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comb-paln.cxx
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comb-paln.cxx
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/* LD decoder prototype, Copyright (C) 2013 Chad Page. License: LGPL2 */
#include "ld-decoder.h"
#include "deemp.h"
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/video/tracking.hpp>
using namespace cv;
int ofd = 1;
char *image_base = "FRAME";
bool f_write8bit = false;
bool f_pulldown = false;
bool f_writeimages = false;
bool f_training = false;
bool f_bw = false;
bool f_debug2d = false;
bool f_adaptive2d = true;
bool f_oneframe = false;
bool f_showk = false;
bool f_wide = false;
bool f_colorlpf = false;
bool f_colorlpf_hq = true;
double nn_cscale = 32768.0;
bool f_monitor = false;
double p_3dcore = -1;
double p_3drange = -1;
double p_2dcore = -1;
double p_2drange = -1;
double p_3d2drej = 2;
bool f_opticalflow = true;
int f_debugline = -1000;
int dim = 1;
//const double freq = 4.0;
double irescale = 327.67;
double irebase = 1;
inline uint16_t ire_to_u16(double ire);
// tunables
int lineoffset = 32;
int linesout = 576;
double brightness = 240;
double black_ire = 0;
int black_u16 = ire_to_u16(black_ire);
int white_u16 = ire_to_u16(100 + black_ire);
double nr_c = 0.0;
double nr_y = 1.0;
inline double IRE(double in)
{
return (in * 140.0) - 40.0;
}
struct YIQ {
double y, i, q, u, v;
YIQ(double _y = 0.0, double _i = 0.0, double _q = 0.0, double _u = 0.0, double _v = 0.0) {
y = _y; i = _i; q = _q; u = _u; v = _v;
};
YIQ operator*=(double x) {
YIQ o;
o.y = this->y * x;
o.i = this->i * x;
o.q = this->q * x;
o.u = this->u * x;
o.v = this->v * x;
return o;
}
YIQ operator+=(YIQ p) {
YIQ o;
o.y = this->y + p.y;
o.i = this->i + p.i;
o.q = this->q + p.q;
o.u = this->q + p.u;
o.v = this->q + p.v;
return o;
}
};
double clamp(double v, double low, double high)
{
if (v < low) return low;
else if (v > high) return high;
else return v;
}
inline double u16_to_ire(uint16_t level)
{
if (level == 0) return -100;
return -60 + ((double)(level - irebase) / irescale);
}
int cline = -1;
struct RGB {
double r, g, b;
void conv(YIQ _y) {
YIQ t;
double y = u16_to_ire(clamp(_y.y, 0, 65535));
y = (y - black_ire) * (100 / (100 - black_ire));
double u = +(_y.i) / irescale;
double v = +(_y.q) / irescale;
r = y + (1.13983 * v);
g = y - (0.58060 * v) - (u * 0.39465);
b = y + (u * 2.032);
double m = brightness * 255 / 100;
r = clamp(r * m, 0, 65535);
g = clamp(g * m, 0, 65535);
b = clamp(b * m, 0, 65535);
};
};
inline uint16_t ire_to_u16(double ire)
{
if (ire <= -60) return 0;
return clamp(((ire + 60) * irescale) + irebase, 1, 65535);
}
int write_locs = -1;
const int nframes = 3; // 3 frames needed for 3D buffer - for now
const int in_y = 610;
const int in_x = 1052;
//const int in_size = in_y * in_x;
typedef struct cline {
YIQ p[in_x];
} cline_t;
struct frame_t {
uint16_t rawbuffer[in_x * in_y];
double clpbuffer[3][in_y][in_x];
double combk[3][in_y][in_x];
cline_t cbuf[in_y];
// PAL stuff
int phase;
double burstangle[in_y];
double buffery[in_y][in_x];
double bufferu[4][in_y][in_x];
double bufferv[4][in_y][in_x];
};
class Comb
{
protected:
int linecount; // total # of lines process - needed to maintain phase
int curline; // current line # in frame
int framecode;
int framecount;
bool f_oddframe; // true if frame starts with odd line
long long scount; // total # of samples consumed
int fieldcount;
int frames_out; // total # of written frames
uint16_t output[in_x * in_y * 3];
uint16_t BGRoutput[in_x * in_y * 3];
uint16_t obuf[in_x * in_y * 3];
uint16_t Goutput[in_x * in_y];
uint16_t Flowmap[in_x * in_y];
double aburstlev; // average color burst
cline_t tbuf[in_y];
cline_t pbuf[in_y], nbuf[in_y];
frame_t Frame[nframes];
Filter *f_hpy, *f_hpi, *f_hpq;
Filter *f_hpvy, *f_hpvi, *f_hpvq;
void FilterIQ(cline_t cbuf[in_y], int fnum) {
for (int l = 24; l < in_y; l++) {
Filter f_i(f_colorlpi);
Filter f_q(f_colorlpf_hq ? f_colorlpi : f_colorlpq);
int qoffset = f_colorlpf_hq ? f_colorlpi_offset : f_colorlpq_offset;
double filti = 0, filtq = 0;
for (int h = 4; h < (in_x - 4); h++) {
int phase = h % 4;
switch (phase) {
case 0: filti = f_i.feed(cbuf[l].p[h].i); break;
case 1: filtq = f_q.feed(cbuf[l].p[h].q); break;
case 2: filti = f_i.feed(cbuf[l].p[h].i); break;
case 3: filtq = f_q.feed(cbuf[l].p[h].q); break;
default: break;
}
if (l == (f_debugline + lineoffset)) {
cerr << "IQF " << h << ' ' << cbuf[l].p[h - f_colorlpi_offset].i << ' ' << filti << ' ' << cbuf[l].p[h - qoffset].q << ' ' << filtq << endl;
}
cbuf[l].p[h - f_colorlpi_offset].i = filti;
cbuf[l].p[h - qoffset].q = filtq;
}
}
}
// precompute 1D comb filter, used as a fallback for edges
void Split1D(int fnum)
{
for (int l = 24; l < in_y; l++) {
uint16_t *line = &Frame[fnum].rawbuffer[l * in_x];
bool invertphase = false; // (line[0] == 16384);
Filter f_1di(f_colorlpi);
Filter f_1dq(f_colorlpq);
int f_toffset = 8;
for (int h = 4; h < (in_x - 4); h++) {
int phase = h % 4;
double tc1 = (((line[h + 2] + line[h - 2]) / 2) - line[h]);
double tc1f = 0, tsi = 0, tsq = 0;
if (!invertphase) tc1 = -tc1;
switch (phase) {
case 0: tsi = tc1; tc1f = f_1di.feed(tsi); break;
case 1: tsq = -tc1; tc1f = -f_1dq.feed(tsq); break;
case 2: tsi = -tc1; tc1f = -f_1di.feed(tsi); break;
case 3: tsq = tc1; tc1f = f_1dq.feed(tsq); break;
default: break;
}
if (!invertphase) {
tc1 = -tc1;
tc1f = -tc1f;
}
Frame[fnum].clpbuffer[0][l][h] = tc1;
// if (dim == 1) Frame[fnum].clpbuffer[0][l][h - f_toffset] = tc1f;
Frame[fnum].combk[0][l][h] = 1;
if (l == (f_debugline + lineoffset)) {
cerr << h << ' ' << line[h - 4] << ' ' << line[h - 2] << ' ' << line[h] << ' ' << line[h + 2] << ' ' << line[h + 4] << ' ' << tc1 << ' ' << Frame[fnum].clpbuffer[0][l][h - f_toffset] << endl;
}
}
}
}
int rawbuffer_val(int fr, int x, int y) {
return Frame[fr].rawbuffer[(y * in_x) + x];
}
void Split2D(int f)
{
for (int l = 24; l < in_y; l++) {
uint16_t *pline = &Frame[f].rawbuffer[(l - 4) * in_x];
uint16_t *line = &Frame[f].rawbuffer[l * in_x];
uint16_t *nline = &Frame[f].rawbuffer[(l + 4) * in_x];
double *p1line = Frame[f].clpbuffer[0][l - 4];
double *c1line = Frame[f].clpbuffer[0][l];
double *n1line = Frame[f].clpbuffer[0][l + 4];
// 2D filtering. can't do top or bottom line - calced between 1d and 3d because this is
// filtered
if ((l >= 4) && (l <= (in_y - 4))) {
for (int h = 18; h < (in_x - 4); h++) {
double tc1;
double kp, kn;
kp = fabs(fabs(c1line[h]) - fabs(p1line[h])); // - fabs(c1line[h] * .20);
kp += fabs(fabs(c1line[h - 1]) - fabs(p1line[h - 1]));
kp -= (fabs(c1line[h]) + fabs(c1line[h - 1])) * .10;
kn = fabs(fabs(c1line[h]) - fabs(n1line[h])); // - fabs(c1line[h] * .20);
kn += fabs(fabs(c1line[h - 1]) - fabs(n1line[h - 1]));
kn -= (fabs(c1line[h]) + fabs(n1line[h - 1])) * .10;
kp /= 2;
kn /= 2;
p_2drange = 45 * irescale;
kp = clamp(1 - (kp / p_2drange), 0, 1);
kn = clamp(1 - (kn / p_2drange), 0, 1);
if (!f_adaptive2d) kn = kp = 1.0;
double sc = 1.0;
if (kn || kp) {
if (kn > (3 * kp)) kp = 0;
else if (kp > (3 * kn)) kn = 0;
sc = (2.0 / (kn + kp));// * max(kn * kn, kp * kp);
if (sc < 1.0) sc = 1.0;
} else {
if ((fabs(fabs(p1line[h]) - fabs(n1line[h])) - fabs((n1line[h] + p1line[h]) * .2)) <= 0) {
kn = kp = 1;
}
}
tc1 = ((Frame[f].clpbuffer[0][l][h] - p1line[h]) * kp * sc);
tc1 += ((Frame[f].clpbuffer[0][l][h] - n1line[h]) * kn * sc);
tc1 /= (2 * 2);
if (l == (f_debugline + lineoffset)) {
//cerr << "2D " << h << ' ' << clpbuffer[l][h] << ' ' << p1line[h] << ' ' << n1line[h] << endl;
cerr << "2D " << h << ' ' << ' ' << sc << ' ' << kp << ' ' << kn << ' ' << (pline[h]) << '|' << (p1line[h]) << ' ' << (line[h]) << '|' << (Frame[f].clpbuffer[0][l][h]) << ' ' << (nline[h]) << '|' << (n1line[h]) << " OUT " << (tc1) << endl;
}
Frame[f].clpbuffer[1][l][h] = tc1;
Frame[f].combk[1][l][h] = 1.0; // (sc * (kn + kp)) / 2.0;
}
}
for (int h = 4; h < (in_x - 4); h++) {
if ((l >= 2) && (l <= 502)) {
Frame[f].combk[1][l][h] *= 1 - Frame[f].combk[2][l][h];
}
// 1D
Frame[f].combk[0][l][h] = 1 - Frame[f].combk[2][l][h] - Frame[f].combk[1][l][h];
}
}
}
#if 0
void Split3D(int f, bool opt_flow = false)
{
for (int l = 24; l < in_y; l++) {
uint16_t *line = &Frame[f].rawbuffer[l * in_x];
// shortcuts for previous/next 1D/pixel lines
uint16_t *p3line = &Frame[0].rawbuffer[l * in_x];
uint16_t *n3line = &Frame[2].rawbuffer[l * in_x];
// a = fir1(16, 0.1); printf("%.15f, ", a)
Filter lp_3d({0.005719569452904, 0.009426612841315, 0.019748592575455, 0.036822680065252, 0.058983880135427, 0.082947830292278, 0.104489989820068, 0.119454688318951, 0.124812312996699, 0.119454688318952, 0.104489989820068, 0.082947830292278, 0.058983880135427, 0.036822680065252, 0.019748592575455, 0.009426612841315, 0.005719569452904}, {1.0});
// need to prefilter K using a LPF
double _k[in_x];
for (int h = 4; (dim >= 3) && (h < (in_x - 4)); h++) {
int adr = (l * in_x) + h;
double __k = abs(Frame[0].rawbuffer[adr] - Frame[2].rawbuffer[adr]);
__k += abs((Frame[1].rawbuffer[adr] - Frame[2].rawbuffer[adr]) - (Frame[1].rawbuffer[adr] - Frame[0].rawbuffer[adr]));
if (h > 12) _k[h - 8] = lp_3d.feed(__k);
if (h >= 836) _k[h] = __k;
}
for (int h = 4; h < (in_x - 4); h++) {
if (opt_flow) {
Frame[f].clpbuffer[2][l][h] = (p3line[h] - line[h]);
} else {
Frame[f].clpbuffer[2][l][h] = (((p3line[h] + n3line[h]) / 2) - line[h]);
Frame[f].combk[2][l][h] = clamp(1 - ((_k[h] - (p_3dcore)) / p_3drange), 0, 1);
}
if (l == (f_debugline + lineoffset)) {
// cerr << "3DC " << h << ' ' << k2 << ' ' << adj << ' ' << k[h] << endl;
}
if ((l >= 2) && (l <= 502)) {
Frame[f].combk[1][l][h] = 1 - Frame[f].combk[2][l][h];
}
// 1D
Frame[f].combk[0][l][h] = 1 - Frame[f].combk[2][l][h] - Frame[f].combk[1][l][h];
}
}
}
#endif
// Hacked in dimension selection to support PAL
void SplitIQ(int f, int d = -1) {
double mse = 0.0;
double me = 0.0;
memset(Frame[f].cbuf, 0, sizeof(cline_t) * in_y);
for (int l = 24; l < in_y; l++) {
double msel = 0.0, sel = 0.0;
uint16_t *line = &Frame[f].rawbuffer[l * in_x];
// if (f_neuralnet) invertphase = true;
double si = 0, sq = 0;
for (int h = 4; h < (in_x - 4); h++) {
int phase = h % 4;
double cavg = 0;
double k2 = Frame[f].combk[2][l][h];
double k1 = Frame[f].combk[1][l][h];
double k0 = Frame[f].combk[0][l][h];
if (d == 2) {k2 = 1; k1 = 0; k0 = 0;}
if (d == 1) {k2 = 0; k1 = 1; k0 = 0;}
if (d == 0) {k2 = 0; k1 = 0; k0 = 1;}
cavg += (Frame[f].clpbuffer[2][l][h] * k2);
cavg += (Frame[f].clpbuffer[1][l][h] * k1);
cavg += (Frame[f].clpbuffer[0][l][h] * k0);
cavg /= 2;
if (f_debug2d) {
cavg = Frame[f].clpbuffer[1][l][h] - Frame[f].clpbuffer[2][l][h];
msel += (cavg * cavg);
sel += fabs(cavg);
if (l == (f_debugline + lineoffset)) {
cerr << "D2D " << h << ' ' << Frame[f].clpbuffer[1][l][h] << ' ' << Frame[f].clpbuffer[2][l][h] << ' ' << cavg << endl;
}
}
switch (phase) {
case 0: si = cavg; break;
case 1: sq = -cavg; break;
case 2: si = -cavg; break;
case 3: sq = cavg; break;
default: break;
}
Frame[f].cbuf[l].p[h].y = line[h];
if (f_debug2d) Frame[f].cbuf[l].p[h].y = ire_to_u16(50);
Frame[f].cbuf[l].p[h].i = si;
Frame[f].cbuf[l].p[h].q = sq;
// if (l == 240 ) {
// cerr << h << ' ' << Frame[f].combk[1][l][h] << ' ' << Frame[f].combk[0][l][h] << ' ' << Frame[f].cbuf[l].p[h].y << ' ' << si << ' ' << sq << endl;
// }
if (f_bw) {
Frame[f].cbuf[l].p[h].i = Frame[f].cbuf[l].p[h].q = 0;
}
}
if (f_debug2d && (l >= 6) && (l <= 500)) {
cerr << l << ' ' << msel / (in_x - 4) << " ME " << sel / (in_x - 4) << endl;
mse += msel / (in_x - 4);
me += sel / (in_x - 4);
}
}
if (f_debug2d) {
cerr << "TOTAL MSE " << mse << " ME " << me << endl;
}
}
void MergeK(int f) {
memset(Frame[f].cbuf, 0, sizeof(cline_t) * in_y);
for (int l = 24; l < in_y; l++) {
uint16_t *line = &Frame[f].rawbuffer[l * in_x];
for (int h = 4; h < (in_x - 4); h++) {
double uavg = 0, vavg = 0;
double k2 = Frame[f].combk[2][l][h];
double k1 = Frame[f].combk[1][l][h];
double k0 = Frame[f].combk[0][l][h];
uavg += (Frame[f].bufferu[2][l][h] * k2);
uavg += (Frame[f].bufferu[1][l][h] * k1);
uavg += (Frame[f].bufferu[0][l][h] * k0);
uavg /= 2;
vavg += (Frame[f].bufferu[2][l][h] * k2);
vavg += (Frame[f].bufferu[1][l][h] * k1);
vavg += (Frame[f].bufferu[0][l][h] * k0);
vavg /= 2;
Frame[f].cbuf[l].p[h].y = line[h];
Frame[f].cbuf[l].p[h].i = uavg;
Frame[f].cbuf[l].p[h].q = vavg;
Frame[f].cbuf[l].p[h].u = uavg;
Frame[f].cbuf[l].p[h].v = vavg;
if (f_bw) {
Frame[f].cbuf[l].p[h].i = Frame[f].cbuf[l].p[h].q = 0;
Frame[f].cbuf[l].p[h].u = Frame[f].cbuf[l].p[h].v = 0;
}
}
}
}
void DoCNR(int f, cline_t cbuf[in_y], double min = -1.0) {
int firstline = (linesout == in_y) ? 0 : lineoffset;
if (nr_c < min) nr_c = min;
if (nr_c <= 0) return;
for (int l = firstline; l < in_y; l++) {
YIQ hplinef[in_x + 32];
cline_t *input = &cbuf[l];
for (int h = 60; h <= (in_x - 4); h++) {
hplinef[h].i = f_hpi->feed(input->p[h].i);
hplinef[h].q = f_hpq->feed(input->p[h].q);
}
for (int h = 60; h < (in_x - 16); h++) {
double ai = hplinef[h + 12].i;
double aq = hplinef[h + 12].q;
// if (l == (f_debugline + lineoffset)) {
// cerr << "NR " << h << ' ' << input->p[h].y << ' ' << hplinef[h + 12].y << ' ' << ' ' << a << ' ' << endl;
// }
if (fabs(ai) > nr_c) {
ai = (ai > 0) ? nr_c : -nr_c;
}
if (fabs(aq) > nr_c) {
aq = (aq > 0) ? nr_c : -nr_c;
}
input->p[h].i -= ai;
input->p[h].q -= aq;
// if (l == (f_debugline + lineoffset)) cerr << a << ' ' << input->p[h].y << endl;
}
}
}
void DoYNR(int f, cline_t cbuf[in_y], double min = -1.0) {
int firstline = (linesout == in_y) ? 0 : lineoffset;
if (nr_y < min) nr_y = min;
if (nr_y <= 0) return;
for (int l = firstline; l < in_y; l++) {
YIQ hplinef[in_x + 32];
cline_t *input = &cbuf[l];
for (int h = 40; h <= in_x; h++) {
hplinef[h].y = f_hpy->feed(input->p[h].y);
}
for (int h = 40; h < in_x - 12; h++) {
double a = hplinef[h + 12].y;
if (l == (f_debugline + lineoffset)) {
cerr << "NR " << l << ' ' << h << ' ' << input->p[h].y << ' ' << hplinef[h + 12].y << ' ' << ' ' << a << ' ' << endl;
}
if (fabs(a) > nr_y) {
a = (a > 0) ? nr_y : -nr_y;
}
input->p[h].y -= a;
if (l == (f_debugline + lineoffset)) cerr << a << ' ' << input->p[h].y << endl;
}
}
}
// This phase-related stuff is hackish but (usually?) works. Run this routine after 1D
void GetPALPhase(int f) {
SplitIQ(f, 0);
for (int l = 10; l < in_y; l++) {
double i = 0, q = 0;
for (int h = 25; h < 55; h++) {
YIQ yiq = Frame[f].cbuf[l].p[h];
i += yiq.i; q += yiq.q;
if (l == (f_debugline + lineoffset))
cerr << "BIQ " << l << ' ' << h << ' ' << yiq.q << ' ' << yiq.i << endl;
// cerr << "BURST " << l << ' ' << h << ' ' << yiq.y << ' ' << yiq.i << ' ' << yiq.q << ' ' << ctor(yiq.i, yiq.q) << ' ' << atan2deg(yiq.q, yiq.i) << endl;
}
Frame[f].burstangle[l] = atan2deg(q, i);
// cerr << "angle of " << l << " is " << angle[l] << ' ' << endl;
}
// XXX: This still feels dodgy, but when we look at a 4-line sequence phase inversion
// depends on whether the second or third line has different phase from first/4th
int phasecount = 0, tot = 0;
for (int l = 20; l < (in_y - 4); l += 4, tot++) {
if (fabs(Frame[f].burstangle[l + 1] - Frame[f].burstangle[l]) < 20) phasecount++;
}
Frame[f].phase = phasecount > (tot / 2);
}
// clpbuffer => bufferu and bufferv
void CtoUV(int f, int dim) {
SplitIQ(f, dim);
for (int l = 10; l < in_y; l++) {
double burstlev = 8; // Frame[f].rawbuffer[(l * in_x) + 1] / irescale;
uint16_t *line_output = &output[(in_x * 3 * (l - 10))];
int o = 0;
if (burstlev > 5) {
if (aburstlev < 0) aburstlev = burstlev;
aburstlev = (aburstlev * .99) + (burstlev * .01);
}
if (f == f_debugline + lineoffset) cerr << "burst level " << burstlev << " mavg " << aburstlev << endl;
double angleadj = 135 - Frame[f].burstangle[l];
for (int h = 0; h < in_x; h++) {
double adj2 = 0;
double i = +(Frame[f].cbuf[l].p[h].i);
double q = +(Frame[f].cbuf[l].p[h].q);
double mag = ctor(i, q);
double angle = atan2(q, i) + (((angleadj + adj2) / 180.0) * M_PIl);
if (l == (f_debugline + lineoffset))
cerr << "A " << h << ' ' << Frame[f].cbuf[l].p[h].i << ' ' << Frame[f].cbuf[l].p[h].q << ' ' ;
Frame[f].bufferu[dim][l][h] = cos(angle) * mag;
Frame[f].bufferv[dim][l][h] = sin(angle) * mag;
if (l == (f_debugline + lineoffset))
cerr << Frame[f].bufferu[dim][l][h] << ' ' << Frame[f].bufferv[dim][l][h] << endl ;
}
}
}
void ToRGB(int f, int firstline, cline_t cbuf[in_y]) {
// YIQ (YUV?) -> RGB conversion
double angle[in_y];
// HACK!!!: Need to figure out which phase we're in this frame
for (int l = 10; l < in_y; l++) {
double i = 0, q = 0;
for (int h = 25; h < 55; h++) {
YIQ yiq = cbuf[l].p[h];
i += yiq.i; q += yiq.q;
if (l == (f_debugline + lineoffset))
cerr << "BIQ " << l << ' ' << h << ' ' << yiq.q << ' ' << yiq.i << endl;
// cerr << "BURST " << l << ' ' << h << ' ' << yiq.y << ' ' << yiq.i << ' ' << yiq.q << ' ' << ctor(yiq.i, yiq.q) << ' ' << atan2deg(yiq.q, yiq.i) << endl;
}
angle[l] = atan2deg(q, i);
// cerr << "angle of " << l << " is " << angle[l] << ' ' << endl;
}
// XXX: This still feels dodgy, but when we look at a 4-line sequence phase inversion
// depends on whether the second or third line has different phase from first/4th
int phasecount = 0, tot = 0;
for (int l = 20; l < (in_y - 4); l += 4, tot++) {
if (fabs(angle[l + 1] - angle[l]) < 20) phasecount++;
}
bool phase = phasecount > (tot / 2);
for (int l = firstline; l < in_y; l++) {
double burstlev = 8; // Frame[f].rawbuffer[(l * in_x) + 1] / irescale;
uint16_t *line_output = &output[(in_x * 3 * (l - firstline))];
int o = 0;
if (burstlev > 5) {
if (aburstlev < 0) aburstlev = burstlev;
aburstlev = (aburstlev * .99) + (burstlev * .01);
}
if (f == f_debugline + lineoffset) cerr << "burst level " << burstlev << " mavg " << aburstlev << endl;
double angleadj = 135 - angle[l];
for (int h = 0; h < in_x; h++) {
double adj2 = 0;
double i = +(cbuf[l].p[h].i);
double q = +(cbuf[l].p[h].q);
double mag = ctor(i, q);
double angle = atan2(q, i) + (((angleadj + adj2) / 180.0) * M_PIl);
if (l == (f_debugline + lineoffset))
cerr << "A " << h << ' ' << cbuf[l].p[h].i << ' ' << cbuf[l].p[h].q << ' ' ;
cbuf[l].p[h].i = cos(angle) * mag;
cbuf[l].p[h].q = sin(angle) * mag;
if (l == (f_debugline + lineoffset))
cerr << cbuf[l].p[h].i << ' ' << cbuf[l].p[h].q << endl ;
}
for (int h = 0; h < in_x; h++) {
RGB r;
YIQ yiq = cbuf[l].p[h + 0];
// yiq.i = (yiqp.i + yiq.i) / 1;
// yiq.q = (yiqp.q + yiq.q) / 1;
yiq.i *= (10 / aburstlev);
yiq.q *= (10 / aburstlev);
double i = yiq.i, q = yiq.q;
int rotate = l % 4;
bool flip = (rotate == 1) || (rotate == 2);
if (phase) flip = !flip;
if (flip) {
yiq.i = -q;
yiq.q = -i;
}
if (f_showk) {
yiq.y = ire_to_u16(Frame[f].combk[dim - 1][l][h + 82] * 100);
// yiq.y = ire_to_u16(((double)h / 752.0) * 100);
yiq.i = yiq.q = 0;
}
if (l == (f_debugline + lineoffset)) {
cerr << "YIQ " << h << ' ' << l << ' ' << l % 4 << ' ' << angle[l] << ' ' << atan2deg(yiq.q, yiq.i) << ' ' << yiq.y << ' ' << yiq.i << ' ' << yiq.q << endl;
}
cline = l;
r.conv(yiq); // , 135 - ang, l);
if (l == (f_debugline + lineoffset)) {
// cerr << "RGB " << r.r << ' ' << r.g << ' ' << r.b << endl ;
r.r = r.g = r.b = 0;
}
line_output[o++] = (uint16_t)(r.r);
line_output[o++] = (uint16_t)(r.g);
line_output[o++] = (uint16_t)(r.b);
}
}
}
void OpticalFlow3D(cline_t cbuf[in_y]) {
static Mat prev[2];
static Mat flow[2];
static int fcount = 0;
const int cysize = 242;
const int cxsize = in_x - 70;
uint16_t fieldbuf[in_x * cysize];
uint16_t flowmap[in_y][cxsize];
memset(fieldbuf, 0, sizeof(fieldbuf));
memset(flowmap, 0, sizeof(flowmap));
int y;
Mat pic;
for (int field = 0; field < 2; field++) {
for (y = 0; y < cysize; y++) {
for (int x = 0; x < cxsize; x++) {
fieldbuf[(y * cxsize) + x] = cbuf[23 + field + (y * 2)].p[70 + x].y;
}
}
pic = Mat(242, cxsize, CV_16UC1, fieldbuf);
if (fcount) calcOpticalFlowFarneback(pic, prev[field], flow[field], 0.5, 4, 60, 3, 7, 1.5, (fcount > 1) ? OPTFLOW_USE_INITIAL_FLOW : 0);
prev[field] = pic.clone();
}
double min = p_3dcore; // 0.0
double max = p_3drange; // 0.5
if (fcount) {
for (y = 0; y < cysize; y++) {
for (int x = 0; x < cxsize; x++) {
const Point2f& flowpoint1 = flow[0].at<Point2f>(y, x);
const Point2f& flowpoint2 = flow[1].at<Point2f>(y, x);
double c1 = 1 - clamp((ctor(flowpoint1.y, flowpoint1.x * 2) - min) / max, 0, 1);
double c2 = 1 - clamp((ctor(flowpoint2.y, flowpoint2.x * 2) - min) / max, 0, 1);
double c = (c1 < c2) ? c1 : c2;
// HACK: This goes around a 1-frame delay
Frame[1].combk[2][(y * 2)][70 + x] = c;
Frame[1].combk[2][(y * 2) + 1][70 + x] = c;
uint16_t fm = clamp(c * 65535, 0, 65535);
flowmap[(y * 2)][0 + x] = fm;
flowmap[(y * 2) + 1][0 + x] = fm;
}
}
Mat fpic = Mat(in_y - 23, cxsize, CV_16UC1, flowmap);
Mat rpic;
resize(fpic, rpic, Size(1280,960));
// imshow("comb", rpic);
// waitKey(f_oneframe ? 0 : 1);
}
fcount++;
}
void DrawFrame(uint16_t *obuf, int owidth = 1052) {
for (int y = 0; y < 576; y++) {
for (int x = 0; x < owidth; x++) {
BGRoutput[(((y * owidth) + x) * 3) + 0] = obuf[(((y * owidth) + x) * 3) + 2];
BGRoutput[(((y * owidth) + x) * 3) + 1] = obuf[(((y * owidth) + x) * 3) + 1];
BGRoutput[(((y * owidth) + x) * 3) + 2] = obuf[(((y * owidth) + x) * 3) + 0];
}
}
Mat pic = Mat(576, owidth, CV_16UC3, BGRoutput);
Mat rpic;
resize(pic, rpic, Size(1280,960));
imshow("comb", rpic);
waitKey(f_oneframe ? 0 : 1);
}
public:
Comb() {
fieldcount = curline = linecount = -1;
framecode = framecount = frames_out = 0;
scount = 0;
aburstlev = -1;
f_oddframe = false;
f_hpy = new Filter(f_nr);
f_hpi = new Filter(f_nrc);
f_hpq = new Filter(f_nrc);
f_hpvy = new Filter(f_nr);
f_hpvi = new Filter(f_nrc);
f_hpvq = new Filter(f_nrc);
memset(output, 0, sizeof(output));
}
void WriteFrame(uint16_t *obuf, int owidth = 1052, int fnum = 0) {
cerr << "WR" << fnum << endl;
if (!f_writeimages) {
if (!f_write8bit) {
write(ofd, obuf, (owidth * linesout * 3) * 2);
} else {
uint8_t obuf8[owidth * linesout * 3];
for (int i = 0; i < (owidth * linesout * 3); i++) {
obuf8[i] = obuf[i] >> 8;
}
write(ofd, obuf8, (owidth * linesout * 3));
}
} else {
char ofname[512];
sprintf(ofname, "%s%d.rgb", image_base, fnum);
cerr << "W " << ofname << endl;
ofd = open(ofname, O_WRONLY | O_CREAT, S_IRUSR | S_IWUSR | S_IROTH);
write(ofd, obuf, (owidth * linesout * 3) * 2);
close(ofd);
}
if (f_monitor) {
DrawFrame(obuf, owidth);
}
if (f_oneframe) exit(0);
frames_out++;
}
void AdjustY(int f, cline_t cbuf[in_y]) {
int firstline = (linesout == in_y) ? 0 : lineoffset;
// remove color data from baseband (Y)
for (int l = firstline; l < in_y; l++) {
double angleadj = 135 - Frame[f].burstangle[l];
for (int h = 2; h < in_x; h++) {
double adj2 = 0;
double i = +(Frame[f].cbuf[l].p[h].i);
double q = +(Frame[f].cbuf[l].p[h].q);
double mag = ctor(i, q);
double angle = atan2(q, i) + (((angleadj + adj2) / 180.0) * M_PIl);
if (l == (f_debugline + lineoffset))
cerr << "A " << h << ' ' << Frame[f].cbuf[l].p[h].i << ' ' << Frame[f].cbuf[l].p[h].q << ' ' ;
Frame[f].bufferu[dim][l][h] = cos(angle) * mag;
Frame[f].bufferv[dim][l][h] = sin(angle) * mag;
if (l == (f_debugline + lineoffset))
cerr << Frame[f].bufferu[dim][l][h] << ' ' << Frame[f].bufferv[dim][l][h] << endl ;
}
}
}
// buffer: in_xxin_y uint16_t array
void Process(uint16_t *buffer, int dim = 2)
{
int firstline = (linesout == in_y) ? 0 : lineoffset;
int f = (dim == 3) ? 1 : 0;
cerr << "P " << f << ' ' << dim << endl;
memcpy(&Frame[2], &Frame[1], sizeof(frame_t));
memcpy(&Frame[1], &Frame[0], sizeof(frame_t));
memset(&Frame[0], 0, sizeof(frame_t));
memcpy(Frame[0].rawbuffer, buffer, (in_x * in_y * 2));
Split1D(0);
GetPALPhase(0);
if (dim >= 2) Split2D(0);
SplitIQ(0);
// copy VBI
for (int l = 0; l < 24; l++) {
uint16_t *line = &Frame[0].rawbuffer[l * in_x];
for (int h = 4; h < (in_x - 4); h++) {
Frame[0].cbuf[l].p[h].y = line[h];
}
}
#if 0
if (dim >= 3) {
if (f_opticalflow && (framecount >= 1)) {
memcpy(tbuf, Frame[0].cbuf, sizeof(tbuf));
AdjustY(0, tbuf);
DoYNR(0, tbuf, 5);
DoCNR(0, tbuf, 2);
OpticalFlow3D(tbuf);
}
if (framecount < 2) {
framecount++;
return;
}
Split3D(f, f_opticalflow);
}
#endif
SplitIQ(f);
memcpy(tbuf, Frame[f].cbuf, sizeof(tbuf));
AdjustY(f, tbuf);
if (f_colorlpf) FilterIQ(tbuf, f);
DoYNR(f, tbuf);
DoCNR(f, tbuf);
ToRGB(f, firstline, tbuf);
PostProcess(f);
framecount++;
return;
}
int PostProcess(int fnum) {
int fstart = -1;
uint16_t *fbuf = Frame[fnum].rawbuffer;
int out_x = f_wide ? in_x : 1052 - 78;
int roffset = f_wide ? 0 : 78;