bool atomic_get_and_clear(unsigned long bit)
{
unsigned long idx = bit / Bpl;
unsigned long b = bit % Bpl;
unsigned long v;
do
{
v = _bits()[idx];
}
while (!mp_cas(&_bits()[idx], v, v & ~(1UL << b)));
return v & (1UL << b);
}
void set32bitmap (uint32_t * map, unsigned bit)
{
map [bit / _bits (* map)] |= HTOLE32 (1 << (bit % _bits (* map)));
return;
}
bool DictionaryBased::getInnerCode(const cv::Mat& thres_img, int total_nbits, std::vector<uint64_t>& ids)
{
int bits_noborder = static_cast<int>(std::sqrt(total_nbits));
int bits_withborder = bits_noborder + 2;
// Markers are divided in (bits_a+2)x(bits_a+2) regions, of which the inner bits_axbits_a belongs to marker
// info
// the external border shoould be entirely black
cv::Mat nonZeros(bits_withborder,bits_withborder,CV_32SC1);
cv::Mat nValues(bits_withborder,bits_withborder,CV_32SC1);
nonZeros.setTo(cv::Scalar::all(0));
nValues.setTo(cv::Scalar::all(0));
for (int y = 0; y < thres_img.rows; y++)
{
const uchar *ptr=thres_img.ptr<uchar>(y);
int my= float(bits_withborder)*float(y)/ float(thres_img.rows);
for (int x = 0; x < thres_img.cols; x++)
{
int mx= float(bits_withborder)*float(x)/ float(thres_img.cols);
if( ptr[x]>125)
nonZeros.at<int>(my,mx)++;
nValues.at<int>(my,mx)++;
}
}
cv::Mat binaryCode(bits_withborder,bits_withborder,CV_8UC1);
//now, make the theshold
for(int y=0;y<bits_withborder;y++)
for(int x=0;x<bits_withborder;x++){
if(nonZeros.at<int>(y,x)>nValues.at<int>(y,x)/2)
binaryCode.at<uchar>(y,x)=1;
else
binaryCode.at<uchar>(y,x)=0;
}
//check if border is completely black
for (int y = 0; y < bits_withborder; y++)
{
int inc = bits_withborder - 1;
if (y == 0 || y == bits_withborder - 1)
inc = 1; // for first and last row, check the whole border
for (int x = 0; x < bits_withborder; x += inc)
if (binaryCode.at<uchar>(y,x)!=0 ) return false;
}
//take the inner code
cv::Mat _bits(bits_noborder,bits_noborder,CV_8UC1);
for(int y=0;y<bits_noborder;y++)
for(int x=0;x<bits_noborder;x++)
_bits.at<uchar>(y,x)=binaryCode.at<uchar>(y+1,x+1);
// now, get the 64bits ids
int nr = 0;
do
{
ids.push_back(touulong(_bits));
_bits = rotate(_bits);
nr++;
} while (nr < 4);
return true;
}
void atomic_clear_bit(unsigned long bit)
{
unsigned long idx = bit / Bpl;
unsigned long b = bit % Bpl;
atomic_mp_and(&_bits()[idx], ~(1UL << b));
}
void atomic_set_bit(unsigned long bit)
{
unsigned long idx = bit / Bpl;
unsigned long b = bit % Bpl;
atomic_mp_or(&_bits()[idx], 1UL << b);
}
unsigned long operator [] (unsigned long bit) const
{
unsigned long idx = bit / Bpl;
unsigned long b = bit % Bpl;
return _bits()[idx] & (1UL << b);
}
void set_bit(unsigned long bit)
{
unsigned long idx = bit / Bpl;
unsigned long b = bit % Bpl;
_bits()[idx] |= (1UL << b);
}
void clear_bit(unsigned long bit)
{
unsigned long idx = bit / Bpl;
unsigned long b = bit % Bpl;
_bits()[idx] &= ~(1UL << b);
}
void bit(unsigned long bit, bool on)
{
unsigned long idx = bit / Bpl;
unsigned long b = bit % Bpl;
_bits()[idx] = (_bits()[idx] & ~(1UL << b)) | ((unsigned long)on << b);
}
