void Blobs::blobify()
{
uint32_t i, j, k;
bool colorCode;
CBlob *blob;
uint16_t *blobsStart;
uint16_t numBlobsStart, invalid, invalid2;
uint16_t left, top, right, bottom;
//uint32_t timer, timer2=0;
unpack();
// copy blobs into memory
invalid = 0;
// mutex keeps interrupt routine from stepping on us
m_mutex = true;
for (i=0, m_numBlobs=0; i<NUM_MODELS; i++)
{
colorCode = m_clut->getType(i+1)==CL_MODEL_TYPE_COLORCODE;
for (j=m_numBlobs*5, k=0, blobsStart=m_blobs+j, numBlobsStart=m_numBlobs, blob=m_assembler[i].finishedBlobs;
blob && m_numBlobs<m_maxBlobs && k<m_maxBlobsPerModel; blob=blob->next, k++)
{
if ((colorCode && blob->GetArea()<MIN_COLOR_CODE_AREA) ||
(!colorCode && blob->GetArea()<(int)m_minArea))
continue;
blob->getBBox((short &)left, (short &)top, (short &)right, (short &)bottom);
m_blobs[j + 0] = i+1;
m_blobs[j + 1] = left;
m_blobs[j + 2] = right;
m_blobs[j + 3] = top;
m_blobs[j + 4] = bottom;
m_numBlobs++;
j += 5;
}
//setTimer(&timer);
if (!colorCode) // do not combine color code models
{
while(1)
{
invalid2 = combine2(blobsStart, m_numBlobs-numBlobsStart);
if (invalid2==0)
break;
invalid += invalid2;
}
}
//timer2 += getTimer(timer);
}
//setTimer(&timer);
invalid += combine(m_blobs, m_numBlobs);
if (m_codedMode)
{
m_codedBlobs = (BlobB *)(m_blobs + m_numBlobs*5);
// calculate number of codedblobs left
processCoded();
}
if (invalid || m_codedMode)
{
invalid2 = compress(m_blobs, m_numBlobs);
m_numBlobs -= invalid2;
}
//timer2 += getTimer(timer);
//cprintf("time=%d\n", timer2); // never seen this greater than 200us. or 1% of frame period
// reset read index-- new frame
m_blobReadIndex = 0;
m_mutex = false;
// free memory
for (i=0; i<NUM_MODELS; i++)
m_assembler[i].Reset();
#if 0
static int frame = 0;
if (m_numBlobs>0)
cprintf("%d: blobs %d %d %d %d %d\n", frame, m_numBlobs, m_blobs[1], m_blobs[2], m_blobs[3], m_blobs[4]);
else
cprintf("%d: blobs 0\n", frame);
frame++;
#endif
}
void Blobs::blobify()
{
//mm not entirely sure yet, but I think this function might just "draw" the blobs, based on the color model of each pixel. the color model is already determined in the "packed" data (see unpack...color model information is extracted from the packed data there...)
uint32_t i, j, k;
CBlob *blob;
uint16_t *blobsStart;
uint16_t numBlobsStart, invalid, invalid2;
uint16_t left, top, right, bottom;
//uint32_t timer, timer2=0;
unpack(); //mm as is clear in unpack(), at this point, we already know the model to which each blob belongs.
// copy blobs into memory //mm does this refer to the unpack() above??
invalid = 0;
// mutex keeps interrupt routine from stepping on us
m_mutex = true;
//mm iterate through models:
for (i=0, m_numBlobs=0; i<NUM_MODELS; i++)
{
//mm iterate through blobs in this model:
for (j=m_numBlobs*5, k=0, blobsStart=m_blobs+j, numBlobsStart=m_numBlobs, blob=m_assembler[i].finishedBlobs;
blob && m_numBlobs<m_maxBlobs && k<m_maxBlobsPerModel; blob=blob->next, k++)
{
if (blob->GetArea()<(int)m_minArea)
continue;
blob->getBBox((short &)left, (short &)top, (short &)right, (short &)bottom);
m_blobs[j + 0] = i+1;
m_blobs[j + 1] = left;
m_blobs[j + 2] = right;
m_blobs[j + 3] = top;
m_blobs[j + 4] = bottom;
m_numBlobs++;
j += 5;
}
//setTimer(&timer);
if (true)
{
while(1)
{
invalid2 = combine2(blobsStart, m_numBlobs-numBlobsStart);
if (invalid2==0)
break;
invalid += invalid2;
}
}
//timer2 += getTimer(timer);
}
//setTimer(&timer);
invalid += combine(m_blobs, m_numBlobs);
if (false)
{
m_codedBlobs = (BlobB *)(m_blobs + m_numBlobs*5);
processCoded();
}
if (invalid)
{
invalid2 = compress(m_blobs, m_numBlobs);
m_numBlobs -= invalid2;
if (invalid2!=invalid)
cprintf("**** %d %d\n", invalid2, invalid);
}
//timer2 += getTimer(timer);
//cprintf("time=%d\n", timer2); // never seen this greater than 200us. or 1% of frame period
// reset read index-- new frame
m_blobReadIndex = 0;
m_mutex = false;
// free memory
for (i=0; i<NUM_MODELS; i++)
m_assembler[i].Reset();
#if 0
static int frame = 0;
if (m_numBlobs>0)
cprintf("%d: blobs %d %d %d %d %d\n", frame, m_numBlobs, m_blobs[1], m_blobs[2], m_blobs[3], m_blobs[4]);
else
cprintf("%d: blobs 0\n", frame);
frame++;
#endif
}
int32_t cc_getMaxBlob(uint32_t *qvals, uint32_t numRls, int16_t *bdata)
{
int16_t* c_components = new int16_t[MAX_BLOBS*4];
uint32_t result;//, prebuf;
CBlobAssembler blobber;
int32_t row;
uint32_t i, startCol, length;
uint8_t model;
for (i=0, row=-1; i<numRls; i++)
{
if (qvals[i]==0)
{
row++;
continue;
}
model = qvals[i]&0x03;
qvals[i] >>= 3;
startCol = qvals[i]&0x1ff;
qvals[i] >>= 9;
length = qvals[i]&0x1ff;
if(!handleRL(&blobber, model, row, startCol, length))
break;
}
blobber.EndFrame();
blobber.SortFinished();
int16_t top, right, bottom, left;
CBlob *blob;
blob = blobber.finishedBlobs;
if (blob->GetArea()>MIN_AREA)
{
blob->getBBox(left, top, right, bottom);
bdata[0] = left;
bdata[1] = right;
bdata[2] = top;
bdata[3] = bottom;
}
else
bdata[0] = -1;
#if 0
//
// Take Finished blobs and return with chirp
//
CBlob *blob, *temp;
blob = blobber.finishedBlobs;
uint32_t cc_num = 0;
temp = blob;
while (temp)
{
int16_t top, right, bottom, left;
temp->getBBox(left, top, right, bottom);
// Don't want objects with area less than 9...
if ((right-left)*(bottom-top) < 9)
break;
temp = temp->next;
cc_num++;
}
// Remove the rest that we don't care about
/*while(temp)
{
CBlob *next = temp->next;
temp->~CBlob();
temp = NULL;
temp = next;
}*/
cc_num = (cc_num < 15) ? cc_num : MAX_BLOBS;
// Populate return w/ result
//void* mem = malloc(sizeof(int16_t)*cc_num*4);
//if (mem == NULL)
// int i = 0;
//free(mem);
//int16_t* c_components = new int16_t[cc_num*4];
//g_mem += sizeof(int16_t)*cc_num*4;
memset((void *)c_components, 0, sizeof(uint16_t)*cc_num*4);
for (int i = 0; i < cc_num; i++)
{
int16_t top, right, bottom, left;
blob->getBBox(left, top, right, bottom);
c_components[(i*4)+0] = top;
c_components[(i*4)+1] = right;
c_components[(i*4)+2] = bottom;
c_components[(i*4)+3] = left;
blob = blob->next;
}
//CRP_RETURN(chirp, USE_BUFFER(SRAM0_SIZE, SRAM0_LOC), HTYPE(0), UINT16(0), UINT16(0), UINTS8(0, 0), END);
//prebuf = chirp->getPreBufLen();
#endif
blobber.Reset();
delete[] c_components;
//g_mem -= sizeof(int16_t)*cc_num*4;
return result;
}