void FrontierDetector::processFrontiers(const cv::Mat& occupancyGrid){
map = occupancyGrid.clone();
if(map.rows>0 && map.cols>0) {
imgProc();
detectEdges();
findFrontiers();
}
}
ProcessResult PluginCameraCalibration::process(FrameData * data, RenderOptions * options)
{
video_width=data->video.getWidth();
video_height=data->video.getHeight();
(void)options;
if(ccw)
{
if(ccw->getDetectEdges())
{
detectEdges(data);
ccw->resetDetectEdges();
}
ccw->set_slider_from_vars();
}
return ProcessingOk;
}
bool ImageEdgeDetectionBase<T, U>::Execute() {
if (!m_iDataObject) {
LOG0("ImageEdgeDetectionBase: Error: no input");
return false;
}
// also check base image types here
// get first image
PGCore::Image<T> *inImage = (static_cast<PGCore::Image < T > *>(m_iDataObject));
if (!inImage) {
LOG0("ImageEdgeDetectionBase: Error: failure to fetch input image");
return false;
}
long iRows=0, iColumns=0;
inImage->GetDimensions(iRows, iColumns);
if (iRows*iColumns <=0) {
LOG0("ImageEdgeDetectionBase: Error: invalid image size");
return false;
}
const T* inBuf = inImage->GetBuffer();
if (!inBuf)
{
LOG0("ImageEdgeDetectionBase: Error: invalid image");
return false;
}
if (m_oImageObject == NULL)
m_oImageObject = new PGCore::Image<U>(iRows, iColumns);
U* outBuf = m_oImageObject->GetBuffer();
if (!outBuf)
{
LOG0("ImageEdgeDetectionBase: Error: invalid out image");
return false;
}
bool rv = detectEdges(m_sigma, m_loTh, m_hiTh, inImage, m_oImageObject);
m_oDataObject = (static_cast<PGCore::BaseDataObject *>(m_oImageObject));
return rv;
}
bool RegionMerger::listRegions(const PredefinedTypes::Box *b)
{
PredefinedTypes::Box bb;
if(b)
bb=*b;
else{
bb.ulx=bb.uly=0;
bb.brx=img->getWidth()-1;
bb.bry=img->getHeight()-1;
}
// enumerate dirs
// 0 - E
// 1 - SW
// 2 - S
// 3 - SE
int incr[4];
int w=bb.width(),h=bb.height();
int l=w*h,i;
unsigned char *isNeighbour= new unsigned char[l];
incr[0]=1;
incr[1]=w-1;
incr[2]=w;
incr[3]=w+1;
const int xincr[]={1,-1,0,1};
const int yincr[]={0,1,1,1};
for(i=0;i<l;i++){
isNeighbour[i]=15;
}
for(i=0;i<w;i++){
isNeighbour[l-i-1] = 1; // lower neighbours away
}
for(i=0;i<l;i+=w){
isNeighbour[i] &= 13; // SW neighbours away
isNeighbour[i+w-1] &= 6; // right neighbours away
}
int x,y,dir;
int *lbl=img->GetSeparateLabelingInt(NULL,fourNeighbours,false,&bb);
if(Verbose()>1)
cout << "separate labeling formed" << endl;
regionList.clear();
orgRegions.clear();
map<pair<int,int>,coordSet> borderPixels;
for(i=0,x=bb.ulx,y=bb.uly;i<l;i++,x++){
if(x>bb.brx){ x=bb.ulx;y++;}
// cout<<"i= "<<i<<" (x,y)="<<x<<","<<y<<")"<<endl;
//regionList[lbl[i]].joinedTo=lbl[i];
orgRegions[lbl[i]].push_back(coord(x,y));
//regionList[lbl[i]].l.push_back(coord(x,y));
for(dir=0;dir<4;dir++){
if((isNeighbour[i]&(1<<dir)) && ((fourNeighbours==false) || (dir&1)==0 ))
if(lbl[i]!=lbl[i+incr[dir]]){
int r1=lbl[i], r2=lbl[i+incr[dir]];
regionList[r1].nList.insert(r2);
regionList[r2].nList.insert(r1);
if(edgeWeight != 0.0){
// this pixel pair is also inserted in the list of border pixels between the
borderPixels[pair<int,int>(r1,r2)].
insert(coord(x+xincr[dir],y+yincr[dir]));
borderPixels[pair<int,int>(r2,r1)].
insert(coord(x,y));
}
}
}
}
if(Verbose()>1)
cout << "regionlist collected w/ " << regionList.size() << " regions" << endl;
if(edgeWeight != 0){
// calculate the edge magnitude image
if(Verbose()>1) cout << "detecting edges"<< endl;
detectEdges();
if(Verbose()>1) cout << "edges detected" << endl;
}
map<pair<int,int>,coordSet>::iterator bit;
for(bit=borderPixels.begin(); bit != borderPixels.end(); bit++){
const int r1=bit->first.first, r2=bit->first.second;
if(r1<r2){
regionList[r1].bI[r2].strength= regionList[r2].bI[r1].strength
=borderStrength(bit->second,borderPixels[pair<int,int>(r2,r1)]);
regionList[r1].bI[r2].count= regionList[r2].bI[r1].count=
bit->second.size()+borderPixels[pair<int,int>(r2,r1)].size();
}
}
cout << "border strengths determined" << endl;
map<int,Region>::iterator rit;
for(rit=regionList.begin();rit!=regionList.end();rit++){
//cout<<"region["<<rit->first<<"]: size="<<rit->second.l.size()<<endl;
rit->second.rl.push_back(rit->first);
rit->second.count=orgRegions[rit->first].size();
if(outputTree)
rit->second.currentLabel=
hierarchy.addStartingRegion(orgRegions[rit->first]);
}
if (Verbose()>1)
cout << "Found " << regionList.size() << " separate regions." << endl;
delete[] lbl;
delete[] isNeighbour;
// calculate feature vectors for all regions
for(rit=regionList.begin();rit!=regionList.end();rit++)
updateFeatureValues(rit->first);
if (Verbose()>1) {
cout << "Feature values calculated." << endl;
int dim=regionList.begin()->second.fV.size();
// dim should be got from feature spec.
vector<float> sum(dim,0.0);
vector<float> sqrsum(dim,0.0);
for(rit=regionList.begin();rit!=regionList.end();rit++)
for (int d=0; d<dim; d++){
sum[d] += rit->second.fV[d];
sqrsum[d] += rit->second.fV[d]*rit->second.fV[d];
}
for(int d=0;d<dim;d++){
sum[d] /= regionList.size();
sqrsum[d] /= regionList.size();
cout << "Feature component "<<d<<": mean="<<sum[d]<<" stddev="<<
sqrt(sqrsum[d]-sum[d]*sum[d]) << endl;
}
}
return true;
}
