// store the map from grid point offset to mask used in phase correlation peak finding
static void storeHintToMask(map<GridPtOff, Mat> &hintToMask, const Size &imSz, const Point2f &absHint, const MaxDists &dists) {
for (int xOff = -1; xOff <= 1; xOff++) {
for (int yOff = -1; yOff <= 1; yOff++) {
if (!xOff && !yOff) {
continue;
}
int maxDist;
if (xOff) {
if (yOff) {
maxDist = dists.xy;
} else {
maxDist = dists.x;
}
} else {
maxDist = dists.y;
}
Mat mask = Mat::zeros(Size(imSz.width + 2, imSz.height), CV_8UC1);
Point baseXY(fround(absHint.x * xOff), fround(absHint.y * yOff));
if (baseXY.x > imSz.width) {
baseXY.x -= imSz.width;
} else if (baseXY.x < 0) {
baseXY.x += imSz.width;
}
if (baseXY.y > imSz.height) {
baseXY.y -= imSz.height;
} else if (baseXY.y < 0) {
baseXY.y += imSz.height;
}
if (xOff) {
if (yOff) {
circle(mask, baseXY, maxDist, Scalar(255, 255, 255, 255), -1);
} else {
for (int y = baseXY.y - imSz.height; y <= baseXY.y + imSz.height; y += imSz.height) {
circle(mask, Point(baseXY.x, y), maxDist, Scalar(255, 255, 255, 255), -1);
}
}
} else {
for (int x = baseXY.x - imSz.width; x <= baseXY.x + imSz.width; x += imSz.width) {
circle(mask, Point(x, baseXY.y), maxDist, Scalar(255, 255, 255, 255), -1);
}
}
// Mat tmp;
// resize(mask, tmp, Size(), 0.4, 0.4);
// imshow("m", tmp);
// waitKey(0);
hintToMask.emplace(makeOff(xOff, yOff), mask);
}
}
}
static int
testcase(Ndb_cluster_connection&cc, int flag)
{
ndbout << "--- case " << flag << " ---" << endl;
sprintf(tab, "TB%02d", flag);
alignAddr = ! (flag & 1);
ndbout << (alignAddr ? "align addresses" : "mis-align addresses") << endl;
alignSize = ! (flag & 2);
ndbout << (alignSize ? "align data sizes" : "mis-align data sizes") << endl;
useBuf = ! (flag & 4);
ndbout << (useBuf ? "use our buffers" : "use ndbapi buffers") << endl;
noRandom = ! (flag & 8);
ndbout << (noRandom ? "simple sizes" : "randomize sizes") << endl;
int smax = 0, stot = 0, i;
if (xverbose)
ndbout << "- define table " << tab << endl;
for (i = 0; i < attrcnt; i++) {
col& c = ccol[i];
memset(&c, 0, sizeof(c));
sprintf(c.aAttrName, "C%d", i);
if (i == 0) {
c.aAttrType = UnSigned;
c.aAttrSize = 32;
c.aArraySize = 1;
c.aTupleKey = TupleKey;
c.nullable = false;
} else {
c.aAttrType = String;
c.aAttrSize = 8;
c.aArraySize = makeSize(i);
if (smax < c.aArraySize)
smax = c.aArraySize;
stot += c.aArraySize;
c.aTupleKey = NoKey;
c.nullable = true;
if (xverbose)
ndbout << "-- column " << i << " size=" << c.aArraySize << endl;
}
c.buf = toAligned(c.data);
c.bufsiz = sizeof(c.data) - (c.buf - c.data);
}
ndbout << "tab=" << tab << " cols=" << attrcnt
<< " size max=" << smax << " tot=" << stot << endl;
if ((tcon = NdbSchemaCon::startSchemaTrans(ndb)) == 0)
return ndberror("startSchemaTransaction");
if ((top = tcon->getNdbSchemaOp()) == 0)
return ndberror("getNdbSchemaOp");
if (top->createTable(tab) < 0)
return ndberror("createTable");
for (i = 0; i < attrcnt; i++) {
col& c = ccol[i];
if (top->createAttribute(
c.aAttrName,
c.aTupleKey,
c.aAttrSize,
c.aArraySize,
c.aAttrType,
MMBased,
c.nullable
) < 0)
return ndberror("createAttribute col=%d", i);
}
if (tcon->execute() < 0) {
if (! (tcon->getNdbError().code == 721 && existok))
return ndberror("execute");
ndbout << "using " << tab << endl;
} else {
ndbout << "created " << tab << endl;
}
top = 0;
tcon = 0;
if (xverbose)
ndbout << "- delete" << endl;
int delcnt = 0;
for (key = 0; key < opercnt; key++) {
if ((con = ndb->startTransaction()) == 0)
return ndberror("startTransaction key=%d", key);
if ((op = con->getNdbOperation(tab)) == 0)
return ndberror("getNdbOperation key=%d", key);
if (op->deleteTuple() < 0)
return ndberror("deleteTuple key=%d", key);
for (i = 0; i < attrcnt; i++) {
col& c = ccol[i];
if (i == 0) {
if (op->equal(c.aAttrName, (char*)&key, sizeof(key)) < 0)
return ndberror("equal key=%d", key);
} else {
}
}
if (con->execute(Commit) < 0) {
if (con->getNdbError().code != 626)
return ndberror("execute key=%d", key);
} else {
delcnt++;
}
ndb->closeTransaction(con);
}
con = 0;
op = 0;
ndbout << "deleted " << delcnt << endl;
if (xverbose)
ndbout << "- insert" << endl;
for (key = 0; key < opercnt; key++) {
int off = makeOff(key);
if ((con = ndb->startTransaction()) == 0)
return ndberror("startTransaction key=%d", key);
if ((op = con->getNdbOperation(tab)) == 0)
return ndberror("getNdbOperation key=%d", key);
if (op->insertTuple() < 0)
return ndberror("insertTuple key=%d", key);
for (i = 0; i < attrcnt; i++) {
col& c = ccol[i];
if (i == 0) {
if (op->equal(c.aAttrName, (char*)&key, sizeof(key)) < 0)
return ndberror("equal key=%d", key);
} else {
memset(c.buf, 'A', c.bufsiz);
for (int j = 0; j < c.aArraySize; j++)
c.buf[j + off] = byteVal(key, i, j);
if (op->setValue(c.aAttrName, c.buf + off, c.aArraySize) < 0)
return ndberror("setValue key=%d col=%d", key, i);
}
}
if (con->execute(Commit) < 0)
return ndberror("execute key=%d", key);
ndb->closeTransaction(con);
}
con = 0;
op = 0;
ndbout << "inserted " << key << endl;
if (xverbose)
ndbout << "- select" << endl;
for (key = 0; key < opercnt; key++) {
int off = makeOff(key);
if (xverbose)
ndbout << "-- key " << key << " off=" << off << endl;
if ((con = ndb->startTransaction()) == 0)
return ndberror("startTransaction key=%d", key);
if ((op = con->getNdbOperation(tab)) == 0)
return ndberror("getNdbOperation key=%d", key);
if (op->readTuple() < 0)
return ndberror("readTuple key=%d", key);
for (i = 0; i < attrcnt; i++) {
col& c = ccol[i];
if (i == 0) {
if (op->equal(c.aAttrName, (char*)&key, sizeof(key)) < 0)
return ndberror("equal key=%d", key);
} else {
if (xverbose) {
char tmp[20];
if (useBuf)
sprintf(tmp, "0x%p", c.buf + off);
else
strcpy(tmp, "ndbapi");
ndbout << "--- column " << i << " addr=" << tmp << endl;
}
memset(c.buf, 'B', c.bufsiz);
if (useBuf) {
if (op->getValue(c.aAttrName, c.buf + off) < 0)
return ndberror("getValue key=%d col=%d", key, i);
} else {
if ((c.aRa = op->getValue(c.aAttrName)) == 0)
return ndberror("getValue key=%d col=%d", key, i);
}
}
}
if (con->execute(Commit) != 0)
return ndberror("execute key=%d", key);
for (i = 0; i < attrcnt; i++) {
col& c = ccol[i];
if (i == 0) {
} else if (useBuf) {
int j;
for (j = 0; j < off; j++) {
if (c.buf[j] != 'B') {
return chkerror("mismatch before key=%d col=%d pos=%d ok=%02x bad=%02x",
key, i, j, 'B', c.buf[j]);
}
}
for (j = 0; j < c.aArraySize; j++) {
if (c.buf[j + off] != byteVal(key, i, j)) {
return chkerror("mismatch key=%d col=%d pos=%d ok=%02x bad=%02x",
key, i, j, byteVal(key, i, j), c.buf[j]);
}
}
for (j = c.aArraySize + off; j < c.bufsiz; j++) {
if (c.buf[j] != 'B') {
return chkerror("mismatch after key=%d col=%d pos=%d ok=%02x bad=%02x",
key, i, j, 'B', c.buf[j]);
}
}
} else {
char* buf = c.aRa->aRef();
if (buf == 0)
return ndberror("null aRef key=%d col%d", key, i);
for (int j = 0; j < c.aArraySize; j++) {
if (buf[j] != byteVal(key, i, j)) {
return chkerror("mismatch key=%d col=%d pos=%d ok=%02x bad=%02x",
key, i, j, byteVal(key, i, j), buf[j]);
}
}
}
}
ndb->closeTransaction(con);
}
con = 0;
op = 0;
ndbout << "selected " << key << endl;
if (xverbose)
ndbout << "- scan" << endl;
char found[MaxOper];
int k;
for (k = 0; k < opercnt; k++)
found[k] = 0;
for (key = 0; key < opercnt; key++) {
int off = makeOff(key);
if (xverbose)
ndbout << "-- key " << key << " off=" << off << endl;
int newkey = 0;
if ((con = ndb->startTransaction()) == 0)
return ndberror("startTransaction key=%d", key);
if ((op = sop = con->getNdbScanOperation(tab)) == 0)
return ndberror("getNdbOperation key=%d", key);
if (sop->readTuples(1))
return ndberror("openScanRead key=%d", key);
{
col& c = ccol[0];
if (op->load_const_u32(1, key) < 0)
return ndberror("load_const_u32");
if (op->read_attr(c.aAttrName, 2) < 0)
return ndberror("read_attr");
if (op->branch_eq(1, 2, 0) < 0)
return ndberror("branch_eq");
if (op->interpret_exit_nok() < 0)
return ndberror("interpret_exit_nok");
if (op->def_label(0) < 0)
return ndberror("def_label");
if (op->interpret_exit_ok() < 0)
return ndberror("interpret_exit_ok");
}
for (i = 0; i < attrcnt; i++) {
col& c = ccol[i];
if (i == 0) {
if (op->getValue(c.aAttrName, (char*)&newkey) < 0)
return ndberror("getValue key=%d col=%d", key, i);
} else {
if (xverbose) {
char tmp[20];
if (useBuf)
sprintf(tmp, "0x%p", c.buf + off);
else
strcpy(tmp, "ndbapi");
ndbout << "--- column " << i << " addr=" << tmp << endl;
}
memset(c.buf, 'C', c.bufsiz);
if (useBuf) {
if (op->getValue(c.aAttrName, c.buf + off) < 0)
return ndberror("getValue key=%d col=%d", key, i);
} else {
if ((c.aRa = op->getValue(c.aAttrName)) == 0)
return ndberror("getValue key=%d col=%d", key, i);
}
}
}
if (con->execute(NoCommit) < 0)
return ndberror("executeScan key=%d", key);
int ret, cnt = 0;
while ((ret = sop->nextResult()) == 0) {
if (key != newkey)
return ndberror("unexpected key=%d newkey=%d", key, newkey);
for (i = 1; i < attrcnt; i++) {
col& c = ccol[i];
if (useBuf) {
int j;
for (j = 0; j < off; j++) {
if (c.buf[j] != 'C') {
return chkerror("mismatch before key=%d col=%d pos=%d ok=%02x bad=%02x",
key, i, j, 'C', c.buf[j]);
}
}
for (j = 0; j < c.aArraySize; j++) {
if (c.buf[j + off] != byteVal(key, i, j)) {
return chkerror("mismatch key=%d col=%d pos=%d ok=%02x bad=%02x",
key, i, j, byteVal(key, i, j), c.buf[j]);
}
}
for (j = c.aArraySize + off; j < c.bufsiz; j++) {
if (c.buf[j] != 'C') {
return chkerror("mismatch after key=%d col=%d pos=%d ok=%02x bad=%02x",
key, i, j, 'C', c.buf[j]);
}
}
} else {
char* buf = c.aRa->aRef();
if (buf == 0)
return ndberror("null aRef key=%d col%d", key, i);
for (int j = 0; j < c.aArraySize; j++) {
if (buf[j] != byteVal(key, i, j)) {
return chkerror("mismatch key=%d col=%d pos=%d ok=%02x bad=%02x",
key, i, j, byteVal(key, i, j), buf[j]);
}
}
}
}
cnt++;
}
if (ret < 0)
return ndberror("nextScanResult key=%d", key);
if (cnt != 1)
return ndberror("scan key=%d found %d", key, cnt);
found[key] = 1;
ndb->closeTransaction(con);
}
con = 0;
op = 0;
for (k = 0; k < opercnt; k++)
if (! found[k])
return ndberror("key %d not found", k);
ndbout << "scanned " << key << endl;
ndbout << "done" << endl;
return 0;
}
// store translations into transMap
void storeTrans(ImgFetcher &fetcher, const Point2f &absHint, PairToTransData &transMap, const MaxDists &dists) {
vector<GridPtOff> imOffs;
if (fetcher.row_major) {
imOffs.push_back(makeOff(-1, 0));
imOffs.push_back(makeOff(-1, -1));
imOffs.push_back(makeOff(0, -1));
imOffs.push_back(makeOff(1, -1));
} else {
imOffs.push_back(makeOff(0, -1));
imOffs.push_back(makeOff(-1, -1));
imOffs.push_back(makeOff(-1, 0));
imOffs.push_back(makeOff(-1, 1));
}
map<PtPair, shared_future<TransData>> pairToTransFut;
map<GridPt, shared_future<FFTHolder>> ptToFFTFut;
unsigned loaded = 0;
GridPt fixPt = {{0, 0}};
GridPt waitPt = {{0, 0}};
Mat cur;
fetcher.getMat(fixPt, cur);
Size imSz = cur.size();
unsigned fftLen = getFFTLen(imSz);
map<GridPtOff, Mat> hintToMask;
storeHintToMask(hintToMask, imSz, absHint, dists);
float *tmp = (float *)fftwf_malloc_thr(sizeof(float) * fftLen);
fftwf_plan r2cPlan = fftwf_plan_dft_r2c_2d(imSz.height, imSz.width, tmp, (fftwf_complex *)tmp, FFTW_MEASURE);
fftwf_plan c2rPlan = fftwf_plan_dft_c2r_2d(imSz.height, imSz.width, (fftwf_complex *)tmp, tmp, FFTW_MEASURE);
fftwf_free_thr(tmp);
bool readDone = false;
while (true) {
//a dirty kind of event loop
if (loaded > fetcher.cap || readDone) {
// printf("start free waitPt %d %d\n", waitPt[0], waitPt[1]);
// free oldest image, at waitPt
for (auto &off: imOffs) {
// *subtract* offset to avoid duplicating pairs
GridPt nbrPt = {{waitPt[0] - off[0], waitPt[1] - off[1]}};
if (ptInGrid(nbrPt, fetcher)) {
PtPair pair = {{waitPt, nbrPt}};
shared_future<TransData> transFut;
if (!lookupPair(pairToTransFut, pair, transFut)) {
printf("err: future of pair %d %d to %d %d not found\n", pair[0][0], pair[0][1], pair[1][0], pair[1][1]);
exit(1);
}
transMap.emplace(pair, transFut.get());
pairToTransFut.erase(pair);
}
}
fftwf_free_thr(ptToFFTFut[waitPt].get().fft);
ptToFFTFut.erase(waitPt);
if (!nextCoor(waitPt, fetcher)) {
break;
}
loaded--;
}
if (!readDone) {
//printf("emplace fft at %d %d\n", fixPt[0], fixPt[1]);
fetcher.getMat(fixPt, cur);
// fft only supports 32-bit float with even width, for now
assert(cur.type() == CV_32FC1 && (int)cur.step[0] == cur.size().width * 4 && cur.step[1] == 4 && cur.size().width % 2 == 0);
assert(cur.isContinuous());
ptToFFTFut.emplace(fixPt, async(launch::async,
[&r2cPlan, &absHint](Mat im) {
return FFTHolder(im, absHint, r2cPlan);
},
cur
));
for (auto &off: imOffs) {
GridPt nbrPt = {{fixPt[0] + off[0], fixPt[1] + off[1]}};
if (ptInGrid(nbrPt, fetcher)) {
PtPair pair = {{fixPt, nbrPt}};
// printf("emplace pair transfut %d %d, %d %d\n", pair[0][0], pair[0][1], pair[1][0], pair[1][1]);
// needed since VS2012 async() can't take functions with too many arguments :(
shared_future<FFTHolder> &a = ptToFFTFut[fixPt];
shared_future<FFTHolder> &b = ptToFFTFut[nbrPt];
pairToTransFut.emplace(pair, async(launch::async, [=] {
return phaseCorrThr(a, b, c2rPlan, pair, absHint, hintToMask, imSz);
}));
}
}
loaded++;
if (!nextCoor(fixPt, fetcher)) {
readDone = true;
}
}
}
fftwf_destroy_plan(r2cPlan);
fftwf_destroy_plan(c2rPlan);
}
