void Sakbot::findSegmentation()
{
// init
createGreyscale();
// colored background
m_bgSubtractorColor(m_image,m_segmentation);
m_bgSubtractorColor.getBackgroundImage(m_background);
// initial segmentation
m_bgSubtractor(m_imageGrey,m_segmentation);
m_bgSubtractor.getBackgroundImage(m_backgroundGrey);
// close holes
cv::dilate(m_segmentation,m_segmentation,cv::Mat(),cv::Point(-1,-1),2);
cv::erode(m_segmentation,m_segmentation,cv::Mat(),cv::Point(-1,-1),2);
showPics(m_segmentation, "mask1", 20, 20);
// create frames needed for shadow detection
cv::cvtColor(m_image,m_imageHSV,CV_BGR2HSV);
cv::cvtColor(m_background,m_backgroundHSV,CV_BGR2HSV);
// get rid of the shadows
findShadows();
// combine
cv::Mat temp;
cv::bitwise_not(m_shadowSegmentation, temp);
cv::bitwise_and(m_segmentation, temp, m_segmentation);
showPics(m_segmentation, "mask-shadow", 20, 400);
// close holes
cv::dilate(m_segmentation,m_segmentation,cv::Mat(),cv::Point(-1,-1),2);
cv::erode(m_segmentation,m_segmentation,cv::Mat(),cv::Point(-1,-1),2);
// get rid of small fragments
cv::erode(m_segmentation,m_segmentation,cv::Mat(),cv::Point(-1,-1),m_segmentationErode);
cv::dilate(m_segmentation,m_segmentation,cv::Mat(),cv::Point(-1,-1),m_segmentationDilate);
// do a final second segmentation based on the mask and difference to the background
finalizeSegmentation();
// last "smoothing"
cv::dilate(m_segmentation,m_segmentation,cv::Mat(),cv::Point(-1,-1),2);
cv::erode(m_segmentation,m_segmentation,cv::Mat(),cv::Point(-1,-1),2);
}
void
showMotd(W_Window win)
{
int i;
struct list *data;
int count;
int headernum;
newMotdStuff = 0; /* clear the flag */
if (currpage == NULL)
currpage = motddata;
if (currpage == NULL)
return;
if (!W_IsMapped(win))
return;
headernum = currpage->page % NRHEADERS;
W_ClearWindow(win);
if(xpm)
W_DrawImageNoClip(win, 0, 0, 0, getImage(I_HEADER), 0);
else
{
W_Image *headerA, *headerB, *header1;
headerA = getImage(I_HEADERA);
headerB = getImage(I_HEADERB);
header1 = getImage(I_HEADER1);
W_DrawImageNoClip(win, 0, 0, 0, headerA, foreColor);
W_DrawImageNoClip(win, headerA->width, 0, 0,
headerB, foreColor);
W_DrawImageNoClip(win, headerA->width,
headerB->height,
0,
getImage(I_HEADER1 + headernum),
foreColor);
if (headernum == 2) { /* fill in client: */
/* note: font dependant */
} else if (headernum == 3) {/* fill in server: */
;
}
}
if (currpage->first) {
currpage->first = 0;
data = currpage->text;
while (data != NULL) {
data->bold = checkBold(data->data);
data = data->next;
}
}
data = currpage->text;
count = LINESPERPAGE; /* Magical # of lines to display */
i = getImage(I_HEADERA)->height / (paradise ? 10 : W_Textheight) + 1;
while (count > 0) {
if (data == NULL)
break;
if (data->bold) {
W_WriteText(win, 20, i * (paradise ? 10 : W_Textheight), textColor, data->data,
strlen(data->data), W_BoldFont);
} else {
W_WriteText(win, 20, i * (paradise ? 10 : W_Textheight), textColor, data->data,
strlen(data->data), W_RegularFont);
}
data = data->next;
count--;
i++;
}
if (win == w) {
count = (int)W_StringWidth(blk_refitstring, W_RegularFont) / 2;
W_WriteText(mapw, 250 - count, 480, textColor, blk_refitstring,
strlen(blk_refitstring), W_RegularFont);
}
showPics(win);
/* showValues(mapw); Should be handled in event loop now RF */
/* keep the warning visible [BDyess] */
if(hudwarning && warncount) {
W_MaskText(w, center - (warncount / 2) * W_Textwidth, HUD_Y, W_Green,
warningbuf, warncount, W_RegularFont);
}
/* flush buffer if one exists [BDyess] */
if(W_IsBuffered(win)) W_DisplayBuffer(win);
}
// SEGMENTATION #####################################################
void Sakbot::findShadows()
{
// formula:
// B = background image (HSV)
// I = main image (HSV)
// a = control parameter for lightsource strength (brighter the source => smaller a)
// b = control parameter for noise sensitivity
// if the pixel is part of the segmentation continue
// if a < V(I)/V(B) < b continue
// if |S(I)-S(B)| <= satThresh continue
// if |H(I)-H(B)| <= hueThresh shadowpoint found
int rows = m_imageHSV.rows;
int cols = m_imageHSV.cols;
m_shadowSegmentation = cv::Mat(m_imageHSV.clone());
for(int i=0; i<rows; i++)
for(int j=0; j<cols; j++)
{
// apply formula for each pixel
if( m_segmentation.at<uchar>(i,j) == 0 )
{
m_shadowSegmentation.at<cv::Vec3b>(i,j)[0] = 0;
m_shadowSegmentation.at<cv::Vec3b>(i,j)[1] = 0;
m_shadowSegmentation.at<cv::Vec3b>(i,j)[2] = 0;
continue;
}
double v;
int iV = m_imageHSV.at<cv::Vec3b>(i,j)[2];
int bV = m_backgroundHSV.at<cv::Vec3b>(i,j)[2];
iV = (iV == 0)? 1 : iV;
bV = (bV == 0)? 1 : bV;
v = iV/(double)bV;
if( m_aParam > v || m_bParam < v)
{
m_shadowSegmentation.at<cv::Vec3b>(i,j)[0] = 0;
m_shadowSegmentation.at<cv::Vec3b>(i,j)[1] = 0;
m_shadowSegmentation.at<cv::Vec3b>(i,j)[2] = 0;
continue;
}
int s = m_imageHSV.at<cv::Vec3b>(i,j)[1]-m_backgroundHSV.at<cv::Vec3b>(i,j)[1];
s = (s < 0)? -s : s;
if( s > m_satThresh )
{
m_shadowSegmentation.at<cv::Vec3b>(i,j)[0] = 0;
m_shadowSegmentation.at<cv::Vec3b>(i,j)[1] = 0;
m_shadowSegmentation.at<cv::Vec3b>(i,j)[2] = 0;
continue;
}
int h = m_imageHSV.at<cv::Vec3b>(i,j)[0]-m_backgroundHSV.at<cv::Vec3b>(i,j)[0];
h = (h < 0)? -h : h;
if( h > m_hueThresh )
{
m_shadowSegmentation.at<cv::Vec3b>(i,j)[0] = 0;
m_shadowSegmentation.at<cv::Vec3b>(i,j)[1] = 0;
m_shadowSegmentation.at<cv::Vec3b>(i,j)[2] = 0;
continue;
}
// test passed -> mask pixel
m_shadowSegmentation.at<cv::Vec3b>(i,j)[0] = 255;
m_shadowSegmentation.at<cv::Vec3b>(i,j)[1] = 255;
m_shadowSegmentation.at<cv::Vec3b>(i,j)[2] = 255;
}
showPics(m_shadowSegmentation, "shadow1", 420, 20);
cv::cvtColor(m_shadowSegmentation, m_shadowSegmentation, CV_RGB2GRAY);
cv::dilate(m_shadowSegmentation,m_shadowSegmentation,cv::Mat(),cv::Point(-1,-1),m_shadowDilate);
cv::erode(m_shadowSegmentation,m_shadowSegmentation,cv::Mat(),cv::Point(-1,-1),m_shadowErode);
showPics(m_shadowSegmentation, "shadowPost", 420, 400);
m_shadowSegmentationFull = m_shadowSegmentation.clone();
}
