void
kinect_depth_handler (carmen_kinect_depth_message *kinect_depth_message)
{
char *depth_img_filename, *depth_rgb_filename;
char *depth_img_composed_path, *depth_rgb_composed_path;
IplImage *depth_img, *depth_rgb_img;
create_kinect_depth_img_filename_from_timestamp(message_index, &depth_img_filename);
create_kinect_rgb_depth_img_filename_from_timestamp(message_index, &depth_rgb_filename);
compose_output_path(output_dir_name, depth_img_filename, &depth_img_composed_path);
compose_output_path(output_dir_name, depth_rgb_filename, &depth_rgb_composed_path);
create_image_from_depth_buffer(kinect_depth_message->depth, &depth_img, kinect_depth_message->size, kinect_depth_message->height, kinect_depth_message->width);
create_rgb_image_from_depth_buffer(kinect_depth_message->depth, &depth_rgb_img, kinect_depth_message->height, kinect_depth_message->width);
cvSaveImage(depth_img_composed_path, depth_img, NULL);
cvSaveImage(depth_rgb_composed_path, depth_rgb_img, NULL);
printf("depth image saved: %s\n", depth_img_composed_path);
free(depth_img_filename);
free(depth_rgb_filename);
free(depth_img_composed_path);
free(depth_rgb_composed_path);
cvRelease((void**) &depth_img);
cvRelease((void**) &depth_rgb_img);
message_index++;
}
void
save_image_to_file(carmen_bumblebee_basic_stereoimage_message *stereo_image, int camera)
{
char *left_img_filename, *right_img_filename;
char *left_composed_path, *right_composed_path;
IplImage *left_img, *right_img;
create_stereo_filename_from_timestamp(stereo_image->timestamp, &left_img_filename, &right_img_filename, camera);
compose_output_path(output_dir_name, left_img_filename, &left_composed_path);
compose_output_path(output_dir_name, right_img_filename, &right_composed_path);
create_image_from_rgb_buffer(stereo_image->raw_left, &left_img, stereo_image->width, stereo_image->height);
create_image_from_rgb_buffer(stereo_image->raw_right, &right_img, stereo_image->width, stereo_image->height);
cvSaveImage(left_composed_path, left_img, NULL);
cvSaveImage(right_composed_path, right_img, NULL);
printf("left image saved: %s\n", left_composed_path);
printf("right image saved: %s\n", right_composed_path);
free(left_img_filename);
free(left_composed_path);
free(right_img_filename);
free(right_composed_path);
cvRelease((void**) &left_img);
cvRelease((void**) &right_img);
}
void
save_stereo_image_to_file(carmen_simple_stereo_disparity_message *stereo_message, int camera)
{
stereo_util util = get_stereo_instance(camera, 0, 0);
char *disparity_img_filename, *reference_img_filename;
char *disparity_composed_path, *reference_composed_path;
IplImage *disparity_img, *reference_img;
create_disparity_filename_from_timestamp(stereo_message->timestamp, &reference_img_filename, &disparity_img_filename, camera);
compose_output_path(output_dir_name, disparity_img_filename, &disparity_composed_path);
compose_output_path(output_dir_name, reference_img_filename, &reference_composed_path);
create_image_from_float_buffer(stereo_message->disparity, &disparity_img, util.width, util.height);
create_image_from_rgb_buffer(stereo_message->reference_image, &reference_img, util.width, util.height);
cvSaveImage(disparity_composed_path, disparity_img, NULL);
cvSaveImage(reference_composed_path, reference_img, NULL);
printf("disparity image saved: %s\n", disparity_composed_path);
printf("reference image saved: %s\n", reference_composed_path);
free(disparity_img_filename);
free(disparity_composed_path);
free(reference_img_filename);
free(reference_composed_path);
cvRelease((void**) &disparity_img);
cvRelease((void**) &reference_img);
}
float Histogram::calcEMD2(const Histogram* histogram1, const Histogram* histogram2, int distanceType)
{
Signature* signature1 = histogram1->signature();
Signature* signature2 = histogram2->signature();
float emd2 = cvCalcEMD2(signature1, signature2, distanceType);
cvRelease(&signature1);
cvRelease(&signature2);
return emd2;
}
static IplImage*
icvRetrieveImage( void* obj )
{
IplImage* img = 0;
if( CV_IS_IMAGE(obj) )
img = (IplImage*)obj;
else if( CV_IS_MAT(obj) )
{
CvMat* m = (CvMat*)obj;
img = cvCreateImageHeader( cvSize(m->cols,m->rows),
CV_MAT_DEPTH(m->type), CV_MAT_CN(m->type) );
cvSetData( img, m->data.ptr, m->step );
img->imageDataOrigin = (char*)m->refcount;
m->data.ptr = 0; m->step = 0;
cvReleaseMat( &m );
}
else if( obj )
{
cvRelease( &obj );
CV_Error( CV_StsUnsupportedFormat, "The object is neither an image, nor a matrix" );
}
return img;
}
static CvMat*
icvRetrieveMatrix( void* obj )
{
CvMat* m = 0;
CV_FUNCNAME( "icvRetrieveMatrix" );
__BEGIN__;
if( CV_IS_MAT(obj) )
m = (CvMat*)obj;
else if( CV_IS_IMAGE(obj) )
{
IplImage* img = (IplImage*)obj;
CvMat hdr, *src = cvGetMat( img, &hdr );
CV_CALL( m = cvCreateMat( src->rows, src->cols, src->type ));
CV_CALL( cvCopy( src, m ));
cvReleaseImage( &img );
}
else if( obj )
{
cvRelease( &obj );
CV_ERROR( CV_StsUnsupportedFormat, "The object is neither an image, nor a matrix" );
}
__END__;
return m;
}
void haarwrapper_destroy(t_haarwrapper* hc) {
if (hc == NULL)
return;
cvReleaseMemStorage(&hc->storage);
cvRelease((void**)&hc->cascade);
free(hc);
}
void ArrayTest::clear()
{
for( size_t i = 0; i < test_array.size(); i++ )
{
for( size_t j = 0; j < test_array[i].size(); j++ )
cvRelease( &test_array[i][j] );
}
BaseTest::clear();
}
/*
* Release OpenCV specific structure(i.e CvMat, IplImage..) from memory and delete from hashtable.
*/
void
release_object(void *ptr)
{
if (ptr) {
unregister_object(ptr);
try {
cvRelease(&ptr);
}
catch (cv::Exception& e) {
raise_cverror(e);
}
}
}
IplImage* get128image(int argc,int **argv)
{
IplImage *sorceimage=0,*resizedimage;
char *imagename;
imagename = argc > 1 ? argv[1] : "./none.png";
sorceimage = cvLoadImage(imagename, CV_LOAD_IMAGE_COLOR);
//sorceimage = cvLoadImage(imagename,CV_LOAD_IMAGE_GRAYSCALE );
if(sorceimage == 0)
return 0;
resizedimage=cvCreateImage(cvSize(128,128),IPL_DEPTH_8U,3);
cvResize(sorceimage,resizedimage,CV_INTER_NN);
cvRelease(&sorceimage);
return resizedimage;
}
void process_image( char* buffer, int len )
{
GPtrArray *markers;
int i;
CvMat *m = cvCreateMatHeader (len, 1, CV_8UC1);
cvSetData (m, buffer, 1);
IplImage *color = cvDecodeImage (m, CV_LOAD_IMAGE_COLOR);
assert (color != NULL);
IplImage *bw = cvCreateImage(cvGetSize(color), color->depth, 1);
cvCvtColor (color, bw, CV_RGB2GRAY);
koki_camera_params_t params;
params.size.x = bw->width;
params.size.y = bw->height;
params.principal_point.x = params.size.x / 2;
params.principal_point.y = params.size.y / 2;
params.focal_length.x = 571.0;
params.focal_length.y = 571.0;
markers = koki_find_markers(koki, bw, 0.11, ¶ms);
assert(markers != NULL);
for (i=0; i<markers->len; i++){
koki_marker_t *marker;
marker = g_ptr_array_index(markers, i);
printf("\n(%d) Marker #%d:\n", i, marker->code);
}
cvRelease ((void**)&bw);
cvShowImage ("Source", color);
cvWaitKey (0);
cvRelease ((void**)&color);
cvRelease ((void**)&m);
}
void convert8UC3To32FC1Gray(const CvArr *src, CvArr *dst, CvArr *tmpRGBF)
{
bool inTmpRGBF = tmpRGBF == NULL;
if ( inTmpRGBF )
{
CvSize sz(cvGetSize(src));
tmpRGBF = cvCreateMat(sz.height, sz.width, CV_32FC3);
}
cvConvertScale(src, tmpRGBF, 1.0/255.0);
cvCvtColor(tmpRGBF, dst, CV_RGB2GRAY);
if ( inTmpRGBF )
cvRelease(&tmpRGBF);
}
void CvArrTest::clear()
{
if( test_array )
{
int i, j, n;
for( i = 0; i < max_arr; i++ )
{
n = test_array[i].size();
for( j = 0; j < n; j++ )
cvRelease( &test_array[i][j] );
}
}
delete[] hdr;
hdr = 0;
max_hdr = 0;
CvTest::clear();
}
void
kinect_video_handler (carmen_kinect_video_message *kinect_video_message)
{
char *video_img_filename;
char *video_img_composed_path;
IplImage *video_img;
create_kinect_video_img_filename_from_timestamp(message_index, &video_img_filename);
compose_output_path(output_dir_name, video_img_filename, &video_img_composed_path);
create_image_from_rgb_buffer(kinect_video_message->video, &video_img, kinect_video_message->width, kinect_video_message->height);
cvSaveImage(video_img_composed_path, video_img, NULL);
printf("video image saved: %s\n", video_img_composed_path);
free(video_img_filename);
free(video_img_composed_path);
cvRelease((void**) &video_img);
}
static CvMat*
icvRetrieveMatrix( void* obj )
{
CvMat* m = 0;
if( CV_IS_MAT(obj) )
m = (CvMat*)obj;
else if( CV_IS_IMAGE(obj) )
{
IplImage* img = (IplImage*)obj;
CvMat hdr, *src = cvGetMat( img, &hdr );
m = cvCreateMat( src->rows, src->cols, src->type );
cvCopy( src, m );
cvReleaseImage( &img );
}
else if( obj )
{
cvRelease( &obj );
CV_Error( CV_StsUnsupportedFormat, "The object is neither an image, nor a matrix" );
}
return m;
}
CV_IMPL void*
cvLoad( const char* filename, CvMemStorage* memstorage,
const char* name, const char** _real_name )
{
void* ptr = 0;
const char* real_name = 0;
cv::FileStorage fs(cvOpenFileStorage(filename, memstorage, CV_STORAGE_READ));
CvFileNode* node = 0;
if( !fs.isOpened() )
return 0;
if( name )
{
node = cvGetFileNodeByName( *fs, 0, name );
}
else
{
int i, k;
for( k = 0; k < (*fs)->roots->total; k++ )
{
CvSeq* seq;
CvSeqReader reader;
node = (CvFileNode*)cvGetSeqElem( (*fs)->roots, k );
CV_Assert(node != NULL);
if( !CV_NODE_IS_MAP( node->tag ))
return 0;
seq = node->data.seq;
node = 0;
cvStartReadSeq( seq, &reader, 0 );
// find the first element in the map
for( i = 0; i < seq->total; i++ )
{
if( CV_IS_SET_ELEM( reader.ptr ))
{
node = (CvFileNode*)reader.ptr;
goto stop_search;
}
CV_NEXT_SEQ_ELEM( seq->elem_size, reader );
}
}
stop_search:
;
}
if( !node )
CV_Error( CV_StsObjectNotFound, "Could not find the/an object in file storage" );
real_name = cvGetFileNodeName( node );
ptr = cvRead( *fs, node, 0 );
// sanity check
if( !memstorage && (CV_IS_SEQ( ptr ) || CV_IS_SET( ptr )) )
CV_Error( CV_StsNullPtr,
"NULL memory storage is passed - the loaded dynamic structure can not be stored" );
if( cvGetErrStatus() < 0 )
{
cvRelease( (void**)&ptr );
real_name = 0;
}
if( _real_name)
{
if (real_name)
{
*_real_name = (const char*)cvAlloc(strlen(real_name));
memcpy((void*)*_real_name, real_name, strlen(real_name));
} else {
*_real_name = 0;
}
}
return ptr;
}
int ArrayTest::prepare_test_case( int test_case_idx )
{
int code = 1;
size_t max_arr = test_array.size();
vector<vector<Size> > sizes(max_arr);
vector<vector<Size> > whole_sizes(max_arr);
vector<vector<int> > types(max_arr);
size_t i, j;
RNG& rng = ts->get_rng();
bool is_image = false;
for( i = 0; i < max_arr; i++ )
{
size_t sizei = std::max(test_array[i].size(), (size_t)1);
sizes[i].resize(sizei);
types[i].resize(sizei);
whole_sizes[i].resize(sizei);
}
get_test_array_types_and_sizes( test_case_idx, sizes, types );
for( i = 0; i < max_arr; i++ )
{
size_t sizei = test_array[i].size();
for( j = 0; j < sizei; j++ )
{
unsigned t = randInt(rng);
bool create_mask = true, use_roi = false;
CvSize size = cvSize(sizes[i][j]), whole_size = size;
CvRect roi = CV_STRUCT_INITIALIZER;
is_image = !cvmat_allowed ? true : iplimage_allowed ? (t & 1) != 0 : false;
create_mask = (t & 6) == 0; // ~ each of 3 tests will use mask
use_roi = (t & 8) != 0;
if( use_roi )
{
whole_size.width += randInt(rng) % 10;
whole_size.height += randInt(rng) % 10;
}
cvRelease( &test_array[i][j] );
if( size.width > 0 && size.height > 0 &&
types[i][j] >= 0 && (i != MASK || create_mask) )
{
if( use_roi )
{
roi.width = size.width;
roi.height = size.height;
if( whole_size.width > size.width )
roi.x = randInt(rng) % (whole_size.width - size.width);
if( whole_size.height > size.height )
roi.y = randInt(rng) % (whole_size.height - size.height);
}
if( is_image )
{
test_array[i][j] = cvCreateImage( whole_size,
icvTsTypeToDepth[CV_MAT_DEPTH(types[i][j])], CV_MAT_CN(types[i][j]) );
if( use_roi )
cvSetImageROI( (IplImage*)test_array[i][j], roi );
}
else
{
test_array[i][j] = cvCreateMat( whole_size.height, whole_size.width, types[i][j] );
if( use_roi )
{
CvMat submat, *mat = (CvMat*)test_array[i][j];
cvGetSubRect( test_array[i][j], &submat, roi );
submat.refcount = mat->refcount;
*mat = submat;
}
}
}
}
}
test_mat.resize(test_array.size());
for( i = 0; i < max_arr; i++ )
{
size_t sizei = test_array[i].size();
test_mat[i].resize(sizei);
for( j = 0; j < sizei; j++ )
{
CvArr* arr = test_array[i][j];
test_mat[i][j] = cv::cvarrToMat(arr);
if( !test_mat[i][j].empty() )
fill_array( test_case_idx, (int)i, (int)j, test_mat[i][j] );
}
}
return code;
}
void THISCLASS::OnStep() {
std::vector<Particle> rejectedparticles;
// Get and check input image
IplImage *inputimage = cvCloneImage(mCore->mDataStructureImageBinary.mImage);
IplImage *outputImage = mCore->mDataStructureImageBinary.mImage;
//mCore->mDataStructureImageBinary.mImage;
if (! inputimage) {
AddError(wxT("No input image."));
return;
}
if (inputimage->nChannels != 1) {
AddError(wxT("The input image is not a grayscale image."));
return;
}
cvZero(outputImage);
// We clear the ouput vector
mParticles.clear();
// Initialization
Particle tmpParticle; // Used to put the calculated value in memory
CvMoments moments; // Used to calculate the moments
std::vector<Particle>::iterator j; // Iterator used to stock the particles by size
// We allocate memory to extract the contours from the binary image
CvMemStorage* storage = cvCreateMemStorage(0);
CvSeq* contour = 0;
// Init blob extraxtion
CvContourScanner blobs = cvStartFindContours(inputimage, storage, sizeof(CvContour), CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
// This is used to correct the position in case of ROI
CvRect rectROI;
if (inputimage->roi != NULL) {
rectROI = cvGetImageROI(inputimage);
} else {
rectROI.x = 0;
rectROI.y = 0;
}
while ((contour = cvFindNextContour(blobs)) != NULL) {
// Computing the moments
cvMoments(contour, &moments);
// Computing particle area
tmpParticle.mArea = moments.m00;
tmpParticle.mCenter.x = (float)(rectROI.x + (moments.m10 / moments.m00 + 0.5)); // moments using Green theorem
tmpParticle.mCenter.y = (float)(rectROI.y + (moments.m01 / moments.m00 + 0.5)); // m10 = x direction, m01 = y direction, m00 = area as edicted in theorem
// Selection based on area
if ((mAreaSelection == false) || ((tmpParticle.mArea <= mMaxArea) && (tmpParticle.mArea >= mMinArea)))
{
tmpParticle.mCompactness = GetContourCompactness(contour);
if ((mCompactnessSelection == false) || ((tmpParticle.mCompactness > mMinCompactness) && (tmpParticle.mCompactness < mMaxCompactness)))
{
double tempValue = cvGetCentralMoment(&moments, 2, 0) - cvGetCentralMoment(&moments, 0, 2);
tmpParticle.mOrientation = atan(2 * cvGetCentralMoment(&moments, 1, 1) / (tempValue + sqrt(tempValue * tempValue + 4 * cvGetCentralMoment(&moments, 1, 1) * cvGetCentralMoment(&moments, 1, 1))));
if ((mOrientationSelection == false) || (((tmpParticle.mOrientation > mMinOrientation) && (tmpParticle.mOrientation < mMaxOrientation)) || ((tmpParticle.mOrientation > mMinOrientation + PI) && (tmpParticle.mOrientation < mMaxOrientation + PI)) || ((tmpParticle.mOrientation > mMinOrientation - PI) && (tmpParticle.mOrientation < mMaxOrientation - PI))))
{
cvDrawContours(outputImage, contour, cvScalarAll(255), cvScalarAll(255), 0, CV_FILLED);
// Check if we have already enough particles
if (mParticles.size() == mMaxNumber)
{
// If the particle is bigger than the smallest stored particle, store it, else do nothing
if (tmpParticle.mArea > mParticles.back().mArea)
{
// Find the place were it must be inserted, sorted by size
for (j = mParticles.begin(); (j != mParticles.end()) && (tmpParticle.mArea < (*j).mArea); j++);
// Fill unused values
tmpParticle.mID = -1;
tmpParticle.mIDCovariance = -1;
// Insert the particle
mParticles.insert(j, tmpParticle);
// Remove the smallest one
mParticles.pop_back();
}
}
else
{
// The particle is added at the correct place
// Find the place were it must be inserted, sorted by size
for (j = mParticles.begin(); (j != mParticles.end()) && (tmpParticle.mArea < (*j).mArea); j++);
// Fill unused values
tmpParticle.mID = -1;
tmpParticle.mIDCovariance = -1;
// Insert the particle
mParticles.insert(j, tmpParticle);
}
}
}
}
else
{
rejectedparticles.push_back(tmpParticle);
}
cvRelease((void**)&contour);
}
contour = cvEndFindContours(&blobs);
// If we need to display the particles
/* if(trackingimg->GetDisplay())
{
for(j=rejectedparticles.begin();j!=rejectedparticles.end();j++)
{
trackingimg->DrawCircle(cvPoint((int)(((*j).p).x),(int)(((*j).p).y)),CV_RGB(255,0,0));
}
for(j=particles.begin();j!=particles.end();j++)
{
trackingimg->DrawCircle(cvPoint((int)(((*j).p).x),(int)(((*j).p).y)),CV_RGB(0,255,0));
trackingimg->Cover(cvPoint((int)(((*j).p).x),(int)(((*j).p).y)),CV_RGB(255,0,0),2);
}
} */
cvReleaseImage(&inputimage);
cvRelease((void**)&contour);
cvReleaseMemStorage(&storage);
// Set these particles
mCore->mDataStructureParticles.mParticles = &mParticles;
// Let the DisplayImage know about our image
DisplayEditor de(&mDisplayOutput);
if (de.IsActive()) {
de.SetParticles(&mParticles);
de.SetMainImage(mCore->mDataStructureImageBinary.mImage);
}
}
/**
* deconstructor
*/
adaBoostBinary::~adaBoostBinary()
{
cvRelease((void **)&weight);
free(labelsign);
free(iter_res);
}
/**
*Choose the weak classifier using the fast method just based on the distribution of the weight
*@param data The positive and negative training samples
*@param label the ground truth label of the training samples
*@param current_best_classifier The current weak classifier for selection.
*@param bindexlabel The BOOL value to ensure that each feature can only be choose once
*@param imith To control the shape of the sign function
*@param curIteration The current iteration number of strong classifier
*/
int adaBoostBinary::choosefeature_fast(CvMat *data, CvMat *label, lda_classifier *current_best_classifier,bool *bindexlabel, float imith, int curIteration)
{
int sample_num=pos_sample_num+neg_sample_num;
int size_dim=data->cols;
int paraNum=1;
int numInpara=size_dim/paraNum;
lda_classifier *para_best_classifier = (lda_classifier*)malloc(sizeof(lda_classifier)*paraNum);
CvMat *labelneg=cvCreateMat(sample_num, 1, CV_8UC1);
for(int i=0; i<sample_num; i++){
if(label->data.ptr[i]>0){
labelneg->data.ptr[i]=0;
}
else{
labelneg->data.ptr[i]=1;
}
}
float *para_res=(float*)malloc(sizeof(float)*sample_num*paraNum);
//#pragma omp parallel for
for(int j1=0; j1<paraNum; j1++)
{
para_best_classifier[j1].minerror=-10;
for(int j2=0; j2<numInpara; j2++)
{
int j=j1*numInpara+j2;
// if((j+1)%8<=1) continue;
CvMat *score=cvCreateMat(sample_num,1,CV_32FC1);
///find the current best error and threshold
CvScalar meanpos, meanneg, stdpos, stdneg;
for(int t=0; t<sample_num; t++) score->data.fl[t] = cvmGet(data, t, j);
//printf("arow=%d, acol=%d, brow=%d, bcol=%d\n",score->rows,score->cols,label->rows, label->cols);
cvAvgSdv(score, &meanpos, &stdpos, label);
cvAvgSdv(score, &meanneg, &stdneg, labelneg);
float threshold=0.0;
if(stdpos.val[0]+stdneg.val[0]>0.0) threshold = (meanpos.val[0]*stdneg.val[0]+meanneg.val[0]*stdpos.val[0])/(stdpos.val[0]+stdneg.val[0]);
else threshold = (meanpos.val[0]+meanneg.val[0])/2;
if(threshold==0.0) continue;
float cur_error=0.0;
int thr_sign=1;
if(meanpos.val[0]<meanneg.val[0])
{
thr_sign=-1;
threshold=-threshold;
}
for(int t=0; t<sample_num; t++)
{
float curscore=score->data.fl[t]*thr_sign-threshold;
float htx=curscore/sqrt(curscore*curscore+imith*imith);
cur_error+=weight->data.fl[t]*htx*labelsign[t];
}
if (cur_error> para_best_classifier[j1].minerror&&bindexlabel[j]==false)
{
para_best_classifier[j1].minerror = cur_error;
printf("*%f ",cur_error);
para_best_classifier[j1].bindex = j;
para_best_classifier[j1].pro_thresh = threshold;
para_best_classifier[j1].thr_sign = thr_sign;
// float check_error=0.0f;
for(int t=0;t<sample_num; t++)
{
float curscore=score->data.fl[t]*thr_sign-threshold;
float htx=curscore/sqrt(curscore*curscore+imith*imith);
//para_res[j1*sample_num+t]=curscore/sqrt(curscore*curscore+imith*imith);
para_res[j1*sample_num+t]=htx;
}
}
cvRelease((void **)&score);
}//for para inter pixle j2
}//for para outer pixel j1
for(int i=0; i<paraNum; i++)
{
if(current_best_classifier->minerror>para_best_classifier[i].minerror)
{
current_best_classifier->minerror=para_best_classifier[i].minerror;
current_best_classifier->bindex=para_best_classifier[i].bindex;
current_best_classifier->pro_thresh=para_best_classifier[i].pro_thresh;
current_best_classifier->thr_sign=para_best_classifier[i].thr_sign;
for(int t=0; t<sample_num; t++) iter_res[curIteration*sample_num+t]=para_res[i*sample_num+t];
}
}
bindexlabel[current_best_classifier->bindex]=true;
cvRelease((void **)&labelneg);
free(para_res);
free(para_best_classifier);
return 1;
}
int CvArrTest::prepare_test_case( int test_case_idx )
{
int code = 1;
CvSize** sizes = (CvSize**)malloc( max_arr*sizeof(sizes[0]) );
CvSize** whole_sizes = (CvSize**)malloc( max_arr*sizeof(whole_sizes[0]) );
int** types = (int**)malloc( max_arr*sizeof(types[0]) );
int i, j, total = 0;
CvRNG* rng = ts->get_rng();
bool is_image = false;
bool is_timing_test = false;
CV_FUNCNAME( "CvArrTest::prepare_test_case" );
__BEGIN__;
is_timing_test = ts->get_testing_mode() == CvTS::TIMING_MODE;
if( is_timing_test )
{
if( !get_next_timing_param_tuple() )
{
code = -1;
EXIT;
}
}
for( i = 0; i < max_arr; i++ )
{
int count = test_array[i].size();
count = MAX(count, 1);
sizes[i] = (CvSize*)malloc( count*sizeof(sizes[i][0]) );
types[i] = (int*)malloc( count*sizeof(types[i][0]) );
whole_sizes[i] = (CvSize*)malloc( count*sizeof(whole_sizes[i][0]) );
}
if( !is_timing_test )
get_test_array_types_and_sizes( test_case_idx, sizes, types );
else
{
get_timing_test_array_types_and_sizes( test_case_idx, sizes, types,
whole_sizes, &is_image );
}
for( i = 0; i < max_arr; i++ )
{
int count = test_array[i].size();
total += count;
for( j = 0; j < count; j++ )
{
unsigned t = cvRandInt(rng);
bool create_mask = true, use_roi = false;
CvSize size = sizes[i][j], whole_size = size;
CvRect roi = {0,0,0,0};
if( !is_timing_test )
{
is_image = !cvmat_allowed ? true : iplimage_allowed ? (t & 1) != 0 : false;
create_mask = (t & 6) == 0; // ~ each of 3 tests will use mask
use_roi = (t & 8) != 0;
if( use_roi )
{
whole_size.width += cvRandInt(rng) % 10;
whole_size.height += cvRandInt(rng) % 10;
}
}
else
{
whole_size = whole_sizes[i][j];
use_roi = whole_size.width != size.width || whole_size.height != size.height;
create_mask = cvReadInt(find_timing_param( "use_mask" ),0) != 0;
}
cvRelease( &test_array[i][j] );
if( size.width > 0 && size.height > 0 &&
types[i][j] >= 0 && (i != MASK || create_mask) )
{
if( use_roi )
{
roi.width = size.width;
roi.height = size.height;
if( whole_size.width > size.width )
{
if( !is_timing_test )
roi.x = cvRandInt(rng) % (whole_size.width - size.width);
else
roi.x = 1;
}
if( whole_size.height > size.height )
{
if( !is_timing_test )
roi.y = cvRandInt(rng) % (whole_size.height - size.height);
else
roi.y = 1;
}
}
if( is_image )
{
CV_CALL( test_array[i][j] = cvCreateImage( whole_size,
icvTsTypeToDepth[CV_MAT_DEPTH(types[i][j])],
CV_MAT_CN(types[i][j]) ));
if( use_roi )
cvSetImageROI( (IplImage*)test_array[i][j], roi );
}
else
{
CV_CALL( test_array[i][j] = cvCreateMat( whole_size.height,
whole_size.width, types[i][j] ));
if( use_roi )
{
CvMat submat, *mat = (CvMat*)test_array[i][j];
cvGetSubRect( test_array[i][j], &submat, roi );
submat.refcount = mat->refcount;
*mat = submat;
}
}
}
}
}
if( total > max_hdr )
{
delete hdr;
max_hdr = total;
hdr = new CvMat[max_hdr];
}
total = 0;
for( i = 0; i < max_arr; i++ )
{
int count = test_array[i].size();
test_mat[i] = count > 0 ? hdr + total : 0;
for( j = 0; j < count; j++ )
{
CvArr* arr = test_array[i][j];
CvMat* mat = &test_mat[i][j];
if( !arr )
memset( mat, 0, sizeof(*mat) );
else if( CV_IS_MAT( arr ))
{
*mat = *(CvMat*)arr;
mat->refcount = 0;
}
else
cvGetMat( arr, mat, 0, 0 );
if( mat->data.ptr )
fill_array( test_case_idx, i, j, mat );
}
total += count;
}
__END__;
for( i = 0; i < max_arr; i++ )
{
if( sizes )
free( sizes[i] );
if( whole_sizes )
free( whole_sizes[i] );
if( types )
free( types[i] );
}
free( sizes );
free( whole_sizes );
free( types );
return code;
}
//--------------------------------------------------------------
void eyeTracker::update(ofxCvGrayscaleImage & grayImgFromCam, float threshold, float minSize, float maxSize, float minSquareness) {
//threshold?
//threshold = thresh;
grayImgPreWarp.setFromPixels(grayImgFromCam.getPixels(), grayImgFromCam.width, grayImgFromCam.height); // TODO: there's maybe an unnecessary grayscale image (and copy) here...
if( flipX || flipY ) {
grayImgPreWarp.mirror(flipY, flipX);
}
/* // before we were scaling and translating, but this is removed for now
if (fabs(xoffset-1) > 0.1f || fabs(yoffset-1) > 0.1f){
grayImgPreWarp.translate(xoffset, yoffset);
}
if (fabs(scalef-1) > 0.1f){
grayImgPreWarp.scale(scalef, scalef);
}*/
grayImg = grayImgPreWarp;
grayImgPreModification = grayImg;
grayImg.blur(5);
if (bUseContrast == true) {
grayImg.applyBrightnessContrast(brightness,contrast);
}
if (bUseGamma == true) {
grayImg.applyMinMaxGamma(gamma);
}
grayImg += edgeMask;
threshImg = grayImg;
threshImg.contrastStretch();
threshImg.threshold(threshold, true);
// the dilation of a 640 x 480 image is very slow, so let's just do a ROI near the thing we like:
threshImg.setROI(currentEyePoint.x-50, currentEyePoint.y-50, 100,100); // 200 pix ok?
if (bUseDilate == true) {
for (int i = 0; i < nDilations; i++) {
threshImg.dilate();
}
}
threshImg.resetROI();
bFoundOne = false;
int whoFound = -1;
int num = contourFinder.findContours(threshImg, minSize, maxSize, 100, false, true);
if( num ) {
for(int k = 0; k < num; k++) {
float ratio = contourFinder.blobs[k].boundingRect.width < contourFinder.blobs[k].boundingRect.height ?
contourFinder.blobs[k].boundingRect.width / contourFinder.blobs[k].boundingRect.height :
contourFinder.blobs[k].boundingRect.height / contourFinder.blobs[k].boundingRect.width;
float arcl = contourFinder.blobs[k].length;
float area = contourFinder.blobs[k].area;
float compactness = (float)((arcl*arcl/area)/FOUR_PI);
if (bUseCompactnessTest == true && compactness > maxCompactness) {
continue;
}
//printf("compactness %f \n", compactness);
//lets ignore rectangular blobs
if( ratio > minSquareness) {
currentEyePoint = contourFinder.blobs[k].centroid;
currentNormPoint.x = currentEyePoint.x;
currentNormPoint.y = currentEyePoint.y;
currentNormPoint.x /= w;
currentNormPoint.y /= h;
bFoundOne = true;
whoFound = k;
break;
}
}
}
if (bFoundOne && whoFound != -1) {
// do some convex hull stuff:
CvSeq* ptseq = cvCreateSeq( CV_SEQ_KIND_GENERIC|CV_32SC2, sizeof(CvContour),sizeof(CvPoint), storage );
CvSeq* hull;
CvPoint pt0;
for(int i = 0; i < contourFinder.blobs[whoFound].nPts; i++ ) {
pt0.x = contourFinder.blobs[whoFound].pts[i].x;
pt0.y = contourFinder.blobs[whoFound].pts[i].y;
cvSeqPush( ptseq, &pt0 );
}
hull = cvConvexHull2( ptseq, 0, CV_CLOCKWISE, 0 );
int hullcount = hull->total;
// -------------------------------- TRY TO GET A GOOD ELLIPSE HELLS YEAH !!
int MYN = hullcount;
float x[MYN], y[MYN];
double p[6];
double ellipseParam[5];
float theta;
FitEllipse fitter;
for (int i=0; i<MYN; i++) {
CvPoint pt = **CV_GET_SEQ_ELEM( CvPoint*, hull, i);
x[i] = pt.x;
y[i] = pt.y;
}
double xc, yc;
double xa, ya;
double la, lb;
fitter.apply(x,y,MYN);
p[0] = fitter.Axx;
p[1] = fitter.Axy;
p[2] = fitter.Ayy;
p[3] = fitter.Ax;
p[4] = fitter.Ay;
p[5] = fitter.Ao;
bool bOk = solve_ellipse(p,ellipseParam);
ofxCvBlob temp;
if (bOk == true) {
//float *params_ellipse = pupilGeometries[whichEye].params_ellipse;
float axis_a = ellipseParam[0];
float axis_b = ellipseParam[1];
float cx = ellipseParam[2];
float cy = ellipseParam[3];
theta = ellipseParam[4];
float aspect = axis_b/axis_a;
for (int i = 0; i < 5; i++) {
eyeTrackedEllipse.ellipseParam[i] = ellipseParam[i];
}
//theta = ofRandom(0,TWO_PI);
int resolution = 24;
ofxPoint2f ptsForRotation[resolution];
for (int i=0; i<resolution; i++) {
float t = TWO_PI * (float)i/(float)resolution;
float ex = cx + (axis_a * cos(t ));
float ey = cy + (axis_b * sin(t ));
ptsForRotation[i].set(ex,ey);
}
for (int i=0; i<resolution; i++) {
ptsForRotation[i].rotate(theta * RAD_TO_DEG, ofxPoint2f(cx, cy));
}
currentEyePoint.set(cx, cy);
currentNormPoint.x = currentEyePoint.x;
currentNormPoint.y = currentEyePoint.y;
currentNormPoint.x /= w;
currentNormPoint.y /= h;
} else {
bFoundOne = false;
}
cvRelease((void **)&hull);
}
