V2 begin
This commit is contained in:
Andrey Tkachenko
parent
cae9dc0641
commit
60ff52a6e4
@ -1,6 +1,6 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE QtCreatorProject>
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<!-- Written by QtCreator 3.0.1, 2014-07-12T22:47:40. -->
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<!-- Written by QtCreator 3.0.1, 2014-07-18T12:19:19. -->
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<qtcreator>
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<data>
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<variable>ProjectExplorer.Project.ActiveTarget</variable>
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@ -53,7 +53,7 @@
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<valuemap type="QVariantMap">
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{463a2572-9a8f-4eb1-bda2-3a5ffe83025f}</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{7246c6ab-7a87-4118-a487-ab344a31d36b}</value>
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<value type="int" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
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<value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
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<value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
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@ -229,7 +229,7 @@
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<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">CSV</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4RunConfiguration:/home/andrey/workspace/ComputerVision/CSV.pro</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4RunConfiguration:/home/andrey/workspace/CSV/CSV.pro</value>
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<value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.CommandLineArguments"></value>
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<value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.ProFile">CSV.pro</value>
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<value type="bool" key="Qt4ProjectManager.Qt4RunConfiguration.UseDyldImageSuffix">false</value>
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@ -251,7 +251,7 @@
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</data>
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<data>
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<variable>ProjectExplorer.Project.Updater.EnvironmentId</variable>
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<value type="QByteArray">{dedf9f3d-a494-4afd-b37a-86d04bd971d6}</value>
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<value type="QByteArray">{35059b80-6449-4cca-8333-a4525005f807}</value>
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</data>
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<data>
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<variable>ProjectExplorer.Project.Updater.FileVersion</variable>
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44
Main.qml
44
Main.qml
@ -174,11 +174,49 @@ ApplicationWindow {
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}
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}
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Tab {
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id: pclView
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title: "PCL View"
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id: leftImageView
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title: "Left Image"
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Item {
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anchors.fill: parent
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Flickable {
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anchors.fill: parent
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contentWidth: image.width
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contentHeight: image.height
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interactive: true
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anchors.margins: 2
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clip: true
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Item {
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Image {
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id: leftImage
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source: "image://images/left"
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smooth: false
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}
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}
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}
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}
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}
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Tab {
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id: rightImageView
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title: "Right Image"
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Item {
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Flickable {
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anchors.fill: parent
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contentWidth: image.width
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contentHeight: image.height
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interactive: true
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anchors.margins: 2
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clip: true
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Item {
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Image {
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id: rightImage
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source: "image://images/right"
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smooth: false
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}
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}
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}
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}
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}
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}
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BIN
img/left4.png
BIN
img/left4.png
Binary file not shown.
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Before Width: | Height: | Size: 2.3 MiB After Width: | Height: | Size: 2.1 MiB |
BIN
img/right4.png
BIN
img/right4.png
Binary file not shown.
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Before Width: | Height: | Size: 2.3 MiB After Width: | Height: | Size: 2.1 MiB |
9
main.cpp
9
main.cpp
@ -15,14 +15,15 @@ int main(int argc, char *argv[])
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QQmlApplicationEngine engine;
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SvImageProvider imageProvider;
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QImage imgLeft("../ComputerVision/img/left4_.png");
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QImage imgRight("../ComputerVision/img/right4_.png");
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QImage imgStereo(imgLeft.width(), imgRight.height(), QImage::Format_RGB32);
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QImage imgLeft("../CSV/img/left9.png");
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QImage imgRight("../CSV/img/right.png");
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QImage imgStereo(imgLeft.width(), imgLeft.height(), QImage::Format_RGB32);
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SvImage left(imgLeft);
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SvImage right(imgRight);
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SvImage stereo(imgStereo);
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SvProcessor proc(&left, &right, &stereo, 4);
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SvProcessor proc(&left, &right, &stereo, 4, 2);
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imageProvider.addImage("left", &left);
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imageProvider.addImage("right", &right);
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31
svimage.cpp
31
svimage.cpp
@ -53,7 +53,23 @@ int SvImage::getPixelValue(int x, int y) {
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return color.value();
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}
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void SvImage::putPixel(int x, int y, int value)
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int SvImage::getPixelSaturation(int x, int y)
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{
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if (y >= m_image->height() ||
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y < 0 ||
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x >= m_image->width()
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|| x < 0) {
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return 0;
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}
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QRgb rgb = m_image->pixel(x, y);
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QColor color(rgb);
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return color.saturation();
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}
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void SvImage::putGrayPixel(int x, int y, int value)
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{
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if (y >= m_image->height() ||
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y < 0 ||
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@ -66,6 +82,19 @@ void SvImage::putPixel(int x, int y, int value)
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m_image->setPixel(x, y, qRgb(value, value, value));
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}
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void SvImage::putPixel(int x, int y, int red, int green, int blue)
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{
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if (y >= m_image->height() ||
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y < 0 ||
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x >= m_image->width()
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|| x < 0) {
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return;
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}
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m_image->setPixel(x, y, qRgb(red, green, blue));
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}
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unsigned int SvImage::getHeight() {
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return m_image->height();
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}
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@ -14,7 +14,9 @@ public:
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int getPixel(int x, int y, int channel);
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int getPixelHue(int x, int y);
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int getPixelValue(int x, int y);
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void putPixel(int x, int y, int val);
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int getPixelSaturation(int x, int y);
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void putGrayPixel(int x, int y, int val);
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void putPixel(int x, int y, int red, int green, int blue);
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unsigned int getHeight();
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unsigned int getWidth();
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@ -22,21 +22,30 @@ int SvKernelV1::getPixelColor(int cursor)
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int SvKernelV1::diff(int lx, int ly, int rx, int ry)
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{
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int Rvalue, Gvalue, Bvalue, color;
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int Red, Green, Blue, color;
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Rvalue = abs(m_left->getPixel(lx, ly, 0) - m_right->getPixel(rx, ry, 0));
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Gvalue = abs(m_left->getPixel(lx, ly, 1) - m_right->getPixel(rx, ry, 1));
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Bvalue = abs(m_left->getPixel(lx, ly, 2) - m_right->getPixel(rx, ry, 2));
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color = abs(Gvalue - Rvalue) + abs(Bvalue - Gvalue);
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int Lvalue = m_left->getPixelValue(lx, ly);
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int Rvalue = m_right->getPixelValue(rx, ry);
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return (Gvalue + Rvalue + Bvalue) +
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color << 2;
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int dLvalue = m_left->getPixelValue(rx - 1, ry) - Lvalue;
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int dRvalue = m_right->getPixelValue(rx - 1, ry) - Rvalue;
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int dLsign = dLvalue >= 0 ? 1 : -1;
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int dRsign = dRvalue >= 0 ? 1 : -1;
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Red = abs(m_left->getPixel(lx, ly, 0) - m_right->getPixel(rx, ry, 0));
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Green = abs(m_left->getPixel(lx, ly, 1) - m_right->getPixel(rx, ry, 1));
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Blue = abs(m_left->getPixel(lx, ly, 2) - m_right->getPixel(rx, ry, 2));
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color = abs(Green - Red) + abs(Blue - Green);
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return ((Green + Red + Blue) +
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color << 2) + (dLsign == dRsign ? 0 : 100);
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}
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int SvKernelV1::match(int x, int y, int j)
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{
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int error = 0;
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int ms = 4;
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int ms = 5;
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int c = diff(x, y, x + j, y),
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l = 0, r = 0, t = 0, b = 0;
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@ -73,7 +82,7 @@ void SvKernelV1::exec(int line)
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dist = (abs(cursor - i));
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tmp = match(x, line, i);
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tmpSmoothed = tmp + dist;
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tmpSmoothed = tmp;
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if (tmpSmoothed < minErrorValue || minErrorValue == -1) {
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minErrorValue = tmpSmoothed;
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@ -91,6 +100,6 @@ void SvKernelV1::exec(int line)
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cursor = closest;
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}
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m_result->putPixel(x/* + cursor*/, line, getPixelColor(cursor));
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m_result->putGrayPixel(x/* + cursor*/, line, getPixelColor(cursor));
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}
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}
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@ -7,7 +7,7 @@ class SvKernelV1: public SvAbstractKernel
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{
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protected:
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int m_windowSize = 80;
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int m_windowSize = 150;
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public:
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void exec(int line) override;
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@ -11,6 +11,94 @@ SvKernelV2::~SvKernelV2()
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}
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void SvKernelV2::exec(int line)
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{
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int hue, value, saturation;
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int _hue, _value, _saturation;
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int __hue, __value, __saturation;
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int dValue, dHue, dSaturation;
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int tValue, tHue, tSaturation;
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int _dValue, __dValue;
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int _dSaturation, __dSaturation;
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int _dHue, __dHue;
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for (int x = 0; x < m_result->getWidth(); x++) {
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hue = m_left->getPixelHue(x, line);
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value = m_left->getPixelValue(x, line);
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saturation = m_left->getPixelSaturation(x, line);
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dHue = _hue - hue;
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dSaturation = _saturation - saturation;
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dValue = _value - value;
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int m1 = m_left->getPixelValue(x, line - 1);
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int m2 = m_left->getPixelValue(x, line - 2);
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int m3 = m_left->getPixelValue(x, line - 3);
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int dY = m1-value;
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int _dY = m2-m1;
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int __dY = m3-m2;
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int hV = 0;
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if (((_dValue > dValue && _dValue > __dValue) ||
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(_dValue < dValue && _dValue < __dValue))) {
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hV = abs(_dValue);
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m_result->putGrayPixel(x, line, abs(_dValue));
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}
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if (((_dY > dY && _dY > __dY) ||
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(_dY < dY && _dY < __dY))) {
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if (abs(_dY) > hV) {
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m_result->putGrayPixel(x, line - 2, abs(_dY));
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}
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}
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__hue = _hue;
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__value = _value;
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__saturation = _saturation;
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_hue = hue;
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_value = value;
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_saturation = saturation;
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__dValue = _dValue;
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_dValue = dValue;
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__dSaturation = _dSaturation;
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_dSaturation = dSaturation;
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__dHue = _dHue;
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_dHue = dHue;
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}
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}
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int SvKernelV2::getPixelValueByBit(int bit)
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{
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}
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unsigned int SvKernelV2::figureType(int x, int y, int level)
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{
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unsigned char typeCode, resultType;
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int result, error = -1;
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for (int type = 1; type < 20; type++) {
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typeCode = m_figures[type - 1];
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result = 0;
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for (int bit = 0; bit < 9; bit++) {
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value = getPixelValueByBit(bit);
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if (typeCode & (1 << bit)) {
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result += abs(level - value);
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} else {
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result += value;
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}
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}
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if (error > result || error == -1) {
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resultType = type;
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error = result;
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}
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}
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return (error << 5) | resultType;
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}
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79
svkernelv2.h
79
svkernelv2.h
@ -3,12 +3,91 @@
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#include "svabstractkernel.h"
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#define sign(a) (a == 0 ? 0 : (a > 0 ? 1 : -1))
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class SvKernelV2: public SvAbstractKernel
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{
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private:
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unsigned short* m_figures = {
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0b000111000, // TYPE_0
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0b100011000, // TYPE_11_1
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0b110011000, // TYPE_22_2_1
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0b000110011, // TYPE_22_2_2
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0b000110001, // TYPE_33_3
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0b100010001, // TYPE_45
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0b010010001, // TYPE_56_1
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0b100110010, // TYPE_67_2_1
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0b010011001, // TYPE_67_2_2
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0b100010010, // TYPE_78_3
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0b010010010, // TYPE_90
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0b001010010, // TYPE_101_1
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0b001011010, // TYPE_112_2_1
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0b010110100, // TYPE_112_2_2
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0b010010100, // TYPE_123_3
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0b001010100, // TYPE_135
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0b000011100, // TYPE_146_1
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0b000011110, // TYPE_157_2_1
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0b011110000, // TYPE_157_2_2
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0b001110000, // TYPE_168_3
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};
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public:
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enum FigureType {
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TYPE_NONE = 0,
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TYPE_0, // 000
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// 111
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// 000
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TYPE_11_1, // 100
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// 011
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// 000
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TYPE_22_2_1,// 110
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// 011
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// 000
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TYPE_22_2_2,// 000
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// 110
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// 011
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TYPE_33_3, // 000
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// 110
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// 001
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TYPE_45, // 100
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// 010
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// 001
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TYPE_56_1, // 010
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// 010
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// 001
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TYPE_67_2_1,
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TYPE_67_2_2,
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TYPE_78_3,
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TYPE_90,
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TYPE_101_1,
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TYPE_112_2_1,
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TYPE_112_2_2,
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TYPE_123_3,
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TYPE_135,
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TYPE_146_1,
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TYPE_157_2_1,
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TYPE_157_2_2,
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TYPE_168_3
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};
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SvKernelV2();
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virtual ~SvKernelV2();
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void exec(int line) override;
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int max(int x, int y);
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unsigned int figureType(int x, int y, int level);
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};
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#endif // SVKERNELV2_H
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