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#include "image.h"
// #include <format>
#include <QElapsedTimer>
#include <libcamera/formats.h>
#include "macro.h"
#include "pixels.h"
uint64_t dq_elapsed_ns = 0;
uint64_t get_elapsed_ns = 0;
uint64_t sum_elapsed_ns = 0;
uint64_t corr_elapsed_ns = 0;
uint64_t max_elapsed_ns = 0;
uint64_t value_elapsed_ns = 0;
uint64_t rot_elapsed_ns = 0;
uint64_t dropped_count = 0;
// float process_column(const uint8_t (&column)[])
// float process_column(const Image::row_t &column)
float process_column(const Image::column_t &column)
{
start_timer(process_column);
QElapsedTimer t;
t.start();
float result = std::numeric_limits<float>::quiet_NaN();
constexpr uint32_t signalThreshold = 900; // = SKO * sqrt(patternSize)
static constexpr uint32_t patternOffset = patternSize - ((patternSize % 2 == 1) ? 1 : 0);
const uint32_t correlationSize = img_height - patternSize + ((patternSize % 2 == 1) ? 1 : 0);
// constexpr uint32_t correlationSize = img_height - patternSize;
uint32_t correlation[img_height];
uint32_t integralSum[img_height];
uint32_t maxTripleSum = signalThreshold * 50;
uint32_t x1 = 0;
int32_t y1 = 0;
int32_t y2 = 0;
memset(correlation, 0, img_height * sizeof(correlation[0]));
// memset(correlation, 0, patternSize / 2);
integralSum[0] = 0;
for (uint32_t i = 1; i < img_height; ++i) {
integralSum[i] = column[i] + integralSum[i - 1];
}
sum_elapsed_ns += t.nsecsElapsed();
t.restart();
// pixel * <sum of neighbours>
for (uint32_t i = 0; i < correlationSize; ++i)
correlation[i + patternSize / 2] = column[i + patternSize / 2]
* (integralSum[i + patternOffset] - integralSum[i]);
// * (integralSum[i + patternSize] - integralSum[i]);
corr_elapsed_ns += t.nsecsElapsed();
t.restart();
for (uint32_t i = 3; i < img_height - 2; ++i) {
// p - pixel, n - neighbour
// P - pixel used in sum, N - neighbour used in sum
// [N P N]
const auto sum = correlation[i - 1] + correlation[i] +
correlation[i + 1];
if (sum > maxTripleSum) {
// [N N n p] - [P N]
const int32_t rioux0 = int32_t(correlation[i - 2 - 1] +
correlation[i - 1 - 1]) -
int32_t(correlation[i + 1 - 1] +
correlation[i + 2 - 1]);
if (rioux0 < 0)
{
// [N N p] - [p N N]
const int32_t rioux1 = int32_t(correlation[i - 2] +
correlation[i - 1]) -
int32_t(correlation[i + 1] +
correlation[i + 2]);
if (rioux1 >= 0)
{
x1 = i - 1;
y1 = rioux0;
y2 = rioux1;
maxTripleSum = sum;
}
}
}
}
value_elapsed_ns += t.nsecsElapsed();
t.restart();
result = (y2 != y1) ? (float(x1) - (float(y1) / (y2 - y1)))
: std::numeric_limits<float>::quiet_NaN();
return result;
}
// uint8_t &Image::dataAt(size_t row, size_t col)
// {
// const auto index = img_width * row + col;
// return *(data + index);
// }
void Image::rotate()
{
QElapsedTimer t;
t.start();
for (size_t j = 0; j < img_width; ++j) {
for (size_t i = 0; i < img_height; ++i) {
rotated_cw[j][i] = data[img_height - i - 1][j];
}
}
rot_elapsed_ns += t.nsecsElapsed();
}
Pixels Image::pixels() const
{
// auto result = std::make_shared<Pixels>();
Pixels result;
result.counters = counters;
start_timer(process_columns);
// std::transform(std::execution::par_unseq,
// rotated_cw.cbegin(),
// rotated_cw.cend(),
// result->pixels.begin(),
// [](const auto &column) -> float { return process_column(column); });
// #pragma omp chunk
// #pragma omp parallel for
for (size_t i = 0; i < img_width / 4; i++) {
result.pixels[i] = process_column(rotated_cw[i]);
}
return result;
}
void Image::copyFromData(const void *src, size_t size)
{
if (Q_UNLIKELY(size % sizeof(data) != 0 || size < sizeof(data))) {
throw std::logic_error(__func__ + std::string(": wrong data size"));
}
switch (pixelFormat) {
case libcamera::formats::R8: {
// std::cout << "R8" << std::endl;
// memcpy(data, src, size);
// memcpy(data->data(), src, size);
memcpy(&data, src, size);
// data = (uint8_t *) src;
break;
}
case libcamera::formats::R16: {
// std::cout << "R16" << std::endl;
// data_t &d = *data;
#pragma omp parallel
#pragma omp for
for (size_t i = 0; i < img_size; i++) {
data[i / img_width][i % img_width] = (((uint16_t *) src)[i] & 0xff00) >> 8;
// d[i / img_width][i % img_width] = (((uint16_t *) src)[i] & 0xff00) >> 8;
// dataAt(i / img_width, i % img_width) = (((uint16_t *) src)[i] & 0xff00) >> 8;
}
break;
}
default:
throw std::logic_error(__func__ + std::string(": unsupported pixel format"));
break;
}
}
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