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LUTptralltest.pyx
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LUTptralltest.pyx
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cimport cython
import numpy as np
cimport numpy as np
import cv2
from libc.stdlib cimport calloc,free
from cpython.mem cimport PyMem_Malloc as malloc
from cpython.mem cimport PyMem_Free as freep
from cpython.array cimport array
ctypedef np.float_t FTYPE_t
ctypedef np.uint8_t CTYPE_t
ctypedef np.int64_t LTYPE_t
ctypedef np.uint32_t DTYPE_t
# creates pointer to memory stack and initiates all values to 0
cdef bint *tablelut_ptr = <bint *>calloc(256*256*256,sizeof(bint))
@cython.boundscheck(False)
@cython.cdivision(True)
@cython.wraparound(False)
cdef void tablegen(long hmin,long hmax,double m1, double c1, double m2, double c2, double thresh):
cdef:
#unsigned char[:,:,::1] table = np.zeros((256,256,256),dtype = np.uint8)
#unsigned char* table_ptr = &table[0,0,0]
long x0,y0,z0
double b,g,r,saturation
int K
double chroma
long hue
global tablelut_ptr
for x0 in range(256):
for y0 in range(256):
for z0 in range(256):
b,g,r = x0,y0,z0
K = 0
if g < b:
g,b = b,g
K = -6
if r < g:
r,g = g,r
K = -K - 2
chroma = r - min(g,b)
if r != 0:
saturation = 255 * chroma/(r * 1.0)
else:
saturation = 0.0
if chroma != 0:
hue = int(30 * abs(K +((g-b)/(chroma))))
if (hue>= hmin) & (hue <= hmax) & (r >= thresh):
if (r >= (m1 * saturation) + c1) & (r <= (m2 * saturation) + c2):
tablelut_ptr[(256*256*x0) + (256*y0)+z0] = 1
#return None
@cython.boundscheck(False)
@cython.cdivision(True)
@cython.wraparound(False)
cdef void tablegen2(long hmin,long hmax,long smin, long smax, long v, long vmax):
cdef:
#unsigned char[:,:,::1] table = np.zeros((256,256,256),dtype = np.uint8)
#unsigned char* table_ptr = &table[0,0,0]
long x0,y0,z0
double b,g,r
int K
double chroma
long hue, saturation
global tablelut_ptr
for x0 in range(256):
for y0 in range(256):
for z0 in range(256):
b,g,r = x0,y0,z0
K = 0
if g < b:
g,b = b,g
K = -6
if r < g:
r,g = g,r
K = -K - 2
chroma = r - min(g,b)
if r != 0:
saturation = int(255 * chroma/(r * 1.0))
else:
saturation = 0
if chroma != 0:
hue = int(30 * abs(K +((g-b)/(chroma))))
if (hue>= hmin) & (hue <= hmax) & (r >=v) & (r <= vmax) & (saturation >= smin) & (saturation <= smax):
tablelut_ptr[(256*256*x0) + (256*y0)+z0] = 1
#return None
#@cython.boundscheck(False)
#@cython.cdivision(True)
#@cython.wraparound(False)
#cdef unsigned char[:,:,::1] tablegen2(long hmin,long hmax,long smin, long smax, long v, long vmax):
# cdef:
# unsigned char[:,:,::1] table = np.zeros((256,256,256),dtype = np.uint8)
# long x0,y0,z0
# double b,g,r
# int K
# double chroma
# long hue
# long saturation
# unsigned char* table_ptr = &table[0,0,0]
# for x0 in range(256):
# for y0 in range(256):
# for z0 in range(256):
# b,g,r = x0,y0,z0
# K = 0
# if g < b:
# g,b = b,g
# K = -6
# if r < g:
# r,g = g,r
# K = -K - 2
# chroma = r - min(g,b)
# if r != 0:
# saturation = int(255 * chroma/(r * 1.0))
# else:
# saturation = 0
# if chroma != 0:
# hue = int(30 * abs(K +((g-b)/(chroma))))
# if (hue>= hmin) & (hue <= hmax) & (r >=v) & (r <= vmax) & (saturation >= smin) & (saturation <= smax):
# table_ptr[(256*256*x0) + (256*y0)+z0] = 1
# return table
#cdef unsigned char[:,:,::1] tablelut = tablegen2(87,90,50,255,190,255)
#cdef unsigned char[:,:,::1] tablelut = tablegen2(163,179,50,255,50,255)
##cdef unsigned char[:,:,::1] tablelut = tablegen2(40,80,5,255,60,255) #old threshold system
#####cdef unsigned char[:,:,::1] tablelut = tablegen(40,80,-1.0,100.0,-0.651162,242.7906,10.0) #consider changing thresh to 15.0 or 20.0
#####cdef unsigned char* tablelut_ptr = &tablelut[0,0,0]
#tablegen(40,80,-1.0,100.0,-0.651162,242.7906,40.0) #consider changing thresh to >40
##tablegen(40,80, -4.46280992e-01,2.14000000e+02,-2.00000000e-01,2.82000000e+02,50.0) #consider changing thresh to >40
tablegen2(100,140,20,255,70,255)
#cdef long[::1] x_out = np.zeros((480*640), dtype = np.int32)
#cdef long* x_outptr = &x_out[0]
#cdef long[::1] y_out = np.zeros((640), dtype = np.int32)
#cdef long* y_outptr = &y_out[0]
@cython.boundscheck(False)
@cython.cdivision(True)
@cython.wraparound(False)
def squarelut6(long[::1] input,long x, long y,unsigned char v,unsigned char[:,:,::1] image): ###, bint *tablelut_ptr1=<bint *>tablelut_ptr)
cdef:
long* inputptr= &input[0]
long xminscan = (inputptr[2]<= inputptr[3])*((v+1)*inputptr[2] > (v*inputptr[3]))*((v + 1)*inputptr[2] - (v*inputptr[3]))
long yminscan = (inputptr[0]<= inputptr[1])*((v+1)*inputptr[0] > (v*inputptr[1]))*((v + 1)*inputptr[0] - (v*inputptr[1]))
long xmaxscan = ((inputptr[2]<= inputptr[3])*((v+1)*(inputptr[3]+1) < x + (v*inputptr[2]))*(((v+1)*(inputptr[3]+1)) - (v*inputptr[2]) - x)) + x
long ymaxscan = ((inputptr[0]<= inputptr[1])*((v+1)*(inputptr[1]+1) < y + (v*inputptr[0]))*(((v+1)*(inputptr[1]+1)) - (v*inputptr[0]) - y)) + y
long deltax = xmaxscan - xminscan
long deltay = ymaxscan - yminscan
unsigned char* img_ptr = &image[0,0,0]
unsigned char inc
bint *tablelut_ptr1=tablelut_ptr
#long[::1] x_out = np.zeros((deltax*deltay), dtype = np.int32)
#long* x_outptr = &x_out[0]
long *x_outptr =<long *>malloc(deltax*deltay*sizeof(long))
#long[::1] y_out = np.zeros((deltay), dtype = np.int32)
#long* y_outptr = &y_out[0]
long *y_outptr =<long *>malloc(deltay*sizeof(long))
long[::1] outputptr = np.array([y,0,0,0], dtype = np.int32)
#long* outputptr = &output[0]
#long yrmin = y
#long yrmax = 0
#long xrmin, xrmax
long x0,y0,i0
long i = 0
#long pos[3]
#long* posptr = &pos[0]
long *posptr =<long *>malloc(3*sizeof(long))
posptr[0] = (xminscan*y) +yminscan
y_outptr[1] = y
for x0 in range(deltax):
posptr[1] = posptr[0] + (x0 *y)
i0 = i
for y0 in range(deltay):
posptr[2] = 3 * (posptr[1] + y0)
inc = tablelut_ptr1[256*256*img_ptr[posptr[2]] + 256*img_ptr[posptr[2] +1] + img_ptr[posptr[2] + 2]]
#inc = tablelut_ptr[256*256*img_ptr[3*((xminscan + x0)*y + y0 + yminscan)] + 256*img_ptr[3*((xminscan + x0)*y + y0 + yminscan) +1] + img_ptr[3*((xminscan + x0)*y + y0 + yminscan) + 2]]
i += inc
y_outptr[inc*(i - i0)] = y0 + yminscan
x_outptr[inc*i] = x0 + xminscan
#break out of loop if no pixel of ineterest detected in 3 lines
if x0 - x_outptr[i] + xminscan > 2:
break
y_outptr[0] = 0
outputptr[0] += (y_outptr[1] - outputptr[0])*(outputptr[0] > y_outptr[1])
outputptr[1] += (y_outptr[i-i0] - outputptr[1])*(outputptr[1] < y_outptr[i - i0])
#yrmin += (y_outptr[1] - yrmin)*(yrmin > y_outptr[1])
#yrmax += (y_outptr[i-i0] - yrmax)*(yrmax < y_outptr[i - i0])
outputptr[2] = x_outptr[1]
outputptr[3] = x_outptr[i]
freep(x_outptr)
freep(posptr)
freep(y_outptr)
return outputptr
@cython.boundscheck(False)
@cython.cdivision(True)
@cython.wraparound(False)
def squarelut8(int[::1] output,int x, int y,unsigned char v,unsigned char[:,:,::1] image): ###, bint *tablelut_ptr1=<bint *>tablelut_ptr)
cdef:
int* outputptr = &output[0]
unsigned char* img_ptr = &image[0,0,0]
int yminscan = (outputptr[0]<= outputptr[1])*((v+1)*outputptr[0] > (v*outputptr[1]))*((v + 1)*outputptr[0] - (v*outputptr[1]))
int ymaxscan = ((outputptr[0]<= outputptr[1])*((v+1)*(outputptr[1]+1) < y + (v*outputptr[0]))*(((v+1)*(outputptr[1]+1)) - (v*outputptr[0]) - y)) + y
int deltay = ymaxscan-yminscan
int deltax = outputptr[5] - outputptr[4]
bint inc
bint xpos = 0
bint *tablelut_ptr1=tablelut_ptr
int *x_outptr =<int *>malloc(2*sizeof(int))
int *y_outptr =<int *>malloc(deltay*sizeof(int))
#int[::1] output = array('i',[ymaxscan-1,0,0,0,0,0])
#int* outputptr = &output[0]
int x0,y0,i0
int i = 0
long *posptr =<long *>malloc(2*sizeof(long))
outputptr[0] = ymaxscan-1
outputptr[1] = 0
x_outptr[0] = deltax
x_outptr[1] = deltax - 1
y_outptr[1] = ymaxscan - 1
for x0 in range(deltax):
posptr[0] = (x0 *y)
i0 = i
for y0 in range(yminscan,ymaxscan,3 - (2*xpos)):
posptr[1] = 3 * (posptr[0] + y0)
inc = tablelut_ptr1[256*256*img_ptr[posptr[1]] + 256*img_ptr[posptr[1] +1] + img_ptr[posptr[1] + 2]]
i += inc
y_outptr[inc*(i - i0)] = y0
#i > i0 if row contains a valid pixel. add 0 contains first value. add 1 contains latest value
if i > i0:
x_outptr[xpos] = x0
xpos = 1
outputptr[0] += (y_outptr[1] - outputptr[0])*(outputptr[0] > y_outptr[1])
outputptr[1] += (y_outptr[i-i0] - outputptr[1])*(outputptr[1] < y_outptr[i - i0])
# change search area
ymaxscan += (outputptr[1] + 20 -ymaxscan) * (outputptr[1] + 20 < ymaxscan)
#break out of loop if no pixel of ineterest detected in 3 lines after xpos switched on
elif x0 - x_outptr[1] > 100:
break
outputptr[2] = x_outptr[0] + outputptr[4] #if none detected outputptr[2] = deltax + image start
outputptr[3] = x_outptr[1] + outputptr[4] #if none detected outputptr[3] = delatx - 1 + imagestart
#if none detected outputptr[4] = 0 and outputptr[5] = x
#if search area crosses x or becomes negative second condition switches off
outputptr[4] = (outputptr[2]<= outputptr[3]) * (((v+1)*outputptr[2]) > (v*outputptr[3])) * ((v + 1)*outputptr[2] - (v*outputptr[3]))
outputptr[5] = ((outputptr[2]<= outputptr[3]) * ((v+1)*(outputptr[3]+1) < x + (v*outputptr[2])) * (((v+1)*(outputptr[3]+1)) - (v*outputptr[2]) - x)) + x
freep(x_outptr)
freep(y_outptr)
freep(posptr)
return output
#used by binary tester
@cython.boundscheck(False)
@cython.cdivision(True)
@cython.wraparound(False)
def bgrhsv(unsigned char[:,:,::1] image,long x, long y):
cdef:
unsigned char[:,:,::1] output = np.zeros((x,y,3),dtype = np.uint8)
long x0,y0
double b,g,r
double chroma
for x0 in range(x):
for y0 in range(y):
b = image[x0,y0,0]
g = image[x0,y0,1]
r = image[x0,y0,2]
K = 0
if g < b:
g,b = b,g
K = -6
if r < g:
r,g = g,r
K = -K - 2
chroma = r - min(g,b)
if chroma != 0:
output[x0,y0,0] = int(30 * abs(K +((g-b)/(chroma))))
if r != 0:
output[x0,y0,1] = int(255* chroma/(r * 1.0))
output[x0,y0,2] = int(r)
return output
#used by calibhue and calibmouse1
@cython.boundscheck(False)
@cython.cdivision(True)
@cython.wraparound(False)
def bgrhsvarray2(unsigned char[:,:,::1] image,long xmin,long xmax,long ymin, long ymax):
cdef:
unsigned char* img_ptr = &image[0,0,0]
unsigned long[:,::1] yaxis = np.zeros((3,256),dtype = np.uint32)
unsigned long* yaxisptr = &yaxis[0,0]
long x0,y0
double b,g,r
long hue,saturation
double chroma
long deltax = xmax - xmin
long deltay = ymax - ymin
for x0 in range(deltax):
for y0 in range(deltay):
b = img_ptr[3*((xmin +x0)* 640 + y0 + ymin)]
g = img_ptr[3*((xmin +x0)* 640 + y0 + ymin) + 1]
r = img_ptr[3*((xmin +x0)* 640 + y0 + ymin) + 2]
K = 0
if g < b:
g,b = b,g
K = -6
if r < g:
r,g = g,r
K = -K - 2
chroma = r - min(g,b)
if chroma != 0:
hue = int(30 * abs(K +((g-b)/(chroma))))
if r != 0:
saturation = int(255* chroma/(r * 1.0))
else:
saturation = 0
yaxisptr[hue] += 1
yaxisptr[256 + saturation] += 1
yaxisptr[256*2 + int(r)] += 1
return yaxis
@cython.boundscheck(False)
@cython.cdivision(True)
@cython.wraparound(False)
def bgrhsvarray3(unsigned char[:,:,::1] img_ptr,long x=480,long y=640):
cdef:
#unsigned char* img_ptr = &image[0,0,0]
unsigned long[:,:,::1] colptr = np.zeros((256,256,256),dtype = np.uint32)
#unsigned long* colptr = &colourscat[0,0,0]
long x0,y0
double b,g,r
long hue,saturation,val
double chroma
for x0 in range(x):
for y0 in range(y):
b = img_ptr[x0,y0,0]
g = img_ptr[x0,y0,1]
r = img_ptr[x0,y0,2]
K = 0
if g < b:
g,b = b,g
K = -6
if r < g:
r,g = g,r
K = -K - 2
chroma = r - min(g,b)
if chroma != 0:
hue = int(30 * abs(K +((g-b)/(chroma))))
if r != 0:
saturation = int(255* chroma/(r * 1.0))
else:
saturation = 0
val = int(r)
colptr[hue,saturation,val] += 1
return colptr
#used by calibhuemouse3d
@cython.boundscheck(False)
@cython.cdivision(True)
@cython.wraparound(False)
def bgrhsvarray3c(unsigned char[:,:,::1] image,long xmin,long xmax,long ymin, long ymax):
cdef:
unsigned char* img_ptr = &image[0,0,0]
unsigned long[:,:,::1] colourscat = np.zeros((256,256,256),dtype = np.uint32)
unsigned long* colptr = &colourscat[0,0,0]
long x0,y0
double b,g,r
long hue,saturation
double chroma
long deltax = xmax - xmin
long deltay = ymax - ymin
for x0 in range(deltax):
for y0 in range(deltay):
b = img_ptr[3*((xmin +x0)* 640 + y0 + ymin)]
g = img_ptr[3*((xmin +x0)* 640 + y0 + ymin) + 1]
r = img_ptr[3*((xmin +x0)* 640 + y0 + ymin) + 2]
K = 0
if g < b:
g,b = b,g
K = -6
if r < g:
r,g = g,r
K = -K - 2
chroma = r - min(g,b)
if chroma != 0:
hue = int(30 * abs(K +((g-b)/(chroma))))
if r != 0:
saturation = int(255* chroma/(r * 1.0))
else:
saturation = 0
colptr[(256*256*hue) + (256*saturation)+int(r)] += 1
return colourscat
@cython.boundscheck(False)
@cython.cdivision(True)
@cython.wraparound(False)
def lineplotter(np.ndarray saturation, np.ndarray val, int valthresh):
assert saturation.dtype == np.int and val.dtype == np.int
cdef:
np.ndarray newsat = saturation[np.where(val[:] >= valthresh)]
np.ndarray newval = val[np.where(val[:] >= valthresh)]
np.ndarray carray = newsat + newval
np.ndarray outputmin = 2.0 * np.ones(len(newsat),dtype = np.float64)
np.ndarray outputmax = 2.0 * np.ones(len(newsat),dtype = np.float64)
int posmin = np.where(carray == min(carray))[0][0]
int posmax = np.where(carray == max(carray))[0][0]
int i, maxlinepos,minlinepos
np.ndarray outarray = np.zeros(4, dtype = np.float64)
for i in range(len(carray)):
if newsat[i] != newsat[posmin]:
outputmin[i] = abs(((newval[i] - newval[posmin])/(1.0*(newsat[i] - newsat[posmin]))) + 1.0 )
if newsat[i] != newsat[posmax]:
outputmax[i] = abs(((newval[i] - newval[posmax])/(1.0*(newsat[i] - newsat[posmax]))) + 1.0 )
maxlinepos = np.where(outputmax == min(outputmax))[0][0]
outarray[2] = (newval[maxlinepos] - newval[posmax])/(1.0 * (newsat[maxlinepos] - newsat[posmax]))
outarray[3] = (newsat[maxlinepos]*newval[posmax] - newval[maxlinepos]*newsat[posmax])/(1.0 * (newsat[maxlinepos] - newsat[posmax]))
minlinepos = np.where(outputmin == min(outputmin))[0][0]
outarray[0] = (newval[minlinepos] - newval[posmin])/(1.0 * (newsat[minlinepos] - newsat[posmin]))
outarray[1] = (newsat[minlinepos]*newval[posmin] - newval[minlinepos]*newsat[posmin])/(1.0 * (newsat[minlinepos] - newsat[posmin]))
return outarray
#used by calibhuemouselaser
@cython.boundscheck(False)
@cython.cdivision(True)
@cython.wraparound(False)
def bgrhsvarrayl(unsigned char[:,:,::1] backi, unsigned char[:,:,::1] inputi,long xmin,long xmax,long ymin, long ymax,double thresh):
cdef:
#unsigned char[:,:,::1] hsvbacki = cv2.cvtColor(np.asarray(backi[xmin:xmax,ymin:ymax]), cv2.COLOR_BGR2HSV)
#unsigned char[:,:,::1] hsvinputi = cv2.cvtColor(np.asarray(inputi[xmin:xmax,ymin:ymax]), cv2.COLOR_BGR2HSV)
unsigned char[:,:,::1] diffimage = cv2.absdiff(np.asarray(backi[xmin:xmax,ymin:ymax]),np.asarray(inputi[xmin:xmax,ymin:ymax]))
unsigned char* img_ptr = &diffimage[0,0,0]
unsigned long[:,:,::1] colourscat = np.zeros((256,256,256),dtype = np.uint32)
unsigned long* colptr = &colourscat[0,0,0]
long x0,y0
double b,g,r
long hue,saturation
double chroma
long deltax = xmax - xmin
long deltay = ymax - ymin
unsigned char pix0,pix1,pix2
unsigned char[:,::1] outarray = np.zeros((deltax,deltay), dtype = np.uint8)
unsigned char* outptr = &outarray[0,0]
double normval
#double threshold = 100.00
for x0 in range(deltax):
for y0 in range(deltay):
pix0 = img_ptr[3*(x0*deltay + y0)]
pix1 = img_ptr[3*(x0*deltay + y0)+1]
pix2 = img_ptr[3*(x0*deltay + y0)+2]
normval = ((pix0**2.0)+(pix1**2.0)+(pix2**2.0))**0.5
if normval > thresh:
outptr[x0*deltay + y0] = 255
else:
outptr[x0*deltay + y0] = 0
#b = img_ptr[3*((xmin +x0)* 640 + y0 + ymin)]
#g = img_ptr[3*((xmin +x0)* 640 + y0 + ymin) + 1]
#r = img_ptr[3*((xmin +x0)* 640 + y0 + ymin) + 2]
#K = 0
#if g < b:
# g,b = b,g
# K = -6
#if r < g:
# r,g = g,r
# K = -K - 2
#chroma = r - min(g,b)
#if chroma != 0:
# hue = int(30 * abs(K +((g-b)/(chroma))))
#if r != 0:
# saturation = int(255* chroma/(r * 1.0))
#else:
# saturation = 0
#colptr[(256*256*hue) + (256*saturation)+int(r)] += 1
return outarray
#used by calibhuemouselaserex
@cython.boundscheck(False)
@cython.cdivision(True)
@cython.wraparound(False)
def bgrhsvarraylc(unsigned char[:,::1] diffimage, unsigned char[:,:,::1] inputi,long xmin,long xmax,long ymin, long ymax,double thresh):
cdef:
unsigned char* diff_ptr = &diffimage[0,0]
unsigned char* img_ptr = &inputi[0,0,0]
unsigned long[:,:,::1] colourscat = np.zeros((256,256,256),dtype = np.uint32)
unsigned long* colptr = &colourscat[0,0,0]
long x0,y0
double b,g,r
long hue,saturation
double chroma
long deltax = xmax - xmin
long deltay = ymax - ymin
#unsigned char pix0,pix1,pix2
#double threshold = 100.00
for x0 in range(deltax):
for y0 in range(deltay):
if diff_ptr[x0*deltay + y0] == 255:
b = img_ptr[3*((xmin +x0)* 640 + y0 + ymin)]
g = img_ptr[3*((xmin +x0)* 640 + y0 + ymin) + 1]
r = img_ptr[3*((xmin +x0)* 640 + y0 + ymin) + 2]
K = 0
if g < b:
g,b = b,g
K = -6
if r < g:
r,g = g,r
K = -K - 2
chroma = r - min(g,b)
if chroma != 0:
hue = int(30 * abs(K +((g-b)/(chroma))))
if r != 0:
saturation = int(255* chroma/(r * 1.0))
else:
saturation = 0
colptr[(256*256*hue) + (256*saturation)+int(r)] += 1
return colourscat
def cleanupf():
global tablelut_ptr
free(tablelut_ptr)