IplImage* BouyObject::ShapeMask(const IplImage * imgIn) const
{
IplImage * hsv = cvCloneImage(imgIn);
IplImage * imgOut = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
//cvEqualizeHist( imgIn, hsv);
IplImage * chan0 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * chan1 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * chan2 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * chan3 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
cvCvtColor(imgIn, hsv, CV_BGR2YCrCb);
cvSplit(hsv,chan0,chan1,chan2, NULL);
CvScalar white = cvRealScalar(255);
//imgOut = SegmentationMask(imgIn);
imgOut = cvCloneImage(chan2);
//invert black and white
cvAbsDiffS(imgOut, imgOut, white);
// cvShowImage("hue",chan0);
// cvShowImage("sat",chan1);
// cvShowImage("val",chan2);
// cvShowImage("inv",imgOut);
//cvWaitKey(0);
cvReleaseImage(&hsv);
cvReleaseImage(&chan0);
cvReleaseImage(&chan1);
cvReleaseImage(&chan2);
cvReleaseImage(&chan3);
CvSize imageSize = cvSize(imgIn->width & -2, imgIn->height & -2 );
IplImage* imgSmallCopy = cvCreateImage( cvSize(imageSize.width/2, imageSize.height/2), IPL_DEPTH_8U, 1 );
cvPyrDown( imgOut, imgSmallCopy);
cvPyrUp( imgSmallCopy, imgOut);
cvSmooth(imgOut, imgOut, CV_GAUSSIAN, 5);
cvReleaseImage(&imgSmallCopy);
CvMemStorage* storage = cvCreateMemStorage(0);
CvSeq* results = cvHoughCircles(
imgOut,
storage,
CV_HOUGH_GRADIENT,
2,
imgOut->width/10,
100,
100);
cvZero(imgOut);
for( int i = 0; i < results->total; i++ ) {
float* p = (float*) cvGetSeqElem( results, i );
CvPoint pt = cvPoint( cvRound( p[0] ), cvRound( p[1] ) );
cvCircle( imgOut,
pt,
cvRound( p[2] ),
CV_RGB(0xff,0xff,0xff),CV_FILLED);
}
cvReleaseMemStorage(&storage);
return imgOut;
}
int cvL1QCSolve( CvMatOps AOps, CvMatOps AtOps, void* userdata, CvMat* B, CvMat* X, double epsilon, double mu, CvTermCriteria lb_term_crit, CvTermCriteria cg_term_crit )
{
CvMat* Z = cvCreateMat( X->rows, 1, CV_MAT_TYPE(X->type) );
CvMat* W = cvCreateMat( B->rows, 1, CV_MAT_TYPE(B->type) );
CvAAtOpsData AAtData;
AAtData.AOps = AOps;
AAtData.AtOps = AtOps;
AAtData.AtR = Z;
AAtData.userdata = userdata;
if ( cvCGSolve( icvAAtOps, &AAtData, B, W, cg_term_crit ) > .5 )
{
cvReleaseMat( &W );
cvReleaseMat( &Z );
return -1;
}
AtOps( W, X, userdata );
AAtData.AR = W;
CvMat* U = cvCreateMat( X->rows, X->cols, CV_MAT_TYPE(X->type) );
cvAbsDiffS( X, U, cvScalar(0) );
CvScalar sumAbsX = cvSum( U );
double minAbsX, maxAbsX;
cvMinMaxLoc( U, &minAbsX, &maxAbsX );
cvConvertScale( U, U, .95, maxAbsX * .1 );
double tau = MAX( (2 * X->rows + 1) / sumAbsX.val[0], 1 );
if ( !(lb_term_crit.type & CV_TERMCRIT_ITER) )
lb_term_crit.max_iter = ceil( (log(2 * X->rows + 1) - log(lb_term_crit.epsilon) - log(tau)) / log(mu) );
CvTermCriteria nt_term_crit = cvTermCriteria( CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 50, lb_term_crit.epsilon );
int totaliter = 0;
for ( int i = 0; i < lb_term_crit.max_iter; ++i )
{
totaliter += icvL1QCNewton( AAtData, B, X, U, epsilon, tau, nt_term_crit, cg_term_crit );
tau *= mu;
}
cvReleaseMat( &U );
cvReleaseMat( &W );
cvReleaseMat( &Z );
return 0;
}
IplImage* BouyBaseObject::SegmentationMask(const IplImage * imgIn) const
{
IplImage * imgOut = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * src = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage* hsv = cvCreateImage( cvGetSize(imgIn), 8, 3 );
IplImage * chan0 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * chan1 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * chan2 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * chan3 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
cvCvtColor( imgIn, hsv, CV_BGR2YCrCb );
cvSplit(hsv,chan0,chan1,chan2, NULL);
//cvConvertImage(imgIn,src);
src = cvCloneImage(chan0);
CvMemStorage* storage = cvCreateMemStorage(0);
CvSeq* comp = NULL;
//lower last param for more segments
cvPyrSegmentation( src, imgOut, storage, &comp, 3, 200, 50 );
cvAbsDiffS(imgOut,imgOut,CV_RGB(255,255,255));
//cvNormalize(imgOut,imgOut,255,0, CV_MINMAX);
//cvThreshold(imgOut,imgOut,250,255,CV_THRESH_TOZERO);
// int n_comp = comp->total;
// for( int i=0; i<n_comp; i++ )
// {
// CvConnectedComp* cc = (CvConnectedComp*) cvGetSeqElem( comp, i );
// cvDrawRect(imgOut,cvPoint(cc->rect.x,cc->rect.y),cvPoint(cc->rect.x+cc->rect.width,cc->rect.y+cc->rect.height),CV_RGB(255,255,255));
// //do_something_with( cc );
// }
cvReleaseImage(&src);
cvReleaseImage(&hsv);
cvReleaseImage(&chan0);
cvReleaseImage(&chan1);
cvReleaseImage(&chan2);
cvReleaseImage(&chan3);
cvReleaseMemStorage( &storage );
return imgOut;
}
IplImage* PathObject::ChannelMask2(const IplImage * imgIn) const
{
if(imgIn == NULL) return NULL;
IplImage * hsv = cvCloneImage(imgIn);
IplImage * imgOut = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
//cvEqualizeHist( imgIn, hsv);
IplImage * chan0 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * chan1 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * chan2 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * chan3 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
cvCvtColor(imgIn, hsv, CV_BGR2YCrCb);
cvSplit(hsv,chan0,chan1,chan2, NULL);
CvScalar white = cvRealScalar(255);
imgOut = cvCloneImage(chan2);
//invert black and white
cvAbsDiffS(imgOut, imgOut, white);
cvShowImage("hue",chan0);
cvShowImage("sat",chan1);
cvShowImage("val",chan2);
cvShowImage("inv",imgOut);
cvWaitKey(0);
cvReleaseImage(&hsv);
cvReleaseImage(&chan0);
cvReleaseImage(&chan1);
cvReleaseImage(&chan2);
cvReleaseImage(&chan3);
CvSize imageSize = cvSize(imgOut->width & -2, imgOut->height & -2 );
IplImage* imgSmallCopy = cvCreateImage( cvSize(imageSize.width/2, imageSize.height/2), IPL_DEPTH_8U, 1 );
cvPyrDown( imgOut, imgSmallCopy);
cvPyrUp( imgSmallCopy, imgOut);
cvReleaseImage(&imgSmallCopy);
//cvThreshold(imgOut,imgOut,200, 255,CV_THRESH_TOZERO);
return imgOut;
}
int cvL1QCSolve( CvMat* A, CvMat* B, CvMat* X, double epsilon, double mu, CvTermCriteria lb_term_crit, CvTermCriteria cg_term_crit )
{
CvMat* AAt = cvCreateMat( A->rows, A->rows, CV_MAT_TYPE(A->type) );
cvGEMM( A, A, 1, NULL, 0, AAt, CV_GEMM_B_T );
CvMat* W = cvCreateMat( A->rows, 1, CV_MAT_TYPE(X->type) );
if ( cvCGSolve( AAt, B, W, cg_term_crit ) > .5 )
{
cvReleaseMat( &W );
cvReleaseMat( &AAt );
return -1;
}
cvGEMM( A, W, 1, NULL, 0, X, CV_GEMM_A_T );
cvReleaseMat( &W );
cvReleaseMat( &AAt );
CvMat* U = cvCreateMat( X->rows, X->cols, CV_MAT_TYPE(X->type) );
cvAbsDiffS( X, U, cvScalar(0) );
CvScalar sumAbsX = cvSum( U );
double minAbsX, maxAbsX;
cvMinMaxLoc( U, &minAbsX, &maxAbsX );
cvConvertScale( U, U, .95, maxAbsX * .1 );
double tau = MAX( (2 * X->rows + 1) / sumAbsX.val[0], 1 );
if ( !(lb_term_crit.type & CV_TERMCRIT_ITER) )
lb_term_crit.max_iter = ceil( (log(2 * X->rows + 1) - log(lb_term_crit.epsilon) - log(tau)) / log(mu) );
CvTermCriteria nt_term_crit = cvTermCriteria( CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 50, lb_term_crit.epsilon );
for ( int i = 0; i < lb_term_crit.max_iter; ++i )
{
icvL1QCNewton( A, B, X, U, epsilon, tau, nt_term_crit, cg_term_crit );
tau *= mu;
}
cvReleaseMat( &U );
return 0;
}
IplImage* BouyObject::SegmentationMask2(const IplImage * imgIn, IplImage* debugOut) const
{
// CvSize imageSize = cvSize(imgIn->width & -2, imgIn->height & -2 );
// IplImage* imgSmallCopy = cvCreateImage( cvSize(imageSize.width/2, imageSize.height/2), IPL_DEPTH_8U, 1 );
IplImage * imgOut = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * circleMask = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * src = cvCloneImage(imgIn);
IplImage * scratch = cvCloneImage(src);
IplImage * hist = HistogramMask(imgIn);
//IplImage * bestMask = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
CvMemStorage* storage = cvCreateMemStorage(0);
CvSeq* comp = NULL;
CvFont font;
cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX, .5,.5);
std::ostringstream s;
cvZero(imgOut);
cvZero(circleMask);
cvZero(scratch);
//cvZero(bestMask);
CvScalar avgColor;
double bestColor = -1;
CvRect bestRect;
double bestDiag = 0;
// IplImage* hsv = cvCreateImage( cvGetSize(imgIn), 8, 3 );
// IplImage * chan0 = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
// IplImage * segsum = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
//cvCvtColor( imgIn, hsv, CV_BGR2YCrCb );
//cvCopyImage(imgIn,hsv);
//cvSplit(hsv,chan0,chan1,chan2, NULL);
//cvConvertImage(imgIn,src);
//lower last param for more segments
//cvPyrSegmentation( hsv, scratch, storage, &comp, 3, 100, 90 );
cvPyrSegmentation( src, scratch, storage, &comp, 2, 0, 100);
int n_comp = comp->total;
std::list<CvBox2D> blobList;
for( int i = n_comp-1; i>=1; i-- )
{
CvConnectedComp* cc = (CvConnectedComp*) cvGetSeqElem( comp, i );
cvAbsDiffS(scratch,src,cc->value);
cvNot(src,src);
cvThreshold(src,src,254,255,CV_THRESH_BINARY);
blobList = VisionUtils::GetBlobBoxes(src,0.0008,.95,false);
for(std::list<CvBox2D>::iterator it = blobList.begin(); it != blobList.end(); it++)
{
CvRect rect = VisionUtils::ToCvRect(*it);
VisionUtils::MakeSquare(rect);
double diagonal = sqrt(rect.width * rect.width + rect.height * rect.height);
cvDrawCircle(circleMask,cvPoint(rect.x+rect.width/2.,rect.y+rect.height/2),diagonal/2.5,CV_RGB(255,255,255),CV_FILLED);
avgColor = cvAvg (hist,circleMask);
if((bestColor < 0 || bestColor < avgColor.val[0]) && avgColor.val[0] > mSegment2Threshold)
{
bestDiag = diagonal;
bestColor = avgColor.val[0];
bestRect = rect;
cvCopy(circleMask,imgOut);
}
//cvMinMaxLoc(imgIn,)
cvZero(circleMask);
}
}
if(debugOut && bestColor > 0)
{
s.clear();
s << "bestColor(" << bestColor << ") " << mType;
cvPutText(debugOut,s.str().c_str(),cvPoint(bestRect.x+bestRect.width/2.,bestRect.y+bestRect.height/2),&font,CV_RGB(255,255,255));
cvDrawCircle(debugOut,cvPoint(bestRect.x+bestRect.width/2.,bestRect.y+bestRect.height/2),bestDiag/2.5,CV_RGB(255,255,255));
}
// cvShowImage("best",bestMask);
// cvWaitKey(0);
//VisionUtils::ClearEdges(imgOut);
cvReleaseImage(&scratch);
cvReleaseImage(&src);
cvReleaseImage(&hist);
cvReleaseImage(&circleMask);
cvReleaseMemStorage( &storage );
return imgOut;
}
void cv_AbsDiffS(const CvArr* src, CvArr* dst, CvScalar* value) {
cvAbsDiffS(src, dst, *value);
}
/*!
//void shadowDetection(IplImage *src, IplImage *background,IplImage *foregroundSelection)
// \link shadowDetection \endlink
//Metodo per il detecting delle ombre (HSV space)
// @param[in] src The source image for shadow detection
// @param[in] background The background image
// @param[in] foreground selection The mask (binary image) that limit the area of the shadow detection process
// @param[out] result a mask that rappresent the shadow
*/
void shadowDetection(IplImage *src, IplImage *background,IplImage *foregroundSelection,IplImage *result,initializationParams initPar){
IplImage *temp,*Dbkg;
CvScalar MED1,MED2,MAD,MED;
float K = initPar.K;
double alfa = initPar.alfa;
double beta = initPar.beta;
double Th = initPar.Th;
double Ts = initPar.Ts;
int Delta = initPar.Delta;
LOG4CXX_DEBUG(loggershadowDetection, "Shadow Detection started....");
try{
IplImage *hsv;
IplImage *H=cvCreateImage(cvGetSize(src), src->depth,1 );
IplImage *S=cvCreateImage(cvGetSize(src), src->depth,1 );
IplImage *V=cvCreateImage(cvGetSize(src), src->depth,1 );
IplImage *bH=cvCreateImage(cvGetSize(src), src->depth,1 );
IplImage *bS=cvCreateImage(cvGetSize(src), src->depth,1 );
IplImage *bV=cvCreateImage(cvGetSize(src), src->depth,1 );
cvZero(result);
cvZero(H);
cvZero(S);
cvZero(V);
cvZero(bH);
cvZero(bS);
cvZero(bV);
hsv=cvCloneImage(src);
cvCvtColor(src,hsv,CV_BGR2HSV);
cvCvtColor(background,background,CV_BGR2HSV);
LOG4CXX_DEBUG(loggershadowDetection, "Conversion to HSV");
//cvCvtColor(dst,dst,CV_BGR2HSV);
if(alfa == -1 || beta ==-1 || Th == -1 || Ts == -1){
IplImage *temp,*Dbkg;
Dbkg=cvCloneImage(hsv);
cvZero(Dbkg);
cvAbsDiff(hsv,background,Dbkg);
CvScalar MED = cvAvg(Dbkg,foregroundSelection);
temp=cvCloneImage(hsv);
cvAbsDiffS(Dbkg,temp,MED);
CvScalar MAD = cvAvg(temp,foregroundSelection);
CvScalar MED1 = cvAvg(hsv,foregroundSelection);
CvScalar MED2 = cvAvg(background,foregroundSelection);
double med=((MED.val[2]+3*1.4826*MAD.val[2])/MED2.val[2]);
if(alfa == -1)
//alfa=med-K;
alfa = MED1.val[2]/MED2.val[2];
if(beta == -1)
beta = med;
if(Th == -1)
Th = (MED.val[0]+MAD.val[0])/2;
if(Ts == -1)
Ts = (MED.val[1]+MAD.val[1])/2;
cvReleaseImage(&Dbkg);
cvReleaseImage(&temp);
}
LOG4CXX_DEBUG(loggershadowDetection, "Param Define conclused");
cvSplit( hsv, H, S, V, 0);
cvSplit( background, bH, bS, bV, 0);
uchar* dataFs = (uchar *)foregroundSelection->imageData;
int stepFs = foregroundSelection->widthStep/sizeof(uchar);
uchar* data = (uchar *)result->imageData;
int step = result->widthStep/sizeof(uchar);
uchar* dataH = (uchar *)H->imageData;
int stepH = H->widthStep/sizeof(uchar);
uchar* dataS = (uchar *)S->imageData;
int stepS = S->widthStep/sizeof(uchar);
uchar* dataV = (uchar *)V->imageData;
int stepV = V->widthStep/sizeof(uchar);
uchar* databH = (uchar *)bH->imageData;
int stepbH = bH->widthStep/sizeof(uchar);
uchar* databS = (uchar *)bS->imageData;
int stepbS = bS->widthStep/sizeof(uchar);
uchar* databV = (uchar *)bV->imageData;
int stepbV = bV->widthStep/sizeof(uchar);
for(int i=0; i<hsv->height;i++){
for(int j=0; j<hsv->width;j++){
if((float)dataFs[i*stepFs+j] == 255){
if(
((float)dataV[i*stepV+j]/(float)databV[i*stepbV+j]>=alfa) && ((float)dataV[i*stepV+j]/(float)databV[i*stepbV+j]<=beta)
&&
(fabsf((float)dataH[i*stepH+j]-(float)databH[i*stepbH+j])<=Th)
&&
(((float)dataS[i*stepS+j]-(float)databS[i*stepbS+j])<=Ts)
){
data[i*step+j] = 255;
}else
data[i*step+j] = 0;
}
}
}
cvCvtColor(background,background,CV_HSV2BGR);
cvReleaseImage(&hsv);
cvReleaseImage(&H);
cvReleaseImage(&S);
cvReleaseImage(&V);
cvReleaseImage(&bH);
cvReleaseImage(&bS);
cvReleaseImage(&bV);
LOG4CXX_DEBUG(loggershadowDetection, "shadow detection and memory release conclused");
}
catch(exception& e){
LOG4CXX_ERROR(loggershadowDetection,e.what());
throw e.what();
}
}
void cvAbsDiffS_glue(const CvArr *src, CvArr *dest, CV_SCALAR_DECL(value))
{
cvAbsDiffS(src, dest, CV_SCALAR(value));
}
