Add median filter

package/PikaCV/PikaCV.pyi

@@ -143,4 +143,6 @@ class Filter(TinyObj):
     """The Filter class is used to 
     supply some Image Filtering Algorithms ."""
     def meanFilter(image:Image,ksizex:int,ksizey:int):
-        """ mean filter,ksize is odd"""
+        """ mean filter,ksize is odd"""
+    def medianFilter(image:Image):
+        """ median filter,kernel size is 3*3"""

package/PikaCV/PikaCV_Filter.c

@@ -1,6 +1,7 @@
 #include "PikaCV_Filter.h"
 #include "PikaCV_Converter.h"
 #include "PikaCV_common.h"
+#include "dataQueue.h"
 
 void PikaCV_Filter_meanFilter(PikaObj *self, PikaObj *image, int ksizex, int ksizey)
 {
@@ -65,7 +66,6 @@ void PikaCV_Filter_meanFilter(PikaObj *self, PikaObj *image, int ksizex, int ksi
     {
         PikaCV_Converter_toRGB888(self, image);
     }
-
     int hh = (ksizey - 1) / 2;
     int hw = (ksizex - 1) / 2;
     int sumr = 0, sumg = 0, sumb = 0;
@@ -110,5 +110,160 @@ void PikaCV_Filter_meanFilter(PikaObj *self, PikaObj *image, int ksizex, int ksi
     obj_setBytes(image, "_data", data_new, size_new);
     arg_deinit(arg_data_new);
 
+    return;
+}
+
+typedef struct _Range
+{
+    uint8_t start, end;
+} Range;
+Range new_Range(uint8_t s, uint8_t e)
+{
+    Range r;
+    r.start = s;
+    r.end = e;
+    return r;
+}
+void swap(uint8_t *x, uint8_t *y)
+{
+    uint8_t t = *x;
+    *x = *y;
+    *y = t;
+}
+void quick_sort(uint8_t arr[], const int len)
+{
+    if (len <= 0)
+        return;
+    Range r[len];
+    int p = 0;
+    r[p++] = new_Range(0, len - 1);
+    while (p)
+    {
+        Range range = r[--p];
+        if (range.start >= range.end)
+            continue;
+        int mid = arr[(range.start + range.end) / 2];
+        int left = range.start, right = range.end;
+        do
+        {
+            while (arr[left] < mid)
+                ++left;
+            while (arr[right] > mid)
+                --right;
+
+            if (left <= right)
+            {
+                swap(&arr[left], &arr[right]);
+                left++;
+                right--;
+            }
+        } while (left <= right);
+
+        if (range.start < right)
+            r[p++] = new_Range(range.start, right);
+        if (range.end > left)
+            r[p++] = new_Range(left, range.end);
+    }
+}
+
+void PikaCV_Filter_medianFilter(PikaObj *self, PikaObj *image)
+{
+    PikaCV_Image *src = obj_getStruct(image, "image");
+    int width = src->width;
+    int height = src->height;
+    int ksizex = 3;
+    int ksizey = 3;
+
+    if (NULL == src)
+    {
+        pika_assert(0);
+        return;
+    }
+
+    if (src->format == PikaCV_ImageFormat_Type_GRAY)
+    {
+        int hh = (ksizey - 1) / 2;
+        int hw = (ksizex - 1) / 2;
+        int width_new = width - ksizex + 1;
+        int height_new = height - ksizey + 1;
+        const int size_new = width_new * height_new;
+
+        uint8_t data_tmp[9] = {0};
+
+        Arg *arg_data_new = arg_setBytes(NULL, "", NULL, size_new);
+        uint8_t *data = _image_getData(image);
+        uint8_t *data_new = arg_getBytes(arg_data_new);
+        for (int i = hh; i < height_new + hh; ++i)
+        {
+            for (int j = hw; j < width_new + hw; ++j)
+            {
+                int index = 0;
+                for (int r = i - hh; r <= i + hh; ++r)
+                {
+                    for (int c = j - hw; c <= j + hw; ++c)
+                    {
+                        data_tmp[index++] = data[r * width + c];
+                    }
+                }
+                quick_sort(data_tmp, 9);
+                data_new[(i - hh) * width_new + (j - hw)] = data_tmp[4];
+            }
+        }
+        src->height = height_new;
+        src->width = width_new;
+        src->size = size_new;
+        obj_setBytes(image, "_data", data_new, size_new);
+        arg_deinit(arg_data_new);
+
+        return;
+    }
+    else if (src->format != PikaCV_ImageFormat_Type_RGB888)
+    {
+        PikaCV_Converter_toRGB888(self, image);
+    }
+
+    int hh = (ksizey - 1) / 2;
+    int hw = (ksizex - 1) / 2;
+    int width_new = width - ksizex + 1;
+    int height_new = height - ksizey + 1;
+    const int size_new = width_new * height_new * 3;
+
+    uint8_t data_tmpr[9] = {0};
+    uint8_t data_tmpg[9] = {0};
+    uint8_t data_tmpb[9] = {0};
+
+    Arg *arg_data_new = arg_setBytes(NULL, "", NULL, size_new);
+    uint8_t *data = _image_getData(image);
+    uint8_t *data_new = arg_getBytes(arg_data_new);
+    for (int i = hh; i < height_new + hh; ++i)
+    {
+        for (int j = hw; j < width_new + hw; ++j)
+        {
+            int index = 0;
+            for (int r = i - hh; r <= i + hh; ++r)
+            {
+                for (int c = j - hw; c <= j + hw; ++c)
+                {
+                    data_tmpr[index] = data[r * width * 3 + c * 3];
+                    data_tmpg[index] = data[r * width * 3 + c * 3 + 1];
+                    data_tmpb[index] = data[r * width * 3 + c * 3 + 2];
+                    index++;
+                }
+            }
+            quick_sort(data_tmpr, 9);
+            quick_sort(data_tmpg, 9);
+            quick_sort(data_tmpb, 9);
+
+            data_new[(i - hh) * width_new * 3 + (j - hw) * 3] = data_tmpr[4];
+            data_new[(i - hh) * width_new * 3 + (j - hw) * 3 + 1] = data_tmpg[4];
+            data_new[(i - hh) * width_new * 3 + (j - hw) * 3 + 2] = data_tmpb[4];
+        }
+    }
+    src->height = height_new;
+    src->width = width_new;
+    src->size = size_new;
+    obj_setBytes(image, "_data", data_new, size_new);
+    arg_deinit(arg_data_new);
+
     return;
 }

port/linux/package/pikascript/PikaCV.pyi

@@ -143,4 +143,6 @@ class Filter(TinyObj):
     """The Filter class is used to 
     supply some Image Filtering Algorithms ."""
     def meanFilter(image:Image,ksizex:int,ksizey:int):
-        """ mean filter,ksize is odd"""
+        """ mean filter,ksize is odd"""
+    def medianFilter(image:Image):
+        """ median filter,kernel size is 3*3"""

port/linux/package/pikascript/pikascript-lib/PikaCV/PikaCV_Filter.c

@@ -1,6 +1,7 @@
 #include "PikaCV_Filter.h"
 #include "PikaCV_Converter.h"
 #include "PikaCV_common.h"
+#include "dataQueue.h"
 
 void PikaCV_Filter_meanFilter(PikaObj *self, PikaObj *image, int ksizex, int ksizey)
 {
@@ -65,7 +66,6 @@ void PikaCV_Filter_meanFilter(PikaObj *self, PikaObj *image, int ksizex, int ksi
     {
         PikaCV_Converter_toRGB888(self, image);
     }
-
     int hh = (ksizey - 1) / 2;
     int hw = (ksizex - 1) / 2;
     int sumr = 0, sumg = 0, sumb = 0;
@@ -110,5 +110,160 @@ void PikaCV_Filter_meanFilter(PikaObj *self, PikaObj *image, int ksizex, int ksi
     obj_setBytes(image, "_data", data_new, size_new);
     arg_deinit(arg_data_new);
 
+    return;
+}
+
+typedef struct _Range
+{
+    uint8_t start, end;
+} Range;
+Range new_Range(uint8_t s, uint8_t e)
+{
+    Range r;
+    r.start = s;
+    r.end = e;
+    return r;
+}
+void swap(uint8_t *x, uint8_t *y)
+{
+    uint8_t t = *x;
+    *x = *y;
+    *y = t;
+}
+void quick_sort(uint8_t arr[], const int len)
+{
+    if (len <= 0)
+        return;
+    Range r[len];
+    int p = 0;
+    r[p++] = new_Range(0, len - 1);
+    while (p)
+    {
+        Range range = r[--p];
+        if (range.start >= range.end)
+            continue;
+        int mid = arr[(range.start + range.end) / 2];
+        int left = range.start, right = range.end;
+        do
+        {
+            while (arr[left] < mid)
+                ++left;
+            while (arr[right] > mid)
+                --right;
+
+            if (left <= right)
+            {
+                swap(&arr[left], &arr[right]);
+                left++;
+                right--;
+            }
+        } while (left <= right);
+
+        if (range.start < right)
+            r[p++] = new_Range(range.start, right);
+        if (range.end > left)
+            r[p++] = new_Range(left, range.end);
+    }
+}
+
+void PikaCV_Filter_medianFilter(PikaObj *self, PikaObj *image)
+{
+    PikaCV_Image *src = obj_getStruct(image, "image");
+    int width = src->width;
+    int height = src->height;
+    int ksizex = 3;
+    int ksizey = 3;
+
+    if (NULL == src)
+    {
+        pika_assert(0);
+        return;
+    }
+
+    if (src->format == PikaCV_ImageFormat_Type_GRAY)
+    {
+        int hh = (ksizey - 1) / 2;
+        int hw = (ksizex - 1) / 2;
+        int width_new = width - ksizex + 1;
+        int height_new = height - ksizey + 1;
+        const int size_new = width_new * height_new;
+
+        uint8_t data_tmp[9] = {0};
+
+        Arg *arg_data_new = arg_setBytes(NULL, "", NULL, size_new);
+        uint8_t *data = _image_getData(image);
+        uint8_t *data_new = arg_getBytes(arg_data_new);
+        for (int i = hh; i < height_new + hh; ++i)
+        {
+            for (int j = hw; j < width_new + hw; ++j)
+            {
+                int index = 0;
+                for (int r = i - hh; r <= i + hh; ++r)
+                {
+                    for (int c = j - hw; c <= j + hw; ++c)
+                    {
+                        data_tmp[index++] = data[r * width + c];
+                    }
+                }
+                quick_sort(data_tmp, 9);
+                data_new[(i - hh) * width_new + (j - hw)] = data_tmp[4];
+            }
+        }
+        src->height = height_new;
+        src->width = width_new;
+        src->size = size_new;
+        obj_setBytes(image, "_data", data_new, size_new);
+        arg_deinit(arg_data_new);
+
+        return;
+    }
+    else if (src->format != PikaCV_ImageFormat_Type_RGB888)
+    {
+        PikaCV_Converter_toRGB888(self, image);
+    }
+
+    int hh = (ksizey - 1) / 2;
+    int hw = (ksizex - 1) / 2;
+    int width_new = width - ksizex + 1;
+    int height_new = height - ksizey + 1;
+    const int size_new = width_new * height_new * 3;
+
+    uint8_t data_tmpr[9] = {0};
+    uint8_t data_tmpg[9] = {0};
+    uint8_t data_tmpb[9] = {0};
+
+    Arg *arg_data_new = arg_setBytes(NULL, "", NULL, size_new);
+    uint8_t *data = _image_getData(image);
+    uint8_t *data_new = arg_getBytes(arg_data_new);
+    for (int i = hh; i < height_new + hh; ++i)
+    {
+        for (int j = hw; j < width_new + hw; ++j)
+        {
+            int index = 0;
+            for (int r = i - hh; r <= i + hh; ++r)
+            {
+                for (int c = j - hw; c <= j + hw; ++c)
+                {
+                    data_tmpr[index] = data[r * width * 3 + c * 3];
+                    data_tmpg[index] = data[r * width * 3 + c * 3 + 1];
+                    data_tmpb[index] = data[r * width * 3 + c * 3 + 2];
+                    index++;
+                }
+            }
+            quick_sort(data_tmpr, 9);
+            quick_sort(data_tmpg, 9);
+            quick_sort(data_tmpb, 9);
+
+            data_new[(i - hh) * width_new * 3 + (j - hw) * 3] = data_tmpr[4];
+            data_new[(i - hh) * width_new * 3 + (j - hw) * 3 + 1] = data_tmpg[4];
+            data_new[(i - hh) * width_new * 3 + (j - hw) * 3 + 2] = data_tmpb[4];
+        }
+    }
+    src->height = height_new;
+    src->width = width_new;
+    src->size = size_new;
+    obj_setBytes(image, "_data", data_new, size_new);
+    arg_deinit(arg_data_new);
+
     return;
 }

port/linux/test/PikaCV-test.cpp

@@ -117,5 +117,20 @@ TEST(PikaCV, test8) {
     /* deinit */
     obj_deinit(pikaMain);
 
+    EXPECT_EQ(pikaMemNow(), 0);
+}
+
+TEST(PikaCV, test9) {
+    /* init */
+    pikaMemInfo.heapUsedMax = 0;
+    PikaObj* pikaMain = newRootObj("pikaMain", New_PikaMain);
+    /* run */
+    __platform_printf("BEGIN\r\n");
+    pikaVM_runSingleFile(pikaMain, "test/python/PikaCV/PikaCV_test9.py");
+    /* collect */
+    /* assert */
+    /* deinit */
+    obj_deinit(pikaMain);
+
     EXPECT_EQ(pikaMemNow(), 0);
 }

port/linux/test/python/PikaCV/PikaCV_test8.py

@@ -2,6 +2,6 @@ import PikaCV as cv
 img = cv.Image()
 img.read("test/assets/test.jpg")
 cv.Converter.toRGB888(img)
-thre = cv.Filter.meanFilter(img,3,3)
+cv.Filter.meanFilter(img,3,3)
 cv.Converter.toBMP(img)
-img.write("test/out/test4.bmp")
+img.write("test/out/test8.bmp")

port/linux/test/python/PikaCV/PikaCV_test9.py

@@ -0,0 +1,7 @@
+import PikaCV as cv
+img = cv.Image()
+img.read("test/assets/test.jpg")
+cv.Converter.toRGB888(img)
+cv.Filter.medianFilter(img)
+cv.Converter.toBMP(img)
+img.write("test/out/test9.bmp")