy)/fy; + _y_sq = _y*_y; + + for(u = fov_x_start; u <= fov_x_end; u++) { + + _x = (u-cx)/fx; + _x_sq = _x*_x; + + r_sq = _y_sq + _x_sq; + + dist_radial = (1 + k1*r_sq + k2*r_sq*r_sq + k3*r_sq*r_sq*r_sq); + + dist_tang_x = 2*p1*_x*_y + p2*(r_sq + 2*_x_sq); + dist_x = _x*dist_radial + dist_tang_x; + + dist_tang_y = p1*(r_sq + 2*_y_sq) + 2*p2*_x*_y; + dist_y = _y*dist_radial + dist_tang_y; + + x_corr = fx*dist_x + cx - fov_x_start; + y_corr = fy*dist_y + cy - fov_y_start; + + map->coord_x = (int)roundf(x_corr*scale_fact); + map->coord_y = (int)roundf(y_corr*scale_fact); + map++; + } + } +} + + +/** + * Pixel value interpolation of RGB image (8 bit per color channel). + * If a pixel coordinate with a fraction part is of interest, do interpolate the correct value from their neighbor's pixel. + * + * E. g. the pixel coordinate x/y = 1.8/2.3 gives the following weights: + * +------+------+ + * | | | + * | 14% | 56% | 14% = 20%*70%, 56% = 80%*70% + * | | | + * +------+------+ + * | | | + * | 6% | 24% | 6% = 20%*30%, 24% = 80%*30% + * | | | + * +------+------+ + * + * The weights are applied to the neighors and the resulting pixel value is saved at the given location. + * + * NOTE + * The input and output image must have the same pixel size. + * + * @param img_out On return: image with interpolated values + * @param x saved interpolated pixel value at this x-coordinate + * @param y saved interpolated pixel value at this y-coordinate + * @param height image height of input and output image in number of pixels + * @param width image width of input and output image in number of pixels + * @param img_in input image to interpolate pixel values + * @param coord_x x-coordinate to interpolate + * @param coord_y y-coordinate to interpolate + * @param scale_fact coordinates are scaled by this factor + */ +static void interpolate_rgb8_scalar(uint8_t *img_out, const int x, const int y, const int height, const int width, + const uint8_t *img_in, const int coord_x, const int coord_y, const int scale_fact) +#include "alg_interpolate_rgb_scalar.h" + + +/** + * Pixel value interpolation of RGB image (16 bit per color channel). + * If a pixel coordinate with a fraction part is of interest, do interpolate the correct value from their neighbor's pixel. + * + * E. g. the pixel coordinate x/y = 1.8/2.3 gives the following weights: + * +------+------+ + * | | | + * | 14% | 56% | 14% = 20%*70%, 56% = 80%*70% + * | | | + * +------+------+ + * | | | + * | 6% | 24% | 6% = 20%*30%, 24% = 80%*30% + * | | | + * +------+------+ + * + * The weights are applied to the neighors and the resulting pixel value is saved at the given location. + * + * NOTE + * The input and output image must have the same pixel size. + * + * @param img_out On return: image with interpolated values + * @param x saved interpolated pixel value at this x-coordinate + * @param y saved interpolated pixel value at this y-coordinate + * @param height image height of input and output image in number of pixels + * @param width image width of input and output image in number of pixels + * @param img_in input image to interpolate pixel values + * @param coord_x x-coordinate to interpolate + * @param coord_y y-coordinate to interpolate + * @param scale_fact coordinates are scaled by this factor + */ +static void interpolate_rgb16_scalar(uint16_t *img_out, const int x, const int y, const int height, const int width, + const uint16_t *img_in, const int coord_x, const int coord_y, const int scale_fact) +#include "alg_interpolate_rgb_scalar.h" + + +/** + * Pixel value interpolation of monochrome image (8 bit per pixel). + * If a pixel coordinate with a fraction part is of interest, do interpolate the correct value from their neighbor's pixel. + * + * E. g. the pixel coordinate x/y = 1.8/2.3 gives the following weights: + * +------+------+ + * | | | + * | 14% | 56% | 14% = 20%*70%, 56% = 80%*70% + * | | | + * +------+------+ + * | | | + * | 6% | 24% | 6% = 20%*30%, 24% = 80%*30% + * | | | + * +------+------+ + * + * The weights are applied to the neighors and the resulting pixel value is saved at the given location. + * + * NOTE + * The input and output image must have the same pixel size. + * + * @param img_out On return: image with interpolated values + * @param x saved interpolated pixel value at this x-coordinate + * @param y saved interpolated pixel value at this y-coordinate + * @param height image height of input and output image in number of pixels + * @param width image width of input and output image in number of pixels + * @param img_in input image to interpolate pixel values + * @param coord_x x-coordinate to interpolate + * @param coord_y y-coordinate to interpolate + * @param scale_fact coordinates are scaled by this factor + */ +static void interpolate_mono8_scalar(uint8_t *img_out, const int x, const int y, const int height, const int width, + const uint8_t *img_in, const int coord_x, const int coord_y, const int scale_fact) +#include "alg_interpolate_mono_scalar.h" + + +/** + * Pixel value interpolation of monochrome image (16 bit per pixel). + * If a pixel coordinate with a fraction part is of interest, do interpolate the correct value from their neighbor's pixel. + * + * E. g. the pixel coordinate x/y = 1.8/2.3 gives the following weights: + * +------+------+ + * | | | + * | 14% | 56% | 14% = 20%*70%, 56% = 80%*70% + * | | | + * +------+------+ + * | | | + * | 6% | 24% | 6% = 20%*30%, 24% = 80%*30% + * | | | + * +------+------+ + * + * The weights are applied to the neighors and the resulting pixel value is saved at the given location. + * + * NOTE + * The input and output image must have the same pixel size. + * + * @param img_out On return: image with interpolated values + * @param x saved interpolated pixel value at this x-coordinate + * @param y saved interpolated pixel value at this y-coordinate + * @param height image height of input and output image in number of pixels + * @param width image width of input and output image in number of pixels + * @param img_in input image to interpolate pixel values + * @param coord_x x-coordinate to interpolate + * @param coord_y y-coordinate to interpolate + * @param scale_fact coordinates are scaled by this factor + */ +static void interpolate_mono16_scalar(uint16_t *img_out, const int x, const int y, const int height, const int width, + const uint16_t *img_in, const int coord_x, const int coord_y, const int scale_fact) +#include "alg_interpolate_mono_scalar.h" + + +/** + * Lense calibration using bilinear interpolation. + * + * @param data required camera calibration data + */ +static void calib_scalar(struct cam_calib_data_t *data) { + + int v, u, height, width, fov_x_start, fov_x_end, fov_y_start, fov_y_end; + int x_corr, y_corr; + void *img_calib, *img_uncalib; + int bit_channel; + struct lense_undistort_coord_t *map; + const int scale_fact = data->calib_map_scale_fact; + const int is_color = data->is_color; + + img_calib = data->img_calib; + img_uncalib = data->img_in; + height = data->tot_height; + width = data->tot_width; + fov_x_start = data->fov_x_start; + fov_x_end = data->fov_x_end; + fov_y_start = data->fov_y_start; + fov_y_end = data->fov_y_end; + bit_channel = data->bit_channel; + map = data->calib_map; + + for(v = fov_y_start; v <= fov_y_end; v++) { + for(u = fov_x_start; u <= fov_x_end; u++) { + + x_corr = map->coord_x; + y_corr = map->coord_y; + map++; + + if(bit_channel <= 8) { + if(is_color) { + interpolate_rgb8_scalar(img_calib, u - fov_x_start, v - fov_y_start, height, width, img_uncalib, x_corr, y_corr, scale_fact); + } + else { + interpolate_mono8_scalar(img_calib, u - fov_x_start, v - fov_y_start, height, width, img_uncalib, x_corr, y_corr, scale_fact); + } + } + else if(bit_channel <= 16) { + if(is_color) { + interpolate_rgb16_scalar(img_calib, u - fov_x_start, v - fov_y_start, height, width, img_uncalib, x_corr, y_corr, scale_fact); + } + else { + interpolate_mono16_scalar(img_calib, u - fov_x_start, v - fov_y_start, height, width, img_uncalib, x_corr, y_corr, scale_fact); + } + } + } + } +} + + +/** + * Perform camera calibration by applying following algorithms: + * - radial and tangential lens distortion correction + * - bilinear interpolation to calibrate image + * + * The undistorted (calibrated) and distorted (input) image must be the same size. + * + * @param data required camera calibration data + * @return 0 on success otherwise -1 + */ +int camera_calib(struct cam_calib_data_t *data) { + + /* + * Check whether undistortion map (lookup-table) is initialized. + */ + if(data->undistort_map_init == 0) { + data->calib_map_scale_fact = 9; // scale by 9 means 2^9 = 512 + init_undistort_map_scalar(data); + data->undistort_map_init = 1; + } + + calib_scalar(data); + return 0; +} + + + + + + diff --git a/cmake/toolchain_file_template.cmake b/cmake/toolchain_file_template.cmake new file mode 100644 index 0000000..7e781e5 --- /dev/null +++ b/cmake/toolchain_file_template.cmake @@ -0,0 +1,17 @@ +# this one is important +SET(CMAKE_SYSTEM_NAME Linux) +#this one not so much +SET(CMAKE_SYSTEM_VERSION 1) + +# specify the cross compiler +SET(CMAKE_C_COMPILER /opt/eldk-2007-01-19/usr/bin/ppc_74xx-gcc) +SET(CMAKE_CXX_COMPILER /opt/eldk-2007-01-19/usr/bin/ppc_74xx-g++) + +# where is the target environment +SET(CMAKE_FIND_ROOT_PATH /opt/eldk-2007-01-19/ppc_74xx /home/alex/eldk-ppc74xx-inst) + +# search for programs in the build host directories +SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) +# for libraries and headers in the target directories +SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) +SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) diff --git a/color.c b/color.c new file mode 100644 index 0000000..4802083 --- /dev/null +++ b/color.c @@ -0,0 +1,422 @@ +/** +* @file color_space.c +* @brief color space conversion utilities +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-08-20 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + +#include +#include +#include + +#if (WITH_SIMD == 1) +#include // see /usr/lib64/gcc/x86_64-suse-linux/4.7/include/immintrin.h +#endif // WITH_SIMD + +#include "color.h" +#include "color_pipe_private.h" + + +/** + * RGB image (16 bit per color channel) to YUV color space conversion (scalar code). + * + * @param img_yuv On return: image in YUV color space (this buffer must be allocated externly) + * @param img_rgb RGB image + * @param height image height in number of pixels + * @param width image width in number of pixels + */ +static void rgb16_to_yuv_scalar(int16_t *img_yuv, const uint16_t *img_rgb, const int height, const int width) +#include "alg_rgb_to_yuv.h" + + +#ifdef __SSSE3__ +/** + * RGB image (8 bit per color channel) to YUV color space conversion (vector code). + * + * @param img_yuv On return: image in YUV color space (this buffer must be allocated externly) + * @param img_rgb RGB image + * @param height image height in number of pixels + * @param width image width in number of pixels + */ +static void rgb8_to_yuv_vector(int16_t *img_yuv, const uint8_t *img_rgb, const int height, const int width) { + int i, size_mod8; + uint8_t *input_img; + int px_blue, px_green, px_red; + int px_y, px_u, px_v; + + const int scale_fact = 7; // more than 7 is not possible due to overflow + + const int y_r = (int)roundf(RGB2YUV_COEFF_Y_RED*(1< YUV transformation coefficient + * The values are scaled defined by scale_fact. + * + * y = 0.299*red + 0.587*green + 0.114*blue + * u = -0.299*red - 0.587*green + 0.886*blue + * v = 0.701*red - 0.587*green - 0.114*blue + */ + coeff_y_red = _mm_set1_epi16((short)y_r); + coeff_y_green = _mm_set1_epi16((short)y_g); + coeff_y_blue = _mm_set1_epi16((short)y_b); + + coeff_u_red = _mm_set1_epi16((short)u_r); + coeff_u_green = _mm_set1_epi16((short)u_g); + coeff_u_blue = _mm_set1_epi16((short)u_b); + + coeff_v_red = _mm_set1_epi16((short)v_r); + coeff_v_green = _mm_set1_epi16((short)v_g); + coeff_v_blue = _mm_set1_epi16((short)v_b); + + + // process 8 RGB-pixel-pair in parallel + for(i = 0; i < size_mod8; i+=8) { + + // load 128 bit pixel value into SIMD register + px_buf1 = _mm_lddqu_si128((__m128i*)(input_img)); + input_img += 16; + px_buf2 = _mm_lddqu_si128((__m128i*)(input_img)); + input_img += 8; + + // get first 6 red pixels + red1 = _mm_shuffle_epi8(px_buf1, mask_red1); + + // get next 2 red pixels + red2 = _mm_shuffle_epi8(px_buf2, mask_red2); + + // combine to 8 red pixels + red = _mm_or_si128(red1, red2); + + + // get first 5 green pixels + green1 = _mm_shuffle_epi8(px_buf1, mask_green1); + + // get next 3 green pixels + green2 = _mm_shuffle_epi8(px_buf2, mask_green2); + + // combine to 8 green pixels + green = _mm_or_si128(green1, green2); + + + // get first 5 blue pixels + blue1 = _mm_shuffle_epi8(px_buf1, mask_blue1); + + // get next 3 blue pixels + blue2 = _mm_shuffle_epi8(px_buf2, mask_blue2); + + // combine to 8 blue pixels + blue = _mm_or_si128(blue1, blue2); + + + /* + * calculate 8 Y-channel pixels + */ + red_tmp = _mm_mullo_epi16(coeff_y_red, red); + green_tmp = _mm_mullo_epi16(coeff_y_green, green); + blue_tmp = _mm_mullo_epi16(coeff_y_blue, blue); + ch_y = _mm_add_epi16(_mm_add_epi16(red_tmp, green_tmp), blue_tmp); + ch_y = _mm_srai_epi16(ch_y, scale_fact); + + /* + * calculate 8 U-channel pixels + */ + red_tmp = _mm_mullo_epi16(coeff_u_red, red); + green_tmp = _mm_mullo_epi16(coeff_u_green, green); + blue_tmp = _mm_mullo_epi16(coeff_u_blue, blue); + ch_u = _mm_add_epi16(_mm_add_epi16(red_tmp, green_tmp), blue_tmp); + ch_u = _mm_srai_epi16(ch_u, scale_fact); + + /* + * calculate 8 V-channel pixels + */ + red_tmp = _mm_mullo_epi16(coeff_v_red, red); + green_tmp = _mm_mullo_epi16(coeff_v_green, green); + blue_tmp = _mm_mullo_epi16(coeff_v_blue, blue); + ch_v = _mm_add_epi16(_mm_add_epi16(red_tmp, green_tmp), blue_tmp); + ch_v = _mm_srai_epi16(ch_v, scale_fact); + + + /* + * Store separate YUV buffer to one YUV image stream + */ + y1 = _mm_shuffle_epi8(ch_y, mask_y1); + y2 = _mm_shuffle_epi8(ch_y, mask_y2); + y3 = _mm_shuffle_epi8(ch_y, mask_y3); + + u1 = _mm_shuffle_epi8(ch_u, mask_u1); + u2 = _mm_shuffle_epi8(ch_u, mask_u2); + u3 = _mm_shuffle_epi8(ch_u, mask_u3); + + v1 = _mm_shuffle_epi8(ch_v, mask_v1); + v2 = _mm_shuffle_epi8(ch_v, mask_v2); + v3 = _mm_shuffle_epi8(ch_v, mask_v3); + + yuv1 = _mm_or_si128(y1, _mm_or_si128(u1, v1)); + yuv2 = _mm_or_si128(y2, _mm_or_si128(u2, v2)); + yuv3 = _mm_or_si128(y3, _mm_or_si128(u3, v3)); + + /* + * Store 3 YUV SIMD register into memory + */ + _mm_store_si128((__m128i*)img_yuv, yuv1); + img_yuv += 8; + _mm_store_si128((__m128i*)img_yuv, yuv2); + img_yuv += 8; + _mm_store_si128((__m128i*)img_yuv, yuv3); + img_yuv += 8; + } + + + for(i = size_mod8; i < (width*height); i++) { + + // put each RGB color on stack + px_red = *input_img; + input_img++; + px_green = *input_img; + input_img++; + px_blue = *input_img; + + // color space conversion from RGB to YUV + px_y = (y_r*px_red + y_g*px_green + y_b*px_blue) >> scale_fact; + px_u = (u_r*px_red + u_g*px_green + u_b*px_blue) >> scale_fact; + px_v = (v_r*px_red + v_g*px_green + v_b*px_blue) >> scale_fact; + + *img_yuv = px_y; + img_yuv++; + *img_yuv = px_u; + img_yuv++; + *img_yuv = px_v; + img_yuv++; + } +} + +#else + +/** + * RGB image (8 bit per color channel) to YUV color space conversion (scalar code). + * + * @param img_yuv On return: image in YUV color space (this buffer must be allocated externly) + * @param img_rgb RGB image + * @param height image height in number of pixels + * @param width image width in number of pixels + */ +static void rgb8_to_yuv_scalar(int16_t *img_yuv, const uint8_t *img_rgb, const int height, const int width) +#include "alg_rgb_to_yuv.h" + +#endif // __SSSE3__ + + +/** + * YUV to RGB (8 bit per color channel) color space conversion. + * + * @param img_rgb On return: image in RGB space (this buffer must be allocated externly) + * @param img_yuv YUV image + * @param height image height in number of pixels + * @param width image width in number of pixels + * @return 0 on success otherwise -1 + */ +static void yuv_to_rgb8(uint8_t *img_rgb, const int16_t *img_yuv, const int height, const int width, const int pix_max) +#include "alg_yuv_to_rgb.h" + + +/** + * YUV to RGB (8 bit per color channel) color space conversion. + * + * @param img_rgb On return: image in RGB space (this buffer must be allocated externly) + * @param img_yuv YUV image + * @param height image height in number of pixels + * @param width image width in number of pixels + * @return 0 on success otherwise -1 + */ +static void yuv_to_rgb16(uint16_t *img_rgb, const int16_t *img_yuv, const int height, const int width, const int pix_max) +#include "alg_yuv_to_rgb.h" + + +/** + * Apply color correction matrix on given RGB image (8 bit per color channel). + * + * @param img_calib On return: color calibrated image + * @param img_uncalib input image to calibrate + * @param color_bit_depth color channel bit depth (all channel have the same bit depth) + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param a 3x3 color correction matrix + */ +static void rgb_color_correction16(uint16_t *img_calib, const uint16_t *img_uncalib, + const int color_bit_depth, const int height, const int width, float a[3][3]) +#include "alg_ccm.h" + + +/** + * Apply color correction matrix on given RGB image (8 bit per color channel). + * + * @param img_calib On return: color calibrated image + * @param img_uncalib input image to calibrate + * @param color_bit_depth color channel bit depth (all channel have the same bit depth) + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param a 3x3 color correction matrix + */ +static void rgb_color_correction8(uint8_t *img_calib, const uint8_t *img_uncalib, + const int color_bit_depth, const int height, const int width, float a[3][3]) +#include "alg_ccm.h" + + +/** + * RGB to YUV color space conversion. + * + * @param img_yuv On return: image in YUV color space (this buffer must be allocated externly) + * @param img_rgb RGB image + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param bit_channel bits per color channel + * @return 0 on success otherwise -1 + */ +int color_rgb_to_yuv(int16_t *img_yuv, const void *img_rgb, const int height, const int width, const int bit_channel) { + + if(bit_channel <= 8) { +#ifdef __SSSE3__ + rgb8_to_yuv_vector(img_yuv, img_rgb, height, width); +#else + rgb8_to_yuv_scalar(img_yuv, img_rgb, height, width); +#endif + } + else if(bit_channel <= 16) { + rgb16_to_yuv_scalar(img_yuv, img_rgb, height, width); + } + return 0; +} + + +/** + * YUV to RGB color space conversion. + * + * @param img_rgb On return: image in RGB space (this buffer must be allocated externly) + * @param img_yuv YUV image + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param bit_channel bits per color channel of RGB image + * @return 0 on success otherwise -1 + */ +int color_yuv_to_rgb(void *img_rgb, const int16_t *img_yuv, const int height, const int width, const int bit_channel) { + int ret = 0; + int bpp = (1<bit_channel; + ret = 0; + + if(bit_channel <= 8) { + rgb_color_correction8(color_calib->img_calib, color_calib->img_in, 8, color_calib->height, color_calib->width, color_calib->a); + } + else if(bit_channel <= 16) { + rgb_color_correction16(color_calib->img_calib, color_calib->img_in, 12, color_calib->height, color_calib->width, color_calib->a); + } + else { + printf("%s: Color calibration not possible on images with %d bits per color channel\n", __func__, bit_channel); + ret = -1; + } + return ret; +} + + + + + diff --git a/color.h b/color.h new file mode 100644 index 0000000..73bff58 --- /dev/null +++ b/color.h @@ -0,0 +1,64 @@ +/** +* @file color.h +* @brief color utility function definition +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-08-20 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + + +#ifndef _COLOR_H +#define _COLOR_H + +#include "color_pipe.h" + + +#define RGB2YUV_COEFF_Y_RED 0.299 ///< RGB to YUV conversion coefficient for Y-Channel: red +#define RGB2YUV_COEFF_Y_GREEN 0.587 ///< RGB to YUV conversion coefficient for Y-Channel: green +#define RGB2YUV_COEFF_Y_BLUE 0.114 ///< RGB to YUV conversion coefficient for Y-Channel: blue + +#define RGB2YUV_COEFF_U_RED (-0.299) ///< RGB to YUV conversion coefficient for U-Channel: red +#define RGB2YUV_COEFF_U_GREEN (-0.587) ///< RGB to YUV conversion coefficient for U-Channel: green +#define RGB2YUV_COEFF_U_BLUE 0.886 ///< RGB to YUV conversion coefficient for U-Channel: blue + +#define RGB2YUV_COEFF_V_RED 0.701 ///< RGB to YUV conversion coefficient for V-Channel: red +#define RGB2YUV_COEFF_V_GREEN (-0.587) ///< RGB to YUV conversion coefficient for V-Channel: green +#define RGB2YUV_COEFF_V_BLUE (-0.114) ///< RGB to YUV conversion coefficient for V-Channel: blue + + + +#if defined(__cplusplus) || defined(c_plusplus) +extern "C" { +#endif + +int color_rgb_to_yuv(int16_t *img_yuv, const void *img_rgb, const int height, const int width, const int bit_channel); +int color_yuv_to_rgb(void *img_rgb, const int16_t *img_yuv, const int height, const int width, const int bit_channel); + +int color_calib(struct color_calib_data_t *color_calib); + +#if defined(__cplusplus) || defined(c_plusplus) +} // extern "C" +#endif + + +#endif // _COLOR_H diff --git a/color_pipe.c b/color_pipe.c new file mode 100644 index 0000000..986989f --- /dev/null +++ b/color_pipe.c @@ -0,0 +1,969 @@ +/** +* @file main.cpp +* @brief Color Image Processing Pipeline with O-3000 USB camera +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-02-10 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + + +#include +#include +#include +#include + +#include "color_pipe.h" +#include "color_pipe_private.h" +#include "color.h" + + +/** + * Logging macro for string error logging (libc). This macro inserts strerror(errno) in a suitable way. + */ +#define PRINTF_ERRNO(x) \ + printf(x" in %s() line %d failed: %s\n", __func__, __LINE__-1, strerror(errno)); + + +/** + * Alignment size in bytes. + * Image buffers are aligned to this given boundary. + */ +#define ALIGNMENT_SIZE 32 + + +/** + * Coefficient definition used to undistort lenses. + */ +struct o3000_lens_coeffs_t { + struct dist_coeff_t dist_coeff; ///< distortion coefficients + struct camera_matrix_t camera_matrix; ///< camera matrix +}; + + +/** + * Lens undistortion coefficients of various lens types supplied by + * Stettbacher Signal Processing. + */ +const static struct o3000_lens_coeffs_t o3000_lens_coeffs[] = { + + // S-mount, focal length 2.8m, aperture 2.0 (O3000_LS_F2_8) + { + .dist_coeff = { + .k1 = -1.7989363928888906e+01, + .k2 = 4.2371667641386335e+02, + .p1 = -5.5177683005299717e-03, + .p2 = -1.8027296799469215e-02, + .k3 = -5.1212552122750130e+03, + }, + + .camera_matrix = { + .a11 = 5.5641130307342128e+03, + .a12 = 0, + .a13 = 6.4044160626552366e+02, + .a21 = 0, + .a22 = 5.5583733034586849e+03, + .a23 = 5.3305307740745866e+02, + .a31 = 0, + .a32 = 0, + .a33 = 1.0, + }, + }, + + // S-mount, focal length 4.2mm, aperture 1.8 (O3000_LS_F4_2) + { + .dist_coeff = { + .k1 = -5.6100382549536558e+00, + .k2 = 3.7504235968196980e+01, + .p1 = -1.1849075953406191e-02, + .p2 = -2.0833317381133629e-02, + .k3 = -1.4657907716904774e+02, + }, + + .camera_matrix = { + .a11 = 3.8385004722247168e+03, + .a12 = 0, + .a13 = 6.5463814905337483e+02, + .a21 = 0, + .a22 = 3.8289385545784967e+03, + .a23 = 5.4227950629136478e+02, + .a31 = 0, + .a32 = 0, + .a33 = 1.0, + }, + }, + + // S-mount, focal length 6.0mm, aperture 1.8 (O3000_LS_F6_0) + { + .dist_coeff = { + .k1 = -3.2037738664730195e+00, + .k2 = 1.1127115993662951e+01, + .p1 = -1.6455451408872675e-02, + .p2 = -2.4114999934222298e-02, + .k3 = -1.2882650294739891e+01, + }, + + .camera_matrix = { + .a11 = 3.7083736372135381e+03, + .a12 = 0, + .a13 = 6.6465346812371035e+02, + .a21 = 0, + .a22 = 3.6972315248821769e+03, + .a23 = 5.5003224793025629e+02, + .a31 = 0, + .a32 = 0, + .a33 = 1.0, + }, + }, + + // S-mount, focal length 8.0mm, aperture 1.8 (O3000_LS_F8_0) + { + .dist_coeff = { + .k1 = -2.4661259044966712e+00, + .k2 = 1.1778658083457410e+00, + .p1 = -8.5928173466905556e-03, + .p2 = -1.4375183749585565e-02, + .k3 = 1.4290871342330237e+02, + }, + + .camera_matrix = { + .a11 = 4.3637409203781626e+03, + .a12 = 0, + .a13 = 6.6812858595376599e+02, + .a21 = 0, + .a22 = 4.3451519470626554e+03, + .a23 = 5.5034252965175574e+02, + .a31 = 0, + .a32 = 0, + .a33 = 1.0, + }, + }, + + // S-mount, focal length 12.0mm, aperture 1.8 (O3000_LS_F12_0) + { + .dist_coeff = { + .k1 = -5.3454594843785479e+00, + .k2 = 6.4871676948306629e+01, + .p1 = 1.0455391312916947e-01, + .p2 = 4.7057889548236420e-02, + .k3 = 1.2045606388669163e+00, + }, + + .camera_matrix = { + .a11 = 1.0122924739235064e+04, + .a12 = 0, + .a13 = 5.4063808328357356e+02, + .a21 = 0, + .a22 = 1.0091265861649332e+04, + .a23 = 3.2225828876237193e+02, + .a31 = 0, + .a32 = 0, + .a33 = 1.0, + }, + }, + + // CS-mount, focal length 2.8mm, aperture 1.6 (O3000_LCS_F2_8) + { + .dist_coeff = { + .k1 = -4.2767583407486480e+00, + .k2 = 2.6248731301034013e+01, + .p1 = 7.8609123258541538e-03, + .p2 = 3.5374054685996053e-03, + .k3 = -8.9935343886238059e+01, + }, + + .camera_matrix = { + .a11 = 2.6998000732890600e+03, + .a12 = 0, + .a13 = 6.3616455649992679e+02, + .a21 = 0, + .a22 = 2.6987125203839237e+03, + .a23 = 4.4895958452543323e+02, + .a31 = 0, + .a32 = 0, + .a33 = 1.0, + }, + }, + + // CS-mount, focal length 4.2mm, aperture 1.4 (O3000_LCS_F4_2) + { + .dist_coeff = { + .k1 = -3.7570498088693711e+01, + .k2 = 1.5728357422468230e+03, + .p1 = 1.1791307984552163e-02, + .p2 = -1.3742991959700961e-02, + .k3 = 1.0475497983752284e+01, + }, + + .camera_matrix = { + .a11 = 9.9917306224860204e+03, + .a12 = 0, + .a13 = 6.5441343169200013e+02, + .a21 = 0, + .a22 = 9.9479425952720158e+03, + .a23 = 4.6795575668109700e+02, + .a31 = 0, + .a32 = 0, + .a33 = 1.0, + }, + }, + + // CS-mount, focal length 6.0mm, aperture 1.4 (O3000_LCS_F6_0) + { + .dist_coeff = { + .k1 = -2.3964178081799389e+01, + .k2 = 4.4902969904416392e+02, + .p1 = 2.2481087999585000e-01, + .p2 = 1.1427760423539150e-01, + .k3 = 1.3202448608914709e+01, + }, + + .camera_matrix = { + .a11 = 1.0267898783331597e+04, + .a12 = 0, + .a13 = 5.9040975894428607e+02, + .a21 = 0, + .a22 = 1.0167762137245367e+04, + .a23 = 3.7217036432075685e+02, + .a31 = 0, + .a32 = 0, + .a33 = 1.0, + }, + }, + + // CS-mount, focal length 8.0mm, aperture 1.4 (O3000_LCS_F8_0) + { + .dist_coeff = { + .k1 = -3.1323351826805144e+01, + .k2 = -8.8565542864692248e-01, + .p1 = 1.3154594427821961e-01, + .p2 = 1.3393386186128195e-01, + .k3 = -1.7372379469761756e-03, + }, + + .camera_matrix = { + .a11 = 1.6071195111825766e+04, + .a12 = 0, + .a13 = 5.9208178498651694e+02, + .a21 = 0, + .a22 = 1.6265935400534616e+04, + .a23 = 4.0867129284489448e+02, + .a31 = 0, + .a32 = 0, + .a33 = 1.0, + }, + }, + + // CS-mount, focal length 12.0mm, aperture 1.4 (O3000_LCS_F12_0) + { + .dist_coeff = { + .k1 = -8.7854099735158311e+00, + .k2 = 3.0664687310188293e+02, + .p1 = -1.5840425493675159e-01, + .p2 = -2.4142181141228097e-02, + .k3 = 1.4519448386845686e+00, + }, + + .camera_matrix = { + .a11 = 1.2466587046030105e+04, + .a12 = 0, + .a13 = 6.9244116287526458e+02, + .a21 = 0, + .a22 = 1.2309699089674952e+04, + .a23 = 6.9766565927729926e+02, + .a31 = 0, + .a32 = 0, + .a33 = 1.0, + }, + }, +}; + + +/** + * Color Correction Matrix for various ambient lights. + * + * How to get the color correction matrix (CCM): + * + * 1. Place a 24 patch Macbeth chart in a properly illuminated location. It's recommended to use a + * light booth with a normed color temperature (i. g. d65). Otherwise, you can do the + * calibration process during a cloudy day because the illument is about d65 (6500 K). Put + * the chart in the front of a window and switch off the room light. + * 2. Enable auto white balance and camera calibration (lense correction) algorithm. All other algorithms + * must be disabled. + * 3. Adjust image brightness and make sure that the lower left white patch has a value about 220. + * Use the XML-command brightness to reach the defined value. + * 4. Save the image and use the software SensorTune from Aptina to get the correction matrix. + */ +static const float ccm_presets[][3][3] = { + + // CCM_PRESET_O3020 + { + {1.7392, -0.7660, 0.1968}, + {-0.2509, 1.5322, -0.1113}, + {0.0840, -0.4782, 1.5641}, + }, +}; + + + + +/** + * Initialize pipeline with reasonable default value. + * + * @param pipe Pointer to pipeline data. + */ +static void set_default_value(struct color_pipe_t *pipe) { + + pipe->debayer_data.alg = BAYER_ALG_BILINEAR; + pipe->debayer_data.alg_new = pipe->debayer_data.alg; + + pipe->awb_data.enable = 0; + pipe->awb_data.gray_threshold = 0.3; + pipe->awb_data.gray_threshold_new = pipe->awb_data.gray_threshold; + pipe->awb_data.ctrl_k = 0.01; + pipe->awb_data.ctrl_k_new = pipe->awb_data.ctrl_k; + pipe->awb_data.gain_red = 1.0; + pipe->awb_data.gain_blue = 1.0; + + pipe->cam_calib_data.enable = 0; + pipe->cam_calib_data.lense = O3000_LS_F2_8; + pipe->cam_calib_data.lense_new = pipe->cam_calib_data.lense; + memcpy(&(pipe->cam_calib_data.dist_coeff), &o3000_lens_coeffs[pipe->cam_calib_data.lense].dist_coeff, sizeof(struct dist_coeff_t)); + memcpy(&(pipe->cam_calib_data.camera_matrix), &o3000_lens_coeffs[pipe->cam_calib_data.lense].camera_matrix, sizeof(struct camera_matrix_t)); + pipe->cam_calib_data.undistort_map_init = 0; + + pipe->color_calib_data.enable = 0; + pipe->color_calib_data.ccm = CCM_PRESET_O3020; + pipe->color_calib_data.ccm_new = pipe->color_calib_data.ccm; + memcpy(pipe->color_calib_data.a, ccm_presets[pipe->color_calib_data.ccm], sizeof(pipe->color_calib_data.a)); + + pipe->sharp_data.enable = 0; + pipe->sharp_data.sharp_factor = 5.0; + pipe->sharp_data.sharp_factor_new = pipe->sharp_data.sharp_factor; + pipe->sharp_data.sharp_alg = SHARP_ALG_LOCAL; + pipe->sharp_data.sharp_alg_new = pipe->sharp_data.sharp_alg; + pipe->sharp_data.local_sens = 94.0; + pipe->sharp_data.local_sens_new = pipe->sharp_data.local_sens_new; + + pipe->gamma_data.enable = 0; + pipe->gamma_data.gamma = 1.2; + pipe->gamma_data.gamma_new = pipe->gamma_data.gamma; +} + + +/** + * Free aligned memory. + * + * @param buf Pointer to aligned memory to be freed + */ +static void do_aligned_free(void *buf) { + if(buf != NULL) { + ALIGNED_FREE(buf); + } +} + + +/** + * Allocate aligned memory. + * + * @param alignment aligment size in bytes like 8, 16, 32 + * @param size size in bytes to allocate + * @param func for debugging purposes do specify the calling function name + * @param line for debugging purposes do specify the line number from calling this function + * @return Pointer to aligned allocated memory or NULL on error + */ +static void *do_aligned_alloc(size_t alignment, size_t size, const char *func, int line) { + void *mem; + + // The image size must be a multiple of the alignment size. + if((size % alignment) != 0) { + size = ((size/alignment)+1)*alignment; + } + + mem = ALIGNED_ALLOC(alignment, size); + if(mem == NULL) { + printf("%s: aligned_alloc() line %d failed: %s\n", func, line, strerror(errno)); + return NULL; + } + return mem; +} + + +/** + * Process raw image at color pipeline. + * + * + * @param color_pipe Pointer to pipeline data. + * @param img_buf raw input image + * @param img_header image header @see o3000.h + */ +void __stdcall color_pipe_process(struct color_pipe_t *__restrict__ color_pipe, + void *__restrict__ img_buf, + struct img_header_t *__restrict__ img_header) { + + int height, width, bit_channel, is_color; + int header_version; + enum enumBayerPattern_t bayer_patter; + enum enumDataFormat_t raw_format; + void *img_out; + enum o3000_lenses_t lens_type; + enum ccm_preset_t ccm_type; + + + /* + * Extract image header information. + */ + raw_format = (enum enumDataFormat_t) (img_header->format); + width = img_header->width; + height = img_header->height; + bayer_patter = (enum enumBayerPattern_t) (img_header->bayer_pattern); + header_version = img_header->version; + + // set bit per pixel + if(raw_format == DF_RAW_MONO_8 || raw_format == DF_RAW_BAYER_8) { + bit_channel = 8; + } + else { + bit_channel = 12; + } + + // set flag to indicate mono or color image + if(raw_format == DF_RAW_MONO_8 || raw_format == DF_RAW_MONO_12 || raw_format == DF_HDR_MONO_20_COMP) { + is_color = 0; + } + else { + is_color = 1; + } + + // set output image to raw image + img_out = img_buf; + + /* + * Pipeline stage: Demosaicing + */ + if(is_color) { + color_pipe->debayer_data.img_raw = img_buf; + color_pipe->debayer_data.height = height; + color_pipe->debayer_data.width = width; + color_pipe->debayer_data.format = raw_format; + color_pipe->debayer_data.start_pattern = bayer_patter; + debayer(&(color_pipe->debayer_data)); + + img_out = color_pipe->debayer_data.img_rgb; + } + + + /* + * Pipeline stage: White-Balancing + */ + if(color_pipe->awb_data.enable && is_color) { + + // reset color gains if gray threshold or proportional factor have changed + if( color_pipe->awb_data.ctrl_k != color_pipe->awb_data.ctrl_k_new || + color_pipe->awb_data.gray_threshold != color_pipe->awb_data.gray_threshold_new) { + color_pipe->awb_data.gain_red = 1; + color_pipe->awb_data.gain_blue = 1; + + } + + // apply user parameter (double buffered) + color_pipe->awb_data.ctrl_k = color_pipe->awb_data.ctrl_k_new; + color_pipe->awb_data.gray_threshold = color_pipe->awb_data.gray_threshold_new; + + + + color_pipe->awb_data.img_in = img_out; + color_pipe->awb_data.bit_channel = bit_channel; + color_pipe->awb_data.height = height; + color_pipe->awb_data.width = width; + white_balance(&(color_pipe->awb_data)); + + img_out = color_pipe->awb_data.img_rgb_balanced; + } + else { + // always reset color gain if stage is disabled + color_pipe->awb_data.gain_red = 1; + color_pipe->awb_data.gain_blue = 1; + } + + + /* + * Pipeline stage: Camera calibration + */ + if(color_pipe->cam_calib_data.enable) { + + // apply user parameter (double buffered) + lens_type = color_pipe->cam_calib_data.lense_new; + if(color_pipe->cam_calib_data.lense != lens_type) { + color_pipe->cam_calib_data.lense = lens_type; + memcpy(&(color_pipe->cam_calib_data.dist_coeff), &o3000_lens_coeffs[lens_type].dist_coeff, sizeof(struct dist_coeff_t)); + memcpy(&(color_pipe->cam_calib_data.camera_matrix), &o3000_lens_coeffs[lens_type].camera_matrix, sizeof(struct camera_matrix_t)); + } + + color_pipe->cam_calib_data.img_in = img_out; + color_pipe->cam_calib_data.is_color = is_color; + + // reninit undistortion map if image format or resolution have changed + if( color_pipe->cam_calib_data.bit_channel != bit_channel || + color_pipe->cam_calib_data.tot_width != width || + color_pipe->cam_calib_data.tot_height != height) { + + color_pipe->cam_calib_data.undistort_map_init = 0; + } + + + color_pipe->cam_calib_data.bit_channel = bit_channel; + color_pipe->cam_calib_data.tot_width = width; + color_pipe->cam_calib_data.tot_height = height; + + // field-of-view available since O-3000 image header version 4 + if(header_version >= 4) { + // reninit undistortion map if field-of-view has changed + if( color_pipe->cam_calib_data.fov_x_start != img_header->fov_x_start || + color_pipe->cam_calib_data.fov_x_end != img_header->fov_x_end || + color_pipe->cam_calib_data.fov_y_start != img_header->fov_y_start || + color_pipe->cam_calib_data.fov_y_end != img_header->fov_y_end) { + + color_pipe->cam_calib_data.undistort_map_init = 0; + } + color_pipe->cam_calib_data.fov_x_start = img_header->fov_x_start; + color_pipe->cam_calib_data.fov_x_end = img_header->fov_x_end; + color_pipe->cam_calib_data.fov_y_start = img_header->fov_y_start; + color_pipe->cam_calib_data.fov_y_end = img_header->fov_y_end; + } + else { + // assume that image is displayed without ROI (region-of-interest) + color_pipe->cam_calib_data.fov_x_start = 0; + color_pipe->cam_calib_data.fov_x_end = width-1; + color_pipe->cam_calib_data.fov_y_start = 0; + color_pipe->cam_calib_data.fov_y_end = height-1; + } + camera_calib(&(color_pipe->cam_calib_data)); + + img_out = color_pipe->cam_calib_data.img_calib; + } + + + /* + * Pipeline stage: Color Correction + */ + if(color_pipe->color_calib_data.enable && is_color) { + + // apply user parameter (double buffered) + ccm_type = color_pipe->color_calib_data.ccm_new; + if(color_pipe->color_calib_data.ccm != ccm_type) { + color_pipe->color_calib_data.ccm = ccm_type; + memcpy(color_pipe->color_calib_data.a, ccm_presets[ccm_type], sizeof(color_pipe->color_calib_data.a)); + } + + color_pipe->color_calib_data.img_in = img_out; + color_pipe->color_calib_data.bit_channel = bit_channel; + color_pipe->color_calib_data.width = width; + color_pipe->color_calib_data.height = height; + color_calib(&(color_pipe->color_calib_data)); + + img_out = color_pipe->color_calib_data.img_calib; + } + + + /* + * Pipeline stage: Image sharpening + */ + if(color_pipe->sharp_data.enable) { + + // apply user parameter (double buffered) + color_pipe->sharp_data.sharp_factor = color_pipe->sharp_data.sharp_factor_new; + color_pipe->sharp_data.sharp_alg = color_pipe->sharp_data.sharp_alg_new; + color_pipe->sharp_data.local_sens = color_pipe->sharp_data.local_sens_new; + + color_pipe->sharp_data.img_in = img_out; + color_pipe->sharp_data.is_color = is_color; + color_pipe->sharp_data.bit_channel = bit_channel; + color_pipe->sharp_data.width = width; + color_pipe->sharp_data.height = height; + sharpening(&(color_pipe->sharp_data)); + + img_out = color_pipe->sharp_data.img_sharp; + } + + + /* + * Pipeline stage: Gamma correction + */ + if(color_pipe->gamma_data.enable) { + + // apply user parameter (double buffered) + color_pipe->gamma_data.gamma = color_pipe->gamma_data.gamma_new; + + color_pipe->gamma_data.img_in = img_out; + color_pipe->gamma_data.is_color = is_color; + color_pipe->gamma_data.bit_channel = bit_channel; + color_pipe->gamma_data.width = width; + color_pipe->gamma_data.height = height; + gamma_corr(&(color_pipe->gamma_data)); + + img_out = color_pipe->gamma_data.img_gamma; + } + + + /* + * Return processed image depending on active pipeline stages. + */ + color_pipe->img_out = img_out; + color_pipe->is_color = is_color; + color_pipe->bit_channel = bit_channel; + color_pipe->width = width; + color_pipe->height = height; +} + + +/** + * Pipeline stage configuration: Auto-White-Balancing + * + * @param color_pipe Pointer to pipeline context + * @param enable not 0: enable, 0: disable + * @param alg demosaicing algorithm type + */ +void __stdcall color_pipe_stageconf_debayer(struct color_pipe_t *color_pipe, enum bayer_alg_t alg) { + + // paranoia + if(color_pipe == NULL) { + printf("%s: Pipeline pointer is NULL!\n", __func__); + return; + } + color_pipe->debayer_data.alg_new = alg; +} + + +/** + * Pipeline stage configuration: Auto-White-Balancing + * + * @param color_pipe Pointer to pipeline context + * @param enable not 0: enable, 0: disable + * @param gray_threshold gray threshold (default 0.3) + * @param ctrl_gain gray threshold (default 0.01) + */ +void __stdcall color_pipe_stageconf_awb(struct color_pipe_t *color_pipe, int enable, float gray_threshold, float ctrl_gain) { + + // paranoia + if(color_pipe == NULL) { + printf("%s: Pipeline pointer is NULL!\n", __func__); + return; + } + + color_pipe->awb_data.enable = enable; + color_pipe->awb_data.gray_threshold_new = gray_threshold; + color_pipe->awb_data.ctrl_k_new = ctrl_gain; +} + + +/** + * Pipeline stage configuration: Camera Calibration + * + * @param color_pipe Pointer to pipeline context + * @param enable not 0: enable, 0: disable + * @param lense initialize pipeline stage with given lense type + */ +void __stdcall color_pipe_stageconf_cam_calib(struct color_pipe_t *color_pipe, int enable, enum o3000_lenses_t lense) { + + // paranoia + if(color_pipe == NULL) { + printf("%s: Pipeline pointer is NULL!\n", __func__); + return; + } + + // range check + if(lense < 0 || lense >= (sizeof(o3000_lens_coeffs)/sizeof(struct o3000_lens_coeffs_t))) { + printf("%s: Invalid lense type %d\n", __func__, lense); + return; + } + + color_pipe->cam_calib_data.enable = enable; + color_pipe->cam_calib_data.lense_new = lense; + color_pipe->cam_calib_data.undistort_map_init = 0; +} + + +/** + * Pipeline stage configuration: Color Calibration + * + * @param color_pipe Pointer to pipeline context + * @param enable not 0: enable, 0: disable + * @param ccm_preset initialize pipeline stage with given color correction preset data + */ +void __stdcall color_pipe_stageconf_color_calib(struct color_pipe_t *color_pipe, int enable, + enum ccm_preset_t ccm_preset) { + + // paranoia + if(color_pipe == NULL) { + printf("%s: Pipeline pointer is NULL!\n", __func__); + return; + } + + // range check + if(ccm_preset < 0 || ccm_preset >= (sizeof(ccm_presets)/sizeof(ccm_presets[0]))) { + printf("%s: Invalid color type %d\n", __func__, ccm_preset); + return; + } + + color_pipe->color_calib_data.enable = enable; + color_pipe->color_calib_data.ccm_new = ccm_preset; +} + + +/** + * Pipeline stage configuration: Sharpening + * + * @param color_pipe Pointer to pipeline context + * @param enable not 0: enable, 0: disable + * @param factor sharpening factor (default 5.0) + * @param alg algorithm type + * @param sens sensitivity (default 94.0) + */ +void __stdcall color_pipe_stageconf_sharp(struct color_pipe_t *color_pipe, int enable, + float factor, enum sharp_alg_t alg, float sens) { + + // paranoia + if(color_pipe == NULL) { + printf("%s: Pipeline pointer is NULL!\n", __func__); + return; + } + color_pipe->sharp_data.enable = enable; + color_pipe->sharp_data.sharp_factor_new = factor; + color_pipe->sharp_data.sharp_alg_new = alg; + color_pipe->sharp_data.local_sens_new = sens; +} + + +/** + * Pipeline stage configuration: Gamma Correction + * + * @param color_pipe Pointer to pipeline context + * @param enable not 0: enable, 0: disable + * @param gamma gamma factor (1.0 means no gamma correction, default 1.2) + */ +void __stdcall color_pipe_stageconf_gamma(struct color_pipe_t *color_pipe, int enable, float gamma) { + + // paranoia + if(color_pipe == NULL) { + printf("%s: Pipeline pointer is NULL!\n", __func__); + return; + } + color_pipe->gamma_data.enable = enable; + color_pipe->gamma_data.gamma_new = gamma; +} + + +/** + * Open color image processing pipeline. + * This function allocates memory for various pipe algorithm. The pipeline is set up for a maximum possible image size defined + * by the height, width and bitdepth per color channel. + * + * NOTE + * This function uses dynamic memory allocation. If the pipeline isn't use anymore do close it by calling @ref color_pipe_close. + * + * @param color_pipe On return: Pointer to pipeline data. Dynamic memory is allocated. + * @param max_img_height maximum possible image height in number of pixels + * @param max_img_width maximum possible image width in number of pixels + * @param bits_per_channel maximum possible number of bits per color channel + * @return 0 on success, -1 on error + */ +int __stdcall color_pipe_open(struct color_pipe_t **color_pipe, const int max_img_height, const int max_img_width, + const int bits_per_channel) { + + int byte_per_pixel, max_img_size, max_img_size_yuv, max_img_size_binary; + struct color_pipe_t *data; + + if(color_pipe == NULL) { + printf("%s: Pipeline data pointer is NULL!\n", __func__); + return -1; + } + + data = calloc(1, sizeof(struct color_pipe_t)); + if(data == NULL) { + PRINTF_ERRNO("calloc"); + return -1; + } + + + /* + * Calculate the number of bytes per pixel are used for a color image. + * Always, a color image has 3 channels with the given bit-depth max_img_bpp. + * + * e. g. 8 bits-per-channel results to 3 byte per pixel + * 12 bits-per-channel results to 6 byte per pixel + */ + if((bits_per_channel%8) == 0) { + byte_per_pixel = bits_per_channel/8; + } + else { + byte_per_pixel = bits_per_channel/8 + 1; + } + byte_per_pixel *= 3; + + + /* + * Do calculate the maximum possible image size. + */ + max_img_size = max_img_height*max_img_width*byte_per_pixel; + + + /* + * The YUV image uses 16 bit-per-channel always. + */ + max_img_size_yuv = max_img_height*max_img_width*3*2; + + + /* + * The binary image uses 8 bit-per-channel always. + */ + max_img_size_binary = max_img_height*max_img_width*3; + + + /* + * Important note for dynamic memory allocation: + * Various pipeline algorithms are using SIMD instructions like SSE2 (128 bit register) and AVX (256 bit registers). Therfore any + * image buffer is allocated to a 32-byte boundary. Using SIMD instructions on a unaligned buffer may generate a general-protection exception. + */ + + // allocate memory for demosaicing algorithm + data->debayer_data.img_rgb = do_aligned_alloc(ALIGNMENT_SIZE, max_img_size, __func__, __LINE__-1); + if(data->debayer_data.img_rgb == NULL) { + goto _pipe_open_abort; + } + + // allocate memory for auto white balancing algorithm + data->awb_data.img_rgb_balanced = do_aligned_alloc(ALIGNMENT_SIZE, max_img_size, __func__, __LINE__-1); + if(data->awb_data.img_rgb_balanced == NULL) { + goto _pipe_open_abort; + } + data->awb_data.img_yuv = do_aligned_alloc(ALIGNMENT_SIZE, max_img_size_yuv, __func__, __LINE__-1); + if(data->awb_data.img_yuv == NULL) { + goto _pipe_open_abort; + } + + // allocate memory for camera calibration algorithm + data->cam_calib_data.img_calib = do_aligned_alloc(ALIGNMENT_SIZE, max_img_size, __func__, __LINE__-1); + if(data->cam_calib_data.img_calib == NULL) { + goto _pipe_open_abort; + } + data->cam_calib_data.calib_map = do_aligned_alloc(ALIGNMENT_SIZE, + sizeof(struct lense_undistort_coord_t)*max_img_height*max_img_width, + __func__, __LINE__-1); + if(data->cam_calib_data.calib_map == NULL) { + goto _pipe_open_abort; + } + + // allocate memory for color calibration algorithm + data->color_calib_data.img_calib = do_aligned_alloc(ALIGNMENT_SIZE, max_img_size, __func__, __LINE__-1); + if(data->color_calib_data.img_calib == NULL) { + goto _pipe_open_abort; + } + + // allocate memory for sharpening algorithm + data->sharp_data.img_sharp = do_aligned_alloc(ALIGNMENT_SIZE, max_img_size, __func__, __LINE__-1); + if(data->sharp_data.img_sharp == NULL) { + goto _pipe_open_abort; + } + data->sharp_data.img_yuv = do_aligned_alloc(ALIGNMENT_SIZE, max_img_size_yuv, __func__, __LINE__-1); + if(data->sharp_data.img_yuv == NULL) { + goto _pipe_open_abort; + } + data->sharp_data.img_yuv_sharp = do_aligned_alloc(ALIGNMENT_SIZE, max_img_size_yuv, __func__, __LINE__-1); + if(data->sharp_data.img_yuv_sharp == NULL) { + goto _pipe_open_abort; + } + data->sharp_data.img_sobel = do_aligned_alloc(ALIGNMENT_SIZE, max_img_size_yuv, __func__, __LINE__-1); + if(data->sharp_data.img_sobel == NULL) { + goto _pipe_open_abort; + } + data->sharp_data.img_gauss = do_aligned_alloc(ALIGNMENT_SIZE, max_img_size_yuv, __func__, __LINE__-1); + if(data->sharp_data.img_gauss == NULL) { + goto _pipe_open_abort; + } + data->sharp_data.sharp_mask = do_aligned_alloc(ALIGNMENT_SIZE, max_img_size_binary, __func__, __LINE__-1); + if(data->sharp_data.sharp_mask == NULL) { + goto _pipe_open_abort; + } + + // allocate memory for gamma correction algorithm + data->gamma_data.img_gamma = do_aligned_alloc(ALIGNMENT_SIZE, max_img_size, __func__, __LINE__-1); + if(data->gamma_data.img_gamma == NULL) { + goto _pipe_open_abort; + } + + // Lookup table size depends on bits per color channel. + data->gamma_data.gamma_table = do_aligned_alloc(ALIGNMENT_SIZE, (1<gamma_data.gamma_table == NULL) { + goto _pipe_open_abort; + } + + set_default_value(data); + *color_pipe = data; + + // detect CPU features +#if (WITH_SIMD == 1) + if(cpu_feature_init()) { + printf("%s: Detecting CPU features failed\n", __func__); + } +#endif // WITH_SIMD + return 0; + +_pipe_open_abort: + color_pipe_close(data); + return -1; +} + + +/** + * Close color image processing pipeline. + * This function cleans up the pipeline and is freeing the used memory. + * + * @param data Pointer to pipeline data + */ +int __stdcall color_pipe_close(struct color_pipe_t *data) { + + if(data == NULL) { + printf("%s: Pipeline data pointer is NULL!\n", __func__); + return -1; + } + + // free various image buffers + do_aligned_free(data->debayer_data.img_rgb); + do_aligned_free(data->awb_data.img_rgb_balanced); + do_aligned_free(data->awb_data.img_yuv); + do_aligned_free(data->cam_calib_data.img_calib); + do_aligned_free(data->cam_calib_data.calib_map); + do_aligned_free(data->color_calib_data.img_calib); + do_aligned_free(data->sharp_data.img_sharp); + do_aligned_free(data->sharp_data.img_yuv); + do_aligned_free(data->sharp_data.img_yuv_sharp); + do_aligned_free(data->sharp_data.img_sobel); + do_aligned_free(data->sharp_data.img_gauss); + do_aligned_free(data->sharp_data.sharp_mask); + do_aligned_free(data->gamma_data.img_gamma); + do_aligned_free(data->gamma_data.gamma_table); + + // free various image buffers + free(data); + return 0; +} diff --git a/color_pipe.h b/color_pipe.h new file mode 100644 index 0000000..9dfcdc0 --- /dev/null +++ b/color_pipe.h @@ -0,0 +1,328 @@ +/** +* @file color_pipe.h +* @brief Color Processing Pipeline Definitions +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2016-03-01 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + + +#ifndef _COLOR_PIPE_H +#define _COLOR_PIPE_H + + +#include +#include + + +/** + * library version + */ +#define COLOR_PIPE_VERSION "1.0.0" + + + + +/** + * demosaicing algorithm definition + */ +enum bayer_alg_t { + BAYER_ALG_BILINEAR = 0, ///< bilinear interpolation +}; + + +/** + * Demosaicing (debayer) data structure + * This algorithm is enabled always. + */ +struct debayer_data_t { + void *img_rgb; ///< RGB output image. This buffer must be allocated externly. + void *img_raw; ///< Pointer to input image containing raw bayer image. + int height; ///< image height in number of pixels + int width; ///< image width in number of pixels + enum enumDataFormat_t format; ///< data format of input image + enum enumBayerPattern_t start_pattern; ///< first pixel starts with this bayer pattern + enum bayer_alg_t alg; ///< debayer algorithm type + enum bayer_alg_t alg_new; ///< this debayer algorithm type is changed by API call (use double buffering concept) +}; + + +/** + * automatic white balance (AWB) data structure + */ +struct awb_data_t { + int enable; ///< flag to enable this algorithm + void *img_rgb_balanced; ///< White balanced RGB output image. This buffer must be allocated externly. + void *img_in; ///< Unbalanced RGB input image. + int bit_channel; ///< Bits per color channel. + int height; ///< image height in number of pixels + int width; ///< image width in number of pixels + int16_t *img_yuv; ///< Image buffer holding YUV image. This buffer must be allocated externly. + float gray_threshold; ///< gray value threshold + float gray_threshold_new; ///< this gray value threshold is changed by API call (use double buffering concept) + float ctrl_k; ///< controller gain + float ctrl_k_new; ///< this controller gain is changed by API call (use double buffering concept) + float gain_red; ///< red color gain + float gain_blue; ///< blue color gain +}; + + + +/** + * camera distortion coefficient definition + */ +struct dist_coeff_t { + float k1; ///< radial distortion factor k1 + float k2; ///< radial distortion factor k2 + float p1; ///< tangential distortion factor p1 + float p2; ///< tangential distortion factor p2 + float k3; ///< radial distortion factor k3 +}; + + +/** + * camera matrix definition + */ +struct camera_matrix_t { + float a11; ///< fx: focal length in x-direction + float a12; ///< skew: axis skew + float a13; ///< cx: optical center in x-direction + float a21; ///< must be 0.0 + float a22; ///< focal length in y-direction + float a23; ///< optical center in y-direction + float a31; ///< must be 0.0 + float a32; ///< must be 0.0 + float a33; ///< must be 1.0 +}; + + +/** + * O-3000 lense definitions supplied by Stettbacher Signal Processing. + * Lense definitions are used to load lens specific distortion coefficients. + */ +enum o3000_lenses_t { + + // S-mount lenses + O3000_LS_F2_8 = 0, ///< S-mount, focal length 2.8mm, aperture 2.0 + O3000_LS_F4_2, ///< S-mount, focal length 4.2mm, aperture 1.8 + O3000_LS_F6_0, ///< S-mount, focal length 6.0mm, aperture 1.8 + O3000_LS_F8_0, ///< S-mount, focal length 8.0mm, aperture 1.8 + O3000_LS_F12_0, ///< S-mount, focal length 12.0mm, aperture 1.8 + + // CS-mount lenses + O3000_LCS_F2_8, ///< CS-mount, focal length 2.8mm, aperture 1.6 + O3000_LCS_F4_2, ///< CS-mount, focal length 4.2mm, aperture 1.4 + O3000_LCS_F6_0, ///< CS-mount, focal length 6.0mm, aperture 1.4 + O3000_LCS_F8_0, ///< CS-mount, focal length 8.0mm, aperture 1.4 + O3000_LCS_F12_0, ///< CS-mount, focal length 12.0mm, aperture 1.4 +}; + + +/** + * Lense undistortion coordinate definition. + * This coordinate pair defines the undistorted pixel location. + * + * NOTE The pixel location may lay between a pixel pair. Therefore this coordinates are + * scaled by a defined factor defined at @ref cam_calib_data_t. + */ +struct lense_undistort_coord_t { + int coord_x; ///< x-coordinate of calibrated pixel + int coord_y; ///< y-coordinate of calibrated pixel +}; + + +/** + * camera calibration structure + * + * The total width @ref tot_width and height @ref tot_height define the image size take during calibration processs. + * The field of view defines the current image windows. This window is less or equal to the total image size. + */ +struct cam_calib_data_t { + int enable; ///< flag to enable this algorithm + void *img_calib; ///< Undistorted (calibrated) output image. This buffer must be allocated externly. + void *img_in; ///< Uncalibrated distorted input image. + int is_color; ///< Not 0 if it's a color image. + int bit_channel; ///< Bits per color channel. + int tot_width; ///< total image width in pixels used during calibration process + int tot_height; ///< total image height in pixels used during calibration process + int fov_x_start; ///< field of view start pixel coordinate in x-direction + int fov_x_end; ///< field of view end pixel coordinate in x-direction + int fov_y_start; ///< field of view start pixel coordinate in y-direction + int fov_y_end; ///< field of view end pixel coordinate in y-direction + struct dist_coeff_t dist_coeff; ///< distortion coefficients + struct camera_matrix_t camera_matrix; ///< camera matrix + enum o3000_lenses_t lense; ///< lense type + enum o3000_lenses_t lense_new; ///< lense type is changed by API call (use double buffering concept) + int undistort_map_init; ///< flag indicating if lens undistortion map is initialized + struct lense_undistort_coord_t *calib_map; ///< Lense undistortion map. This buffer must be allocated externly. + int calib_map_scale_fact; ///< Bit shifts applied on undistortion map. +}; + + +/** + * Color Correction Matrix presets (CCM) for various camera types + */ +enum ccm_preset_t { + CCM_PRESET_O3020 = 0, ///< O-3020 camera from Stettbacher Signal Processing +}; + + +/** + * color calibration structure definition + * + * + * The color correction matrix A maps the uncalibrated image (img_uncal) to the + * calibrated image (img_calib) according to the following transformation: + * + * img_calib = A * img_uncal + * + * where + * + * | a11 a12 a13 | + * A = | a21 a22 a23 | + * | a31 a32 a33 | + * + * + * | red_uncal | + * img_uncal = | green_uncal | + * | blue_uncal | + * + * | red_calib | + * img_calib = | green_calib | + * | blue_calib | + * + * + * red_calib = a11*red_uncal + a12*green_uncal + a12*blue_uncal + * green_calib = a21*red_uncal + a22*green_uncal + a22*blue_uncal + * blue_calib = a31*red_uncal + a32*green_uncal + a32*blue_uncal + * + */ +struct color_calib_data_t { + int enable; ///< flag to enable this algorithm + void *img_calib; ///< Color calibrated output image. This buffer must be allocated externly. + void *img_in; ///< Uncalibrated input image + int bit_channel; ///< bits per color channel + int width; ///< image width in number of pixels + int height; ///< image height in number of pixels + float a[3][3]; ///< 3x3 color correction matrix + enum ccm_preset_t ccm; ///< color correction matrix type loaded + enum ccm_preset_t ccm_new; ///< this color correction matrix type is changed by API call (use double buffering concept) +}; + + +/** + * Sharpening algorithm definition + */ +enum sharp_alg_t { + SHARP_ALG_GLOBAL = 0, ///< global sharpening algorithm + SHARP_ALG_LOCAL, ///< local sharpening algorithm +}; + + +/** + * Sharpening data definition + */ +struct sharp_data_t { + int enable; ///< flag to enable this algorithm + void *img_sharp; ///< Sharpened output RGB image. This buffer must be allocated externly. + void *img_in; ///< Unsharp RGB input image. + int is_color; ///< Not 0 if it's a color image + int bit_channel; ///< Bits per color channel. + int width; ///< image width in number of pixels + int height; ///< image height in number of pixels + int16_t *img_yuv; ///< YUV image buffer. This buffer must be allocated externly. + float sharp_factor; ///< Sharpening factor: As higher as stronger sharpening is done. + float sharp_factor_new; ///< this sharpening factor is changed by API call (use double buffering concept) + enum sharp_alg_t sharp_alg; ///< sharpening algorithm type + enum sharp_alg_t sharp_alg_new; ///< this algorithm type is changed by API call (use double buffering concept) + float local_sens; ///< Sensitivity setting of local sharpening algorithm in per cent. 100 % means everything is sharpened like the global algorithm does + float local_sens_new; ///< this sensitivity setting is changed by API call (use double buffering concept) + int16_t *img_yuv_sharp; ///< YUV image buffer holding sharpened Y-channel. This buffer must be allocated externly. + int16_t *img_sobel; ///< Sobel image in YUV color space used by local sharpening algorithm. This buffer must be allocated externly. + int16_t *img_gauss; ///< Gaussian low-pass filtered image in YUV color space used by local sharpening algorithm. This buffer must be allocated externly. + int8_t *sharp_mask; ///< Binary sharpening mask image used by local sharpening algorithm. This buffer must be allocated externly. +}; + + +/** + * Gamma correction data definition + */ +struct gamma_data_t { + int enable; ///< flag to enable this algorithm + void *img_gamma; ///< Gamma corrected output image. This buffer must be allocated externly. + void *img_in; ///< Input image. + int is_color; ///< Not 0 if it's a color image + int bit_channel; ///< Bits per color channel. + int width; ///< image width in number of pixels + int height; ///< image height in number of pixels + float gamma; ///< gamma coefficient + float gamma_new; ///< this gamma coefficient is changed by API call (use double buffering concept) + int gamma_table_bitdepth; ///< gamma table is initialized with this bit-depth + float gamma_table_init; ///< gamma table is initialized with this coefficient + int *gamma_table; ///< Lookup table containg gamma corrected value. This buffer must be allocated externly. +}; + + +/** + * Color pipe definition structure holding all memory data from different pipeline + * stages. This structure and image buffers are allocated dynamically. + */ +struct color_pipe_t { + + void *img_out; ///< Points to processed output image in RGB format. + int is_color; ///< Not 0 if it's a color image + int bit_channel; ///< Bits per color channel. + int width; ///< image width in number of pixels + int height; ///< image height in number of pixels + + struct debayer_data_t debayer_data; ///< demosaicing data + struct awb_data_t awb_data; ///< auto white balancing data + struct cam_calib_data_t cam_calib_data; ///< camera calibration data used for lens distortion correction + struct color_calib_data_t color_calib_data; ///< color calibration data used for color corretion + struct sharp_data_t sharp_data; ///< image sharpening data + struct gamma_data_t gamma_data; ///< gamma correction data +}; + + + +#if defined(__cplusplus) || defined(c_plusplus) +extern "C" { +#endif + +void __stdcall color_pipe_process(struct color_pipe_t *color_pipe, void *img_buf, struct img_header_t *img_header); +int __stdcall color_pipe_open(struct color_pipe_t **color_pipe, const int max_img_height, const int max_img_width, const int bits_per_channel); +int __stdcall color_pipe_close(struct color_pipe_t *data); + +void __stdcall color_pipe_stageconf_debayer(struct color_pipe_t *color_pipe, enum bayer_alg_t alg); +void __stdcall color_pipe_stageconf_awb(struct color_pipe_t *color_pipe, int enable, float gray_threshold, float ctrl_gain); +void __stdcall color_pipe_stageconf_cam_calib(struct color_pipe_t *color_pipe, int enable, enum o3000_lenses_t lense); +void __stdcall color_pipe_stageconf_color_calib(struct color_pipe_t *color_pipe, int enable, enum ccm_preset_t ccm_preset); +void __stdcall color_pipe_stageconf_sharp(struct color_pipe_t *color_pipe, int enable, float factor, enum sharp_alg_t alg, float sens); +void __stdcall color_pipe_stageconf_gamma(struct color_pipe_t *color_pipe, int enable, float gamma); + +#if defined(__cplusplus) || defined(c_plusplus) +} // extern "C" +#endif + + +#endif // _COLOR_PIPE_H diff --git a/color_pipe_private.h b/color_pipe_private.h new file mode 100644 index 0000000..bf412fe --- /dev/null +++ b/color_pipe_private.h @@ -0,0 +1,57 @@ +/** +* @file color_pipe_private.c +* @brief Color Processing Pipeline definitions for internal use only +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-08-20 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + + +#ifndef _COLOR_PROC_PIPE_H +#define _COLOR_PROC_PIPE_H + +#include +#include +#include "color_pipe.h" +#include "cpu_feature.h" + +#if defined(__cplusplus) || defined(c_plusplus) +extern "C" { +#endif + +int debayer(struct debayer_data_t *debayer_data); + +int white_balance(struct awb_data_t *awb_data); + +int camera_calib(struct cam_calib_data_t *data); + +int sharpening(struct sharp_data_t *sharp_data); + +int gamma_corr(struct gamma_data_t *gamma_data); + +#if defined(__cplusplus) || defined(c_plusplus) +} // extern "C" +#endif + + +#endif // _COLOR_PROC_PIPE_H diff --git a/cpu_feature.c b/cpu_feature.c new file mode 100644 index 0000000..62080a5 --- /dev/null +++ b/cpu_feature.c @@ -0,0 +1,122 @@ +/** +* @file cpu_feature.c +* @brief CPU feature detection (CPU ID) +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-11-12 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + + +#if __x86_64__ + +#include +#include +#include + +#include "cpu_feature.h" + + +// level 1 +static int cpu_feature_sse; +static int cpu_feature_sse2; +static int cpu_feature_sse3; +static int cpu_feature_ssse3; +static int cpu_feature_fma; +static int cpu_feature_avx; + +// level 7 +static int cpu_feature_avx2; + + +/** + * Check whether given CPU feature is available or not. + * + * @param type CPU feature type to check + * @return not 0 if available, 0 if not + */ +int cpu_feature_support(enum cpu_feature_t type) { + + /* + * Any CPU feature is disabled on 32 bit machine. + */ + switch(type) { + case CPU_FEATURE_SSE: return cpu_feature_sse; + case CPU_FEATURE_SSE2: return cpu_feature_sse2; + case CPU_FEATURE_SSE3: return cpu_feature_sse3; + case CPU_FEATURE_SSSE3: return cpu_feature_ssse3; + case CPU_FEATURE_FMA: return cpu_feature_fma; + case CPU_FEATURE_AVX: return cpu_feature_avx; + case CPU_FEATURE_AVX2: return cpu_feature_avx2; + } + return 0; +} + + +/** + * Initialize CPU features detection like MMX, SSE, SSE2, AVX etc. + * This function read and handles the CPU IDs. + * + * @return 0 on success otherwise -1 + */ +int cpu_feature_init(void) { + + unsigned int cpuid_basic, /*cpuid_highest, */sig; + unsigned int eax, ebx, ecx, edx; + + + cpuid_basic = __get_cpuid_max(0, &sig); + if(cpuid_basic == 0) { + printf("%s: Basic CPUID is not supported\n", __func__); + return -1; + } +// cpuid_highest = __get_cpuid_max(0x8000000, NULL); + + if(cpuid_basic >= 1) { + __cpuid_count(1, 0, eax, ebx, ecx, edx); + + cpu_feature_sse = (edx & bit_SSE) != 0 ? 1:0; + cpu_feature_sse2 = (edx & bit_SSE2) != 0 ? 1:0; + + cpu_feature_sse3 = (ecx & bit_SSE3) != 0 ? 1:0; + cpu_feature_ssse3 = (ecx & bit_SSSE3) != 0 ? 1:0; + cpu_feature_fma = (ecx & bit_FMA) != 0 ? 1:0; + cpu_feature_avx = (ecx & bit_AVX) != 0 ? 1:0; + } + + if(cpuid_basic >= 7) { + __cpuid_count(7, 0, eax, ebx, ecx, edx); + + cpu_feature_avx2 = (ebx & bit_AVX2) != 0 ? 1:0; + } + +// printf("%s: SSE %s\n", __func__, cpu_feature_sse != 0 ? "yes":"no"); +// printf("%s: SSE2 %s\n", __func__, cpu_feature_sse2 != 0 ? "yes":"no"); +// printf("%s: SSE3 %s\n", __func__, cpu_feature_sse3 != 0 ? "yes":"no"); +// printf("%s: SSSE3 %s\n", __func__, cpu_feature_ssse3 != 0 ? "yes":"no"); +// printf("%s: FMA %s\n", __func__, cpu_feature_fma != 0 ? "yes":"no"); +// printf("%s: AVX %s\n", __func__, cpu_feature_avx != 0 ? "yes":"no"); +// printf("%s: AVX2 %s\n", __func__, cpu_feature_avx2 != 0 ? "yes":"no"); + return 0; +} + +#endif // __x86_64__ diff --git a/cpu_feature.h b/cpu_feature.h new file mode 100644 index 0000000..11b5008 --- /dev/null +++ b/cpu_feature.h @@ -0,0 +1,48 @@ +/** +* @file cpu_feature.h +* @brief CPU feature detection definitions (CPU ID) +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-11-12 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + +#ifndef _CPU_FEATURE_H +#define _CPU_FEATURE_H + +/** + * CPU feature definitions + */ +enum cpu_feature_t { + CPU_FEATURE_SSE = 0, + CPU_FEATURE_SSE2, + CPU_FEATURE_SSE3, + CPU_FEATURE_SSSE3, + CPU_FEATURE_FMA, + CPU_FEATURE_AVX, + CPU_FEATURE_AVX2, +}; + +int cpu_feature_support(enum cpu_feature_t type); +int cpu_feature_init(void); + +#endif // _CPU_FEATURE_H \ No newline at end of file diff --git a/debayer.c b/debayer.c new file mode 100644 index 0000000..1733496 --- /dev/null +++ b/debayer.c @@ -0,0 +1,243 @@ +/** +* @file debayer.c +* @brief demosaicing algorithms +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-08-20 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + +#include +#include "color_pipe_private.h" + + +/** + * Return bayer pattern type of next line. + * + * @param pattern current pattern type + * @param offset_height height offset in number of lines + * @param offset_width width offset in numbers of rows + * @return pattern type of next line + */ +static inline enum enumBayerPattern_t getBayerType(enum enumBayerPattern_t pattern, int offset_height, int offset_width) { + + int offset_y = offset_height%2; + int offset_x = offset_width%2; + + if(offset_y == 0 && offset_x == 0) { + // do nothing + } + else if(offset_y == 0 && offset_x == 1) { + if(pattern == BP_GR) { + pattern = BP_RG; + } + else if(pattern == BP_RG) { + pattern = BP_GR; + } + else if(pattern == BP_BG) { + pattern = BP_GB; + } + else if(pattern == BP_GB) { + pattern = BP_BG; + } + } + else if(offset_y == 1 && offset_x == 0) { + if(pattern == BP_GR) { + pattern = BP_BG; + } + else if(pattern == BP_RG) { + pattern = BP_GB; + } + else if(pattern == BP_BG) { + pattern = BP_GR; + } + else if(pattern == BP_GB) { + pattern = BP_RG; + } + } + else if(offset_y == 1 && offset_x == 1) { + if(pattern == BP_GR) { + pattern = BP_GB; + } + else if(pattern == BP_RG) { + pattern = BP_BG; + } + else if(pattern == BP_BG) { + pattern = BP_RG; + } + else if(pattern == BP_GB) { + pattern = BP_GR; + } + } + return pattern; +} + + +/** + * Calculate RGB value depening on 9 pixel value from bayer pattern. + * + * @param p11 upper left pixel + * @param p12 upper center pixel + * @param p13 upper right pixel + * @param p21 center left pixel + * @param p22 center center pixel + * @param p23 center right pixel + * @param p31 lower left pixel + * @param p32 lower center pixel + * @param p33 lower right pixel + * @param pattern current bayer pattern type, this value is adjusted to next expected type after return + * @param red On return: red pixel value + * @param green On return: green pixel value + * @param blue On return: blue pixel value + */ +static inline void calc_bilinear(int p11, int p12, int p13, + int p21, int p22, int p23, + int p31, int p32, int p33, + enum enumBayerPattern_t *pattern, + int *red, int *green, int *blue) { + + switch(*pattern) { + case BP_GR: // green-red-green-red-... + *red = (p21 + p23) >> 1; + *green = (p11 + p13 + p22*4 + p31 + p33) >> 3; + *blue = (p12 + p32) >> 1; + *pattern = BP_RG; + break; + + case BP_RG: // red-green-red-green-... + *red = p22; + *green = (p12 + p21 + p23 + p32) >> 2; + *blue = (p11 + p13 + p31 + p33) >> 2; + *pattern = BP_GR; + break; + + case BP_BG: // blue-green-blue-green-... + *red = (p11 + p13 + p31 + p33) >> 2; + *green = (p12 + p21 + p23 + p32) >> 2; + *blue = p22; + *pattern = BP_GB; + break; + + case BP_GB: // green-blue-green-blue-... + *red = (p12 + p32) >> 1; + *green = (p11 + p13 + p22*4 + p31 + p33) >> 3; + *blue = (p21 + p23) >> 1; + *pattern = BP_BG; + break; + } +} + + +/** + * Bilinear demosaicing algorithm for RGB image (16 bit per color channel). + * + * @param img_rgb On return: RGB image in R-G-B order + * @param img_bayer bayer image + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param bayer_pattern first pixel starts with this pixel + * @return 0 on success otherwise -1 + */ +static void bilinear16(uint16_t *img_rgb, const uint16_t *img_bayer, const int height, const int width, const enum enumBayerPattern_t bayer_pattern) +#include "alg_debayer_bilinear.h" + + +/** + * Bilinear demosaicing algorithm for RGB image (8 bit per color channel). + * + * @param img_rgb On return: RGB image in R-G-B order + * @param img_bayer bayer image + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param bayer_pattern first pixel starts with this pixel + * @return 0 on success otherwise -1 + */ +static void bilinear8(uint8_t *img_rgb, const uint8_t *img_bayer, const int height, const int width, const enum enumBayerPattern_t bayer_pattern) +#include "alg_debayer_bilinear.h" + + +/** + * Bilinear demosaicing wrapper function used to select pixel-bit-depth dependet algrotihm. + * + * @param img_rgb On return: RGB image in R-G-B order + * @param img_bayer bayer image + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param data_format image data format + * @param bayer_pattern first pixel starts with this pixel + * @return 0 on success otherwise -1 + */ +static int bilinear_wrapper(void *img_rgb, const void *img_bayer, const int height, const int width, + const enum enumDataFormat_t data_format, const enum enumBayerPattern_t bayer_pattern) { + if(data_format == DF_RAW_BAYER_8) { + bilinear8(img_rgb, img_bayer, height, width, bayer_pattern); + } + else if(data_format == DF_RAW_BAYER_12 || data_format == DF_HDR_BAYER_20_COMP) { + bilinear16(img_rgb, img_bayer, height, width, bayer_pattern); + } + else { + printf("%s: image data format %d unknown\n", __func__, data_format); + return -1; + } + return 0; +} + + +/** + * Bayer to RGB image conversion algrithm (demosaicing) + * + * @param debayer_data required data for debayering + * @return 0 on success otherwise -1 + */ +int debayer(struct debayer_data_t *debayer_data) { + + void *img_rgb, *img_raw; + int ret, height, width; + enum enumDataFormat_t data_format; + enum enumBayerPattern_t bayer_pattern; + enum bayer_alg_t alg; + + ret = 0; + img_rgb = debayer_data->img_rgb; + img_raw = debayer_data->img_raw; + height = debayer_data->height; + width = debayer_data->width; + data_format = debayer_data->format; + bayer_pattern = debayer_data->start_pattern; + alg = debayer_data->alg; + + if(data_format == DF_RAW_MONO_8 || data_format == DF_RAW_MONO_12 || data_format == DF_HDR_MONO_20_COMP) { + printf("%s: No debayering is done on monochrome image (image data format %d)\n", __func__, data_format); + return -1; + } + + switch(alg) { + case BAYER_ALG_BILINEAR: + ret = bilinear_wrapper(img_rgb, img_raw, height, width, data_format, bayer_pattern); + break; + + default: + printf("%s: Debayer algorithm %d not implemented yet\n", __func__, alg); + ret = -1; + } + return ret; +} \ No newline at end of file diff --git a/filter.c b/filter.c new file mode 100644 index 0000000..6c8d51a --- /dev/null +++ b/filter.c @@ -0,0 +1,532 @@ +/** +* @file filter.c +* @brief various filtering algorithm +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-08-28 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + +#include +#include +#include +#include +#include + +#define MAX_GAUSS_KERNEL_SIZE 25 ///< maximum gaussian kernel size (must be an odd number) + + +/** + * Filter pixel with given 3x3 kernel. Fixed-point is used. + * + * @param a11 kernel weight at position 1/1 + * @param a12 kernel weight at position 1/2 + * @param a13 kernel weight at position 1/3 + * @param a21 kernel weight at position 2/1 + * @param a22 kernel weight at position 2/2 + * @param a23 kernel weight at position 2/3 + * @param a31 kernel weight at position 3/1 + * @param a32 kernel weight at position 3/2 + * @param a33 kernel weight at position 3/3 + * @param p11 pixel value at position 1/1 + * @param p12 pixel value at position 1/2 + * @param p13 pixel value at position 1/3 + * @param p21 pixel value at position 2/1 + * @param p22 pixel value at position 2/2 + * @param p23 pixel value at position 2/3 + * @param p31 pixel value at position 3/1 + * @param p32 pixel value at position 3/2 + * @param p33 pixel value at position 3/3 + * @param shift_fact The shifting factor defines how many number of bits the kernel and pixel were shifted to left. + * @return filtered pixel value + */ +static inline int16_t calc_filter3x3(const int16_t a11, const int16_t a12, const int16_t a13, + const int16_t a21, const int16_t a22, const int16_t a23, + const int16_t a31, const int16_t a32, const int16_t a33, + const int16_t p11, const int16_t p12, const int16_t p13, + const int16_t p21, const int16_t p22, const int16_t p23, + const int16_t p31, const int16_t p32, const int16_t p33, + const int shift_fact) { + + int16_t out; + + out = (a11*p11 + a12*p12 + a13*p13 + a21*p21 + a22*p22 + a23*p23 + a31*p31 + a32*p32 + a33*p33) >> shift_fact; + return out; +} + + +/** + * Apply sobel kernel to given 3x3 pixels. + * + * @param p11 pixel value at position 1/1 + * @param p12 pixel value at position 1/2 + * @param p13 pixel value at position 1/3 + * @param p21 pixel value at position 2/1 + * @param p22 pixel value at position 2/2 + * @param p23 pixel value at position 2/3 + * @param p31 pixel value at position 3/1 + * @param p32 pixel value at position 3/2 + * @param p33 pixel value at position 3/3 + * @return filtered pixel value + * + * NOTE + * For performance reasons the return value is ret = abs(sobel_x) + (abs sobel_y) instead of ret = sqrt(abs(sobel_x) + (abs sobel_y)) + */ +static inline int16_t calc_filter_sobel(const int16_t p11, const int16_t p12, const int16_t p13, + const int16_t p21, const int16_t p22, const int16_t p23, + const int16_t p31, const int16_t p32, const int16_t p33) { + + int16_t sobel_y, sobel_x; + + sobel_x = (-1)*p11 + p13 - 2*p21 + 2*p23 - p31 + p33; + if(sobel_x < 0) { + sobel_x = sobel_x * -1; + } + + sobel_y = (-1)*p11 - 2*p12 - p13 + p31 + 2*p32 + p33; + if(sobel_y < 0) { + sobel_y = sobel_y * -1; + } + + return (sobel_x+sobel_y); +} + + +/** + * Filter pixel at given image by applying NxN kernel. Each pixel at the image is a 32 bit signed value. The step size + * defines the offset to the next pixel. E. g. a step size of 3 means the image uses 3 32-bit channels. + * The image and the kernel uses fixed-point values. Therfore a shifting factor is used. + * + * NOTE + * The kernel heigth and width must be an odd value (e. g. 3x5 is accepted). This function doesn't make any sanity checks + * due to performance reason. + * + * @param img start image address + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param step_size step size + * @param coord_y y pixel coordinate to apply kernel + * @param coord_x x pixel coordinate to apply kernel + * @param a pointer to filter kernel (the kernel values must be shifted correctly) + * @param kernel_height kernel height in number of pixels + * @param kernel_width kernel width in number of pixels + * @param shift_fact shifting factor + * @return filtered pixel value + */ +static int16_t calc_filterNxN(const int16_t *img, const int height, const int width, const int step_size, + const int coord_y, const int coord_x, const int16_t *a, const int kernel_height, const int kernel_width, + const int shift_fact) { + + int y, x, y_start, y_end, x_start, x_end; + int index_img, index_kernel; + int64_t out; + + y_start = coord_y-kernel_height/2; + y_end = y_start+kernel_height; + x_start = coord_x-kernel_width/2; + x_end = x_start+kernel_width; + + index_kernel = 0; + out = 0; + for(y = y_start; y < y_end; y++) { + index_img = (y*width + x_start)*step_size; + for(x = x_start; x < x_end; x++) { + out += a[index_kernel]*img[index_img]; + index_img += step_size; + index_kernel++; + } + } + return (out>>shift_fact); +} + + +/** + * Apply sobel filter (edge detection) on given input image of type: 3 channels, 16 bit signed fixed-point per channel + * + * @param img_sobel On return: sobel filtered image + * @param img_in input image to be filtered + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param skip_ch1 set to 0 if channel 1 should be filtered + * @param skip_ch2 set to 0 if channel 2 should be filtered + * @param skip_ch3 set to 0 if channel 3 should be filtered + */ +void filter_sobel_3s16(int16_t *img_sobel, const int16_t *img_in, const int height, const int width, + const int skip_ch1, const int skip_ch2, const int skip_ch3) { + + int y, x, index_upper, index_center, index_lower, index_left, index_right; + + for(y = 1; y < (height-1); y++) { + + index_upper = (y-1)*width*3; + index_center = y*width*3; + index_lower = (y+1)*width*3; + + + for(x = 1; x < (width-1); x++) { + + if(!skip_ch1) { + img_sobel[index_center+3] = calc_filter_sobel( img_in[index_upper], img_in[index_upper+3], img_in[index_upper+6], + img_in[index_center], img_in[index_center+3], img_in[index_center+6], + img_in[index_lower], img_in[index_lower+3], img_in[index_lower+6]); + } + else { + img_sobel[index_center+3] = 0; + } + + index_upper++; + index_center++; + index_lower++; + + if(!skip_ch2) { + img_sobel[index_center+3] = calc_filter_sobel( img_in[index_upper], img_in[index_upper+3], img_in[index_upper+6], + img_in[index_center], img_in[index_center+3], img_in[index_center+6], + img_in[index_lower], img_in[index_lower+3], img_in[index_lower+6]); + } + else { + img_sobel[index_center+3] = 0; + } + + index_upper++; + index_center++; + index_lower++; + + if(!skip_ch3) { + img_sobel[index_center+3] = calc_filter_sobel( img_in[index_upper], img_in[index_upper+3], img_in[index_upper+6], + img_in[index_center], img_in[index_center+3], img_in[index_center+6], + img_in[index_lower], img_in[index_lower+3], img_in[index_lower+6]); + } + else { + img_sobel[index_center+3] = 0; + } + + index_upper++; + index_center++; + index_lower++; + } + } + + + /* + * Image border are set to 0 + */ + index_upper = 0; + index_lower = (height-1)*width*3; + for(x = 0; x < width; x++) { + + // horizontal upper border + img_sobel[index_upper] = 0; + img_sobel[index_upper+1] = 0; + img_sobel[index_upper+2] = 0; + index_upper += 3; + + // horizontal lower border + img_sobel[index_lower] = 0; + img_sobel[index_lower+1] = 0; + img_sobel[index_lower+2] = 0; + index_lower += 3; + } + + index_left = 0; + index_right = width*3-3; + for(y = 0; y < height; y++) { + + // verticel left border + img_sobel[index_left] = 0;; + img_sobel[index_left+1] = 0; + img_sobel[index_left+2] = 0; + index_left += width*3; + + // verticel right border + img_sobel[index_right] = 0;; + img_sobel[index_right+1] = 0; + img_sobel[index_right+2] = 0; + index_right += width*3; + } +} + + +/** + * Apply gauss low-pass filter on given input image of type: 3 channels, 16 bit signed fixed-point per channel. + * An odd kernel size is expected. + * + * @param img_gauss On return: gauss low-pass filtered image + * @param img_in input image to be filtered + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param kernel_size filter kernel size (minimum of 3, maximum see @ref MAX_GAUSS_KERNEL_SIZE) + * @param spread gaussian curve spreading value, as higher as bigger spread (spread = sigma) + * @param skip_ch1 set to 0 if channel 1 should be filtered + * @param skip_ch2 set to 0 if channel 2 should be filtered + * @param skip_ch3 set to 0 if channel 3 should be filtered + */ +void filter_gauss_3s16(int16_t *img_gauss, const int16_t *img_in, const int height, const int width, int kernel_size, const float spread, + const int skip_ch1, const int skip_ch2, const int skip_ch3) { + + int y, x, index, index_upper, index_center, index_lower; + int kernel_start, kernel_end; + float a[MAX_GAUSS_KERNEL_SIZE*MAX_GAUSS_KERNEL_SIZE]; + int16_t a_s16[MAX_GAUSS_KERNEL_SIZE*MAX_GAUSS_KERNEL_SIZE]; + float sum; + int x_start, x_end, y_start, y_end; + const int shift_fact = 10; // 2^10 = 1024--> about 3 digits + + + if((kernel_size%2) == 0) { + // even kernel size!! + kernel_size++; + } + + if(kernel_size < 3) { + kernel_size = 3; + } + else if(kernel_size > MAX_GAUSS_KERNEL_SIZE) { + kernel_size = MAX_GAUSS_KERNEL_SIZE; + } + + + /* + * Generate 2D-gaussian kernel depending on given size. + * Norm kernel, that sum over each kernel element is 1.0. + */ + kernel_start = -1*kernel_size/2; + kernel_end = -1*kernel_start; + index = 0; + sum = 0; + for(y = kernel_start; y <= kernel_end; y++) { + for(x = kernel_start; x <= kernel_end; x++) { + a[index] = (1.0/(2*M_PI*spread*spread))*expf((-1)*((x*x+y*y)/(2*spread*spread))); + sum += a[index]; + index++; + } + } + index = 0; + for(y = 0; y < kernel_size; y++) { + for(x = 0; x < kernel_size; x++) { + a[index] /= sum; + a_s16[index] = (int16_t)roundf(a[index] * (1< %d\n", y, x, a[index], a_s16[index]); + index++; + } + } + + + /* + * This loop filters the image without border region. + */ + y_start = kernel_size/2; + y_end = height-y_start; + x_start = kernel_size/2; + x_end = width-x_start; + for(y = y_start; y < y_end; y++) { + + index = (y*width+x_start)*3; + index_upper = (y-1)*width*3; + index_center = y*width*3; + index_lower = (y+1)*width*3; + + for(x = x_start; x < x_end; x++) { + + if(!skip_ch1) { + if(kernel_size == 3) { + img_gauss[index_center] = calc_filter3x3( a_s16[0], a_s16[1], a_s16[2], a_s16[3], a_s16[4], a_s16[5], a_s16[6], a_s16[7], a_s16[8], + img_in[index_upper], img_in[index_upper+3], img_in[index_upper+6], + img_in[index_center], img_in[index_center+3], img_in[index_center+6], + img_in[index_lower], img_in[index_lower+3], img_in[index_lower+6], + shift_fact); + } + else { + img_gauss[index] = calc_filterNxN(img_in, height, width, 3, y, x, a_s16, kernel_size, kernel_size, shift_fact); + } + } + else { + img_gauss[index] = 0; + } + + index++; + index_upper++; + index_center++; + index_lower++; + + if(!skip_ch2) { + if(kernel_size == 3) { + img_gauss[index_center] = calc_filter3x3( a_s16[0], a_s16[1], a_s16[2], a_s16[3], a_s16[4], a_s16[5], a_s16[6], a_s16[7], a_s16[8], + img_in[index_upper], img_in[index_upper+3], img_in[index_upper+6], + img_in[index_center], img_in[index_center+3], img_in[index_center+6], + img_in[index_lower], img_in[index_lower+3], img_in[index_lower+6], + shift_fact); + } + else { + img_gauss[index] = calc_filterNxN(img_in+1, height, width, 3, y, x, a_s16, kernel_size, kernel_size, shift_fact); + } + } + else { + img_gauss[index] = 0; + } + + index++; + index_upper++; + index_center++; + index_lower++; + + if(!skip_ch3) { + if(kernel_size == 3) { + img_gauss[index_center] = calc_filter3x3( a_s16[0], a_s16[1], a_s16[2], a_s16[3], a_s16[4], a_s16[5], a_s16[6], a_s16[7], a_s16[8], + img_in[index_upper], img_in[index_upper+3], img_in[index_upper+6], + img_in[index_center], img_in[index_center+3], img_in[index_center+6], + img_in[index_lower], img_in[index_lower+3], img_in[index_lower+6], + shift_fact); + } + else { + img_gauss[index] = calc_filterNxN(img_in+2, height, width, 3, y, x, a_s16, kernel_size, kernel_size, shift_fact); + } + } + else { + img_gauss[index] = 0; + } + + index++; + index_upper++; + index_center++; + index_lower++; + } + } + + + /* + * Image border are not filtered + */ + // handler upper horizontal border area + index = 0; + for(y = 0; y < y_start; y++) { + for(x = 0; x < width; x++) { + img_gauss[index] = img_in[index]; + img_gauss[index+1] = img_in[index+1]; + img_gauss[index+2] = img_in[index+2]; + index += 3; + } + } + + // handler lower horizontal border area + index = y_end*width*3; + for(y = y_end; y < height; y++) { + for(x = 0; x < width; x++) { + img_gauss[index] = img_in[index]; + img_gauss[index+1] = img_in[index+1]; + img_gauss[index+2] = img_in[index+2]; + index += 3; + } + } + + // handler left vertical border area + for(y = 0; y < height; y++) { + index = y*width*3; + for(x = 0; x < x_start; x++) { + img_gauss[index] = img_in[index]; + img_gauss[index+1] = img_in[index+1]; + img_gauss[index+2] = img_in[index+2]; + index += 3; + } + } + + // handler right vertical border area + for(y = 0; y < height; y++) { + index = (y*width+x_end)*3; + for(x = x_end; x < width; x++) { + img_gauss[index] = img_in[index]; + img_gauss[index+1] = img_in[index+1]; + img_gauss[index+2] = img_in[index+2]; + index += 3; + } + } +} + + +/** + * Generate binary image from given image of type: 3 channels, 16 bit signed fixed-point per channel. + * All pixel values above the given threshold are set to the defined value. Otherwise the values are set to 0. + * + * @param img_gauss On return: gauss low-pass filtered image + * @param img_in input image to be filtered + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param threshold binary threshold + * @param bin_value Pixel values above given threshold are set to this value. Values below the threshold are set to 0. + * @param skip_ch1 set to 0 if channel 1 should be filtered + * @param skip_ch2 set to 0 if channel 2 should be filtered + * @param skip_ch3 set to 0 if channel 3 should be filtered + */ +void filter_binary_3s16(int8_t *img_bin, const int16_t *img_in, const int height, const int width, const int16_t threshold, const int8_t bin_value, + const int skip_ch1, const int skip_ch2, const int skip_ch3) { + + int y, x, index; + + index = 0; + + for(y = 0; y < height; y++) { + for(x = 0; x < width; x++) { + if(!skip_ch1) { + if(img_in[index] >= threshold) { + img_bin[index] = bin_value; + } + else { + img_bin[index] = 0; + } + } + else { + img_bin[index] = 0; + } + + index++; + + if(!skip_ch2) { + if(img_in[index] >= threshold) { + img_bin[index] = bin_value; + } + else { + img_bin[index] = 0; + } + } + else { + img_bin[index] = 0; + } + + index++; + + if(!skip_ch3) { + if(img_in[index] >= threshold) { + img_bin[index] = bin_value; + } + else { + img_bin[index] = 0; + } + } + else { + img_bin[index] = 0; + } + + index++; + } + } + +} + diff --git a/filter.h b/filter.h new file mode 100644 index 0000000..5b70294 --- /dev/null +++ b/filter.h @@ -0,0 +1,52 @@ +/** +* @file filter.h +* @brief various filtering algorithm definitions +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-08-28 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + + +#ifndef _FILTER_H +#define _FILTER_H + + +#if defined(__cplusplus) || defined(c_plusplus) +extern "C" { +#endif + +void filter_sobel_3s16(int16_t *img_sobel, const int16_t *img_in, const int height, const int width, + const int skip_ch1, const int skip_ch2, const int skip_ch3) ; + +void filter_gauss_3s16(int16_t *img_gauss, const int16_t *img_in, const int height, const int width, int kernel_size, const float spread, + const int skip_ch1, const int skip_ch2, const int skip_ch3); + +void filter_binary_3s16(int8_t *img_bin, const int16_t *img_in, const int height, const int width, const int16_t threshold, const int8_t bin_value, + const int skip_ch1, const int skip_ch2, const int skip_ch3); + +#if defined(__cplusplus) || defined(c_plusplus) +} // extern "C" +#endif + + +#endif // _FILTER_H \ No newline at end of file diff --git a/gamma_corr.c b/gamma_corr.c new file mode 100644 index 0000000..c0e5cd4 --- /dev/null +++ b/gamma_corr.c @@ -0,0 +1,113 @@ +/** +* @file gamma_corr.c +* @brief gamma correction algorithm +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-09-08 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + +#include +#include +#include + +#include "color_pipe_private.h" + + +/** + * Apply gamma correction to given image type: RGB or monochrome with 8 bit per color channel + * + * @param img_rgb On return: gamma corrected image + * @param img_in image to be gamma corrected + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param max_val maximum pixel value + * @param gamma gamma coefficient + * @param is_color 1 if it's a color image, 0 if it's a monochrome image + * @return 0 on success otherwise -1 + */ +static void gamma_corr8(uint8_t *img_rgb, const uint8_t *img_in, const int height, const int width, const int *gamma_table, const int is_color) +#include "alg_gamma.h" + + +/** + * Apply gamma correction to given image type: RGB or monochrome with 16 bit per color channel + * + * @param img_rgb On return: gamma corrected image + * @param img_in image to be gamma corrected + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param max_val maximum pixel value + * @param gamma gamma coefficient + * @param is_color 1 if it's a color image, 0 if it's a monochrome image + * @return 0 on success otherwise -1 + */ +static void gamma_corr16(uint16_t *img_rgb, const uint16_t *img_in, const int height, const int width, const int *gamma_table, const int is_color) +#include "alg_gamma.h" + + +/** + * Apply gamma correction to given image type. + * + * @param gamma_data required data for gamma correction + * @return 0 on success otherwise -1 + */ +int gamma_corr(struct gamma_data_t *gamma_data) { + + void *img_gamma, *img_in; + int *gamma_table; + int i, is_color, bit_channel, width, height, max_pix, gamma_table_bitdepth; + float gamma, gamma_table_init; + + + // put variables on stack + is_color = gamma_data->is_color; + img_gamma = gamma_data->img_gamma; + img_in = gamma_data->img_in; + bit_channel = gamma_data->bit_channel; + width = gamma_data->width; + height = gamma_data->height; + gamma = gamma_data->gamma; + max_pix = (1<gamma_table_bitdepth; + gamma_table_init = gamma_data->gamma_table_init; + gamma_table = gamma_data->gamma_table; + + /* + * Do check whether lookup table is initialzed with correct gamma value + */ + if(gamma_table_bitdepth != bit_channel || gamma != gamma_table_init) { + for(i = 0; i <= max_pix; i++) { + gamma_table[i] = roundf(max_pix*pow(i/((float)max_pix), 1.0/gamma)); + } + gamma_data->gamma_table_bitdepth = bit_channel; + gamma_data->gamma_table_init = gamma; + } + + if(bit_channel <= 8) { + gamma_corr8(img_gamma, img_in, height, width, gamma_table, is_color); + } + else if(bit_channel <= 16) { + gamma_corr16(img_gamma, img_in, height, width, gamma_table, is_color); + } + return 0; +} \ No newline at end of file diff --git a/sharpening.c b/sharpening.c new file mode 100644 index 0000000..9e8ba86 --- /dev/null +++ b/sharpening.c @@ -0,0 +1,482 @@ +/** +* @file sharp.c +* @brief sharpening algorithm +* @author Patrick Roth - roth@stettbacher.ch +* @version 1.0 +* @date 2015-08-27 +* @copyright 2012-2016 Stettbacher Signal Processing AG +* +* @remarks +* +* 
+* This library is free software; you can redistribute it and/or
+* modify it under the terms of the GNU Lesser General Public
+* License as published by the Free Software Foundation; either
+* version 2.1 of the License, or (at your option) any later version.
+*
+* This library is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+* Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public
+* License along with this library; if not, write to the Free Software
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*
+* +*/ + +#include +#include + +#if (WITH_SIMD == 1) +#include // see /usr/lib64/gcc/x86_64-suse-linux/4.7/include/immintrin.h +#endif // WITH_SIMD + +#include "color_pipe_private.h" +#include "color.h" +#include "filter.h" + + +/** + * Transform monochrome to YUV image. + * + * @param img_yuv On return: image in YUV color space + * @param img_mono input monochrome image + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param bit_channel monochrome bit resolution + */ +static void mono_to_yuv(int16_t *img_yuv, const void *img_mono, const int height, const int width, const int bit_channel) { + + int y, x, index_mono, index_yuv; + const uint8_t *in8 = img_mono; + const uint16_t *in16 = img_mono; + + + index_mono = 0; + index_yuv = 0; + for(y = 1; y < (height-1); y++) { + for(x = 1; x < (width-1); x++) { + if(bit_channel <= 8) { + img_yuv[index_yuv] = in8[index_mono]; + img_yuv[index_yuv+1] = 0; + img_yuv[index_yuv+2] = 0; + } + else if(bit_channel <= 16) { + img_yuv[index_yuv] = in16[index_mono]; + img_yuv[index_yuv+1] = 0; + img_yuv[index_yuv+2] = 0; + } + index_mono++; + index_yuv += 3; + } + } +} + + +/** + * Transform YUV to monochrome image. + * + * @param img_mono On return: monochrome image + * @param img_yuv input monochrome image + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param bit_channel monochrome bit resolution + */ +static void yuv_to_mono(void *img_mono, const int16_t *img_yuv, const int height, const int width, const int bit_channel) { + int y, x, index_mono, index_yuv; + int8_t *out8 = img_mono; + int16_t *out16 = img_mono; + const int pix_max = (1< pix_max) { + value = pix_max; + } + + if(bit_channel <= 8) { + out8[index_mono] = value; + } + else if(bit_channel <= 16) { + out16[index_mono] = value; + } + + index_mono++; + index_yuv += 3; + } + } +} + + +/** + * Sharp pixel by applying 3x3 filter kernel. Fixed-point is used. + * The kernel weights around the center are equal. + * + * @param a_other kernel weight around center + * @param a_center kernel weight at center position + * @param p11 pixel value at position 1/1 + * @param p12 pixel value at position 1/2 + * @param p13 pixel value at position 1/3 + * @param p21 pixel value at position 2/1 + * @param p22 pixel value at position 2/2 + * @param p23 pixel value at position 2/3 + * @param p31 pixel value at position 3/1 + * @param p32 pixel value at position 3/2 + * @param p33 pixel value at position 3/3 + * @param shift_fact The shifting factor defines how many number of bits the kernel and pixel were shifted to left. + * @return filtered pixel value + */ +static inline int16_t do_sharp(const int16_t a_other, const int16_t a_center, + const int16_t p11, const int16_t p12, const int16_t p13, + const int16_t p21, const int16_t p22, const int16_t p23, + const int16_t p31, const int16_t p32, const int16_t p33, + const int shift_fact) { + + int16_t out; + + + out = ( a_other*p11 + a_other*p12 + a_other*p13 + + a_other*p21 + a_center*p22 + a_other*p23 + + a_other*p31 + a_other*p32 + a_other*p33) >> shift_fact; + return out; +} + +#if 0 +/* + * Sharpening algorithm by using SSE instructions. + * It's slower than the scalar algorithm above!! + */ +static int16_t do_sharp_sse(__m128i coeff_line0, __m128i coeff_line1, __m128i coeff_line2, + __m128i px_line0, __m128i px_line1, __m128i px_line2, __m128i mask, + int shift_fact) { + + __m128i y_line0, y_line1, y_line2, madd_line0, madd_line1, madd_line2; + int32_t res[2]; + + + y_line0 = _mm_shuffle_epi8(px_line0, mask); + y_line1 = _mm_shuffle_epi8(px_line1, mask); + y_line2 = _mm_shuffle_epi8(px_line2, mask); + + madd_line0 = _mm_madd_epi16(y_line0, coeff_line0); + madd_line1 = _mm_madd_epi16(y_line1, coeff_line1); + madd_line2 = _mm_madd_epi16(y_line2, coeff_line2); + + madd_line0 = _mm_hadd_epi32(madd_line0, madd_line1); + madd_line0 = _mm_hadd_epi32(madd_line0, madd_line2); + + madd_line0 = _mm_hadd_epi32(madd_line0, madd_line0); + madd_line0 = _mm_hadd_epi32(madd_line0, madd_line0); + + _mm_storel_epi64((__m128i*)&res, madd_line0); + return (res[0] >> shift_fact); +} +#endif + +/** + * Make given YUV image sharper. Use the given the filter strength to tune the sharpening strength. + * If the local sharpening is set only those pixels are sharpened defined at the sharpening mask. + * + * This sharpening algorithm high-pass filters the input image and adds it to itself. Therfore all edges become sharper. + * The sharpening is done on the Y-channel only. The brightness is of interest. The U and V channel won't be touched to avoid color + * shiftings. + * + * @param img_out On return: high-pass filtered YUV image + * @param img_in YUV image to filter with given kernel + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param sharp_strength sharpening strength factor + * @param max_y maximum Y-channel value (depends on bit per pixel) + * @param local_flag not 0 if local sharpening must be done based on sharpening mask + * @param sharp_mask sharpening mask (binary image) + */ +static void make_sharper(int16_t *img_out, const int16_t * img_in, const int height, const int width, const float sharp_strength, const int max_y, + const int local_flag, const int8_t *sharp_mask) { + + int y, x, index_upper, index_center, index_lower; + int16_t filter_output; +// __m128i coeff_line0, coeff_line1, coeff_line2, mask; + + + /* + * don't touch it or check high-pass filter coefficient a_center for overflow!! + */ + const int shift_fact = 10; + + /* + * High-pass filter coefficients + * + * e. g. shift_fact = 10 and sharp_strength = 4 + * --> a_other = -4/8.0 * 2^10 = 2^9 --> no overflow + * --> a_center = 4*2^10 = 2^12 --> no overflow + * + * e. g. shift_fact = 10 and sharp_strength = 32 + * --> a_other = -32/8.0 * 2^10 = 2^12 --> no overflow + * --> a_center = 32*2^10 = 2^15 --> overflow because this value cis not possible with int16_t datatype + */ + const int16_t a_other = -1.0*sharp_strength/8.0*(1<is_color; + img_sharp = sharp_data->img_sharp; + img_unsharp = sharp_data->img_in; + bit_channel = sharp_data->bit_channel; + width = sharp_data->width; + height = sharp_data->height; + img_yuv = sharp_data->img_yuv; + sharp_factor = sharp_data->sharp_factor; + sharp_alg = sharp_data->sharp_alg; + local_sens = sharp_data->local_sens; + img_yuv_sharp = sharp_data->img_yuv_sharp; + img_sobel = sharp_data->img_sobel; + img_gauss = sharp_data->img_gauss; + sharp_mask = sharp_data->sharp_mask; + + + /* + * Sharpening is done on Y-channel. + * In case of color image, the RGB is transformed to YUV. In case of monochrom image, + * the Y-channel is used only. + */ + if(is_color) { + // RGB to YUV transformation + color_rgb_to_yuv(img_yuv, img_unsharp, height, width, bit_channel); + } + else { + mono_to_yuv(img_yuv, img_unsharp, height, width, bit_channel); + } + + /* + * In case of local sharpening, do calculate sharpening mask. + */ + if(sharp_alg == SHARP_ALG_LOCAL) { + filter_sobel_3s16(img_sobel, img_yuv, height, width, 0, 1, 1); + filter_gauss_3s16(img_gauss, img_sobel, height, width, 3, 1.0, 0, 1, 1); // incresing the kernel size need more computing performance + local_sens = (int)((1.0-local_sens/100.0)*(1< +* This library is free software; you can redistribute it and/or +* modify it under the terms of the GNU Lesser General Public +* License as published by the Free Software Foundation; either +* version 2.1 of the License, or (at your option) any later version. +* +* This library is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +* Lesser General Public License for more details. +* +* You should have received a copy of the GNU Lesser General Public +* License along with this library; if not, write to the Free Software +* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +* +* +*/ + +#include +#include +#include + +#include "color_pipe_private.h" +#include "color.h" + +/** + * Minimum color gain + */ +#define GAIN_MIN 0.1 + +/** + * Maximum color gain + */ +#define GAIN_MAX 10.0 + + + +/** + * Calculate the average value of U and V component on given YUV image. + * + * @param img_yuv YUV image buffer + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param threshold gray value threshold + * @param u_avg On return: average value from all gray pixels (U-component) + * @param v_avg On return: average value from all gray pixels (V-component) + * @return -1 if no gray pixel is available otherwise 0 + */ +static int get_u_v_avg(const int16_t *img_yuv, const int height, const int width, const float threshold, float *u_avg, float *v_avg) { + int index, num_gray_pixel, y, x; + int sum_u, sum_v; + int pixel_y, pixel_u, pixel_v, color_val; + const int shift_fact = 10; + const int thresh = threshold * ((float)(1 << shift_fact)); + + /* + * Accumulate all gray pixels below given threshold + */ + index = 0; + num_gray_pixel = 0; + sum_u = 0; + sum_v = 0; + for(y = 0; y < height; y++) { + for(x = 0; x < width; x++) { + + pixel_y = img_yuv[index]; + if(pixel_y == 0) { + index += 3; + continue; + } + + pixel_u = img_yuv[index+1]; + pixel_v = img_yuv[index+2]; + + color_val = ((abs(pixel_u) + abs(pixel_v)) << shift_fact)/pixel_y; + + if(color_val < thresh) { + // it's a gray pixel + num_gray_pixel++; + sum_u += pixel_u; + sum_v += pixel_v; + } + index += 3; + } + } + + // check whether if there's any gray pixel + if(num_gray_pixel == 0) { + // no gray pixel --> nothing to do + return -1; + } + + // calculate avarage of U and V component over all gray pixels + *u_avg = ((float)sum_u)/num_gray_pixel; + *v_avg = ((float)sum_v)/num_gray_pixel; + +// printf("XXX num_gray_pixel = %d, u_avg = %f, v_avg = %f\n", num_gray_pixel, *u_avg, *v_avg); + + return 0; +} + + +/** + * Apply red and blue pixel gain on input image. + * + * @param img_out On return: Gain is applied on this image + * @param img_in input RGB image + * @param height image height in number of pixels + * @param width image width in number of pixels + * @param bit_channel bits per color channel + * @param gain_blue blue gain to apply + * @param gain_red red gain to apply + */ +static void apply_pixel_gain_rgb(void *img_out, const void *img_in, const int height, const int width, + const int bit_channel, const float gain_blue, const float gain_red) { + + int index, x, y, pixel_red, pixel_blue; + const int shift_fact = 8; + const int blue = gain_blue * ((float)(1 << shift_fact)); + const int red = gain_red * ((float)(1 << shift_fact)); + const uint8_t *img8_in = img_in; + const uint16_t *img16_in = img_in; + uint8_t *img8_out = img_out; + uint16_t *img16_out = img_out; + const int max_pix = (1 << bit_channel) - 1; + + + index = 0; + pixel_red = 0; + pixel_blue = 0; + for(y = 0; y < height; y++) { + for(x = 0; x < width; x++) { + + // apply gain on red pixel + if(bit_channel <= 8) { + pixel_red = (img8_in[index]*red) >> shift_fact; + } + else if(bit_channel <= 16) { + pixel_red = (img16_in[index]*red) >> shift_fact; + } + if(pixel_red > max_pix) { + pixel_red = max_pix; + } + else if (pixel_red < 0) { + pixel_red = 0; + } + + if(bit_channel <= 8) { + img8_out[index] = pixel_red; + } + else if(bit_channel <= 16) { + img16_out[index] = pixel_red; + } + index++; + + // no gain is applied on green pixel + if(bit_channel <= 8) { + img8_out[index] = img8_in[index]; + } + else if(bit_channel <= 16) { + img16_out[index] = img16_in[index]; + } + index++; + + // apply gain on blue pixel + if(bit_channel <= 8) { + pixel_blue = (img8_in[index]*blue) >> shift_fact; + } + else if(bit_channel <= 16) { + pixel_blue = (img16_in[index]*blue) >> shift_fact; + } + if(pixel_blue > max_pix) { + pixel_blue = max_pix; + } + else if (pixel_blue < 0) { + pixel_blue = 0; + } + + if(bit_channel <= 8) { + img8_out[index] = pixel_blue; + } + else if(bit_channel <= 16) { + img16_out[index] = pixel_blue; + } + + index++; + } + } +} + + +/** + * Local white balance algorithm. + * + * Reference: + * J.-y Huo et al, "Robust Automatic White Balance Algorithm using for Gray Color Points in Images", IEEE Xplore, 2006 + * + * @param awb_data white balancing algorithm data + * @return 0 on success otherwise -1 + */ +int white_balance(struct awb_data_t *awb_data) { + + float u_avg, v_avg; + float ctrl_k, gray_threshold; + int bit_channel, height, width; + void *img_balanced, *img_in; + int16_t *img_yuv; + int uv_div; + + + // following parameter may be scaled + ctrl_k = awb_data->ctrl_k; + gray_threshold = awb_data->gray_threshold; + bit_channel = awb_data->bit_channel; + img_balanced = awb_data->img_rgb_balanced; + img_in = awb_data->img_in; + img_yuv = awb_data->img_yuv; + height = awb_data->height; + width = awb_data->width; + + + // Apply red and blue gain on input image. + apply_pixel_gain_rgb(img_balanced, img_in, height, width, bit_channel, awb_data->gain_blue, awb_data->gain_red); + + + // RGB to YUV color space conversion + if(color_rgb_to_yuv(img_yuv, img_balanced, height, width, bit_channel)) { + // conversion failed --> do abort + return -1; + } + + if(get_u_v_avg(img_yuv, height, width, gray_threshold, &u_avg, &v_avg)) { + // no gray pixel --> nothing to do + return 0; + } + + + /* + * Norm U/V channel average value to 8 bit per color channel image. + * + */ + uv_div = 1 << (bit_channel - 8); + u_avg /= uv_div; + v_avg /= uv_div; + + // adjust blue gain if image is bluish + if(fabs(u_avg) > 0.4) { + awb_data->gain_blue -= ctrl_k*u_avg; + } + + // adjust red gain if image is reddish + if(fabs(v_avg) > 0.4) { + awb_data->gain_red -= ctrl_k*v_avg; + } + + + // range check of blue red + if(awb_data->gain_blue < GAIN_MIN) { + awb_data->gain_blue = GAIN_MIN; + } + else if(awb_data->gain_blue > GAIN_MAX) { + awb_data->gain_blue = 3.0; + } + + // range check of red gain + if(awb_data->gain_red < GAIN_MIN) { + awb_data->gain_red = GAIN_MIN; + } + else if(awb_data->gain_red > GAIN_MAX) { + awb_data->gain_red = 3.0; + } + +// printf("XXX u_avg = %.4f, v_avg = %.4f, red = %.4f, blue = %.4f, bit_channel = %d\n", u_avg, v_avg, awb_data->gain_red, awb_data->gain_blue, bit_channel); + return 0; +} \ No newline at end of file -- cgit v1.2.1