void ObjectTracker::processImage( IplImage* frame, IplImage** output )
{
// TODO: this is only an Object Tracker, it should not return an illustrated image.
// instead, it should return a structure of information about tracked object.
// There need to be an Illustrator coded.
//
imgSize_ = cvSize(frame->width, frame->height);
if (first_) {
temp_ = cvCreateImage(imgSize_, IPL_DEPTH_8U, 3);
mask3C_ = cvCreateImage(imgSize_, IPL_DEPTH_8U, 3);
mask_ = cvCreateImage(imgSize_, IPL_DEPTH_8U, 1);
first_ = false;
numStat_ = 100;
rectsStat_ = new CvRect[numStat_];
centersStat_ = new CvPoint[numStat_];
}
if (*output == NULL) {
*output = cvCreateImage(imgSize_, IPL_DEPTH_8U, 3);
}
cvCopy(frame, *output);
cvCopy(frame, temp_);
cvSmooth(temp_, temp_, CV_GAUSSIAN);
mog_->process((cv::Mat)temp_, (cv::Mat)mask3C_);
cvCvtColor(mask3C_, mask_, CV_RGB2GRAY);
cvMorphologyEx(mask_, mask_, 0, 0, CV_MOP_OPEN, openIteration_);
cvMorphologyEx(mask_, mask_, 0, 0, CV_MOP_CLOSE, closeIteration_);
// Collect statistics
if (!rectsStat_)
rectsStat_ = new CvRect[numStat_];
if (!centersStat_)
centersStat_ = new CvPoint[numStat_];
count_ = numStat_;
findConnectedComponents(mask_, 0, perimScaleThrhold_, &count_, rectsStat_, centersStat_);
cvCvtColor(mask_, mask3C_, CV_GRAY2RGB);
matchObjects(centersStat_, count_);
for (int i=0; i<currObjs_.size(); i++) {
drawText(mask3C_, currObjs_[i].label_.c_str(),
currObjs_[i].positionHistory_[currObjs_[i].positionHistory_.size() - 1],
cvScalar(255,255,0));
drawCross(mask3C_,
currObjs_[i].positionHistory_[currObjs_[i].positionHistory_.size() - 1],
5, cvScalar(255,0,0));
drawCross(mask3C_,
currObjs_[i].predictedPositionHistory_[currObjs_[i].predictedPositionHistory_.size() - 1],
5, cvScalar(0,255,0));
drawCross(mask3C_,
currObjs_[i].correctedPositionHistory_[currObjs_[i].correctedPositionHistory_.size() - 1],
5, cvScalar(0,0,255));
}
cvNamedWindow("4", CV_WINDOW_NORMAL);
cvShowImage("4", mask3C_);
}
static void
find_connected_components (IplImage * mask, int poly1_hull0, float perimScale,
CvMemStorage * mem_storage, CvSeq * contours)
{
CvContourScanner scanner;
CvSeq *c;
int numCont = 0;
/* Just some convenience variables */
const CvScalar CVX_WHITE = CV_RGB (0xff, 0xff, 0xff);
const CvScalar CVX_BLACK = CV_RGB (0x00, 0x00, 0x00);
/* CLEAN UP RAW MASK */
cvMorphologyEx (mask, mask, 0, 0, CV_MOP_OPEN, CVCLOSE_ITR);
cvMorphologyEx (mask, mask, 0, 0, CV_MOP_CLOSE, CVCLOSE_ITR);
/* FIND CONTOURS AROUND ONLY BIGGER REGIONS */
if (mem_storage == NULL) {
mem_storage = cvCreateMemStorage (0);
} else {
cvClearMemStorage (mem_storage);
}
scanner = cvStartFindContours (mask, mem_storage, sizeof (CvContour),
CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cvPoint (0, 0));
while ((c = cvFindNextContour (scanner)) != NULL) {
double len = cvContourArea (c, CV_WHOLE_SEQ, 0);
/* calculate perimeter len threshold: */
double q = (mask->height + mask->width) / perimScale;
/* Get rid of blob if its perimeter is too small: */
if (len < q) {
cvSubstituteContour (scanner, NULL);
} else {
/* Smooth its edges if its large enough */
CvSeq *c_new;
if (poly1_hull0) {
/* Polygonal approximation */
c_new =
cvApproxPoly (c, sizeof (CvContour), mem_storage, CV_POLY_APPROX_DP,
CVCONTOUR_APPROX_LEVEL, 0);
} else {
/* Convex Hull of the segmentation */
c_new = cvConvexHull2 (c, mem_storage, CV_CLOCKWISE, 1);
}
cvSubstituteContour (scanner, c_new);
numCont++;
}
}
contours = cvEndFindContours (&scanner);
/* PAINT THE FOUND REGIONS BACK INTO THE IMAGE */
cvZero (mask);
/* DRAW PROCESSED CONTOURS INTO THE MASK */
for (c = contours; c != NULL; c = c->h_next)
cvDrawContours (mask, c, CVX_WHITE, CVX_BLACK, -1, CV_FILLED, 8, cvPoint (0,
0));
}
void find_red_points( IplImage* source, IplImage* result, IplImage* temp )
{
// TO DO: Write code to select all the red road sign points. You may need to clean up the result
// using mathematical morphology. The result should be a binary image with the selected red
// points as white points. The temp image passed may be used in your processing.
IplImage* temp_hsv= cvCloneImage(source);
cvCvtColor(source,temp_hsv,CV_BGR2HSV);
int width_step=source->widthStep;
int pixel_step=source->widthStep/source->width;
int number_channels=source->nChannels;
unsigned char white_pixel[4] = {255,255,255,0};
cvZero( result );
int row=0,col=0;
for (row=0; row < result->height; row++)
{
for (col=0; col < result->width; col++)
{
unsigned char* curr_point = GETPIXELPTRMACRO( temp_hsv, col, row, width_step, pixel_step );
//determine the range of different channels which represente the red part on the sign.
if
(
(
(
(curr_point[CHAN_H] >= THRESHOLD_H_RANGE1_LOW)
&&
(curr_point[CHAN_H] <= THRESHOLD_H_RANGE1_HIGH)
)
||
(
(curr_point[CHAN_H] >= THRESHOLD_H_RANGE2_LOW)
&&
(curr_point[CHAN_H] < THRESHOLD_H_RANGE2_HIGH)
)
)
&&
(
(curr_point[CHAN_S] > THRESHOLD_S_LOW)
&&
(curr_point[CHAN_V] > THRESHOLD_V_LOW)
)
)
{
PUTPIXELMACRO( result, col, row, white_pixel, width_step, pixel_step, number_channels );
}
}
}
//clean the result image
cvMorphologyEx( result, result, NULL, NULL, CV_MOP_OPEN, 1);
cvMorphologyEx( result, result, NULL, NULL, CV_MOP_CLOSE, 1 );
}
void determine_moving_points_using_running_gaussian_averages( IplImage *current_frame, IplImage *averages_image, IplImage *stan_devs_image, IplImage *moving_mask_image )
{
//Get data for manage the 8 bit image and float images
int width_step_cur=current_frame->widthStep;
int pixel_step_cur=current_frame->widthStep/current_frame->width;
int number_channels_cur=current_frame->nChannels;
int width_step_avg=averages_image->widthStep;
int pixel_step_avg=averages_image->widthStep/averages_image->width;
int row=0,col=0;
//Clear mask image
cvZero(moving_mask_image);
//Scan every pixel of images
for (row=0; row < current_frame->height; row++)
for (col=0; col < current_frame->width; col++)
{
//Get current point of current_frame
unsigned char* curr_point_current = GETPIXELPTRMACRO( current_frame, col, row, width_step_cur, pixel_step_cur );
//Get current point of averages_image and stan_devs_image casting the char* returned by GETPIXELMACRO to float
float* curr_point_avg=reinterpret_cast<float*>GETPIXELPTRMACRO( averages_image, col, row, width_step_avg, pixel_step_avg );
float* curr_point_stdev=reinterpret_cast<float*>GETPIXELPTRMACRO( stan_devs_image, col, row, width_step_avg, pixel_step_avg );
float abs_diff[3];
float stdev_mul[3];
unsigned char white_pixel[4] = {255,255,255};
//Check every channel
for (int i=0; i<3; i++){
//Calc the absolute difference
abs_diff[i]=(float)fabs(((double)curr_point_current[i])-((double)curr_point_avg[i]));
//Calc k*standard deviation
stdev_mul[i]=curr_point_stdev[i]*k;
}
//Check if (abs_diff> k*std_dev) in at leat one channel
if((abs_diff[0]>stdev_mul[0])||(abs_diff[1]>stdev_mul[1])||(abs_diff[2]>stdev_mul[2])){
//Put white pixel in the moving_mask_image -->The moving mask image will be a binary image and i can use opening and closing on it to clean the result
PUTPIXELMACRO( moving_mask_image, col, row, white_pixel, width_step_cur, pixel_step_cur, number_channels_cur );
}
}
// Apply morphological opening and closing operations to clean up the image
cvMorphologyEx( moving_mask_image, moving_mask_image, NULL, NULL, CV_MOP_OPEN, 1 );
cvMorphologyEx( moving_mask_image, moving_mask_image, NULL, NULL, CV_MOP_CLOSE, 2 );
}
CV_IMPL CvSeq*
cvSegmentFGMask( CvArr* _mask, int poly1Hull0, float perimScale,
CvMemStorage* storage, CvPoint offset )
{
CvMat mstub, *mask = cvGetMat( _mask, &mstub );
CvMemStorage* tempStorage = storage ? storage : cvCreateMemStorage();
CvSeq *contours, *c;
int nContours = 0;
CvContourScanner scanner;
// clean up raw mask
cvMorphologyEx( mask, mask, 0, 0, CV_MOP_OPEN, 1 );
cvMorphologyEx( mask, mask, 0, 0, CV_MOP_CLOSE, 1 );
// find contours around only bigger regions
scanner = cvStartFindContours( mask, tempStorage,
sizeof(CvContour), CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, offset );
while( (c = cvFindNextContour( scanner )) != 0 )
{
double len = cvContourPerimeter( c );
double q = (mask->rows + mask->cols)/perimScale; // calculate perimeter len threshold
if( len < q ) //Get rid of blob if it's perimeter is too small
cvSubstituteContour( scanner, 0 );
else //Smooth it's edges if it's large enough
{
CvSeq* newC;
if( poly1Hull0 ) //Polygonal approximation of the segmentation
newC = cvApproxPoly( c, sizeof(CvContour), tempStorage, CV_POLY_APPROX_DP, 2, 0 );
else //Convex Hull of the segmentation
newC = cvConvexHull2( c, tempStorage, CV_CLOCKWISE, 1 );
cvSubstituteContour( scanner, newC );
nContours++;
}
}
contours = cvEndFindContours( &scanner );
// paint the found regions back into the image
cvZero( mask );
for( c=contours; c != 0; c = c->h_next )
cvDrawContours( mask, c, cvScalarAll(255), cvScalarAll(0), -1, CV_FILLED, 8,
cvPoint(-offset.x,-offset.y));
if( tempStorage != storage )
{
cvReleaseMemStorage( &tempStorage );
contours = 0;
}
return contours;
}
/**
* Accurately applies circle detection and filtering in order to detect the position
* of the dot within an image then, it draws a red rectangle around it in the
* original image.
* @param img: pointer to the input image
* @return PointImage: pointer to a newly created data structure holding the image,
* center position of the dot within the image as well as it's radius.
*/
PointImage* getPoint(IplImage* img) {
IplImage* clone = cvCreateImage(cvSize(img->width, img->height), img->depth, 1);
cvCvtColor(img, clone, CV_RGB2GRAY);
cvThreshold(clone, clone, 127, 255, CV_THRESH_BINARY_INV);
cvSmooth(clone, clone, CV_GAUSSIAN, 31, 31);
cvMorphologyEx(clone, clone, NULL, NULL, CV_MOP_CLOSE, 6);
CvMemStorage* storage = cvCreateMemStorage();
CvSeq* circles = cvHoughCircles(clone, storage, CV_HOUGH_GRADIENT, ((double) (clone->width * clone->height * 5)) / ((double) 964 * 726),
50, 200, 100, 0, 35);
float* p;
PointImage* out;
for (int i = circles->total; i > 0; i--) {
p = (float*) cvGetSeqElem(circles, i);
if (*I(cvRound(p[0]), cvRound(p[1]), clone) > 185)
if (abs(cvRound(p[0]) - (clone->width / 2) * (clone->width / clone->height)) <= 100) {
cvRectangle(img, cvPoint(cvRound(p[0] - p[2]), cvRound(p[1] - p[2])), cvPoint(cvRound(p[0] + p[2]), cvRound(p[1] + p[2])),
CV_RGB(255,0,0), 3);
out = new PointImage(clone, cvPoint(cvRound(p[0]), cvRound(p[1])), cvRound(p[2]));
break;
}
}
cvNamedWindow("Circle Detection", CV_WINDOW_AUTOSIZE);
cvShowImage("Circle Detection", img);
cvReleaseMemStorage(&storage);
return out;
}
//
// function "noiseRemoval":
// applying the open morphology on the image of color segmentation
//
IplImage* noiseRemoval(IplImage* inputImage)
{
int iWidth = inputImage->width;
int iHeight = inputImage->height;
IplImage* imageNoiseRem = cvCreateImage(cvSize(iWidth,iHeight),IPL_DEPTH_8U,1);
if(!imageNoiseRem)
exit(EXIT_FAILURE);
IplConvKernel* structureEle1 =cvCreateStructuringElementEx(
3,
3,
1,
1,
CV_SHAPE_ELLIPSE,
0);
int operationType[2] = {
CV_MOP_OPEN,
CV_MOP_CLOSE
};
//seems function open and close, as well as erode and dilate reversed.
cvMorphologyEx(inputImage,imageNoiseRem,NULL,structureEle1,operationType[0],1);
//cvMorphologyEx(inputImage,imageNoiseRem,NULL,structureEle1,operationType[1],1);
//in order to connect regions breaked by mophology operation ahead
//cvErode(imageNoiseRem,imageNoiseRem,structureEle1,1);
cvReleaseStructuringElement(&structureEle1);
return imageNoiseRem;
}
void filter_and_threshold(struct ctx *ctx)
{
/* Soften image */
cvSmooth(ctx->image, ctx->temp_image3, CV_GAUSSIAN, 11, 11, 0, 0);
/* Remove some impulsive noise */
cvSmooth(ctx->temp_image3, ctx->temp_image3, CV_MEDIAN, 11, 11, 0, 0);
cvCvtColor(ctx->temp_image3, ctx->temp_image3, CV_BGR2HSV);
/*
* Apply threshold on HSV values to detect skin color
*/
/* cvInRangeS(ctx->temp_image3,
cvScalar(0, 55, 90, 255), // cvScalar( (b), (g), (r), 0 )
cvScalar(28, 175, 230, 255),
ctx->thr_image);
*/
cvInRangeS(ctx->temp_image3,
cvScalar(100, 200, 200, 0), // cvScalar( (b), (g), (r), 0 )
cvScalar(200, 220, 255, 0),
ctx->thr_image);
/* Apply morphological opening */
cvMorphologyEx(ctx->thr_image, ctx->thr_image, NULL, ctx->kernel,
CV_MOP_OPEN, 1); // 2 interations of opening
cvSmooth(ctx->thr_image, ctx->thr_image, CV_GAUSSIAN, 3, 3, 0, 0);
}
/*!
* @function close
* @discussion Perform image closing with a custom kernel.
* @updated 2011-4-13
*/
char* close(IplImage* frameImage)
{
//Select based on the capture dimensions.
switch(captureSize)
{
case(SMALL_BACK):
case(SMALL_FRONT):
convertedImage = cvCreateImage(cvSize(192, 144), IPL_DEPTH_8U, 4);
break;
case(MEDIUM_BACK):
case(LARGE_FRONT):
case(MEDIUM_FRONT):
convertedImage = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 4);
break;
case(LARGE_BACK):
convertedImage = cvCreateImage(cvSize(1280, 720), IPL_DEPTH_8U, 4);
break;
}
cvCopy(frameImage, convertedImage, 0);
IplConvKernel* closeKernel = cvCreateStructuringElementEx(7, 7, 3, 3, CV_SHAPE_RECT, NULL);
//Default number of iterations is 1. We'll do a few iterations to make the effect more pronounced.
cvMorphologyEx(convertedImage, convertedImage, NULL, (IplConvKernel *)closeKernel, CV_MOP_CLOSE, 3);
return convertedImage->imageDataOrigin;
}
/* The function will return the connected components in 'comp',
as well as the number of connected components 'nc'.
At this point, we have to determine whether the components are eye pair or not.
We'll use experimentally derived heuristics for this, based on the width,
height, vertical distance, and horizontal distance of the components.
To make things simple, we only proceed if the number of the connected components is 2.*/
int get_connected_components(IplImage* img, IplImage* prev, CvRect window, CvSeq** comp)
{
IplImage* _diff;
cvZero(diff);
/* apply search window to images */
cvSetImageROI(img, window);
cvSetImageROI(prev, window);
cvSetImageROI(diff, window);
/* motion analysis */
cvSub(img, prev, diff, NULL);
cvThreshold(diff, diff, 5, 255, CV_THRESH_BINARY);
cvMorphologyEx(diff, diff, NULL, kernel, CV_MOP_OPEN, 1);
/* reset search window */
cvResetImageROI(img);
cvResetImageROI(prev);
cvResetImageROI(diff);
_diff = (IplImage*)cvClone(diff);
/* get connected components */
int nc = cvFindContours(_diff, storage, comp, sizeof(CvContour),
CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE, cvPoint(0,0));
cvClearMemStorage(storage);
cvReleaseImage(&_diff);
return nc;
}
void BlobTracking::process(const cv::Mat &img_input, const cv::Mat &img_mask, cv::Mat &img_output)
{
if(img_input.empty() || img_mask.empty())
return;
loadConfig();
if(firstTime)
saveConfig();
IplImage* frame = new IplImage(img_input);
cvConvertScale(frame, frame, 1, 0);
IplImage* segmentated = new IplImage(img_mask);
IplConvKernel* morphKernel = cvCreateStructuringElementEx(5, 5, 1, 1, CV_SHAPE_RECT, NULL);
cvMorphologyEx(segmentated, segmentated, NULL, morphKernel, CV_MOP_OPEN, 1);
if(showBlobMask)
cvShowImage("Blob Mask", segmentated);
IplImage* labelImg = cvCreateImage(cvGetSize(frame), IPL_DEPTH_LABEL, 1);
cvb::CvBlobs blobs;
unsigned int result = cvb::cvLabel(segmentated, labelImg, blobs);
//cvb::cvFilterByArea(blobs, 500, 1000000);
cvb::cvFilterByArea(blobs, minArea, maxArea);
//cvb::cvRenderBlobs(labelImg, blobs, frame, frame, CV_BLOB_RENDER_BOUNDING_BOX);
if(debugBlob)
cvb::cvRenderBlobs(labelImg, blobs, frame, frame, CV_BLOB_RENDER_BOUNDING_BOX|CV_BLOB_RENDER_CENTROID|CV_BLOB_RENDER_ANGLE|CV_BLOB_RENDER_TO_STD);
else
cvb::cvRenderBlobs(labelImg, blobs, frame, frame, CV_BLOB_RENDER_BOUNDING_BOX|CV_BLOB_RENDER_CENTROID|CV_BLOB_RENDER_ANGLE);
cvb::cvUpdateTracks(blobs, tracks, 200., 5);
if(debugTrack)
cvb::cvRenderTracks(tracks, frame, frame, CV_TRACK_RENDER_ID|CV_TRACK_RENDER_BOUNDING_BOX|CV_TRACK_RENDER_TO_STD);
else
cvb::cvRenderTracks(tracks, frame, frame, CV_TRACK_RENDER_ID|CV_TRACK_RENDER_BOUNDING_BOX);
//std::map<CvID, CvTrack *> CvTracks
if(showOutput)
cvShowImage("Blob Tracking", frame);
cv::Mat img_result(frame);
img_result.copyTo(img_output);
//cvReleaseImage(&frame);
//cvReleaseImage(&segmentated);
cvReleaseImage(&labelImg);
delete frame;
delete segmentated;
cvReleaseBlobs(blobs);
cvReleaseStructuringElement(&morphKernel);
firstTime = false;
}
IplImage *contoursGetOutlineMorh(IplImage *src, IplImage *temp, int mask)
{
int radius = 3;
int cols = radius * 2 + 1;
int rows = cols;
IplImage *res;
IplImage *bin = cvCreateImage(cvGetSize(src), src->depth, 1);
cvAdaptiveThreshold(src, bin, 255, CV_ADAPTIVE_THRESH_GAUSSIAN_C, CV_THRESH_BINARY, 7, 1);
if (mask == 1) {
IplImage *mask = cvCreateImage(cvGetSize(src), src->depth, 1);
res = cvCreateImage(cvGetSize(src), src->depth, 1);
cvThreshold(src, mask, 0, 255, CV_THRESH_BINARY_INV + CV_THRESH_OTSU);
cvOr(bin, mask, res, NULL);
cvReleaseImage(&mask);
} else {
res = bin;
}
IplConvKernel *element = cvCreateStructuringElementEx(cols, rows, radius, radius, CV_SHAPE_ELLIPSE, NULL);
cvMorphologyEx(res, res, temp, element, CV_MOP_OPEN, 1);
cvReleaseStructuringElement(&element);
radius = 9;
cols = radius * 2 + 1;
rows = cols;
element = cvCreateStructuringElementEx(cols, rows, radius, radius, CV_SHAPE_ELLIPSE, NULL);
cvMorphologyEx(res, res, temp, element, CV_MOP_CLOSE, 1);
cvReleaseStructuringElement(&element);
radius = 7;
cols = radius * 2 + 1;
rows = cols;
element = cvCreateStructuringElementEx(cols, rows, radius, radius, CV_SHAPE_ELLIPSE, NULL);
cvErode(res, res, element, 1);
cvDilate(res, res, element, 1);
contoursDrawBorder(res);
cvReleaseStructuringElement(&element);
cvReleaseImage(&temp);
return res;
}
void TamatarVision::update() {
vidGrabber.grabFrame();
if (vidGrabber.isFrameNew()) {
// load image from videograbber
colorImg.setFromPixels(vidGrabber.getPixels(), camWidth, camHeight);
// convert to grayscale
cvCvtColor( colorImg.getCvImage(), grayImg.getCvImage(), CV_RGB2GRAY );
grayImg.flagImageChanged();
// equalize histogram
if (doHistEqualize) {
cvEqualizeHist(grayImg.getCvImage(), grayImg.getCvImage() );
}
// `morphological opening`
if (doMorphEx) {
int anchor = morphExRadius / 2;
structure = cvCreateStructuringElementEx(morphExRadius, morphExRadius, anchor, anchor, CV_SHAPE_ELLIPSE);
cvCopy(grayImg.getCvImage(), grayImg2.getCvImage());
cvMorphologyEx(grayImg2.getCvImage(), grayImg.getCvImage(), NULL, structure, CV_MOP_OPEN);
}
if (doSmoothing) {
//grayImg2 = grayImg;
//smoothSigmaColor=20;
//smoothSigmaSpatial=20;
//cvSmooth(grayImg2.getCvImage(), grayImg.getCvImage(), CV_BILATERAL, 9, 9, smoothSigmaColor, smoothSigmaSpatial);
cvSmooth(grayImg.getCvImage(), grayImg.getCvImage(), CV_GAUSSIAN, 3, 3, 2, 2);
}
//grayImg.threshold(120);
// threshold
if (doThreshold) {
// grayImg.threshold(threshold);
grayImg2 = grayImg;
cvThreshold(grayImg2.getCvImage(), grayImg.getCvImage(), threshold, thresholdMax, CV_THRESH_TOZERO);
// cvAdaptiveThreshold(grayImg2.getCvImage(), grayImg.getCvImage(), threshold, CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_, 3, 5);
}
if (doCanny) {
cvCanny(grayImg.getCvImage(), grayImg.getCvImage(), cannyThres1, cannyThres2, 3);
}
//cvCanny5grayImg.getCvImage(),grayImg.getCvImage(), 120, 180, 3);
//cvSobel(grayImg.getCvImage(), grayImg.getCvImage(), 1, 1, 3);
if (doCircles) {
CvMemStorage* storage = cvCreateMemStorage(0);
circles = cvHoughCircles(grayImg.getCvImage(), storage, CV_HOUGH_GRADIENT, 2, grayImg.getHeight()/4, circleEdgeThres, circleAccThres, circleMinRadius, circleMaxRadius);
}
if (doContours) {
contourFinder.findContours(grayImg, 10, (camWidth*camHeight)/2, 20, false, true);
}
}
}
gboolean get_frame_difference( IplImage* in, IplImage* inprev, IplImage* output)
{
cvSmooth(in, in, CV_GAUSSIAN, 5);
cvSmooth(inprev, inprev, CV_GAUSSIAN, 5);
cvAbsDiff( in, inprev, output);
cvThreshold( output, output, 5, 255, CV_THRESH_BINARY);
cvMorphologyEx( output, output, 0, 0, CV_MOP_CLOSE, 1 );
return(TRUE);
}
int catcierge_haar_matcher_find_prey(catcierge_haar_matcher_t *ctx,
IplImage *img, IplImage *thr_img,
match_result_t *result, int save_steps)
{
catcierge_haar_matcher_args_t *args = ctx->args;
IplImage *thr_img2 = NULL;
CvSeq *contours = NULL;
size_t contour_count = 0;
assert(ctx);
assert(img);
assert(ctx->args);
// thr_img is modified by FindContours so we clone it first.
thr_img2 = cvCloneImage(thr_img);
cvFindContours(thr_img, ctx->storage, &contours,
sizeof(CvContour), CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0, 0));
// If we get more than 1 contour we count it as a prey. At least something
// is intersecting the white are to split up the image.
contour_count = catcierge_haar_matcher_count_contours(ctx, contours);
// If we don't find any prey
if ((args->prey_steps >= 2) && (contour_count == 1))
{
IplImage *erod_img = NULL;
IplImage *open_img = NULL;
CvSeq *contours2 = NULL;
erod_img = cvCreateImage(cvGetSize(thr_img2), 8, 1);
cvErode(thr_img2, erod_img, ctx->kernel3x3, 3);
if (ctx->super.debug) cvShowImage("haar eroded img", erod_img);
open_img = cvCreateImage(cvGetSize(thr_img2), 8, 1);
cvMorphologyEx(erod_img, open_img, NULL, ctx->kernel5x1, CV_MOP_OPEN, 1);
if (ctx->super.debug) cvShowImage("haar opened img", erod_img);
cvFindContours(erod_img, ctx->storage, &contours2,
sizeof(CvContour), CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0, 0));
cvReleaseImage(&erod_img);
cvReleaseImage(&open_img);
contour_count = catcierge_haar_matcher_count_contours(ctx, contours2);
}
if (ctx->super.debug)
{
cvDrawContours(img, contours, cvScalarAll(0), cvScalarAll(0), 1, 1, 8, cvPoint(0, 0));
cvShowImage("Haar Contours", img);
}
cvReleaseImage(&thr_img2);
return (contour_count > 1);
}
void work(int)
{
cvReleaseImage(&dst);
if(isColor)
{
dst = cvCloneImage(img);
if(times != 0)
cvMorphologyEx(img, dst, 0, 0, CV_MOP_CLOSE, times);
}//end if
else
{
IplImage *gray = cvCreateImage(cvGetSize(img), img->depth, 1);
cvCvtColor(img, gray, CV_BGR2GRAY);
dst = cvCloneImage(gray);
if(times != 0)
cvMorphologyEx(gray, dst, 0, 0, CV_MOP_CLOSE, times);
cvReleaseImage(&gray);
}
cvShowImage(windowName, dst);
}//end work
// Locate the red pixels in the source image and return the percentage of red points found.
int find_spoons( IplImage* source, IplImage* result, IplImage* temp )
{
int red_point_count = 0;
int width_step=source->widthStep;
int pixel_step=source->widthStep/source->width;
int number_channels=source->nChannels;
cvZero( result );
unsigned char white_pixel[4] = {255,255,255,0};
int row=0,col=0;
// Find all red points in the image
for (row=0; row < result->height; row++)
for (col=0; col < result->width; col++)
{
unsigned char* curr_point = GETPIXELPTRMACRO( source, col, row, width_step, pixel_step );
if ((curr_point[RED_CH] >= THRESHOLD) && ((curr_point[BLUE_CH] < THRESHOLD) || (curr_point[GREEN_CH] < THRESHOLD)))
{
PUTPIXELMACRO( result, col, row, white_pixel, width_step, pixel_step, number_channels );
}
}
// Apply morphological opening and closing operations to clean up the image
cvMorphologyEx( result, temp, NULL, NULL, CV_MOP_OPEN, 3 );
cvMorphologyEx( temp, result, NULL, NULL, CV_MOP_CLOSE, 3 );
// Count the red points remaining
for (row=0; row < result->height; row++)
for (col=0; col < result->width; col++)
{
unsigned char* curr_point = GETPIXELPTRMACRO( result, col, row, width_step, pixel_step );
if (curr_point[RED_CH] == 255)
{
red_point_count++;
}
}
return (red_point_count*100) / (result->height*result->width);
}
int main(int argc, char** argv) {
cvNamedWindow("image");
IplImage * src = cvLoadImage("../cvtest/7newsample.jpg", 0);
IplImage * temp = cvCreateImage(cvGetSize(src), 8,1);
IplImage * img=cvCreateImage(cvGetSize(src), 8, 1);
cvCopyImage(src,temp);
cvCopyImage(src, img);
cvSmooth(img,img);
IplConvKernel *element = 0; //定义形态学结构指针
element = cvCreateStructuringElementEx(3,3, 1, 1, CV_SHAPE_ELLIPSE, 0);//3,5,7
cvErode( src, src, element);
//形态梯度
cvMorphologyEx(
src,
img,
img,
element,//NULL, //default 3*3
CV_MOP_GRADIENT,
1);
cvShowImage("image", img);
cvWaitKey(0);
IplImage* image=img; //= cvLoadImage( "../cvtest/7newsample.jpg", CV_LOAD_IMAGE_GRAYSCALE );
IplImage* src2 =img;//= cvLoadImage( "../cvtest/7newsample.jpg"); //Changed for prettier show in color
CvMemStorage* storage = cvCreateMemStorage(0);
cvSmooth(image, image, CV_GAUSSIAN, 5, 5 );
CvSeq* results = cvHoughCircles(
image,
storage,
CV_HOUGH_GRADIENT,
4,
image->width/10
);
for( int i = 0; i < results->total; i++ ) {
float* p = (float*) cvGetSeqElem( results, i );
CvPoint pt = cvPoint( cvRound( p[0] ), cvRound( p[1] ) );
cvCircle(
src2,
pt,
cvRound( p[2] ),
CV_RGB(0xff,0,0)
);
}
cvNamedWindow( "cvHoughCircles", 1 );
cvShowImage( "cvHoughCircles", src2);
cvWaitKey(0);
}
void test_opencv_min_max(){
IplImage * rimage = cvCreateImage(cvGetSize(image),image->depth,image->nChannels);
IplImage * timage = cvCreateImage(cvGetSize(image),image->depth,image->nChannels);
IplConvKernel * kernel = cvCreateStructuringElementEx(3,3,1,1,CV_SHAPE_RECT);
//cvErode(image,min_image,kernel);
//cvDilate(image,max_image,kernel);
//display_image("dilate",min_image);
//display_image("erode",max_image);
tester->start_timer();
cvMorphologyEx(image,rimage,timage,kernel,CV_MOP_GRADIENT);
tester->stop_timer();
display_image("edges",rimage);
cvSaveImage("edges.png",rimage);
}
int main( int argc, char* argv[] ) {
// Load an image of a scene and convert it to grayscale.
IplImage* src = cvLoadImage( argv[1], CV_LOAD_IMAGE_GRAYSCALE );
// Run the morphological Top Hat operation on your image and display the
// results.
IplImage* dst_a = cvCloneImage(src);
cvMorphologyEx(src, dst_a, NULL, NULL, CV_MOP_TOPHAT, 1);
// Convert the resulting image into an 8-bit mask.
// TODO: understand this!
IplImage *dst_b = cvCreateImage( cvSize(dst_a->width, dst_a->height), IPL_DEPTH_8U, 1 );
cvCopy( dst_a, dst_b );
cvThreshold( dst_b, dst_b, 25, 255, CV_THRESH_BINARY );
// Copy a grayscale value into the Top Hat pieces and display the results.
// TODO: understand this!
IplImage *img_black = cvCreateImage( cvSize(src->width, src->height), IPL_DEPTH_8U, 1 );
IplImage *dst_c = cvCreateImage( cvSize(src->width, src->height), IPL_DEPTH_8U, 1 );
cvZero( img_black );
cvSet( dst_c, cvScalarAll(200) );
cvCopy( img_black, dst_c, dst_b );
cvNamedWindow( "Original", CV_WINDOW_AUTOSIZE );
cvNamedWindow( "Top Hat", CV_WINDOW_AUTOSIZE );
cvNamedWindow( "8-bit mask", CV_WINDOW_AUTOSIZE );
cvNamedWindow( "Grayscale value copied into Top Hat pieces", CV_WINDOW_AUTOSIZE );
cvShowImage( "Original", src );
cvShowImage( "Top Hat", dst_a );
cvShowImage( "8-bit mask", dst_b );
cvShowImage( "Grayscale value copied into Top Hat pieces", dst_c );
cvWaitKey(0);
cvReleaseImage( &src );
cvReleaseImage( &dst_a );
cvReleaseImage( &dst_b );
cvDestroyWindow( "Original" );
cvDestroyWindow( "Top Hat" );
cvDestroyWindow( "8-bit mask" );
cvDestroyWindow( "Grayscale value copied into Top Hat pieces" );
return 0;
}
int main(){
//initialize
int erosions = 1;
IplImage *img=0;
IplImage *noise=0;
IplImage *dst;
//load image
img = cvLoadImage("/Users/ihong-gyu/MyProject/OpenCVTest/Lena.jpeg",0);
dst = cvCreateImage(cvGetSize(img), IPL_DEPTH_8U, 1);
//create a window
cvNamedWindow("Original Image",CV_WINDOW_AUTOSIZE);
cvNamedWindow("Impulse Noisy Image",CV_WINDOW_AUTOSIZE);
cvNamedWindow("Dilated Image",CV_WINDOW_AUTOSIZE);
//show the image
cvShowImage("Original Image", img);
//call GaussNoise function
IplConvKernel *element = cvCreateStructuringElementEx(3,3,1,1,CV_SHAPE_RECT);
noise=ImpulseNoise(img);
cvShowImage("Impulse Noisy Image", noise);
//remove noise by opening operation
cvMorphologyEx(noise,dst,NULL,element,CV_MOP_CLOSE,1);
cvShowImage("Dilated Image", dst);
//wait for a key
cvWaitKey(0);
//release the image
cvReleaseImage(&img);
cvReleaseImage(&noise);
return 0;
}
bool _stdcall opencvProcess(LPWSTR csInputPath, LPWSTR csOutputPath)
{
char inputPath[SIZE] = "";
WideCharToMultiByte(950, 0, csInputPath, -1, inputPath, SIZE, NULL, NULL);//wchar_t * to char
char outputPath[SIZE] = "";
WideCharToMultiByte(950, 0, csOutputPath, -1, outputPath, SIZE, NULL, NULL);//wchar_t * to char *
//load image
IplImage *img = cvLoadImage(inputPath, 0);
if(!img)
return false;
else
{
cvMorphologyEx(img, img, 0, 0, CV_MOP_OPEN, 1);
cvSaveImage(outputPath, img);
cvReleaseImage(&img);
return true;
}//end else
return false;
}//end opencvProcess
DMZ_INTERNAL void prepare_image_for_cat(IplImage *image, IplImage *as_float, CharacterRectListIterator rect) {
// Input image: IPL_DEPTH_8U [0 - 255]
// Data for models: IPL_DEPTH_32F [0.0 - 1.0]
cvSetImageROI(image, cvRect(rect->left, rect->top, kTrimmedCharacterImageWidth, kTrimmedCharacterImageHeight));
// TODO: optimize this a lot!
// Gradient
IplImage *filtered_image = cvCreateImage(cvSize(kTrimmedCharacterImageWidth, kTrimmedCharacterImageHeight), IPL_DEPTH_8U, 1);
//llcv_morph_grad3_2d_cross_u8(image, filtered_image);
IplConvKernel *kernel = cvCreateStructuringElementEx(3, 3, 1, 1, CV_SHAPE_CROSS, NULL);
cvMorphologyEx(image, filtered_image, NULL, kernel, CV_MOP_GRADIENT, 1);
cvReleaseStructuringElement(&kernel);
// Equalize
llcv_equalize_hist(filtered_image, filtered_image);
// Bilateral filter
int aperture = 3;
double space_sigma = (aperture / 2.0 - 1) * 0.3 + 0.8;
double color_sigma = (aperture - 1) / 3.0;
IplImage *smoothed_image = cvCreateImage(cvSize(kTrimmedCharacterImageWidth, kTrimmedCharacterImageHeight), IPL_DEPTH_8U, 1);
cvSmooth(filtered_image, smoothed_image, CV_BILATERAL, aperture, aperture, space_sigma, color_sigma);
// Convert to float
cvConvertScale(smoothed_image, as_float, 1.0f / 255.0f, 0);
cvReleaseImage(&smoothed_image);
cvReleaseImage(&filtered_image);
cvResetImageROI(image);
#if DEBUG_EXPIRY_CATEGORIZATION_PERFORMANCE
dmz_debug_timer_print("prepare image", 2);
#endif
}
int catcierge_haar_matcher_find_prey_adaptive(catcierge_haar_matcher_t *ctx,
IplImage *img, IplImage *inv_thr_img,
match_result_t *result, int save_steps)
{
IplImage *inv_adpthr_img = NULL;
IplImage *inv_combined = NULL;
IplImage *open_combined = NULL;
IplImage *dilate_combined = NULL;
CvSeq *contours = NULL;
size_t contour_count = 0;
CvSize img_size;
assert(ctx);
assert(img);
assert(ctx->args);
img_size = cvGetSize(img);
// We expect to be given an inverted global thresholded image (inv_thr_img)
// that contains the rough cat profile.
// Do an inverted adaptive threshold of the original image as well.
// This brings out small details such as a mouse tail that fades
// into the background during a global threshold.
inv_adpthr_img = cvCreateImage(img_size, 8, 1);
cvAdaptiveThreshold(img, inv_adpthr_img, 255,
CV_ADAPTIVE_THRESH_GAUSSIAN_C, CV_THRESH_BINARY_INV, 11, 5);
catcierge_haar_matcher_save_step_image(ctx,
inv_adpthr_img, result, "adp_thresh", "Inverted adaptive threshold", save_steps);
// Now we can combine the two thresholded images into one.
inv_combined = cvCreateImage(img_size, 8, 1);
cvAdd(inv_thr_img, inv_adpthr_img, inv_combined, NULL);
catcierge_haar_matcher_save_step_image(ctx,
inv_combined, result, "inv_combined", "Combined global and adaptive threshold", save_steps);
// Get rid of noise from the adaptive threshold.
open_combined = cvCreateImage(img_size, 8, 1);
cvMorphologyEx(inv_combined, open_combined, NULL, ctx->kernel2x2, CV_MOP_OPEN, 2);
catcierge_haar_matcher_save_step_image(ctx,
open_combined, result, "opened", "Opened image", save_steps);
dilate_combined = cvCreateImage(img_size, 8, 1);
cvDilate(open_combined, dilate_combined, ctx->kernel3x3, 3);
catcierge_haar_matcher_save_step_image(ctx,
dilate_combined, result, "dilated", "Dilated image", save_steps);
// Invert back the result so the background is white again.
cvNot(dilate_combined, dilate_combined);
catcierge_haar_matcher_save_step_image(ctx,
dilate_combined, result, "combined", "Combined binary image", save_steps);
cvFindContours(dilate_combined, ctx->storage, &contours,
sizeof(CvContour), CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0, 0));
// If we get more than 1 contour we count it as a prey.
contour_count = catcierge_haar_matcher_count_contours(ctx, contours);
if (save_steps)
{
IplImage *img_contour = cvCloneImage(img);
IplImage *img_final_color = NULL;
CvScalar color;
cvDrawContours(img_contour, contours, cvScalarAll(255), cvScalarAll(0), 1, 1, 8, cvPoint(0, 0));
catcierge_haar_matcher_save_step_image(ctx,
img_contour, result, "contours", "Background contours", save_steps);
// Draw a final color combined image with the Haar detection + contour.
cvResetImageROI(img_contour);
img_final_color = cvCreateImage(cvGetSize(img_contour), 8, 3);
cvCvtColor(img_contour, img_final_color, CV_GRAY2BGR);
color = (contour_count > 1) ? CV_RGB(255, 0, 0) : CV_RGB(0, 255, 0);
cvRectangleR(img_final_color, result->match_rects[0], color, 2, 8, 0);
catcierge_haar_matcher_save_step_image(ctx,
img_final_color, result, "final", "Final image", save_steps);
cvReleaseImage(&img_contour);
cvReleaseImage(&img_final_color);
}
cvReleaseImage(&inv_adpthr_img);
cvReleaseImage(&inv_combined);
cvReleaseImage(&open_combined);
cvReleaseImage(&dilate_combined);
return (contour_count > 1);
}
IplImage * find_macbeth( const char *img )
{
IplImage * macbeth_img = cvLoadImage( img,
CV_LOAD_IMAGE_ANYCOLOR|CV_LOAD_IMAGE_ANYDEPTH );
IplImage * macbeth_original = cvCreateImage( cvSize(macbeth_img->width, macbeth_img->height), macbeth_img->depth, macbeth_img->nChannels );
cvCopy(macbeth_img, macbeth_original);
IplImage * macbeth_split[3];
IplImage * macbeth_split_thresh[3];
for(int i = 0; i < 3; i++) {
macbeth_split[i] = cvCreateImage( cvSize(macbeth_img->width, macbeth_img->height), macbeth_img->depth, 1 );
macbeth_split_thresh[i] = cvCreateImage( cvSize(macbeth_img->width, macbeth_img->height), macbeth_img->depth, 1 );
}
cvSplit(macbeth_img, macbeth_split[0], macbeth_split[1], macbeth_split[2], NULL);
if( macbeth_img )
{
int adaptive_method = CV_ADAPTIVE_THRESH_MEAN_C;
int threshold_type = CV_THRESH_BINARY_INV;
int block_size = cvRound(
MIN(macbeth_img->width,macbeth_img->height)*0.02)|1;
fprintf(stderr,"Using %d as block size\n", block_size);
double offset = 6;
// do an adaptive threshold on each channel
for(int i = 0; i < 3; i++) {
cvAdaptiveThreshold(macbeth_split[i], macbeth_split_thresh[i], 255, adaptive_method, threshold_type, block_size, offset);
}
IplImage * adaptive = cvCreateImage( cvSize(macbeth_img->width, macbeth_img->height), IPL_DEPTH_8U, 1 );
// OR the binary threshold results together
cvOr(macbeth_split_thresh[0],macbeth_split_thresh[1],adaptive);
cvOr(macbeth_split_thresh[2],adaptive,adaptive);
for(int i = 0; i < 3; i++) {
cvReleaseImage( &(macbeth_split[i]) );
cvReleaseImage( &(macbeth_split_thresh[i]) );
}
int element_size = (block_size/10)+2;
fprintf(stderr,"Using %d as element size\n", element_size);
// do an opening on the threshold image
IplConvKernel * element = cvCreateStructuringElementEx(element_size,element_size,element_size/2,element_size/2,CV_SHAPE_RECT);
cvMorphologyEx(adaptive,adaptive,NULL,element,CV_MOP_OPEN);
cvReleaseStructuringElement(&element);
CvMemStorage* storage = cvCreateMemStorage(0);
CvSeq* initial_quads = cvCreateSeq( 0, sizeof(*initial_quads), sizeof(void*), storage );
CvSeq* initial_boxes = cvCreateSeq( 0, sizeof(*initial_boxes), sizeof(CvBox2D), storage );
// find contours in the threshold image
CvSeq * contours = NULL;
cvFindContours(adaptive,storage,&contours);
int min_size = (macbeth_img->width*macbeth_img->height)/
(MACBETH_SQUARES*100);
if(contours) {
int count = 0;
for( CvSeq* c = contours; c != NULL; c = c->h_next) {
CvRect rect = ((CvContour*)c)->rect;
// only interested in contours with these restrictions
if(CV_IS_SEQ_HOLE(c) && rect.width*rect.height >= min_size) {
// only interested in quad-like contours
CvSeq * quad_contour = find_quad(c, storage, min_size);
if(quad_contour) {
cvSeqPush( initial_quads, &quad_contour );
count++;
rect = ((CvContour*)quad_contour)->rect;
CvScalar average = contour_average((CvContour*)quad_contour, macbeth_img);
CvBox2D box = cvMinAreaRect2(quad_contour,storage);
cvSeqPush( initial_boxes, &box );
// fprintf(stderr,"Center: %f %f\n", box.center.x, box.center.y);
double min_distance = MAX_RGB_DISTANCE;
CvPoint closest_color_idx = cvPoint(-1,-1);
for(int y = 0; y < MACBETH_HEIGHT; y++) {
for(int x = 0; x < MACBETH_WIDTH; x++) {
double distance = euclidean_distance_lab(average,colorchecker_srgb[y][x]);
if(distance < min_distance) {
closest_color_idx.x = x;
closest_color_idx.y = y;
min_distance = distance;
}
}
}
CvScalar closest_color = colorchecker_srgb[closest_color_idx.y][closest_color_idx.x];
// fprintf(stderr,"Closest color: %f %f %f (%d %d)\n",
// closest_color.val[2],
// closest_color.val[1],
// closest_color.val[0],
// closest_color_idx.x,
// closest_color_idx.y
// );
// cvDrawContours(
// macbeth_img,
// quad_contour,
// cvScalar(255,0,0),
// cvScalar(0,0,255),
// 0,
// element_size
// );
// cvCircle(
// macbeth_img,
// cvPointFrom32f(box.center),
// element_size*6,
// cvScalarAll(255),
// -1
// );
// cvCircle(
// macbeth_img,
// cvPointFrom32f(box.center),
// element_size*6,
// closest_color,
// -1
// );
// cvCircle(
// macbeth_img,
// cvPointFrom32f(box.center),
// element_size*4,
// average,
// -1
// );
// CvRect rect = contained_rectangle(box);
// cvRectangle(
// macbeth_img,
// cvPoint(rect.x,rect.y),
// cvPoint(rect.x+rect.width, rect.y+rect.height),
// cvScalarAll(0),
// element_size
// );
}
}
}
ColorChecker found_colorchecker;
fprintf(stderr,"%d initial quads found", initial_quads->total);
if(count > MACBETH_SQUARES) {
fprintf(stderr," (probably a Passport)\n");
CvMat* points = cvCreateMat( initial_quads->total , 1, CV_32FC2 );
CvMat* clusters = cvCreateMat( initial_quads->total , 1, CV_32SC1 );
CvSeq* partitioned_quads[2];
CvSeq* partitioned_boxes[2];
for(int i = 0; i < 2; i++) {
partitioned_quads[i] = cvCreateSeq( 0, sizeof(**partitioned_quads), sizeof(void*), storage );
partitioned_boxes[i] = cvCreateSeq( 0, sizeof(**partitioned_boxes), sizeof(CvBox2D), storage );
}
// set up the points sequence for cvKMeans2, using the box centers
for(int i = 0; i < initial_quads->total; i++) {
CvBox2D box = (*(CvBox2D*)cvGetSeqElem(initial_boxes, i));
cvSet1D(points, i, cvScalar(box.center.x,box.center.y));
}
// partition into two clusters: passport and colorchecker
cvKMeans2( points, 2, clusters,
cvTermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,
10, 1.0 ) );
for(int i = 0; i < initial_quads->total; i++) {
CvPoint2D32f pt = ((CvPoint2D32f*)points->data.fl)[i];
int cluster_idx = clusters->data.i[i];
cvSeqPush( partitioned_quads[cluster_idx],
cvGetSeqElem(initial_quads, i) );
cvSeqPush( partitioned_boxes[cluster_idx],
cvGetSeqElem(initial_boxes, i) );
// cvCircle(
// macbeth_img,
// cvPointFrom32f(pt),
// element_size*2,
// cvScalar(255*cluster_idx,0,255-(255*cluster_idx)),
// -1
// );
}
ColorChecker partitioned_checkers[2];
// check each of the two partitioned sets for the best colorchecker
for(int i = 0; i < 2; i++) {
partitioned_checkers[i] =
find_colorchecker(partitioned_quads[i], partitioned_boxes[i],
storage, macbeth_img, macbeth_original);
}
// use the colorchecker with the lowest error
found_colorchecker = partitioned_checkers[0].error < partitioned_checkers[1].error ?
partitioned_checkers[0] : partitioned_checkers[1];
cvReleaseMat( &points );
cvReleaseMat( &clusters );
}
else { // just one colorchecker to test
fprintf(stderr,"\n");
found_colorchecker = find_colorchecker(initial_quads, initial_boxes,
storage, macbeth_img, macbeth_original);
}
// render the found colorchecker
draw_colorchecker(found_colorchecker.values,found_colorchecker.points,macbeth_img,found_colorchecker.size);
// print out the colorchecker info
for(int y = 0; y < MACBETH_HEIGHT; y++) {
for(int x = 0; x < MACBETH_WIDTH; x++) {
CvScalar this_value = cvGet2D(found_colorchecker.values,y,x);
CvScalar this_point = cvGet2D(found_colorchecker.points,y,x);
printf("%.0f,%.0f,%.0f,%.0f,%.0f\n",
this_point.val[0],this_point.val[1],
this_value.val[2],this_value.val[1],this_value.val[0]);
}
}
printf("%0.f\n%f\n",found_colorchecker.size,found_colorchecker.error);
}
cvReleaseMemStorage( &storage );
if( macbeth_original ) cvReleaseImage( &macbeth_original );
if( adaptive ) cvReleaseImage( &adaptive );
return macbeth_img;
}
if( macbeth_img ) cvReleaseImage( &macbeth_img );
return NULL;
}
void connectComponent(IplImage* src, const int poly_hull0, const float perimScale, int *num,
vector<CvRect> &rects, vector<CvPoint> ¢ers) {
/*
* Pre : "src" :is the input image
* "poly_hull0" :is usually set to 1
* "perimScale" :defines how big connected component will be retained, bigger
* the number, more components are retained (100)
*
* Post: "num" :defines how many connected component was found
* "rects" :the bounding box of each connected component
* "centers" :the center of each bounding box
*/
rects.clear();
centers.clear();
CvMemStorage* mem_storage = NULL;
CvSeq* contours = NULL;
// Clean up
cvMorphologyEx(src, src, 0, 0, CV_MOP_OPEN, 1);
cvMorphologyEx(src, src, 0, 0, CV_MOP_CLOSE, 1);
// Find contours around only bigger regions
mem_storage = cvCreateMemStorage(0);
CvContourScanner scanner = cvStartFindContours(src, mem_storage, sizeof(CvContour),
CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
CvSeq* c;
int numCont = 0;
while ((c = cvFindNextContour(scanner)) != NULL) {
double len = cvContourPerimeter(c);
// calculate perimeter len threshold
double q = (double) (src->height + src->width) / perimScale;
// get rid of blob if its perimeter is too small
if (len < q) {
cvSubstituteContour(scanner, NULL);
} else {
// smooth its edge if its large enough
CvSeq* c_new;
if (poly_hull0) {
// polygonal approximation
c_new = cvApproxPoly(c, sizeof(CvContour), mem_storage, CV_POLY_APPROX_DP, 2, 0);
} else {
// convex hull of the segmentation
c_new = cvConvexHull2(c, mem_storage, CV_CLOCKWISE, 1);
}
cvSubstituteContour(scanner, c_new);
numCont++;
}
}
contours = cvEndFindContours(&scanner);
// Calc center of mass and/or bounding rectangles
if (num != NULL) {
// user wants to collect statistics
int numFilled = 0, i = 0;
for (i = 0, c = contours; c != NULL; c = c->h_next, i++) {
if (i < *num) {
// bounding retangles around blobs
rects.push_back(cvBoundingRect(c));
CvPoint center = cvPoint(rects[i].x + rects[i].width / 2, rects[i].y
+ rects[i].height / 2);
centers.push_back(center);
numFilled++;
}
}
*num = numFilled;
}
cvReleaseMemStorage(&mem_storage);
}
//---------------------------------------------------------
bool COpenCV_Morphology::On_Execute(void)
{
int Type, Shape, Radius, Iterations;
CSG_Grid *pInput, *pOutput;
pInput = Parameters("INPUT") ->asGrid();
pOutput = Parameters("OUTPUT") ->asGrid();
Type = Parameters("TYPE") ->asInt();
Shape = Parameters("SHAPE") ->asInt();
Radius = Parameters("RADIUS") ->asInt();
Iterations = Parameters("ITERATIONS") ->asInt();
//-----------------------------------------------------
switch( Shape )
{
default:
case 0: Shape = CV_SHAPE_ELLIPSE; break;
case 1: Shape = CV_SHAPE_RECT; break;
case 2: Shape = CV_SHAPE_CROSS; break;
}
//-----------------------------------------------------
IplImage *cv_pInput = Get_CVImage(pInput);
IplImage *cv_pOutput = Get_CVImage(Get_NX(), Get_NY(), pInput->Get_Type());
IplImage *cv_pTmp = NULL;
//-----------------------------------------------------
IplConvKernel *cv_pElement = cvCreateStructuringElementEx(Radius * 2 + 1, Radius * 2 + 1, Radius, Radius, Shape, 0);
switch( Type )
{
case 0: // dilation
cvDilate (cv_pInput, cv_pOutput, cv_pElement, Iterations);
break;
case 1: // erosion
cvErode (cv_pInput, cv_pOutput, cv_pElement, Iterations);
break;
case 2: // opening
cvMorphologyEx (cv_pInput, cv_pOutput, cv_pTmp,
cv_pElement, CV_MOP_OPEN , Iterations
);
break;
case 3: // closing
cvMorphologyEx (cv_pInput, cv_pOutput, cv_pTmp,
cv_pElement, CV_MOP_CLOSE , Iterations
);
break;
case 4: // morpological gradient
cvMorphologyEx (cv_pInput, cv_pOutput, cv_pTmp = Get_CVImage(Get_NX(), Get_NY(), pInput->Get_Type()),
cv_pElement, CV_MOP_GRADIENT, Iterations
);
break;
case 5: // top hat
cvMorphologyEx (cv_pInput, cv_pOutput, cv_pTmp = Get_CVImage(Get_NX(), Get_NY(), pInput->Get_Type()),
cv_pElement, CV_MOP_TOPHAT , Iterations
);
break;
case 6: // black hat
cvMorphologyEx (cv_pInput, cv_pOutput, cv_pTmp = Get_CVImage(Get_NX(), Get_NY(), pInput->Get_Type()),
cv_pElement, CV_MOP_BLACKHAT, Iterations
);
break;
}
cvReleaseStructuringElement(&cv_pElement);
//-----------------------------------------------------
Copy_CVImage_To_Grid(pOutput, cv_pOutput);
cvReleaseImage(&cv_pInput);
cvReleaseImage(&cv_pOutput);
if( cv_pTmp )
{
cvReleaseImage(&cv_pTmp);
}
pOutput->Set_Name(CSG_String::Format(SG_T("%s [%s]"), pInput->Get_Name(), Get_Name().c_str()));
return( true );
}
IplImage *preImg(std::string caminho) {
int quadratico = 200;
CvSize tamanho = cvSize(quadratico, quadratico);
IplImage *in = cvLoadImage(caminho.c_str(), CV_LOAD_IMAGE_GRAYSCALE);
IplImage *src = cvCreateImage(tamanho, in->depth, in->nChannels);
IplImage *dst = cvCreateImage(tamanho, in->depth, in->nChannels);
IplImage *fn = cvCreateImage(cvSize(mh, mw), in->depth, in->nChannels);
cvResize(in, src);
cvThreshold(src, src, 220, 255, CV_THRESH_BINARY);
cvShowImage("tresh", src);
cvCanny(src, src, 100, 120, 3);
//cvShowImage("canny", src);
cvMorphologyEx(src, src, 0, cvCreateStructuringElementEx(4, 4, 0, 0, CV_SHAPE_RECT), cv::MORPH_DILATE, 1);
//cvShowImage("Dilatacao", src);
std::vector<CvPoint> pontos;
for (int y = 0; y < src->height; y++) {
for (int x = 0; x < src->width; x++) {
if (cvGet2D(src, x, y).val[0] == 255) {
//inversão dos eixos
pontos.push_back(cvPoint(y, x));
}
}
}
std::sort(pontos.begin(), pontos.end(), sortPontos);
CvPoint interpol = getInterpolado(pontos[0], pontos[pontos.size() - 1]);
// CvScalar color = cvScalar(255, 255, 255);
// int radius = 6;
// int thickness = 2;
//
// cvCircle(src, pontos[0], radius, color, thickness);
//
// cvCircle(src, pontos[pontos.size() - 1], radius, color, thickness);
//cvCircle(src, interpol, radius, color, thickness);
// std::cout << cvGetReal2D(src, pontos.begin()->x, pontos.begin()->y)
// << std::endl;
// cvShowImage("teste", src);
//-----------------------------
cvLogPolar(src, dst, cvPoint2D32f(interpol.x, interpol.y), 40,
CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS);
//cvNamedWindow("log-polar", 1);
//cvShowImage("log-polar", dst);
//cvShowImage("LogPolar",dst);
cvResize(dst, fn);
//cvShowImage("teste saida", fn);
return fn;
}
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char **argv)
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
printf("Failed to initialize.\n");
return -1;
}
// Kalman filter
CvKalman *kalman = cvCreateKalman(4, 2);
// Setup
cvSetIdentity(kalman->measurement_matrix, cvRealScalar(1.0));
cvSetIdentity(kalman->process_noise_cov, cvRealScalar(1e-5));
cvSetIdentity(kalman->measurement_noise_cov, cvRealScalar(0.1));
cvSetIdentity(kalman->error_cov_post, cvRealScalar(1.0));
// Linear system
kalman->DynamMatr[0] = 1.0; kalman->DynamMatr[1] = 0.0; kalman->DynamMatr[2] = 1.0; kalman->DynamMatr[3] = 0.0;
kalman->DynamMatr[4] = 0.0; kalman->DynamMatr[5] = 1.0; kalman->DynamMatr[6] = 0.0; kalman->DynamMatr[7] = 1.0;
kalman->DynamMatr[8] = 0.0; kalman->DynamMatr[9] = 0.0; kalman->DynamMatr[10] = 1.0; kalman->DynamMatr[11] = 0.0;
kalman->DynamMatr[12] = 0.0; kalman->DynamMatr[13] = 0.0; kalman->DynamMatr[14] = 0.0; kalman->DynamMatr[15] = 1.0;
// Thresholds
int minH = 0, maxH = 255;
int minS = 0, maxS = 255;
int minV = 0, maxV = 255;
// Create a window
cvNamedWindow("binalized");
cvCreateTrackbar("H max", "binalized", &maxH, 255);
cvCreateTrackbar("H min", "binalized", &minH, 255);
cvCreateTrackbar("S max", "binalized", &maxS, 255);
cvCreateTrackbar("S min", "binalized", &minS, 255);
cvCreateTrackbar("V max", "binalized", &maxV, 255);
cvCreateTrackbar("V min", "binalized", &minV, 255);
cvResizeWindow("binalized", 0, 0);
// Main loop
while (1) {
// Key input
int key = cvWaitKey(1);
if (key == 0x1b) break;
// Update
if (!ardrone.update()) break;
// Get an image
IplImage *image = ardrone.getImage();
// HSV image
IplImage *hsv = cvCloneImage(image);
cvCvtColor(image, hsv, CV_RGB2HSV_FULL);
// Binalized image
IplImage *binalized = cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 1);
// Binalize
CvScalar lower = cvScalar(minH, minS, minV);
CvScalar upper = cvScalar(maxH, maxS, maxV);
cvInRangeS(image, lower, upper, binalized);
// Show result
cvShowImage("binalized", binalized);
// De-noising
cvMorphologyEx(binalized, binalized, NULL, NULL, CV_MOP_CLOSE);
// Detect contours
CvSeq *contour = NULL, *maxContour = NULL;
CvMemStorage *contourStorage = cvCreateMemStorage();
cvFindContours(binalized, contourStorage, &contour, sizeof(CvContour), CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
// Find largest contour
double max_area = 0.0;
while (contour) {
double area = fabs(cvContourArea(contour));
if ( area > max_area) {
maxContour = contour;
max_area = area;
}
contour = contour->h_next;
}
// Object detected
if (maxContour) {
// Draw a contour
cvZero(binalized);
cvDrawContours(binalized, maxContour, cvScalarAll(255), cvScalarAll(255), 0, CV_FILLED);
// Calculate the moments
CvMoments moments;
cvMoments(binalized, &moments, 1);
int my = (int)(moments.m01/moments.m00);
int mx = (int)(moments.m10/moments.m00);
// Measurements
float m[] = {mx, my};
CvMat measurement = cvMat(2, 1, CV_32FC1, m);
// Correct phase
const CvMat *correction = cvKalmanCorrect(kalman, &measurement);
}
// Prediction phase
const CvMat *prediction = cvKalmanPredict(kalman);
// Display the image
cvCircle(image, cvPointFrom32f(cvPoint2D32f(prediction->data.fl[0], prediction->data.fl[1])), 10, CV_RGB(0,255,0));
cvShowImage("camera", image);
// Release the memories
cvReleaseImage(&hsv);
cvReleaseImage(&binalized);
cvReleaseMemStorage(&contourStorage);
}
// Release the kalman filter
cvReleaseKalman(&kalman);
// See you
ardrone.close();
return 0;
}
// Function cvUpdateFGDStatModel updates statistical model and returns number of foreground regions
// parameters:
// curr_frame - current frame from video sequence
// p_model - pointer to CvFGDStatModel structure
static int CV_CDECL
icvUpdateFGDStatModel( IplImage* curr_frame, CvFGDStatModel* model, double )
{
int mask_step = model->Ftd->widthStep;
CvSeq *first_seq = NULL, *prev_seq = NULL, *seq = NULL;
IplImage* prev_frame = model->prev_frame;
int region_count = 0;
int FG_pixels_count = 0;
int deltaC = cvRound(model->params.delta * 256 / model->params.Lc);
int deltaCC = cvRound(model->params.delta * 256 / model->params.Lcc);
int i, j, k, l;
//clear storages
cvClearMemStorage(model->storage);
cvZero(model->foreground);
// From foreground pixel candidates using image differencing
// with adaptive thresholding. The algorithm is from:
//
// Thresholding for Change Detection
// Paul L. Rosin 1998 6p
// http://www.cis.temple.edu/~latecki/Courses/CIS750-03/Papers/thresh-iccv.pdf
//
cvChangeDetection( prev_frame, curr_frame, model->Ftd );
cvChangeDetection( model->background, curr_frame, model->Fbd );
for( i = 0; i < model->Ftd->height; i++ )
{
for( j = 0; j < model->Ftd->width; j++ )
{
if( ((uchar*)model->Fbd->imageData)[i*mask_step+j] || ((uchar*)model->Ftd->imageData)[i*mask_step+j] )
{
float Pb = 0;
float Pv = 0;
float Pvb = 0;
CvBGPixelStat* stat = model->pixel_stat + i * model->Ftd->width + j;
CvBGPixelCStatTable* ctable = stat->ctable;
CvBGPixelCCStatTable* cctable = stat->cctable;
uchar* curr_data = (uchar*)(curr_frame->imageData) + i*curr_frame->widthStep + j*3;
uchar* prev_data = (uchar*)(prev_frame->imageData) + i*prev_frame->widthStep + j*3;
int val = 0;
// Is it a motion pixel?
if( ((uchar*)model->Ftd->imageData)[i*mask_step+j] )
{
if( !stat->is_trained_dyn_model ) {
val = 1;
} else {
// Compare with stored CCt vectors:
for( k = 0; PV_CC(k) > model->params.alpha2 && k < model->params.N1cc; k++ )
{
if ( abs( V_CC(k,0) - prev_data[0]) <= deltaCC &&
abs( V_CC(k,1) - prev_data[1]) <= deltaCC &&
abs( V_CC(k,2) - prev_data[2]) <= deltaCC &&
abs( V_CC(k,3) - curr_data[0]) <= deltaCC &&
abs( V_CC(k,4) - curr_data[1]) <= deltaCC &&
abs( V_CC(k,5) - curr_data[2]) <= deltaCC)
{
Pv += PV_CC(k);
Pvb += PVB_CC(k);
}
}
Pb = stat->Pbcc;
if( 2 * Pvb * Pb <= Pv ) val = 1;
}
}
else if( stat->is_trained_st_model )
{
// Compare with stored Ct vectors:
for( k = 0; PV_C(k) > model->params.alpha2 && k < model->params.N1c; k++ )
{
if ( abs( V_C(k,0) - curr_data[0]) <= deltaC &&
abs( V_C(k,1) - curr_data[1]) <= deltaC &&
abs( V_C(k,2) - curr_data[2]) <= deltaC )
{
Pv += PV_C(k);
Pvb += PVB_C(k);
}
}
Pb = stat->Pbc;
if( 2 * Pvb * Pb <= Pv ) val = 1;
}
// Update foreground:
((uchar*)model->foreground->imageData)[i*mask_step+j] = (uchar)(val*255);
FG_pixels_count += val;
} // end if( change detection...
} // for j...
} // for i...
//end BG/FG classification
// Foreground segmentation.
// Smooth foreground map:
if( model->params.perform_morphing ){
cvMorphologyEx( model->foreground, model->foreground, 0, 0, CV_MOP_OPEN, model->params.perform_morphing );
cvMorphologyEx( model->foreground, model->foreground, 0, 0, CV_MOP_CLOSE, model->params.perform_morphing );
}
if( model->params.minArea > 0 || model->params.is_obj_without_holes ){
// Discard under-size foreground regions:
//
cvFindContours( model->foreground, model->storage, &first_seq, sizeof(CvContour), CV_RETR_LIST );
for( seq = first_seq; seq; seq = seq->h_next )
{
CvContour* cnt = (CvContour*)seq;
if( cnt->rect.width * cnt->rect.height < model->params.minArea ||
(model->params.is_obj_without_holes && CV_IS_SEQ_HOLE(seq)) )
{
// Delete under-size contour:
prev_seq = seq->h_prev;
if( prev_seq )
{
prev_seq->h_next = seq->h_next;
if( seq->h_next ) seq->h_next->h_prev = prev_seq;
}
else
{
first_seq = seq->h_next;
if( seq->h_next ) seq->h_next->h_prev = NULL;
}
}
else
{
region_count++;
}
}
model->foreground_regions = first_seq;
cvZero(model->foreground);
cvDrawContours(model->foreground, first_seq, CV_RGB(0, 0, 255), CV_RGB(0, 0, 255), 10, -1);
} else {
model->foreground_regions = NULL;
}
// Check ALL BG update condition:
if( ((float)FG_pixels_count/(model->Ftd->width*model->Ftd->height)) > CV_BGFG_FGD_BG_UPDATE_TRESH )
{
for( i = 0; i < model->Ftd->height; i++ )
for( j = 0; j < model->Ftd->width; j++ )
{
CvBGPixelStat* stat = model->pixel_stat + i * model->Ftd->width + j;
stat->is_trained_st_model = stat->is_trained_dyn_model = 1;
}
}
// Update background model:
for( i = 0; i < model->Ftd->height; i++ )
{
for( j = 0; j < model->Ftd->width; j++ )
{
CvBGPixelStat* stat = model->pixel_stat + i * model->Ftd->width + j;
CvBGPixelCStatTable* ctable = stat->ctable;
CvBGPixelCCStatTable* cctable = stat->cctable;
uchar *curr_data = (uchar*)(curr_frame->imageData)+i*curr_frame->widthStep+j*3;
uchar *prev_data = (uchar*)(prev_frame->imageData)+i*prev_frame->widthStep+j*3;
if( ((uchar*)model->Ftd->imageData)[i*mask_step+j] || !stat->is_trained_dyn_model )
{
float alpha = stat->is_trained_dyn_model ? model->params.alpha2 : model->params.alpha3;
float diff = 0;
int dist, min_dist = 2147483647, indx = -1;
//update Pb
stat->Pbcc *= (1.f-alpha);
if( !((uchar*)model->foreground->imageData)[i*mask_step+j] )
{
stat->Pbcc += alpha;
}
// Find best Vi match:
for(k = 0; PV_CC(k) && k < model->params.N2cc; k++ )
{
// Exponential decay of memory
PV_CC(k) *= (1-alpha);
PVB_CC(k) *= (1-alpha);
if( PV_CC(k) < MIN_PV )
{
PV_CC(k) = 0;
PVB_CC(k) = 0;
continue;
}
dist = 0;
for( l = 0; l < 3; l++ )
{
int val = abs( V_CC(k,l) - prev_data[l] );
if( val > deltaCC ) break;
dist += val;
val = abs( V_CC(k,l+3) - curr_data[l] );
if( val > deltaCC) break;
dist += val;
}
if( l == 3 && dist < min_dist )
{
min_dist = dist;
indx = k;
}
}
if( indx < 0 )
{ // Replace N2th elem in the table by new feature:
indx = model->params.N2cc - 1;
PV_CC(indx) = alpha;
PVB_CC(indx) = alpha;
//udate Vt
for( l = 0; l < 3; l++ )
{
V_CC(indx,l) = prev_data[l];
V_CC(indx,l+3) = curr_data[l];
}
}
else
{ // Update:
PV_CC(indx) += alpha;
if( !((uchar*)model->foreground->imageData)[i*mask_step+j] )
{
PVB_CC(indx) += alpha;
}
}
//re-sort CCt table by Pv
for( k = 0; k < indx; k++ )
{
if( PV_CC(k) <= PV_CC(indx) )
{
//shift elements
CvBGPixelCCStatTable tmp1, tmp2 = cctable[indx];
for( l = k; l <= indx; l++ )
{
tmp1 = cctable[l];
cctable[l] = tmp2;
tmp2 = tmp1;
}
break;
}
}
float sum1=0, sum2=0;
//check "once-off" changes
for(k = 0; PV_CC(k) && k < model->params.N1cc; k++ )
{
sum1 += PV_CC(k);
sum2 += PVB_CC(k);
}
if( sum1 > model->params.T ) stat->is_trained_dyn_model = 1;
diff = sum1 - stat->Pbcc * sum2;
// Update stat table:
if( diff > model->params.T )
{
//printf("once off change at motion mode\n");
//new BG features are discovered
for( k = 0; PV_CC(k) && k < model->params.N1cc; k++ )
{
PVB_CC(k) =
(PV_CC(k)-stat->Pbcc*PVB_CC(k))/(1-stat->Pbcc);
}
assert(stat->Pbcc<=1 && stat->Pbcc>=0);
}
}
// Handle "stationary" pixel:
if( !((uchar*)model->Ftd->imageData)[i*mask_step+j] )
{
float alpha = stat->is_trained_st_model ? model->params.alpha2 : model->params.alpha3;
float diff = 0;
int dist, min_dist = 2147483647, indx = -1;
//update Pb
stat->Pbc *= (1.f-alpha);
if( !((uchar*)model->foreground->imageData)[i*mask_step+j] )
{
stat->Pbc += alpha;
}
//find best Vi match
for( k = 0; k < model->params.N2c; k++ )
{
// Exponential decay of memory
PV_C(k) *= (1-alpha);
PVB_C(k) *= (1-alpha);
if( PV_C(k) < MIN_PV )
{
PV_C(k) = 0;
PVB_C(k) = 0;
continue;
}
dist = 0;
for( l = 0; l < 3; l++ )
{
int val = abs( V_C(k,l) - curr_data[l] );
if( val > deltaC ) break;
dist += val;
}
if( l == 3 && dist < min_dist )
{
min_dist = dist;
indx = k;
}
}
if( indx < 0 )
{//N2th elem in the table is replaced by a new features
indx = model->params.N2c - 1;
PV_C(indx) = alpha;
PVB_C(indx) = alpha;
//udate Vt
for( l = 0; l < 3; l++ )
{
V_C(indx,l) = curr_data[l];
}
} else
{//update
PV_C(indx) += alpha;
if( !((uchar*)model->foreground->imageData)[i*mask_step+j] )
{
PVB_C(indx) += alpha;
}
}
//re-sort Ct table by Pv
for( k = 0; k < indx; k++ )
{
if( PV_C(k) <= PV_C(indx) )
{
//shift elements
CvBGPixelCStatTable tmp1, tmp2 = ctable[indx];
for( l = k; l <= indx; l++ )
{
tmp1 = ctable[l];
ctable[l] = tmp2;
tmp2 = tmp1;
}
break;
}
}
// Check "once-off" changes:
float sum1=0, sum2=0;
for( k = 0; PV_C(k) && k < model->params.N1c; k++ )
{
sum1 += PV_C(k);
sum2 += PVB_C(k);
}
diff = sum1 - stat->Pbc * sum2;
if( sum1 > model->params.T ) stat->is_trained_st_model = 1;
// Update stat table:
if( diff > model->params.T )
{
//printf("once off change at stat mode\n");
//new BG features are discovered
for( k = 0; PV_C(k) && k < model->params.N1c; k++ )
{
PVB_C(k) = (PV_C(k)-stat->Pbc*PVB_C(k))/(1-stat->Pbc);
}
stat->Pbc = 1 - stat->Pbc;
}
} // if !(change detection) at pixel (i,j)
// Update the reference BG image:
if( !((uchar*)model->foreground->imageData)[i*mask_step+j])
{
uchar* ptr = ((uchar*)model->background->imageData) + i*model->background->widthStep+j*3;
if( !((uchar*)model->Ftd->imageData)[i*mask_step+j] &&
!((uchar*)model->Fbd->imageData)[i*mask_step+j] )
{
// Apply IIR filter:
for( l = 0; l < 3; l++ )
{
int a = cvRound(ptr[l]*(1 - model->params.alpha1) + model->params.alpha1*curr_data[l]);
ptr[l] = (uchar)a;
//((uchar*)model->background->imageData)[i*model->background->widthStep+j*3+l]*=(1 - model->params.alpha1);
//((uchar*)model->background->imageData)[i*model->background->widthStep+j*3+l] += model->params.alpha1*curr_data[l];
}
}
else
{
// Background change detected:
for( l = 0; l < 3; l++ )
{
//((uchar*)model->background->imageData)[i*model->background->widthStep+j*3+l] = curr_data[l];
ptr[l] = curr_data[l];
}
}
}
} // j
} // i
// Keep previous frame:
cvCopy( curr_frame, model->prev_frame );
return region_count;
}