private void ExtractCILCParameters(ushort[] eeData, ParamsMLX90640 mlx90640)
{
float[] ilChessC = new float[3];
uint calibrationModeEE;
calibrationModeEE = (uint)((eeData[10] & 0x0800) >> 4);
calibrationModeEE = calibrationModeEE ^ 0x80;
ilChessC[0] = (eeData[53] & 0x003F);
if (ilChessC[0] > 31)
{
ilChessC[0] = ilChessC[0] - 64;
}
ilChessC[0] = ilChessC[0] / 16.0f;
ilChessC[1] = (eeData[53] & 0x07C0) >> 6;
if (ilChessC[1] > 15)
{
ilChessC[1] = ilChessC[1] - 32;
}
ilChessC[1] = ilChessC[1] / 2.0f;
ilChessC[2] = (eeData[53] & 0xF800) >> 11;
if (ilChessC[2] > 15)
{
ilChessC[2] = ilChessC[2] - 32;
}
ilChessC[2] = ilChessC[2] / 8.0f;
mlx90640.calibrationModeEE = calibrationModeEE;
mlx90640.ilChessC[0] = ilChessC[0];
mlx90640.ilChessC[1] = ilChessC[1];
mlx90640.ilChessC[2] = ilChessC[2];
}
private void ExtractKsToParameters(ushort[] eeData, ParamsMLX90640 mlx90640)
{
int KsToScale;
byte step;
step = (byte)(((eeData[63] & 0x3000) >> 12) * 10);
mlx90640.ct[0] = -40;
mlx90640.ct[1] = 0;
mlx90640.ct[2] = (short)((eeData[63] & 0x00F0) >> 4);
mlx90640.ct[3] = (short)((eeData[63] & 0x0F00) >> 8);
mlx90640.ct[2] = (short)(mlx90640.ct[2] * step);
mlx90640.ct[3] = (short)(mlx90640.ct[2] + mlx90640.ct[3] * step);
KsToScale = (eeData[63] & 0x000F) + 8;
KsToScale = 1 << KsToScale;
mlx90640.ksTo[0] = eeData[61] & 0x00FF;
mlx90640.ksTo[1] = (eeData[61] & 0xFF00) >> 8;
mlx90640.ksTo[2] = eeData[62] & 0x00FF;
mlx90640.ksTo[3] = (eeData[62] & 0xFF00) >> 8;
for (int i = 0; i < 4; i++)
{
if (mlx90640.ksTo[i] > 127)
{
mlx90640.ksTo[i] = mlx90640.ksTo[i] - 256;
}
mlx90640.ksTo[i] = mlx90640.ksTo[i] / KsToScale;
}
}
private void ExtractCPParameters(ushort[] eeData, ParamsMLX90640 mlx90640)
{
double[] alphaSP = new double[2];
short[] offsetSP = new short[2];
double cpKv;
double cpKta;
uint alphaScale;
uint ktaScale1;
uint kvScale;
alphaScale = (uint)(((eeData[32] & 0xF000) >> 12) + 27);
offsetSP[0] = (short)((eeData[58] & 0x03FF));
if (offsetSP[0] > 511)
{
offsetSP[0] = (short)(offsetSP[0] - 1024);
}
offsetSP[1] = (short)((eeData[58] & 0xFC00) >> 10);
if (offsetSP[1] > 31)
{
offsetSP[1] = (short)(offsetSP[1] - 64);
}
offsetSP[1] = (short)(offsetSP[1] + offsetSP[0]);
alphaSP[0] = (eeData[57] & 0x03FF);
if (alphaSP[0] > 511)
{
alphaSP[0] = alphaSP[0] - 1024;
}
alphaSP[0] = alphaSP[0] / Math.Pow(2, (double)alphaScale);
alphaSP[1] = (eeData[57] & 0xFC00) >> 10;
if (alphaSP[1] > 31)
{
alphaSP[1] = alphaSP[1] - 64;
}
alphaSP[1] = (1 + alphaSP[1] / 128) * alphaSP[0];
cpKta = (eeData[59] & 0x00FF);
if (cpKta > 127)
{
cpKta = cpKta - 256;
}
ktaScale1 = (uint)(((eeData[56] & 0x00F0) >> 4) + 8);
mlx90640.cpKta = cpKta / Math.Pow(2, (double)ktaScale1);
cpKv = (eeData[59] & 0xFF00) >> 8;
if (cpKv > 127)
{
cpKv = cpKv - 256;
}
kvScale = (uint)((eeData[56] & 0x0F00) >> 8);
mlx90640.cpKv = cpKv / Math.Pow(2, (double)kvScale);
mlx90640.cpAlpha[0] = alphaSP[0];
mlx90640.cpAlpha[1] = alphaSP[1];
mlx90640.cpOffset[0] = offsetSP[0];
mlx90640.cpOffset[1] = offsetSP[1];
}
//------------------------------------------------------------------------------
private void ExtractPTATParameters(ushort[] eeData, ParamsMLX90640 mlx90640)
{
float KvPTAT;
float KtPTAT;
short vPTAT25;
double alphaPTAT;
KvPTAT = (eeData[50] & 0xFC00) >> 10;
if (KvPTAT > 31)
{
KvPTAT = KvPTAT - 64;
}
KvPTAT = KvPTAT / 4096;
KtPTAT = eeData[50] & 0x03FF;
if (KtPTAT > 511)
{
KtPTAT = KtPTAT - 1024;
}
KtPTAT = KtPTAT / 8;
vPTAT25 = (short)(eeData[49]);
alphaPTAT = (eeData[16] & 0xF000) / Math.Pow(2, (double)14) + 8.0f;
mlx90640.KvPTAT = KvPTAT;
mlx90640.KtPTAT = KtPTAT;
mlx90640.vPTAT25 = (ushort)vPTAT25;
mlx90640.alphaPTAT = alphaPTAT;
}
private double MLX90640_GetTa(ushort[] frameData, ParamsMLX90640 parameters)
{
double ptat;
double ptatArt;
double vdd;
double ta;
vdd = MLX90640_GetVdd(frameData, parameters);
ptat = frameData[800];
if (ptat > 32767)
{
ptat = ptat - 65536;
}
ptatArt = frameData[768];
if (ptatArt > 32767)
{
ptatArt = ptatArt - 65536;
}
ptatArt = (ptat / (ptat * parameters.alphaPTAT + ptatArt)) * Math.Pow(2, (double)18);
ta = (ptatArt / (1 + parameters.KvPTAT * (vdd - 3.3)) - parameters.vPTAT25);
ta = ta / parameters.KtPTAT + 25;
return(ta);
}
private void ExtractResolutionParameters(ushort[] eeData, ParamsMLX90640 mlx90640)
{
uint resolutionEE;
resolutionEE = (uint)((eeData[56] & 0x3000) >> 12);
mlx90640.resolutionEE = resolutionEE;
}
private void ExtractKvPixelParameters(ushort[] eeData, ParamsMLX90640 mlx90640)
{
int p = 0;
byte[] KvT = new byte[4];
byte KvRoCo;
byte KvRoCe;
byte KvReCo;
byte KvReCe;
uint kvScale;
uint split;
KvRoCo = (byte)((eeData[52] & 0xF000) >> 12);
if (KvRoCo > 7)
{
KvRoCo = (byte)(KvRoCo - 16);
}
KvT[0] = KvRoCo;
KvReCo = (byte)((eeData[52] & 0x0F00) >> 8);
if (KvReCo > 7)
{
KvReCo = (byte)(KvReCo - 16);
}
KvT[2] = KvReCo;
KvRoCe = (byte)((eeData[52] & 0x00F0) >> 4);
if (KvRoCe > 7)
{
KvRoCe = (byte)(KvRoCe - 16);
}
KvT[1] = KvRoCe;
KvReCe = (byte)((eeData[52] & 0x000F));
if (KvReCe > 7)
{
KvReCe = (byte)(KvReCe - 16);
}
KvT[3] = KvReCe;
kvScale = (uint)((eeData[56] & 0x0F00) >> 8);
for (int i = 0; i < 24; i++)
{
for (int j = 0; j < 32; j++)
{
p = 32 * i + j;
split = (uint)(2 * (p / 32 - (p / 64) * 2) + p % 2);
mlx90640.kv[p] = KvT[split];
mlx90640.kv[p] = mlx90640.kv[p] / Math.Pow(2, (double)kvScale);
}
}
}
private void ExtractGainParameters(ushort[] eeData, ParamsMLX90640 mlx90640)
{
short gainEE;
gainEE = (short)(eeData[48]);
if (gainEE > 32767)
{
gainEE = (short)(gainEE - 65536);
}
mlx90640.gainEE = gainEE;
}
private void ExtractKsTaParameters(ushort[] eeData, ParamsMLX90640 mlx90640)
{
float KsTa;
KsTa = (eeData[60] & 0xFF00) >> 8;
if (KsTa > 127)
{
KsTa = KsTa - 256;
}
KsTa = KsTa / 8192.0f;
mlx90640.KsTa = KsTa;
}
private void ExtractTgcParameters(ushort[] eeData, ParamsMLX90640 mlx90640)
{
float tgc;
tgc = eeData[60] & 0x00FF;
if (tgc > 127)
{
tgc = tgc - 256;
}
tgc = tgc / 32.0f;
mlx90640.tgc = tgc;
}
private double MLX90640_GetVdd(ushort[] frameData, ParamsMLX90640 parameters)
{
double vdd;
double resolutionCorrection;
int resolutionRAM;
vdd = frameData[810];
if (vdd > 32767)
{
vdd = vdd - 65536;
}
//resolutionRAM = (frameData[832] & 0x0C00) >> 10;
resolutionRAM = (ControlRegister & 0x0C00) >> 10;
resolutionCorrection = (double)(Math.Pow(2, parameters.resolutionEE) / Math.Pow(2, resolutionRAM));
vdd = (float)(((resolutionCorrection * vdd) - parameters.vdd25) / parameters.kVdd + 3.3);
return(vdd);
}
private void ExtractVDDParameters(ushort[] eeData, ParamsMLX90640 mlx90640)
{
short kVdd;
short vdd25;
kVdd = (short)eeData[51];
kVdd = (short)((eeData[51] & 0xFF00) >> 8);
if (kVdd > 127)
{
kVdd = (short)(kVdd - 256);
}
kVdd = (short)(32 * kVdd);
vdd25 = (short)(eeData[51] & 0x00FF);
vdd25 = (short)(((vdd25 - 256) << 5) - 8192);
mlx90640.kVdd = kVdd;
mlx90640.vdd25 = vdd25;
}
private int MLX90640_ExtractParameters(ushort[] eeData, ParamsMLX90640 mlx90640)
{
int error = CheckEEPROMValid(eeData);
if (error == 0)
{
ExtractVDDParameters(eeData, mlx90640);
ExtractPTATParameters(eeData, mlx90640);
ExtractGainParameters(eeData, mlx90640);
ExtractTgcParameters(eeData, mlx90640);
ExtractResolutionParameters(eeData, mlx90640);
ExtractKsTaParameters(eeData, mlx90640);
ExtractKsToParameters(eeData, mlx90640);
ExtractAlphaParameters(eeData, mlx90640);
ExtractOffsetParameters(eeData, mlx90640);
ExtractKtaPixelParameters(eeData, mlx90640);
ExtractKvPixelParameters(eeData, mlx90640);
ExtractCPParameters(eeData, mlx90640);
ExtractCILCParameters(eeData, mlx90640);
error = ExtractDeviatingPixels(eeData, mlx90640);
}
return(error);
}
private int ExtractDeviatingPixels(ushort[] eeData, ParamsMLX90640 mlx90640)
{
ushort pixCnt = 0;
ushort brokenPixCnt = 0;
ushort outlierPixCnt = 0;
int warn = 0;
int i;
for (pixCnt = 0; pixCnt < 5; pixCnt++)
{
mlx90640.brokenPixels[pixCnt] = 0xFFFF;
mlx90640.outlierPixels[pixCnt] = 0xFFFF;
}
pixCnt = 0;
while (pixCnt < 768 && brokenPixCnt < 5 && outlierPixCnt < 5)
{
if (eeData[pixCnt + 64] == 0)
{
mlx90640.brokenPixels[brokenPixCnt] = pixCnt;
brokenPixCnt = (ushort)(brokenPixCnt + 1);
}
else if ((eeData[pixCnt + 64] & 0x0001) != 0)
{
mlx90640.outlierPixels[outlierPixCnt] = pixCnt;
outlierPixCnt = (ushort)(outlierPixCnt + 1);
}
pixCnt = (ushort)(pixCnt + 1);
}
if (brokenPixCnt > 4)
{
warn = -3;
}
else if (outlierPixCnt > 4)
{
warn = -4;
}
else if ((brokenPixCnt + outlierPixCnt) > 4)
{
warn = -5;
}
else
{
for (pixCnt = 0; pixCnt < brokenPixCnt; pixCnt++)
{
for (i = pixCnt + 1; i < brokenPixCnt; i++)
{
warn = CheckAdjacentPixels(mlx90640.brokenPixels[pixCnt], mlx90640.brokenPixels[i]);
if (warn != 0)
{
return(warn);
}
}
}
for (pixCnt = 0; pixCnt < outlierPixCnt; pixCnt++)
{
for (i = pixCnt + 1; i < outlierPixCnt; i++)
{
warn = CheckAdjacentPixels(mlx90640.outlierPixels[pixCnt], mlx90640.outlierPixels[i]);
if (warn != 0)
{
return(warn);
}
}
}
for (pixCnt = 0; pixCnt < brokenPixCnt; pixCnt++)
{
for (i = 0; i < outlierPixCnt; i++)
{
warn = CheckAdjacentPixels(mlx90640.brokenPixels[pixCnt], mlx90640.outlierPixels[i]);
if (warn != 0)
{
return(warn);
}
}
}
}
return(warn);
}
private void ExtractKtaPixelParameters(ushort[] eeData, ParamsMLX90640 mlx90640)
{
int p = 0;
byte[] KtaRC = new byte[4];
byte KtaRoCo;
byte KtaRoCe;
byte KtaReCo;
byte KtaReCe;
uint ktaScale1;
uint ktaScale2;
uint split;
KtaRoCo = (byte)((eeData[54] & 0xFF00) >> 8);
if (KtaRoCo > 127)
{
KtaRoCo = (byte)(KtaRoCo - 256);
}
KtaRC[0] = KtaRoCo;
KtaReCo = (byte)(eeData[54] & 0x00FF);
if (KtaReCo > 127)
{
KtaReCo = (byte)(KtaReCo - 256);
}
KtaRC[2] = KtaReCo;
KtaRoCe = (byte)((eeData[55] & 0xFF00) >> 8);
if (KtaRoCe > 127)
{
KtaRoCe = (byte)(KtaRoCe - 256);
}
KtaRC[1] = KtaRoCe;
KtaReCe = (byte)((eeData[55] & 0x00FF));
if (KtaReCe > 127)
{
KtaReCe = (byte)(KtaReCe - 256);
}
KtaRC[3] = KtaReCe;
ktaScale1 = (uint)(((eeData[56] & 0x00F0) >> 4) + 8);
ktaScale2 = (uint)((eeData[56] & 0x000F));
for (int i = 0; i < 24; i++)
{
for (int j = 0; j < 32; j++)
{
p = 32 * i + j;
split = (uint)(2 * (p / 32 - (p / 64) * 2) + p % 2);
mlx90640.kta[p] = (eeData[64 + p] & 0x000E) >> 1;
if (mlx90640.kta[p] > 3)
{
mlx90640.kta[p] = mlx90640.kta[p] - 8;
}
mlx90640.kta[p] = mlx90640.kta[p] * (1 << (int)ktaScale2);
mlx90640.kta[p] = KtaRC[split] + mlx90640.kta[p];
mlx90640.kta[p] = mlx90640.kta[p] / Math.Pow(2, (double)ktaScale1);
}
}
}
private void ExtractAlphaParameters(ushort[] eeData, ParamsMLX90640 mlx90640)
{
int[] accRow = new int[24];
int[] accColumn = new int[32];
int p = 0;
int alphaRef;
uint alphaScale;
uint accRowScale;
uint accColumnScale;
uint accRemScale;
accRemScale = (uint)(eeData[32] & 0x000F);
accColumnScale = (uint)((eeData[32] & 0x00F0) >> 4);
accRowScale = (uint)((eeData[32] & 0x0F00) >> 8);
alphaScale = (uint)(((eeData[32] & 0xF000) >> 12) + 30);
alphaRef = (eeData[33]);
for (int i = 0; i < 6; i++)
{
p = i * 4;
accRow[p + 0] = (eeData[34 + i] & 0x000F);
accRow[p + 1] = (eeData[34 + i] & 0x00F0) >> 4;
accRow[p + 2] = (eeData[34 + i] & 0x0F00) >> 8;
accRow[p + 3] = (eeData[34 + i] & 0xF000) >> 12;
}
for (int i = 0; i < 24; i++)
{
if (accRow[i] > 7)
{
accRow[i] = accRow[i] - 16;
}
}
for (int i = 0; i < 8; i++)
{
p = i * 4;
accColumn[p + 0] = (eeData[40 + i] & 0x000F);
accColumn[p + 1] = (eeData[40 + i] & 0x00F0) >> 4;
accColumn[p + 2] = (eeData[40 + i] & 0x0F00) >> 8;
accColumn[p + 3] = (eeData[40 + i] & 0xF000) >> 12;
}
for (int i = 0; i < 32; i++)
{
if (accColumn[i] > 7)
{
accColumn[i] = accColumn[i] - 16;
}
}
for (int i = 0; i < 24; i++)
{
for (int j = 0; j < 32; j++)
{
p = 32 * i + j;
mlx90640.alpha[p] = (eeData[64 + p] & 0x03F0) >> 4;
if (mlx90640.alpha[p] > 31)
{
mlx90640.alpha[p] = mlx90640.alpha[p] - 64;
}
mlx90640.alpha[p] = mlx90640.alpha[p] * (1 << (int)accRemScale);
mlx90640.alpha[p] = (alphaRef + (accRow[i] << (int)accRowScale) + (accColumn[j] << (int)accColumnScale) + mlx90640.alpha[p]);
mlx90640.alpha[p] = mlx90640.alpha[p] / Math.Pow(2, (double)alphaScale);
}
}
}
private void MLX90640_CalculateTo(ushort[] frameData, ParamsMLX90640 parameters, double emissivity, double tr, double[] result)
{
double vdd;
double ta;
double ta4;
double tr4;
double taTr;
double gain;
double[] irDataCP = new double[2];
double irData;
double alphaCompensated;
byte mode;
byte ilPattern;
byte chessPattern;
byte pattern;
byte conversionPattern;
double Sx;
double To;
double[] alphaCorrR = new double[4];
byte range;
ushort subPage;
//subPage = frameData[833];
subPage = StatusRegister;
vdd = MLX90640_GetVdd(frameData, parameters);
ta = MLX90640_GetTa(frameData, parameters);
ta4 = Math.Pow((ta + 273.15), (double)4);
tr4 = Math.Pow((tr + 273.15), (double)4);
taTr = tr4 - (tr4 - ta4) / emissivity;
alphaCorrR[0] = 1 / (1 + parameters.ksTo[0] * 40);
alphaCorrR[1] = 1;
alphaCorrR[2] = (1 + parameters.ksTo[2] * parameters.ct[2]);
alphaCorrR[3] = alphaCorrR[2] * (1 + parameters.ksTo[3] * (parameters.ct[3] - parameters.ct[2]));
//------------------------- Gain calculation -----------------------------------
gain = frameData[778];
if (gain > 32767)
{
gain = gain - 65536;
}
gain = parameters.gainEE / gain;
//------------------------- To calculation -------------------------------------
//mode = (byte)((frameData[832] & 0x1000) >> 5);
mode = (byte)((ControlRegister & 0x1000) >> 5);
irDataCP[0] = frameData[776];
irDataCP[1] = frameData[808];
for (int i = 0; i < 2; i++)
{
if (irDataCP[i] > 32767)
{
irDataCP[i] = irDataCP[i] - 65536;
}
irDataCP[i] = irDataCP[i] * gain;
}
irDataCP[0] = irDataCP[0] - parameters.cpOffset[0] * (1 + parameters.cpKta * (ta - 25)) * (1 + parameters.cpKv * (vdd - 3.3));
if (mode == parameters.calibrationModeEE)
{
irDataCP[1] = irDataCP[1] - parameters.cpOffset[1] * (1 + parameters.cpKta * (ta - 25)) * (1 + parameters.cpKv * (vdd - 3.3));
}
else
{
irDataCP[1] = irDataCP[1] - (parameters.cpOffset[1] + parameters.ilChessC[0]) * (1 + parameters.cpKta * (ta - 25)) * (1 + parameters.cpKv * (vdd - 3.3));
}
for (int pixelNumber = 0; pixelNumber < 768; pixelNumber++)
{
ilPattern = (byte)(pixelNumber / 32 - (pixelNumber / 64) * 2);
chessPattern = (byte)(ilPattern ^ (pixelNumber - (pixelNumber / 2) * 2));
conversionPattern = (byte)(((pixelNumber + 2) / 4 - (pixelNumber + 3) / 4 + (pixelNumber + 1) / 4 - pixelNumber / 4) * (1 - 2 * ilPattern));
if (mode == 0)
{
pattern = ilPattern;
}
else
{
pattern = chessPattern;
}
//if (pattern == frameData[833])
if (pattern == StatusRegister)
{
irData = frameData[pixelNumber];
if (irData > 32767)
{
irData = irData - 65536;
}
irData = irData * gain;
irData = irData - parameters.offset[pixelNumber] * (1 + parameters.kta[pixelNumber] * (ta - 25)) * (1 + parameters.kv[pixelNumber] * (vdd - 3.3));
if (mode != parameters.calibrationModeEE)
{
irData = irData + parameters.ilChessC[2] * (2 * ilPattern - 1) - parameters.ilChessC[1] * conversionPattern;
}
irData = irData / emissivity;
irData = irData - parameters.tgc * irDataCP[subPage];
alphaCompensated = (parameters.alpha[pixelNumber] - parameters.tgc * parameters.cpAlpha[subPage]) * (1 + parameters.KsTa * (ta - 25));
Sx = Math.Pow((double)alphaCompensated, (double)3) * (irData + alphaCompensated * taTr);
Sx = Math.Sqrt(Math.Sqrt(Sx)) * parameters.ksTo[1];
To = Math.Sqrt(Math.Sqrt(irData / (alphaCompensated * (1 - parameters.ksTo[1] * 273.15) + Sx) + taTr)) - 273.15;
if (To < parameters.ct[1])
{
range = 0;
}
else if (To < parameters.ct[2])
{
range = 1;
}
else if (To < parameters.ct[3])
{
range = 2;
}
else
{
range = 3;
}
To = Math.Sqrt(Math.Sqrt(irData / (alphaCompensated * alphaCorrR[range] * (1 + parameters.ksTo[range] * (To - parameters.ct[range]))) + taTr)) - 273.15;
result[pixelNumber] = To;
}
}
}
private void ExtractOffsetParameters(ushort[] eeData, ParamsMLX90640 mlx90640)
{
int[] occRow = new int[24];
int[] occColumn = new int[32];
int p = 0;
short offsetRef;
uint occRowScale;
uint occColumnScale;
uint occRemScale;
occRemScale = (uint)(eeData[16] & 0x000F);
occColumnScale = (uint)((eeData[16] & 0x00F0) >> 4);
occRowScale = (uint)((eeData[16] & 0x0F00) >> 8);
offsetRef = (short)(eeData[17]);
if (offsetRef > 32767)
{
offsetRef = (short)(offsetRef - 65536);
}
for (int i = 0; i < 6; i++)
{
p = i * 4;
occRow[p + 0] = (eeData[18 + i] & 0x000F);
occRow[p + 1] = (eeData[18 + i] & 0x00F0) >> 4;
occRow[p + 2] = (eeData[18 + i] & 0x0F00) >> 8;
occRow[p + 3] = (eeData[18 + i] & 0xF000) >> 12;
}
for (int i = 0; i < 24; i++)
{
if (occRow[i] > 7)
{
occRow[i] = occRow[i] - 16;
}
}
for (int i = 0; i < 8; i++)
{
p = i * 4;
occColumn[p + 0] = (eeData[24 + i] & 0x000F);
occColumn[p + 1] = (eeData[24 + i] & 0x00F0) >> 4;
occColumn[p + 2] = (eeData[24 + i] & 0x0F00) >> 8;
occColumn[p + 3] = (eeData[24 + i] & 0xF000) >> 12;
}
for (int i = 0; i < 32; i++)
{
if (occColumn[i] > 7)
{
occColumn[i] = occColumn[i] - 16;
}
}
for (int i = 0; i < 24; i++)
{
for (int j = 0; j < 32; j++)
{
p = 32 * i + j;
mlx90640.offset[p] = (short)((eeData[64 + p] & 0xFC00) >> 10);
if (mlx90640.offset[p] > 31)
{
mlx90640.offset[p] = (short)(mlx90640.offset[p] - 64);
}
mlx90640.offset[p] = (short)(mlx90640.offset[p] * (1 << (int)occRemScale));
mlx90640.offset[p] = (short)((offsetRef + (occRow[i] << (int)occRowScale) + (occColumn[j] << (int)occColumnScale) + mlx90640.offset[p]));
}
}
}