kSpot.h

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#ifndef K_FIRESYNC_SPOT_H
#define K_FIRESYNC_SPOT_H

#include <kFireSync/kFsDef.h>
#include <kFireSync/kNodeDef.h>
#include <kApi/Data/kArrayList.h>
#include <kApi/Data/kArray1.h>
#include <kApi/Data/kImage.h>

kBeginHeader()

#define kSPOT_CENTRE_SHIFT      (8)                         // centre shift
#define kSPOT_CENTRE_SCALE      (1 << kSPOT_CENTRE_SHIFT)   // centre scale

typedef struct
{
    k32u centre;             /* scaled centre of the spot (along slice) */
    k16u slice;              /* slice index */
    k16u strength;           /* spot strength metric (e.g. sum, peak) */
    k16u width;              /* spot width */
} kSpot;

typedef struct
{
    k32u centre[2];          /* scaled centre of the spot in each dimension */
    k32u strength;           /* spot strength metric (e.g. sum, peak) */
} kSpot2;

typedef struct 
{
    k16u sum;                   /* sum of pixel intensities along slice */
    k16u wsum;                  /* weighted sum of pixel intensities along slice */
} kFpgaCSum;

typedef struct kFpgaCSum3
{
    k32u csum3;
} kFpgaCSum3;

#define kFPGA_CSUM3_OVERFLOW(CSUM3)     kxFPGA_CSUM3_OVERFLOW(CSUM3)
#define kFPGA_CSUM3_SUM(CSUM3)          kxFPGA_CSUM3_SUM(CSUM3)
#define kFPGA_CSUM3_WSUM(CSUM3)         kxFPGA_CSUM3_WSUM(CSUM3)

typedef struct kCSum4
{
    k32u csum;      
} kCSum4;

#define kCSum4_MaxSum_()              kxCSum4_MaxSum_()

#define kCSum4_MaxWSum_()             kxCSum4_MaxWSum_()

#define kCSum4_Init_(CSUM, SUM, WSUM)     kxCSum4_Init_(CSUM, SUM, WSUM)

#define kCSum4_InitOverflow_(CSUM)     kxCSum4_InitOverflow_(CSUM)

#define kCSum4_IsOverflow_(CSUM)     kxCSum4_IsOverflow_(CSUM)

#define kCSum4_SetSum_(CSUM, SUM)          kxCSum4_SetSum_(CSUM, SUM)

#define kCSum4_Sum_(CSUM)          kxCSum4_Sum_(CSUM)

#define kCSum4_SetWSum_(CSUM, WSUM)          kxCSum4_SetSum_(CSUM, WSUM)

#define kCSum4_WSum_(CSUM)         kxCSum4_WSum_(CSUM)

// input expects an array list of kTypeOf(kFpgaSpot), kTYPE_FPGA_CG or kTYPE_FPGA_CG2
// output expects an initialized array list of kSpot
kFsFx(kStatus) kSpot_Unpack(kArrayList input, kArrayList output);
 
// spots expects an initialized array list of kSpot
kFsFx(kStatus) kSpot_ARCG(kImage img, k32u minSpotWidth, k32u maxSpotWidth, k32u threshold, kArrayList spots);

// FPGA ACCG implementation
kFsFx(kStatus) kFpgaSpot_ACCG(kImage image, k32u minSpotWidth, k32u maxSpotWidth, k32u threshold, kArrayList spots);

// spots expects an initialized array list of kSpot
kFsFx(kStatus) kSpot_ACCG(kImage img, k32u minSpotWidth, k32u maxSpotWidth, k32u threshold, kArrayList spots);

kFsFx(kStatus) kSpot_CSUM(kImage image, k32u threshold, kArrayList *sums);

// spots expects an initialized array list of kFpgaCSum3
kFsFx(kStatus) kSpot_CSum3(kImage image, k32u threshold, kArrayList csum3);

// spots expects an initialized array list of k64u
kFsFx(kStatus) kSpot_Binarize(kImage image, k32u threshold, kArrayList binarize);

//  kSpot_SobelArcg
//
//  Description:
//      Performs Sobel-filtered ARCG spot detection.  This is the old implementation.  It is currently being used as this version matches the FPGA version.
//  Inputs:
//      image - input kImage data to be processed, expects pixel type kTypeOf(k8s)
//      averageWindow - Sobel filter height in pixels
//      edgeWindow - Sobel filter width in pixels, expects odd number (counts center pixel)
//      threshold - Rising and falling edge threshold
//      widthThreshold - Used for width calculation, only pixels with an intensity greater than baseIntensity + widthThreshold are accepted.
//      minWidth - minimum spot width
//      maxWidth - maximum spot width
//      minSum - minimum spot sum
//  Outputs:
//      spots - returns detected spot objects, expects an initialized array of type kTYPE_SPOT, kTypeOf(kFpgaSpot), or kTypeOf(kFpgaWideSpot) 
//              with capacity equal to maximum expected number of spots
//      bounds - returns x coordinates of rising and falling edge spot boundaries, expects an initialized array of type kTYPE_POINT_32S or kNIL
//      edgeImage - returns the gradient image, expects an initialized image of pixel type kTypeOf(k8s) of size equal to the input image or kNIL

kFsFx(kStatus) kSpot_SobelArcg(kImage image, k32u averageWindow, k32u edgeWindow, k32u threshold, k32u widthThreshold, k32u minWidth,
                                      k32u maxWidth, k32u minSum, kArrayList spots, kArrayList bounds, kImage edgeImage);

//  kSpot_SobelArcg
//
//  Description:
//      Performs Sobel-filtered ARCG spot detection.  This is the new implementation of kSpot_SobelArcg.
//  Inputs:
//      image - input kImage data to be processed, expects pixel type kTypeOf(k8s)
//      averageWindow - Sobel filter height in pixels
//      edgeWindow - Sobel filter width in pixels, expects odd number (counts center pixel)
//      threshold - Rising and falling edge threshold
//      widthThreshold - Used for width calculation, only pixels with an intensity greater than baseIntensity + widthThreshold are accepted.
//      minWidth - minimum spot width
//      maxWidth - maximum spot width
//      minSum - minimum spot sum
//  Outputs:
//      spots - returns detected spot objects, expects an initialized array of type kTYPE_SPOT, kTypeOf(kFpgaSpot), or kTypeOf(kFpgaWideSpot) 
//              with capacity equal to maximum expected number of spots
//      bounds - returns x coordinates of rising and falling edge spot boundaries, expects an initialized array of type kTYPE_POINT_32S or kNIL
//      edgeImage - returns the gradient image, expects an initialized image of pixel type kTypeOf(k8s) of size equal to the input image or kNIL

kFsFx(kStatus) kSpot_SobelArcgV1(kImage image, k32u averageWindow, k32u edgeWindow, k32u threshold, k32u widthThreshold, k32u minWidth,
    k32u maxWidth, k32u minSum, kArrayList spots, kArrayList bounds, kImage edgeImage);

//  kSpot_SobelAccg
//
//  Description:
//      Performs Sobel-filtered ACCG spot detection
//  Inputs:
//      image - input kImage data to be processed, expects pixel type kTypeOf(k8s)
//      averageWindow - Sobel filter width in pixels
//      edgeWindow - Sobel filter height in pixels, expects odd number (counts center pixel)
//      threshold - Rising and falling edge threshold
//      widthThreshold - Used for width calculation, only pixels with an intensity greater than baseIntensity + widthThreshold are accepted.
//      minWidth - minimum spot width
//      maxWidth - maximum spot width
//      minSum - minimum spot sum
//  Outputs:
//      spots - returns detected spot objects, expects an initialized array of type kTYPE_SPOT, kTypeOf(kFpgaSpot), or kTypeOf(kFpgaWideSpot) 
//              with capacity equal to maximum expected number of spots
//      bounds - returns centroid coordinates of rising and falling edge spot boundaries, expects an initialized array of type kTYPE_POINT_32S or kNIL
//      edgeImage - returns the gradient image, expects an initialized image of pixel type kTypeOf(k8s) of size equal to the input image or kNIL

kFsFx(kStatus) kSpot_SobelAccg(kImage image, k32u averageWindow, k32u edgeWindow, k32u threshold, k32u widthThreshold, k32u minWidth,
                                      k32u maxWidth, k32u minSum, kArrayList spots, kArrayList bounds, kImage edgeImage);

kFsFx(kStatus) kSpot_YGradient(kImage input, k32u averageWindow, k32u edgeWindow, kImage output);
kFsFx(kStatus) kSpot_XGradient(kImage input, k32u averageWindow, k32u edgeWindow, kImage output);

kFsFx(kStatus) kSpot_Sort(kArrayList spots, kArrayList sortedSpots, kSize sortedSpotCount, kCameraSpotSort sortType, kBool inverted);

typedef struct
{
    k32u center_width;        /* end in 16.8 fixed point format, and width */
    k16u slice;               /* slice index */
    k16u sum_misc;            /* pixel intensity sum and misc info */
} kFpgaSpot;

#define kFPGA_SPOT_SPOT_WIDTH_MASK        kxFPGA_SPOT_SPOT_WIDTH_MASK
#define kFPGA_SPOT_SPOT_WIDTH_SHIFT       kxFPGA_SPOT_SPOT_WIDTH_SHIFT

#define kFPGA_SPOT_CENTER(CG)             kxFPGA_SPOT_CENTER(CG)
#define kFPGA_SPOT_SPOT_WIDTH(CG)         kxFPGA_SPOT_SPOT_WIDTH(CG)
#define kFPGA_SPOT_SLICE(CG)              kxFPGA_SPOT_SLICE(CG)
#define kFPGA_SPOT_EMPTY(CG)              kxFPGA_SPOT_EMPTY(CG)
#define kFPGA_SPOT_SUM(CG)                kxFPGA_SPOT_SUM(CG)
#define kFPGA_SPOT_SOBEL_P2P(CG)          kxFPGA_SPOT_SOBEL_P2P(CG)
#define kFPGA_SPOT_IS_COLUMN(CG)          kxFPGA_SPOT_IS_COLUMN(CG)
#define kFPGA_SPOT_IS_ROW(CG)             kxFPGA_SPOT_IS_ROW(CG)

typedef struct
{
    k32u center_width;        /* end in 16.8 fixed point format, and width */
    k16u slice;               /* slice index */
    k16u sum_misc;            /* pixel intensity sum and misc info */
} kFpgaWideSpot;

#define kFPGA_WIDE_SPOT_CENTER(CG)      kxFPGA_WIDE_SPOT_CENTER(CG)
#define kFPGA_WIDE_SPOT_SPOT_WIDTH(CG)  kxFPGA_WIDE_SPOT_SPOT_WIDTH(CG)
#define kFPGA_WIDE_SPOT_SLICE(CG)       kxFPGA_WIDE_SPOT_SLICE(CG)
#define kFPGA_WIDE_SPOT_EMPTY(CG)       kxFPGA_WIDE_SPOT_EMPTY(CG)
#define kFPGA_WIDE_SPOT_SUM(CG)         kxFPGA_WIDE_SPOT_SUM(CG)
#define kFPGA_WIDE_SPOT_SOBEL_P2P(CG)   kxFPGA_WIDE_SPOT_SOBEL_P2P(CG)
#define kFPGA_WIDE_SPOT_IS_COLUMN(CG)   kxFPGA_WIDE_SPOT_IS_COLUMN(CG)
#define kFPGA_WIDE_SPOT_IS_ROW(CG)      kxFPGA_WIDE_SPOT_IS_ROW(CG)

kEndHeader()

#include <kFireSync/Data/kSpot.x.h>

#endif