openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#include "utils.h"
#include <stdio.h>
#include <algorithm>
// calculate score based on laplacians in one area
void get_lapmap_one(int16_t *lap, uint16_t *res, int x_pitch, int y_pitch) {
int size = x_pitch * y_pitch;
// avg and max of roi
float fsum = 0;
int16_t mean, max;
max = 0;
for (int i = 0; i < size; i++) {
int x_offset = i % x_pitch;
int y_offset = i / x_pitch;
fsum += lap[x_offset + y_offset*x_pitch];
max = std::max(lap[x_offset + y_offset*x_pitch], max);
}
mean = fsum / size;
// var of roi
float fvar = 0;
for (int i = 0; i < size; i++) {
int x_offset = i % x_pitch;
int y_offset = i / x_pitch;
fvar += (float)((lap[x_offset + y_offset*x_pitch] - mean) * (lap[x_offset + y_offset*x_pitch] - mean));
}
fvar = fvar / size;
*res = std::min(5 * fvar + max, (float)65535);
}
bool is_blur(uint16_t *lapmap) {
int n_roi = (ROI_X_MAX - ROI_X_MIN + 1) * (ROI_Y_MAX - ROI_Y_MIN + 1);
float bad_sum = 0;
for (int i = 0; i < n_roi; i++) {
if (*(lapmap + i) < LM_THRESH) {
bad_sum += 1/(float)n_roi;
}
}
return (bad_sum > LM_PREC_THRESH);
}