void glwidget::draw_decorating_info()
{
// draw_pointer
draw_pointer(nav);
// draw orientation
draw_orientation(nav);
//error OpenGL_drawer_2
GLenum errCode;
const GLubyte *errString;
if((errCode=glGetError()) != GL_NO_ERROR)
{
errString = gluErrorString(errCode);
std::cout<<"OPENGL ERROR : "<<errString<<std::endl;
//exit(-2);
}
//update fps
nav.increase_frame_number();
nav.time()=t_timer.elapsed();
if(nav.delta_time()>1000)
nav.update_fps();
//draw fps
draw_fps();
//draw bottom right zoom
draw_camera_stat();
}
// Update Motion History Image: Calculate motion features and orientation.
void motionDetection(IplImage* image, IplImage* destination_image, MotionInfo* motionInfo)
{
double timestamp = (double)clock()/CLOCKS_PER_SEC; // get current time in seconds
CvSize image_size = cvSize(image->width, image->height); // get current frame image_size
int previous_frame_index = last_index, current_frame_index;
initialize_images(image_size);
cvCvtColor(image, image_buffer[last_index], CV_BGR2GRAY); // convert frame to grayscale
current_frame_index = (last_index + 1) % N; // index of (last_index - (N-1))th frame
last_index = current_frame_index;
silhouette = image_buffer[current_frame_index];
cvAbsDiff(image_buffer[previous_frame_index], image_buffer[current_frame_index], silhouette); // Get difference between frames
cvThreshold(silhouette, silhouette, DIFFERENCE_THRESHOLD, 1, CV_THRESH_BINARY); // Add threshold
//cvDilate(silhouette, silhouette, 0, 18);
//cvErode(silhouette, silhouette, 0, 10);
cvUpdateMotionHistory(silhouette, mhi, timestamp, MHI_DURATION); // Update MHI
// Convert MHI to blue 8U image
cvCvtScale(mhi, orientation_mask, 255./MHI_DURATION, (MHI_DURATION - timestamp)*255./MHI_DURATION);
if (destination_image) {
cvZero(destination_image);
cvCvtPlaneToPix(orientation_mask, 0, 0, 0, destination_image);
}
// Calculate motion gradient orientation and valid orientation mask
cvCalcMotionGradient(mhi, orientation_mask, orientation, MAX_TIME_DELTA, MIN_TIME_DELTA, 3);
// motion_feature_sequence = extract_motion_features();
if(!storage)
storage = cvCreateMemStorage(0);
else
cvClearMemStorage(storage);
CvSeq* motion_feature_sequence = cvSegmentMotion(mhi, segment_mask, storage, timestamp, MAX_TIME_DELTA);
int SEGMENT_WIDTH = image_size.width / MAX_SEGMENTS_X;
int SEGMENT_HEIGHT = image_size.height / MAX_SEGMENTS_Y;
// Global motion
CvRect global_motion_segment = cvRect(0, 0, image_size.width, image_size.height);
motionInfo->global_angle = calculate_orientation(global_motion_segment, silhouette);
if (destination_image)
draw_orientation(destination_image, &global_motion_segment, motionInfo->global_angle, 100, CV_RGB(0, 255, 0), true);
long area = 0;
long totalArea = 0;
int totalMovingSegments = 0;
bool hasValidMovement = false;
CvRect segmentRect;
// Segmented motion
for(int x = 0; x < MAX_SEGMENTS_X; x++)
{
for(int y = 0; y < MAX_SEGMENTS_Y; y++)
{
segmentRect = cvRect(x * SEGMENT_WIDTH, y * SEGMENT_HEIGHT, SEGMENT_WIDTH, SEGMENT_HEIGHT);
area = calculate_motion(&segmentRect, motion_feature_sequence);
hasValidMovement = (area > MIN_MOTION_FEATURE_AREA);
motionInfo->segment_motion_areas[x][y] = area;
motionInfo->segment_movements[x][y] = hasValidMovement;
motionInfo->segment_angles[x][y] = calculate_orientation(segmentRect, silhouette);
totalArea += area;
totalMovingSegments += (area > MIN_MOTION_FEATURE_AREA);
//printf("%i, ", area);
//fflush(stdout);
if (hasValidMovement)
if (destination_image)
draw_orientation(destination_image, &segmentRect, motionInfo->segment_angles[x][y], 20, CV_RGB(255, 0, 0), true);
}
}
motionInfo->total_motion_area = totalArea;
motionInfo->total_segments_with_movements = totalMovingSegments;
motionInfo->SEGMENTS_X = MAX_SEGMENTS_X;
motionInfo->SEGMENTS_Y = MAX_SEGMENTS_Y;
printf("%i, %f\n", totalArea, (float)totalArea / (float)(image_size.width*image_size.height));
//fflush(stdout);
}
