void ImageProcessingTools::findLandmarks(char *ptr)
{
// Make Histograms for each column
int i,j, pixelIndex;
double pixelColorHSV[imageSizeC];
bool imageThreshold[imageSizeX][imageSizeY];
int YHistogram[imageSizeX];
// Loop through each x value adding all pixels that pass threshold
for ( i = 0; i< imageSizeX; i++) {
YHistogram[i] = 0;
for (j = 0; j<imageSizeY-50; j++) {
pixelIndex = (j *imageSizeX + i) * 3;
COLORREF pixelColorRGB = RGB(ptr[pixelIndex],ptr[pixelIndex+1],ptr[pixelIndex+2]);
rgb2hsv(pixelColorRGB, pixelColorHSV);
double colorDiff = fabs(pixelColorHSV[0] - (-8.0f));
if ((colorDiff < colorTolerance) && (pixelColorHSV[1] > 0.6f) && (pixelColorHSV[2] > 0.6f)){
imageThreshold[i][j] = true;
YHistogram[i]++;
} else {
imageThreshold[i][j] = false;
}
}
}
// Look for blobs using histogram
int blobWidth[100];
int blobStart[100];
double blobCenter[100];
double blobHeight[100];
int numRowBlobs = 0;
bool inBlob = false;
int blobStartX = -100;
int blobEndX = 0;
// Make sure that end is detected
YHistogram[imageSizeX-1] = 0;
// For each row, look for on edges and off edges
for (i = 1; i< imageSizeX; i++) {
// Check to see if color is yellow
if (YHistogram[i] > 5){
// Check if start of blob
if (!inBlob){
// Record edge of blob
inBlob = true;
blobStartX = i;
}
// Check to see if end of blob in this column
} else if (inBlob){
// Record the end of blob if big enough
blobEndX = i;
if (blobEndX - blobStartX > 10) {
// Update blob arrays
blobStart[numRowBlobs] = blobStartX;
blobWidth[numRowBlobs] = - (blobStartX - blobEndX);
blobCenter[numRowBlobs] = (blobEndX + blobStartX)/2;
numRowBlobs++;
}
inBlob = false;
}
}
// Loop through blobs to get heights
for (i = 0; i<numRowBlobs; i++){
blobHeight[i] = 0;
for (j = max(0,((int)blobCenter[i])-heightCalcWindowSize); j < min(imageSizeX,((int)blobCenter[i])+heightCalcWindowSize); j++){
blobHeight[i] = blobHeight[i] + YHistogram[j];
}
blobHeight[i] = blobHeight[i]/(2*heightCalcWindowSize);
}
// Create Landmark Measurements
numMeasuredLandmarks = numRowBlobs;
for (i = 0; i<numMeasuredLandmarks; i++){
measuredLandmarks[i].x_pixel = blobCenter[i];
measuredLandmarks[i].h_pixel = blobHeight[i];
measuredLandmarks[i].range = CalculateRange(blobHeight[i]);
measuredLandmarks[i].bearing = CalculateBearing(blobCenter[i]);
measuredLandmarks[i].x_est = measuredLandmarks[i].bearing;
measuredLandmarks[i].y_est = measuredLandmarks[i].range;
}
}
T rgbToHSV( const T &c )
{
return rgb2hsv( c );
}
