Rewrite to Rust
This commit is contained in:
parent
c16c0f15cf
commit
d5a68be1ab
3
.gitignore
vendored
Normal file
3
.gitignore
vendored
Normal file
@ -0,0 +1,3 @@
|
||||
/target
|
||||
.undodir
|
||||
|
||||
331
Cargo.lock
generated
Normal file
331
Cargo.lock
generated
Normal file
@ -0,0 +1,331 @@
|
||||
# This file is automatically @generated by Cargo.
|
||||
# It is not intended for manual editing.
|
||||
version = 3
|
||||
|
||||
[[package]]
|
||||
name = "adler"
|
||||
version = "1.0.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
|
||||
|
||||
[[package]]
|
||||
name = "adler32"
|
||||
version = "1.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "aae1277d39aeec15cb388266ecc24b11c80469deae6067e17a1a7aa9e5c1f234"
|
||||
|
||||
[[package]]
|
||||
name = "autocfg"
|
||||
version = "1.0.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "cdb031dd78e28731d87d56cc8ffef4a8f36ca26c38fe2de700543e627f8a464a"
|
||||
|
||||
[[package]]
|
||||
name = "bitflags"
|
||||
version = "1.3.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
|
||||
|
||||
[[package]]
|
||||
name = "bytemuck"
|
||||
version = "1.7.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "72957246c41db82b8ef88a5486143830adeb8227ef9837740bdec67724cf2c5b"
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||||
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||||
[[package]]
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||||
name = "byteorder"
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||||
version = "1.4.3"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
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[[package]]
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name = "cfg-if"
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version = "1.0.0"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
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[[package]]
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name = "color_quant"
|
||||
version = "1.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3d7b894f5411737b7867f4827955924d7c254fc9f4d91a6aad6b097804b1018b"
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[[package]]
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name = "crc32fast"
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version = "1.2.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3825b1e8580894917dc4468cb634a1b4e9745fddc854edad72d9c04644c0319f"
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dependencies = [
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"cfg-if",
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]
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[[package]]
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name = "crossbeam-channel"
|
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version = "0.5.1"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "06ed27e177f16d65f0f0c22a213e17c696ace5dd64b14258b52f9417ccb52db4"
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dependencies = [
|
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"cfg-if",
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"crossbeam-utils",
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]
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[[package]]
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name = "crossbeam-deque"
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version = "0.8.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "6455c0ca19f0d2fbf751b908d5c55c1f5cbc65e03c4225427254b46890bdde1e"
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dependencies = [
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"cfg-if",
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"crossbeam-epoch",
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"crossbeam-utils",
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]
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[[package]]
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name = "crossbeam-epoch"
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version = "0.9.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4ec02e091aa634e2c3ada4a392989e7c3116673ef0ac5b72232439094d73b7fd"
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dependencies = [
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"cfg-if",
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"crossbeam-utils",
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"lazy_static",
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"memoffset",
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"scopeguard",
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]
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[[package]]
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name = "crossbeam-utils"
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version = "0.8.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d82cfc11ce7f2c3faef78d8a684447b40d503d9681acebed6cb728d45940c4db"
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dependencies = [
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"cfg-if",
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"lazy_static",
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]
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[[package]]
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name = "deflate"
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version = "0.8.6"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "73770f8e1fe7d64df17ca66ad28994a0a623ea497fa69486e14984e715c5d174"
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dependencies = [
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"adler32",
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"byteorder",
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]
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[[package]]
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name = "dispmap"
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version = "0.1.0"
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dependencies = [
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"image",
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]
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[[package]]
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name = "either"
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version = "1.6.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e78d4f1cc4ae33bbfc157ed5d5a5ef3bc29227303d595861deb238fcec4e9457"
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[[package]]
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name = "gif"
|
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version = "0.11.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "c3a7187e78088aead22ceedeee99779455b23fc231fe13ec443f99bb71694e5b"
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dependencies = [
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"color_quant",
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"weezl",
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]
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[[package]]
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name = "hermit-abi"
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version = "0.1.19"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "62b467343b94ba476dcb2500d242dadbb39557df889310ac77c5d99100aaac33"
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dependencies = [
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"libc",
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]
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[[package]]
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name = "image"
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||||
version = "0.23.14"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "24ffcb7e7244a9bf19d35bf2883b9c080c4ced3c07a9895572178cdb8f13f6a1"
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dependencies = [
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"bytemuck",
|
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"byteorder",
|
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"color_quant",
|
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"gif",
|
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"jpeg-decoder",
|
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"num-iter",
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"num-rational",
|
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"num-traits",
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"png",
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"scoped_threadpool",
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"tiff",
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]
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[[package]]
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name = "jpeg-decoder"
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version = "0.1.22"
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source = "registry+https://github.com/rust-lang/crates.io-index"
|
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checksum = "229d53d58899083193af11e15917b5640cd40b29ff475a1fe4ef725deb02d0f2"
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dependencies = [
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"rayon",
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||||
]
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[[package]]
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name = "lazy_static"
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version = "1.4.0"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
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||||
|
||||
[[package]]
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||||
name = "libc"
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||||
version = "0.2.108"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "8521a1b57e76b1ec69af7599e75e38e7b7fad6610f037db8c79b127201b5d119"
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||||
|
||||
[[package]]
|
||||
name = "memoffset"
|
||||
version = "0.6.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "59accc507f1338036a0477ef61afdae33cde60840f4dfe481319ce3ad116ddf9"
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dependencies = [
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"autocfg",
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]
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[[package]]
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name = "miniz_oxide"
|
||||
version = "0.3.7"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "791daaae1ed6889560f8c4359194f56648355540573244a5448a83ba1ecc7435"
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dependencies = [
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"adler32",
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]
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[[package]]
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name = "miniz_oxide"
|
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version = "0.4.4"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "a92518e98c078586bc6c934028adcca4c92a53d6a958196de835170a01d84e4b"
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dependencies = [
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"adler",
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"autocfg",
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]
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[[package]]
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name = "num-integer"
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||||
version = "0.1.44"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "d2cc698a63b549a70bc047073d2949cce27cd1c7b0a4a862d08a8031bc2801db"
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||||
dependencies = [
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"autocfg",
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"num-traits",
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]
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[[package]]
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name = "num-iter"
|
||||
version = "0.1.42"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b2021c8337a54d21aca0d59a92577a029af9431cb59b909b03252b9c164fad59"
|
||||
dependencies = [
|
||||
"autocfg",
|
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"num-integer",
|
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"num-traits",
|
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]
|
||||
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||||
[[package]]
|
||||
name = "num-rational"
|
||||
version = "0.3.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "12ac428b1cb17fce6f731001d307d351ec70a6d202fc2e60f7d4c5e42d8f4f07"
|
||||
dependencies = [
|
||||
"autocfg",
|
||||
"num-integer",
|
||||
"num-traits",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "num-traits"
|
||||
version = "0.2.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9a64b1ec5cda2586e284722486d802acf1f7dbdc623e2bfc57e65ca1cd099290"
|
||||
dependencies = [
|
||||
"autocfg",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "num_cpus"
|
||||
version = "1.13.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "05499f3756671c15885fee9034446956fff3f243d6077b91e5767df161f766b3"
|
||||
dependencies = [
|
||||
"hermit-abi",
|
||||
"libc",
|
||||
]
|
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|
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[[package]]
|
||||
name = "png"
|
||||
version = "0.16.8"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3c3287920cb847dee3de33d301c463fba14dda99db24214ddf93f83d3021f4c6"
|
||||
dependencies = [
|
||||
"bitflags",
|
||||
"crc32fast",
|
||||
"deflate",
|
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"miniz_oxide 0.3.7",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rayon"
|
||||
version = "1.5.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c06aca804d41dbc8ba42dfd964f0d01334eceb64314b9ecf7c5fad5188a06d90"
|
||||
dependencies = [
|
||||
"autocfg",
|
||||
"crossbeam-deque",
|
||||
"either",
|
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"rayon-core",
|
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]
|
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|
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[[package]]
|
||||
name = "rayon-core"
|
||||
version = "1.9.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d78120e2c850279833f1dd3582f730c4ab53ed95aeaaaa862a2a5c71b1656d8e"
|
||||
dependencies = [
|
||||
"crossbeam-channel",
|
||||
"crossbeam-deque",
|
||||
"crossbeam-utils",
|
||||
"lazy_static",
|
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"num_cpus",
|
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]
|
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|
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[[package]]
|
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name = "scoped_threadpool"
|
||||
version = "0.1.9"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1d51f5df5af43ab3f1360b429fa5e0152ac5ce8c0bd6485cae490332e96846a8"
|
||||
|
||||
[[package]]
|
||||
name = "scopeguard"
|
||||
version = "1.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
|
||||
|
||||
[[package]]
|
||||
name = "tiff"
|
||||
version = "0.6.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9a53f4706d65497df0c4349241deddf35f84cee19c87ed86ea8ca590f4464437"
|
||||
dependencies = [
|
||||
"jpeg-decoder",
|
||||
"miniz_oxide 0.4.4",
|
||||
"weezl",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "weezl"
|
||||
version = "0.1.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d8b77fdfd5a253be4ab714e4ffa3c49caf146b4de743e97510c0656cf90f1e8e"
|
||||
14
Cargo.toml
Normal file
14
Cargo.toml
Normal file
@ -0,0 +1,14 @@
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[package]
|
||||
name = "dispmap"
|
||||
version = "0.1.0"
|
||||
edition = "2021"
|
||||
|
||||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||
|
||||
[[bin]]
|
||||
name = "run"
|
||||
path = "./bin/run.rs"
|
||||
|
||||
|
||||
[dependencies]
|
||||
image = "0.23.14"
|
||||
@ -1,59 +0,0 @@
|
||||
################################################################################
|
||||
# Automatically-generated file. Do not edit!
|
||||
################################################################################
|
||||
|
||||
-include ../makefile.init
|
||||
|
||||
RM := rm -rf
|
||||
|
||||
# All of the sources participating in the build are defined here
|
||||
-include sources.mk
|
||||
-include src/subdir.mk
|
||||
-include subdir.mk
|
||||
-include objects.mk
|
||||
|
||||
ifneq ($(MAKECMDGOALS),clean)
|
||||
ifneq ($(strip $(C++_DEPS)),)
|
||||
-include $(C++_DEPS)
|
||||
endif
|
||||
ifneq ($(strip $(C_DEPS)),)
|
||||
-include $(C_DEPS)
|
||||
endif
|
||||
ifneq ($(strip $(CC_DEPS)),)
|
||||
-include $(CC_DEPS)
|
||||
endif
|
||||
ifneq ($(strip $(CPP_DEPS)),)
|
||||
-include $(CPP_DEPS)
|
||||
endif
|
||||
ifneq ($(strip $(CXX_DEPS)),)
|
||||
-include $(CXX_DEPS)
|
||||
endif
|
||||
ifneq ($(strip $(C_UPPER_DEPS)),)
|
||||
-include $(C_UPPER_DEPS)
|
||||
endif
|
||||
endif
|
||||
|
||||
-include ../makefile.defs
|
||||
|
||||
# Add inputs and outputs from these tool invocations to the build variables
|
||||
|
||||
# All Target
|
||||
all: CSV
|
||||
|
||||
# Tool invocations
|
||||
CSV: $(OBJS) $(USER_OBJS)
|
||||
@echo 'Building target: $@'
|
||||
@echo 'Invoking: GCC C++ Linker'
|
||||
g++ -o "CSV" $(OBJS) $(USER_OBJS) $(LIBS)
|
||||
@echo 'Finished building target: $@'
|
||||
@echo ' '
|
||||
|
||||
# Other Targets
|
||||
clean:
|
||||
-$(RM) $(OBJS)$(C++_DEPS)$(C_DEPS)$(CC_DEPS)$(CPP_DEPS)$(EXECUTABLES)$(CXX_DEPS)$(C_UPPER_DEPS) CSV
|
||||
-@echo ' '
|
||||
|
||||
.PHONY: all clean dependents
|
||||
.SECONDARY:
|
||||
|
||||
-include ../makefile.targets
|
||||
@ -1,8 +0,0 @@
|
||||
################################################################################
|
||||
# Automatically-generated file. Do not edit!
|
||||
################################################################################
|
||||
|
||||
USER_OBJS :=
|
||||
|
||||
LIBS := -lopencv_core -lpthread -lboost_system -lpcl -lpcl_visualization -lopencv_imgproc -lopencv_highgui -lopencv_legacy
|
||||
|
||||
@ -1,27 +0,0 @@
|
||||
################################################################################
|
||||
# Automatically-generated file. Do not edit!
|
||||
################################################################################
|
||||
|
||||
O_SRCS :=
|
||||
CPP_SRCS :=
|
||||
C_UPPER_SRCS :=
|
||||
C_SRCS :=
|
||||
S_UPPER_SRCS :=
|
||||
OBJ_SRCS :=
|
||||
ASM_SRCS :=
|
||||
CXX_SRCS :=
|
||||
C++_SRCS :=
|
||||
CC_SRCS :=
|
||||
OBJS :=
|
||||
C++_DEPS :=
|
||||
C_DEPS :=
|
||||
CC_DEPS :=
|
||||
CPP_DEPS :=
|
||||
EXECUTABLES :=
|
||||
CXX_DEPS :=
|
||||
C_UPPER_DEPS :=
|
||||
|
||||
# Every subdirectory with source files must be described here
|
||||
SUBDIRS := \
|
||||
src \
|
||||
|
||||
@ -1,36 +0,0 @@
|
||||
################################################################################
|
||||
# Automatically-generated file. Do not edit!
|
||||
################################################################################
|
||||
|
||||
# Add inputs and outputs from these tool invocations to the build variables
|
||||
CPP_SRCS += \
|
||||
../src/SvImage.cpp \
|
||||
../src/SvMain.cpp \
|
||||
../src/SvMultithreadProcessor.cpp \
|
||||
../src/SvProcessorV1.cpp \
|
||||
../src/SvProcessorV2.cpp
|
||||
|
||||
OBJS += \
|
||||
./src/SvImage.o \
|
||||
./src/SvMain.o \
|
||||
./src/SvMultithreadProcessor.o \
|
||||
./src/SvProcessorV1.o \
|
||||
./src/SvProcessorV2.o
|
||||
|
||||
CPP_DEPS += \
|
||||
./src/SvImage.d \
|
||||
./src/SvMain.d \
|
||||
./src/SvMultithreadProcessor.d \
|
||||
./src/SvProcessorV1.d \
|
||||
./src/SvProcessorV2.d
|
||||
|
||||
|
||||
# Each subdirectory must supply rules for building sources it contributes
|
||||
src/%.o: ../src/%.cpp
|
||||
@echo 'Building file: $<'
|
||||
@echo 'Invoking: GCC C++ Compiler'
|
||||
g++ -std=c++11 -I/usr/include/pcl-1.7 -I/usr/include/vtk-5.8/ -I/usr/include/eigen3 -O3 -Wall -c -fmessage-length=0 -pthread -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
|
||||
@echo 'Finished building: $<'
|
||||
@echo ' '
|
||||
|
||||
|
||||
6
bin/run.rs
Normal file
6
bin/run.rs
Normal file
@ -0,0 +1,6 @@
|
||||
|
||||
|
||||
|
||||
fn main() {
|
||||
|
||||
}
|
||||
@ -1,74 +0,0 @@
|
||||
/*
|
||||
* SvImage.cpp
|
||||
*
|
||||
* Created on: 27 июня 2014 г.
|
||||
* Author: andrey
|
||||
*/
|
||||
|
||||
#include "SvImage.h"
|
||||
|
||||
int SvImage::getPixel(int x, int y, int channel = -1) {
|
||||
if (y >= this->image->rows || y < 0 || x >= this->image->cols || x < 0) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
uchar* pixel = this->image->ptr(y, x);
|
||||
uchar value;
|
||||
|
||||
if (channel == -1 || channel > 2) {
|
||||
value = 0.299 * pixel[0] + 0.587 * pixel[1] + 0.114 * pixel[2];
|
||||
} else {
|
||||
value = pixel[channel];
|
||||
}
|
||||
|
||||
return value;
|
||||
}
|
||||
|
||||
int SvImage::getPixelHue(int x, int y) {
|
||||
uchar* pixel = this->image->ptr(y, x);
|
||||
if (x >= 0 && x < this->image->cols && y >= 0 && y < this->image->rows) {
|
||||
return abs(pixel[1] - pixel[0]) + abs(pixel[2] - pixel[1]);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int SvImage::getPixelValue(int x, int y) {
|
||||
uchar* pixel = this->image->ptr(y, x);
|
||||
if (x >= 0 && x < this->image->cols && y >= 0 && y < this->image->rows) {
|
||||
return (pixel[0] + pixel[1] + pixel[2])/3;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void SvImage::putPixel(int x, int y, int value)
|
||||
{
|
||||
uchar* data;
|
||||
|
||||
if (x >= 0 && x < this->image->cols && y >= 0 && y < this->image->rows) {
|
||||
data = this->image->ptr(y, x);
|
||||
data[0] = value;
|
||||
}
|
||||
}
|
||||
|
||||
int SvImage::getHeight() {
|
||||
return this->image->rows;
|
||||
}
|
||||
|
||||
int SvImage::getWidth() {
|
||||
return this->image->cols;
|
||||
}
|
||||
|
||||
Mat& SvImage::getCvMatrix() {
|
||||
return *this->image;
|
||||
}
|
||||
|
||||
SvImage::SvImage(Mat& image) {
|
||||
this->image = ℑ
|
||||
}
|
||||
|
||||
SvImage::~SvImage() {
|
||||
|
||||
}
|
||||
|
||||
@ -1,34 +0,0 @@
|
||||
/*
|
||||
* SvImage.h
|
||||
*
|
||||
* Created on: 27 июня 2014 г.
|
||||
* Author: andrey
|
||||
*/
|
||||
|
||||
#ifndef SVIMAGE_H_
|
||||
#define SVIMAGE_H_
|
||||
|
||||
#include <opencv2/opencv.hpp>
|
||||
|
||||
using namespace cv;
|
||||
|
||||
class SvImage {
|
||||
|
||||
protected:
|
||||
Mat* image;
|
||||
|
||||
public:
|
||||
int getPixel(int x, int y, int channel);
|
||||
int getPixelHue(int x, int y);
|
||||
int getPixelValue(int x, int y);
|
||||
void putPixel(int x, int y, int val);
|
||||
|
||||
int getHeight();
|
||||
int getWidth();
|
||||
Mat& getCvMatrix();
|
||||
|
||||
SvImage(Mat& image);
|
||||
virtual ~SvImage();
|
||||
};
|
||||
|
||||
#endif /* SVIMAGE_H_ */
|
||||
102
src/SvMain.cpp
102
src/SvMain.cpp
@ -1,102 +0,0 @@
|
||||
//============================================================================
|
||||
// Name : CSV.cpp
|
||||
// Author : Andrey
|
||||
// Version :
|
||||
// Copyright : Your copyright notice
|
||||
// Description : Computer Stereo Vision in C++, Ansi-style
|
||||
//============================================================================
|
||||
|
||||
#include <opencv2/opencv.hpp>
|
||||
#include "SvImage.h"
|
||||
#include "SvProcessorV1.h"
|
||||
#include "SvProcessorV2.h"
|
||||
#include <thread>
|
||||
//#include <pcl/point_cloud.h>
|
||||
//#include <pcl/point_types.h>
|
||||
//#include <pcl/visualization/pcl_visualizer.h>
|
||||
//#include <vtkRenderWindow.h>
|
||||
//#include <pcl/visualization/cloud_viewer.h>
|
||||
//#include <pcl/filters/statistical_outlier_removal.h>
|
||||
|
||||
using namespace cv;
|
||||
|
||||
void CallBackFunc(int event, int x, int y, int flags, void* userdata)
|
||||
{
|
||||
if (event == EVENT_LBUTTONDOWN ) {
|
||||
|
||||
} else if ( event == EVENT_RBUTTONDOWN ) {
|
||||
|
||||
} else if ( event == EVENT_MBUTTONDOWN ) {
|
||||
|
||||
} else if ( event == EVENT_MOUSEMOVE ) {
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char** argv) {
|
||||
Mat matLeft = imread("img/left8.png", 1);
|
||||
Mat matRight = imread("img/right8.png", 1);
|
||||
Mat matStereo(Mat::zeros(matLeft.rows, matLeft.cols, CV_8U));
|
||||
|
||||
SvImage left(matLeft);
|
||||
SvImage right(matRight);
|
||||
SvImage stereo(matStereo);
|
||||
|
||||
int line = 0;
|
||||
|
||||
SvProcessorV2 proc[4];
|
||||
|
||||
for (int i = 0; i < 4; i++) {
|
||||
proc[i].setLeftImage(left);
|
||||
proc[i].setRightImage(right);
|
||||
}
|
||||
|
||||
while (line < stereo.getHeight()) {
|
||||
for (int i = 0; i < 4; i++) {
|
||||
if (line < stereo.getHeight() && !proc[i].isActive()) {
|
||||
proc[i].run(stereo, line++);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//pcl::PointXYZRGB point;
|
||||
//pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
|
||||
//pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZRGB>);
|
||||
|
||||
/*cloud->resize(stereo.getHeight() * stereo.getWidth());
|
||||
|
||||
for (int y = 0; y < stereo.getHeight(); y++) {
|
||||
for (int x = 0; x < stereo.getWidth(); x++) {
|
||||
int i = stereo.getWidth() * y + x;
|
||||
int value = stereo.getPixel(x, y, 0);
|
||||
if (value) {
|
||||
cloud->points[i].x = (x - (stereo.getWidth() / 2.0))/100.0;
|
||||
cloud->points[i].y = (-y + (stereo.getHeight() / 2.0))/100.0;
|
||||
cloud->points[i].z = (-stereo.getPixel(x, y, 0) * 6.0)/100.0;
|
||||
|
||||
cloud->points[i].r = left.getPixel(x, y, 2);
|
||||
cloud->points[i].g = left.getPixel(x, y, 1);
|
||||
cloud->points[i].b = left.getPixel(x, y, 0);
|
||||
}
|
||||
}
|
||||
}*/
|
||||
/*
|
||||
pcl::StatisticalOutlierRemoval<pcl::PointXYZRGB> sor;
|
||||
sor.setInputCloud(cloud);
|
||||
sor.setMeanK(50);
|
||||
sor.setStddevMulThresh(1.0);
|
||||
sor.filter(*cloud_filtered);
|
||||
*/
|
||||
|
||||
/*pcl::visualization::CloudViewer viewer("Simple Cloud Viewer");
|
||||
viewer.showCloud(cloud);
|
||||
while (!viewer.wasStopped ())
|
||||
{
|
||||
}*/
|
||||
|
||||
imshow("Display Image", stereo.getCvMatrix());
|
||||
//setMouseCallback("Display Image", CallBackFunc, NULL);
|
||||
waitKey();
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -1,41 +0,0 @@
|
||||
/*
|
||||
* SvMultithreadProcessor.cpp
|
||||
*
|
||||
* Created on: 09 июля 2014 г.
|
||||
* Author: andrey
|
||||
*/
|
||||
|
||||
#include "SvMultithreadProcessor.h"
|
||||
|
||||
SvMultithreadProcessor::SvMultithreadProcessor(SvImage& left, SvImage& right) {
|
||||
m_left = &left;
|
||||
m_right = &right;
|
||||
m_stereo = NULL;
|
||||
m_line = 0;
|
||||
}
|
||||
|
||||
SvMultithreadProcessor::SvMultithreadProcessor() {
|
||||
|
||||
}
|
||||
|
||||
int SvMultithreadProcessor::run(SvImage& stereo, int line) {
|
||||
m_stereo = &stereo;
|
||||
m_line = line;
|
||||
m_thread = std::thread(&SvMultithreadProcessor::process, this);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void SvMultithreadProcessor::process() {
|
||||
exec();
|
||||
m_thread.detach();
|
||||
}
|
||||
|
||||
void SvMultithreadProcessor::exec() {
|
||||
|
||||
}
|
||||
|
||||
SvMultithreadProcessor::~SvMultithreadProcessor() {
|
||||
|
||||
}
|
||||
|
||||
@ -1,42 +0,0 @@
|
||||
/*
|
||||
* SvMultithreadProcessor.h
|
||||
*
|
||||
* Created on: 09 июля 2014 г.
|
||||
* Author: andrey
|
||||
*/
|
||||
|
||||
#ifndef SVMULTITHREADPROCESSOR_H_
|
||||
#define SVMULTITHREADPROCESSOR_H_
|
||||
|
||||
#include <thread>
|
||||
#include "SvImage.h"
|
||||
|
||||
class SvMultithreadProcessor {
|
||||
|
||||
protected:
|
||||
SvImage* m_left;
|
||||
SvImage* m_right;
|
||||
SvImage* m_stereo;
|
||||
|
||||
std::thread m_thread;
|
||||
int m_line;
|
||||
|
||||
public:
|
||||
|
||||
void setLeftImage(SvImage& image) { m_left = ℑ}
|
||||
void setRightImage(SvImage& image) { m_right = ℑ}
|
||||
bool isActive() { return m_thread.joinable(); }
|
||||
void join() { m_thread.join(); }
|
||||
void detach() { m_thread.detach(); }
|
||||
|
||||
int run(SvImage& stereo, int line);
|
||||
void process();
|
||||
virtual void exec();
|
||||
|
||||
SvMultithreadProcessor(SvImage& left, SvImage& right);
|
||||
SvMultithreadProcessor();
|
||||
|
||||
virtual ~SvMultithreadProcessor();
|
||||
};
|
||||
|
||||
#endif /* SVMULTITHREADPROCESSOR_H_ */
|
||||
@ -1,112 +0,0 @@
|
||||
/*
|
||||
* SvProcessor.cpp
|
||||
*
|
||||
* Created on: 27 июня 2014 г.
|
||||
* Author: andrey
|
||||
*/
|
||||
|
||||
#include "SvProcessorV1.h"
|
||||
|
||||
int SvProcessorV1::getPixelColor(int cursor) {
|
||||
if (cursor == 0) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
return ((10 * m_left->getWidth()) / (2.0 * 0.9 * cursor ));
|
||||
}
|
||||
/*
|
||||
int SvProcessorV1::match(int x, int y, int j) {
|
||||
int error = 0;
|
||||
|
||||
for (int i = 0; i <= 1; i++) {
|
||||
for (int g = 0; g <= 2; g++) {
|
||||
error += diff(x + i, y + g, x + i + j, y + g);
|
||||
}
|
||||
}
|
||||
|
||||
return error;
|
||||
}*/
|
||||
|
||||
int SvProcessorV1::diff(int lx, int ly, int rx, int ry) {
|
||||
int Rvalue, Gvalue, Bvalue, color;
|
||||
|
||||
Rvalue = abs(m_left->getPixel(lx, ly, 0) - m_right->getPixel(rx, ry, 0));
|
||||
Gvalue = abs(m_left->getPixel(lx, ly, 1) - m_right->getPixel(rx, ry, 1));
|
||||
Bvalue = abs(m_left->getPixel(lx, ly, 2) - m_right->getPixel(rx, ry, 2));
|
||||
color = abs(Gvalue - Rvalue) + abs(Bvalue - Gvalue);
|
||||
|
||||
return (Gvalue + Rvalue + Bvalue) +
|
||||
color * 4;
|
||||
}
|
||||
|
||||
int SvProcessorV1::match(int x, int y, int j) {
|
||||
int error = 0;
|
||||
int ms = 4;
|
||||
int c = diff(x, y, x + j, y),
|
||||
l = 0, r = 0, t = 0, b = 0;
|
||||
|
||||
error = c;
|
||||
|
||||
for (int i = 1; i <= ms; i++) {
|
||||
l += diff(x - i, y, x + j - i, y);
|
||||
r += diff(x + i, y, x + j + i, y);
|
||||
t += diff(x, y - i, x + j, y - i);
|
||||
b += diff(x, y + i, x + j, y + i);
|
||||
}
|
||||
|
||||
error += l > r ? r : l;
|
||||
error += t > b ? b : t;
|
||||
//error += l + r + b + t;
|
||||
|
||||
return error;
|
||||
}
|
||||
|
||||
void SvProcessorV1::exec() {
|
||||
int x, y, cursor, closest, tmp;
|
||||
int minErrorValue, tmpSmoothed, matched;
|
||||
int precursor, preprecursor;
|
||||
int dist, diff, val, prev, preprev;
|
||||
|
||||
cursor = 0;
|
||||
precursor = 0;
|
||||
preprecursor = 0;
|
||||
|
||||
for (x = 0; x < m_stereo->getWidth(); x++) {
|
||||
closest = -1; minErrorValue = -1;matched=0;
|
||||
minErrorValue=-1;
|
||||
|
||||
val = m_left->getPixelHue(x, m_line);
|
||||
|
||||
for (int i = 1; i < windowSize; i++) {
|
||||
dist = (abs(cursor - i));
|
||||
|
||||
tmp = match(x, m_line, i);
|
||||
|
||||
tmpSmoothed = tmp;// + (dist) * (1.0/diff);
|
||||
|
||||
if (tmpSmoothed < minErrorValue || minErrorValue == -1) {
|
||||
minErrorValue = tmpSmoothed;
|
||||
closest = i;
|
||||
matched = 1;
|
||||
} else if (tmpSmoothed == minErrorValue) {
|
||||
if (abs(cursor - i) < abs(cursor - closest)) {
|
||||
closest = i;
|
||||
matched++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (matched == 1) {
|
||||
cursor = closest;
|
||||
}
|
||||
|
||||
m_stereo->putPixel(x, m_line, getPixelColor(cursor));
|
||||
|
||||
preprecursor = precursor;
|
||||
precursor = cursor;
|
||||
|
||||
preprev = prev;
|
||||
prev = val;
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,31 +0,0 @@
|
||||
/*
|
||||
* SvProcessor.h
|
||||
*
|
||||
* Created on: 27 июня 2014 г.
|
||||
* Author: andrey
|
||||
*/
|
||||
|
||||
#ifndef SVPROCESSORV1_H_
|
||||
#define SVPROCESSORV1_H_
|
||||
|
||||
#include <iostream>
|
||||
#include <thread>
|
||||
#include "SvImage.h"
|
||||
#include "SvMultithreadProcessor.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
class SvProcessorV1 : public SvMultithreadProcessor {
|
||||
|
||||
protected:
|
||||
const int windowSize = 90;
|
||||
|
||||
public:
|
||||
int diff(int lx, int ly, int rx, int ry);
|
||||
int match(int x, int y, int i);
|
||||
void exec();
|
||||
|
||||
int getPixelColor(int cursor);
|
||||
};
|
||||
|
||||
#endif /* SVPROCESSORV1_H_ */
|
||||
@ -1,12 +0,0 @@
|
||||
/*
|
||||
* SvProcessor.cpp
|
||||
*
|
||||
* Created on: 27 июня 2014 г.
|
||||
* Author: andrey
|
||||
*/
|
||||
|
||||
#include "SvProcessorV2.h"
|
||||
|
||||
void SvProcessorV2::exec() {
|
||||
|
||||
}
|
||||
@ -1,23 +0,0 @@
|
||||
/*
|
||||
* SvProcessor.h
|
||||
*
|
||||
* Created on: 27 июня 2014 г.
|
||||
* Author: andrey
|
||||
*/
|
||||
|
||||
#ifndef SVPROCESSOR_H_
|
||||
#define SVPROCESSOR_H_
|
||||
|
||||
#include <iostream>
|
||||
#include "SvImage.h"
|
||||
#include "SvMultithreadProcessor.h"
|
||||
|
||||
class SvProcessorV2 : public SvMultithreadProcessor {
|
||||
|
||||
protected:
|
||||
|
||||
public:
|
||||
void exec();
|
||||
};
|
||||
|
||||
#endif /* SVPROCESSOR_H_ */
|
||||
106
src/lib.rs
Normal file
106
src/lib.rs
Normal file
@ -0,0 +1,106 @@
|
||||
use image::{GrayImage, RgbImage};
|
||||
|
||||
fn diff(left_image: &RgbImage, right_image: &RgbImage, lx: u32, ly: u32, rx: u32, ry: u32) -> i32 {
|
||||
let r = (left_image.get_pixel(lx, ly)[0] as i8 - right_image.get_pixel(rx, ry)[0] as i8).abs()
|
||||
as i32;
|
||||
let g = (left_image.get_pixel(lx, ly)[1] as i8 - right_image.get_pixel(rx, ry)[1] as i8).abs()
|
||||
as i32;
|
||||
let b = (left_image.get_pixel(lx, ly)[2] as i8 - right_image.get_pixel(rx, ry)[2] as i8).abs()
|
||||
as i32;
|
||||
let color = (g - r).abs() + (b - g).abs();
|
||||
|
||||
(r + g + b) + color * 4
|
||||
}
|
||||
|
||||
fn match_pixels(left_image: &RgbImage, right_image: &RgbImage, x: u32, y: u32, j: u32) -> i32 {
|
||||
let mut error = 0;
|
||||
let ms = 4;
|
||||
let c = diff(left_image, right_image, x, y, x + j, y);
|
||||
let mut l = 0;
|
||||
let mut r = 0;
|
||||
let mut t = 0;
|
||||
let mut b = 0;
|
||||
|
||||
error = c;
|
||||
|
||||
for i in 1..=ms {
|
||||
l += diff(left_image, right_image, x - i, y, x + j - i, y);
|
||||
r += diff(left_image, right_image, x + i, y, x + j + i, y);
|
||||
t += diff(left_image, right_image, x, y - i, x + j, y - i);
|
||||
b += diff(left_image, right_image, x, y + i, x + j, y + i);
|
||||
}
|
||||
|
||||
error += if l > r { r } else { l };
|
||||
error += if t > b { b } else { t };
|
||||
//error += l + r + b + t;
|
||||
|
||||
error
|
||||
}
|
||||
|
||||
fn get_pixel_color(image: &RgbImage, cursor: i32) -> f32 {
|
||||
if cursor == 0 {
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
(10 * image.width()) as f32 / (2.0 * 0.9 * cursor as f32)
|
||||
}
|
||||
|
||||
fn get_pixel_hue(image: &RgbImage, x: u32, y: u32) -> i32 {
|
||||
let pixel = image.get_pixel(x, y);
|
||||
|
||||
(pixel[1] as i32 - pixel[0] as i32).abs() + (pixel[2] as i32 - pixel[1] as i32).abs()
|
||||
}
|
||||
|
||||
fn get_pixel_value(image: &RgbImage, x: u32, y: u32) -> i32 {
|
||||
let pixel = image.get_pixel(x, y);
|
||||
|
||||
(pixel[0] as i32 + pixel[1] as i32 + pixel[2] as i32) / 3
|
||||
}
|
||||
|
||||
fn exec(res: &mut GrayImage, left: &RgbImage, right: &RgbImage, line: u32) {
|
||||
let mut prev = 0;
|
||||
let mut preprev = 0;
|
||||
let mut cursor = 0i32;
|
||||
let mut precursor = 0i32;
|
||||
let mut preprecursor = 0i32;
|
||||
|
||||
let window_size = 128u32;
|
||||
|
||||
for x in 0..res.width() {
|
||||
let mut closest = -1i32;
|
||||
let mut min_error = -1i32;
|
||||
let mut matched = 0;
|
||||
|
||||
let val = get_pixel_hue(left, x, line);
|
||||
|
||||
for i in 1..window_size {
|
||||
let dist = (cursor - i as i32).abs();
|
||||
let tmp = match_pixels(left, right, x, line, i);
|
||||
let tmp_smoothed = tmp; // + (dist) * (1.0 / diff);
|
||||
|
||||
if tmp_smoothed < min_error || min_error == -1 {
|
||||
min_error = tmp_smoothed;
|
||||
closest = i as i32;
|
||||
matched = 1;
|
||||
} else if tmp_smoothed == min_error
|
||||
&& ((cursor - i as i32).abs() < (cursor - closest).abs())
|
||||
{
|
||||
closest = i as i32;
|
||||
matched += 1;
|
||||
}
|
||||
}
|
||||
|
||||
if matched == 1 {
|
||||
cursor = closest;
|
||||
}
|
||||
|
||||
res.put_pixel(x, line, ([get_pixel_color(left, cursor) as u8]).into());
|
||||
|
||||
preprecursor = precursor;
|
||||
precursor = cursor;
|
||||
|
||||
preprev = prev;
|
||||
prev = val;
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user