/* chain function
* this function does the actual processing
*/
static GstFlowReturn
gst_pyramid_segment_chain (GstPad * pad, GstBuffer * buf)
{
GstPyramidSegment *filter;
GstBuffer *outbuf;
filter = GST_PYRAMID_SEGMENT (GST_OBJECT_PARENT (pad));
filter->cvImage->imageData = (char *) GST_BUFFER_DATA (buf);
filter->cvSegmentedImage = cvCloneImage (filter->cvImage);
cvPyrSegmentation (filter->cvImage, filter->cvSegmentedImage, filter->storage,
&(filter->comp), filter->level, filter->threshold1, filter->threshold2);
/* TODO look if there is a way in opencv to reuse the image data and
* delete only the struct headers. Would avoid a memcpy here */
outbuf = gst_buffer_new_and_alloc (filter->cvSegmentedImage->imageSize);
gst_buffer_copy_metadata (outbuf, buf, GST_BUFFER_COPY_ALL);
memcpy (GST_BUFFER_DATA (outbuf), filter->cvSegmentedImage->imageData,
GST_BUFFER_SIZE (outbuf));
gst_buffer_unref (buf);
cvReleaseImage (&filter->cvSegmentedImage);
g_assert (filter->cvSegmentedImage == NULL);
return gst_pad_push (filter->srcpad, outbuf);
}
void f(
IplImage* src,
IplImage* dst
) {
CvMemStorage* storage = cvCreateMemStorage(0);
CvSeq* comp = NULL;
cvPyrSegmentation( src, dst, storage, &comp, 4, 200, 50 );
int n_comp = comp->total;
for( int i=0; i<n_comp; i++ ) {
CvConnectedComp* cc = (CvConnectedComp*) cvGetSeqElem( comp, i );
// do_something_with( cc );
}
cvReleaseMemStorage( &storage );
}
IplImage* BouyBaseObject::SegmentationMask(const IplImage * imgIn) const
{
IplImage * imgOut = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * src = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage* hsv = cvCreateImage( cvGetSize(imgIn), 8, 3 );
IplImage * chan0 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * chan1 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * chan2 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * chan3 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
cvCvtColor( imgIn, hsv, CV_BGR2YCrCb );
cvSplit(hsv,chan0,chan1,chan2, NULL);
//cvConvertImage(imgIn,src);
src = cvCloneImage(chan0);
CvMemStorage* storage = cvCreateMemStorage(0);
CvSeq* comp = NULL;
//lower last param for more segments
cvPyrSegmentation( src, imgOut, storage, &comp, 3, 200, 50 );
cvAbsDiffS(imgOut,imgOut,CV_RGB(255,255,255));
//cvNormalize(imgOut,imgOut,255,0, CV_MINMAX);
//cvThreshold(imgOut,imgOut,250,255,CV_THRESH_TOZERO);
// int n_comp = comp->total;
// for( int i=0; i<n_comp; i++ )
// {
// CvConnectedComp* cc = (CvConnectedComp*) cvGetSeqElem( comp, i );
// cvDrawRect(imgOut,cvPoint(cc->rect.x,cc->rect.y),cvPoint(cc->rect.x+cc->rect.width,cc->rect.y+cc->rect.height),CV_RGB(255,255,255));
// //do_something_with( cc );
// }
cvReleaseImage(&src);
cvReleaseImage(&hsv);
cvReleaseImage(&chan0);
cvReleaseImage(&chan1);
cvReleaseImage(&chan2);
cvReleaseImage(&chan3);
cvReleaseMemStorage( &storage );
return imgOut;
}
//对序列中的每个元素进行操作,此序列的元素是由cvPyrSegmentation返回的连续区域
void f(
IplImage* src,
IplImage* dst
) {
// 分配存储区域，storage指针指向opencv存储区
CvMemStorage* storage = cvCreateMemStorage(0);
// 序列的初始位置
CvSeq* comp = NULL;
// 金字塔处理，参数分别为：输入、输出、存储、位置指针、金字塔层数、建立连接时的错误阈值，分割簇的错误阈值
// 建立连接时的错误阈值：小于等于该值得点连接；分割簇的错误阈值：小于等于该值的点看做一个区域
cvPyrSegmentation( src, dst, storage, &comp, 4, 200, 50 );
// 获取序列元素的个数
int n_comp = comp->total;
for( int i=0; i<n_comp; i++ ) {
// 依次获得每一个元素的值
CvConnectedComp* cc = (CvConnectedComp*) cvGetSeqElem( comp, i );
// do_something_with( cc );
// 这里可以做点什么
}
// 释放内存
cvReleaseMemStorage( &storage );
}
IplImage* BouyObject::SegmentationMask2(const IplImage * imgIn, IplImage* debugOut) const
{
// CvSize imageSize = cvSize(imgIn->width & -2, imgIn->height & -2 );
// IplImage* imgSmallCopy = cvCreateImage( cvSize(imageSize.width/2, imageSize.height/2), IPL_DEPTH_8U, 1 );
IplImage * imgOut = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * circleMask = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * src = cvCloneImage(imgIn);
IplImage * scratch = cvCloneImage(src);
IplImage * hist = HistogramMask(imgIn);
//IplImage * bestMask = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
CvMemStorage* storage = cvCreateMemStorage(0);
CvSeq* comp = NULL;
CvFont font;
cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX, .5,.5);
std::ostringstream s;
cvZero(imgOut);
cvZero(circleMask);
cvZero(scratch);
//cvZero(bestMask);
CvScalar avgColor;
double bestColor = -1;
CvRect bestRect;
double bestDiag = 0;
// IplImage* hsv = cvCreateImage( cvGetSize(imgIn), 8, 3 );
// IplImage * chan0 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
// IplImage * segsum = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
//cvCvtColor( imgIn, hsv, CV_BGR2YCrCb );
//cvCopyImage(imgIn,hsv);
//cvSplit(hsv,chan0,chan1,chan2, NULL);
//cvConvertImage(imgIn,src);
//lower last param for more segments
//cvPyrSegmentation( hsv, scratch, storage, &comp, 3, 100, 90 );
cvPyrSegmentation( src, scratch, storage, &comp, 2, 0, 100);
int n_comp = comp->total;
std::list<CvBox2D> blobList;
for( int i = n_comp-1; i>=1; i-- )
{
CvConnectedComp* cc = (CvConnectedComp*) cvGetSeqElem( comp, i );
cvAbsDiffS(scratch,src,cc->value);
cvNot(src,src);
cvThreshold(src,src,254,255,CV_THRESH_BINARY);
blobList = VisionUtils::GetBlobBoxes(src,0.0008,.95,false);
for(std::list<CvBox2D>::iterator it = blobList.begin(); it != blobList.end(); it++)
{
CvRect rect = VisionUtils::ToCvRect(*it);
VisionUtils::MakeSquare(rect);
double diagonal = sqrt(rect.width * rect.width + rect.height * rect.height);
cvDrawCircle(circleMask,cvPoint(rect.x+rect.width/2.,rect.y+rect.height/2),diagonal/2.5,CV_RGB(255,255,255),CV_FILLED);
avgColor = cvAvg (hist,circleMask);
if((bestColor < 0 || bestColor < avgColor.val[0]) && avgColor.val[0] > mSegment2Threshold)
{
bestDiag = diagonal;
bestColor = avgColor.val[0];
bestRect = rect;
cvCopy(circleMask,imgOut);
}
//cvMinMaxLoc(imgIn,)
cvZero(circleMask);
}
}
if(debugOut && bestColor > 0)
{
s.clear();
s << "bestColor(" << bestColor << ") " << mType;
cvPutText(debugOut,s.str().c_str(),cvPoint(bestRect.x+bestRect.width/2.,bestRect.y+bestRect.height/2),&font,CV_RGB(255,255,255));
cvDrawCircle(debugOut,cvPoint(bestRect.x+bestRect.width/2.,bestRect.y+bestRect.height/2),bestDiag/2.5,CV_RGB(255,255,255));
}
// cvShowImage("best",bestMask);
// cvWaitKey(0);
//VisionUtils::ClearEdges(imgOut);
cvReleaseImage(&scratch);
cvReleaseImage(&src);
cvReleaseImage(&hist);
cvReleaseImage(&circleMask);
cvReleaseMemStorage( &storage );
return imgOut;
}
void CV_PyrSegmentationTest::run( int /*start_from*/ )
{
const int level = 5;
const double range = 20;
int code = CvTS::OK;
CvPoint _cp[] ={{33,33}, {43,33}, {43,43}, {33,43}};
CvPoint _cp2[] ={{50,50}, {70,50}, {70,70}, {50,70}};
CvPoint* cp = _cp;
CvPoint* cp2 = _cp2;
CvConnectedComp *dst_comp[3];
CvRect rect[3] = {{50,50,21,21}, {0,0,128,128}, {33,33,11,11}};
double a[3] = {441.0, 15822.0, 121.0};
/* ippiPoint cp3[] ={130,130, 150,130, 150,150, 130,150}; */
/* CvPoint cp[] ={0,0, 5,5, 5,0, 10,5, 10,0, 15,5, 15,0}; */
int nPoints = 4;
int block_size = 1000;
CvMemStorage *storage; /* storage for connected component writing */
CvSeq *comp;
CvRNG* rng = ts->get_rng();
int i, j, iter;
IplImage *image, *image_f, *image_s;
CvSize size = {128, 128};
const int threshold1 = 50, threshold2 = 50;
rect[1].width = size.width;
rect[1].height = size.height;
a[1] = size.width*size.height - a[0] - a[2];
OPENCV_CALL( storage = cvCreateMemStorage( block_size ) );
for( iter = 0; iter < 2; iter++ )
{
int channels = iter == 0 ? 1 : 3;
int mask[] = {0,0,0};
image = cvCreateImage(size, 8, channels );
image_s = cvCloneImage( image );
image_f = cvCloneImage( image );
if( channels == 1 )
{
int color1 = 30, color2 = 110, color3 = 180;
cvSet( image, cvScalarAll(color1));
cvFillPoly( image, &cp, &nPoints, 1, cvScalar(color2));
cvFillPoly( image, &cp2, &nPoints, 1, cvScalar(color3));
}
else
{
CvScalar color1 = CV_RGB(30,30,30), color2 = CV_RGB(255,0,0), color3 = CV_RGB(0,255,0);
assert( channels == 3 );
cvSet( image, color1 );
cvFillPoly( image, &cp, &nPoints, 1, color2);
cvFillPoly( image, &cp2, &nPoints, 1, color3);
}
cvRandArr( rng, image_f, CV_RAND_UNI, cvScalarAll(0), cvScalarAll(range*2) );
cvAddWeighted( image, 1, image_f, 1, -range, image_f );
cvPyrSegmentation( image_f, image_s,
storage, &comp,
level, threshold1, threshold2 );
if(comp->total != 3)
{
ts->printf( CvTS::LOG,
"The segmentation function returned %d (not 3) components\n", comp->total );
code = CvTS::FAIL_INVALID_OUTPUT;
goto _exit_;
}
/* read the connected components */
dst_comp[0] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 0 );
dst_comp[1] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 1 );
dst_comp[2] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 2 );
/*{
for( i = 0; i < 3; i++ )
{
CvRect r = dst_comp[i]->rect;
cvRectangle( image_s, cvPoint(r.x,r.y), cvPoint(r.x+r.width,r.y+r.height),
CV_RGB(255,255,255), 3, 8, 0 );
}
cvNamedWindow( "test", 1 );
cvShowImage( "test", image_s );
cvWaitKey(0);
}*/
code = cvTsCmpEps2( ts, image, image_s, 10, false, "the output image" );
if( code < 0 )
goto _exit_;
for( i = 0; i < 3; i++)
{
for( j = 0; j < 3; j++ )
{
if( !mask[j] && dst_comp[i]->area == a[j] &&
dst_comp[i]->rect.x == rect[j].x &&
dst_comp[i]->rect.y == rect[j].y &&
dst_comp[i]->rect.width == rect[j].width &&
dst_comp[i]->rect.height == rect[j].height )
{
mask[j] = 1;
break;
}
}
if( j == 3 )
{
ts->printf( CvTS::LOG, "The component #%d is incorrect\n", i );
code = CvTS::FAIL_BAD_ACCURACY;
goto _exit_;
}
}
cvReleaseImage(&image_f);
cvReleaseImage(&image);
cvReleaseImage(&image_s);
}
_exit_:
cvReleaseMemStorage( &storage );
cvReleaseImage(&image_f);
cvReleaseImage(&image);
cvReleaseImage(&image_s);
if( code < 0 )
ts->set_failed_test_info( code );
}
static int aPyrSegmentation(void* agr)
{
CvPoint _cp[] ={33,33, 43,33, 43,43, 33,43};
CvPoint _cp2[] ={50,50, 70,50, 70,70, 50,70};
CvPoint* cp = _cp;
CvPoint* cp2 = _cp2;
CvConnectedComp *dst_comp[3];
CvRect rect[3] = {50,50,21,21, 0,0,128,128, 33,33,11,11};
double a[3] = {441.0, 15822.0, 121.0};
/* ippiPoint cp3[] ={130,130, 150,130, 150,150, 130,150}; */
/* CvPoint cp[] ={0,0, 5,5, 5,0, 10,5, 10,0, 15,5, 15,0}; */
int chanels = (int)agr; /* number of the color chanels */
int width = 128;
int height = 128;
int nPoints = 4;
int block_size = 1000;
int color1 = 30, color2 = 110, color3 = 180;
int level = 5;
long diff, l;
int code;
CvMemStorage *storage; /* storage for connected component writing */
CvSeq *comp;
double lower, upper;
unsigned seed;
char rand;
AtsRandState state;
int i,j;
IplImage *image, *image_f, *image_s;
CvSize size;
uchar *f_cur, *f_row;
uchar *row;
uchar *cur;
int threshold1, threshold2;
code = TRS_OK;
if(chanels != 1 && chanels != 3)
return TRS_UNDEF;
/* read tests params */
if(!trsiRead( &width, "128", "image width" ))
return TRS_UNDEF;
if(!trsiRead( &height, "128", "image height" ))
return TRS_UNDEF;
if(!trsiRead( &level, "5", "pyramid level" ))
return TRS_UNDEF;
/* create Image */
l = width*height;
size.width = width;
size.height = height;
rect[1].height = height;
rect[1].width = width;
a[1] = l - a[0] - a[2];
image = cvCreateImage(cvSize(size.width, size.height), IPL_DEPTH_8U, chanels);
image_s = cvCreateImage(cvSize(size.width, size.height), IPL_DEPTH_8U, chanels);
memset(image->imageData, color1, chanels*l);
image_f = cvCreateImage(cvSize(size.width, size.height), IPL_DEPTH_8U, chanels);
OPENCV_CALL( storage = cvCreateMemStorage( block_size ) );
/* do noise */
upper = 20;
lower = -upper;
seed = 345753;
atsRandInit( &state, lower, upper, seed );
/* segmentation by pyramid */
threshold1 = 50;
threshold2 = 50;
switch(chanels)
{
case 1:
{
cvFillPoly( image, &cp, &nPoints, 1, color2);
cvFillPoly( image, &cp2, &nPoints, 1, color3);
row = (uchar*)image->imageData;
f_row = (uchar*)image_f->imageData;
for(i = 0; i<size.height; i++)
{
cur = row;
f_cur = f_row;
for(j = 0; j<size.width; j++)
{
atsbRand8s( &state, &rand, 1);
*(f_cur)=(uchar)((*cur) + rand);
cur++;
f_cur++;
}
row+=image->widthStep;
f_row+=image_f->widthStep;
}
cvPyrSegmentation( image_f, image_s,
storage, &comp,
level, threshold1, threshold2 );
//if(comp->total != 3) { code = TRS_FAIL; goto exit; }
/* read the connected components */
/*dst_comp[0] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 0 );
dst_comp[1] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 1 );
dst_comp[2] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 2 );*/
break;
}
case 3:
{
cvFillPoly( image, &cp, &nPoints, 1, CV_RGB(color2,color2,color2));
cvFillPoly( image, &cp2, &nPoints, 1, CV_RGB(color3,color3,color3));
row = (uchar*)image->imageData;
f_row = (uchar*)image_f->imageData;
for(i = 0; i<size.height; i++)
{
cur = row;
f_cur = f_row;
for(j = 0; j<size.width; j++)
{
atsbRand8s( &state, &rand, 1);
*(f_cur)=(uchar)((*cur) + rand);
atsbRand8s( &state, &rand, 1);
*(f_cur+1)=(uchar)(*(cur+1) + rand);
atsbRand8s( &state, &rand, 1);
*(f_cur+2)=(uchar)(*(cur+2) + rand);
cur+=3;
f_cur+=3;
}
row+=image->widthStep;
f_row+=image_f->widthStep;
}
cvPyrSegmentation(image_f, image_s, storage, &comp, level,
threshold1, threshold2);
/* read the connected components */
if(comp->total != 3) { code = TRS_FAIL; goto exit; }
dst_comp[0] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 0 );
dst_comp[1] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 1 );
dst_comp[2] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 2 );
break;
}
}
diff = 0;
/*diff = atsCompare1Db( (uchar*)image->imageData, (uchar*)image_s->imageData, chanels*l, 4);
for(i = 0; i < 3; i++)
{
if(dst_comp[i]->area != a[i]) diff++;
if(dst_comp[i]->rect.x != rect[i].x) diff++;
if(dst_comp[i]->rect.y != rect[i].y) diff++;
if(dst_comp[i]->rect.width != rect[i].width) diff++;
if(dst_comp[i]->rect.height != rect[i].height) diff++;
}*/
trsWrite( ATS_CON | ATS_LST | ATS_SUM, "upper =%f diff =%ld \n",upper, diff);
if(diff > 0 )
code = TRS_FAIL;
else
code = TRS_OK;
exit:
cvReleaseMemStorage( &storage );
cvReleaseImage(&image_f);
cvReleaseImage(&image);
cvReleaseImage(&image_s);
/* trsFree(cp); */
/* _getch(); */
return code;
}
