void CameraWorker::makeBlobImage(IplImage *src, IplImage *dst)
{
if(!src || !dst)
{
printf("src/dst is empty.\n");
return;
}
if(src->height != dst->height || src->width != dst->width)
{
printf("src - blobImage sizes dont match!\n");
return;
}
lutMutex->lock();
for (int i = 0; i < src->height; ++i)
{
for (int j = 0; j < src->width; ++j)
{
uchar *pin = &IMGDATA(src, i, j, 0);
int b = *pin;
int g = *(pin+1);
int r = *(pin+2);
IMGDATA(dst, i, j, 0) = lut->lookup(b, g, r);
}
}
lutMutex->unlock();
}
float covariance(const IplImage* left,const IplImage* right,int il,int jl,int ir,int jr,const int blocksize)
{
float cov;
float exy=0,ex=0,ey=0;
int i,j;
for(i=il;i<il+blocksize;i++)
{
for(j=jl;j<jl+blocksize;j++)
{
ex=ex+abs(*IMGDATA(left,i,j,0));
}
}
ex=ex/(blocksize*blocksize);
for(i=ir;i<ir+blocksize;i++)
{
for(j=jr;j<jr+blocksize;j++)
{
ey=ey+abs(*IMGDATA(right,i,j,0));
}
}
ey=ey/(blocksize*blocksize);
for(i=0;i<blocksize;i++)
{
for(j=0;j<blocksize;j++)
{
exy=exy+abs(*IMGDATA(left,il+i,jl+j,0))*abs(*IMGDATA(right,ir+i,jr+j,0));
}
}
exy=exy/(blocksize*blocksize);
cov=exy-ex*ey;
//printf("\n COVARIANCE ~ %f",cov);
return cov;
}
void CameraWorker::colorImage(IplImage *in, IplImage *out)
{
if(!in)
{
printf("input is empty.\n");
return;
}
if(in->height != out->height || in->width != out->width || in->nChannels != out->nChannels)
{
printf("input - output sizes dont match!\n");
return;
}
lutMutex->lock();
for (int i = 0; i < in->height; ++i)
{
for (int j = 0; j < in->width; ++j)
{
uchar *pin = &IMGDATA(in, i, j, 0);
int b = *pin;
int g = *(pin+1);
int r = *(pin+2);
CvScalar cs = lut->getScalar(lut->lookup(b, g, r));
if(lut->lookup(b, g, r) != UNDEF)
{
uchar *pout = &IMGDATA(out, i, j, 0);
*pout = cs.val[0];
*(pout+1)=cs.val[1];
*(pout+2)=cs.val[2];
}
}
}
lutMutex->unlock();
}
void CameraWorker::onMouseClicked(int x, int y)//WARNING: calibration now done on displayframe directly?
{
if(isArenaCalib)
return;
if(!frame)
return;
if(x >= frame->width || y>=frame->height || x<0 || y<0)
return;
int b = IMGDATA(calibFrame, y, x, 0);
int g = IMGDATA(calibFrame, y, x, 1);
int r = IMGDATA(calibFrame, y, x, 2);
emit markBGR(b, g, r);
}
int sumofsquaredaddition(IplImage* left,IplImage* right,int il,int jl,int ir,int jr,int blocksize)
{
int i,j;
int sosa=0;
int sd;
for(i=0;i<blocksize;i++)
{
for(j=0;j<blocksize;j++)
{
sd=abs(*IMGDATA(left,il+i,jl+j,0))+abs(*IMGDATA(right,ir+i,jr+j,0));
sosa=sosa+abs(sd);
}
}
return sosa;
}
float sumofsquaredifference(const IplImage* left,const IplImage* right,int il,int jl,int ir,int jr,const int blocksize)
{
int i,j;
float sosd=0;
float sd;
float sum=0;
for(i=0;i<blocksize;i++)
{
for(j=0;j<blocksize;j++)
{
sd=abs(*IMGDATA(left,il+i,jl+j,0))-abs(*IMGDATA(right,ir+i,jr+j,0));
sosd=sosd+sd*sd;
sum=sum+abs(*IMGDATA(left,il+i,jl+j,0));
}
}
return sosd/sum*sum;
}
float variance(const IplImage* in,int il,int jl,const int blocksize)
{
float exx=0;
float ex=0;
float var=0;
int i,j;
for(i=il;i<il+blocksize;i++)
{
for(j=jl;j<jl+blocksize;j++)
{
exx=exx+abs(*IMGDATA(in,i,j,0))*abs(*IMGDATA(in,i,j,0));
ex=ex+abs(*IMGDATA(in,i,j,0));
}
}
ex=ex/(blocksize*blocksize);
exx=exx/(blocksize*blocksize);
var=exx-ex*ex;
var=abs(var);
printf("\n VARIANCE ~ %f",var);
return var;
}
float mean(const IplImage* in,const int iwindowstart,const int jwindowstart,const int blocksize)
{
int i,j;
float mean=0;
for(i=iwindowstart;i<(blocksize+iwindowstart);i++)
{
for(j=jwindowstart;j<(blocksize+jwindowstart);j++)
{
mean=mean+abs(*IMGDATA(in,i,j,0));
}
}
mean=mean/(blocksize*blocksize);
return mean;
}
float newcorr(const IplImage *left,const IplImage* right,const int il,const int jl,const int ir,const int jr ,const int blocksize)
{
float corr=0;
int i,j;
float mx,my;
float vx,vy;
mx=mean(left,il,jl,blocksize);
my=mean(right,ir,jr,blocksize);
vx=var(left,il,jl,blocksize);
vy=var(right,ir,jr,blocksize);
for(i=0;i<blocksize;i++)
{
for(j=0;j<blocksize;j++)
{
corr=corr+(abs(*IMGDATA(left,il+i,jl+j,0))-mx)*(abs(*IMGDATA(right,ir+i,jr+j,0))-my);
}
}
//printf("\n CORRELATON ~ %f, VARIANCE ~ %f ,VARIANCE ~ %f",corr,vx,vy );
corr=corr/(sqrt(vx)*sqrt(vy));
corr=corr/(blocksize*blocksize);
//printf("\n CORRELATON ~ %f",corr );
return corr;
}
void initImage(IplImage* in,int k)
{
int w=in->width;
int h=in->height;
int i,j,l;
for(i=0;i<w;i++)
{
for(j=0;j<h;j++)
{
for(l=0;l<in->nChannels;l++)
{
*IMGDATA(in,i,j,l)=k;
}
}
}
}
void assignDisparity(IplImage* in,int il,int jl,int blocksize,int value,int channel)
{
int i,j;
value=value*255/in->width;
//printf("\nPassed ij~%d jl~%d Value ~ %d",il,jl,value);
for(i=il;i<il+blocksize;i++)
{
for(j=jl;j<jl+blocksize;j++)
{
//*IMGDATA(in,il+i,jl+j,channel)=value*255/in->width;
*IMGDATA(in,i,j,channel)=value;
}
}
}
float var(const IplImage*in,const int iwindowstart,const int jwindowstart,const int blocksize)
{
float vari=0;
int i,j;
float temp;
float m;
m=mean(in,iwindowstart,jwindowstart,blocksize);
for(i=iwindowstart;i<(blocksize+iwindowstart);i++)
{
for(j=jwindowstart;j<(blocksize+jwindowstart);j++)
{
temp=(abs(*IMGDATA(in,i,j,0))-m);
vari=vari+temp*temp;
}
}
return vari;
}
