// Laplacian-of-Gaussian (LoG) operator.
cv::Mat ImageFilter::LaplacianOfGaussianOperator::operator()(const cv::Mat& img, const std::size_t apertureSize, const double sigma) const
{
const int halfApertureSize = (int)apertureSize / 2;
// Laplacian of Gaussian (LoG).
cv::Mat LoG(apertureSize, apertureSize, CV_64F);
{
//const double sigma2 = sigma * sigma, _2_sigma2 = 2.0 * sigma2, pi_sigma4 = M_PI * sigma2 * sigma2;
const double sigma2 = sigma * sigma, _2_sigma2 = 2.0 * sigma2;
for (int y = -halfApertureSize, yy = 0; y <= halfApertureSize; ++y, ++yy)
for (int x = -halfApertureSize, xx = 0; x <= halfApertureSize; ++x, ++xx)
{
const double x2 = double(x) * double(x), y2 = double(y) * double(y), val = (x2 + y2) / _2_sigma2;
const double exp = std::exp(-val);
//LoG.at<double>(yy, xx) = (val - 1.0) * exp / pi_sigma4;
LoG.at<double>(yy, xx) = (val - 1.0) * exp;
}
// Make sure that the sum (or average) of all elements of the kernel has to be zero (similar to the Laplace kernel) so that the convolution result of a homogeneous regions is always zero.
// REF [site] >> http://fourier.eng.hmc.edu/e161/lectures/gradient/node8.html
LoG -= cv::sum(LoG) / ((double)apertureSize * (double)apertureSize);
}
cv::Mat deltaF;
cv::filter2D(img, deltaF, CV_64F, LoG, cv::Point(-1, -1), 0, cv::BORDER_DEFAULT);
return deltaF;
}
cv::Mat laneTracker::laneMarkerDetect()
{
int kernel_size = 11;
float k[kernel_size] ;
//calc 1-D kernel;
int i,j;
for(i = 0, j = -(kernel_size/2); i <= kernel_size; ++i, ++j)
{
k[i] = LoG(j);
//std::cout<<" k["<<j<<"]: "<<k[i];
}
//std::cout<<std::endl;
cv::Mat src, dst;
cv::Mat roadRegion = gray_(ROAD_RECT(gray_.cols, gray_.rows));
// blur gray source image
// src region only has down-half size of origin gray image
GaussianBlur(roadRegion, src, cv::Size(5,5), 0, 0);
// dst has same size as origin gray image
dst.create(gray_.size(), CV_MAKETYPE(CV_8U, src.channels()));
dst = cv::Scalar::all(0);
uchar *src_row, *src_pos_in_row, *dst_row;
// so far, size of Mats are (if image w = 1, h = 1):
// gray_ (1, 1)
// roadRegion (1, 1/2)
// src (1, 1/2)
// dst (1, 1)
std::cout<<"dst size: "<<dst.size()<<" cols:"<<dst.cols<<" rows:"<<dst.rows<<std::endl;
std::cout<<"src size: "<<src.size()<<" cols:"<<src.cols<<" rows:"<<src.rows<<std::endl;
float sum_f;
// y-th for dst and src
int yd,ys;
for(yd = gray_.rows - src.rows, ys = 0; yd < gray_.rows; ++yd, ++ys)
{
// get pointer to y-th row
src_row = src.ptr(ys);
dst_row = dst.ptr(yd);
for(int x = gray_.cols - src.cols; x < src.cols - kernel_size/2; ++x)
{
sum_f = 0.0;
src_pos_in_row = src_row + x;
for (int kx = 0; kx < kernel_size; ++kx)
{
sum_f += *(src_pos_in_row++) * k[kx];
}
*(dst_row + x + kernel_size/2) = static_cast<int>(sum_f);
}
}
return dst;
}
void EdgeDetectMarrHill::marr(float s, QImage *img)
{
int width;
float **smx;
int i, j, n;
float **lgau;
/* Create a Gaussian and a derivative of Gaussian filter mask */
width = 3.35*s + 0.33;
n = width + width + 1;
qDebug() << ">>> Suavizando com Gaussiana de tamanho " << n << "x" << n;
lgau = f2d (n, n);
for (i = 0; i < n; i++)
for (j = 0; j < n; j++)
lgau[i][j] = LoG (distance((float)i, (float)j,
(float)width, (float)width), s);
/* Convolution of source image with a Gaussian in X and Y directions */
smx = f2d (img->width(), img->height());
qDebug() << ">>> Convolucao com LoG";
convolution (img, lgau, n, n, smx, img->height(), img->width());
/* Locate the zero crossings */
qDebug() << ">>> Passagens por Zero";
zero_cross (smx, img);
/* Clear the boundary */
for (i = 0; i < img->width(); i++) {
for (j = 0; j <= width; j++)
img->setPixel(QPoint(i, j), qRgb(0, 0, 0));
for (j = img->height() - width - 1; j < img->height(); j++)
img->setPixel(QPoint(i, j), qRgb(0, 0, 0));
}
for (j = 0; j < img->height(); j++) {
for (i = 0; i <= width; i++)
img->setPixel(QPoint(i, j), qRgb(0, 0, 0));
for (i = img->width() - width - 1; i < img->width(); i++)
img->setPixel(QPoint(i, j), qRgb(0, 0, 0));
}
free(smx[0]); free(smx);
free(lgau[0]); free(lgau);
}
void EdgeDetection(double *src,double *dst,int width,int height,int detector,double threshold,int m_width,int m_height,double deta){
double maxvalue=0;
switch (detector) {
case EDGE_DETECTOR_ROBERT:
{
maxvalue=Robert(src, dst,NULL, width, height);
Threshold(dst, dst, width, height, maxvalue*threshold, THRESHOLD_TYPE3);
break;
}
case EDGE_DETECTOR_PREWITT:
{
maxvalue=Prewitt(src, dst, width, height);
Threshold(dst, dst, width, height, maxvalue*threshold, THRESHOLD_TYPE3);
break;
}
case EDGE_DETECTOR_SOBEL:
{
maxvalue=Sobel(src, dst,NULL, width, height,(int)deta);
Threshold(dst, dst, width, height, maxvalue*threshold, THRESHOLD_TYPE3);
break;
}
case EDGE_DETECTOR_KIRSCH:
{
maxvalue=Kirsch(src, dst, width, height);
Threshold(dst, dst, width, height, maxvalue*threshold, THRESHOLD_TYPE3);
break;
}
case EDGE_DETECTOR_LOG:
{
maxvalue=LoG(src, dst, width, height,m_width,m_height,deta,threshold);
Threshold(dst, dst, width, height, maxvalue*threshold, THRESHOLD_TYPE3);
break;
}
case EDGE_DETECTOR_LAPLACE:
{
maxvalue=Laplace(src, dst, width, height);
Threshold(dst, dst, width, height, maxvalue*threshold, THRESHOLD_TYPE3);
break;
}
default:
break;
}
}
int main( int argc, char** argv ) {
/* opencv variables */
Mat originalImage, filteredImage;
/* command line variables */
Argument args;
char *inFile = NULL;
char *outFile = NULL;
/* command-line processing */
if(commandProcessing(argc, argv, "hlgi:o:", &args) != 0) {
return -1;
}
if(args.input_optarg != NULL) { /* check for input file */
inFile = args.input_optarg;
// TODO: open input file
debug("input file: %s", inFile);
} else {
fprintf(stderr, "%s: missing input file operand\n", argv[0]);
fprintf(stderr, "Try \'%s -h\' for help.\n", argv[0]);
return -1;
}
if(args.output_optarg != NULL) { /* check for output file */
outFile = args.output_optarg;
// TODO: open output file
debug("output file: %s", outFile);
} else {
fprintf(stderr, "%s: missing output file operand\n", argv[0]);
fprintf(stderr, "Try \'%s -h\' for help.\n", argv[0]);
return -1;
}
originalImage = imread(inFile, IMREAD_GRAYSCALE);
if(originalImage.data == NULL) {
fprintf(stderr, "%s: fatal error: couldn't open %s\n", argv[0],
args.input_optarg);
return -1;
}
/* check for filter option */
if(args.laplacian_opt == 1
&& args.gaussian_opt == 1) { /* check for Laplacian of Gaussian filter */
debug("LoG filter");
// TODO: apply laplacian filter
LoG(originalImage, filteredImage, (unsigned int) 3, 1.0, (unsigned int) 3);
} else if(args.laplacian_opt == 1) { /* check for Laplacian filter */
debug("Laplacian filter");
// TODO: apply Laplacian filter
Laplacian(originalImage, filteredImage, (unsigned int) 3);
} else if(args.gaussian_opt == 1) { /* check for Gaussian filter */
debug("Gaussian filter");
// TODO: apply Gaussian filter
Gaussian(originalImage, filteredImage, (unsigned int) 3, 1.0);
} else {
debug("none filter apllyed");
}
if(imwrite(outFile, filteredImage) == false) {
fprintf(stderr, "%s: fatal error: couldn't save %s\n", argv[0],
args.output_optarg);
return -1;
}
#ifndef NDEBUG
namedWindow("Original", WINDOW_AUTOSIZE);
imshow("Original", originalImage);
namedWindow("Filtered", WINDOW_AUTOSIZE);
imshow("Filtered", filteredImage);
waitKey(0);
#endif
return 0;
}
// ****************** Problem 1: Edge Detection ***********************
int p1a(void)
{
// initialize data of input
const char *filename1 = "elaine.raw";
const char *filename2 = "noisy_elaine.raw";
int SizeW = 256;
int SizeH = 256;
int BytesPerPixel = 1;
unsigned char ImageData1[SizeH][SizeW][BytesPerPixel];
unsigned char ImageData2[SizeH][SizeW][BytesPerPixel];
// initialize data of output
const char *newfilename1a = "1a elaine_soble_ans.raw";
const char *newfilename1b = "1a elaine_LoG_ans.raw";
const char *newfilename2a = "1a noisyelaine_soble_ans.raw";
const char *newfilename2b = "1a noisyelaine_LoG_ans.raw";
int newSizeW = SizeW;
int newSizeH = SizeH;
int newBytesPerPixel = BytesPerPixel;
unsigned char newImageData1a[newSizeH][newSizeW][newBytesPerPixel];
unsigned char newImageData1b[newSizeH][newSizeW][newBytesPerPixel];
unsigned char newImageData2a[newSizeH][newSizeW][newBytesPerPixel];
unsigned char newImageData2b[newSizeH][newSizeW][newBytesPerPixel];
// read input
readimage(filename1, &ImageData1[0][0][0], SizeH, SizeW, BytesPerPixel);
readimage(filename2, &ImageData2[0][0][0], SizeH, SizeW, BytesPerPixel);
// --------------------Sobel Detector------------------------
int extend = 2;
int thr1a = 24;
int thr2a = 37;
unsigned char Gradient1aR[SizeH][SizeW];
unsigned char Gradient1aC[SizeH][SizeW];
unsigned char Gradient1a[SizeH][SizeW];
const char *gradient1aR = "1a elaine_s_R_grad.raw";
const char *gradient1aC = "1a elaine_s_C_grad.raw";
const char *gradient1a = "1a elaine_soble_grad.raw";
unsigned char Gradient2aR[SizeH][SizeW];
unsigned char Gradient2aC[SizeH][SizeW];
unsigned char Gradient2a[SizeH][SizeW];
const char *gradient2aR = "1a noisingelaine_s_R_grad.raw";
const char *gradient2aC = "1a noisingelaine_s_C_grad.raw";
const char *gradient2a = "1a noisingelaine_soble_grad.raw";
GetSobleGradient(thr1a, &ImageData1[0][0][0], SizeH, SizeW, extend, &Gradient1aR[0][0], &Gradient1aC[0][0], &Gradient1a[0][0], &newImageData1a[0][0][0]);
GetSobleGradient(thr2a, &ImageData2[0][0][0], SizeH, SizeW, extend, &Gradient2aR[0][0], &Gradient2aC[0][0], &Gradient2a[0][0], &newImageData2a[0][0][0]);
// output
writeimage(gradient1aR, &Gradient1aR[0][0], SizeH, SizeW, BytesPerPixel);
writeimage(gradient1aC, &Gradient1aC[0][0], SizeH, SizeW, BytesPerPixel);
writeimage(gradient1a, &Gradient1a[0][0], SizeH, SizeW, BytesPerPixel);
writeimage(newfilename1a, &newImageData1a[0][0][0], newSizeH, newSizeW, newBytesPerPixel);
writeimage(gradient2aR, &Gradient2aR[0][0], SizeH, SizeW, BytesPerPixel);
writeimage(gradient2aC, &Gradient2aC[0][0], SizeH, SizeW, BytesPerPixel);
writeimage(gradient2a, &Gradient2a[0][0], SizeH, SizeW, BytesPerPixel);
writeimage(newfilename2a, &newImageData2a[0][0][0], newSizeH, newSizeW, newBytesPerPixel);
// ----------------------LoG Detector------------------------------
int Dfiltersize = 9;
float sigma = 1.0;
float thr1b = 0.9;
float thr2b = 1.5;
unsigned char Gradient1b[SizeH][SizeW];
unsigned char ternarymap1[SizeH][SizeW];
unsigned char Gradient2b[SizeH][SizeW];
unsigned char ternarymap2[SizeH][SizeW];
const char *gradient1b = "1a elaine_LoG_grad.raw";
const char *ternary1 = "1a elaine_LoG_ter.raw";
const char *gradient2b = "1a noisingelaine_LoG_grad.raw";
const char *ternary2 = "1a noisingelaine_LoG_ter.raw";
LoG(Dfiltersize, sigma, thr1b, &ImageData1[0][0][0], SizeH, SizeW, &Gradient1b[0][0], &ternarymap1[0][0], &newImageData1b[0][0][0]);
LoG(Dfiltersize, sigma, thr2b, &ImageData2[0][0][0], SizeH, SizeW, &Gradient2b[0][0], &ternarymap2[0][0], &newImageData2b[0][0][0]);
writeimage(gradient1b, &Gradient1b[0][0], SizeH, SizeW, BytesPerPixel);
writeimage(ternary1, &ternarymap1[0][0], SizeH, SizeW, BytesPerPixel);
writeimage(newfilename1b, &newImageData1b[0][0][0], newSizeH, newSizeW, newBytesPerPixel);
writeimage(gradient2b, &Gradient2b[0][0], SizeH, SizeW, BytesPerPixel);
writeimage(ternary2, &ternarymap2[0][0], SizeH, SizeW, BytesPerPixel);
writeimage(newfilename2b, &newImageData2b[0][0][0], newSizeH, newSizeW, newBytesPerPixel);
return 0;
}
