zarray_t *apriltag_quad_thresh(apriltag_detector_t *td, image_u8_t *im) { //////////////////////////////////////////////////////// // step 1. threshold the image, creating the edge image. int w = im->width, h = im->height, s = im->stride; image_u8_t *threshim = threshold(td, im); assert(threshim->stride == s); image_u8_t *edgeim = image_u8_create(w, h); if (1) { image_u8_t *sumim = image_u8_create(w, h); // apply a horizontal sum kernel of width 3 for (int y = 0; y < h; y++) { for (int x = 1; x+1 < w; x++) { sumim->buf[y*s + x] = threshim->buf[y*s + x - 1] + threshim->buf[y*s + x + 0] + threshim->buf[y*s + x + 1]; } } timeprofile_stamp(td->tp, "sumim"); // deglitch if (td->qtp.deglitch) { for (int y = 1; y+1 < h; y++) { for (int x = 1; x+1 < w; x++) { // edge: black pixel next to white pixel if (threshim->buf[y*s + x] == 0 && sumim->buf[y*s + x - s] + sumim->buf[y*s + x] + sumim->buf[y*s + x + s] == 8) { threshim->buf[y*s + x] = 1; sumim->buf[y*s + x - 1]++; sumim->buf[y*s + x + 0]++; sumim->buf[y*s + x + 1]++; } if (threshim->buf[y*s + x] == 1 && sumim->buf[y*s + x - s] + sumim->buf[y*s + x] + sumim->buf[y*s + x + s] == 1) { threshim->buf[y*s + x] = 0; sumim->buf[y*s + x - 1]--; sumim->buf[y*s + x + 0]--; sumim->buf[y*s + x + 1]--; } } } timeprofile_stamp(td->tp, "deglitch"); } // apply a vertical sum kernel of width 3; check if any // over-threshold pixels are adjacent to an under-threshold // pixel. // // There are two types of edges: white pixels neighboring a // black pixel, and black pixels neighboring a white pixel. We // label these separately. (Values 0xc0 and 0x3f are picked // such that they add to 255 (see below) and so that they can be // viewed as pixel intensities for visualization purposes.) // // symmetry of detection. We don't want to use JUST "black // near white" (or JUST "white near black"), because that // biases the detection towards one side of the edge. This // measurably reduces detection performance. // // On large tags, we could treat "neighbor" pixels the same // way. But on very small tags, there may be other edges very // near the tag edge. Since each of these edges is effectively // two pixels thick (the white pixel near the black pixel, and // the black pixel near the white pixel), it becomes likely // that these two nearby edges will actually touch. // // A partial solution to this problem is to define edges to be // adjacent white-near-black and black-near-white pixels. // for (int y = 1; y+1 < h; y++) { for (int x = 1; x+1 < w; x++) { if (threshim->buf[y*s + x] == 0) { // edge: black pixel next to white pixel if (sumim->buf[y*s + x - s] + sumim->buf[y*s + x] + sumim->buf[y*s + x + s] > 0) edgeim->buf[y*s + x] = 0xc0; } else { // edge: white pixel next to black pixel when both // edge types are on, we get less bias towards one // side of the edge. if (sumim->buf[y*s + x - s] + sumim->buf[y*s + x] + sumim->buf[y*s + x + s] < 9) edgeim->buf[y*s + x] = 0x3f; } } } if (td->debug) { for (int y = 0; y < h; y++) { for (int x = 0; x < w; x++) { threshim->buf[y*s + x] *= 255; } } image_u8_write_pnm(threshim, "debug_threshold.pnm"); image_u8_write_pnm(edgeim, "debug_edge.pnm"); // image_u8_destroy(edgeim2); } image_u8_destroy(threshim); image_u8_destroy(sumim); } timeprofile_stamp(td->tp, "edges"); //////////////////////////////////////////////////////// // step 2. find connected components. unionfind_t *uf = unionfind_create(w * h); for (int y = 1; y < h - 1; y++) { for (int x = 1; x < w -1; x++) { uint8_t v = edgeim->buf[y*s + x]; if (v==0) continue; // (dx,dy) pairs for 8 connectivity: // (REFERENCE) (1, 0) // (-1, 1) (0, 1) (1, 1) // // i.e., the minimum value of dx should be: // y=0: 1 // y=1: -1 for (int dy = 0; dy <= 1; dy++) { for (int dx = 1-2*dy; dx <= 1; dx++) { if (edgeim->buf[(y+dy)*s + (x+dx)] == v) { unionfind_connect(uf, y*w + x, (y+dy)*w + x + dx); } } } } } timeprofile_stamp(td->tp, "unionfind"); zhash_t *clustermap = zhash_create(sizeof(uint64_t), sizeof(zarray_t*), zhash_uint64_hash, zhash_uint64_equals); for (int y = 1; y < h-1; y++) { for (int x = 1; x < w-1; x++) { uint8_t v0 = edgeim->buf[y*s + x]; if (v0 == 0) continue; uint64_t rep0 = unionfind_get_representative(uf, y*w + x); // 8 connectivity. (4 neighbors to check). // for (int dy = 0; dy <= 1; dy++) { // for (int dx = 1-2*dy; dx <= 1; dx++) { // 4 connectivity. (2 neighbors to check) for (int n = 1; n <= 2; n++) { int dy = n & 1; int dx = (n & 2) >> 1; uint8_t v1 = edgeim->buf[(y+dy)*s + x + dx]; if (v0 + v1 != 255) continue; uint64_t rep1 = unionfind_get_representative(uf, (y+dy)*w + x+dx); uint64_t clusterid; if (rep0 < rep1) clusterid = (rep1 << 32) + rep0; else clusterid = (rep0 << 32) + rep1; zarray_t *cluster = NULL; if (!zhash_get(clustermap, &clusterid, &cluster)) { cluster = zarray_create(sizeof(struct pt)); zhash_put(clustermap, &clusterid, &cluster, NULL, NULL); } // NB: We will add some points multiple times to a // given cluster. I don't know an efficient way to // avoid that here; we remove them later on when we // sort points by pt_compare_theta. if (1) { struct pt p = { .x = x, .y = y}; zarray_add(cluster, &p); } if (1) { struct pt p = { .x = x+dx, .y = y+dy}; zarray_add(cluster, &p); } } } } // make segmentation image. if (td->debug) { image_u8_t *d = image_u8_create(w, h); assert(d->stride == s); uint8_t *colors = (uint8_t*) calloc(w*h, 1); for (int y = 0; y < h; y++) { for (int x = 0; x < w; x++) { uint32_t v = unionfind_get_representative(uf, y*w+x); uint32_t sz = unionfind_get_set_size(uf, y*w+x); if (sz < td->qtp.min_cluster_pixels) continue; uint8_t color = colors[v]; if (color == 0) { const int bias = 20; color = bias + (random() % (255-bias)); colors[v] = color; } float mix = 0.7; mix = 1.0; d->buf[y*d->stride + x] = mix*color + (1-mix)*im->buf[y*im->stride + x]; } } free(colors); image_u8_write_pnm(d, "debug_segmentation.pnm"); image_u8_destroy(d); } timeprofile_stamp(td->tp, "make clusters"); //////////////////////////////////////////////////////// // step 3. process each connected component. zarray_t *clusters = zhash_values(clustermap); zhash_destroy(clustermap); zarray_t *quads = zarray_create(sizeof(struct quad)); int sz = zarray_size(clusters); int chunksize = 1 + sz / (APRILTAG_TASKS_PER_THREAD_TARGET * td->nthreads); struct quad_task tasks[sz / chunksize + 1]; int ntasks = 0; for (int i = 0; i < sz; i += chunksize) { tasks[ntasks].td = td; tasks[ntasks].cidx0 = i; tasks[ntasks].cidx1 = imin(sz, i + chunksize); tasks[ntasks].h = h; tasks[ntasks].w = w; tasks[ntasks].quads = quads; tasks[ntasks].clusters = clusters; tasks[ntasks].im = im; workerpool_add_task(td->wp, do_quad_task, &tasks[ntasks]); ntasks++; } workerpool_run(td->wp); timeprofile_stamp(td->tp, "fit quads to clusters"); if (td->debug) { FILE *f = fopen("debug_lines.ps", "w"); fprintf(f, "%%!PS\n\n"); image_u8_t *im2 = image_u8_copy(im); image_u8_darken(im2); image_u8_darken(im2); // assume letter, which is 612x792 points. double scale = fmin(612.0/im->width, 792.0/im2->height); fprintf(f, "%.15f %.15f scale\n", scale, scale); fprintf(f, "0 %d translate\n", im2->height); fprintf(f, "1 -1 scale\n"); postscript_image(f, im); for (int i = 0; i < zarray_size(quads); i++) { struct quad *q; zarray_get_volatile(quads, i, &q); float rgb[3]; int bias = 100; for (int i = 0; i < 3; i++) rgb[i] = bias + (random() % (255-bias)); fprintf(f, "%f %f %f setrgbcolor\n", rgb[0]/255.0f, rgb[1]/255.0f, rgb[2]/255.0f); fprintf(f, "%.15f %.15f moveto %.15f %.15f lineto %.15f %.15f lineto %.15f %.15f lineto %.15f %.15f lineto stroke\n", q->p[0][0], q->p[0][1], q->p[1][0], q->p[1][1], q->p[2][0], q->p[2][1], q->p[3][0], q->p[3][1], q->p[0][0], q->p[0][1]); } fclose(f); } // printf(" %d %d %d %d\n", indices[0], indices[1], indices[2], indices[3]); /* if (td->debug) { for (int i = 0; i < 4; i++) { int i0 = indices[i]; int i1 = indices[(i+1)&3]; if (i1 < i0) i1 += zarray_size(cluster); for (int j = i0; j <= i1; j++) { struct pt *p; zarray_get_volatile(cluster, j % zarray_size(cluster), &p); edgeim->buf[p->y*edgeim->stride + p->x] = 30+64*i; } } } */ unionfind_destroy(uf); for (int i = 0; i < zarray_size(clusters); i++) { zarray_t *cluster; zarray_get(clusters, i, &cluster); zarray_destroy(cluster); } zarray_destroy(clusters); image_u8_destroy(edgeim); return quads; }
static void update_view(vx_gtk_buffer_manager_t * gtk) { // This order of these two mutex locks should prevent deadloc // even if a user sends op codes while the user holds the GDK mutex gdk_threads_enter(); pthread_mutex_lock(>k->mutex); // Clear XXX Double buffered? GList * children = gtk_container_get_children(GTK_CONTAINER(gtk->window)); for(GList * iter = children; iter != NULL; iter = g_list_next(iter)) gtk_widget_destroy(GTK_WIDGET(iter->data)); g_list_free(children); // Rebuild from scratch GtkWidget * box = gtk_vbox_new(0, 10); GtkWidget * widget = NULL; zarray_t *layers = zhash_values(gtk->layers); // contents: layer_info_t* zarray_sort(layers, layer_info_compare); for (int lidx = 0; lidx < zarray_size(layers); lidx++) { layer_info_t *linfo = NULL; zarray_get(layers, lidx, &linfo); // Draw the layer name: widget = gtk_label_new(""); char * text = sprintf_alloc("<b>Layer %d</b>", linfo->layer_id); gtk_label_set_markup(GTK_LABEL(widget), text); free(text); //gtk_container_add(GTK_CONTAINER(box), widget); gtk_box_pack_start(GTK_BOX(box), widget, FALSE, FALSE, 0); // Make a checkbox for each buffer zarray_t *buffers = zhash_values(linfo->buffers); // contents: buffer_info_t* zarray_sort(buffers, buffer_info_compare); for (int i = 0; i < zarray_size(buffers); i++) { buffer_info_t * buffer = NULL; zarray_get(buffers, i, &buffer); assert(buffer != NULL); widget = gtk_check_button_new_with_label(buffer->name); gtk_toggle_button_set_active(GTK_TOGGLE_BUTTON(widget), buffer->enabled); g_signal_connect (G_OBJECT(widget), "toggled", G_CALLBACK (buffer_checkbox_changed), buffer); //gtk_container_add(GTK_CONTAINER(box), widget); gtk_box_pack_start(GTK_BOX(box), widget, FALSE, FALSE, 0); } zarray_destroy(buffers); } gtk_container_add(GTK_CONTAINER(gtk->window), box); gtk_widget_show_all(box); zarray_destroy(layers); pthread_mutex_unlock(>k->mutex); gdk_threads_leave(); }
void hsv_find_balls_blob_detector(image_u32_t* im, frame_t frame, metrics_t met, zarray_t* blobs_out) { assert(frame.xy0.x < frame.xy1.x && frame.xy0.y < frame.xy1.y); assert(frame.xy0.x >= 0 && frame.xy0.y >= 0 && frame.xy1.x < im->width && frame.xy1.y < im->height); assert(frame.ex0.x < frame.ex1.x && frame.ex0.y < frame.ex1.y); assert(frame.ex0.x >= 0 && frame.ex0.y >= 0 && frame.ex1.x < im->width && frame.ex1.y < im->height); // Int to node zhash_t* node_map = zhash_create(sizeof(uint32_t), sizeof(node_t*), zhash_uint32_hash, zhash_uint32_equals); for(int i = frame.xy0.y; i < frame.xy1.y; i++) { for(int j = frame.xy0.x; j < frame.xy1.x; j++) { if((i < frame.ex0.y || i > frame.ex1.y) || (j < frame.ex0.x || j > frame.ex1.x)) { uint32_t idx_im = i * im->stride + j; // Indframe.ex relative to image // Pixel color data uint32_t abgr = im->buf[idx_im]; hsv_t hsv = {0,0,0}; rgb_to_hsv(abgr, &hsv); hsv_t error = {fabs(hsv.hue - met.hsv.hue), fabs(hsv.sat - met.hsv.sat), fabs(hsv.val - met.hsv.val)}; // 'Acceptable' if((error.hue < met.error.hue) && (error.sat < met.error.sat) && (error.val < met.error.val)) { // Create new node, set itself up as a parent node_t* n = calloc(1, sizeof(node_t)); n->id = idx_im; n->parent_id = idx_im; n->parent_node = n; n->num_children = 0; node_t* tmp_node; uint32_t tmp_idx; // Add node to node map if(zhash_put(node_map, &idx_im, &n, &tmp_idx, &tmp_node)==1) { assert(0); } //Check if apart of another blob, or starting a new blob // if apart of another, point to the parent, if a new blob, point to self //Check neighbours if(!met.lines) { // only check this if don't want lines for tape detection if(j > frame.xy0.x) { tmp_idx = idx_im - 1; // is Left neighbour similar color if(zhash_get(node_map, &tmp_idx, &tmp_node) == 1) { node_t* neighbour = tmp_node; connect(n, neighbour); } } } if(i > frame.xy0.y) { tmp_idx = idx_im - im->stride; // is Bottom neighbor similar color if(tmp_idx > 0 && zhash_get(node_map, &tmp_idx, &tmp_node) == 1) { node_t* neighbour = tmp_node; connect(neighbour,n); } } } } } } //count number of children for each parent, go through node_map // if a node is not a parent, add 1 to it's parent->num_children and delete from hash // if is a parent do nothing zarray_t* vals = zhash_values(node_map); for(int i = 0; i < zarray_size(vals); i++) { node_t* node; zarray_get(vals, i, &node); resolve_r(node); if(node->parent_id != node->id) { node->parent_node->num_children++; // key should exist, if it doesn't find out why assert(zhash_remove(node_map, &node->id, NULL, NULL)); } } // search parent only hash and add to blobs out conditionally vals = zhash_values(node_map); for(int i = 0; i < zarray_size(vals); i++) { node_t* node; zarray_get(vals, i, &node); if(node->num_children > met.min_size) { loc_t pos; pos.x = node->parent_id%im->stride; pos.y = node->parent_id/im->stride; zarray_add(blobs_out, &pos); // printf("parent %d\n", node->id); } } zarray_destroy(vals); zhash_vmap_values(node_map, free); zhash_destroy(node_map); }