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laucaltagglobject.cpp
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#include "laucaltagglobject.h"
// DEFINE LOOK-UP TABLE
const unsigned char bridgeLutA[512] = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0xff,
0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00,
0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0x00,
0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff,
0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0xff, 0x00, 0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0xff,
0x00, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00,
0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00,
0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0xff, 0x00,
0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0xff,
0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00,
0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff,
0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0xff, 0x00, 0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0xff, 0x00,
0xff, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0xff,
0x00, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00,
0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff
};
const unsigned char bridgeLutB[512] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0x00, 0xff, 0xff,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0xff, 0xff, 0x00, 0x00, 0xff, 0xff, 0x00, 0x00, 0xff, 0xff, 0x00, 0x00,
0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00,
0x00, 0x00, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0x00, 0x00, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00, 0xff, 0xff, 0x00,
0x00, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0x00,
0x00, 0x00, 0xff, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff
};
const unsigned char bridgeLutC[512] = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff,
0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00,
0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff,
0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff,
0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff,
0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0xff, 0xff, 0x00, 0xff,
0xff, 0xff
};
const unsigned char bridgeLutD[512] = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff,
0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00,
0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff,
0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff,
0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff,
0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0xff, 0x00, 0xff, 0xff, 0xff, 0xff,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0xff, 0xff, 0x00, 0xff,
0xff, 0xff
};
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
LAUCalTagFilterWidget::LAUCalTagFilterWidget(LAUCalTagGLObject *object, QWidget *parent) : QWidget(parent)
{
this->setLayout(new QVBoxLayout());
this->setWindowTitle(QString("LAUCalTag Dialog"));
this->layout()->setContentsMargins(6, 6, 6, 6);
this->layout()->setSpacing(10);
QGroupBox *box = new QGroupBox(QString("Binarize Parameters"));
box->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Minimum);
box->setLayout(new QGridLayout());
box->layout()->setContentsMargins(6, 6, 6, 6);
((QGridLayout *)(box->layout()))->setColumnStretch(0, 100);
((QGridLayout *)(box->layout()))->setColumnMinimumWidth(2, 160);
this->layout()->addWidget(box);
iterSpinBox = new QSpinBox();
iterSpinBox->setMinimum(1);
iterSpinBox->setMaximum(5);
iterSpinBox->setFixedWidth(80);
iterSpinBox->setAlignment(Qt::AlignRight);
connect(iterSpinBox, SIGNAL(valueChanged(int)), object, SLOT(onSetIterations(int)));
QLabel *label = new QLabel(QString("Gaussian Smoother Iterations:"));
label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
label->setAlignment(Qt::AlignRight);
((QGridLayout *)(box->layout()))->addWidget(label, 0, 0, 1, 1, Qt::AlignRight);
((QGridLayout *)(box->layout()))->addWidget(iterSpinBox, 0, 1, 1, 1, Qt::AlignLeft);
gausSpinBox = new QSpinBox();
gausSpinBox->setMinimum(1);
gausSpinBox->setMaximum(127);
gausSpinBox->setFixedWidth(80);
gausSpinBox->setAlignment(Qt::AlignRight);
connect(gausSpinBox, SIGNAL(valueChanged(int)), object, SLOT(onSetGaussianRadius(int)));
label = new QLabel(QString("Guassian Smoother Radius:"));
label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
label->setAlignment(Qt::AlignRight);
((QGridLayout *)(box->layout()))->addWidget(label, 0, 2, 1, 1, Qt::AlignRight);
((QGridLayout *)(box->layout()))->addWidget(gausSpinBox, 0, 3, 1, 1, Qt::AlignLeft);
offsetSpinBox = new QDoubleSpinBox();
offsetSpinBox->setMinimum(-1.0);
offsetSpinBox->setMaximum(1.0);
offsetSpinBox->setSingleStep(0.01);
offsetSpinBox->setDecimals(4);
offsetSpinBox->setFixedWidth(80);
offsetSpinBox->setAlignment(Qt::AlignRight);
connect(offsetSpinBox, SIGNAL(valueChanged(double)), object, SLOT(onSetOffset(double)));
label = new QLabel(QString("Gaussian Filter Offset:"));
label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
label->setAlignment(Qt::AlignRight);
((QGridLayout *)(box->layout()))->addWidget(label, 1, 0, 1, 1, Qt::AlignRight);
((QGridLayout *)(box->layout()))->addWidget(offsetSpinBox, 1, 1, 1, 1, Qt::AlignLeft);
mednSpinBox = new QSpinBox();
mednSpinBox->setMinimum(0);
mednSpinBox->setMaximum(127);
mednSpinBox->setFixedWidth(80);
mednSpinBox->setAlignment(Qt::AlignRight);
connect(mednSpinBox, SIGNAL(valueChanged(int)), object, SLOT(onSetMedianRadius(int)));
label = new QLabel(QString("Median Smoother Radius:"));
label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
label->setAlignment(Qt::AlignRight);
((QGridLayout *)(box->layout()))->addWidget(label, 1, 2, 1, 1, Qt::AlignRight);
((QGridLayout *)(box->layout()))->addWidget(mednSpinBox, 1, 3, 1, 1, Qt::AlignLeft);
box = new QGroupBox(QString("CalTag Parameters"));
box->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Minimum);
box->setLayout(new QGridLayout());
box->layout()->setContentsMargins(6, 6, 6, 6);
((QGridLayout *)(box->layout()))->setColumnStretch(0, 100);
((QGridLayout *)(box->layout()))->setColumnMinimumWidth(2, 160);
this->layout()->addWidget(box);
minRegionArea = new QSpinBox();
minRegionArea->setMinimum(0);
minRegionArea->setMaximum(1000000);
minRegionArea->setValue(128 - 32);
minRegionArea->setFixedWidth(80);
connect(minRegionArea, SIGNAL(valueChanged(int)), object, SLOT(onSetMinRegionArea(int)));
label = new QLabel(QString("Minimum Region Area:"));
label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
label->setAlignment(Qt::AlignRight);
((QGridLayout *)(box->layout()))->addWidget(label, 0, 0, 1, 1, Qt::AlignRight);
((QGridLayout *)(box->layout()))->addWidget(minRegionArea, 0, 1, 1, 1, Qt::AlignLeft);
maxRegionArea = new QSpinBox();
maxRegionArea->setMinimum(0);
maxRegionArea->setMaximum(1000000);
maxRegionArea->setValue((640 * 480) / 16);
maxRegionArea->setFixedWidth(80);
connect(maxRegionArea, SIGNAL(valueChanged(int)), object, SLOT(onSetMaxRegionArea(int)));
label = new QLabel(QString("Maximum Region Area:"));
label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
label->setAlignment(Qt::AlignRight);
((QGridLayout *)(box->layout()))->addWidget(label, 0, 2, 1, 1, Qt::AlignRight);
((QGridLayout *)(box->layout()))->addWidget(maxRegionArea, 0, 3, 1, 1, Qt::AlignLeft);
minBoxCount = new QSpinBox();
minBoxCount->setMinimum(0);
minBoxCount->setMaximum(1000000);
minBoxCount->setValue(128);
minBoxCount->setFixedWidth(80);
connect(minBoxCount, SIGNAL(valueChanged(int)), object, SLOT(onSetMinBoxCount(int)));
label = new QLabel(QString("Minimum Box Count:"));
label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
label->setAlignment(Qt::AlignRight);
((QGridLayout *)(box->layout()))->addWidget(label, 1, 0, 1, 1, Qt::AlignRight);
((QGridLayout *)(box->layout()))->addWidget(minBoxCount, 1, 1, 1, 1, Qt::AlignLeft);
flipCalTagsFlag = new QCheckBox();
flipCalTagsFlag->setCheckable(true);
flipCalTagsFlag->setChecked(false);
flipCalTagsFlag->setFixedWidth(80);
connect(flipCalTagsFlag, SIGNAL(toggled(bool)), object, SLOT(onSetFlipCalTagsFlag(bool)));
label = new QLabel(QString("Flip CalTag (backlight):"));
label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
label->setAlignment(Qt::AlignRight);
((QGridLayout *)(box->layout()))->addWidget(label, 1, 2, 1, 1, Qt::AlignRight);
((QGridLayout *)(box->layout()))->addWidget(flipCalTagsFlag, 1, 3, 1, 1, Qt::AlignLeft);
// SET THE INITIAL VALUES FROM THE SUPPLIED GLOBJECT
iterSpinBox->setValue(object->iterations());
gausSpinBox->setValue(object->gaussianRadius());
mednSpinBox->setValue(object->medianRadius());
offsetSpinBox->setValue(object->offset());
minRegionArea->setValue(object->minRegion());
maxRegionArea->setValue(object->maxRegion());
minBoxCount->setValue(object->minBox());
flipCalTagsFlag->setChecked(object->flipCalTags());
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAUCalTagFilterWidget::load()
{
// LOAD THE PARAMETERS FROM SETTINGS
QSettings settings;
iterSpinBox->setValue(settings.value(QString("LAUCalTagScanWidget::iterSpinBox"), iterSpinBox->value()).toInt());
gausSpinBox->setValue(settings.value(QString("LAUCalTagScanWidget::gausSpinBox"), gausSpinBox->value()).toInt());
mednSpinBox->setValue(settings.value(QString("LAUCalTagScanWidget::mednSpinBox"), mednSpinBox->value()).toInt());
offsetSpinBox->setValue(settings.value(QString("LAUCalTagScanWidget::offsetSpinBox"), offsetSpinBox->value()).toDouble());
minRegionArea->setValue(settings.value(QString("LAUCalTagScanWidget::minRegionArea"), minRegionArea->value()).toInt());
maxRegionArea->setValue(settings.value(QString("LAUCalTagScanWidget::maxRegionArea"), maxRegionArea->value()).toInt());
minBoxCount->setValue(settings.value(QString("LAUCalTagScanWidget::minBoxCount"), minBoxCount->value()).toInt());
flipCalTagsFlag->setChecked(settings.value(QString("LAUCalTagScanWidget::flipCalTagsFlag"), flipCalTagsFlag->isChecked()).toBool());
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAUCalTagFilterWidget::save()
{
// LOAD THE PARAMETERS FROM SETTINGS
QSettings settings;
settings.setValue(QString("LAUCalTagScanWidget::iterSpinBox"), iterSpinBox->value());
settings.setValue(QString("LAUCalTagScanWidget::gausSpinBox"), gausSpinBox->value());
settings.setValue(QString("LAUCalTagScanWidget::mednSpinBox"), mednSpinBox->value());
settings.setValue(QString("LAUCalTagScanWidget::offsetSpinBox"), offsetSpinBox->value());
settings.setValue(QString("LAUCalTagScanWidget::minRegionArea"), minRegionArea->value());
settings.setValue(QString("LAUCalTagScanWidget::maxRegionArea"), maxRegionArea->value());
settings.setValue(QString("LAUCalTagScanWidget::minBoxCount"), minBoxCount->value());
settings.setValue(QString("LAUCalTagScanWidget::flipCalTagsFlag"), flipCalTagsFlag->isChecked());
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
LAUCalTagGLObject::LAUCalTagGLObject(QObject *parent) : QObject(parent), isValidFlag(false)
{
// INITIALIZE PRIVATE VARIABLES
textureLUT = nullptr;
frameBufferObjectA = nullptr;
frameBufferObjectB = nullptr;
frameBufferObjectC = nullptr;
frameBufferObjectD = nullptr;
quantizationOffset = -0.01f;
medianFilterRadius = 0;
gaussianFilterRadius = 10;
iterationCount = 1;
// INITIALIZE CLASS VARIABLES
minBoxCount = 32; // 2X2 PIXELS TIMES 8X8 BOX SIZE
maxRegionArea = (640 * 480) / 16; // NEEDS IMAGE SIZE AND BYTES PER PIXEL
minRegionArea = maxRegionArea / 10;
flipCalTagsFlag = false;
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
LAUCalTagGLObject::~LAUCalTagGLObject()
{
if (textureLUT) {
delete textureLUT;
}
if (frameBufferObjectA) {
delete frameBufferObjectA;
}
if (frameBufferObjectB) {
delete frameBufferObjectB;
}
if (frameBufferObjectC) {
delete frameBufferObjectC;
}
if (frameBufferObjectD) {
delete frameBufferObjectD;
}
qDebug() << "LAUCalTagGLObject::~LAUCalTagGLObject()";
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAUCalTagGLObject::initializeGL()
{
// INITIALIZE OUR GL CALLS AND SET THE CLEAR COLOR
initializeOpenGLFunctions();
// CREATE VERTEX BUFFER TO HOLD CORNERS OF QUADRALATERAL
quadVertexBuffer = QOpenGLBuffer(QOpenGLBuffer::VertexBuffer);
quadVertexBuffer.create();
quadVertexBuffer.setUsagePattern(QOpenGLBuffer::StaticDraw);
if (quadVertexBuffer.bind()) {
// ALLOCATE THE VERTEX BUFFER FOR HOLDING THE FOUR CORNERS OF A RECTANGLE
quadVertexBuffer.allocate(16 * sizeof(float));
float *buffer = (float *)quadVertexBuffer.map(QOpenGLBuffer::WriteOnly);
if (buffer) {
buffer[0] = -1.0;
buffer[1] = -1.0;
buffer[2] = 0.0;
buffer[3] = 1.0;
buffer[4] = +1.0;
buffer[5] = -1.0;
buffer[6] = 0.0;
buffer[7] = 1.0;
buffer[8] = +1.0;
buffer[9] = +1.0;
buffer[10] = 0.0;
buffer[11] = 1.0;
buffer[12] = -1.0;
buffer[13] = +1.0;
buffer[14] = 0.0;
buffer[15] = 1.0;
quadVertexBuffer.unmap();
} else {
qDebug() << QString("quadVertexBuffer not allocated.") << glGetError();
}
quadVertexBuffer.release();
}
// CREATE INDEX BUFFER TO ORDERINGS OF VERTICES FORMING POLYGON
quadIndexBuffer = QOpenGLBuffer(QOpenGLBuffer::IndexBuffer);
quadIndexBuffer.create();
quadIndexBuffer.setUsagePattern(QOpenGLBuffer::StaticDraw);
if (quadIndexBuffer.bind()) {
quadIndexBuffer.allocate(6 * sizeof(unsigned int));
unsigned int *indices = (unsigned int *)quadIndexBuffer.map(QOpenGLBuffer::WriteOnly);
if (indices) {
indices[0] = 0;
indices[1] = 1;
indices[2] = 2;
indices[3] = 0;
indices[4] = 2;
indices[5] = 3;
quadIndexBuffer.unmap();
} else {
qDebug() << QString("indiceBufferA buffer mapped from GPU.");
}
quadIndexBuffer.release();
}
// CREATE A TEXTURE FOR LOOK UP OPERATIONS
textureLUT = new QOpenGLTexture(QOpenGLTexture::Target1D);
textureLUT->setSize(512);
textureLUT->setFormat(QOpenGLTexture::RGBA32F);
textureLUT->setWrapMode(QOpenGLTexture::ClampToBorder);
textureLUT->setMinificationFilter(QOpenGLTexture::Nearest);
textureLUT->setMagnificationFilter(QOpenGLTexture::Nearest);
textureLUT->allocateStorage();
// NOW ADD OUR LIST OF HARRIS CORNER SHADER PROGRAMS
setlocale(LC_NUMERIC, "C");
programA.addShaderFromSourceFile(QOpenGLShader::Vertex, ":/shaders/Shaders/filterRGBAtoGray.vert");
programA.addShaderFromSourceFile(QOpenGLShader::Fragment, ":/shaders/Shaders/filterRGBAtoGray.frag");
programA.link();
programB.addShaderFromSourceFile(QOpenGLShader::Vertex, ":/shaders/Shaders/filterXGaussian.vert");
programB.addShaderFromSourceFile(QOpenGLShader::Fragment, ":/shaders/Shaders/filterXGaussian.frag");
programB.link();
programC.addShaderFromSourceFile(QOpenGLShader::Vertex, ":/shaders/Shaders/filterYGaussian.vert");
programC.addShaderFromSourceFile(QOpenGLShader::Fragment, ":/shaders/Shaders/filterYGaussian.frag");
programC.link();
programD.addShaderFromSourceFile(QOpenGLShader::Vertex, ":/shaders/Shaders/filterAdaptiveThreshold.vert");
programD.addShaderFromSourceFile(QOpenGLShader::Fragment, ":/shaders/Shaders/filterAdaptiveThreshold.frag");
programD.link();
programE.addShaderFromSourceFile(QOpenGLShader::Vertex, ":/shaders/Shaders/filterBinaryMedian.vert");
programE.addShaderFromSourceFile(QOpenGLShader::Fragment, ":/shaders/Shaders/filterBinaryMedian.frag");
programE.link();
programF.addShaderFromSourceFile(QOpenGLShader::Vertex, ":/shaders/Shaders/filterSobelEdge.vert");
programF.addShaderFromSourceFile(QOpenGLShader::Fragment, ":/shaders/Shaders/filterSobelEdge.frag");
programF.link();
programG.addShaderFromSourceFile(QOpenGLShader::Vertex, ":/shaders/Shaders/filterBinaryLookUpTable.vert");
programG.addShaderFromSourceFile(QOpenGLShader::Fragment, ":/shaders/Shaders/filterBinaryLookUpTable.frag");
programG.link();
programH.addShaderFromSourceFile(QOpenGLShader::Vertex, ":/shaders/Shaders/filterMaxRGBA.vert");
programH.addShaderFromSourceFile(QOpenGLShader::Fragment, ":/shaders/Shaders/filterMaxRGBA.frag");
programH.link();
programI.addShaderFromSourceFile(QOpenGLShader::Vertex, ":/shaders/Shaders/filterMinRGBA.vert");
programI.addShaderFromSourceFile(QOpenGLShader::Fragment, ":/shaders/Shaders/filterMinRGBA.frag");
programI.link();
programJ.addShaderFromSourceFile(QOpenGLShader::Vertex, ":/shaders/Shaders/calTagXYZW.vert");
programJ.addShaderFromSourceFile(QOpenGLShader::Fragment, ":/shaders/Shaders/calTagXYZW.frag");
programJ.link();
programK.addShaderFromSourceFile(QOpenGLShader::Vertex, ":/shaders/Shaders/displayCalTag.vert");
programK.addShaderFromSourceFile(QOpenGLShader::Fragment, ":/shaders/Shaders/displayCalTag.frag");
programK.link();
setlocale(LC_ALL, "");
// SET THE VALID TAG TRUE SO WE CAN TEST IF INITIALIZED
isValidFlag = true;
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAUCalTagGLObject::processGL(QOpenGLTexture *videoTexture, QOpenGLFramebufferObject *outputFBO)
{
if (isValid()) {
// SEE IF WE NEED NEW FBOS
testFBO(&frameBufferObjectA, videoTexture->width(), videoTexture->height());
testFBO(&frameBufferObjectB, videoTexture->width(), videoTexture->height());
testFBO(&frameBufferObjectC, videoTexture->width(), videoTexture->height());
testFBO(&frameBufferObjectD, videoTexture->width(), videoTexture->height());
// RESIZE THE BYTE ARRAYS AS NEEDED
if (memoryObject[0].width() != (unsigned int)videoTexture->width() || memoryObject[0].height() != (unsigned int)videoTexture->height()) {
memoryObject[0] = LAUMemoryObject(videoTexture->width(), videoTexture->height(), 1, sizeof(unsigned char));
memoryObject[1] = LAUMemoryObject(videoTexture->width(), videoTexture->height(), 1, sizeof(unsigned char));
memoryObject[2] = LAUMemoryObject(videoTexture->width(), videoTexture->height(), 1, sizeof(unsigned char));
#ifdef QT_DEBUG
debugObject = LAUMemoryObject(videoTexture->width(), videoTexture->height(), 3, sizeof(unsigned char));
#endif
}
// BINARIZE THE INCOMING BUFFER
binarize(videoTexture, frameBufferObjectA, frameBufferObjectB, frameBufferObjectC);
sobel(frameBufferObjectC, frameBufferObjectB);
cleanUp(frameBufferObjectB, frameBufferObjectA);
dilationErosion(frameBufferObjectA, frameBufferObjectB);
// DOWNLOAD THE RESULTING BINARY TEXTURE TO OUR MEMORY BUFFER FOR FURTHER PROCESSING
glBindTexture(GL_TEXTURE_2D, frameBufferObjectA->texture());
glPixelStorei(GL_PACK_ALIGNMENT, 1);
glGetTexImage(GL_TEXTURE_2D, 0, GL_RED, GL_UNSIGNED_BYTE, (unsigned char *)memoryObject[0].constPointer());
//memoryObject[0].save(QString("C:/memoryA.tif"));
glBindTexture(GL_TEXTURE_2D, frameBufferObjectC->texture());
glPixelStorei(GL_PACK_ALIGNMENT, 1);
glGetTexImage(GL_TEXTURE_2D, 0, GL_RED, GL_UNSIGNED_BYTE, (unsigned char *)memoryObject[1].constPointer());
//memoryObject[1].save(QString("C:/memoryB.tif"));
// DOWNLOAD THE ORIGINAL FRAME TEXTURE TO OUR MEMORY BUFFER FOR FURTHER PROCESSING
videoTexture->bind();
glPixelStorei(GL_PACK_ALIGNMENT, 1);
glGetTexImage(GL_TEXTURE_2D, 0, GL_RED, GL_UNSIGNED_BYTE, (unsigned char *)memoryObject[2].constPointer());
//memoryObject[2].save(QString("C:/memoryC.tif"));
// LOOK FOR CALTAGS AND GET THE CR TO XYZ TRANSFORM
bool okay = false;
#ifdef QT_DEBUG
glBindTexture(GL_TEXTURE_2D, frameBufferObjectA->texture());
glPixelStorei(GL_PACK_ALIGNMENT, 1);
glGetTexImage(GL_TEXTURE_2D, 0, GL_RGB, GL_UNSIGNED_BYTE, (unsigned char *)debugObject.constPointer());
cv::Mat transform = detectCalTagGrid(memoryObject[2], memoryObject[0], memoryObject[1], debugObject, minBoxCount, minRegionArea, maxRegionArea, flipCalTagsFlag, gridPairings, &okay);
#else
cv::Mat transform = detectCalTagGrid(memoryObject[0], memoryObject[1], minBoxCount, minRegionArea, maxRegionArea, flipCalTagsFlag, gridPairings, &okay);
#endif
float transformAsVector[30];
for (int n = 0; n < 30; n++) {
transformAsVector[n] = (float)transform.at<double>(n);
}
qDebug() << transformAsVector[0];
// DRAW THE BEST-FIT XY PLANE TO SCREEN WITH THE BINARY IMAGE
if (frameBufferObjectB && frameBufferObjectB->bind()) {
if (programJ.bind()) {
// CLEAR THE FRAME BUFFER OBJECT
glViewport(0, 0, frameBufferObjectB->width(), frameBufferObjectB->height());
glClearColor(NAN, NAN, NAN, NAN);
glClear(GL_COLOR_BUFFER_BIT);
// BIND VBOS FOR DRAWING TRIANGLES ON SCREEN
if (quadVertexBuffer.bind()) {
if (quadIndexBuffer.bind()) {
// BIND THE TEXTURE FROM THE FRAME BUFFER OBJECT
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, frameBufferObjectC->texture());
programJ.setUniformValue("qt_texture", 0);
// SET THE TRANSFORM PARAMETERS ON THE SHADER
programJ.setUniformValue("qt_offset", QPointF((float)frameBufferObjectB->width() / 2.0f, (float)frameBufferObjectB->height() / 2.0f));
programJ.setUniformValueArray("qt_transform", transformAsVector, 30, 1);
// TELL OPENGL PROGRAMMABLE PIPELINE HOW TO LOCATE VERTEX POSITION DATA
glVertexAttribPointer(programJ.attributeLocation("qt_vertex"), 4, GL_FLOAT, GL_FALSE, 4 * sizeof(float), 0);
programJ.enableAttributeArray("qt_vertex");
glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, 0);
// RELEASE THE FRAME BUFFER OBJECT AND ITS ASSOCIATED GLSL PROGRAMS
quadIndexBuffer.release();
}
quadVertexBuffer.release();
}
programJ.release();
}
frameBufferObjectB->release();
}
// COPY THE LOCAL FRAME BUFFER OBJECT TO THE USER SUPPLIED BUFFER
if (outputFBO) {
QOpenGLFramebufferObject::blitFramebuffer(outputFBO, frameBufferObjectB);
}
}
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAUCalTagGLObject::testFBO(QOpenGLFramebufferObject *fbo[], int cols, int rows)
{
if ((*fbo) == nullptr) {
// CREATE A FORMAT OBJECT FOR CREATING THE FRAME BUFFER
QOpenGLFramebufferObjectFormat frameBufferObjectFormat;
frameBufferObjectFormat.setInternalTextureFormat(GL_RGBA32F);
(*fbo) = new QOpenGLFramebufferObject(cols, rows, frameBufferObjectFormat);
(*fbo)->release();
} else if ((*fbo)->width() != cols || (*fbo)->height() != rows) {
delete (*fbo);
// CREATE A FORMAT OBJECT FOR CREATING THE FRAME BUFFER
QOpenGLFramebufferObjectFormat frameBufferObjectFormat;
frameBufferObjectFormat.setInternalTextureFormat(GL_RGBA32F);
(*fbo) = new QOpenGLFramebufferObject(cols, rows, frameBufferObjectFormat);
(*fbo)->release();
}
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAUCalTagGLObject::binarize(QOpenGLTexture *videoTexture, QOpenGLFramebufferObject *fboA, QOpenGLFramebufferObject *fboB, QOpenGLFramebufferObject *fboC)
{
// BIND THE FRAME BUFFER OBJECT FOR PROCESSING
if (fboA && fboA->bind()) {
if (programA.bind()) {
// CLEAR THE FRAME BUFFER OBJECT
glViewport(0, 0, fboA->width(), fboA->height());
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// BIND VBOS FOR DRAWING TRIANGLES ON SCREEN
if (quadVertexBuffer.bind()) {
if (quadIndexBuffer.bind()) {
// BIND THE TEXTURE FROM THE FRAME BUFFER OBJECT
glActiveTexture(GL_TEXTURE0);
videoTexture->bind();
programA.setUniformValue("qt_texture", 0);
// Tell OpenGL programAmable pipeline how to locate vertex position data
glVertexAttribPointer(programA.attributeLocation("qt_vertex"), 4, GL_FLOAT, GL_FALSE, 4 * sizeof(float), 0);
programA.enableAttributeArray("qt_vertex");
glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, 0);
// RELEASE THE FRAME BUFFER OBJECT AND ITS ASSOCIATED GLSL PROGRAMS
quadIndexBuffer.release();
}
quadVertexBuffer.release();
}
programA.release();
}
fboA->release();
}
// COPY THE RESCALED IMAGE BACK TO FRAME BUFFER OBJECT A TO FBO C
QOpenGLFramebufferObject::blitFramebuffer(fboC, fboA);
for (unsigned int iter = 0; iter < iterationCount; iter++) {
// APPLY A GAUSSIAN FILTER IN THE X-DIRECTION TO THE FBOC TO FBOD
if (fboB && fboB->bind()) {
if (programB.bind()) {
// CLEAR THE FRAME BUFFER OBJECT
glViewport(0, 0, fboB->width(), fboB->height());
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
glClear(GL_COLOR_BUFFER_BIT);
// BIND VBOS FOR DRAWING TRIANGLES ON SCREEN
if (quadVertexBuffer.bind()) {
if (quadIndexBuffer.bind()) {
// BIND THE TEXTURE FROM THE FRAME BUFFER OBJECT
glActiveTexture(GL_TEXTURE1);
glBindTexture(GL_TEXTURE_2D, fboC->texture());
programB.setUniformValue("qt_texture", 1);
// TELL THE SHADER HOW MANY PIXELS WIDE TO APPLY GAUSSIAN FILTER
programB.setUniformValue("qt_width", (int)gaussianFilterRadius);
// TELL OPENGL PROGRAMMABLE PIPELINE HOW TO LOCATE VERTEX POSITION DATA
glVertexAttribPointer(programB.attributeLocation("qt_vertex"), 4, GL_FLOAT, GL_FALSE, 4 * sizeof(float), 0);
programB.enableAttributeArray("qt_vertex");
glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, 0);
// RELEASE THE FRAME BUFFER OBJECT AND ITS ASSOCIATED GLSL PROGRAMS
quadIndexBuffer.release();
}
quadVertexBuffer.release();
}
programB.release();
}
fboB->release();
}
// APPLY A GAUSSIAN FILTER IN THE Y-DIRECTION TO THE FBOD TO FBOC
if (fboC && fboC->bind()) {
if (programC.bind()) {
// CLEAR THE FRAME BUFFER OBJECT
glViewport(0, 0, fboC->width(), fboC->height());
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
glClear(GL_COLOR_BUFFER_BIT);
// BIND VBOS FOR DRAWING TRIANGLES ON SCREEN
if (quadVertexBuffer.bind()) {
if (quadIndexBuffer.bind()) {
// BIND THE TEXTURE FROM THE FRAME BUFFER OBJECT
glActiveTexture(GL_TEXTURE2);
glBindTexture(GL_TEXTURE_2D, fboB->texture());
programC.setUniformValue("qt_texture", 2);
// TELL THE SHADER HOW MANY PIXELS WIDE TO APPLY GAUSSIAN FILTER
programC.setUniformValue("qt_width", (int)gaussianFilterRadius);
// Tell OpenGL programmable pipeline how to locate vertex position data
glVertexAttribPointer(programC.attributeLocation("qt_vertex"), 4, GL_FLOAT, GL_FALSE, 4 * sizeof(float), 0);
programC.enableAttributeArray("qt_vertex");
glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, 0);
// RELEASE THE FRAME BUFFER OBJECT AND ITS ASSOCIATED GLSL PROGRAMS
quadIndexBuffer.release();
}
quadVertexBuffer.release();
}
programC.release();
}
fboC->release();
}
}
// APPLY THRESHOLD OF FBOA BY SMOOTHED IMAGE FBOC
if (fboB && fboB->bind()) {
if (programD.bind()) {
// CLEAR THE FRAME BUFFER OBJECT
glViewport(0, 0, fboB->width(), fboB->height());
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
glClear(GL_COLOR_BUFFER_BIT);
// BIND VBOS FOR DRAWING TRIANGLES ON SCREEN
if (quadVertexBuffer.bind()) {
if (quadIndexBuffer.bind()) {
// BIND THE TEXTURE FROM THE FRAME BUFFER OBJECT
glActiveTexture(GL_TEXTURE3);
glBindTexture(GL_TEXTURE_2D, fboA->texture());
programD.setUniformValue("qt_texture", 3);
// BIND THE THRESHOLD FROM THE FRAME BUFFER OBJECT
glActiveTexture(GL_TEXTURE1);
glBindTexture(GL_TEXTURE_2D, fboC->texture());
programD.setUniformValue("qt_threshold", 1);
programD.setUniformValue("qt_invert", false);
// SET THE FLOATING POINT OFFSET FOR QUANTIZATION
programD.setUniformValue("qt_offset", quantizationOffset);
// Tell OpenGL programmable pipeline how to locate vertex position data
glVertexAttribPointer(programD.attributeLocation("qt_vertex"), 4, GL_FLOAT, GL_FALSE, 4 * sizeof(float), 0);
programD.enableAttributeArray("qt_vertex");
glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, 0);
// RELEASE THE FRAME BUFFER OBJECT AND ITS ASSOCIATED GLSL PROGRAMS
quadIndexBuffer.release();
}
quadVertexBuffer.release();
}
programD.release();
}
fboB->release();
}
// APPLY A MEDIAN FILTER TO THE BINARY IMAGE
if (medianFilterRadius > 0) {
if (fboC && fboC->bind()) {
if (programE.bind()) {
// CLEAR THE FRAME BUFFER OBJECT
glViewport(0, 0, fboC->width(), fboC->height());
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
glClear(GL_COLOR_BUFFER_BIT);
// BIND VBOS FOR DRAWING TRIANGLES ON SCREEN
if (quadVertexBuffer.bind()) {
if (quadIndexBuffer.bind()) {
// BIND THE TEXTURE FROM THE FRAME BUFFER OBJECT
glActiveTexture(GL_TEXTURE4);
glBindTexture(GL_TEXTURE_2D, fboB->texture());
programE.setUniformValue("qt_texture", 4);
// SET THE MEDIAN FILTER RADIUS
programE.setUniformValue("qt_radius", (int)medianFilterRadius);
programE.setUniformValue("qt_threshold", (float)((2 * medianFilterRadius + 1) * (2 * medianFilterRadius + 1)) / 2.0f);
// Tell OpenGL programmable pipeline how to locate vertex position data
glVertexAttribPointer(programE.attributeLocation("qt_vertex"), 4, GL_FLOAT, GL_FALSE, 4 * sizeof(float), 0);
programE.enableAttributeArray("qt_vertex");
glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, 0);
// RELEASE THE FRAME BUFFER OBJECT AND ITS ASSOCIATED GLSL PROGRAMS
quadIndexBuffer.release();
}
quadVertexBuffer.release();
}
programE.release();
}
fboC->release();
}
} else {
// COPY THE RESCALED IMAGE BACK TO FRAME BUFFER OBJECT A TO FBO C
QOpenGLFramebufferObject::blitFramebuffer(fboC, fboB);
}
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAUCalTagGLObject::sobel(QOpenGLFramebufferObject *fboA, QOpenGLFramebufferObject *fboB)
{
// APPLY A SOBEL EDGE DETECTING FILTER TO THE BINARY IMAGE
if (fboB && fboB->bind()) {
if (programF.bind()) {
// CLEAR THE FRAME BUFFER OBJECT
glViewport(0, 0, fboB->width(), fboB->height());
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
glClear(GL_COLOR_BUFFER_BIT);
// BIND VBOS FOR DRAWING TRIANGLES ON SCREEN
if (quadVertexBuffer.bind()) {
if (quadIndexBuffer.bind()) {
// BIND THE TEXTURE FROM THE FRAME BUFFER OBJECT
glActiveTexture(GL_TEXTURE5);
glBindTexture(GL_TEXTURE_2D, fboA->texture());
programF.setUniformValue("qt_texture", 5);
// TELL OPENGL PROGRAMMABLE PIPELINE HOW TO LOCATE VERTEX POSITION DATA
glVertexAttribPointer(programF.attributeLocation("qt_vertex"), 4, GL_FLOAT, GL_FALSE, 4 * sizeof(float), 0);
programF.enableAttributeArray("qt_vertex");
glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, nullptr);
// RELEASE THE FRAME BUFFER OBJECT AND ITS ASSOCIATED GLSL PROGRAMS
quadIndexBuffer.release();
}
quadVertexBuffer.release();
}
programF.release();
}
fboB->release();
}
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAUCalTagGLObject::cleanUp(QOpenGLFramebufferObject *fboA, QOpenGLFramebufferObject *fboB)
{
for (int n = 0; n < 4; n++) {
QOpenGLFramebufferObject *inFBO = nullptr;
QOpenGLFramebufferObject *otFBO = nullptr;
switch (n) {
case 0:
inFBO = fboA;
otFBO = fboB;
textureLUT->setData(QOpenGLTexture::Red, QOpenGLTexture::UInt8, (const void *)bridgeLutA);
break;
case 1:
inFBO = fboA;
otFBO = fboB;
textureLUT->setData(QOpenGLTexture::Red, QOpenGLTexture::UInt8, (const void *)bridgeLutB);
break;
case 2:
inFBO = fboB;
otFBO = fboA;
textureLUT->setData(QOpenGLTexture::Red, QOpenGLTexture::UInt8, (const void *)bridgeLutC);
break;
case 3:
inFBO = fboA;
otFBO = fboB;
textureLUT->setData(QOpenGLTexture::Red, QOpenGLTexture::UInt8, (const void *)bridgeLutD);
break;
}
// APPLY A BRIDGE BINARY FILTER TO THE BINARY IMAGE
if (otFBO && otFBO->bind()) {
if (programG.bind()) {
// CLEAR THE FRAME BUFFER OBJECT
glViewport(1, 1, otFBO->width() - 2, otFBO->height() - 2);
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
glClear(GL_COLOR_BUFFER_BIT);
// BIND VBOS FOR DRAWING TRIANGLES ON SCREEN
if (quadVertexBuffer.bind()) {
if (quadIndexBuffer.bind()) {
// BIND THE TEXTURE FROM THE FRAME BUFFER OBJECT
glActiveTexture(GL_TEXTURE6);
glBindTexture(GL_TEXTURE_2D, inFBO->texture());
programG.setUniformValue("qt_texture", 6);
// BIND THE TEXTURE FROM THE FRAME BUFFER OBJECT
glActiveTexture(GL_TEXTURE7);
textureLUT->bind();
programG.setUniformValue("qt_lookUpTable", 7);
// TELL OPENGL PROGRAMMABLE PIPELINE HOW TO LOCATE VERTEX POSITION DATA
glVertexAttribPointer(programG.attributeLocation("qt_vertex"), 4, GL_FLOAT, GL_FALSE, 4 * sizeof(float), 0);
programG.enableAttributeArray("qt_vertex");
glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, 0);
// RELEASE THE FRAME BUFFER OBJECT AND ITS ASSOCIATED GLSL PROGRAMS
quadIndexBuffer.release();
}
quadVertexBuffer.release();
}
programG.release();
}
otFBO->release();
}
if (n == 0 && inFBO && inFBO->bind()) {
if (programE.bind()) {
// CLEAR THE FRAME BUFFER OBJECT
glViewport(0, 0, inFBO->width(), inFBO->height());
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
glClear(GL_COLOR_BUFFER_BIT);
// BIND VBOS FOR DRAWING TRIANGLES ON SCREEN
if (quadVertexBuffer.bind()) {
if (quadIndexBuffer.bind()) {
// BIND THE TEXTURE FROM THE FRAME BUFFER OBJECT
glActiveTexture(GL_TEXTURE4);
glBindTexture(GL_TEXTURE_2D, otFBO->texture());
programE.setUniformValue("qt_texture", 4);
// SET THE MEDIAN FILTER RADIUS
programE.setUniformValue("qt_radius", 1);
programE.setUniformValue("qt_threshold", 4.5f);
// Tell OpenGL programmable pipeline how to locate vertex position data
glVertexAttribPointer(programE.attributeLocation("qt_vertex"), 4, GL_FLOAT, GL_FALSE, 4 * sizeof(float), 0);
programE.enableAttributeArray("qt_vertex");
glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, 0);
// RELEASE THE FRAME BUFFER OBJECT AND ITS ASSOCIATED GLSL PROGRAMS
quadIndexBuffer.release();
}
quadVertexBuffer.release();
}
programE.release();
}
inFBO->release();
}
}
// COPY THE RESCALED IMAGE BACK TO FRAME BUFFER OBJECT B
QOpenGLFramebufferObject::blitFramebuffer(fboB, fboA);
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAUCalTagGLObject::dilationErosion(QOpenGLFramebufferObject *fboA, QOpenGLFramebufferObject *fboB)
{
// APPLY EROSION AS THE MIN FILTER OPERATION
if (fboB && fboB->bind()) {
if (programH.bind()) {
// CLEAR THE FRAME BUFFER OBJECT
glViewport(1, 1, fboB->width() - 2, fboB->height() - 2);
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
glClear(GL_COLOR_BUFFER_BIT);
// BIND VBOS FOR DRAWING TRIANGLES ON SCREEN
if (quadVertexBuffer.bind()) {
if (quadIndexBuffer.bind()) {
// BIND THE TEXTURE FROM THE FRAME BUFFER OBJECT
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, fboA->texture());
programH.setUniformValue("qt_texture", 0);
// SET THE MEDIAN FILTER RADIUS
programH.setUniformValue("qt_radius", 1);
// TELL OPENGL PROGRAMMABLE PIPELINE HOW TO LOCATE VERTEX POSITION DATA
glVertexAttribPointer(programH.attributeLocation("qt_vertex"), 4, GL_FLOAT, GL_FALSE, 4 * sizeof(float), 0);
programH.enableAttributeArray("qt_vertex");
glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, 0);
// RELEASE THE FRAME BUFFER OBJECT AND ITS ASSOCIATED GLSL PROGRAMS
quadIndexBuffer.release();
}
quadVertexBuffer.release();
}