void ScvRipper::selectImage(const QItemSelection& selected, const QItemSelection& deselected)
{
if(selected.indexes().isEmpty()) return;
QModelIndex index = selected.indexes().first();
QString name = index.data(Qt::DisplayRole).toString();
int row = index.row();
QString imagePath = this->imageFolder + "/" + name;
QImage orignalImage;
orignalImage.load(imagePath);
QImage dispImg = orignalImage.scaled(originalImgLabel->width(), originalImgLabel->height(), Qt::AspectRatioMode::KeepAspectRatio);
originalImgLabel->setPixmap(QPixmap::fromImage(dispImg));
QString edgePath = this->outputFolder + QString::number(row+1) + "_c_edge.png";
QImage edgeImage(edgePath);
if(!edgeImage.isNull() && finish_map[name.toStdString()].f1)
{
dispImg = edgeImage.scaled(edgeLabel->width(), edgeLabel->height(), Qt::AspectRatioMode::KeepAspectRatio);
edgeLabel->setPixmap(QPixmap::fromImage(dispImg));
}
else
{
edgeLabel->clear();
}
QString vcPath = this->outputFolder + QString::number(row+1) + "_visualcues.png";
QImage vcImage(vcPath);
if(!vcImage.isNull() && finish_map[name.toStdString()].f2)
{
dispImg = vcImage.scaled(vcLabel->width(), vcLabel->height(), Qt::AspectRatioMode::KeepAspectRatio);
vcLabel->setPixmap(QPixmap::fromImage(dispImg));
}
else
{
vcLabel->clear();
}
QString exPath = this->outputFolder + QString::number(row+1) + "_frame.png";
QImage exImage(exPath);
if(!exImage.isNull() && finish_map[name.toStdString()].f3)
{
dispImg = exImage.scaled(extractedLabel->width(), extractedLabel->height(), Qt::AspectRatioMode::KeepAspectRatio);
extractedLabel->setPixmap(QPixmap::fromImage(dispImg));
}
else
{
extractedLabel->clear();
}
}
/*
* Edge function compares binarized image with gradien image, throw AND Operator
* The algorithm checks for white pixels in both images and if true then apply white to final image
*
* @param binarized Contains binarized image
* @param gradient Contains gradient image
*
* @return edgeImage Contains the result image
*/
Mat edge(const Mat& binarized, const Mat& gradient){
Size s = binarized.size();
int xmax = s.height;
int ymax = s.width;
Mat edgeImage(xmax,ymax, CV_8UC1, Scalar(0));
for (int i=0; i < xmax; i++){
for (int j=0; j < ymax; j++){
//If both pixels are equals and white, then we apply white to the final image (AND Operator)
if(binarized.at<uchar>(i,j) == gradient.at<uchar>(i,j) && binarized.at<uchar>(i,j) == MAX_BRIGHTNESS_8)
edgeImage.at<uchar>(i,j) = MAX_BRIGHTNESS_8;
else
edgeImage.at<uchar>(i,j) = 0;
}
}
double min;
double max;
minMaxIdx(edgeImage, &min, &max);
cout << "Max: " << max << "Minnn: " << min << endl;
waitKey(0);
/*
imwrite( "edge.tiff", edgeImage );
imwrite( "binary.tiff", binarized );
imwrite( "gradient.tiff", gradient );
Mat image;
binarized.convertTo(image, CV_32SC1);
imwrite( "image.tiff", image );
*/
imshow("edgeimage", edgeImage);
waitKey(0);
imshow("binarizada", binarized);
waitKey(0);
imshow("gradiente", gradient);
waitKey(0);
return gradient;
}
int main( int argc, char* argv[] )
{
int argc2 = 2;
char* argv2[2] = { "", "-device=1" };
cudaDeviceProp deviceProp;
int devID = cutilChooseCudaDevice( argc2, argv2 );
if( devID < 0 )
{
printf( "exiting...\n" );
cutilExit( argc, argv );
exit( 0 );
}
cutilSafeCall( cudaGetDeviceProperties( &deviceProp, devID ) );
//Image4f im( "c:/tmp/tulip.png" );
//Image4f im( "c:/tmp/tulip_1080.png" ); // Jiawen version
Image4f im( "../../apps/bilateral_grid/input.png" );
//Image4f im( "c:/tmp/church_panorama_5097x2889.pfm" );
im = im.flipUD();
Array2D< float > data( im.width(), im.height() );
Array2D< float > output( im.width(), im.height() );
for( int y = 0; y < im.height(); ++y )
{
for( int x = 0; x < im.width(); ++x )
{
Vector3f rgb = im.pixel( x, y ).xyz();
// float lum = ColorUtils::rgb2luminance( rgb );
// data( x, y ) = lum;
// jrk: just use red
data( x, y ) = rgb[0];
}
}
testBilateralFilter( data, 8, 0.1f, output );
saveArrayAsImage( output, "bf", 8, 0.1f );
testBilateralFilter( data, 16, 0.1f, output );
saveArrayAsImage( output, "bf", 16, 0.1f );
testBilateralFilter( data, 32, 0.2f, output );
saveArrayAsImage( output, "bf", 32, 0.2f );
testBilateralFilter( data, 64, 0.4f, output );
saveArrayAsImage( output, "bf", 64, 0.4f );
#if 0
Image4f edgeImage( "/tmp/step.png" );
edgeImage.flipUD();
Array2D< float > edge( im.width(), im.height() );
for( int y = 0; y < im.height(); ++y )
{
for( int x = 0; x < im.width(); ++x )
{
edge( x, y ) = edgeImage.pixel( x, y ).x;
}
}
testCrossBilateralFilter( data, edge, 16, 0.1f, output );
saveArrayAsImage( output, "cbf", 16, 0.1f );
testCrossBilateralFilter( data, edge, 32, 0.2f, output );
saveArrayAsImage( output, "cbf", 32, 0.2f );
testCrossBilateralFilter( data, edge, 64, 0.4f, output );
saveArrayAsImage( output, "cbf", 64, 0.4f );
#endif
return 0;
}
bool
CppDetEstCircle4 (vector < double >x, vector < double >y,
double cellsize, unsigned int maxR, unsigned int sigmacoef,
double epsion, unsigned int maxIter, unsigned int minnumfit,
vector < double >&detectedcircle,
vector < double >&mapfinalHTcircle,
vector < double >&iterationdata, vector < double >&ArcInfo,
vector < double >&finalx, vector < double >&finaly,
vector < double >&DebugInfo)
{
// based from 0.
// detectedcircle: [yc, xc, r], in unit of meter.
// mapfinalHTcircle: [rowc, colc, r], in unit of pixel.
if (x.size () != y.size ()) {
#ifdef MATLABPRINT
mexPrintf
("CppDetEstCircle ==> input x and y do not have the same length!\n");
#endif
detectedcircle.clear ();
mapfinalHTcircle.clear ();
iterationdata.clear ();
ArcInfo.clear ();
finalx.clear ();
finaly.clear ();
DebugInfo.clear ();
return false;
}
mxArray *mx_x, *mx_y, *mx_refmatrix;
double *tempGetPr;
vector < unsigned int >img, dim_img (2), dim_refmatrix (2);
vector < double >refmatrix;
// call CppGridPts to grid the points cloud into cellsize*cellsize cells
bool callflag;
callflag =
CppGridPts (x, y, cellsize, maxR, minnumfit, img, dim_img, refmatrix,
dim_refmatrix);
if (!callflag) {
#ifdef MATLABPRINT
mexPrintf ("CppDetEstCircle ==> calling CppGridPts failed!\n");
#endif
// maybe inputs are invalid!
detectedcircle.clear ();
mapfinalHTcircle.clear ();
iterationdata.clear ();
ArcInfo.clear ();
finalx.clear ();
finaly.clear ();
DebugInfo.clear ();
return false;
}
if (img.size () == 0 || refmatrix.size () == 0) {
// less than minnumfit points in this section
#ifdef DEBUG
mexPrintf
("CppDetEstCircle ==> calling CppGridPts ==> less than minnumfit points in this section!\n");
#endif
detectedcircle.clear ();
mapfinalHTcircle.clear ();
iterationdata.clear ();
iterationdata.resize (4, 0.0);
iterationdata[0] = 0.0;
iterationdata[1] = mxGetNaN ();
iterationdata[2] = mxGetNaN ();
iterationdata[3] = static_cast < double >(x.size ());
ArcInfo.clear ();
ArcInfo.resize (3, 0.0);
finalx.clear ();
finaly.clear ();
DebugInfo.clear ();
return true;
}
// convert x, y to row and col by MATLAB function: map2pix
// xpix, ypix: based from 0.
vector < double >xpix (x.size ()), ypix (y.size ());
mxArray *prhs[3], *plhs[2];
mx_x = mxCreateDoubleMatrix (x.size (), 1, mxREAL);
mx_y = mxCreateDoubleMatrix (y.size (), 1, mxREAL);
mx_refmatrix =
mxCreateDoubleMatrix (dim_refmatrix[0], dim_refmatrix[1], mxREAL);
tempGetPr = mxGetPr (mx_x);
for (unsigned int i = 0; i < x.size (); i++) {
tempGetPr[i] = x[i];
}
tempGetPr = mxGetPr (mx_y);
for (unsigned int i = 0; i < y.size (); i++) {
tempGetPr[i] = y[i];
}
tempGetPr = mxGetPr (mx_refmatrix);
for (unsigned int i = 0; i < refmatrix.size (); i++) {
tempGetPr[i] = refmatrix[i];
}
prhs[1] = mx_x;
prhs[2] = mx_y;
prhs[0] = mx_refmatrix;
mexCallMATLAB (2, plhs, 3, prhs, "map2pix");
tempGetPr = mxGetPr (plhs[1]);
for (unsigned int i = 0; i < x.size (); i++) {
xpix[i] = tempGetPr[i] - 1;
}
tempGetPr = mxGetPr (plhs[0]);
for (unsigned int i = 0; i < y.size (); i++) {
ypix[i] = tempGetPr[i] - 1;
}
mxDestroyArray (mx_x);
mxDestroyArray (mx_y);
vector < double >estcircle;
CppCircleFitting (xpix, ypix, estcircle);
if (estcircle.size () == 0) {
#ifdef DEBUG
mexPrintf ("CppDetEstCircle ==> CppCircleFitting return empty!\n");
#endif
detectedcircle.clear ();
mapfinalHTcircle.clear ();
iterationdata.clear ();
iterationdata.resize (4, 0.0);
iterationdata[0] = 0.0;
iterationdata[1] = mxGetNaN ();
iterationdata[2] = mxGetNaN ();
iterationdata[3] = static_cast < double >(x.size ());
ArcInfo.clear ();
ArcInfo.resize (3, 0.0);
finalx.clear ();
finaly.clear ();
DebugInfo.clear ();
return true;
}
if (estcircle[2] < 0) {
#ifdef DEBUG
mexPrintf ("CppDetEstCircle ==> CppCircleFitting return negative!\n");
#endif
detectedcircle.clear ();
mapfinalHTcircle.clear ();
iterationdata.clear ();
iterationdata.resize (4, 0.0);
iterationdata[0] = 0.0;
iterationdata[1] = mxGetNaN ();
iterationdata[2] = mxGetNaN ();
iterationdata[3] = static_cast < double >(x.size ());
ArcInfo.clear ();
ArcInfo.resize (3, 0.0);
finalx.clear ();
finaly.clear ();
DebugInfo.clear ();
return true;
}
vector < double >precircle (3, mxGetInf ());
vector < bool > ROIimage (img.size ());
vector < double >ROIxpix, ROIypix;
vector < unsigned int >inputImage (img.size ());
vector < unsigned int >edgeImage (img.size ());
vector < unsigned int >HTrow, HTcol, HTr, HTpeak;
vector < double >zeros (img.size (), 0.0);
vector < double >finalHTcircle, allRsigma;
unsigned int iterativecount = 0;
bool fitflag = true;
double centerchange, radiuschange, finalRsigma;
transform (img.begin (), img.end (), zeros.begin (), ROIimage.begin (),
std::not_equal_to < double >());
centerchange =
sqrt ((estcircle[0] - precircle[0]) * (estcircle[0] - precircle[0]) +
(estcircle[1] - precircle[1]) * (estcircle[1] - precircle[1]));
radiuschange = fabs (estcircle[2] - precircle[2]);
while (centerchange > epsion / cellsize || radiuschange > epsion / cellsize) {
// In this while loop, estcircle and precircle are both in unit of pixel.
// initially detect circle by Hough Transform.
inputImage.clear ();
inputImage.resize (img.size (), 0);
transform (img.begin (), img.end (), ROIimage.begin (),
inputImage.begin (), std::multiplies < unsigned int >());
//int debugcount=0;
//for (unsigned int i=0; i<img.size(); i++)
//{
// if ( (img[i]!=0) && ROIimage[i] )
// {
// inputImage[i]=img[i];
// debugcount++;
// }
//}
HTrow.clear ();
HTcol.clear ();
HTr.clear ();
HTpeak.clear ();
if (!
(CppIterCHT
(inputImage, dim_img, maxR, edgeImage, dim_img, HTrow, HTcol, HTr,
HTpeak)
)) {
#ifdef MATLABPRINT
mexPrintf ("CppDetEstCircle ==> calling CppIterCHT failed!\n");
#endif
return false;
}
if (HTrow.size () == 0) {
// no circle detected by CHT
fitflag = false;
break;
}
// select one circle from the above derived by CHT.
finalHTcircle.clear ();
allRsigma.clear ();
finalRsigma =
CppSelectHTCircle (edgeImage, dim_img, HTrow, HTcol, HTr, finalHTcircle,
allRsigma);
if (finalRsigma < 0) {
#ifdef MATLABPRINT
mexPrintf ("CppDetEstCircle ==> calling CppSelectHTCircle failed!\n");
#endif
return false;
}
// mark ROI
ROIimage.clear ();
if (!
(CppMarkROI
(edgeImage, dim_img, finalHTcircle, xpix, ypix, sigmacoef,
finalRsigma, ROIimage, ROIxpix, ROIypix)
)) {
#ifdef MATLABPRINT
mexPrintf ("CppDetEstCircle ==> calling CppMarkROI failed!\n");
#endif
return false;
}
if (ROIxpix.size () < minnumfit) {
#ifdef DEBUG
mexPrintf
("CppDetEstCircle ==> less than minnumfit points used to fit a circle!\n");
#endif
fitflag = false;
break;
}
precircle.clear ();
precircle.resize (estcircle.size (), 0.0);
copy (estcircle.begin (), estcircle.end (), precircle.begin ());
// fit circles using points in ROI
CppCircleFitting (ROIxpix, ROIypix, estcircle);
if (estcircle.size () == 0) {
#ifdef DEBUG
mexPrintf ("CppDetEstCircle ==> CppCircleFitting return empty!\n");
#endif
fitflag = false;
break;
}
if (estcircle[2] < 0) {
#ifdef DEBUG
mexPrintf ("CppDetEstCircle ==> CppCircleFitting return negative!\n");
#endif
fitflag = false;
break;
}
// calculate change compared with previous circle
centerchange =
sqrt ((estcircle[0] - precircle[0]) * (estcircle[0] - precircle[0]) +
(estcircle[1] - precircle[1]) * (estcircle[1] - precircle[1]));
radiuschange = fabs (estcircle[2] - precircle[2]);
iterativecount += 1;
if (iterativecount == maxIter) {
fitflag = true;
break;
}
}
// Now, we begin to check if estcircle(detectedcircle) is derived in while loop and if the derived is valid.
// We check it from 3 aspects.
// 1st check: whether circle is derived, see if fitflag is true
if (!fitflag) {
detectedcircle.clear ();
mapfinalHTcircle.clear ();
iterationdata.clear ();
iterationdata.resize (4, 0.0);
iterationdata[0] = static_cast < double >(iterativecount);
iterationdata[1] = centerchange * cellsize;
iterationdata[2] = radiuschange * cellsize;
iterationdata[3] = static_cast < double >(ROIxpix.size ());
ArcInfo.clear ();
ArcInfo.resize (3, 0.0);
finalx.clear ();
finaly.clear ();
DebugInfo.clear ();
return true;
}
//2nd check:
//see if the detectedcircle(or estcircle) locates within point
//cloud of trunk, if true, this horizontal point cloud section is
//unqualified, discard the detectedcircle. If in the 3*3 window
//centered at detectedcircle point density in every cell is greater
//than 1, we think the circle center locating within trunk.
double ptsdensity;
ptsdensity =
CppNeighborPtsDensity (img, dim_img, 3, estcircle[0], estcircle[1]);
if (ptsdensity < 0) {
#ifdef MATLABPRINT
mexPrintf ("CppDetEstCircle ==> calling CppNeighborPtsDensity failed!\n");
#endif
return false;
}
if (mxIsInf (ptsdensity)) {
// If ptsdensity is Inf, the derived center locates outside the rasterized image.
detectedcircle.clear ();
mapfinalHTcircle.clear ();
detectedcircle.resize (3, 0.0);
mapfinalHTcircle.resize (3, 0.0);
prhs[0] = mx_refmatrix;
prhs[1] = mxCreateDoubleMatrix (2, 1, mxREAL);
prhs[2] = mxCreateDoubleMatrix (2, 1, mxREAL);
tempGetPr = mxGetPr (prhs[1]);
tempGetPr[0] = estcircle[0] + 1;
tempGetPr[1] = finalHTcircle[0] + 1;
tempGetPr = mxGetPr (prhs[2]);
tempGetPr[0] = estcircle[1] + 1;
tempGetPr[1] = finalHTcircle[1] + 1;
mexCallMATLAB (2, plhs, 3, prhs, "pix2map");
tempGetPr = mxGetPr (plhs[0]); //xc
detectedcircle[1] = tempGetPr[0];
mapfinalHTcircle[1] = tempGetPr[1]; // xc
tempGetPr = mxGetPr (plhs[1]); //yc
detectedcircle[0] = tempGetPr[0];
mapfinalHTcircle[0] = tempGetPr[1]; // yc
detectedcircle[2] = estcircle[2] * cellsize;
mapfinalHTcircle[2] = finalHTcircle[2] * cellsize; // r
mxDestroyArray (prhs[1]);
mxDestroyArray (prhs[2]);
mxDestroyArray (plhs[0]);
mxDestroyArray (plhs[1]);
/*detectedcircle.assign(estcircle.begin(), estcircle.end());
mapfinalHTcircle.assign(finalHTcircle.begin(), finalHTcircle.end()); */
iterationdata.clear ();
iterationdata.resize (4, 0.0);
iterationdata[0] = static_cast < double >(iterativecount);
iterationdata[1] = mxGetNaN ();
iterationdata[2] = mxGetNaN ();
iterationdata[3] = static_cast < double >(ROIxpix.size ());
ArcInfo.clear ();
ArcInfo.resize (3, 0.0);
finalx.clear ();
finaly.clear ();
DebugInfo.clear ();
return true;
} else if (ptsdensity > 1) {
// If ptsdensity is greater than 1, the derived center is on the trunk, not valid!
detectedcircle.clear ();
mapfinalHTcircle.clear ();
iterationdata.clear ();
iterationdata.resize (4, 0.0);
iterationdata[0] = static_cast < double >(iterativecount);
iterationdata[1] = centerchange * cellsize;
iterationdata[2] = radiuschange * cellsize;
iterationdata[3] = static_cast < double >(ROIxpix.size ());
ArcInfo.clear ();
ArcInfo.resize (3, 0.0);
finalx.clear ();
finaly.clear ();
DebugInfo.clear ();
return true;
}
// 3rd check: Iteration (while loop) ends possibly without getting right circle but due to reaching maximum iteration count or failed HT.
// So here the estcircle derived from while loop is checked whether satisfying the right circle condition.
if (iterativecount == maxIter) {
if (centerchange > epsion / cellsize || radiuschange > epsion / cellsize) {
detectedcircle.clear ();
mapfinalHTcircle.clear ();
iterationdata.clear ();
iterationdata.resize (4, 0.0);
iterationdata[0] = static_cast < double >(maxIter);
iterationdata[1] = centerchange * cellsize;
iterationdata[2] = radiuschange * cellsize;
iterationdata[3] = static_cast < double >(ROIxpix.size ());
ArcInfo.clear ();
ArcInfo.resize (3, 0.0);
finalx.clear ();
finaly.clear ();
DebugInfo.clear ();
return true;
}
}
//After all checked, we can output the valid derived circle.
detectedcircle.clear ();
mapfinalHTcircle.clear ();
detectedcircle.resize (3, 0.0);
mapfinalHTcircle.resize (3, 0.0);
prhs[0] = mx_refmatrix;
prhs[1] = mxCreateDoubleMatrix (2, 1, mxREAL);
prhs[2] = mxCreateDoubleMatrix (2, 1, mxREAL);
tempGetPr = mxGetPr (prhs[1]);
tempGetPr[0] = estcircle[0] + 1;
tempGetPr[1] = finalHTcircle[0] + 1;
tempGetPr = mxGetPr (prhs[2]);
tempGetPr[0] = estcircle[1] + 1;
tempGetPr[1] = finalHTcircle[1] + 1;
mexCallMATLAB (2, plhs, 3, prhs, "pix2map");
tempGetPr = mxGetPr (plhs[0]); //xc
detectedcircle[1] = tempGetPr[0];
mapfinalHTcircle[1] = tempGetPr[1]; // xc
tempGetPr = mxGetPr (plhs[1]); //yc
detectedcircle[0] = tempGetPr[0];
mapfinalHTcircle[0] = tempGetPr[1]; // yc
detectedcircle[2] = estcircle[2] * cellsize;
mapfinalHTcircle[2] = finalHTcircle[2] * cellsize; // r
mxDestroyArray (prhs[1]);
mxDestroyArray (prhs[2]);
mxDestroyArray (plhs[0]);
mxDestroyArray (plhs[1]);
// convert ROIxpix, ROIypix to finalx, finaly
finalx.clear ();
finalx.resize (ROIxpix.size ());
finaly.clear ();
finaly.resize (ROIypix.size ());
prhs[0] = mx_refmatrix;
prhs[1] = mxCreateDoubleMatrix (ROIypix.size (), 1, mxREAL);
prhs[2] = mxCreateDoubleMatrix (ROIxpix.size (), 1, mxREAL);
tempGetPr = mxGetPr (prhs[1]);
for (unsigned int i = 0; i < ROIypix.size (); i++) {
tempGetPr[i] = ROIypix[i] + 1;
}
tempGetPr = mxGetPr (prhs[2]);
for (unsigned int i = 0; i < ROIxpix.size (); i++) {
tempGetPr[i] = ROIxpix[i] + 1;
}
mexCallMATLAB (2, plhs, 3, prhs, "pix2map");
tempGetPr = mxGetPr (plhs[0]); //finalx
for (unsigned int i = 0; i < ROIxpix.size (); i++) {
finalx[i] = tempGetPr[i];
}
tempGetPr = mxGetPr (plhs[1]); //finaly
for (unsigned int i = 0; i < ROIypix.size (); i++) {
finaly[i] = tempGetPr[i];
}
mxDestroyArray (prhs[1]);
mxDestroyArray (prhs[2]);
mxDestroyArray (plhs[0]);
mxDestroyArray (plhs[1]);
mxDestroyArray (mx_refmatrix);
iterationdata.clear ();
iterationdata.resize (4, 0.0);
iterationdata[0] = static_cast < double >(iterativecount);
iterationdata[1] = centerchange * cellsize;
iterationdata[2] = radiuschange * cellsize;
iterationdata[3] = static_cast < double >(ROIxpix.size ());
ArcInfo.clear ();
if (!CppArcInfo (ROIxpix, ROIypix, estcircle, ArcInfo)) {
#ifdef MATLABPRINT
mexPrintf ("CppDetEstCircle ==> calling CppArcInfo failed!\n");
#endif
return false;
}
// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
// Because when rasterizing point clouds
// in the function CppGridPts the center of the first pixel,
// i.e. the pixel at [1,1] locates at (minx, maxy),
// we have to transform the angle in i-j(raster) coordinate system
// to x-y(point clouds) coordinate system.
// In x-y coordinate system, y axis points to north,
// so angle is presented in counterclockwise.
// In contrast, in i-j coordinate system,
// i axis (i.e. y axis in raster) points to south,
// so angle is presented in clockwise.
// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
ArcInfo[0] = 2 * PI - ArcInfo[0];
ArcInfo[1] = 2 * PI - ArcInfo[1];
DebugInfo.clear ();
DebugInfo.resize (1);
DebugInfo[0] = finalRsigma * cellsize;
#ifdef DEBUG
mexPrintf ("CppDetEstCircle ==> finally points used to fit a circle: %d!\n",
ROIxpix.size ());
#endif
return true;
}
