void FeatureEval::blurred_intensity() {
boost::shared_ptr<PointCloud> cloud = core_->cl_->active_;
if(cloud == nullptr)
return;
int h = cloud->scan_width();
int w = cloud->scan_height();
boost::shared_ptr<std::vector<float>> intensity = boost::make_shared<std::vector<float>>(cloud->size());
// Create intensity cloud
for(uint i = 0; i < intensity->size(); i++){
(*intensity)[i] = (*cloud)[i].intensity;
}
boost::shared_ptr<std::vector<float>> img = cloudToGrid(cloud->cloudToGridMap(), w*h, intensity);
boost::shared_ptr<std::vector<float> > smooth_grad_image = convolve(img, w, h, gaussian, 5);
smooth_grad_image = convolve(smooth_grad_image, w, h, gaussian, 5);
smooth_grad_image = convolve(smooth_grad_image, w, h, gaussian, 5);
smooth_grad_image = convolve(smooth_grad_image, w, h, gaussian, 5);
/*
boost::shared_ptr<std::vector<float>> highfreq = img;
for(int i = 0; i < highfreq->size(); i++){
(*highfreq)[i] = (*highfreq)[i] - (*smooth_grad_image)[i];
}
drawFloats(highfreq, cloud);
*/
drawFloats(smooth_grad_image, cloud);
}
/**
* Hybrid window filtering, see blocks 36 and 49 of the G.728 specification.
*
* @param order filter order
* @param n input length
* @param non_rec number of non-recursive samples
* @param out filter output
* @param hist pointer to the input history of the filter
* @param out pointer to the non-recursive part of the output
* @param out2 pointer to the recursive part of the output
* @param window pointer to the windowing function table
*/
static void do_hybrid_window(RA288Context *ractx,
int order, int n, int non_rec, float *out,
float *hist, float *out2, const float *window)
{
int i;
float buffer1[MAX_BACKWARD_FILTER_ORDER + 1];
float buffer2[MAX_BACKWARD_FILTER_ORDER + 1];
LOCAL_ALIGNED(32, float, work, [FFALIGN(MAX_BACKWARD_FILTER_ORDER +
MAX_BACKWARD_FILTER_LEN +
MAX_BACKWARD_FILTER_NONREC, 16)]);
av_assert2(order>=0);
ractx->fdsp->vector_fmul(work, window, hist, FFALIGN(order + n + non_rec, 16));
convolve(buffer1, work + order , n , order);
convolve(buffer2, work + order + n, non_rec, order);
for (i=0; i <= order; i++) {
out2[i] = out2[i] * 0.5625 + buffer1[i];
out [i] = out2[i] + buffer2[i];
}
/* Multiply by the white noise correcting factor (WNCF). */
*out *= 257.0 / 256.0;
}
/**
* Hybrid window filtering. See blocks 36 and 49 of the G.728 specification.
*
* @param order the order of the filter
* @param n the length of the input
* @param non_rec the number of non-recursive samples
* @param out the filter output
* @param in pointer to the input of the filter
* @param hist pointer to the input history of the filter. It is updated by
* this function.
* @param out pointer to the non-recursive part of the output
* @param out2 pointer to the recursive part of the output
* @param window pointer to the windowing function table
*/
static void do_hybrid_window(int order, int n, int non_rec, const float *in,
float *out, float *hist, float *out2,
const float *window)
{
int i;
float buffer1[order + 1];
float buffer2[order + 1];
float work[order + n + non_rec];
/* update history */
memmove(hist , hist + n, (order + non_rec)*sizeof(*hist));
memcpy (hist + order + non_rec, in , n *sizeof(*hist));
colmult(work, window, hist, order + n + non_rec);
convolve(buffer1, work + order , n , order);
convolve(buffer2, work + order + n, non_rec, order);
for (i=0; i <= order; i++) {
out2[i] = out2[i] * 0.5625 + buffer1[i];
out [i] = out2[i] + buffer2[i];
}
/* Multiply by the white noise correcting factor (WNCF) */
*out *= 257./256.;
}
/**
* Hybrid window filtering, see blocks 36 and 49 of the G.728 specification.
*
* @param order filter order
* @param n input length
* @param non_rec number of non-recursive samples
* @param out filter output
* @param hist pointer to the input history of the filter
* @param out pointer to the non-recursive part of the output
* @param out2 pointer to the recursive part of the output
* @param window pointer to the windowing function table
*/
static void do_hybrid_window(int order, int n, int non_rec, float *out,
float *hist, float *out2, const float *window)
{
int i;
#ifndef _MSC_VER
float buffer1[order + 1];
float buffer2[order + 1];
float work[order + n + non_rec];
#else
float *buffer1 = av_malloc_items(order + 1, float);
float *buffer2 = av_malloc_items(order + 1, float);
float *work = av_malloc_items(order + n + non_rec, float);
#endif
apply_window(work, window, hist, order + n + non_rec);
convolve(buffer1, work + order , n , order);
convolve(buffer2, work + order + n, non_rec, order);
for (i=0; i <= order; i++) {
out2[i] = out2[i] * 0.5625 + buffer1[i];
out [i] = out2[i] + buffer2[i];
}
/* Multiply by the white noise correcting factor (WNCF). */
*out *= 257./256.;
#ifdef _MSC_VER
av_free(buffer1);
av_free(buffer2);
av_free(work);
#endif
}
/**
* Hybrid window filtering, see blocks 36 and 49 of the G.728 specification.
*
* @param order filter order
* @param n input length
* @param non_rec number of non-recursive samples
* @param out filter output
* @param hist pointer to the input history of the filter
* @param out pointer to the non-recursive part of the output
* @param out2 pointer to the recursive part of the output
* @param window pointer to the windowing function table
*/
static void do_hybrid_window(int order, int n, int non_rec, float *out,
float *hist, float *out2, const float *window)
{
int i;
#if __STDC_VERSION__ >= 199901L
float buffer1[order + 1];
float buffer2[order + 1];
float work[order + n + non_rec];
#else
float *buffer1=(float *)alloca((order + 1)*sizeof(float));
float *buffer2=(float *)alloca((order + 1)*sizeof(float));
float *work=(float *)alloca((order + n + non_rec)*sizeof(float));
#endif
apply_window(work, window, hist, order + n + non_rec);
convolve(buffer1, work + order , n , order);
convolve(buffer2, work + order + n, non_rec, order);
for (i=0; i <= order; i++) {
out2[i] = out2[i] * 0.5625 + buffer1[i];
out [i] = out2[i] + buffer2[i];
}
/* Multiply by the white noise correcting factor (WNCF). */
*out *= 257./256.;
}
//static
void GradientsMergeMosaic::convolveMask(weightImageType_t &rMask_p, int32 featherRadius_p)
{
int sideLength=1+2*featherRadius_p;
int nElements=sideLength*sideLength;
#if 0
#if 0
// linear filter
LinearFilter filter(sideLength,1.0/nElements,1.0/nElements);
#else
// box filter
KernelFilter filter( sideLength, 1.0/nElements );
#endif
#if 1
std::cout<<"FilterCoefficients ";
for (const float *val=filter.Begin();val!=filter.End();++val){
std::cout<<*val<<",";
}
std::cout<<std::endl;
#endif
Convolution convolve(filter);
#else
// separable filter
SeparableFilter filter( sideLength,1.0/nElements);
SeparableConvolution convolve(filter);
#endif
convolve >>rMask_p;
}
// TODO: THIS IS A 2D FEATURE CALCULATION! help!
// Compute the distance for each point
// Gaussian weighted average in neighbourhood
// Subtract
void FeatureEval::difference_of_gaussian_distances(){
boost::shared_ptr<PointCloud> cloud = core_->cl_->active_;
if(cloud == nullptr)
return;
int h = cloud->scan_width();
int w = cloud->scan_height();
// Create distance map
boost::shared_ptr<std::vector<float>> distmap = makeDistmap(cloud);
//distmap = interpolate(distmap, w, h, 21);
boost::shared_ptr<std::vector<float> > smooth_grad_image = convolve(distmap, w, h, gaussian, 5);
smooth_grad_image = convolve(smooth_grad_image, w, h, gaussian, 5);
smooth_grad_image = convolve(smooth_grad_image, w, h, gaussian, 5);
smooth_grad_image = convolve(smooth_grad_image, w, h, gaussian, 5);
boost::shared_ptr<std::vector<float>> highfreq = distmap;
for(uint i = 0; i < distmap->size(); i++){
(*highfreq)[i] = (*distmap)[i] - (*smooth_grad_image)[i];
}
drawFloats(highfreq, cloud);
}
/*
* Main
*/
int main(int argc, char *argv[]) {
int i, j;
int sobel_y[3][3] = {{-1, -2, -1},
{0, 0, 0},
{1, 2, 1}};
int sobel_x[3][3] = {{-1, 0, 1},
{-2, 0, 2},
{-1, 0, 1}};
Image src;
Image G_y;
Image G_x;
Image out;
if (argc < 2) {
fprintf(stderr, "Pass the name of a PGM P5 file.\n");
return 1;
}
// Read source PGM file
if (read_PGM(argv[1], &src))
return 1;
// Initialize all the matrices to be of the same size as the source image.
init_matrix(src, &G_y);
init_matrix(src, &G_x);
init_matrix(src, &out);
// Convolve the Sobel filters with the source image
convolve(sobel_y, src, &G_y);
convolve(sobel_x, src, &G_x);
// Calculate the gradient magnitude and put it in out.
sobel_grad_mag(&out, G_y, G_x);
// Normalize values to 0-255
normalize(&G_y);
normalize(&G_x);
normalize(&out);
// Write final output PGMs
if (write_PGM("g_y.pgm", G_y))
return 1;
if (write_PGM("g_x.pgm", G_x))
return 1;
if (write_PGM("out.pgm", out))
return 1;
// Free the matrices
dealloc_matrix(src.img, src.row);
dealloc_matrix(G_y.img, 4);
dealloc_matrix(G_x.img, 4);
dealloc_matrix(out.img, out.row);
return 0;
}
inline void edge_detector::edge_detect(int **a, int kernel, qreal *gradient, qreal *gangle)
{
// Scharr kernel
int SCx[3][3] = {{-3, 0, 3}, {-10, 0, 10}, {-3, 0, 3}};
int SCy[3][3] = {{-3,-10,-3}, { 0, 0, 0}, { 3, 10, 3}};
// Sobel kernel
int Sx[3][3] = {{-1, 0, 1}, {-2, 0, 2}, {-1, 0, 1}};
int Sy[3][3] = {{-1,-2,-1}, { 0, 0, 0}, { 1, 2, 1}};
// Prewitt kernel
int Px[3][3] = {{-1, 0, 1}, {-1, 0, 1}, {-1, 0, 1}};
int Py[3][3] = {{-1,-1,-1}, { 0, 0, 0}, { 1, 1, 1}};
// Roberts Cross
int Rx[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, 0}};
int Ry[3][3] = {{0, 1, 0}, {-1, 0, 0}, {0, 0, 0}};
int **Kx, **Ky;
int k, gx, gy;
if (kernel == 0) // Scharr kernel
{
k = 16;
Kx = copy(SCx);
Ky = copy(SCy);
}
else if (kernel == 1) // Sobel kernel
{
k = 4;
Kx = copy(Sx);
Ky = copy(Sy);
}
else if (kernel == 2) // Prewitt kernel
{
k = 3;
Kx = copy(Px);
Ky = copy(Py);
}
else if (kernel == 3) // Roberts Cross
{
k = 2;
Kx = copy(Rx);
Ky = copy(Ry);
}
gx = convolve(a, Kx, 3);
gy = convolve(a, Ky, 3);
deleteArray(Kx, 3);
deleteArray(Ky, 3);
*gradient = sqrt(gx*gx + gy*gy)/k;
*gangle = 180/M_PI * atan2(gy, gx);
}
static void convolve_two_segments(std::vector<point>& figure, const edge& a, const edge& b) {
figure.clear();
figure.push_back(point(a.first));
figure.push_back(point(a.first));
figure.push_back(point(a.second));
figure.push_back(point(a.second));
convolve(figure[0], b.second);
convolve(figure[1], b.first);
convolve(figure[2], b.first);
convolve(figure[3], b.second);
}
void image_u8_gaussian_blur(image_u8_t *im, double sigma, int ksz)
{
assert((ksz & 1) == 1); // ksz must be odd.
// build the kernel.
double dk[ksz];
// for kernel of length 5:
// dk[0] = f(-2), dk[1] = f(-1), dk[2] = f(0), dk[3] = f(1), dk[4] = f(2)
for (int i = 0; i < ksz; i++) {
int x = -ksz/2 + i;
double v = exp(-.5*sq(x / sigma));
dk[i] = v;
}
// normalize
double acc = 0;
for (int i = 0; i < ksz; i++)
acc += dk[i];
for (int i = 0; i < ksz; i++)
dk[i] /= acc;
uint8_t k[ksz];
for (int i = 0; i < ksz; i++)
k[i] = dk[i]*255;
if (0) {
for (int i = 0; i < ksz; i++)
printf("%d %15f %5d\n", i, dk[i], k[i]);
}
for (int y = 0; y < im->height; y++) {
uint8_t x[im->stride];
memcpy(x, &im->buf[y*im->stride], im->stride);
convolve(x, &im->buf[y*im->stride], im->width, k, ksz);
}
for (int x = 0; x < im->width; x++) {
uint8_t xb[im->height];
uint8_t yb[im->height];
for (int y = 0; y < im->height; y++)
xb[y] = im->buf[y*im->stride + x];
convolve(xb, yb, im->height, k, ksz);
for (int y = 0; y < im->height; y++)
im->buf[y*im->stride + x] = yb[y];
}
}
APPROX float sobel(float w[][3]) {
float sx;
float sy;
float s;
sx = convolve(w, ky);
sy = convolve(w, kx);
s = sqrt(sx * sx + sy * sy);
if (s >= (256 / sqrt(256 * 256 + 256 * 256)))
s = 255 / sqrt(256 * 256 + 256 * 256);
return s ;
}
/*----------------------------------------------------------------------------
* norm_corr - Find the normalized correlation between the target vector and
* the filtered past excitation.
*----------------------------------------------------------------------------
*/
static void norm_corr(
FLOAT exc[], /* input : excitation buffer */
FLOAT xn[], /* input : target vector */
FLOAT h[], /* input : imp response of synth and weighting flt */
int l_subfr, /* input : Length of frame to compute pitch */
int t_min, /* input : minimum value of searched range */
int t_max, /* input : maximum value of search range */
FLOAT corr_norm[] /* output: normalized correlation (correlation between
target and filtered excitation divided by
the square root of energy of filtered
excitation) */
)
{
int i, j, k;
FLOAT excf[L_SUBFR]; /* filtered past excitation */
FLOAT alp, s, norm;
k = -t_min;
/* compute the filtered excitation for the first delay t_min */
convolve(&exc[k], h, excf, l_subfr);
/* loop for every possible period */
for (i = t_min; i <= t_max; i++)
{
/* Compute 1/sqrt(energie of excf[]) */
alp = (F)0.01;
for (j = 0; j < l_subfr; j++)
alp += excf[j]*excf[j];
norm = inv_sqrt(alp);
/* Compute correlation between xn[] and excf[] */
s = (F)0.0;
for (j = 0; j < l_subfr; j++) s += xn[j]*excf[j];
/* Normalize correlation = correlation * (1/sqrt(energie)) */
corr_norm[i] = s*norm;
/* modify the filtered excitation excf[] for the next iteration */
if (i != t_max)
{
k--;
for (j = l_subfr-1; j > 0; j--)
excf[j] = excf[j-1] + exc[k]*h[j];
excf[0] = exc[k];
}
}
return;
}
lpyramid_t *
lpyramid_create (float *image, int width, int height)
{
lpyramid_t *pyramid;
int i;
pyramid = malloc (sizeof (lpyramid_t));
if (pyramid == NULL) {
fprintf (stderr, "Out of memory.\n");
exit (1);
}
pyramid->width = width;
pyramid->height = height;
/* Make the Laplacian pyramid by successively
* copying the earlier levels and blurring them */
for (i=0; i<MAX_PYR_LEVELS; i++) {
pyramid->levels[i] = malloc (width * height * sizeof (float));
if (pyramid->levels[i] == NULL) {
fprintf (stderr, "Out of memory.\n");
exit (1);
}
if (i == 0) {
memcpy (pyramid->levels[i], image, width * height * sizeof (float));
} else {
convolve(pyramid, pyramid->levels[i], pyramid->levels[i - 1]);
}
}
return pyramid;
}
void CONVOLVE1::process(const float *buf, const int len)
{
DPRINT1("CONVOLVE1::process (len=%d)\n", len);
// NOTE: <len> will always be equal to _impframes
if (_winosc)
for (int i = 0; i < len; i++)
_fftbuf[i] = buf[i] * _winosc->next(i);
else
for (int i = 0; i < len; i++)
_fftbuf[i] = buf[i];
for (int i = len; i < _fftlen; i++)
_fftbuf[i] = 0.0f;
convolve();
for (int i = 0, j = len; i < len; i++, j++) {
_ovadd[i] += _fftbuf[i];
_wet[_outWriteIndex] = _ovadd[i];
_dry[_outWriteIndex] = buf[i];
incrementOutWriteIndex();
_ovadd[i] = _fftbuf[j];
}
// for (int i = 0; i < _fftlen; i++) printf("[%d] = %f\n", i, _fftbuf[i]);
}
void FeatureEval::sobel_erode(){
boost::shared_ptr<PointCloud> cloud = core_->cl_->active_;
if(cloud == nullptr)
return;
int h = cloud->scan_width();
int w = cloud->scan_height();
// Create distance map
boost::shared_ptr<std::vector<float>> distmap = makeDistmap(cloud);
boost::shared_ptr<std::vector<float> > grad_image = gradientImage(distmap, w, h);
boost::shared_ptr<std::vector<float> > smooth_grad_image = convolve(grad_image, w, h, gaussian, 5);
// Threshold && Erode
const int strct[] = {
0, 1, 0,
1, 0, 1,
0, 1, 0,
};
boost::shared_ptr<std::vector<float> > dilated_image = morphology(
smooth_grad_image,
w, h, strct, 3, Morphology::ERODE,
grad_image); // <-- reuse
drawFloats(dilated_image, cloud);
}
QImage edge_detector::smoothImage(const QImage image)
{
QImage destImage = QImage( image);
QColor qc;
int Gauss[5][5] = {{2, 4, 5, 4, 2}, {4, 9, 12, 9, 4}, {5, 12, 15, 12, 5},
{4, 9, 12, 9, 4}, {2, 4, 5, 4, 2}};
int **G = new int*[5];
for (int i=0; i<5; i++)
{
G[i] = new int[5];
for(int j=0; j<5; j++)
G[i][j] = Gauss[i][j];
}
int H = image.height();
int W = image.width();
int* destData= (int *)destImage.bits();
int **a, smooth;
for (int y=2; y<H-2; y++)
{
for (int x=2; x<W-2; x++)
{
a = get_neighbor_pixels(image, x, y, 2);
smooth = convolve(a, G, 5) / 159.f;
deleteArray(a, 5); //2*2+1
qc.setRgb(smooth, smooth, smooth);
destData[x + y*W] = qc.rgba();
}
}
return destImage;
}
int perform_convolution(FILE *in, FILE *out, float sigma, int kx, int ky, const char *comment, BOOL binary) {
int ux = 0, uy = 0;
float **u = ip_load_image(in, &ux, &uy, NULL);
if (!u)
return 4;
float **kernel = gaussian_kernel(kx, ky, sigma);
if (!kernel) {
ip_deallocate_image(ux, uy, u);
return 5;
}
// TODO Schummlung entfernen
dummies(u, ux, uy);
float **v = convolve(ux + 2, uy + 2, u, kx, ky, kernel);
ip_deallocate_image(ux, uy, u);
ip_deallocate_image(kx, ky, kernel);
if (!v)
return 6;
ip_save_image(out, ux, uy, v, comment, binary);
ip_deallocate_image(ux, uy, v);
return 0;
}
DNNReturnType ff_dnn_execute_model_native(const DNNModel* model)
{
ConvolutionalNetwork* network = (ConvolutionalNetwork*)model->model;
InputParams* input_params;
int cur_width, cur_height;
int32_t layer;
if (network->layers_num <= 0 || network->layers[0].type != INPUT || !network->layers[0].output){
return DNN_ERROR;
}
else{
input_params = (InputParams*)network->layers[0].params;
cur_width = input_params->width;
cur_height = input_params->height;
}
for (layer = 1; layer < network->layers_num; ++layer){
if (!network->layers[layer].output){
return DNN_ERROR;
}
switch (network->layers[layer].type){
case CONV:
convolve(network->layers[layer - 1].output, network->layers[layer].output, (ConvolutionalParams*)network->layers[layer].params, cur_width, cur_height);
break;
case INPUT:
return DNN_ERROR;
}
}
return DNN_SUCCESS;
}
template <typename PointInT, typename IntensityT> void
pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::downsample (const FloatImageConstPtr& input,
FloatImageConstPtr& output) const
{
FloatImage smoothed (input->width, input->height);
convolve (input, smoothed);
int width = (smoothed.width +1) / 2;
int height = (smoothed.height +1) / 2;
std::vector<int> ii (width);
for (int i = 0; i < width; ++i)
ii[i] = 2 * i;
FloatImagePtr down (new FloatImage (width, height));
#ifdef _OPENMP
#pragma omp parallel for shared (output) firstprivate (ii) num_threads (threads_)
#endif
for (int j = 0; j < height; ++j)
{
int jj = 2*j;
for (int i = 0; i < width; ++i)
(*down) (i,j) = smoothed (ii[i],jj);
}
output = down;
}
void propagate_x(quasse_fft *obj, int idx) {
double *x = obj->x, *wrk = obj->wrk;
int i, id, nx = obj->nx;
int nkl = obj->nkl, nkr = obj->nkr, npad = obj->npad;
int nd=obj->nd[idx];
/* TODO: I am not sure if these are flipped nkl/nkr */
for ( i = 0; i < nkl; i++ )
wrk[i] = x[i];
for ( i = nx-npad-nkr; i < nx - npad; i++ )
wrk[i] = x[i];
convolve(obj->fft[idx], obj->kern_y);
for ( i = 0; i < nkl; i++ )
x[i] = wrk[i];
for ( i = nx-npad-nkr; i < nx - npad; i++ )
x[i] = wrk[i];
/* Zeroing takes a little more work, now. We might be able to get
away with just zeroing the E though */
for ( id = 0; id < nd; id++ ) {
x = obj->x + (obj->nx)*(id+1) - npad;
for ( i = 0; i < npad; i++ )
x[i] = 0;
}
}
bool Kernel<T, U>::Convolve(const Image<T>& iImage, Image<U>& oImage) const
{
if (m_separable)
{
return convolveSeparable(iImage, oImage);
}
return convolve(iImage, oImage);
}
// C = fconv(A, B);
void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
if (nlhs != 1 || nrhs != 2){
mexErrMsgTxt("Usage: C = fconv(A, B)");
}
// get A
const mxArray *mxA = prhs[0];
const mwSize *A_dims = mxGetDimensions(mxA);
if (mxGetNumberOfDimensions(mxA)<2 || mxGetNumberOfDimensions(mxA)>3 ||
mxGetClassID(mxA) != mxDOUBLE_CLASS)
mexErrMsgTxt("Invalid input: A");
double *A = (double *)mxGetPr(mxA);
// get B
const mxArray *mxB = prhs[1];
const mwSize *B_dims = mxGetDimensions(mxB);
if (mxGetNumberOfDimensions(mxB) < mxGetNumberOfDimensions(mxA) ||
mxGetNumberOfDimensions(mxB) > 4 ||
mxGetClassID(mxA) != mxDOUBLE_CLASS)
mexErrMsgTxt("Invalid input: B");
double *B = (double *)mxGetPr(mxB);
int srcHeight = A_dims[0];
int srcWidth = A_dims[1];
int srcDims = mxGetNumberOfDimensions(mxA)>2 ? (int)A_dims[2] : 1;
int filterHeight = B_dims[0];
int filterWidth = B_dims[1];
int filterDims = mxGetNumberOfDimensions(mxB)>2 ? (int)B_dims[2] : 1;
int filterNum = mxGetNumberOfDimensions(mxB) > 3 ? (int)B_dims[3] : 1;
if(srcDims != filterDims){
mexErrMsgTxt("Feature dimension mismatch.");
}
// prepare output
int outHeight = srcHeight - filterHeight + 1;
int outWidth = srcWidth - filterWidth + 1;
if (outHeight < 1 || outWidth < 1)
mexErrMsgTxt("Invalid input: B should be smaller than A");
mwSize C_dims[] = {outHeight, outWidth, filterNum};
mxArray* mxC = mxCreateNumericArray(3, C_dims, mxDOUBLE_CLASS, mxREAL);
double *C = (double*)mxGetPr(mxC);
plhs[0] = mxC;
// do convolutions
#pragma omp parallel for
for (int i = 0; i < filterNum; ++i)
{
convolve(A,
&B[i*filterHeight*filterWidth*filterDims],
&C[i*outHeight*outWidth],
outHeight, outWidth,
filterHeight, filterWidth, filterDims,
srcHeight, srcWidth);
}
}
void bestMatches(LifeList *cells1, LifeList *cells2, int period,
int nmatches, PartialOscillatorDesc *osc) {
int nConvolution, nEmpty;
int i;
Transformation T, bestT;
setValues(cells1->cellList, cells1->ncells, 1);
setValues(cells2->cellList, cells2->ncells, 1);
T.translateBy= 0;
for (T.flipxF=0; T.flipxF<=1; T.flipxF++) {
for (T.flipyF=0; T.flipyF<=1; T.flipyF++) {
for (T.transposeF=0; T.transposeF<=1; T.transposeF++) {
transform(cells2->cellList, T, cells2->ncells);
nConvolution=convolve(cells1->cellList, cells1->ncells,
cells2->cellList, cells2->ncells,
&convolution, &scratch1, &scratch2,
makeWorkSpace);
for (i=0; i<nConvolution; i++) {
if (cells1->ncells - convolution[i].value
< osc[nmatches-1].matchDistance) {
int j,matchDistance;
matchDistance = cells1->ncells - convolution[i].value;
nEmpty =emptyNeighbors(cells1);
copyList(cells1->neighborhoods, nEmpty,
cells1->neighborhoods, convolution[i].position);
matchDistance+=countMatch(cells1->neighborhoods, nEmpty,
cells2->cellList, cells2->ncells);
j= nmatches-1;
while (j>=0 && matchDistance < osc[j].matchDistance) {
osc[j+1]=osc[j];
j--;
}
osc[j+1].period=period;
osc[j+1].T=T;
osc[j+1].T.translateBy= convolution[i].position;
osc[j+1].matchDistance=matchDistance;
}
}
transformBack(cells2->cellList, T, cells2->ncells);
}
}
}
}
void visc_tens(Field *fld) {
/* Calculates the stress tensor including viscosity and pressure */
int i;
double twoth = (2.0/3.0);
double qom = (fld->Params->q)*(fld->Params->omega);
double c = (fld->Params->c)*(fld->Params->c);
double nu = (fld->Params->nu);
double complex divv;
/* Forms Navier-Stokes stress tensor T=grad(v) + grad(v)^T - 2/3 div(v) I */
#ifdef OPENMP
#pragma omp parallel private(i,divv) shared(fld) num_threads(NUMTHREADS)
#pragma omp for schedule(static)
#endif
for(i=0;i<NTOTC;i++) {
if (i<istart || i>=iend) {
fld->Tens->Pixx[i] = -c*(fld->sig[i]);
fld->Tens->Pixy[i] = -nu*qom*(fld->sig[i]);
fld->Tens->Piyy[i] = -c*(fld->sig[i]);
}
else {
divv = fld->dxu[i] + fld->dyv[i];
divv *= twoth;
fld->Tens->Txx[i] = 2*(fld->dxu[i])-divv;
fld->Tens->Txy[i] = fld->dxv[i] + fld->dyu[i];
fld->Tens->Tyy[i] = 2*(fld->dyv[i]) - divv;
fld->Tens->Pixx[i] = -c*(fld->sig[i]);
fld->Tens->Pixy[i] = -nu*qom*(fld->sig[i]);
fld->Tens->Piyy[i] = -c*(fld->sig[i]);
fld->Tens->divPix[i] = 0;
fld->Tens->divPiy[i] = 0;
}
}
convolve(&fld->Tens->Txx[istart],&fld->sig[istart],&fld->Tens->Pixx[istart],nu);
convolve(&fld->Tens->Txy[istart],&fld->sig[istart],&fld->Tens->Pixy[istart],nu);
convolve(&fld->Tens->Tyy[istart],&fld->sig[istart],&fld->Tens->Piyy[istart],nu);
/* Set Tensor B.C's */
return;
}
int main(){
const int length = 5;
float input[length] = {-0.665365, -0.329988, 0.164465, 0.043962, 0.295885};
float output[length]; // array for storing Kalman processed values
float temp[length]; // array for storing subtraction results
float temp2[length];
float miscresult[2] = {0, 0}; // array for storing mean and std dev results
float holder[length]; // array for storing convolution results
int i, j;
float corr_temp[1] = {0};
/*START OF PART II*/
kalman_state kstate;
reset(&kstate);
//Kalmanfilter_C(input, output, &kstate, length);
Kalmanfilter_asm(output, input, length, &kstate);
printf("\n");
/*END OF PART II*/
/*START OF PART III*/
// subtract
printf("subtraction:\n");
subtract(temp, input, output, length);
arm_sub_f32(input, output, temp2, length);
for(j = 0; j < length; j++){
printf("My implementation: %f CMSIS: %f\n", temp[j], temp2[j]);
}
// misc
printf("\n");
//misc(miscresult, temp, length);
arm_mean_f32(temp, length, &miscresult[0]);
arm_std_f32(temp, length, &miscresult[1]);
printf("mean: %f stdev: %f\n", miscresult[0], miscresult[1]);
// correlation
//corr_temp[0] = correlation(input, output, length);
arm_correlate_f32(input, length, output, length, &corr_temp[0]);
printf("correlation: %f\n", corr_temp[0]);
// convolution
printf("\n");
for(i = 0; i < length; i++){
holder[i] = 0;
}
convolve(holder, input, output, length);
//arm_conv_f32(input, length, output, length, holder);
for(i = 0; i < length; i++){
printf("convolution %f \n", holder[i]);
}
/*END OF PART III*/
return 0;
}
double AEC::compensate(double V)
{
if (!m_withKernel)
return V;
double toCompensate = m_buffer[0];
m_buffer[0] = m_buffer[1];
m_buffer[1] = V;
return toCompensate - 1e3*convolve();
}
// Assumes symbol-rate sampling!!!!
SoftVector *equalizeBurst(signalVector &rxBurst,
float TOA,
int samplesPerSymbol,
signalVector &w, // feedforward filter
signalVector &b) // feedback filter
{
delayVector(rxBurst,-TOA);
signalVector* postForwardFull = convolve(&rxBurst,&w,NULL,FULL_SPAN);
signalVector* postForward = new signalVector(rxBurst.size());
postForwardFull->segmentCopyTo(*postForward,w.size()-1,rxBurst.size());
delete postForwardFull;
signalVector::iterator dPtr = postForward->begin();
signalVector::iterator dBackPtr;
signalVector::iterator rotPtr = GMSKRotation->begin();
signalVector::iterator revRotPtr = GMSKReverseRotation->begin();
signalVector *DFEoutput = new signalVector(postForward->size());
signalVector::iterator DFEItr = DFEoutput->begin();
// NOTE: can insert the midamble and/or use midamble to estimate BER
for (; dPtr < postForward->end(); dPtr++) {
dBackPtr = dPtr-1;
signalVector::iterator bPtr = b.begin();
while ( (bPtr < b.end()) && (dBackPtr >= postForward->begin()) ) {
*dPtr = *dPtr + (*bPtr)*(*dBackPtr);
bPtr++;
dBackPtr--;
}
*dPtr = *dPtr * (*revRotPtr);
*DFEItr = *dPtr;
// make decision on symbol
*dPtr = (dPtr->real() > 0.0) ? 1.0 : -1.0;
//*DFEItr = *dPtr;
*dPtr = *dPtr * (*rotPtr);
DFEItr++;
rotPtr++;
revRotPtr++;
}
vectorSlicer(DFEoutput);
SoftVector *burstBits = new SoftVector(postForward->size());
SoftVector::iterator burstItr = burstBits->begin();
DFEItr = DFEoutput->begin();
for (; DFEItr < DFEoutput->end(); DFEItr++)
*burstItr++ = DFEItr->real();
delete postForward;
delete DFEoutput;
return burstBits;
}
// Gaussian blur
void blur(void *src_pixels, void *dst_pixels, size_t width, size_t height, size_t stride) {
int kernel_blur[3][3] = { { 1, 2, 1 },
{ 2, 4, 2 },
{ 1, 2, 1 } };
int factor = 16;
int offset = 0;
convolve(src_pixels, dst_pixels, width, height, stride, kernel_blur, factor, offset);
}
void blur(Image * I, int factor)
{
convMatrix * tmp = new_conv(factor);
for(int i = 0; i <tmp->size; i++)
{
tmp->CPU_Matrix[i] = 1.0;
}
convolve(I,tmp);
del_conv(tmp);
}
