void processImageSobel(LPFImage output, LPFImage dx, LPFImage dy) {
FImage tmpMags;
newFImage(&tmpMags, dx->width, dx->height);
FImage magnitudes;
computeSuppressed(dx, dy, &tmpMags, &magnitudes);
normaliseFImage(&magnitudes);
float low = lowThresh;
float high = highThresh;
if (high < 0) {
// if high has not been set we use a similar approach to matlab to
// estimate the thresholds
high = computeHighThreshold(&tmpMags);
low = threshRatio * high;
}
// printf("low= %e, high= %e\n",low, high);
// fflush(stdout);
freeFImage(&tmpMags);
thresholdingTracker(&magnitudes, output, low, high);
freeFImage(&magnitudes);
}
void RegionGrowingHSV::computeInitalSeed(std::vector<int> &seed)
{
int size_of_hist = static_cast<int>(360/hist_width)+1;
std::vector< std::vector<int> > hist( size_of_hist );
std::pair<int,int> qujian;
color_threshold_.resize(size_of_hist,qujian);
// 统计分布到hist中
for(int i=0;i<cloud_hsv_.size();i++)
{
int index = static_cast<int>(cloud_hsv_[i]/hist_width); // index 可能小于0->h为-1
hist[index].push_back(i);
}
// 计算相对变化率
std::cout<<" calculate xdbhl_ "<<std::endl;
xdbhl_.clear();
for(int i=0;i<hist.size()-1;i++)
{
float xd = std::abs(static_cast<float>(hist[i].size())-static_cast<float>(hist[i+1].size()));
float fm = std::max(10.0f,(static_cast<float>(hist[i].size())+static_cast<float>(hist[i+1].size()))/2.0f);
xdbhl_.push_back(static_cast<float>(xd/fm));
}
// calculate color_threshold_;
std::cout<<" calculate color_threshold_ "<<std::endl;
for(int i=0;i<hist.size();i++)
{
qujian.first = computeLowThreshold(i,hist)-1;
qujian.second = computeHighThreshold(i,hist)+1;
color_threshold_[i] = qujian;
//std::cout<<"the "<<i<<" color_threshold "<<color_threshold_[i].first<<" "<<color_threshold_[i].second<<"size "<<hist[i].size()<<std::endl;
}
// 计算优先级
std::cout<<" calculate hist_proi_ "<<std::endl;
hist_proi_.clear();
for(int i=0;i<hist.size();i++)
{
float g = 0.0;
if( i==0 )
{
g = std::pow( xdbhl_[i],2.0f );
}
else if( i==hist.size()-1 )
{
g = std::pow( xdbhl_[i-1],2.0f );
}
else
g = std::pow( xdbhl_[i-1],2.0f ) + std::pow( xdbhl_[i],2.0f);
this->hist_proi_.push_back(g);
}
// 计算点的优先级
std::cout<<"calculatePointPossibility!!!"<<std::endl;
calculatePointPossibility();
point_proi_.clear();
for(int i=0;i<hist_proi_.size();i++)
{
std::pair<int,float> g;
float hist_poss = static_cast<float>(hist[i].size())/static_cast<float>(num_pts);
for(int j=0;j<hist[i].size();j++)
{
int point_id = hist[i][j];
g.first = point_id;
g.second = possibility_[point_id] * hist_poss * (3.0f-hist_proi_[i]);
point_proi_.push_back(g);
}
}
// insert point id to the seed vector
std::sort(point_proi_.begin(),point_proi_.end(),com);
for(int i=0;i<point_proi_.size();i++)
{
seed.push_back(point_proi_[i].first);
}
}
