172 lines
3.6 KiB
C
172 lines
3.6 KiB
C
#pragma once
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#include <stdbool.h>
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#include <stdint.h>
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#define blky_clamp(x, a, b) ((x) < (a)? (a): (x) > (b)? (b): (x))
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#define blky_abs(x) ((x) < 0? -(x): (x))
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/* ---- Sensor ----
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* calculates correl from samples sequencially */
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typedef struct blky_sensor_t {
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double sum, avg, var;
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uint64_t time;
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double cov;
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double correl;
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double prev_correl;
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# define BLKY_SENSOR_MAX_DUR 64
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float values[BLKY_SENSOR_MAX_DUR];
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} blky_sensor_t;
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void
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blky_sensor_feed(
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blky_sensor_t*, const float* v, uint64_t n);
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void
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blky_sensor_drop(
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blky_sensor_t*, uint64_t until);
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/* ---- Block ----
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* calculates probability representing how likely the block is a feature,
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* by dealing with multiple sensors */
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double /* 0~1 probability */
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blky_block_estimate(
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const blky_sensor_t* sensors, uint64_t n,
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double max_var, double min_avg);
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/* ---- Extractor ----
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* extracts all features from a sequence of multiple frames */
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typedef struct blky_extractor_t {
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// must be filled before init()
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uint32_t block_num_x;
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uint32_t block_num_y;
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uint32_t sensor_num_block_x;
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uint32_t sensor_num_block_y;
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uint32_t samples_per_pix;
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uint32_t pix_stride;
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uint32_t utime;
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double correl_max_var;
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double correl_min_avg;
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// immutable internal params
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uint32_t block_num;
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uint32_t sensor_num_block;
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uint32_t sensor_num_whole;
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double block_w;
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double block_h;
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double sensor_interval_x;
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double sensor_interval_y;
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// mutable internal state
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uint64_t time;
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// heap objects
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uint8_t* mem;
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blky_sensor_t* sensors;
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double* probs;
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} blky_extractor_t;
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typedef struct blky_extractor_feat_t {
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uint32_t block;
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uint64_t begin;
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double prob;
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} blky_extractor_feat_t;
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void
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blky_extractor_init(
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blky_extractor_t* ex);
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void
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blky_extractor_deinit(
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blky_extractor_t* ex);
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bool
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blky_extractor_feed(
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blky_extractor_t* ex,
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const uint8_t* img, uint32_t w, uint32_t h, const double verts[8]);
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/* ---- pathfinder ---- */
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typedef struct blky_pathfinder_step_t {
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struct blky_pathfinder_step_t* next;
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uint32_t indices[1];
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} blky_pathfinder_step_t;
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typedef struct blky_pathfinder_t {
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// must be filled before init()
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uint32_t block_num;
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uint32_t step_branch;
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uint64_t seed;
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uint8_t hopping_algo;
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# define BLKY_PATHFINDER_HOPPING_ALGO_XORSHFIT 0
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// internal state
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blky_pathfinder_step_t* step_first;
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blky_pathfinder_step_t* step_last;
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uint64_t steps;
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uint64_t step_bytes;
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double* probs;
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double* probs_prev;
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} blky_pathfinder_t;
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void
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blky_pathfinder_init(
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blky_pathfinder_t* pf);
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void
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blky_pathfinder_deinit(
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blky_pathfinder_t* pf);
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void
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blky_pathfinder_feed(
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blky_pathfinder_t* pf,
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const double* probs);
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/* ---- Image utility ---- */
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void blky_image_convert_to_normalized_coord(
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const double verts[8], double* x, double* y);
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uint64_t blky_image_offset(
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uint32_t w, uint32_t h, const double verts[8], double x, double y);
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/* ---- numeric utility ---- */
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static inline uint64_t blky_numeric_xorrshift64_rev(uint64_t x, uint8_t n) {
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for (int16_t i = 64-n; i >= 0; --i) {
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x ^= (1 << i) & (x >> n);
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}
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return x;
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}
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static inline uint64_t blky_numeric_xorlshift64_rev(uint64_t x, uint8_t n) {
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for (uint8_t i = n; i < 64; ++i) {
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x ^= (1 << i) & (x << n);
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}
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return x;
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}
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static inline uint64_t blky_numeric_xorshift64(uint64_t x) {
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x ^= x << 13;
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x ^= x >> 7;
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x ^= x << 17;
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return x;
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}
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static inline uint64_t blky_numeric_xorshift64_rev(uint64_t x) {
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x = blky_numeric_xorlshift64_rev(x, 13);
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x = blky_numeric_xorrshift64_rev(x, 7);
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x = blky_numeric_xorlshift64_rev(x, 17);
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return x;
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}
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