void fillconvex_ring(Mat& mask, Point2f* points, int count, int inner, int outer) {
Point2f* hull;
int size = convex_hull(points, count, &hull);
// apparently we have to convert Point2f array to integers ...
Point* hulli = new Point[size];
for (int i = 0; i < size; i++) {
hulli[i].x = (int) hull[i].x;
hulli[i].y = (int) hull[i].y;
}
free(hull);
fillConvexPoly(mask, hulli, size, Scalar(1), 1);
delete [] hulli;
Mat mask2;
dilate(mask, mask2, Mat::ones(outer + inner, outer + inner, CV_8U));
fillConvexPoly(mask, hulli, size, Scalar(0), 1);
erode(mask2, mask, Mat::ones(inner, inner, CV_8U));
}
static void paint_voronoi( Mat& img, Subdiv2D& subdiv )
{
vector<vector<Point2f> > facets;
vector<Point2f> centers;
subdiv.getVoronoiFacetList(vector<int>(), facets, centers);
vector<Point> ifacet;
vector<vector<Point> > ifacets(1);
for( size_t i = 0; i < facets.size(); i++ )
{
ifacet.resize(facets[i].size());
for( size_t j = 0; j < facets[i].size(); j++ )
ifacet[j] = facets[i][j];
Scalar color;
color[0] = rand() & 255;
color[1] = rand() & 255;
color[2] = rand() & 255;
fillConvexPoly(img, ifacet, color, 8, 0);
ifacets[0] = ifacet;
polylines(img, ifacets, true, Scalar(), 1, LINE_AA, 0);
circle(img, centers[i], 3, Scalar(), FILLED, LINE_AA, 0);
}
}
void drawCroppedImage(Mat& sourceImg, vector<Point> ROI){
int max_x = 0;
int max_y = 0;
int min_x = 99999;
int min_y = 99999;
Mat mask = cvCreateMat(sourceImg.rows, sourceImg.cols, CV_8UC1);
for(int i=0; i<mask.cols; i++)
for(int j=0; j<mask.rows; j++)
mask.at<uchar>(Point(i,j)) = 0;
vector<Point> ROI_Poly;
approxPolyDP(ROI, ROI_Poly, 1.0, true);
for (int i = 0; i < ROI.size(); i++){
if (ROI[i].x > max_x){
max_x = ROI[i].x;}
if (ROI[i].x < min_x){
min_x = ROI[i].x;}
if (ROI[i].y > max_y){
max_y = ROI[i].y;}
if (ROI[i].y < min_y){
min_y = ROI[i].y;}
}
fillConvexPoly(mask, &ROI_Poly[0], ROI_Poly.size(), 255, 8, 0);
// Sanity check for outside the edges of the source image
/*max_x = (max_x > sourceImg.cols) ? sourceImg.cols : max_x;
max_y = (max_y > sourceImg.rows) ? sourceImg.rows : max_y;
min_x = (min_x < 0 ) ? 0 : min_x;
min_y = (min_y < 0 ) ? 0 : min_y;
int width = max_x - min_x;
int height = max_y - min_y;*/
// int topLeftX = centerX - width * scaleX / 2;
// int topLeftY = centerY - height * scaleY / 2;
// cout << topLeftX << " " << topLeftY << endl;
// topLeftX = max(topLeftX, 0);
// topLeftY = max(topLeftY, 0);
// Move mask to the origin
// translateImg(mask, (-1 * min_x) , (-1 * min_y) );//, 50);
// cout << mask.size() << endl;
// Mat tmp = sourceImg(Rect(min_x, min_y, width, height) );
// resize(tmp, tmp, Size(width * scaleX, height * scaleY), 0, 0, INTER_CUBIC);
// resize(mask, mask, Size(mask.cols * scaleX, mask.rows * scaleY), 0, 0, INTER_CUBIC);
// By playing around, it seems that the thing to do is move the mask to the origin, where it is
// applied to the dstImg(rectangle). Then that masked image is applied to the rectangle in the
// destination image. We don't need to move the mask to line up with the destination image.
// tmp.copyTo(dstImg(Rect(topLeftX, topLeftY, width * scaleX, height * scaleY) ) , mask);
}
void cameraSettings2d::on_calBack_released()
{
BackCalibration=true;
cConfig->BM->start();
ui->processLabel->setText("Background calibration...");
ui->Instructions->setText("Wait for background calibration process.");
cConfig->maskZona.setTo(cv::Scalar::all(0));
fillConvexPoly(cConfig->maskZona,cConfig->zone,4,cvScalar(255));
}
Mat AAM::warpImage(Mat image, vector<int> points)
{
imshow("before warp", image);
//cout<<"imege to warp type: "<<image.type()<<endl;
Mat warp_final = Mat::zeros( image.rows, image.cols, image.type() );
vector<Vec6f> trianglesList;
this->meanShapeTriangulation.getTriangleList(trianglesList);
for(int i=0; i<trianglesList.size(); i++)
{
Point p1(cvRound(trianglesList[i][0]), cvRound(trianglesList[i][1]));
Point p2(cvRound(trianglesList[i][2]), cvRound(trianglesList[i][3]));
Point p3(cvRound(trianglesList[i][4]), cvRound(trianglesList[i][5]));
//cout<<"trinagle: "<<i<<" "<<p1<<" "<<p2<<" "<<p3<<endl;
if(isPointOnImage(p1, image.cols, image.rows) && isPointOnImage(p2, image.cols, image.rows) && isPointOnImage(p3, image.cols, image.rows))
{
Mat warp_mask = Mat::zeros( image.rows, image.cols, image.type() );
Mat warp_dst = Mat::zeros( image.rows, image.cols, image.type() );
//cout<<"p1: "<<p1<<endl;
// cout<<"p2: "<<p2<<endl;
// cout<<"p3: "<<p3<<endl;
Point2f verticesDst[3];
verticesDst[0]=p1;
verticesDst[1]=p2;
verticesDst[2]=p3;
Point2f verticesSrc[3];
int p1num=this->meanShapePointsOrder[p1];
int p2num=this->meanShapePointsOrder[p2];
int p3num=this->meanShapePointsOrder[p3];
//cout<<"p1num: "<<p1num<<endl;
//cout<<"p2num: "<<p2num<<endl;
//cout<<"p3num: "<<p3num<<endl;
verticesSrc[0]=Point(points[2*p1num], points[2*p1num+1]);
verticesSrc[1]=Point(points[2*p2num], points[2*p2num+1]);
verticesSrc[2]=Point(points[2*p3num], points[2*p3num+1]);
//cout<<"dst: "<<verticesDst[0]<<" "<<verticesDst[1]<<" "<<verticesDst[2]<<endl;
//cout<<"src: "<<verticesSrc[0]<<" "<<verticesSrc[1]<<" "<<verticesSrc[2]<<endl;
Mat transformationMatrix=findTransformationMatrix(verticesSrc, verticesDst);
//cout<<"transformation matrix: "<<transformationMatrix<<endl;
warpAffine(image, warp_dst, transformationMatrix, warp_dst.size());
imshow("warped", warp_dst);
Point trianglePoints[3];
trianglePoints[0]=verticesDst[0];
trianglePoints[1]=verticesDst[1];
trianglePoints[2]=verticesDst[2];
fillConvexPoly(warp_mask, trianglePoints, 3, CV_RGB(255,255,255), CV_AA, 0 );
//imshow("warp mask", warp_mask);
warp_dst.copyTo(warp_final,warp_mask);
}
}
imshow("warp final", warp_final);
return warp_final;
}
void cameraSettings2d::on_calcPlane_released()
{
if(cConfig->zoneSelected){
doPlaneCalculation=true;
ui->processLabel->setText("RANSAC Plane Fitting...");
ui->Instructions->setText("Wait for the process to finish.");
cConfig->maskZona.setTo(cv::Scalar::all(0));
fillConvexPoly(cConfig->maskZona,cConfig->zone,4,cvScalar(255));
}
else{
ui->Instructions->setText("In order to do plane fit calculation \nyou must first select the valid zone.");
}
}
cv::Mat TextLine::drawDebugImage(cv::Mat baseImage) {
cv::Mat debugImage(baseImage.size(), baseImage.type());
baseImage.copyTo(debugImage);
cv::cvtColor(debugImage, debugImage, CV_GRAY2BGR);
fillConvexPoly(debugImage, linePolygon.data(), linePolygon.size(), Scalar(0,0,165));
fillConvexPoly(debugImage, textArea.data(), textArea.size(), Scalar(125,255,0));
line(debugImage, topLine.p1, topLine.p2, Scalar(255,0,0), 1);
line(debugImage, bottomLine.p1, bottomLine.p2, Scalar(255,0,0), 1);
line(debugImage, charBoxTop.p1, charBoxTop.p2, Scalar(0,125,125), 1);
line(debugImage, charBoxLeft.p1, charBoxLeft.p2, Scalar(0,125,125), 1);
line(debugImage, charBoxRight.p1, charBoxRight.p2, Scalar(0,125,125), 1);
line(debugImage, charBoxBottom.p1, charBoxBottom.p2, Scalar(0,125,125), 1);
return debugImage;
}
void findGoodCorners2(const Mat &grayFrame, const SoccerPitchData &data, Mat &currToKeyTrans, Mat &keyToTopTrans) {
Mat topToCurrTrans;
invert(keyToTopTrans * currToKeyTrans, topToCurrTrans);
vector<Point2f> imagePitchOuterContour;
perspectiveTransform(data.pitchOuterPoints, imagePitchOuterContour, topToCurrTrans);
vector<Point2f> hull;
convexHull(imagePitchOuterContour, hull);
Mat mask = Mat::zeros(frameSize, CV_8UC1);
fillConvexPoly(mask, vector<Point>(hull.begin(), hull.end()), Scalar(1, 0, 0));
dilate(mask, mask, getStructuringElement(MORPH_ELLIPSE, Size(3, 3)));
Mat bin;
adaptiveThreshold(grayFrame, bin, 255, ADAPTIVE_THRESH_MEAN_C , THRESH_BINARY, 5, -10);
vector<Point2f> candidateCorners;
goodFeaturesToTrack(bin, candidateCorners, 100, 0.01, 24, mask);
cornerSubPix(bin, candidateCorners, Size(5, 5), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS & CV_TERMCRIT_ITER, 40, 0.001));
vector<Point2f> goodPoints;
for (Point2f corner : candidateCorners) {
if (goodCornerCheck(corner, bin) && !closeToBoundary(corner))
goodPoints.push_back(corner);
}
if (goodPoints.size() > 0) {
vector<Point2f> reprojGoodPoints;
perspectiveTransform(goodPoints, reprojGoodPoints, keyToTopTrans * currToKeyTrans);
// try to add these new corners into the relocatedCorners
for (int i = 0; i < reprojGoodPoints.size(); i++) {
// if does not exists already and coincide with reproj of 28 points
bool exists = hasSimilarPoint(relocatedPitchPoints, reprojGoodPoints[i], 10) ;
int minId = findClosestPoint(data.pitchPoints, reprojGoodPoints[i]);
double minDist = norm(reprojGoodPoints[i] - data.pitchPoints[minId]);
if ((!exists ) && (minDist < 16) && (minDist < reprojErr[minId])) {
relocatedCorners.push_back(goodPoints[i]);
relocatedPitchPoints.push_back(data.pitchPoints[minId]);
reprojErr[minId] = minDist;
}
}
}
cout<<relocatedCorners.size()<<" points relocated"<<endl;
}
void fillconvex(Mat& image, Point2f* points, int count, Scalar color) {
Point2f* hull;
int size = convex_hull(points, count, &hull);
// apparently we have to convert Point2f array to integers ...
Point* hulli = new Point[size];
for (int i = 0; i < size; i++) {
hulli[i].x = (int) hull[i].x;
hulli[i].y = (int) hull[i].y;
}
free(hull);
fillConvexPoly(image, hulli, size, color, 1);
delete [] hulli;
}
Mat vehicle_det::get_mask(Mat & src)
{
//cout<<__PRETTY_FUNCTION__<<endl;
/* ROI by creating mask for the parallelogram */
Mat mask = Mat(src.rows, src.cols, CV_8UC1);
// Create black image with the same size as the original
for(int i = 0; i < mask.cols; i++)
for(int j = 0; j < mask.rows; j++)
{
mask.at<uchar>(Point(i, j)) = 0;
}
// Create Polygon from vertices
vector<Point> ROI_Poly;
approxPolyDP(ROI_Vertices, ROI_Poly, 1.0, true);
// Fill polygon white
fillConvexPoly(mask, &ROI_Poly[0], ROI_Poly.size(), 255, 8, 0);
// Cut out ROI and store it in imageDest
return mask;
}
CharacterSegmenter::CharacterSegmenter(Mat img, bool invertedColors, Config* config)
{
this->config = config;
this->confidence = 0;
if (this->config->debugCharSegmenter)
cout << "Starting CharacterSegmenter" << endl;
//CharacterRegion charRegion(img, debug);
timespec startTime;
getTime(&startTime);
Mat img_gray(img.size(), CV_8U);
cvtColor( img, img_gray, CV_BGR2GRAY );
//normalize(img_gray, img_gray, 0, 255, CV_MINMAX );
medianBlur(img_gray, img_gray, 3);
if (invertedColors)
bitwise_not(img_gray, img_gray);
charAnalysis = new CharacterAnalysis(img_gray, config);
charAnalysis->analyze();
if (this->config->debugCharSegmenter)
{
displayImage(config, "CharacterSegmenter Thresholds", drawImageDashboard(charAnalysis->thresholds, CV_8U, 3));
}
if (this->config->debugCharSegmenter)
{
Mat img_contours(charAnalysis->bestThreshold.size(), CV_8U);
charAnalysis->bestThreshold.copyTo(img_contours);
cvtColor(img_contours, img_contours, CV_GRAY2RGB);
vector<vector<Point> > allowedContours;
for (int i = 0; i < charAnalysis->bestContours.size(); i++)
{
if (charAnalysis->bestCharSegments[i])
allowedContours.push_back(charAnalysis->bestContours[i]);
}
drawContours(img_contours, charAnalysis->bestContours,
-1, // draw all contours
cv::Scalar(255,0,0), // in blue
1); // with a thickness of 1
drawContours(img_contours, allowedContours,
-1, // draw all contours
cv::Scalar(0,255,0), // in green
1); // with a thickness of 1
if (charAnalysis->linePolygon.size() > 0)
{
line(img_contours, charAnalysis->linePolygon[0], charAnalysis->linePolygon[1], Scalar(255, 0, 255), 1);
line(img_contours, charAnalysis->linePolygon[3], charAnalysis->linePolygon[2], Scalar(255, 0, 255), 1);
}
Mat bordered = addLabel(img_contours, "Best Contours");
imgDbgGeneral.push_back(bordered);
}
// Figure out the average character width
float totalCharWidth = 0;
float totalCharHeight = 0;
if (charAnalysis->linePolygon.size() > 0)
{
this->top = LineSegment(charAnalysis->linePolygon[0].x, charAnalysis->linePolygon[0].y, charAnalysis->linePolygon[1].x, charAnalysis->linePolygon[1].y);
this->bottom = LineSegment(charAnalysis->linePolygon[3].x, charAnalysis->linePolygon[3].y, charAnalysis->linePolygon[2].x, charAnalysis->linePolygon[2].y);
for (int i = 0; i < charAnalysis->bestContours.size(); i++)
{
if (charAnalysis->bestCharSegments[i] == false)
continue;
Rect mr = boundingRect(charAnalysis->bestContours[i]);
totalCharWidth += mr.width;
totalCharHeight += mr.height;
}
int numSamples = charAnalysis->bestCharSegmentsCount;
float avgCharWidth = totalCharWidth / numSamples;
float avgCharHeight = totalCharHeight / numSamples;
removeSmallContours(charAnalysis->thresholds, charAnalysis->allContours, avgCharWidth, avgCharHeight);
// Do the histogram analysis to figure out char regions
timespec startTime;
getTime(&startTime);
vector<Mat> allHistograms;
vector<Rect> allBoxes;
for (int i = 0; i < charAnalysis->allContours.size(); i++)
{
Mat histogramMask = Mat::zeros(charAnalysis->thresholds[i].size(), CV_8U);
fillConvexPoly(histogramMask, charAnalysis->linePolygon.data(), charAnalysis->linePolygon.size(), Scalar(255,255,255));
VerticalHistogram vertHistogram(charAnalysis->thresholds[i], histogramMask);
if (this->config->debugCharSegmenter)
{
Mat histoCopy(vertHistogram.debugImg.size(), vertHistogram.debugImg.type());
//vertHistogram.copyTo(histoCopy);
cvtColor(vertHistogram.debugImg, histoCopy, CV_GRAY2RGB);
allHistograms.push_back(histoCopy);
}
//
float score = 0;
vector<Rect> charBoxes = getHistogramBoxes(vertHistogram.debugImg, avgCharWidth, avgCharHeight, &score);
if (this->config->debugCharSegmenter)
{
for (int cboxIdx = 0; cboxIdx < charBoxes.size(); cboxIdx++)
{
rectangle(allHistograms[i], charBoxes[cboxIdx], Scalar(0, 255, 0));
}
Mat histDashboard = drawImageDashboard(allHistograms, allHistograms[0].type(), 3);
displayImage(config, "Char seg histograms", histDashboard);
}
for (int z = 0; z < charBoxes.size(); z++)
allBoxes.push_back(charBoxes[z]);
//drawAndWait(&histogramMask);
}
float biggestCharWidth = avgCharWidth;
// Compute largest char width
for (int i = 0; i < allBoxes.size(); i++)
{
if (allBoxes[i].width > biggestCharWidth)
biggestCharWidth = allBoxes[i].width;
}
if (config->debugTiming)
{
timespec endTime;
getTime(&endTime);
cout << " -- Character Segmentation Create and Score Histograms Time: " << diffclock(startTime, endTime) << "ms." << endl;
}
//ColorFilter colorFilter(img, charAnalysis->getCharacterMask());
vector<Rect> candidateBoxes = getBestCharBoxes(charAnalysis->thresholds[0], allBoxes, biggestCharWidth);
if (this->config->debugCharSegmenter)
{
// Setup the dashboard images to show the cleaning filters
for (int i = 0; i < charAnalysis->thresholds.size(); i++)
{
Mat cleanImg = Mat::zeros(charAnalysis->thresholds[i].size(), charAnalysis->thresholds[i].type());
Mat boxMask = getCharBoxMask(charAnalysis->thresholds[i], candidateBoxes);
charAnalysis->thresholds[i].copyTo(cleanImg);
bitwise_and(cleanImg, boxMask, cleanImg);
cvtColor(cleanImg, cleanImg, CV_GRAY2BGR);
for (int c = 0; c < candidateBoxes.size(); c++)
rectangle(cleanImg, candidateBoxes[c], Scalar(0, 255, 0), 1);
imgDbgCleanStages.push_back(cleanImg);
}
}
getTime(&startTime);
filterEdgeBoxes(charAnalysis->thresholds, candidateBoxes, biggestCharWidth, avgCharHeight);
candidateBoxes = filterMostlyEmptyBoxes(charAnalysis->thresholds, candidateBoxes);
candidateBoxes = combineCloseBoxes(candidateBoxes, biggestCharWidth);
cleanCharRegions(charAnalysis->thresholds, candidateBoxes);
cleanMostlyFullBoxes(charAnalysis->thresholds, candidateBoxes);
//cleanBasedOnColor(thresholds, colorFilter.colorMask, candidateBoxes);
candidateBoxes = filterMostlyEmptyBoxes(charAnalysis->thresholds, candidateBoxes);
this->characters = candidateBoxes;
if (config->debugTiming)
{
timespec endTime;
getTime(&endTime);
cout << " -- Character Segmentation Box cleaning/filtering Time: " << diffclock(startTime, endTime) << "ms." << endl;
}
if (this->config->debugCharSegmenter)
{
Mat imgDash = drawImageDashboard(charAnalysis->thresholds, CV_8U, 3);
displayImage(config, "Segmentation after cleaning", imgDash);
Mat generalDash = drawImageDashboard(this->imgDbgGeneral, this->imgDbgGeneral[0].type(), 2);
displayImage(config, "Segmentation General", generalDash);
Mat cleanImgDash = drawImageDashboard(this->imgDbgCleanStages, this->imgDbgCleanStages[0].type(), 3);
displayImage(config, "Segmentation Clean Filters", cleanImgDash);
}
}
if (config->debugTiming)
{
timespec endTime;
getTime(&endTime);
cout << "Character Segmenter Time: " << diffclock(startTime, endTime) << "ms." << endl;
}
}
void cameraSettings2d::hacerUpdate(){
///ACA UPDATE DE TODO LO QUE SE NECESITA
camUpdate();
if(isUpdated){
if(zoneSelection){
if(numSelectedPoints<4){
if(ui->glImage->isNewClick){
cConfig->zone[numSelectedPoints].x=ui->glImage->lastPos.x()*640/ui->glImage->width();
cConfig->zone[numSelectedPoints].y=ui->glImage->lastPos.y()*480/ui->glImage->height();
//cout << cConfig->zone[numSelectedPoints].x << "," << cConfig->zone[numSelectedPoints].y << endl;
numSelectedPoints++;
ui->glImage->isNewClick=false;
ui->progressBar->setValue(numSelectedPoints*25);
}
}
else{
numSelectedPoints=0;
zoneSelection=false;
cConfig->zoneSelected=true;
ui->processLabel->setText("Idle process");
ui->progressBar->setValue(0);
ui->Instructions->setText("Nothing to do...");
cConfig->maskZona.setTo(cv::Scalar::all(0));
fillConvexPoly(cConfig->maskZona,cConfig->zone,4,cvScalar(255));
Mat temp=cConfig->maskBack & cConfig->maskZona;
ui->imgMaskBack->updateImage(false,temp);
ui->imgMaskPlane->updateImage(false,cConfig->maskZona);
}
}
if(mixImagesToColor()){
if(BackCalibration){
if(!cConfig->BM->proc(cConfig->variance,depthsS[nC],masks[nC],cConfig->Background,cConfig->maskBack)){
ui->progressBar->setValue(((float)cConfig->BM->nback/(cConfig->BM->total+1))*100);
}
else{
BackCalibration=false;
ui->processLabel->setText("Idle process");
ui->progressBar->setValue(0);
ui->Instructions->setText("Nothing to do...");
Mat temp0,temp1;
cConfig->Background.convertTo(temp0,CV_8UC1,255);
if(cConfig->zoneSelected)
temp1=cConfig->maskBack & cConfig->maskZona;
else
temp1=cConfig->maskBack;
ui->imgBack->updateImage(false,temp0);
ui->imgMaskBack->updateImage(false,temp1);
}
}
if(zoneSelection){
for(int cir=0;cir<numSelectedPoints;cir++)
circle(mixs[nC],cConfig->zone[cir],10,Scalar(0,0,255),-1);
}
else if(cConfig->zoneSelected){
int *num=new int[1];
num[0]=4;
const Point* ptt[1] = { cConfig->zone };
polylines(mixs[nC],ptt,num,1,1,cvScalar(255),2);
delete num;
}
if(doPlaneCalculation){
cam->retrivePointCloud(nC,depths[nC],pCs[nC]);
cConfig->VP->calcPlanoPC(pCs[nC],cConfig->maskZona,masks[nC],ui->progressBar);
doPlaneCalculation=false;
ui->processLabel->setText("Idle process");
ui->progressBar->setValue(0);
ui->Instructions->setText("Nothing to do...");
}
ui->glImage->updateImage(true,mixs[nC]);
if(cConfig->method=="Background"){
sktP->processImage(depthsS[nC],toBlobs,masks[nC]);
}
else{
cam->retrivePointCloud(nC,depths[nC],pCs[nC]);
sktP->processImage(pCs[nC],toBlobs,masks[nC]);
}
ui->glBlobs->updateImage(false,toBlobs);
}
if(refiningMask){
if(cConfig->method=="Background"){
cConfig->maskBack=(cConfig->maskBack==255) & (toBlobs==0);
cConfig->maskZona=(cConfig->maskZona==255) & (toBlobs==0);
ui->imgMaskBack->updateImage(false,cConfig->maskBack);
}
else{
cConfig->maskZona=(cConfig->maskZona==255) & (toBlobs==0);
ui->imgMaskPlane->updateImage(false,cConfig->maskZona);
}
}
}
////////////////////Procesamiento
isUpdated=false;
}
void Target::findLaser(Mat imgInput, Mat *imgOutput)
{
Mat hsv_img, binary, cont, imgCopy;
imgCopy = imgInput;
cvtColor(imgCopy, hsv_img, CV_BGR2HSV);
Mat imgThresholded;
int iLowH = colorRatio[0];
int iHighH = colorRatio[1];
int iLowS = colorRatio[2];
int iHighS = colorRatio[3];
int iLowV = colorRatio[4];
int iHighV = colorRatio[5];
inRange(hsv_img, Scalar(iLowH, iLowS, iLowV), Scalar(iHighH, iHighS, iHighV), imgThresholded); //Threshold the image
//morphological opening (remove small objects from the foreground)
erode(imgThresholded, imgThresholded, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)));
dilate(imgThresholded, imgThresholded, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)));
//morphological closing (fill small holes in the foreground)
dilate(imgThresholded, imgThresholded, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)));
erode(imgThresholded, imgThresholded, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)));
binary = imgThresholded;
vector<vector<Point>> contours;
vector<Point> contours_poly;
Rect boundRect;
binary.copyTo(cont);
findContours(cont, contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
int max = 0, i_cont = -1;
Mat drawing = Mat::zeros(cont.size(), CV_8UC3);
for (int i = 0; i< contours.size(); i++)
{
if (abs(contourArea(Mat(contours[i]))) > max)
{
max = abs(contourArea(Mat(contours[i])));
i_cont = i;
}
}
if (i_cont >= 0)
{
approxPolyDP(Mat(contours[i_cont]), contours_poly, 3, true);
boundRect = boundingRect(Mat(contours_poly));
fillConvexPoly(imgCopy, contours_poly, contours_poly.size());
rectangle(imgCopy, boundRect.tl(), boundRect.br(), Scalar(125, 250, 125), 2, 8, 0);
line(imgCopy, boundRect.tl(), boundRect.br(), Scalar(250, 125, 125), 2, 8, 0);
line(imgCopy, Point(boundRect.x + boundRect.width, boundRect.y), Point(boundRect.x, boundRect.y + boundRect.height), Scalar(250, 125, 125), 2, 8, 0);
string s;
stringstream out;
out << boundRect.x + boundRect.width / 2 << "x" << boundRect.y + boundRect.height / 2;
Point contour_center;
contour_center.x = boundRect.x + boundRect.width / 2;
contour_center.y = boundRect.y + boundRect.height / 2;
*laser = contour_center;
s = out.str();
putText(imgCopy, s, Point(50, 50), CV_FONT_HERSHEY_COMPLEX, 1, Scalar(20, 40, 80), 3, 8);
drawContours(drawing, contours, i_cont, Scalar(125, 125, 250), 2);
}
*imgOutput = imgCopy;
//imshow("kolory", binary);
}
void FindContour::singleCellDetection(const Mat &img, vector<Point> &cir_org,
Mat &dispImg1, Mat &dispImg2,
int &area, int &perimeter,
Point2f &ctroid, float &shape,
Mat &cell_alpha, // only the area inside cell (without background)
vector<Point> &smooth_contour_curve, // relative position (without counting rect.x and rect.y)
vector<Point> &smooth_contour_curve_abs, // absolut position
Mat &blebsImg,
Rect &rectangle,
//vector<int> &blebs,
int &frameNum)
{
frame = &img;
vector<Point> cir; //***global coordinates of circle***
//cout << "[";
for(unsigned int i = 0; i < cir_org.size(); i++){
cir.push_back(Point(cir_org[i].x / scale, cir_org[i].y / scale));
//cout << int(cir_org[i].x / scale) << ", " << int(cir_org[i].y / scale) << "; ";
}
//cout << "]" << endl;
//enlarge the bounding rect by adding a margin (e) to it
rect = enlargeRect(boundingRect(Mat(cir)), 5, img.cols, img.rows);
//cout << "rect_roi " << boundingRect(Mat(cir)) << "\n";
//cout << "enlarged rect " << rect << endl;
dispImg1 = (*frame)(rect).clone();
Mat sub; //*** the rectangle region of ROI (Gray) ***
cv::cvtColor(dispImg1, sub, CV_RGB2GRAY);
int width = sub.cols;
int height = sub.rows;
rectangle = rect;
// Mat canny;
// CannyWithBlur(sub, canny);
// imshow("canny", canny);
vector<Point> circle_ROI; //***local coordinates of circle***
for (unsigned int i = 0; i < cir.size(); i++){
Point p = Point(cir[i].x - rect.x, cir[i].y - rect.y);
circle_ROI.push_back(p);
}
Mat adapThreshImg1 = Mat::zeros(height, width, sub.type());
//image edge detection for the sub region (roi rect)
adaptiveThreshold(sub, adapThreshImg1, 255.0, ADAPTIVE_THRESH_GAUSSIAN_C,
CV_THRESH_BINARY_INV, blockSize, constValue);
//imshow("adapThreshImg1", adapThreshImg1);
// dilation and erosion
Mat dilerod;
dilErod(adapThreshImg1, dilerod, dilSize);
//display image 2 -- dilerod of adaptive threshold image
GaussianBlur(dilerod, dilerod, Size(3, 3), 2, 2 );
//mask for filtering out the cell of interest
Mat mask_conv = Mat::zeros(height, width, CV_8UC1);
fillConvexPoly(mask_conv, circle_ROI, Scalar(255));
//imshow("mask_before", mask_conv);
//dilate the mask -> region grows
Mat mask_conv_dil;
Mat element = getStructuringElement( MORPH_ELLIPSE,
Size( 2*dilSize+1, 2*dilSize+1 ),
Point(dilSize,dilSize) );
dilate(mask_conv, mask_conv_dil, element);
//imshow("mask_dil", mask_conv_dil);
//bitwise AND on mask and dilerod
bitwise_and(mask_conv_dil, dilerod, dispImg2);
// findcontours
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
unsigned int largest_contour_index;
dilErodContours(dispImg2, contours, hierarchy, largest_contour_index, perimeter, dispImg1);
// find the area of the cell by counting the white area inside the largest contour
Mat cellArea = Mat::zeros(height, width, CV_8UC1);
drawContours(cellArea, contours, largest_contour_index, Scalar(255), -1, 8, hierarchy, 0, Point() );
//imshow("cellArea", cellArea);
area = countNonZero(cellArea);
//cout << "frame " << frameNum << "\n";
//cout << contours[largest_contour_index] << endl;
//renew circle points as the convex hull
vector<Point> convHull;
convexHull(contours[largest_contour_index], convHull);
// find the centroid of the contour
Moments mu = moments(contours[largest_contour_index]);
ctroid = Point2f(mu.m10/mu.m00 + rect.x, mu.m01/mu.m00 + rect.y);
// find the shape of the cell by the largest contour and centroid
shape = findShape(ctroid, contours[largest_contour_index]);
////---- draw largest contour start ----
//draw the largest contour
Mat borderImg = Mat::zeros(height, width, CV_8UC1);
drawContours(borderImg, contours, largest_contour_index, Scalar(255), 1, 8, hierarchy, 0, Point());
//QString cellFileName0 = "border" + QString::number(frameNum) + ".png";
//imwrite(cellFileName0.toStdString(), borderImg);
Mat cell;
bitwise_and(cellArea, sub, cell);
//cell_alpha = createAlphaMat(cell); // cell image with exactly the contour detected
//vector<int> compression_params;
//compression_params.push_back(CV_IMWRITE_PNG_COMPRESSION);
//compression_params.push_back(9);
// QString cellFileName1 = "cell" + QString::number(frameNum) + ".png";
// imwrite(cellFileName1.toStdString(), cell_alpha, compression_params);
////---- draw largest contour end ----
// find the number and the sizes of blebs of the cell
Mat smooth;
vector<Point> smoothCurve;
int WIN = 25;
smooth = curveSmooth(borderImg, WIN, contours[largest_contour_index], smoothCurve, convHull);
//smooth = curveSmooth(borderImg, WIN, contours[largest_contour_index], smoothCurve, ctroid/*Point(ctroid.x, ctroid.y)*/);
//drawPointVectors(dispImg1, smoothCurve, 1, Scalar(159, 120, 28));
Mat smooth_contour;
int w = 10;
smooth_contour = curveSmooth(borderImg, w, contours[largest_contour_index], smooth_contour_curve, convHull);
//smooth_contour = curveSmooth(borderImg, w, contours[largest_contour_index], smooth_contour_curve, ctroid/*Point(ctroid.x, ctroid.y)*/);
//imshow("smooth_contour", smooth_contour);
for(unsigned int i = 0; i < smooth_contour_curve.size(); i++){
Point p(smooth_contour_curve[i].x + rect.x, smooth_contour_curve[i].y + rect.y);
smooth_contour_curve_abs.push_back(p);
}
// cout << "ctroid X " << ctroid.x << " Y " << ctroid.y << endl;
//// for(unsigned int i = 0; i < contours[largest_contour_index].size(); i++)
//// cout << "(" << contours[largest_contour_index][i].x + rect.x << ", " << contours[largest_contour_index][i].y + rect.y << ") ";
//// cout << endl;
// for(unsigned int i = 0; i < smooth_contour_curve_abs.size(); i++)
// cout << "(" << smooth_contour_curve_abs[i].x << ", " << smooth_contour_curve_abs[i].y << ") ";
// cout << endl;
//cout << mask_conv_dil.type() << " " << sub.type() << endl;
Mat cell_convex;
bitwise_and(smooth_contour, sub, cell_convex);
cell_alpha = createAlphaMat(cell_convex);
// imshow("cell_convex_contour", cell_alpha);
dispImg2 = cell_convex.clone();
//change dispImg2 from gray to rgb for displaying
cvtColor(dispImg2, dispImg2, CV_GRAY2RGB);
bitwise_not(smooth, smooth);
//Mat blebsImg;
bitwise_and(smooth, cellArea, blebsImg);
// imshow("blebs", blebsImg);
// QString cellFileName2 = "blebs" + QString::number(frameNum) + ".png";
// imwrite(cellFileName2.toStdString(), blebs);
//QString cellFileName2 = "dispImg1" + QString::number(frameNum) + ".png";
//imwrite(cellFileName2.toStdString(), dispImg1);
cir_org.clear();
for(unsigned int i = 0; i < convHull.size(); i++)
cir_org.push_back(Point((convHull[i].x + rect.x)*scale, (convHull[i].y + rect.y)*scale));
}
// get ROI + edgeDectection
void FindContour::cellDetection(const Mat &img, vector<Point> &cir_org,
Mat &dispImg1, Mat &dispImg2,
vector<Point2f> &points1, vector<Point2f> &points2,
int &area,
int &perimeter,
Point2f &ctroid,
float &shape,
// vector<int> &blebs,
int &frameNum){
frame = &img;
//rect = boundingRect(Mat(cir));
Mat frameGray;
cv::cvtColor(*frame, frameGray, CV_RGB2GRAY);
/*
QString cellFileName0 = "frame" + QString::number(frameNum) + ".png";
imwrite(cellFileName0.toStdString(), frameGray);*/
vector<Point> cir; //***global coordinates of circle***
for(unsigned int i = 0; i < cir_org.size(); i++){
cir.push_back(Point(cir_org[i].x / scale, cir_org[i].y / scale));
}
//cout << "original circle: " << cir_org << "\n" << " scaled circle: " << cir << endl;
//enlarge the bounding rect by adding a margin (e) to it
rect = enlargeRect(boundingRect(Mat(cir)), 5, img.cols, img.rows);
//global circle mask
Mat mask_cir_org = Mat::zeros(frame->size(), CV_8UC1);
fillConvexPoly(mask_cir_org, cir, Scalar(255));
// flow points
vector<unsigned int> cell_pts_global;
vector<Point2f> longOptflow_pt1, longOptflow_pt2;
Point2f avrg_vec = Point2f(0,0);
for(unsigned int i = 0; i < points1.size(); i++){
Point p1 = Point(points1[i].x, points1[i].y);
Point p2 = Point(points2[i].x, points2[i].y);
if(mask_cir_org.at<uchar>(p1.y,p1.x) == 255 ){
cell_pts_global.push_back(i);
if(dist_square(p1, p2) > 2.0){
longOptflow_pt1.push_back(Point2f(p1.x, p1.y));
longOptflow_pt2.push_back(Point2f(p2.x, p2.y));
avrg_vec.x += (p2.x-p1.x);
avrg_vec.y += (p2.y-p1.y);
}
}
}
// if(longOptflow_pt1.size()!= 0){
// avrg_vec.x = avrg_vec.x / longOptflow_pt1.size();
// avrg_vec.y = avrg_vec.y / longOptflow_pt1.size();
// }
Rect trans_rect = translateRect(rect, avrg_vec);
// ***
// if (the homography is a good one) use the homography to update the rectangle
// otherwise use the same rectangle
// ***
if (longOptflow_pt1.size() >= 4){
Mat H = findHomography(Mat(longOptflow_pt1), Mat(longOptflow_pt2), CV_RANSAC, 2);
//cout << "H: " << H << endl;
if(determinant(H) >= 0){
vector<Point> rect_corners;
rect_corners.push_back(Point(rect.x, rect.y));
rect_corners.push_back(Point(rect.x+rect.width, rect.y));
rect_corners.push_back(Point(rect.x, rect.y+rect.height));
rect_corners.push_back(Point(rect.x+rect.width, rect.y+rect.height));
vector<Point> rect_update_corners = pointTransform(rect_corners, H);
trans_rect = boundingRect(rect_update_corners);
}
}
rectangle(frameGray, trans_rect, Scalar(255), 2);
imshow("frameGray", frameGray);
dispImg1 = (*frame)(rect).clone();
//dispImg2 = Mat(dispImg1.rows, dispImg1.cols, CV_8UC3);
Mat sub; //*** the rectangle region of ROI (Gray) ***
cv::cvtColor(dispImg1, sub, CV_RGB2GRAY);
int width = sub.cols;
int height = sub.rows;
vector<Point> circle_ROI; //***local coordinates of circle***
for (unsigned int i = 0; i < cir.size(); i++){
Point p = Point(cir[i].x - rect.x, cir[i].y - rect.y);
circle_ROI.push_back(p);
}
Mat adapThreshImg1 = Mat::zeros(height, width, sub.type());
//image edge detection for the sub region (roi rect)
adaptiveThreshold(sub, adapThreshImg1, 255.0, ADAPTIVE_THRESH_GAUSSIAN_C,
CV_THRESH_BINARY_INV, blockSize, constValue);
//imshow("adapThreshImg1", adapThreshImg1);
// dilation and erosion
Mat dilerod;
dilErod(adapThreshImg1, dilerod, dilSize);
//display image 2 -- dilerod of adaptive threshold image
GaussianBlur(dilerod, dilerod, Size(3, 3), 2, 2 );
//mask for filtering out the cell of interest
Mat mask_conv = Mat::zeros(height, width, CV_8UC1);
fillConvexPoly(mask_conv, circle_ROI, Scalar(255));
//imshow("mask_before", mask_conv);
//dilate the mask -> region grows
Mat mask_conv_dil;
Mat element = getStructuringElement( MORPH_ELLIPSE, Size( 2*2+2, 2*2+1 ), Point(2,2) );
dilate(mask_conv, mask_conv_dil, element);
//imshow("mask_dil", mask_conv_dil);
/*
Mat mask_conv_ero;
erode(mask_conv, mask_conv_ero, element);
Mat ring_dil, ring_ero;
bitwise_xor(mask_conv, mask_conv_dil, ring_dil);
bitwise_xor(mask_conv, mask_conv_ero, ring_ero);
Mat ring;
bitwise_or(ring_dil, ring_ero, ring);
imshow("ring", ring);
vector<unsigned int> opt_onRing_index;
// use optflow info set rectangle
for(unsigned int i = 0; i < points2.size(); i++){
Point p2 = Point(points2[i].x, points2[i].y);
Point p1 = Point(points1[i].x, points1[i].y);
if(ring.at<uchar>(p1.y,p1.x) != 255 &&
ring.at<uchar>(p2.y,p2.x) != 255)
continue;
else{
opt_onRing_index.push_back(i);
}
}*/
/*
// draw the optflow on dispImg1
unsigned int size = opt_inside_cl_index.size();
for(unsigned int i = 0; i < size; i++ ){
Point p0( ceil( points1[i].x - rect.x ), ceil( points1[i].y - rect.y ) );
Point p1( ceil( points2[i].x - rect.x ), ceil( points2[i].y - rect.y) );
//std::cout << "(" << p0.x << "," << p0.y << ")" << "\n";
//std::cout << "(" << p1.x << "," << p1.y << ")" << std::endl;
//draw lines to visualize the flow
double angle = atan2((double) p0.y - p1.y, (double) p0.x - p1.x);
double arrowLen = 0.01 * (double) (width);
line(dispImg1, p0, p1, CV_RGB(255,255,255), 1 );
Point p;
p.x = (int) (p1.x + arrowLen * cos(angle + 3.14/4));
p.y = (int) (p1.y + arrowLen * sin(angle + 3.14/4));
line(dispImg1, p, p1, CV_RGB(255,255,255), 1 );
p.x = (int) (p1.x + arrowLen * cos(angle - 3.14/4));
p.y = (int) (p1.y + arrowLen * sin(angle - 3.14/4));
line(dispImg1, p, Point(2*p1.x - p0.x, 2*p1.y - p0.y), CV_RGB(255,255,255), 1 );
//line(dispImg1, p, p1, CV_RGB(255,255,255), 1 );
}*/
/*
//stop growing when meeting with canny edges that outside the circle
Mat canny;
CannyWithBlur(sub, canny);
Mat cannyColor;
cvtColor(canny, cannyColor, CV_GRAY2RGB);
imwrite("canny.png", canny);
vector<Point> outsideCircle;
vector<Point> onRing;
for(int j = 0; j < height; j++){
for(int i = 0; i < width; i++){
if(canny.at<uchar>(j,i) != 0 && mask_conv.at<uchar>(j,i) == 0){
cannyColor.data[cannyColor.channels()*(cannyColor.cols*j + i)+0] = 81;
cannyColor.data[cannyColor.channels()*(cannyColor.cols*j + i)+1] = 172;
cannyColor.data[cannyColor.channels()*(cannyColor.cols*j + i)+2] = 251;
outsideCircle.push_back(Point(i, j));
if(ring.at<uchar>(j,i) != 0){
cannyColor.data[cannyColor.channels()*(cannyColor.cols*j + i)+0] = 255;
cannyColor.data[cannyColor.channels()*(cannyColor.cols*j + i)+1] = 255;
cannyColor.data[cannyColor.channels()*(cannyColor.cols*j + i)+2] = 0;
onRing.push_back(Point(i,j));
}
}
}
} */
// QString cannyFileName = "canny" + QString::number(frameNum) + ".png";
// imwrite(cannyFileName.toStdString(), cannyColor);
//bitwise AND on mask and dilerod
bitwise_and(mask_conv/*_dil*/, dilerod, dispImg2);
// findcontours
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
unsigned int largest_contour_index;
dilErodContours(dispImg2, contours, hierarchy, largest_contour_index, perimeter, dispImg1);
// find the area of the cell by counting the white area inside the largest contour
Mat cellArea = Mat::zeros(height, width, CV_8UC1);
drawContours(cellArea, contours, largest_contour_index, Scalar(255), -1, 8, hierarchy, 0, Point() );
//imshow("cell", cell);
area = countNonZero(cellArea);
//cout << "frame " << frameNum << "\n";
//cout << contours[largest_contour_index] << endl;
//change dispImg2 from gray to rgb for displaying
cvtColor(dispImg2, dispImg2, CV_GRAY2RGB);
//renew circle points as the convex hull
vector<Point> convHull;
convexHull(contours[largest_contour_index], convHull);
// find the centroid of the contour
Moments mu = moments(contours[largest_contour_index]);
ctroid = Point2f(mu.m10/mu.m00 + rect.x, mu.m01/mu.m00 + rect.y);
// find the shape of the cell by the largest contour and centroid
shape = findShape(ctroid, contours[largest_contour_index]);
////---- draw largest contour start ----
//draw the largest contour
Mat borderImg = Mat::zeros(height, width, CV_8UC1);
drawContours(borderImg, contours, largest_contour_index, Scalar(255), 1, 8, hierarchy, 0, Point());
//QString cellFileName0 = "border" + QString::number(frameNum) + ".png";
//imwrite(cellFileName0.toStdString(), borderImg);
////---- draw largest contour end ----
// find the number and the sizes of blebs of the cell
Mat smooth;
vector<Point> smoothCurve;
int WIN = 25;
vector< vector<Point> > tmp;
smooth = curveSmooth(borderImg, WIN, contours[largest_contour_index], smoothCurve, convHull/*ctroid*/);
tmp.push_back(smoothCurve);
drawContours(dispImg1, tmp, 0, Scalar(255, 0, 0));
bitwise_not(smooth, smooth);
Mat blebsImg;
bitwise_and(smooth, cellArea, blebsImg);
//imshow("blebs", blebs);
//QString cellFileName2 = "blebs" + QString::number(frameNum) + ".png";
//imwrite(cellFileName2.toStdString(), blebs);
// vector<Point> blebCtrs;
// recursive_connected_components(blebsImg, blebs, blebCtrs);
// for(unsigned int i = 0; i < blebCtrs.size(); i++){
// circle(dispImg1, blebCtrs[i], 2, Scalar(255, 255, 0));
// }
cir_org.clear();
for(unsigned int i = 0; i < convHull.size(); i++)
cir_org.push_back(Point((convHull[i].x + rect.x)*scale, (convHull[i].y + rect.y)*scale));
}
Mat FindContour::curveSmooth(Mat &contourImg,
int WIN, // half window size for laplacian smoothing
vector<Point> &border,
vector<Point> &smooth,
/*Point cntoid*/vector<Point> &convHull )
{
// if(contourImg.type() != CV_8UC1){
// cvtColor( contourImg, contourImg, CV_BGR2GRAY );
// }
double width = contourImg.cols;
double height = contourImg.rows;
Moments mu = moments(convHull);
// Moments mu = moments(border);
Point cntoid = Point2f(mu.m10/mu.m00/* + rect.x*/, mu.m01/mu.m00/* +rect.y*/);
double d_min = max(width, height)*max(width, height);
vector<polarPoint> border_polar;
for (unsigned int n = 0; n < border.size(); n++)
{
//find the polar coordinates of the border;
border_polar.push_back(cartesianToPolar(cntoid, border[n]));
//find the nearest point to the center on the border
double d = dist(cntoid, border[n]);
if(d < d_min){
d_min = d;
}
}
d_min = sqrt(d_min);
// sort border_polar by theta
sort(border_polar.begin(), border_polar.end(), sortByTheta);
// Laplacian smoothing
unsigned int border_size = border_polar.size();
for(unsigned int n = 0; n < border_size; n++){
//cout << border_polar[n].r << " " << border_polar[n].theta << " ";
double avg = 0;
for(int w = -WIN; w < WIN; w++){
unsigned int pos = std::fabs((w+n+border_size)%border_size);
//cout << " pos " << pos << " ";
avg += border_polar[pos].r;
}
avg = avg/WIN/2;
polarPoint polar;
polar.r = avg;
polar.theta = border_polar[n].theta;
//cout << polar.r << " " << polar.theta << " ";
Point p = polarToCartesian(cntoid, polar);
//circle(color, p, 1, Scalar(255, 255, 0));
smooth.push_back(p);
//cout << p.x << " " << p.y << "\n";
}
Mat smoothCircle = Mat::zeros(height, width, CV_8UC1);
fillConvexPoly(smoothCircle, smooth, Scalar(255));
// fillPoly(smoothCircle, smooth, Scalar(255));
//imshow("smoothCircle", smoothCircle);
return smoothCircle;
}
void ModalityConvex::update(Image& image, PatchSet* patchSet, Rect bounds) {
Ptr<PatchSet> patches = Ptr<PatchSet>(reliablePatchesFilter.empty() ? patchSet : patchSet->filter(*reliablePatchesFilter));
if (patches->size() < 3) {
//flush();
return;
}
Mat temp = image.get_float_mask();
temp.setTo(0);
if (history.empty()) {
history.create(image.height(), image.width(), CV_32F);
history.setTo(0);
}
Point2f* points = new Point2f[patches->size()];
Point2f* hull = NULL;
Point2f offset = Point2f(image.width() / 2, image.height() / 2) - patchSet->mean_position();
Point2f mean(0, 0);
for (int i = 0; i < patches->size(); i++) {
points[i] = patches->get_position(i) + offset;
}
int size = convex_hull(points, patches->size(), &hull);
for (int i = 0; i < size; i++) {
mean.x += hull[i].x;
mean.y += hull[i].y;
}
mean.x /= size;
mean.y /= size;
Point* hulli = new Point[size];
Point* hullei = new Point[size];
for (int i = 0; i < size; i++) {
hulli[i].x = (int) hull[i].x;
hulli[i].y = (int) hull[i].y;
}
expand(hull, size, mean, margin);
for (int i = 0; i < size; i++) {
hullei[i].x = (int) hull[i].x;
hullei[i].y = (int) hull[i].y;
}
fillConvexPoly(temp, hullei, size, Scalar(1 - margin_diminish));
fillConvexPoly(temp, hulli, size, Scalar(1));
delete [] points;
free(hull);
delete [] hulli;
delete [] hullei;
history = history * persistence + temp * (1.0f - persistence);
}
void pxsnsr(vector<vector<Point>> &contours, Mat &Seg_img_red, Mat &Seg_img_blue)
{
Rect *r = new Rect[contours.size()]; // 定义外接矩形数组
Mat obj_rec_thr = Mat::zeros(Seg_img_red.size(), CV_8UC3);
for (unsigned int i = 0; i < contours.size(); i++)
{
r[i] = boundingRect(Mat(contours[i]));// boundingRect获取这个外接矩形
}
/// 绘出轮廓及其凸包
Mat Seg_img_blue_hull(Seg_img_blue.size(), CV_8U, Scalar(0));
vector<vector<Point> >hull(contours.size());
for (unsigned int i = 0; i< contours.size(); i++)
{
convexHull(Mat(contours[i]), hull[i], false);
fillConvexPoly(Seg_img_blue_hull, &hull[i][0], hull[i].size(), Scalar(1));
}
erode(Seg_img_blue_hull, Seg_img_blue_hull, Mat(), Point(-1, -1), dilate_size); // 对图像进行之前的膨胀恢复
Seg_img_blue_hull.convertTo(Seg_img_blue_hull, CV_32F);
imshow("Seg_img_blue _hull", Seg_img_blue_hull);
double Evaluation = 0; // 对潜在目标的打分值初始化
double Evaluation_max = 0; // 对潜在目标的打分最大值初始化
int index_best = -1; // 最优轮廓标记 <注意此处初始值应为-1>
int index = 0; // 轮廓标记
cout << contours.size() << endl;
vector<vector<Point>>::const_iterator itContours = contours.begin();
//for (; itContours != contours.end(); ++itContours)
while (itContours != contours.end())
{
Mat imageROI_red = Seg_img_red(cv::Rect(r[index].x, r[index].y, r[index].width, r[index].height));
Mat imageROI_blue = Seg_img_blue_hull(cv::Rect(r[index].x, r[index].y, r[index].width, r[index].height));
Mat imageROI_red_blue = imageROI_red + imageROI_blue;
threshold(imageROI_red_blue, imageROI_red_blue, 1, 1, THRESH_BINARY); // 进行阈值分割（大于阈值1等于2时候取 1）
Scalar s1 = sum(imageROI_red_blue);
Scalar s2 = sum(imageROI_blue);
double sum_red = s1.val[0]; // 获取图像块包含在蓝色中的红色像素数量
double sum_blue = s2.val[0]; // 获取图像块中蓝色像素数量
double pixel_sum_rate = rate(sum_red, sum_blue); // 计算图像块中红蓝像素的比例
cout << "sum_red:" << sum_red << "\t" << "," << "sum_blue:" << sum_blue << "\t";
cout << "pixel_sum_rate:" << pixel_sum_rate << endl;
// 将红蓝像素比太低的连通域轮廓删除
if ((pixel_sum_rate < threshold_value_pixel_rate) || (sum_red < 12)) // 如当前轮廓不含一定的红色像素
{
itContours = contours.erase(itContours); // 删除当前轮廓 <特别注意：删除当前轮廓后迭代器自动指向后一个>
index++;
continue;
}
else // 如当前轮廓含一定的红色像素
{
int aaa = contours.size(); // 用于设置条件断点
Evaluation = sum_red; // 目标轮廓简单评价值定义
if (Evaluation > Evaluation_max)
{
Evaluation_max = Evaluation;
index_best++;
cout << "index_best - " << index_best << endl;
}
index++;
itContours++; // 继续检索下一个轮廓 <此处必须要代码指定迭代器转向后一个轮廓>
}
}
int ttt = contours.size(); // 用于设置条件断点
// 如果仍然有大于一个潜在目标则选取最优的一个
if (ttt > 1)
{
int index = 0;
vector<vector<Point>>::const_iterator itContours_2 = contours.begin();
while(itContours_2 != contours.end())
{
if (index != index_best)
itContours_2 = contours.erase(itContours_2);
else
++itContours_2;
index++;
}
}
delete[] r;
}
void CharacterAnalysis::filterBetweenLines(Mat img, TextContours& textContours, vector<TextLine> textLines )
{
static float MIN_AREA_PERCENT_WITHIN_LINES = 0.88;
static float MAX_DISTANCE_PERCENT_FROM_LINES = 0.15;
if (textLines.size() == 0)
return;
vector<Point> validPoints;
// Create a white mask for the area inside the polygon
Mat outerMask = Mat::zeros(img.size(), CV_8U);
for (unsigned int i = 0; i < textLines.size(); i++)
fillConvexPoly(outerMask, textLines[i].linePolygon.data(), textLines[i].linePolygon.size(), Scalar(255,255,255));
// For each contour, determine if enough of it is between the lines to qualify
for (unsigned int i = 0; i < textContours.size(); i++)
{
if (textContours.goodIndices[i] == false)
continue;
float percentInsideMask = getContourAreaPercentInsideMask(outerMask,
textContours.contours,
textContours.hierarchy,
(int) i);
if (percentInsideMask < MIN_AREA_PERCENT_WITHIN_LINES)
{
// Not enough area is inside the lines.
if (config->debugCharAnalysis)
cout << "Rejecting due to insufficient area" << endl;
textContours.goodIndices[i] = false;
continue;
}
// now check to make sure that the top and bottom of the contour are near enough to the lines
// First get the high and low point for the contour
// Remember that origin is top-left, so the top Y values are actually closer to 0.
Rect brect = boundingRect(textContours.contours[i]);
int xmiddle = brect.x + (brect.width / 2);
Point topMiddle = Point(xmiddle, brect.y);
Point botMiddle = Point(xmiddle, brect.y+brect.height);
// Get the absolute distance from the top and bottom lines
for (unsigned int i = 0; i < textLines.size(); i++)
{
Point closestTopPoint = textLines[i].topLine.closestPointOnSegmentTo(topMiddle);
Point closestBottomPoint = textLines[i].bottomLine.closestPointOnSegmentTo(botMiddle);
float absTopDistance = distanceBetweenPoints(closestTopPoint, topMiddle);
float absBottomDistance = distanceBetweenPoints(closestBottomPoint, botMiddle);
float maxDistance = textLines[i].lineHeight * MAX_DISTANCE_PERCENT_FROM_LINES;
if (absTopDistance < maxDistance && absBottomDistance < maxDistance)
{
// It's ok, leave it as-is.
}
else
{
textContours.goodIndices[i] = false;
if (config->debugCharAnalysis)
cout << "Rejecting due to top/bottom points that are out of range" << endl;
}
}
}
}
vector<bool> CharacterAnalysis::filterBetweenLines(Mat img, vector<vector<Point> > contours, vector<Vec4i> hierarchy, vector<Point> outerPolygon, vector<bool> goodIndices)
{
static float MIN_AREA_PERCENT_WITHIN_LINES = 0.88;
vector<bool> includedIndices(contours.size());
for (int j = 0; j < contours.size(); j++)
includedIndices[j] = false;
if (outerPolygon.size() == 0)
return includedIndices;
vector<Point> validPoints;
// Figure out the line height
LineSegment topLine(outerPolygon[0].x, outerPolygon[0].y, outerPolygon[1].x, outerPolygon[1].y);
LineSegment bottomLine(outerPolygon[3].x, outerPolygon[3].y, outerPolygon[2].x, outerPolygon[2].y);
float x = ((float) img.cols) / 2;
Point midpoint = Point(x, bottomLine.getPointAt(x));
Point acrossFromMidpoint = topLine.closestPointOnSegmentTo(midpoint);
float lineHeight = distanceBetweenPoints(midpoint, acrossFromMidpoint);
// Create a white mask for the area inside the polygon
Mat outerMask = Mat::zeros(img.size(), CV_8U);
Mat innerArea = Mat::zeros(img.size(), CV_8U);
fillConvexPoly(outerMask, outerPolygon.data(), outerPolygon.size(), Scalar(255,255,255));
for (int i = 0; i < contours.size(); i++)
{
if (goodIndices[i] == false)
continue;
// get rid of the outline by drawing a 1 pixel width black line
drawContours(innerArea, contours,
i, // draw this contour
cv::Scalar(255,255,255), // in
CV_FILLED,
8,
hierarchy,
0
);
bitwise_and(innerArea, outerMask, innerArea);
vector<vector<Point> > tempContours;
findContours(innerArea, tempContours,
CV_RETR_EXTERNAL, // retrieve the external contours
CV_CHAIN_APPROX_SIMPLE ); // all pixels of each contours );
double totalArea = contourArea(contours[i]);
double areaBetweenLines = 0;
for (int tempContourIdx = 0; tempContourIdx < tempContours.size(); tempContourIdx++)
{
areaBetweenLines += contourArea(tempContours[tempContourIdx]);
}
if (areaBetweenLines / totalArea >= MIN_AREA_PERCENT_WITHIN_LINES)
{
includedIndices[i] = true;
}
innerArea.setTo(Scalar(0,0,0));
}
return includedIndices;
}