roiDetector::roiDetector(const CameraPrx& camera , RoboCompVision::TCamParams params_, int nCam_, QObject *parent):
QObject(parent), _camera(camera), nCam(nCam_), params(params_)
{
qDebug() << "roiDetector::roiDetector() -> Initiating roiDetector number " << nCam;
Umbral_Harris=UMBRAL_HARRIS;
Umbral_Harris_Min=UMBRAL_HARRIS_MIN;
Umbral_Hess=UMBRAL_HESS;
Umbral_Laplacian=(uchar)UMBRAL_LAPLACIAN;
sizePir=(IppiSize *) malloc(params.pyrLevels*sizeof(IppiSize));
infoPrisma=(PrismaROI *) malloc(params.pyrLevels*sizeof(PrismaROI));
imagen = ippsMalloc_8u(params.size);
imagenV.resize(params.size);
iniPiramide();
IppiSize sizeImage;
sizeImage.width=PAN_RANK;
sizeImage.height=TILT_RANK;
Mapa_Umbral_Harris1=(Ipp32f *) ippsMalloc_32f(PAN_RANK*TILT_RANK*sizeof(Ipp32f));
Mapa_Umbral_Harris2=(Ipp32f *) ippsMalloc_32f(PAN_RANK*TILT_RANK*sizeof(Ipp32f));
ippiSet_32f_C1R(-1.,Mapa_Umbral_Harris1,PAN_RANK*sizeof(Ipp32f),sizeImage);
ippiSet_32f_C1R(-1.,Mapa_Umbral_Harris2,PAN_RANK*sizeof(Ipp32f),sizeImage);
Mapa_Umbral_Harris_Act=Mapa_Umbral_Harris1;
Mapa_Umbral_Harris_Ant=Mapa_Umbral_Harris2;
//LogPolar
// lp = new LPolar(64,200,height,height);
}
IppStatus FindLocalMax_2D(Image2D &image_bpass, Image2D &image_bpass_thresh, Image2D &image_subtracted,
const int intensity_threshold, const int dilation_radius)
{
IppStatus status;
Image2D image_dilated(image_bpass.get_length(), image_bpass.get_width());
Dilation_Kernel DilationKernel(dilation_radius, image_bpass.get_width(), image_bpass.get_length());
//Threshold darker pixels in bandpassed image (in preparation for later subtraction)
RecenterImage(image_bpass);
status = ippiThreshold_LTVal_32f_C1R(image_bpass.get_image2D(), image_bpass.get_stepsize(),
image_bpass_thresh.get_image2D(), image_bpass_thresh.get_stepsize(),
image_bpass.get_ROIfull(), intensity_threshold, intensity_threshold);
//Dilate Bandpassed image with a circular kernel
status = ippiSet_32f_C1R(intensity_threshold, image_dilated.get_image2D(), image_dilated.get_stepsize(),
image_dilated.get_ROIfull());
status = ippiDilate_32f_C1R(
//image_bpass.get_image2D() + DilationKernel.get_offset(), image_bpass.get_stepsize(),
image_bpass_thresh.get_image2D() + DilationKernel.get_offset(), image_bpass_thresh.get_stepsize(),
image_dilated.get_image2D()+ DilationKernel.get_offset(), image_dilated.get_stepsize(),
DilationKernel.get_ROI_size(), DilationKernel.get_dilation_kernel(), DilationKernel.get_mask_size(),
DilationKernel.get_anchor_point());
//subtract, such that resulting array is negative to zero (for later exponentation)
status = ippiSub_32f_C1R(
image_dilated.get_image2D(), image_dilated.get_stepsize(),
image_bpass.get_image2D(), image_bpass.get_stepsize(),
image_subtracted.get_image2D(), image_subtracted.get_stepsize(),
image_bpass.get_ROIfull());
//exponentiate subtracted array, then threshold
status = ippiExp_32f_C1IR(image_subtracted.get_image2D(), image_subtracted.get_stepsize(),
image_subtracted.get_ROIfull());
status = ippiThreshold_LTValGTVal_32f_C1IR(image_subtracted.get_image2D(), image_subtracted.get_stepsize(),
image_subtracted.get_ROIfull(), 1-epsilon, 0, 1-epsilon, 1);
return status;
}
void AtrousGabor::_process_level( IMAGE_PTR in, IMAGE_PTR out, int level) // can be used in place
{
const int filtersize = 5;
const int filtercenter = 2;
int r,c; //loop counters
int step = (int)pow(2.0f,level-1); //size of the increments between non zero filter coefs
int dim = step*(filtersize-1)+1; //dimension of the FIR filter at this scale
int mid = dim/2; //filter center
#ifdef USE_IPP
int stride;
IppiSize size = {m_i_colsext, m_i_linesext};
IppiSize horsize = {m_i_colsext-2*mid, m_i_linesext};
IppiSize versize = {m_i_colsext, m_i_linesext-2*mid};
Ipp32f *filter = ippiMalloc_32f_C1(dim,1,&stride);
ippiSet_32f_C1R(0.0f, temp, m_i_strideext, size);
for( r = 0; r < dim; r++ )
filter[r] = 0.0f;
filter[0] = filter[dim-1] = (Ipp32f)fc;
filter[step] = filter[dim-step-1] = (Ipp32f)fb;
filter[2*step] = (Ipp32f)fa;
ippiFilterRow_32f_C1R( in + mid, m_i_strideext, temp+mid, m_i_strideext, horsize, filter, dim, mid);
ippiFilterColumn_32f_C1R( temp + mid*m_i_stridepix, m_i_strideext,
out + mid*m_i_stridepix, m_i_strideext, versize, filter, dim, mid);
ippiFree(filter);
#else
int height = m_i_linesext;
int width = m_i_colsext;
int ws = m_i_stridepix;
//horizontal filtering
for(r=0; r < height; r++ )
{
//filtering the left border
for(c = 0; c < step; c++)
temp[r*ws+c] = fc*(in[r*ws]+in[r*ws+c+2*step]) +
fb*(in[r*ws]+in[r*ws+c+step]) +
fa*in[r*ws+c];
for(c = step; c < 2*step; c++)
temp[r*ws+c] = fc*(in[r*ws]+in[r*ws+c+2*step]) +
fb*(in[r*ws+c-step]+in[r*ws+c+step]) +
fa*in[r*ws+c];
//filtering the valid part
for(c = 2*step; c < width - 2*step; c++)
temp[r*ws+c] = fc*(in[r*ws+c-2*step]+in[r*ws+c+2*step]) +
fb*(in[r*ws+c-step]+in[r*ws+c+step]) +
fa*in[r*ws+c];
//filtering the right border
for(c = width-2*step; c < width-step; c++)
temp[r*ws+c] = fc*(in[r*ws+c-2*step]+in[r*ws+width-1]) +
fb*(in[r*ws+c-step]+in[r*ws+c+step]) +
fa*in[r*ws+c];
for(c = width-step; c < width; c++)
temp[r*ws+c] = fc*(in[r*ws+c-2*step]+in[r*ws+width-1]) +
fb*(in[r*ws+c-step]+in[r*ws+width-1]) +
fa*in[r*ws+c];
}
//vertical filtering
for(c=0; c < width; c++ )
{
//filtering the top border
for(r = 0; r < step; r++)
out[r*ws+c] = fc*(temp[c]+temp[(r+2*step)*ws+c]) +
fb*(temp[c]+temp[(r+step)*ws+c]) +
fa*temp[r*ws+c];
for(r = step; r < 2*step; r++)
out[r*ws+c] = fc*(temp[c]+temp[(r+2*step)*ws+c]) +
fb*(temp[(r-step)*ws+c]+temp[(r+step)*ws+c]) +
fa*temp[r*ws+c];
//filtering the valid part
for(r = 2*step; r < height - 2*step; r++)
out[r*ws+c] = fc*(temp[(r-2*step)*ws+c]+temp[(r+2*step)*ws+c]) +
fb*(temp[(r-step)*ws+c]+temp[(r+step)*ws+c]) +
fa*temp[r*ws+c];
//filtering the right border
for(r=height-2*step; r < height-step; r++)
out[r*ws+c] = fc*(temp[(r-2*step)*ws+c]+temp[(height-1)*ws+c]) +
fb*(temp[(r-step)*ws+c]+temp[(r+step)*ws+c]) +
fa*temp[r*ws+c];
for(r=height-step; r < height; r++)
out[r*ws+c] = fc*(temp[(r-2*step)*ws+c]+temp[(height-1)*ws+c]) +
fb*(temp[(r-step)*ws+c]+temp[(height-1)*ws+c]) +
fa*temp[r*ws+c];
}
#endif
return;
}
