// Check if a specified image segment contains any motion features.
bool contains_motion(CvRect* motion_segment_rect, CvSeq* motion_feature_sequence)
{
bool intersects = false;
int area = 0;
CvRect* motion_feature_rect;
for(int i = 0; i < motion_feature_sequence->total; i++)
{
motion_feature_rect = &((CvConnectedComp*)cvGetSeqElem(motion_feature_sequence, i))->rect;
//area = motion_feature_rect->width * motion_feature_rect->height;
//printf("%d\n", area);
CvRect* intersection_area = &CvRect();
//if (area > MIN_MOTION_FEATURE_AREA)
intersects = intersect_rect_ex(motion_segment_rect, motion_feature_rect, intersection_area);
if (intersects)
area += intersection_area->width * intersection_area->height;
//result = intersect_rect(motion_segment_rect, motion_feature_rect);
//if (result == true) break;
}
return area > 0;
}
long calculate_motion(CvRect* motion_segment_rect, CvSeq* motion_feature_sequence)
{
bool intersects = false;
long area = 0;
CvRect* motion_feature_rect;
for(int i = 0; i < motion_feature_sequence->total; i++)
{
motion_feature_rect = &((CvConnectedComp*)cvGetSeqElem(motion_feature_sequence, i))->rect;
CvRect* intersection_area = &CvRect();
intersects = intersect_rect_ex(motion_segment_rect, motion_feature_rect, intersection_area);
if (intersects)
area += intersection_area->width * intersection_area->height;
}
//printf("area: %i, ", area);
//fflush(stdout);
return area;
}
BOOL APIENTRY DllMain( HMODULE hModule,
DWORD ul_reason_for_call,
LPVOID lpReserved
)
{
switch (ul_reason_for_call)
{
case DLL_PROCESS_ATTACH:
prevFrame.searchRect = CvRect();
prevFrame.image = NULL;
break;
case DLL_THREAD_ATTACH:
case DLL_THREAD_DETACH:
case DLL_PROCESS_DETACH:
break;
}
return TRUE;
}
void my_callback(int event,int x,int y,int flags,void* param)
{
IplImage* image=(IplImage*)param;
switch(event)
{
case CV_EVENT_LBUTTONDOWN:{
g_isdown=true;
g_rect=CvRect(x,y,0,0);
}
break;
case CV_EVENT_MOUSEMOVE:{
if(true==g_isdown)
{
g_rect.width=x-g_rect.x;
g_rect.height=y-g_rect.y;
}
}
break;
case CV_EVENT_LBUTTONUP:{
g_isdown=false;
if(g_rect.width<0)
{
g_rect.x=g_rect.x+g_rect.width;
g_rect.width*=-1;
}
if(g_rect.height<0)
{
g_rect.y=g_rect.y+g_rect.height;
g_rect.height*=-1;
}
high_light(image,g_rect);
Draw_hist(image,g_rect);
}
break;
}
}
/*
* General image processing. Returns the original image with objects drawn on top of it.
*/
Mat RoadDetection::processImage()
{
Mat rawFrame, tmpFrame, grayFrame, blurredFrame, contoursFrame, houghFrame, sectionFrame;
Point vanishingPoint;
vector<Line> houghLines, houghMainLines;
vector<Point> roadShape;
int sectionOffset;
// save a copy of the original frame
original.copyTo(rawFrame);
// smooth and remove noise
GaussianBlur(rawFrame, blurredFrame, Size(BLUR_KERNEL, BLUR_KERNEL), 0, 0);
// edge detection (canny, inverted)
Canny(blurredFrame, contoursFrame, CANNY_MIN_THRESH, CANNY_MAX_THRESH);
threshold(contoursFrame, contoursFrame, 128, 255, THRESH_BINARY);
// hough transform lines
houghLines = getHoughLines(contoursFrame, true);
// vanishing point
vanishingPoint = getVanishingPoint(houghLines, rawFrame.size());
sectionOffset = vanishingPoint.y;
// section frame (below vanishing point)
contoursFrame.copyTo(tmpFrame);
sectionFrame = tmpFrame(CvRect(0, vanishingPoint.y, contoursFrame.cols, contoursFrame.rows - vanishingPoint.y));
// re-apply hough transform to section frame
houghLines = getHoughLines(sectionFrame, true);
// shift lines downwards
houghLines = shiftLines(houghLines, sectionOffset);
houghLines = getFilteredLines(houghLines);
// best line matches
houghMainLines = getMainLines(houghLines);
if (houghMainLines.size() >= 2)
{
Point intersection = getLineIntersection(houghMainLines[0], houghMainLines[1]);
if (intersection.x > 0 && intersection.y >= 0)
{
vanishingPoint = intersection;
sectionOffset = intersection.y;
}
// get road shape
roadShape = getRoadShape(rawFrame, houghMainLines[0], houghMainLines[1], vanishingPoint);
}
// limit lines
houghLines = getLimitedLines(houghLines, sectionOffset);
houghMainLines = getLimitedLines(houghMainLines, sectionOffset);
// drawing process
drawLines(rawFrame, houghLines, Scalar(0, 0, 255), 2, 0);
drawLines(rawFrame, houghMainLines, Scalar(20, 125, 255), 2, 0);
drawRoadShape(rawFrame, roadShape, Scalar(20, 125, 255), 0.4);
drawCircle(rawFrame, vanishingPoint, Scalar(20, 125, 255), 15, -1, 0);
return rawFrame;
}
/*
* General videos processing. @TODO Make use of previous frames?
*/
Mat RoadDetection::processVideo(Mat rawFrame)
{
Mat originalFrame, tmpFrame, grayFrame, blurredFrame, contoursFrame, houghFrame, sectionFrame, drawingFrame;
Point vanishingPoint;
vector<Line> houghLines, houghMainLines;
vector<Point> roadShape;
vector<Rect> vehicles;
int sectionOffset;
// convert to grayscale
cvtColor(rawFrame, grayFrame, CV_BGR2GRAY);
equalizeHist(grayFrame, grayFrame);
// smooth and remove noise
GaussianBlur(grayFrame, blurredFrame, Size(BLUR_KERNEL, BLUR_KERNEL), 0);
// edge detection (canny, inverted)
Canny(blurredFrame, contoursFrame, CANNY_MIN_THRESH, CANNY_MAX_THRESH);
threshold(contoursFrame, contoursFrame, 128, 255, THRESH_BINARY);
// hough transform
houghLines = getHoughLines(contoursFrame, true);
// vanishing point
vanishingPoint = getVanishingPoint(houghLines, rawFrame.size());
sectionOffset = vanishingPoint.y;
// if we can't find a point, use the one from a previous frame
if (vanishingPoint.x == 0 && vanishingPoint.y == 0)
{
vanishingPoint = previousVanishingPoint;
}
// if we can, save it for future use
else
{
previousVanishingPoint = vanishingPoint;
}
// section frame (below vanishing point)
sectionFrame = contoursFrame(CvRect(0, sectionOffset, contoursFrame.cols, contoursFrame.rows - sectionOffset));
// re-apply hough transform to section frame
houghLines = getHoughLines(sectionFrame, true);
// shift lines downwards
houghLines = shiftLines(houghLines, sectionOffset);
// best line matches
houghMainLines = getMainLines(houghLines);
// update vanishing point according to the new section
if (houghMainLines.size() >= 2)
{
previousLines = houghMainLines;
}
else
{
houghMainLines = previousLines;
}
if (houghMainLines.size() >= 2)
{
Point intersection = getLineIntersection(houghMainLines[0], houghMainLines[1]);
if (intersection.x > 0 && intersection.x < rawFrame.cols && intersection.y > 0 && intersection.y < rawFrame.rows)
{
vanishingPoint = intersection;
sectionOffset = intersection.y;
}
// get road shape
roadShape = getRoadShape(rawFrame, houghMainLines[0], houghMainLines[1], vanishingPoint);
}
// limit lines
houghLines = getLimitedLines(houghLines, sectionOffset);
houghMainLines = getLimitedLines(houghMainLines, sectionOffset);
// drawing frame and vehicles
drawingFrame = rawFrame(CvRect(0, sectionOffset, contoursFrame.cols, contoursFrame.rows - sectionOffset));
// vehicles = getVehicles(drawingFrame);
// drawing process
drawLines(rawFrame, houghLines, Scalar(0, 0, 255), 2, 0);
drawLines(rawFrame, houghMainLines, Scalar(20, 125, 255), 2, 0);
drawRoadShape(rawFrame, roadShape, Scalar(20, 125, 255), 0.3);
drawCircle(rawFrame, vanishingPoint, Scalar(20, 125, 255), 15, -1, 0);
// drawRects(rawFrame, vehicles, Scalar(255, 0, 0), 1, sectionOffset);
return rawFrame;
}
