From 5c85f130b1102dfb0cf88e7f62d577574eb436fc Mon Sep 17 00:00:00 2001
From: Ahmet Inan <xdsopl@googlemail.com>
Date: Mon, 8 Dec 2014 23:03:26 +0100
Subject: [PATCH] added gaussian blur to help with noisy conditions

manual adjustment following soon.
---
 .../main/java/xdsopl/robot36/ImageView.java   |   2 +-
 app/src/main/rs/blur.rsh                      | 362 ++++++++++++++++++
 app/src/main/rs/decoder.rs                    |  23 +-
 app/src/main/rs/modes.rsh                     |  11 +
 app/src/main/rs/state.rsh                     |   1 +
 5 files changed, 387 insertions(+), 12 deletions(-)
 create mode 100644 app/src/main/rs/blur.rsh

diff --git a/app/src/main/java/xdsopl/robot36/ImageView.java b/app/src/main/java/xdsopl/robot36/ImageView.java
index 0b086e1..d4cd490 100644
--- a/app/src/main/java/xdsopl/robot36/ImageView.java
+++ b/app/src/main/java/xdsopl/robot36/ImageView.java
@@ -99,7 +99,7 @@ public class ImageView extends SurfaceView implements SurfaceHolder.Callback {
         holder.addCallback(this);
 
         paint = new Paint(Paint.FILTER_BITMAP_FLAG);
-        bitmap = Bitmap.createBitmap(2048, 512, Bitmap.Config.ARGB_8888);
+        bitmap = Bitmap.createBitmap(320, 512, Bitmap.Config.ARGB_8888);
         pixelBuffer = new int[bitmap.getWidth() * bitmap.getHeight()];
 
         int bufferSizeInBytes = AudioRecord.getMinBufferSize(sampleRate, channelConfig, audioFormat);
diff --git a/app/src/main/rs/blur.rsh b/app/src/main/rs/blur.rsh
new file mode 100644
index 0000000..ad02817
--- /dev/null
+++ b/app/src/main/rs/blur.rsh
@@ -0,0 +1,362 @@
+/*
+Copyright 2014 Ahmet Inan <xdsopl@googlemail.com>
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+ */
+
+#ifndef BLUR_RSH
+#define BLUR_RSH
+
+#include "exports.rsh"
+
+/* used the following code generator:
+#include <math.h>
+#include <stdio.h>
+
+double gauss(double x, double radius)
+{
+	double sigma = radius / 3.0;
+	return radius ? exp(- x * x / (2.0 * sigma * sigma)) / sqrt(2.0 * M_PI * sigma * sigma) : 1.0;
+}
+void emit(int radius)
+{
+	printf("\t\tif (i < %d || (buffer_length - %d) <= i)\n\t\t\treturn 0;\n", radius, radius);
+	int sum = 0;
+	for (int i = -radius; i <= radius; ++i)
+		sum += 16384 * gauss(i, radius);
+	int factor = (16384 * 16384) / (sum + 1);
+	for (int i = -radius; i <= radius; ++i)
+		printf("\t\t%s%d * value_buffer[i%s%d]%s\n",
+			i != -radius ? "\t" : "return (",
+			(int)(factor * gauss(i, radius)),
+			i < 0 ? "" : "+",
+			i,
+			i != radius ? " +" : ") >> 14;"
+		);
+}
+int main()
+{
+	printf("static uchar value_blur(int i)\n{\n\tswitch (blur_power) {\n");
+	for (int i = 0; i < 7; ++i) {
+		printf("\tcase %d:\n", i);
+		emit((1 << i) | 1);
+	}
+	printf("\tdefault:\n\t\treturn value_buffer[i];\n\t}\n\treturn 0;\n}\n");
+	return 0;
+}
+*/
+
+static uchar value_blur(int i)
+{
+	switch (blur_power) {
+	case 0:
+		if (i < 1 || (buffer_length - 1) <= i)
+			return 0;
+		return (178 * value_buffer[i-1] +
+			16027 * value_buffer[i+0] +
+			178 * value_buffer[i+1]) >> 14;
+	case 1:
+		if (i < 3 || (buffer_length - 3) <= i)
+			return 0;
+		return (72 * value_buffer[i-3] +
+			884 * value_buffer[i-2] +
+			3966 * value_buffer[i-1] +
+			6539 * value_buffer[i+0] +
+			3966 * value_buffer[i+1] +
+			884 * value_buffer[i+2] +
+			72 * value_buffer[i+3]) >> 14;
+	case 2:
+		if (i < 5 || (buffer_length - 5) <= i)
+			return 0;
+		return (43 * value_buffer[i-5] +
+			220 * value_buffer[i-4] +
+			776 * value_buffer[i-3] +
+			1911 * value_buffer[i-2] +
+			3279 * value_buffer[i-1] +
+			3926 * value_buffer[i+0] +
+			3279 * value_buffer[i+1] +
+			1911 * value_buffer[i+2] +
+			776 * value_buffer[i+3] +
+			220 * value_buffer[i+4] +
+			43 * value_buffer[i+5]) >> 14;
+	case 3:
+		if (i < 9 || (buffer_length - 9) <= i)
+			return 0;
+		return (24 * value_buffer[i-9] +
+			62 * value_buffer[i-8] +
+			143 * value_buffer[i-7] +
+			295 * value_buffer[i-6] +
+			544 * value_buffer[i-5] +
+			897 * value_buffer[i-4] +
+			1323 * value_buffer[i-3] +
+			1747 * value_buffer[i-2] +
+			2064 * value_buffer[i-1] +
+			2182 * value_buffer[i+0] +
+			2064 * value_buffer[i+1] +
+			1747 * value_buffer[i+2] +
+			1323 * value_buffer[i+3] +
+			897 * value_buffer[i+4] +
+			544 * value_buffer[i+5] +
+			295 * value_buffer[i+6] +
+			143 * value_buffer[i+7] +
+			62 * value_buffer[i+8] +
+			24 * value_buffer[i+9]) >> 14;
+	case 4:
+		if (i < 17 || (buffer_length - 17) <= i)
+			return 0;
+		return (12 * value_buffer[i-17] +
+			21 * value_buffer[i-16] +
+			34 * value_buffer[i-15] +
+			54 * value_buffer[i-14] +
+			83 * value_buffer[i-13] +
+			122 * value_buffer[i-12] +
+			175 * value_buffer[i-11] +
+			243 * value_buffer[i-10] +
+			327 * value_buffer[i-9] +
+			427 * value_buffer[i-8] +
+			539 * value_buffer[i-7] +
+			660 * value_buffer[i-6] +
+			783 * value_buffer[i-5] +
+			901 * value_buffer[i-4] +
+			1005 * value_buffer[i-3] +
+			1087 * value_buffer[i-2] +
+			1139 * value_buffer[i-1] +
+			1156 * value_buffer[i+0] +
+			1139 * value_buffer[i+1] +
+			1087 * value_buffer[i+2] +
+			1005 * value_buffer[i+3] +
+			901 * value_buffer[i+4] +
+			783 * value_buffer[i+5] +
+			660 * value_buffer[i+6] +
+			539 * value_buffer[i+7] +
+			427 * value_buffer[i+8] +
+			327 * value_buffer[i+9] +
+			243 * value_buffer[i+10] +
+			175 * value_buffer[i+11] +
+			122 * value_buffer[i+12] +
+			83 * value_buffer[i+13] +
+			54 * value_buffer[i+14] +
+			34 * value_buffer[i+15] +
+			21 * value_buffer[i+16] +
+			12 * value_buffer[i+17]) >> 14;
+	case 5:
+		if (i < 33 || (buffer_length - 33) <= i)
+			return 0;
+		return (6 * value_buffer[i-33] +
+			8 * value_buffer[i-32] +
+			11 * value_buffer[i-31] +
+			14 * value_buffer[i-30] +
+			18 * value_buffer[i-29] +
+			23 * value_buffer[i-28] +
+			29 * value_buffer[i-27] +
+			36 * value_buffer[i-26] +
+			45 * value_buffer[i-25] +
+			55 * value_buffer[i-24] +
+			67 * value_buffer[i-23] +
+			80 * value_buffer[i-22] +
+			96 * value_buffer[i-21] +
+			114 * value_buffer[i-20] +
+			134 * value_buffer[i-19] +
+			156 * value_buffer[i-18] +
+			180 * value_buffer[i-17] +
+			207 * value_buffer[i-16] +
+			235 * value_buffer[i-15] +
+			265 * value_buffer[i-14] +
+			296 * value_buffer[i-13] +
+			329 * value_buffer[i-12] +
+			361 * value_buffer[i-11] +
+			394 * value_buffer[i-10] +
+			426 * value_buffer[i-9] +
+			457 * value_buffer[i-8] +
+			487 * value_buffer[i-7] +
+			514 * value_buffer[i-6] +
+			538 * value_buffer[i-5] +
+			558 * value_buffer[i-4] +
+			574 * value_buffer[i-3] +
+			586 * value_buffer[i-2] +
+			594 * value_buffer[i-1] +
+			596 * value_buffer[i+0] +
+			594 * value_buffer[i+1] +
+			586 * value_buffer[i+2] +
+			574 * value_buffer[i+3] +
+			558 * value_buffer[i+4] +
+			538 * value_buffer[i+5] +
+			514 * value_buffer[i+6] +
+			487 * value_buffer[i+7] +
+			457 * value_buffer[i+8] +
+			426 * value_buffer[i+9] +
+			394 * value_buffer[i+10] +
+			361 * value_buffer[i+11] +
+			329 * value_buffer[i+12] +
+			296 * value_buffer[i+13] +
+			265 * value_buffer[i+14] +
+			235 * value_buffer[i+15] +
+			207 * value_buffer[i+16] +
+			180 * value_buffer[i+17] +
+			156 * value_buffer[i+18] +
+			134 * value_buffer[i+19] +
+			114 * value_buffer[i+20] +
+			96 * value_buffer[i+21] +
+			80 * value_buffer[i+22] +
+			67 * value_buffer[i+23] +
+			55 * value_buffer[i+24] +
+			45 * value_buffer[i+25] +
+			36 * value_buffer[i+26] +
+			29 * value_buffer[i+27] +
+			23 * value_buffer[i+28] +
+			18 * value_buffer[i+29] +
+			14 * value_buffer[i+30] +
+			11 * value_buffer[i+31] +
+			8 * value_buffer[i+32] +
+			6 * value_buffer[i+33]) >> 14;
+	case 6:
+		if (i < 65 || (buffer_length - 65) <= i)
+			return 0;
+		return (3 * value_buffer[i-65] +
+			3 * value_buffer[i-64] +
+			4 * value_buffer[i-63] +
+			5 * value_buffer[i-62] +
+			5 * value_buffer[i-61] +
+			6 * value_buffer[i-60] +
+			7 * value_buffer[i-59] +
+			8 * value_buffer[i-58] +
+			9 * value_buffer[i-57] +
+			10 * value_buffer[i-56] +
+			12 * value_buffer[i-55] +
+			13 * value_buffer[i-54] +
+			15 * value_buffer[i-53] +
+			17 * value_buffer[i-52] +
+			19 * value_buffer[i-51] +
+			21 * value_buffer[i-50] +
+			23 * value_buffer[i-49] +
+			26 * value_buffer[i-48] +
+			28 * value_buffer[i-47] +
+			31 * value_buffer[i-46] +
+			35 * value_buffer[i-45] +
+			38 * value_buffer[i-44] +
+			42 * value_buffer[i-43] +
+			46 * value_buffer[i-42] +
+			50 * value_buffer[i-41] +
+			55 * value_buffer[i-40] +
+			60 * value_buffer[i-39] +
+			65 * value_buffer[i-38] +
+			70 * value_buffer[i-37] +
+			76 * value_buffer[i-36] +
+			82 * value_buffer[i-35] +
+			88 * value_buffer[i-34] +
+			95 * value_buffer[i-33] +
+			102 * value_buffer[i-32] +
+			109 * value_buffer[i-31] +
+			116 * value_buffer[i-30] +
+			123 * value_buffer[i-29] +
+			131 * value_buffer[i-28] +
+			139 * value_buffer[i-27] +
+			147 * value_buffer[i-26] +
+			156 * value_buffer[i-25] +
+			164 * value_buffer[i-24] +
+			172 * value_buffer[i-23] +
+			181 * value_buffer[i-22] +
+			189 * value_buffer[i-21] +
+			198 * value_buffer[i-20] +
+			206 * value_buffer[i-19] +
+			215 * value_buffer[i-18] +
+			223 * value_buffer[i-17] +
+			231 * value_buffer[i-16] +
+			238 * value_buffer[i-15] +
+			246 * value_buffer[i-14] +
+			253 * value_buffer[i-13] +
+			260 * value_buffer[i-12] +
+			266 * value_buffer[i-11] +
+			272 * value_buffer[i-10] +
+			278 * value_buffer[i-9] +
+			283 * value_buffer[i-8] +
+			288 * value_buffer[i-7] +
+			292 * value_buffer[i-6] +
+			295 * value_buffer[i-5] +
+			298 * value_buffer[i-4] +
+			300 * value_buffer[i-3] +
+			302 * value_buffer[i-2] +
+			303 * value_buffer[i-1] +
+			303 * value_buffer[i+0] +
+			303 * value_buffer[i+1] +
+			302 * value_buffer[i+2] +
+			300 * value_buffer[i+3] +
+			298 * value_buffer[i+4] +
+			295 * value_buffer[i+5] +
+			292 * value_buffer[i+6] +
+			288 * value_buffer[i+7] +
+			283 * value_buffer[i+8] +
+			278 * value_buffer[i+9] +
+			272 * value_buffer[i+10] +
+			266 * value_buffer[i+11] +
+			260 * value_buffer[i+12] +
+			253 * value_buffer[i+13] +
+			246 * value_buffer[i+14] +
+			238 * value_buffer[i+15] +
+			231 * value_buffer[i+16] +
+			223 * value_buffer[i+17] +
+			215 * value_buffer[i+18] +
+			206 * value_buffer[i+19] +
+			198 * value_buffer[i+20] +
+			189 * value_buffer[i+21] +
+			181 * value_buffer[i+22] +
+			172 * value_buffer[i+23] +
+			164 * value_buffer[i+24] +
+			156 * value_buffer[i+25] +
+			147 * value_buffer[i+26] +
+			139 * value_buffer[i+27] +
+			131 * value_buffer[i+28] +
+			123 * value_buffer[i+29] +
+			116 * value_buffer[i+30] +
+			109 * value_buffer[i+31] +
+			102 * value_buffer[i+32] +
+			95 * value_buffer[i+33] +
+			88 * value_buffer[i+34] +
+			82 * value_buffer[i+35] +
+			76 * value_buffer[i+36] +
+			70 * value_buffer[i+37] +
+			65 * value_buffer[i+38] +
+			60 * value_buffer[i+39] +
+			55 * value_buffer[i+40] +
+			50 * value_buffer[i+41] +
+			46 * value_buffer[i+42] +
+			42 * value_buffer[i+43] +
+			38 * value_buffer[i+44] +
+			35 * value_buffer[i+45] +
+			31 * value_buffer[i+46] +
+			28 * value_buffer[i+47] +
+			26 * value_buffer[i+48] +
+			23 * value_buffer[i+49] +
+			21 * value_buffer[i+50] +
+			19 * value_buffer[i+51] +
+			17 * value_buffer[i+52] +
+			15 * value_buffer[i+53] +
+			13 * value_buffer[i+54] +
+			12 * value_buffer[i+55] +
+			10 * value_buffer[i+56] +
+			9 * value_buffer[i+57] +
+			8 * value_buffer[i+58] +
+			7 * value_buffer[i+59] +
+			6 * value_buffer[i+60] +
+			5 * value_buffer[i+61] +
+			5 * value_buffer[i+62] +
+			4 * value_buffer[i+63] +
+			3 * value_buffer[i+64] +
+			3 * value_buffer[i+65]) >> 14;
+	default:
+		return value_buffer[i];
+	}
+	return 0;
+}
+
+#endif
diff --git a/app/src/main/rs/decoder.rs b/app/src/main/rs/decoder.rs
index f25dbdd..1cb31c3 100644
--- a/app/src/main/rs/decoder.rs
+++ b/app/src/main/rs/decoder.rs
@@ -28,6 +28,7 @@ limitations under the License.
 #include "constants.rsh"
 #include "state.rsh"
 #include "exports.rsh"
+#include "blur.rsh"
 
 static inline uchar4 rgb(uchar r, uchar g, uchar b) { return (uchar4){ b, g, r, 255 }; }
 static inline uchar4 yuv(uchar y, uchar u, uchar v)
@@ -55,10 +56,10 @@ static void robot36_decoder()
     prev_timeout = hpos >= maximum_length;
     if (vpos & 1) {
         for (int i = 0; i < bitmap_width; ++i) {
-            uchar even_y = value_buffer[i * (y_end-y_begin) / bitmap_width + y_begin];
-            uchar v = value_buffer[i * (v_end-v_begin) / bitmap_width + v_begin];
-            uchar odd_y = value_buffer[i * (y_end-y_begin) / bitmap_width + even_hpos + y_begin];
-            uchar u = value_buffer[i * (u_end-u_begin) / bitmap_width + even_hpos + u_begin];
+            uchar even_y = value_blur(i * (y_end-y_begin) / bitmap_width + y_begin);
+            uchar v = value_blur(i * (v_end-v_begin) / bitmap_width + v_begin);
+            uchar odd_y = value_blur(i * (y_end-y_begin) / bitmap_width + even_hpos + y_begin);
+            uchar u = value_blur(i * (u_end-u_begin) / bitmap_width + even_hpos + u_begin);
             pixel_buffer[bitmap_width * (vpos-1) + i] = yuv(even_y, u, v);
             pixel_buffer[bitmap_width * vpos + i] = yuv(odd_y, u, v);
         }
@@ -81,9 +82,9 @@ static void robot36_decoder()
 static void yuv_decoder()
 {
     for (int i = 0; i < bitmap_width; ++i) {
-        uchar y = value_buffer[i * (y_end-y_begin) / bitmap_width + y_begin];
-        uchar u = value_buffer[i * (u_end-u_begin) / bitmap_width + u_begin];
-        uchar v = value_buffer[i * (v_end-v_begin) / bitmap_width + v_begin];
+        uchar y = value_blur(i * (y_end-y_begin) / bitmap_width + y_begin);
+        uchar u = value_blur(i * (u_end-u_begin) / bitmap_width + u_begin);
+        uchar v = value_blur(i * (v_end-v_begin) / bitmap_width + v_begin);
         pixel_buffer[bitmap_width * vpos + i] = yuv(y, u, v);
     }
     if (hpos >= maximum_length)
@@ -96,9 +97,9 @@ static void yuv_decoder()
 static void rgb_decoder()
 {
     for (int i = 0; i < bitmap_width; ++i) {
-        uchar r = value_buffer[i * (r_end-r_begin) / bitmap_width + r_begin];
-        uchar g = value_buffer[i * (g_end-g_begin) / bitmap_width + g_begin];
-        uchar b = value_buffer[i * (b_end-b_begin) / bitmap_width + b_begin];
+        uchar r = value_blur(i * (r_end-r_begin) / bitmap_width + r_begin);
+        uchar g = value_blur(i * (g_end-g_begin) / bitmap_width + g_begin);
+        uchar b = value_blur(i * (b_end-b_begin) / bitmap_width + b_begin);
         pixel_buffer[bitmap_width * vpos + i] = rgb(r, g, b);
     }
     if (hpos >= maximum_length)
@@ -111,7 +112,7 @@ static void rgb_decoder()
 static void raw_decoder()
 {
     for (int i = 0; i < bitmap_width; ++i) {
-        uchar value = value_buffer[i * hpos / bitmap_width];
+        uchar value = value_blur(i * hpos / bitmap_width);
         pixel_buffer[bitmap_width * vpos + i] = rgb(value, value, value);
     }
     even_hpos = hpos = 0;
diff --git a/app/src/main/rs/modes.rsh b/app/src/main/rs/modes.rsh
index 99f1be9..b29049c 100644
--- a/app/src/main/rs/modes.rsh
+++ b/app/src/main/rs/modes.rsh
@@ -25,6 +25,7 @@ void debug_sync()
 {
     save_cnt = 1;
     save_dat = 0;
+    blur_power = -1;
     *current_mode = mode_debug;
     current_decoder = decoder_raw;
     sync_length = minimum_sync_length;
@@ -35,6 +36,7 @@ void debug_image()
 {
     save_dat = 1;
     save_cnt = 0;
+    blur_power = -1;
     *current_mode = mode_debug;
     current_decoder = decoder_raw;
     sync_length = minimum_sync_length;
@@ -45,6 +47,7 @@ void debug_both()
 {
     save_cnt = 1;
     save_dat = 1;
+    blur_power = -1;
     *current_mode = mode_debug;
     current_decoder = decoder_raw;
     sync_length = minimum_sync_length;
@@ -55,6 +58,7 @@ void robot36_mode()
 {
     save_dat = 1;
     save_cnt = 0;
+    blur_power = 2;
     *current_mode = mode_robot36;
     current_decoder = decoder_robot36;
     const float tolerance = 0.8f;
@@ -80,6 +84,7 @@ void robot72_mode()
 {
     save_dat = 1;
     save_cnt = 0;
+    blur_power = 3;
     *current_mode = mode_robot72;
     current_decoder = decoder_yuv;
     const float tolerance = 0.8f;
@@ -109,6 +114,7 @@ void martin1_mode()
 {
     save_cnt = 0;
     save_dat = 1;
+    blur_power = 3;
     *current_mode = mode_martin1;
     current_decoder = decoder_rgb;
     const float tolerance = 0.5f;
@@ -133,6 +139,7 @@ void martin2_mode()
 {
     save_cnt = 0;
     save_dat = 1;
+    blur_power = 2;
     *current_mode = mode_martin2;
     current_decoder = decoder_rgb;
     const float tolerance = 0.5f;
@@ -157,6 +164,7 @@ void scottie1_mode()
 {
     save_cnt = 0;
     save_dat = 1;
+    blur_power = 3;
     *current_mode = mode_scottie1;
     current_decoder = decoder_rgb;
     const float tolerance = 0.8f;
@@ -182,6 +190,7 @@ void scottie2_mode()
 {
     save_cnt = 0;
     save_dat = 1;
+    blur_power = 2;
     *current_mode = mode_scottie2;
     current_decoder = decoder_rgb;
     const float tolerance = 0.8f;
@@ -207,6 +216,7 @@ void scottieDX_mode()
 {
     save_cnt = 0;
     save_dat = 1;
+    blur_power = 5;
     *current_mode = mode_scottieDX;
     current_decoder = decoder_rgb;
     const float tolerance = 0.8f;
@@ -232,6 +242,7 @@ void wrasseSC2_180_mode()
 {
     save_cnt = 0;
     save_dat = 1;
+    blur_power = 4;
     *current_mode = mode_wrasseSC2_180;
     current_decoder = decoder_rgb;
     const float tolerance = 0.5f;
diff --git a/app/src/main/rs/state.rsh b/app/src/main/rs/state.rsh
index cafb56c..7a575a9 100644
--- a/app/src/main/rs/state.rsh
+++ b/app/src/main/rs/state.rsh
@@ -21,6 +21,7 @@ static ema_t avg_power, leader_lowpass;
 static ddc_t cnt_ddc, dat_ddc;
 static fmd_t cnt_fmd, dat_fmd;
 static int current_decoder;
+static int blur_power;
 static int sample_rate, even_hpos;
 static int maximum_variance, minimum_sync_length;
 static int scanline_length, minimum_length, maximum_length;