void EdgeDetectorCanny::apply(cv::InputArray _oInputImage, cv::OutputArray _oEdgeMask) {
cv::Mat oInputImg = _oInputImage.getMat();
CV_Assert(!oInputImg.empty());
CV_Assert(oInputImg.channels()==1 || oInputImg.channels()==3 || oInputImg.channels()==4);
_oEdgeMask.create(oInputImg.size(),CV_8UC1);
cv::Mat oEdgeMask = _oEdgeMask.getMat();
oEdgeMask = cv::Scalar_<uchar>(0);
cv::Mat oTempEdgeMask = oEdgeMask.clone();
for(size_t nCurrThreshold=0; nCurrThreshold<UCHAR_MAX; ++nCurrThreshold) {
apply_threshold(oInputImg,oTempEdgeMask,double(nCurrThreshold));
oEdgeMask += oTempEdgeMask/UCHAR_MAX;
}
cv::normalize(oEdgeMask,oEdgeMask,0,UCHAR_MAX,cv::NORM_MINMAX);
}
/* Fetch a frame (if available) and process it, calling appropriate
callbacks when data becomes available. */
void MarkerCapture::tick(){
IplImage *thresh_frame = NULL;
CBlobResult blobs;
// Acquire the lock, update the current frame.
pthread_mutex_lock(&frame_mutex);
current_frame = cvCloneImage(cvQueryFrame(camera));
if(color_acquired && current_frame){
thresh_frame = apply_threshold(current_frame, target_color);
}else{
// create a suplicant.
thresh_frame = cvCreateImage(cvGetSize(current_frame),IPL_DEPTH_8U,1);
}
pthread_mutex_unlock(&frame_mutex);
// Lock released. Done messing with buffers.
if(frame_update_callback){
(*frame_update_callback)(this, current_frame, thresh_frame);
}
if(color_acquired){
blobs = detect_blobs(thresh_frame, CV_BLOB_SIZE_MIN);
if(blobs.GetNumBlobs() >= 2){ // need 2 or more blobs for positional fix.
MarkerPositionEstimate position;
// fetch the two largest blobs, by area.
CBlob blob0, blob1;
blobs.GetNthBlob(CBlobGetArea(), 0, blob0);
blobs.GetNthBlob(CBlobGetArea(), 1, blob1);
// perform positional calculations
position.distance = distance(blob0, blob1);
position.angle = angle(blob0, blob1);
position.blob0_center = blob_center(blob0);
position.blob1_center = blob_center(blob1);
// call the update handler.
if(position_update_callback){
(*position_update_callback)(this, position);
}
}
blobs.ClearBlobs();
}
pthread_mutex_lock(&frame_mutex);
cvReleaseImage(¤t_frame);
cvReleaseImage(&thresh_frame);
pthread_mutex_unlock(&frame_mutex);
int curr_time = clock();
fps = CLOCKS_PER_SEC/(double)(curr_time - time);
time = curr_time;
}
void test_otsu_step(){
//IplImage * edge_image = min_max_edge_detection(image);
//display_image("edge_image",edge_image);
IplImage * edge_image = cvLoadImage("images/edges.png",0);
display_image("edges image",edge_image);
IplImage * otsu_image = otsu_algorithm(edge_image);
otsu_image = invert_image(otsu_image);
display_image("otsu image",otsu_image);
IplImage * segmented_pixels = get_pixels_on_template(image,otsu_image);
display_image("segmented pixs",segmented_pixels);
int threshold = otsu_thresholding_no_white(segmented_pixels);
IplImage* fimage = apply_threshold(segmented_pixels,threshold);
display_image("fimage", fimage);
cvSaveImage("images/otsu_edges.png",otsu_image);
}
LRESULT CALLBACK ThresholdDlgHandler( HWND hDlg, UINT message, WPARAM wParam, LPARAM lParam )
{
static int init;
char temp[100];
THRESHOLDOBJ * st;
int x;
st = (THRESHOLDOBJ *) actobject;
if ((st==NULL)||(st->type!=OB_THRESHOLD)) return(FALSE);
for (x=0;x<GLOBAL.objects;x++) if (objects[x]==actobject)
{ char tmp[10]; wsprintf(tmp,"%d",x);
//SendDlgItemMessage(ghWndStatusbox,IDC_LISTE,LB_ADDSTRING, 0, (LPARAM)(tmp));
}
switch( message )
{
case WM_INITDIALOG:
{
SCROLLINFO lpsi;
lpsi.cbSize=sizeof(SCROLLINFO);
lpsi.fMask=SIF_RANGE; // |SIF_POS;
lpsi.nMin=1; lpsi.nMax=1000;
SetScrollInfo(GetDlgItem(hDlg,IDC_AVGINTERVALBAR),SB_CTL,&lpsi,TRUE);
SetScrollInfo(GetDlgItem(hDlg,IDC_ADAPTINTERVALBAR),SB_CTL,&lpsi,TRUE);
lpsi.nMin=-1000; lpsi.nMax=1000;
SetScrollInfo(GetDlgItem(hDlg,IDC_AVGGAINBAR),SB_CTL,&lpsi,TRUE);
lpsi.nMin=0; lpsi.nMax=1000;
SetScrollInfo(GetDlgItem(hDlg,IDC_AVGFROMBAR),SB_CTL,&lpsi,TRUE);
SetScrollInfo(GetDlgItem(hDlg,IDC_AVGTOBAR),SB_CTL,&lpsi,TRUE);
lpsi.nMin=0; lpsi.nMax=100;
SetScrollInfo(GetDlgItem(hDlg,IDC_BARSIZEBAR),SB_CTL,&lpsi,TRUE);
SetScrollInfo(GetDlgItem(hDlg,IDC_FONTSIZEBAR),SB_CTL,&lpsi,TRUE);
init=TRUE;
SetDlgItemInt(hDlg, IDC_AVGINTERVAL, st->interval_len,TRUE);
SetDlgItemInt(hDlg, IDC_ADAPTINTERVAL, st->adapt_interval,TRUE);
SetScrollPos(GetDlgItem(hDlg,IDC_AVGINTERVALBAR), SB_CTL,st->interval_len,TRUE);
SetScrollPos(GetDlgItem(hDlg,IDC_ADAPTINTERVALBAR), SB_CTL,st->adapt_interval,TRUE);
SetDlgItemInt(hDlg, IDC_AVGGAIN, st->signal_gain,1);
SetScrollPos(GetDlgItem(hDlg,IDC_AVGGAINBAR), SB_CTL,st->signal_gain,TRUE);
SetDlgItemInt(hDlg, IDC_BARSIZE, st->barsize,0);
SetScrollPos(GetDlgItem(hDlg,IDC_BARSIZEBAR), SB_CTL,st->barsize,TRUE);
SetDlgItemInt(hDlg, IDC_FONTSIZE, st->fontsize,0);
SetScrollPos(GetDlgItem(hDlg,IDC_FONTSIZEBAR), SB_CTL,st->fontsize,TRUE);
sprintf(temp,"%.2f",st->from_input);
SetDlgItemText(hDlg, IDC_AVGFROM, temp);
SetScrollPos(GetDlgItem(hDlg,IDC_AVGFROMBAR), SB_CTL,(int) size_value(st->in_ports[0].in_min,st->in_ports[0].in_max, st->from_input ,0.0f,1000.0f,0),TRUE);
sprintf(temp,"%.2f",st->to_input);
SetDlgItemText(hDlg, IDC_AVGTO, temp);
SetScrollPos(GetDlgItem(hDlg,IDC_AVGTOBAR), SB_CTL,(int) size_value(st->in_ports[0].in_min,st->in_ports[0].in_max, st->to_input ,0.0f,1000.0f,0),TRUE);
SetDlgItemInt(hDlg, IDC_BIGADAPT, st->bigadapt,TRUE);
SetDlgItemInt(hDlg, IDC_SMALLADAPT, st->smalladapt,TRUE);
SetDlgItemText(hDlg, IDC_METERCAPTION, st->wndcaption);
CheckDlgButton(hDlg, IDC_AND,st->op);
CheckDlgButton(hDlg, IDC_OR,!st->op);
CheckDlgButton(hDlg, IDC_SHOWMETER,st->showmeter);
CheckDlgButton(hDlg, IDC_RISING,st->rising);
CheckDlgButton(hDlg, IDC_FALLING,st->falling);
CheckDlgButton(hDlg, IDC_USE_MEDIAN,st->usemedian);
CheckDlgButton(hDlg, IDC_BASELINE,st->baseline);
if (st->baseline) SetDlgItemText(hDlg,IDC_INTERVALUNIT,"Seconds");
else SetDlgItemText(hDlg,IDC_INTERVALUNIT,"Samples");
init=FALSE;
}
return TRUE;
case WM_CLOSE:
EndDialog(hDlg, LOWORD(wParam));
return TRUE;
break;
case WM_COMMAND:
switch (LOWORD(wParam))
{
case IDC_AND: st->op=TRUE; break;
case IDC_OR: st->op=FALSE; break;
case IDC_RISING: st->rising=IsDlgButtonChecked(hDlg,IDC_RISING); break;
case IDC_FALLING: st->falling=IsDlgButtonChecked(hDlg,IDC_FALLING); break;
case IDC_USE_MEDIAN: st->usemedian=IsDlgButtonChecked(hDlg,IDC_USE_MEDIAN); break;
case IDC_BASELINE: st->baseline=IsDlgButtonChecked(hDlg,IDC_BASELINE);
if (st->baseline) SetDlgItemText(hDlg,IDC_INTERVALUNIT,"Seconds");
else SetDlgItemText(hDlg,IDC_INTERVALUNIT,"Samples");
break;
case IDC_SELECTCOLOR:
st->color=select_color(hDlg,st->color);
st->redraw=1;
InvalidateRect(hDlg,NULL,FALSE);
break;
case IDC_BKCOLOR:
st->bkcolor=select_color(hDlg,st->bkcolor);
st->redraw=1;
InvalidateRect(hDlg,NULL,FALSE);
break;
case IDC_FONTCOL:
st->fontcolor=select_color(hDlg,st->fontcolor);
st->redraw=1;
InvalidateRect(hDlg,NULL,FALSE);
break;
case IDC_FONTBKCOL:
st->fontbkcolor=select_color(hDlg,st->fontbkcolor);
st->redraw=1;
InvalidateRect(hDlg,NULL,FALSE);
break;
case IDC_AVGFROM:
GetDlgItemText(hDlg, IDC_AVGFROM,temp,sizeof(temp));
if (!init)
st->from_input=(float)atof(temp);
break;
case IDC_AVGTO:
GetDlgItemText(hDlg, IDC_AVGTO,temp,sizeof(temp));
if (!init)
st->to_input=(float)atof(temp);
break;
case IDC_AVGINTERVAL:
case IDC_ADAPTINTERVAL:
case IDC_AVGGAIN:
case IDC_BIGADAPT:
case IDC_SMALLADAPT:
case IDC_METERCAPTION:
if (!init)
apply_threshold(hDlg, st);
break;
case IDC_SHOWMETER:
{ int i;
i=IsDlgButtonChecked(hDlg,IDC_SHOWMETER);
if ((st->showmeter)&&(!i)&&(st->displayWnd)) { DestroyWindow(st->displayWnd); st->displayWnd=NULL; }
if ((!st->showmeter)&&(i))
{
if(!(st->displayWnd=CreateWindow("Meter_Class", st->wndcaption, WS_CLIPSIBLINGS| WS_CHILD | WS_CAPTION | WS_THICKFRAME ,st->left, st->top, st->right-st->left, st->bottom-st->top, ghWndMain, NULL, hInst, NULL)))
report_error("can't create Meter Window");
else { st->last_value=0; ShowWindow( st->displayWnd, TRUE ); UpdateWindow( st->displayWnd ); }
}
st->showmeter=i;
}
break;
}
return TRUE;
case WM_HSCROLL:
{
int nNewPos; float x;
nNewPos=get_scrollpos(wParam,lParam);
if (lParam == (long) GetDlgItem(hDlg,IDC_AVGINTERVALBAR)) SetDlgItemInt(hDlg, IDC_AVGINTERVAL,nNewPos,0);
if (lParam == (long) GetDlgItem(hDlg,IDC_ADAPTINTERVALBAR)) SetDlgItemInt(hDlg, IDC_ADAPTINTERVAL,nNewPos,0);
if (lParam == (long) GetDlgItem(hDlg,IDC_AVGGAINBAR)) SetDlgItemInt(hDlg, IDC_AVGGAIN,nNewPos,TRUE);
if (lParam == (long) GetDlgItem(hDlg,IDC_BARSIZEBAR)) SetDlgItemInt(hDlg, IDC_BARSIZE,nNewPos,TRUE);
if (lParam == (long) GetDlgItem(hDlg,IDC_FONTSIZEBAR)) SetDlgItemInt(hDlg, IDC_FONTSIZE,nNewPos,TRUE);
if (lParam == (long) GetDlgItem(hDlg,IDC_AVGFROMBAR))
{
x=size_value(0.0f,1000.0f,(float)nNewPos,st->in_ports[0].in_min,st->in_ports[0].in_max,0);
sprintf(temp,"%.2f",x);
SetDlgItemText(hDlg, IDC_AVGFROM, temp);
}
if (lParam == (long) GetDlgItem(hDlg,IDC_AVGTOBAR))
{
x=size_value(0.0f,1000.0f,(float)nNewPos,st->in_ports[0].in_min,st->in_ports[0].in_max,0);
sprintf(temp,"%.2f",x);
SetDlgItemText(hDlg, IDC_AVGTO, temp);
}
apply_threshold(hDlg,st);
if (st->displayWnd) {st->last_value=INVALID_VALUE; st->redraw=1; InvalidateRect(st->displayWnd,NULL,TRUE);}
} break;
case WM_SIZE:
case WM_MOVE: update_toolbox_position(hDlg);
case WM_PAINT:
color_button(GetDlgItem(hDlg,IDC_SELECTCOLOR),st->color);
color_button(GetDlgItem(hDlg,IDC_BKCOLOR),st->bkcolor);
color_button(GetDlgItem(hDlg,IDC_FONTCOL),st->fontcolor);
color_button(GetDlgItem(hDlg,IDC_FONTBKCOL),st->fontbkcolor);
break;
}
return FALSE;
}
/* ============================================================
* = Main
* ============================================================*/
int main(int argc, char **argv)
{
puts(">>>>>>>>>>>>>> Moravec Point Feature Detector");
// Define Kernel Size and Moravec Threshold
int moravec_kernel_size;
int moravec_threshold;
// Define raw-image holder
img_t raw_src;
/* ------------------------------------------------------------
* Load Image and Init Kernel Size and Threshold
* ------------------------------------------------------------*/
char *path = "data/u0367panLeft.raw";
int row = 887;
int col = 805;
int ker_size = 3;
int thresh = 30;
// Not work now...
/* parse_params(argc,
argv,
&path,
&row,
&col,
&ker_size,
&thresh);*/
// So we do it explicitely
if (argc == 1) {
puts(">> Use Built-in Params.");
} else if (argc == 6) {
puts(">> Load Params from Console. Single Thresh");
path = argv[1];
row = atoi(argv[2]);
col = atoi(argv[3]);
ker_size = atoi(argv[4]);
thresh = atoi(argv[5]);
} else if (argc > 7) {
puts(">> Load Params from Console. Multi Thresh");
path = argv[1];
row = atoi(argv[2]);
col = atoi(argv[3]);
ker_size = atoi(argv[4]);
if (atoi(argv[5]) != 0) { // argv[5] is treated as a flag
puts("Multi Thresh Usage.");
printf(">> %s <raw_img_path> <row> <col> <kernel_size> 0 <threshold1> <threshold2> ...\n", argv[0]);
exit (-1);
}
thresh = atoi(argv[6]); // this case, argv[6] as the threshold
} else { // Else? Else Print out Usage and then exit!
help(argc, argv);
exit (-1);
}
printout_params(argv[0], path, row, col, ker_size, thresh);
puts(">>>>>>>>>>>>>> Load Image & Set Kernel Size, Threshold");
load_img(&raw_src, path, row, col);
set_moravec_kernel_size(&moravec_kernel_size, ker_size);
set_moravec_threshold(&moravec_threshold, thresh);
// check
puts(">>>>>>>>>>>>>> Check Params");
printf("## Check:\n##>> r:%d, c:%d; k: %d, t: %d\n", row, col, moravec_kernel_size, moravec_threshold);
/* ------------------------------------------------------------
* Define Variables and then Processing
* ------------------------------------------------------------*/
// Differences
img_t raw_diff_l_r, raw_diff_t_b, raw_diff_tl_br, raw_diff_tr_bl;
// Square Sums of Differences
img_t raw_sqsum_l_r, raw_sqsum_t_b, raw_sqsum_tl_br, raw_sqsum_tr_bl;
// Min of Squares
img_t output_sqsum_min;
// output: as a mask
img_t output_01_mask;
puts(">>>>>>>>>>>>>> Differences");
// DIFF
diff_left_right(raw_src,
&raw_diff_l_r);
diff_top_bottom(raw_src,
&raw_diff_t_b);
diff_topleft_bottomright(raw_src,
&raw_diff_tl_br);
diff_topright_bottomleft(raw_src,
&raw_diff_tr_bl);
puts(">>>>>>>>>>>>>> SqSum");
// SQSUM
sqsum_left_right(raw_diff_l_r,
&raw_sqsum_l_r,
moravec_kernel_size);
sqsum_top_bottom(raw_diff_t_b,
&raw_sqsum_t_b,
moravec_kernel_size);
sqsum_topleft_bottomright(raw_diff_tl_br,
&raw_sqsum_tl_br,
moravec_kernel_size);
sqsum_topright_bottomleft(raw_diff_tr_bl,
&raw_sqsum_tr_bl,
moravec_kernel_size);
puts(">>>>>>>>>>>>>> Min of Four");
// MIN
four2one(&output_sqsum_min,
raw_sqsum_l_r,
raw_sqsum_t_b,
raw_sqsum_tl_br,
raw_sqsum_tr_bl);
puts(">>>>>>>>>>>>>> Apply Threshold");
apply_threshold(output_sqsum_min,
&output_01_mask,
moravec_threshold);
char outpath[60];
sprintf(outpath, "thrld_%d.%s", moravec_threshold, "raw");
printf(">> Save to file: %s", outpath);
save_img(&output_01_mask, outpath);
// if there are other thresholds
if (atoi(argv[5]) == 0) {
for (int t = 7; t < argc; ++t) {
set_moravec_threshold(&moravec_threshold, atoi(argv[t]));
apply_threshold(output_sqsum_min,
&output_01_mask,
moravec_threshold);
sprintf(outpath, "thrld_%d.%s", moravec_threshold, "raw");
printf(">> Save to file: %s", outpath);
save_img(&output_01_mask, outpath);
}
}
return 0;
}
