void ConnectedComponentLayer<Dtype>::Forward_cpu(
const vector<Blob<Dtype>*>& bottom,
const vector<Blob<Dtype>*>& top) {
const Dtype* bottom_data = bottom[0]->cpu_data();
Dtype* top_data = top[0]->mutable_cpu_data();
cv::Mat img(bottom[0]->height(), bottom[0]->width(), CV_8SC1);
for (int_tp nc = 0; nc < bottom[0]->num() * bottom[0]->channels(); ++nc) {
int_tp maxlabel = 0;
for (int_tp y = 0; y < bottom[0]->height(); ++y) {
for (int_tp x = 0; x < bottom[0]->width(); ++x) {
int_tp val = bottom_data[nc * bottom[0]->width() * bottom[0]->height()
+ bottom[0]->width() * y + x];
if (val > maxlabel) {
maxlabel = val;
}
img.at<unsigned char>(y, x) = val;
}
}
cv::Mat seg = FindBlobs(maxlabel, img);
#pragma omp parallel for
for (int_tp y = 0; y < seg.rows; ++y) {
for (int_tp x = 0; x < seg.cols; ++x) {
top_data[nc * bottom[0]->width() * bottom[0]->height()
+ bottom[0]->width() * y + x] = seg.at<int_tp>(y, x);
}
}
}
}
vector<POI> POIFinder::GetPOIsInImage(IplImage *cv_image)
{
//Pre-processing
// Image originalImage(cv_image);
// Image grayImage = originalImage.getGrayScale();
/* IplImage *gray_image = cvCreateImage(cvGetSize(cv_image),cv_image->depth, 1);
if(cv_image->nChannels == 3)
{
cvCvtColor(cv_image, gray_image,CV_BGR2GRAY);
}
else
cvCopyImage(cv_image, gray_image);
Image grayImage(gray_image);*/
Image grayImage(cv_image);
//Core algorithm
vector<Blob> detectedBlobs = FindBlobs(grayImage);
vector<POI> newCoordinates;
for (unsigned int i = 0; i < detectedBlobs.size(); i++)
{
newCoordinates.push_back(POI(detectedBlobs[i].GetCentroid()));
//cout << "Novo POI: " << endl;
//Debug::printCvPoint2D32f(newCoordinates[newCoordinates.size()-1].getCoordinates2d());
};
return newCoordinates;
}
bool VisionPipeLine::stage_findingBlob()
{
FindBlobs(_grayFrame, _bloblist, BLOB_MIN_SIZE, BLOB_MAX_SIZE);
// test whether a blob is pointed by the user mouse
_hoveredBlobID = -1;
for (int pos = 0; pos < _bloblist.size(); ++pos) {
if ( _bloblist[pos]._box.contains(_lastMousePoint)) {
_hoveredBlobID = pos;
break;
}
}
return true;
}
void ImageViewer::on_actionConnected_Areas_triggered()
{
cv::Mat cvMat = ASM::QPixmapToCvMat(QPixmap::fromImage(*image));
cv::Mat output = cv::Mat::zeros(cvMat.size(), CV_8UC3);
output.setTo(cv::Scalar(255,255,255));
cv::Mat grayscaleMat (cvMat.size(), CV_8U);
//Convert BGR to Gray
cv::cvtColor( cvMat, grayscaleMat, CV_BGR2GRAY );
//Binary image
cv::Mat binary(grayscaleMat.size(), grayscaleMat.type());
cv::threshold(grayscaleMat, binary, 160.0, 255.0, cv::THRESH_BINARY);
std::vector < std::vector<cv::Point2i > > blobs;
FindBlobs(binary, blobs);
for(size_t i=0; i < blobs.size(); i++) {
unsigned char r = 255 * (rand()/(1.0 + RAND_MAX));
unsigned char g = 255 * (rand()/(1.0 + RAND_MAX));
unsigned char b = 255 * (rand()/(1.0 + RAND_MAX));
for(size_t j=0; j < blobs[i].size(); j++) {
int x = blobs[i][j].x;
int y = blobs[i][j].y;
output.at<cv::Vec3b>(y,x)[0] = b;
output.at<cv::Vec3b>(y,x)[1] = g;
output.at<cv::Vec3b>(y,x)[2] = r;
}
}
qDebug() << "#connected areas: " << blobs.size();
imageLabel->setPixmap(ASM::cvMatToQPixmap(output).copy());
}
//! Helper function to label image.
void FindBoneTibia::Label() {
cv::Mat output = cv::Mat::zeros(img.size(), CV_8UC3);
std::vector < std::vector<cv::Point2i> > blobs;
cv::adaptiveThreshold(img, binary, 1.0, CV_ADAPTIVE_THRESH_GAUSSIAN_C,
cv::THRESH_BINARY, 21, -0.8);
//binary = 1-binary;
FindBlobs(binary, blobs);
if (blobs.size() == 0) {
cout << "\nthe blob size was zero \n";
return;
}
int Max = 0;
int Maxcount = 0;
int i = 0;
int x1 = config->GetSettings("FindBoneTibia", "bounding_box_x1", 230);
int x2 = config->GetSettings("FindBoneTibia", "bounding_box_x2", 270);
int y1 = config->GetSettings("FindBoneTibia", "bounding_box_y1", 130);
int y2 = config->GetSettings("FindBoneTibia", "bounding_box_y2", 150);
int blobsize = config->GetSettings("FindBoneTibia", "min_blob_size", 200);
for (i = 0; i < blobs.size(); i++) {
if (blobs[i].size() > blobsize) {
if (inrange (&blobs[i])) {
int pointsintherange = 0;
for (size_t j = 0; j < blobs[i].size(); j++) {
if ((blobs[i][j].x > x1) && (blobs[i][j].x < x2)
&& (blobs[i][j].y > y1) && (blobs[i][j].y < y2))
pointsintherange++;
}
if (Maxcount < pointsintherange) {
Max = i;
Maxcount = pointsintherange;
}
}
}
}
i = Max;
unsigned char r = 255 * (rand() / (1.0 + RAND_MAX));
unsigned char g = 255 * (rand() / (1.0 + RAND_MAX));
unsigned char b = 255 * (rand() / (1.0 + RAND_MAX));
for (size_t j = 0; j < blobs[i].size(); j++) {
int x = blobs[i][j].x;
int y = blobs[i][j].y;
output.at<cv::Vec3b>(y, x)[0] = b;
output.at<cv::Vec3b>(y, x)[1] = g;
output.at<cv::Vec3b>(y, x)[2] = r;
}
int size = config->GetSettings("FindBoneTibia", "dilation_size", 1);
;
int type = cv::MORPH_ELLIPSE;
cv::Mat element = cv::getStructuringElement(type, cv::Size(2 * size, 2 * size),
cv::Point(size, size));
if (size > 0)
cv::dilate(output, output, element);
cv::Canny(output, output,
config->GetSettings("FindBoneTibia", "Canny_low_thresh", 5),
config->GetSettings("FindBoneTibia", "Canny_high_thresh", 10),
config->GetSettings("FindBoneTibia", "Canny_kernel", 3));
int x_mult = config->GetSettings("FindBoneTibia", "X_axis_multiplier", 1);
int y_mult = config->GetSettings("FindBoneTibia", "Y_axis_multiplier", 2);
int z_mult = config->GetSettings("FindBoneTibia", "Z_axis_multiplier", 1);
int plane_low = config->GetSettings("FindBoneTibia", "Image_plane_low", 326);
int plane_high = config->GetSettings("FindBoneTibia","Image_plane_high", 445);
for (int x = 0; x < img.cols; x++) {
for (int y = 0; y < img.rows; y++) {
if (output.at<uchar>(y, x) == 255) {
pcl::PointXYZ point(x * x_mult, id * z_mult, y * y_mult);
if (id > plane_low && id < plane_high)
this->LabeledOutput->at(TIBA_TRAN)->cloud->push_back(point);
}
}
}
}
