void TrackerMedianFlowImpl::check_NCC(const Mat& oldImage,const Mat& newImage,
const std::vector<Point2f>& oldPoints,const std::vector<Point2f>& newPoints,std::vector<bool>& status){
std::vector<float> NCC(oldPoints.size(),0.0);
Size patch(30,30);
Mat p1,p2;
for (int i = 0; i < (int)oldPoints.size(); i++) {
getRectSubPix( oldImage, patch, oldPoints[i],p1);
getRectSubPix( newImage, patch, newPoints[i],p2);
const int N=900;
double s1=sum(p1)(0),s2=sum(p2)(0);
double n1=norm(p1),n2=norm(p2);
double prod=p1.dot(p2);
double sq1=sqrt(n1*n1-s1*s1/N),sq2=sqrt(n2*n2-s2*s2/N);
double ares=(sq2==0)?sq1/abs(sq1):(prod-s1*s2/N)/sq1/sq2;
NCC[i] = (float)ares;
}
float median = getMedian(NCC);
for(int i = 0; i < (int)oldPoints.size(); i++) {
status[i] = status[i] && (NCC[i]>median);
}
}
float CustomSIFT::getSubpixBlur(const Mat& img, Point2f off,KeyPoint p, double blur, map<double,Mat> &blurred)
{
Mat use;
if (blur < 1)
{
use=img;
}
else
{
if (blurred.find(blur) == blurred.end())
{
Mat b;
int size = (int)std::ceil(2*blur);
size += size%2==0?1:0;
GaussianBlur(img,b,Size(size,size),blur,blur);
blurred[blur]=b;
}
use = blurred[blur];
}
Mat patch;
Point2f pt (off.x+p.pt.x, off.y+p.pt.y);
getRectSubPix(use, cv::Size(1,1), pt, patch);
assert(patch.type() == CV_32F);
float ret = patch.at<float>(0,0);
assert(ret==ret);
return ret;
}
//TODO this should blur the image before sampling. Maybe.
Vec2f CustomSIFT::getSubpix(const Mat& img, Point2f off,KeyPoint p)
{
Mat patch;
Point2f pt (off.x+p.pt.x, off.y+p.pt.y);
getRectSubPix(img, cv::Size(1,1), pt, patch);
return patch.at<Vec2f>(0,0);
}
Mat deskew(Mat img, double angle)
{
bitwise_not(img, img);
vector<Point> points;
Mat_<uchar>::iterator it = img.begin<uchar>();
Mat_<uchar>::iterator end = img.end<uchar>();
for (; it != end; ++it)
if (*it)
points.push_back(it.pos());
RotatedRect box = minAreaRect(Mat(points));
Mat rot_mat = getRotationMatrix2D(box.center, angle, 1);
Mat rotated;
warpAffine(img, rotated, rot_mat, img.size(), INTER_CUBIC);
Size box_size = box.size;
if (box.angle < -45.)
swap(box_size.width, box_size.height);
Mat cropped;
getRectSubPix(rotated, box_size, box.center, cropped);
return cropped;
}
double getSubpix(const Mat& img, float x, float y, KeyPoint p)
{
Mat patch;
Point2f pt (x+p.pt.x,y+p.pt.y);
getRectSubPix(img, cv::Size(1,1), pt, patch);
return patch.at<int>(0,0);
}
bool ASM_Gaze_Tracker::calculatePupilCenter(){
Mat leftEyeImg,rightEyeImg,cropped;
if (isTrackingSuccess == false) {
return false;
}
canthusPts = vector<Point2f>(tracker.points.begin(),tracker.points.begin()+4);
nosePts = vector<Point2f>(tracker.points.begin()+4,tracker.points.begin()+6);
if (canthusPts[2].x < canthusPts[0].x && canthusPts[0].x < canthusPts[1].x && canthusPts[1].x < canthusPts[3].x) {
} else {
return false;
}
eyePairTileAngle = calculateEyePairTileAngle(canthusPts);
glabellaPoint= caculateEyePairCenter(canthusPts);
rotationMatrix = getRotationMatrix2D(glabellaPoint, eyePairTileAngle, 1.0);
Mat Mback = getRotationMatrix2D(glabellaPoint, -eyePairTileAngle, 1.0);
vector<Point2f> rotatedCanthusPts = rotatePointsByRotationMatrix(canthusPts, rotationMatrix);
vector<Point2f> rotatedNosePts = rotatePointsByRotationMatrix(nosePts, rotationMatrix);
float eyePairRectWidth =abs(rotatedCanthusPts[2].x - rotatedCanthusPts[3].x)+1;
Size2f eyePairRectSize(eyePairRectWidth,eyePairRectWidth/7);
Rect cropRect(Point2f(glabellaPoint.x-eyePairRectWidth/2,glabellaPoint.y -eyePairRectWidth/14.0f),eyePairRectSize);
warpAffine(im, rotated_img, rotationMatrix, im.size(),CV_INTER_LINEAR);
getRectSubPix(rotated_img, eyePairRectSize, glabellaPoint, cropped);
Rect leftEyeRect = Rect(0,0,rotatedCanthusPts[0].x-rotatedCanthusPts[2].x,eyePairRectSize.height);
Rect rightEyeRect = Rect(rotatedCanthusPts[1].x-rotatedCanthusPts[2].x,0,rotatedCanthusPts[3].x-rotatedCanthusPts[1].x,eyePairRectSize.height);
if (leftEyeRect.area() < 50 || rightEyeRect.area()< 50) {
return false;
}
Point2f leftEyeCenter, rightEyeCenter;
// findEyeCenterByColorSegmentation(cropped(leftEyeRect), leftEyeCenter);
// findEyeCenterByColorSegmentation(cropped(rightEyeRect), rightEyeCenter);
// cout<<"debug"<<endl;
boost::thread leftEyeThread(findEyeCenterByColorSegmentation, cropped(leftEyeRect), boost::ref(leftEyeCenter), 0.4,3,3,5);
boost::thread rightEyeThread(findEyeCenterByColorSegmentation, cropped(rightEyeRect), boost::ref(rightEyeCenter), 0.4,3,3,5);
leftEyeThread.join();
rightEyeThread.join();
leftEyeCenter += Point2f(leftEyeRect.tl().x,leftEyeRect.tl().y);
leftEyeCenter += Point2f(cropRect.tl().x, cropRect.tl().y);
rightEyeCenter += Point2f(rightEyeRect.tl().x,rightEyeRect.tl().y);
rightEyeCenter += Point2f(cropRect.tl().x,cropRect.tl().y);
leftEyePoint= rotatePointByRotationMatrix(leftEyeCenter, Mback);
rightEyePoint= rotatePointByRotationMatrix(rightEyeCenter, Mback);
isTrackingSuccess = true;
return true;
}
void
FaceDetector::run(){
CascadeClassifier cascade;
if (!cascade.load("res/haarcascade_frontalface_alt.xml") ) {
qDebug() << "Erreur lors du chargement du haar cascade frontalface...";
exit(0);
}
QSize processSize = keepAspectRatio(_image.cols, _image.rows, MAX_PROCESS_WIDTH, MAX_PROCESS_HEIGHT);
Mat color;
if ( _image.cols > processSize.width() ){
cv::resize( _image, color, cv::Size(processSize.width(), processSize.height() ) );
} else {
color = _image.clone();
}
QSize displaySize = keepAspectRatio(color.cols, color.rows);
_ratio = (double) color.cols/displaySize.width();
Mat gray;
cvtColor(color, gray, CV_BGR2GRAY);
//PRETRAITEMENT
equalizeHist(gray, gray);
vector<Rect> facesRects;
cascade.detectMultiScale(gray, facesRects, 1.1, 2, 0|CV_HAAR_SCALE_IMAGE, cvSize(16,16));
// qDebug() << "detected faces size: " << facesRects.size();
for (unsigned int i = 0; i < facesRects.size(); ++i){
Rect r = facesRects[i];
Mat croppedFace;
getRectSubPix(color, Size(r.width, r.height), Point2f(r.x + r.width/2, r.y + r.height / 2), croppedFace);
// qImageFaces << Mat2QImage(croppedFace);
struct DetectorData tmpData;
tmpData.id = i;
cv::resize( croppedFace, croppedFace, Size(WORK_SIZE,WORK_SIZE) );
tmpData.image = Mat2QImage(croppedFace);
emit sendFace( tmpData.image );
tmpData.rect = QRect(r.x/_ratio+1, r.y/_ratio+1, r.width/_ratio+1, r.height/_ratio+1);
tmpData.cvRect = r;
tmpData.mat = croppedFace;
cvtColor(croppedFace, tmpData.gray, CV_RGB2GRAY);
// cv::resize( tmpData.gray, tmpData.gray, Size(WORK_SIZE,WORK_SIZE) );
detectorData << tmpData;
}
qRegisterMetaType< QList<struct DetectorData> >( "QList<struct DetectorData>" );
emit detectionFinished( _index, detectorData );
}
//! 显示最终生成的车牌图像，便于判断是否成功进行了旋转。
Mat CPlateLocate::showResultMat(Mat src, Size rect_size, Point2f center)
{
Mat img_crop;
getRectSubPix(src, rect_size, center, img_crop);
Mat resultResized;
resultResized.create(HEIGHT, WIDTH, TYPE);
resize(img_crop, resultResized, resultResized.size(), 0, 0, INTER_CUBIC);
return resultResized;
}
void LKTracker::normCrossCorrelation(const Mat& img1, const Mat& img2, vector<Point2f>& points1, vector<Point2f>& points2)
{
Mat rec0(10, 10, CV_8U);
Mat rec1(10, 10, CV_8U);
Mat res(1, 1, CV_32F);
//double maxDis = 3.0f * sqrt(window_size.width*window_size.width + window_size.height*window_size.height); // 过滤距离过远的光流
similarity.clear();
for (int i = 0; i < points1.size(); i++) {
if (status[i] == 1 /*&& norm(points1[i] - points2[i]) < maxDis*/) {
getRectSubPix(img1, Size(10, 10), points1[i], rec0);
getRectSubPix(img2, Size(10, 10), points2[i], rec1);
matchTemplate(rec0, rec1, res, CV_TM_CCOEFF_NORMED);
similarity.push_back( ((float *)(res.data))[0] );
}
else {
similarity.push_back(0.0);
}
}
rec0.release();
rec1.release();
res.release();
}
Mat CControl::GetSubsetImg(RotatedRect n_rotatedrect)
{
// cout<<n_rotatedrect<<endl;
//根据旋转矩形，从nimgraw中获得新图像。
//获得边界矩形。
Rect n_boundrect=n_rotatedrect.boundingRect();
//将边界在原图像上画出。
Point2f vertices[4];
n_rotatedrect.points(vertices);
// Mat n_imgraw;
// nImgRaw.copyTo(n_imgraw);
// for (int i = 0; i < 4; i++)
// line(n_imgraw, vertices[i], vertices[(i+1)%4], Scalar(0,255,0));
// imshow("raw",n_imgraw);
//获得子图像。
Mat n_boundmatemp=nImgRaw(n_boundrect);
Mat n_boundmat;
n_boundmatemp.copyTo(n_boundmat);
// imshow("prerotated",n_boundmat);
//获得旋转变换参数矩阵
//这里的中心不再是原图像的中心，而是子图的中心。(原中心-左上角）
Point2f n_pt1=n_rotatedrect.center;
Point2f n_pt2=n_boundrect.tl();
Point2f n_ptcenter=n_pt1-n_pt2;
Mat n_rotatematparam=getRotationMatrix2D(n_ptcenter,n_rotatedrect.angle,1.0);
//进行仿射变换。
Mat n_rotatedMat;
warpAffine(n_boundmat, n_rotatedMat,n_rotatematparam,n_boundmat.size(),INTER_CUBIC);
//截取子图像。
Mat n_croppedmat;
Size n_subsize(nControlOptions.nWidth,nControlOptions.nHeight);
getRectSubPix(n_rotatedMat,n_subsize,n_ptcenter,n_croppedmat);
// imshow("rotated",n_croppedmat);
// waitKey(0);
return n_croppedmat;
}
void crop(Mat &segmentedHand, Mat &croppedHand) {
// code taken from
// http://stackoverflow.com/questions/3669611/bounding-box-using-opencv
vector<vector<Point> > v;
// Finds contours
findContours(segmentedHand,v,CV_RETR_LIST,CV_CHAIN_APPROX_NONE);
// Finds the contour with the largest area
int area = 0;
int idx;
for(int i=0; i<v.size();i++) {
if(area < v[i].size())
idx = i;
}
// Calculates the bounding rect of the largest area contour
Rect rect = boundingRect(v[idx]);
getRectSubPix(
segmentedHand,
rect.size(),
Point2f(rect.x + rect.width/2.0, rect.y + rect.height/2.0),
croppedHand);
}
vector<Placa> RegionPlaca::segmento(Mat input){
vector<Placa> output;// creamos un array de clases de tipo Placa
//Transformamos la imagen a escala de grises
Mat img_gray;
cvtColor(input, img_gray, CV_BGR2GRAY);
blur(img_gray, img_gray, Size(5, 5));
//Para encontrar las lineas verticales de la placa, se debe resaltar las lineas
Mat img_sobel;
Sobel(img_gray, img_sobel, CV_8U, 1, 0, 3, 1, 0, BORDER_DEFAULT);
if (showSteps)
imshow("Sobel", img_sobel);
//Se binariza la imagen
Mat img_threshold;
threshold(img_sobel, img_threshold, 0, 255, CV_THRESH_OTSU + CV_THRESH_BINARY);
if (showSteps)
imshow("Threshold", img_threshold);
//Se hace un barrido de las lineas verticales y horizontales
Mat element = getStructuringElement(MORPH_RECT, Size(20, 5));
morphologyEx(img_threshold, img_threshold, CV_MOP_CLOSE, element);
if (showSteps)
imshow("Close", img_threshold);
//Encontramos todas las posibles regiones de placas de autos
vector< vector< Point> > regiones;
findContours(img_threshold,
regiones, // Array de regiones
CV_RETR_EXTERNAL, // retrieve the external contours
CV_CHAIN_APPROX_NONE); // all pixels of each contours
//Empezamos a analizar las regiones una por una
vector<vector<Point> >::iterator itc = regiones.begin();
vector<RotatedRect> rects; // Rectangulos dentro de los limites indicados
//Eliminamos las regiones que no se encuentran dentro de los limites permitidos.
while (itc != regiones.end()) {
//Create bounding rect of object
RotatedRect angRect = minAreaRect(Mat(*itc));
if (!verificarTamaño(angRect, false)){
itc = regiones.erase(itc);
}
else{
++itc;
rects.push_back(angRect);
}
}
// Pintamos de color azul las regiones que se encuentran dentro de los limites
cv::Mat resultado;
input.copyTo(resultado); // copiamos la imagen de entrada en la variable 'resultado'
cv::drawContours(resultado, regiones,
-1, // pintamos todos los contornos
cv::Scalar(255, 0, 0), // asignamos que color
1, // Pintamos los contornos que encierran otros contornos
16);// Grosor de las lineas
if (showSteps)
imshow("ContornosAzul", resultado);
for (int i = 0; i< rects.size(); i++){
std::string cadena = "";
cadena = static_cast<std::ostringstream*>(&(std::ostringstream() << i))->str();
//For better rect cropping for each posible box
//Make floodfill algorithm because the plate has white background
//And then we can retrieve more clearly the contour box
circle(resultado, rects[i].center, 3, Scalar(0, 255, 0), -1);
//get the min size between width and height
float minSize = (rects[i].size.width < rects[i].size.height) ? rects[i].size.width : rects[i].size.height;
minSize = minSize - minSize*0.5;
//initialize rand and get 5 points around center for floodfill algorithm
srand(time(NULL));
//Initialize floodfill parameters and variables
Mat mask;
mask.create(input.rows + 2, input.cols + 2, CV_8UC1);
mask = Scalar::all(0);
int loDiff = 30;
int upDiff = 30;
int connectivity = 4;
int newMaskVal = 255;
int NumSeeds = 10;
Rect ccomp;
int flags = connectivity + (newMaskVal << 8) + CV_FLOODFILL_FIXED_RANGE + CV_FLOODFILL_MASK_ONLY;
for (int j = 0; j<NumSeeds; j++){
Point seed;
seed.x = rects[i].center.x + rand() % (int)minSize - (minSize / 2);
seed.y = rects[i].center.y + rand() % (int)minSize - (minSize / 2);
circle(resultado, seed, 1, Scalar(0, 255, 255), -1);
int area = floodFill(input, mask, seed, Scalar(255, 0, 0), &ccomp, Scalar(loDiff, loDiff, loDiff), Scalar(upDiff, upDiff, upDiff), flags);
}
if (showSteps)
imshow("MASK" + cadena, mask);
//cvWaitKey(0);
//Check new floodfill mask match for a correct patch.
//Get all points detected for get Minimal rotated Rect
vector<Point> pointsInterest;
Mat_<uchar>::iterator itMask = mask.begin<uchar>();
Mat_<uchar>::iterator end = mask.end<uchar>();
for (; itMask != end; ++itMask)
if (*itMask == 255)
pointsInterest.push_back(itMask.pos());
RotatedRect minRect = minAreaRect(pointsInterest);
//imshow("Rotated minRECT" + cadena, result);
if (verificarTamaño (minRect, true)){
// rotated rectangle drawing
Point2f rect_points[4]; minRect.points(rect_points);
for (int j = 0; j < 4; j++)
line(resultado, rect_points[j], rect_points[(j + 1) % 4], Scalar(0, 0, 255), 1, 8);
//imshow("Rotated mminRECT SEGUNDO" + cadena, result);
//Get rotation matrix
float r = (float)minRect.size.width / (float)minRect.size.height;
float angle = minRect.angle;
if (r<1)
angle = 90 + angle;
Mat rotmat = getRotationMatrix2D(minRect.center, angle, 1);
//Create and rotate image
Mat img_rotated;
warpAffine(input, img_rotated, rotmat, input.size(), CV_INTER_CUBIC);
//Se corta la imagen de la placa identificada
Size rect_size = minRect.size;
if (r < 1)
swap(rect_size.width, rect_size.height);
Mat img_crop;
getRectSubPix(img_rotated, rect_size, minRect.center, img_crop);
if (showSteps)
imshow("imgCrop" + cadena, img_crop);
Mat resultResized;
resultResized.create(33, 144, CV_8UC3);
resize(img_crop, resultResized, resultResized.size(), 0, 0, INTER_CUBIC);
//Se convierte a escala de grises la imagen cortada
Mat grayResult;
cvtColor(resultResized, grayResult, CV_BGR2GRAY);
blur(grayResult, grayResult, Size(3, 3));
grayResult = c1Bgr(grayResult);
if (showSteps){
stringstream ss(stringstream::in | stringstream::out);
ss << "tmp/" << nombreArchivo << "_" << i << ".jpg";
vector<int> compression_params;
compression_params.push_back(CV_IMWRITE_PNG_COMPRESSION);
compression_params.push_back(9);
bool success = imwrite("C:/Users/gian/Documents/Visual Studio 2013/Projects/PlacaRNA/CaractSVM/" + ss.str(), grayResult, compression_params);
if (success)
cout << ss.str() << endl;
}
output.push_back(Placa(grayResult, minRect.boundingRect()));
}
}
if (showSteps)
imshow("Contours", resultado);
return output;
}
vector<Plate> DetectRegions::segment(Mat input){
vector<Plate> output;
//convert image to gray
Mat img_gray; //= *new Mat(input.size().width,input.size().height, CV_8UC1);
cvtColor(input, img_gray, CV_BGR2GRAY);
blur(img_gray, img_gray, Size(5,5));
//Finde vertical lines. Car plates have high density of vertical lines
Mat img_sobel;
Sobel(img_gray, img_sobel, CV_8U, 1, 0, 3, 1, 0, BORDER_DEFAULT);
if(showSteps)
imshow("Sobel", img_sobel);
//threshold image
Mat img_threshold;
threshold(img_sobel, img_threshold, 0, 255, CV_THRESH_OTSU+CV_THRESH_BINARY);
if(showSteps)
imshow("Threshold", img_threshold);
//Morphplogic operation close
Mat element = getStructuringElement(MORPH_RECT, Size(17, 3) );
morphologyEx(img_threshold, img_threshold, CV_MOP_CLOSE, element);
if(showSteps)
imshow("Close", img_threshold);
//Find contours of possibles plates
vector< vector< Point> > contours;
findContours(img_threshold,
contours, // a vector of contours
CV_RETR_EXTERNAL, // retrieve the external contours
CV_CHAIN_APPROX_NONE); // all pixels of each contours
//Start to iterate to each contour founded
vector<vector<Point> >::iterator itc= contours.begin();
vector<RotatedRect> rects;
//Remove patch that are no inside limits of aspect ratio and area.
while (itc!=contours.end()) {
//Create bounding rect of object
RotatedRect mr= minAreaRect(Mat(*itc));
if( !verifySizes(mr)){
itc= contours.erase(itc);
}else{
++itc;
rects.push_back(mr);
}
}
// Draw blue contours on a white image
cv::Mat result;
input.copyTo(result);
cv::drawContours(result,contours,
-1, // draw all contours
cv::Scalar(255,0,0), // in blue
1); // with a thickness of 1
for(int i=0; i< rects.size(); i++){
//For better rect cropping for each posible box
//Make floodfill algorithm because the plate has white background
//And then we can retrieve more clearly the contour box
circle(result, rects[i].center, 3, Scalar(0,255,0), -1);
//get the min size between width and height
float minSize=(rects[i].size.width < rects[i].size.height)?rects[i].size.width:rects[i].size.height;
minSize=minSize-minSize*0.5;
//initialize rand and get 5 points around center for floodfill algorithm
srand ( time(NULL) );
//Initialize floodfill parameters and variables
Mat mask;
mask.create(input.rows + 2, input.cols + 2, CV_8UC1);
mask= Scalar::all(0);
int loDiff = 30;
int upDiff = 30;
int connectivity = 4;
int newMaskVal = 255;
int NumSeeds = 10;
Rect ccomp;
int flags = connectivity + (newMaskVal << 8 ) + CV_FLOODFILL_FIXED_RANGE + CV_FLOODFILL_MASK_ONLY;
for(int j=0; j<NumSeeds; j++){
Point seed;
seed.x=rects[i].center.x+rand()%(int)minSize-(minSize/2);
seed.y=rects[i].center.y+rand()%(int)minSize-(minSize/2);
circle(result, seed, 1, Scalar(0,255,255), -1);
int area = floodFill(input, mask, seed, Scalar(255,0,0), &ccomp, Scalar(loDiff, loDiff, loDiff), Scalar(upDiff, upDiff, upDiff), flags);
}
if(showSteps)
imshow("MASK", mask);
//cvWaitKey(0);
//Check new floodfill mask match for a correct patch.
//Get all points detected for get Minimal rotated Rect
vector<Point> pointsInterest;
Mat_<uchar>::iterator itMask= mask.begin<uchar>();
Mat_<uchar>::iterator end= mask.end<uchar>();
for( ; itMask!=end; ++itMask)
if(*itMask==255)
pointsInterest.push_back(itMask.pos());
RotatedRect minRect = minAreaRect(pointsInterest);
if(verifySizes(minRect)){
// rotated rectangle drawing
Point2f rect_points[4]; minRect.points( rect_points );
for( int j = 0; j < 4; j++ )
line( result, rect_points[j], rect_points[(j+1)%4], Scalar(0,0,255), 1, 8 );
//Get rotation matrix
float r= (float)minRect.size.width / (float)minRect.size.height;
float angle=minRect.angle;
if(r<1)
angle=90+angle;
Mat rotmat= getRotationMatrix2D(minRect.center, angle,1);
//Create and rotate image
Mat img_rotated;
warpAffine(input, img_rotated, rotmat, input.size(), CV_INTER_CUBIC);
//Crop image
Size rect_size=minRect.size;
if(r < 1)
swap(rect_size.width, rect_size.height);
Mat img_crop;
getRectSubPix(img_rotated, rect_size, minRect.center, img_crop);
Mat resultResized;
resultResized.create(33,144, CV_8UC3);
resize(img_crop, resultResized, resultResized.size(), 0, 0, INTER_CUBIC);
//Equalize croped image
Mat grayResult;
cvtColor(resultResized, grayResult, CV_BGR2GRAY);
blur(grayResult, grayResult, Size(3,3));
grayResult=histeq(grayResult);
if(saveRegions){
stringstream ss(stringstream::in | stringstream::out);
ss << "tmp/" << filename << "_" << i << ".jpg";
imwrite(ss.str(), grayResult);
}
output.push_back(Plate(grayResult,minRect.boundingRect()));
}
}
if(showSteps)
imshow("Contours", result);
return output;
}
void cv::cornerSubPix( InputArray _image, InputOutputArray _corners,
Size win, Size zeroZone, TermCriteria criteria )
{
CV_INSTRUMENT_REGION()
const int MAX_ITERS = 100;
int win_w = win.width * 2 + 1, win_h = win.height * 2 + 1;
int i, j, k;
int max_iters = (criteria.type & CV_TERMCRIT_ITER) ? MIN(MAX(criteria.maxCount, 1), MAX_ITERS) : MAX_ITERS;
double eps = (criteria.type & CV_TERMCRIT_EPS) ? MAX(criteria.epsilon, 0.) : 0;
eps *= eps; // use square of error in comparsion operations
cv::Mat src = _image.getMat(), cornersmat = _corners.getMat();
int count = cornersmat.checkVector(2, CV_32F);
CV_Assert( count >= 0 );
Point2f* corners = cornersmat.ptr<Point2f>();
if( count == 0 )
return;
CV_Assert( win.width > 0 && win.height > 0 );
CV_Assert( src.cols >= win.width*2 + 5 && src.rows >= win.height*2 + 5 );
CV_Assert( src.channels() == 1 );
Mat maskm(win_h, win_w, CV_32F), subpix_buf(win_h+2, win_w+2, CV_32F);
float* mask = maskm.ptr<float>();
for( i = 0; i < win_h; i++ )
{
float y = (float)(i - win.height)/win.height;
float vy = std::exp(-y*y);
for( j = 0; j < win_w; j++ )
{
float x = (float)(j - win.width)/win.width;
mask[i * win_w + j] = (float)(vy*std::exp(-x*x));
}
}
// make zero_zone
if( zeroZone.width >= 0 && zeroZone.height >= 0 &&
zeroZone.width * 2 + 1 < win_w && zeroZone.height * 2 + 1 < win_h )
{
for( i = win.height - zeroZone.height; i <= win.height + zeroZone.height; i++ )
{
for( j = win.width - zeroZone.width; j <= win.width + zeroZone.width; j++ )
{
mask[i * win_w + j] = 0;
}
}
}
// do optimization loop for all the points
for( int pt_i = 0; pt_i < count; pt_i++ )
{
Point2f cT = corners[pt_i], cI = cT;
int iter = 0;
double err = 0;
do
{
Point2f cI2;
double a = 0, b = 0, c = 0, bb1 = 0, bb2 = 0;
getRectSubPix(src, Size(win_w+2, win_h+2), cI, subpix_buf, subpix_buf.type());
const float* subpix = &subpix_buf.at<float>(1,1);
// process gradient
for( i = 0, k = 0; i < win_h; i++, subpix += win_w + 2 )
{
double py = i - win.height;
for( j = 0; j < win_w; j++, k++ )
{
double m = mask[k];
double tgx = subpix[j+1] - subpix[j-1];
double tgy = subpix[j+win_w+2] - subpix[j-win_w-2];
double gxx = tgx * tgx * m;
double gxy = tgx * tgy * m;
double gyy = tgy * tgy * m;
double px = j - win.width;
a += gxx;
b += gxy;
c += gyy;
bb1 += gxx * px + gxy * py;
bb2 += gxy * px + gyy * py;
}
}
double det=a*c-b*b;
if( fabs( det ) <= DBL_EPSILON*DBL_EPSILON )
break;
// 2x2 matrix inversion
double scale=1.0/det;
cI2.x = (float)(cI.x + c*scale*bb1 - b*scale*bb2);
cI2.y = (float)(cI.y - b*scale*bb1 + a*scale*bb2);
err = (cI2.x - cI.x) * (cI2.x - cI.x) + (cI2.y - cI.y) * (cI2.y - cI.y);
cI = cI2;
if( cI.x < 0 || cI.x >= src.cols || cI.y < 0 || cI.y >= src.rows )
break;
}
while( ++iter < max_iters && err > eps );
// if new point is too far from initial, it means poor convergence.
// leave initial point as the result
if( fabs( cI.x - cT.x ) > win.width || fabs( cI.y - cT.y ) > win.height )
cI = cT;
corners[pt_i] = cI;
}
}
void ELucidBinaryDescriptorExtractor::computeDescriptors(
const cv::Mat& image,
const std::vector<cv::KeyPoint>& key_points,
std::vector<bool> *valid_descriptors,
cv::Mat *descriptors) const
{
std::clock_t start = std::clock();
cv::Mat blurred_image;
int _blur_radius = 5; //FIXME: move this to class member
cv::blur(image,
blurred_image,
cv::Size(_blur_radius, _blur_radius));
const int num_channels = image.channels();
uchar pixels[num_samples];
valid_descriptors->reserve(key_points.size());
// TODO: Clean this up and don't use redundant code
if(!_useWideDesc)
{
int desc_width = 32;
assert(desc_width == num_samples / 2);
cv::Mat descs(key_points.size(),
desc_width,
CV_8UC1);
/* Unary Representation Lookup Tables*/
uchar lut_lower[4] =
{
0x00,
0x01,
0x03,
0x07,
};
uchar lut_upper[4] =
{
0x00,
0x10,
0x30,
0x70,
};
for(int k = 0; k < key_points.size(); ++k)
{
uchar *cur_desc = descs.ptr<uchar>(k);
float x = key_points[k].pt.x;
float y = key_points[k].pt.y;
valid_descriptors->push_back(
(x - patch_size/2) > 0 &&
(y - patch_size/2) > 0 &&
(x + patch_size/2) < image.cols &&
(y + patch_size/2) < image.rows);
if((*valid_descriptors)[k])
{
// TODO: Replace this by directly accessing pattern pixels
cv::Mat patch;
getRectSubPix(blurred_image,
cv::Size(patch_size, patch_size),
key_points[k].pt,
patch);
uchar* patch_ptr = patch.data;
for(int p = 0; p < num_samples; ++p)
{
pixels[p] = patch_ptr[pattern[p][1] * patch_size + pattern[p][0]];
}
int bin_width = 16;
uchar temp_desc[num_samples];
Util::getRankVectors2(num_samples,
bin_width,
pixels,
&(temp_desc[0]));
int next_idx = 0;
for(int i = 0; i < num_samples; i+=2)
{
cur_desc[next_idx++] =
lut_lower[temp_desc[i]] | lut_upper[temp_desc[i+1]];
}
}
}
std::clock_t stop = std::clock();
std::cout << "Time to compute eLUCID 256 bit descriptors "
<< (1000.0*(stop - start)) / CLOCKS_PER_SEC
<< "ms"
<< std::endl;
*descriptors = descs;
}
else
{
int desc_width = 64;
assert(desc_width == num_samples);
cv::Mat descs(key_points.size(),
desc_width,
CV_8UC1);
/* Sampled Unary Representation Lookup Tables*/
uchar lut[8] =
{
0x00,
0x01,
0x03,
0x07,
0x0f,
0x1f,
0x3f,
0x7f,
};
for(int k = 0; k < key_points.size(); ++k)
{
uchar *cur_desc = descs.ptr<uchar>(k);
float x = key_points[k].pt.x;
float y = key_points[k].pt.y;
valid_descriptors->push_back(
(x - patch_size/2) > 0 &&
(y - patch_size/2) > 0 &&
(x + patch_size/2) < image.cols &&
(y + patch_size/2) < image.rows);
if((*valid_descriptors)[k])
{
// TODO: Replace this by directly accessing pattern pixels
cv::Mat patch;
getRectSubPix(blurred_image,
cv::Size(patch_size, patch_size),
key_points[k].pt,
patch);
uchar* patch_ptr = patch.data;
for(int p = 0; p < num_samples; ++p)
{
pixels[p] = patch_ptr[pattern[p][1] * patch_size + pattern[p][0]];
}
int bin_width = 8;
uchar temp_desc[num_samples];
Util::getRankVectors2(num_samples,
bin_width,
pixels,
&(temp_desc[0]));
for(int i = 0; i < num_samples; i++)
{
cur_desc[i] = lut[temp_desc[i]];
}
}
}
std::clock_t stop = std::clock();
std::cout << "Time to compute eLUCID 512 bit descriptors "
<< (1000.0*(stop - start)) / CLOCKS_PER_SEC
<< "ms"
<< std::endl;
*descriptors = descs;
}
}
double getSubpix(const Mat& img, Point2f pt)
{
Mat patch;
getRectSubPix(img, cv::Size(1,1), pt, patch);
return patch.at<int>(0,0);
}
void DetectRegions::part2( const cv::Mat& input,
std::vector<img_Plate>& output,
cv::Mat& img_threshold,
const std::string& out_id )
{
cv::Mat my_input;
input.copyTo(my_input);
//Find contours of possibles plates
std::vector< std::vector< cv::Point> > contours;
findContours( img_threshold,
contours, // a vector of contours
CV_RETR_EXTERNAL, // retrieve the external contours
// CV_CHAIN_APPROX_NONE ); // all pixels of each contours
CV_CHAIN_APPROX_SIMPLE );
//Start to iterate to each contour founded
std::vector< std::vector<cv::Point> >::iterator itc = contours.begin();
std::vector<cv::RotatedRect> rects;
cv::Mat my_input_rect;
input.copyTo(my_input_rect);
//Remove patch that are no inside limits of aspect ratio and area.
while (itc != contours.end())
{
//Create bounding rect of object
cv::RotatedRect mr = minAreaRect(cv::Mat(*itc));
if (!verifySizes(mr))
{
itc = contours.erase(itc);
// rotated rectangle drawing
cv::Point2f rect_points[4];
mr.points( rect_points );
for (int j = 0; j < 4; ++j)
line( my_input_rect, rect_points[j], rect_points[ (j + 1) % 4 ],
cv::Scalar(255,0,0), 1, 8 );
}
else
{
++itc;
rects.push_back(mr);
// rotated rectangle drawing
cv::Point2f rect_points[4];
mr.points( rect_points );
for (int j = 0; j < 4; ++j)
line( my_input_rect, rect_points[j], rect_points[ (j + 1) % 4 ],
cv::Scalar(0,255,0), 2, 8 );
}
}
D_IMG_SAVE( my_input_rect, "img_" << out_id << "Rect.png" );
// Draw blue contours on a white image
cv::Mat result;
input.copyTo(result);
cv::drawContours( result, contours,
-1, // draw all contours
cv::Scalar(255,0,0), // in blue
1 ); // with a thickness of 1
// 3 ); // with a thickness of 1
D_IMG_SAVE( result, "04_img_" << out_id << "Contours.png" );
// std::cerr << "rects.size : " << rects.size() << std::endl;
std::vector<cv::Mat> Mats;
for (unsigned int i = 0; i < rects.size(); ++i)
{
//For better rect cropping for each posible box
//Make floodfill algorithm because the plate has white background
//And then we can retrieve more clearly the contour box
circle(result, rects[i].center, 3, cv::Scalar(0,255,0), -1);
//get the min size between width and height
// float minSize = ( (rects[i].size.width < rects[i].size.height)
float minSize = ( (rects[i].size.width > rects[i].size.height)
? (rects[i].size.width)
: (rects[i].size.height) );
minSize = minSize - minSize * 0.5;
//initialize rand and get 5 points around center for floodfill algorithm
srand ( time(NULL) );
//Initialize floodfill parameters and variables
cv::Mat mask;
mask.create(input.rows + 2, input.cols + 2, CV_8UC1);
mask = cv::Scalar::all(0);
int loDiff = 30;
int upDiff = 30;
int connectivity = 4;
int newMaskVal = 255;
// int NumSeeds = 100;
cv::Rect ccomp;
int flags = connectivity + (newMaskVal << 8) + CV_FLOODFILL_FIXED_RANGE + CV_FLOODFILL_MASK_ONLY;
int max_size = rects[i].size.width * rects[i].size.height;
cv::Rect b_rect = rects[i].boundingRect();
int min_x = b_rect.x;
int min_y = b_rect.y;
int max_x = min_x + b_rect.width;
int max_y = min_y + b_rect.height;
for (int local_y = min_y; local_y < max_y; local_y += 5)
for (int local_x = min_x; local_x < max_x; local_x += 5)
{
cv::Point seed;
seed.x = local_x;
seed.y = local_y;
if (Collision( contours[i], seed ))
{
cv::Mat tmp_mask;
tmp_mask.create( input.rows + 2, input.cols + 2, CV_8UC1 );
tmp_mask = cv::Scalar::all(0);
int area = floodFill( input, tmp_mask, seed,
cv::Scalar(255,0,0), &ccomp,
cv::Scalar(loDiff, loDiff, loDiff),
cv::Scalar(upDiff, upDiff, upDiff), flags );
{
cv::Point c( ccomp.x + ccomp.width / 2,
ccomp.y + ccomp.height / 2 );
cv::Size s( ccomp.width, ccomp.height );
cv::RotatedRect tmp_rect( c, s, 0 );
// rotated rectangle drawing
cv::Point2f rect_points[4];
tmp_rect.points( rect_points );
for (int j = 0; j < 4; ++j)
line( my_input, rect_points[j], rect_points[ (j + 1) % 4 ],
cv::Scalar(0,255,255), 1, 8 );
}
bool rect_invalid = ( ccomp.x < min_x || ccomp.x > max_x ||
ccomp.y < min_y || ccomp.y > max_y );
cv::Point left_top( min_x, min_y );
cv::Point right_top( max_x, min_y );
cv::Point left_bottom( min_x, max_y );
cv::Point right_bottom( max_x, max_y );
if (area > max_size)
{
circle( result, seed, 1, cv::Scalar(255,0,0), -1 );
circle( my_input, seed, 1, cv::Scalar(255,0,0), -1 );
}
else if (rect_invalid)
{
circle( result, seed, 1, cv::Scalar(255,0,0), -1 );
circle( my_input, seed, 1, cv::Scalar(255,0,0), -1 );
}
else
{
circle( result, seed, 1, cv::Scalar(0,255,0), -1 );
circle( my_input, seed, 1, cv::Scalar(0,255,0), -1 );
floodFill( input, mask, seed,
cv::Scalar(255,0,0), &ccomp,
cv::Scalar(loDiff, loDiff, loDiff),
cv::Scalar(upDiff, upDiff, upDiff), flags );
}
}
else
{
circle( result, seed, 1, cv::Scalar(255,0,0), -1 );
circle( my_input, seed, 1, cv::Scalar(255,0,0), -1 );
}
} // for (int j = 0; j < NumSeeds; ++j)
{
// rotated rectangle drawing
cv::Point2f rect_points[4];
rects[i].points( rect_points );
for (int j = 0; j < 4; ++j)
line( my_input, rect_points[j], rect_points[ (j + 1) % 4 ],
cv::Scalar(255,255,255), 2, 8 );
D_IMG_SAVE( mask, "img_" << out_id << "" << i << "_01_Mask.png" );
}
//cvWaitKey(0);
//Check new floodfill mask match for a correct patch.
//Get all points detected for get Minimal rotated Rect
std::vector<cv::Point> pointsInterest;
cv::Mat_<uchar>::iterator itMask = mask.begin<uchar>();
cv::Mat_<uchar>::iterator end = mask.end<uchar>();
for (; itMask != end; ++itMask)
if (*itMask == 255)
pointsInterest.push_back(itMask.pos());
if (pointsInterest.size() < 2)
continue;
cv::RotatedRect minRect = minAreaRect(pointsInterest);
if (verifySizes(minRect))
{
// rotated rectangle drawing
cv::Point2f rect_points[4]; minRect.points( rect_points );
for( int j = 0; j < 4; j++ )
line( result, rect_points[j], rect_points[(j+1)%4], cv::Scalar(0,0,255), 1, 8 );
//Get rotation matrix
float r = (float)minRect.size.width / (float)minRect.size.height;
float angle=minRect.angle;
if (r < 1)
angle = 90 + angle;
cv::Mat rotmat = getRotationMatrix2D(minRect.center, angle,1);
//Create and rotate image
cv::Mat img_rotated;
warpAffine(input, img_rotated, rotmat, input.size(), CV_INTER_CUBIC);
//Crop image
cv::Size rect_size = minRect.size;
if (r < 1)
std::swap( rect_size.width, rect_size.height );
cv::Mat img_crop;
getRectSubPix(img_rotated, rect_size, minRect.center, img_crop);
D_IMG_SAVE( img_crop, "img_" << out_id << "" << i << "_02_crop.png" );
cv::Mat resultResized;
resultResized.create(33,144, CV_8UC3);
resize(img_crop, resultResized, resultResized.size(), 0, 0, cv::INTER_CUBIC);
D_IMG_SAVE( resultResized, "img_" << out_id << "" << i << "_03_resultResized.png" );
output.push_back( img_Plate( resultResized, minRect.boundingRect() ) );
// //Equalize croped image
// cv::Mat grayResult;
// cvtColor(resultResized, grayResult, CV_BGR2GRAY);
// // blur(grayResult, grayResult, Size(3,3));
// grayResult = histeq(grayResult);
// D_IMG_SAVE( grayResult, "img_" << out_id << "" << i << "_04_grayResult.png" );
// output.push_back( Plate( grayResult, minRect.boundingRect() ) );
} // if (verifySizes(minRect))
} // for (int i = 0; i < rects.size(); ++i)
D_IMG_SAVE( result, "10_img_" << out_id << "Contours.png" );
D_IMG_SAVE( my_input, "11_img_" << out_id << "my_input.png" );
}
int parting_char(Mat &img)
{
int nRows;
int nCols;
int nCnt;
int sum;
int avg;
int start;
Mat img_clip;
if(img.channels() != 1)
{
printf("parting_char(Mat &img) channel is not 1\n");
return -1;
}
nRows = img.rows;
nCols = img.cols;
int *h_Cnt = new int[nCols];
memset(h_Cnt,0,sizeof(int)*nCols);
for(int j=0;j<nCols;++j)
{
for(int i=0;i<nRows;++i)
{
if(img.at<uchar>(i,j) != 0x0)
++h_Cnt[j];
}
}
//getRectSubPix(img,Size(img.width,),Point(img_rect.cols/2,up+(down-up)/2),img_clip);
for(int i =0;i<nCols;++i)
{
if(h_Cnt[i] != 0)
{
// printf("i=%d,value=%d",i,h_Cnt[i]);
start = i;
nCnt = 0;
while(i<nCols&&h_Cnt[i] != 0)
{
++nCnt;
++i;
}
sum = 0;
for(int j =0;j<nCnt;++j)
{
sum += h_Cnt[i+j];
}
avg = sum / nCnt;
if(avg >= 3)
{
printf("start=%d,end=%d\n",start,i);
getRectSubPix(img,Size(i-start,img.rows),Point(start+(i-start)/2,img.rows/2),img_clip);
string str = "abc"+i;
namedWindow(str,CV_WINDOW_NORMAL);
imshow(str,img_clip);
}
}
}
delete h_Cnt;
return 0;
}
int main(int argc,char**argv)
{
int scale = 1;
int delta = 0;
int ddepth = CV_16S;
// check the number of parameter
if(argc !=2)
{
printf("please follow like this\n");
printf("exe[] img_name\n");
return -1;
}
// reads image
img_src = imread(argv[1]);
// check whether read operation is ok or not
if(img_src.data == NULL)
{
printf("could not open or find the image!\n");
return -1;
}
// use Gaussian blur to reduce the noise
GaussianBlur(img_src,img_src,Size(3,3),0,0,BORDER_DEFAULT);
// convert source image to gray image
cvtColor(img_src,img_gray,CV_BGR2GRAY);
// sobel in x direction
Sobel(img_gray,grad_x,ddepth,1,0,3,scale,delta,BORDER_DEFAULT);
convertScaleAbs(grad_x,abs_grad_x);
// use sobel in y direction
Sobel(img_gray,grad_y,ddepth,0,1,3,scale,delta,BORDER_DEFAULT);
convertScaleAbs(grad_y,abs_grad_y);
// add weight,and
addWeighted(abs_grad_x,0.5,abs_grad_y,0.5,0,grad);
// use threshold to binarition and threshold select use the OTSU method
threshold(grad,img_bin_thre,0,255,THRESH_BINARY|THRESH_OTSU);
// first Dilate,second erode
Mat element = getStructuringElement(MORPH_RECT,Size(2*1+1,2*1+1),Point(-1,-1));
for(int i = 0;i < 3; i++)
{
morphologyEx(img_bin_thre,img_bin_thre,MORPH_OPEN,element);
morphologyEx(img_bin_thre,img_bin_thre,MORPH_CLOSE,element);
}
// origin method ,this is worse than morphologyEx
// dilate(img_bin_thre,img_bin_thre,element);
// namedWindow("dilated",CV_WINDOW_NORMAL);
// imshow("dilated",img_bin_thre);
// erode(img_bin_thre,img_bin_thre,element);
// namedWindow("erode",CV_WINDOW_NORMAL);
// imshow("erode",img_bin_thre);
// find contour,in here must use the binarition image
// define
vector<Vec4i> hierarchy;
vector< vector<Point> >contours;
// use function
findContours(img_bin_thre,contours,hierarchy,CV_RETR_CCOMP,CV_CHAIN_APPROX_SIMPLE,Point(0,0));
// please change min and the max area value based on reality
int min_area = 100000;
int max_area = 300000;
Rect mRect;
int tempArea;
// define the color drawing contour
Scalar color = Scalar(255,255,0);
Mat drawing = Mat::zeros(img_bin_thre.size(),CV_8UC1);
for(int i = 0;i < contours.size();i++)
{
// get the minimum rectangle of the contours
mRect = boundingRect(contours[i]);
// computer the square of mRect
tempArea = mRect.height * mRect.width;
// for debug
// printf("tempArea.height:%d\ttempArea.width:%d\ttempArea.area=%d\n",mRect.height,mRect.width,tempArea);
// filter area which meet the requirement
if(((double)mRect.width/(double)mRect.height) > 2.0 && (tempArea > min_area) && ((double)mRect.width/(double)mRect.height < 4) && (tempArea < max_area))
// draw contours
{
drawContours(drawing,contours,i,color,2,8,hierarchy);
// here use 2 image ,one is just from image which be processed by threshold,the other is the original gray image,if you just use first,you
// may not
getRectSubPix(img_bin_thre,Size(mRect.width,mRect.height),Point(mRect.x+mRect.width/2,mRect.y\
+mRect.height/2),img_get_rect);
getRectSubPix(img_gray,Size(mRect.width,mRect.height),Point(mRect.x+mRect.width/2,mRect.y\
+mRect.height/2),img_get_rect_new);
}
}
if(img_get_rect.data == NULL)
{
printf("img_get rect is null\n");
return -1;
}
if(img_get_rect_new.data == NULL)
{
printf("img_get_rect_new is null!\n");
return -1;
}
// use the HoughLinesP
// define lines
vector<Vec4i> lines;
// Mat color_dst;
// img_lines = img_get_rect.clone();
cvtColor(img_get_rect,img_lines,CV_GRAY2BGR);
// check the line in image img_get_rect
HoughLinesP(img_get_rect,lines,1,CV_PI/180,200,200,10);
printf("lines.size()=%d\n",lines.size());
int distance = 0;
// int theta;
double temp_slope = 0,slope;
int res_x1,res_y1,res_x2,res_y2;
// define map vector for computer the line used frequency
// vector <int,int> ivect;//first is the number of this line , next is the longest distance
// map <double,ivect> imap;
int delta_x,delta_y;
std::vector <dou_int> ivec;
std::vector <dou_int>::iterator iter;
for(size_t i = 0;i < lines.size();i++)
{
Vec4i l = lines[i];
line(img_lines,Point(l[0],l[1]),Point(l[2],l[3]),Scalar(0,0,255),3);
// find tilt angle
if(l[2]-l[0] == 0)
;
else
{
// computer this line 's slope
// delta_x / delta_y
delta_y = (l[3]-l[1]);
delta_x = (l[2]-l[0]);
distance = delta_y*delta_y+delta_x*delta_x;
temp_slope = ((double)delta_y)/((double)(delta_x));
printf("in i=%d,delta_y=%d,delta_x=%d\n",i,delta_y,delta_x);
for(iter = ivec.begin();iter != ivec.end();iter++)
{
// if in one line,num++,update the max length
if(abs(iter->slope - temp_slope) < (double)0.01)
{
iter->num++;
if(iter->maxlength < distance)
{
iter->maxlength = distance;
iter->v0 = Point(l[0],l[1]);
iter->v1 = Point(l[2],l[3]);
}
break;
}
}
// not find this slope ,must add it by hand
if(iter == ivec.end())
{
ivec.push_back(dou_int(temp_slope,distance,1,Point(l[0],l[1]),Point(l[2],l[3])));
}
}
}
int max = 0;
int j = 0;
int index = 0;
dou_int res;
for(j=0,iter = ivec.begin();iter != ivec.end();j++,iter++)
{
if(iter->num > max)
{
max = iter->num;
index = j;
}
}
printf("index is %d\n",index);
for(j=0,iter = ivec.begin();iter != ivec.end() && j <= index;j++,iter++)
{
if(j == index)
{
res = dou_int(iter->slope,iter->maxlength,iter->num,iter->v0,iter->v1);
printf("slope is %f\n",iter->slope);
break;
}
}
// drawing the tilt line
line(img_lines,res.v0,res.v1,Scalar(255,255,0),1);
Mat img_lines_out;
Point center = Point(img_lines.cols/2,img_lines.rows/2);
double angle =(double)(180/CV_PI)*(double)atan(res.slope);
printf("angle is :%f\n",angle);
Mat rot_mat = getRotationMatrix2D(center,angle,1.0);
warpAffine(img_lines,img_lines_out,rot_mat,img_lines.size());
Mat img_rect;
warpAffine(img_get_rect_new,img_rect,rot_mat,img_get_rect_new.size());
cvtColor(img_lines_out,img_lines_out,CV_BGR2GRAY);
printf("img_clip's channel is:%d\n",img_lines_out.channels());
threshold(img_lines_out,img_lines_out,10,255,THRESH_BINARY | THRESH_OTSU);
Mat img_clip;
int up,down;
if(-1 != remove_Border_Vertical(img_lines_out,up,down))
{
printf("up=%d,down=%d\n",up,down);
getRectSubPix(img_lines_out,Size(img_lines_out.cols,down-up),Point(img_lines_out.cols/2,up+(down-up)/2),img_clip);
namedWindow("line_clip",CV_WINDOW_NORMAL);
imshow("line_clip",img_clip);
getRectSubPix(img_rect,Size(img_rect.cols,down-up),Point(img_rect.cols/2,up+(down-up)/2),img_clip);
namedWindow("new_clip",CV_WINDOW_NORMAL);
imshow("new_clip",img_clip);
}
// binarition OTSU
threshold(img_clip,img_clip,10,255,THRESH_BINARY | THRESH_OTSU);
namedWindow("newrect",CV_WINDOW_NORMAL);
imshow("newrect",img_clip);
parting_char(img_clip);
waitKey(0);
return 0;
}
void ModelMaker::extractModel(cv::Mat origframe)
{
// qDebug()<<"Frame is"<<frame.empty();
for(int i = 0; i < centroids.size(); i++) {
Mat subtractedframe(origframe);
subtractedframe = subtractBack(origframe);
Mat polymask = subtractedframe.clone();
// cv::cvtColor(frameMat, frameMat, CV_BGR2BGRA);
// cv::cvtColor(polymask, polymask, CV_BGR2BGRA);
//cv::rectangle(mask, Point( 0, 0 ), Point( mask.cols, mask.rows), Scalar( 0, 255,0,255 ),-1, 8 ); //Fill all mask in
polymask.setTo(Scalar(0,0,0,0));
//Polgon Masking
polygon = paintCanvas->polygons.at(i);
Point poly_points[polygon.size()];
//Find point furthest from center
Point furthest = Point(paintCanvas->centerPoint.x()*xscale,paintCanvas->centerPoint.y()*yscale); //set to center
int scaledcenterx = paintCanvas->centerPoint.x()*xscale;
int scaledcentery = paintCanvas->centerPoint.y()*yscale;
int scaledheadx= paintCanvas->headPoint.x()*xscale;
int scaledheady=paintCanvas->headPoint.y()*yscale;
float biggestdistancesquared=0;
for(int j=0;j<polygon.size();j++)
{
poly_points[j]=Point(xscale*polygon.at(j).x(), yscale*polygon.at(j).y());
Point candidate = Point(xscale*polygon.at(j).x(), yscale*polygon.at(j).y());
float distancecandidatesquared;
//Find furthest
distancecandidatesquared= (candidate.x - scaledcenterx)*(candidate.x - scaledcenterx) + (candidate.y - scaledcentery)*(candidate.y - scaledcentery);
if(distancecandidatesquared>biggestdistancesquared){
biggestdistancesquared=distancecandidatesquared;
qDebug()<<"biggcandidate x "<<candidate.x <<" y "<<candidate.y << " distance ="<<biggestdistancesquared;
}
}
const Point* ppt[1] = { poly_points };
int npt[] = { polygon.size() };
fillPoly( polymask,
ppt,
npt,
1,
Scalar( 255, 255,255,255 ),
8,
0);
//Debug
// cv::circle(origframe,cv::Point(scaledcenterx,scaledcentery),1,Scalar(255,255,255,255),2);
// cv::circle(origframe,cv::Point(scaledheadx,scaledheady),1,Scalar(255,0,255, 254),2);
//cv::circle(polymask,cv::Point(scaledcenterx,scaledcentery),1,Scalar(255,255,255,255),2);
// cv::circle(polymask,cv::Point(scaledheadx,scaledheady),1,Scalar(255,0,255, 254),2);
// cv::circle(subtractedframe,cv::Point(scaledcenterx,scaledcentery),1,Scalar(255,255,255,255),2);
// cv::circle(subtractedframe,cv::Point(scaledheadx,scaledheady),1,Scalar(255,0,255, 254),2);
//background subtraction: take original image, apply background as a mask, save over original
//bitwise_and(subtractedframe, polymask, subtractedframe);
qDebug()<<"Roi "<<x1<<" "<<y1<<" "<<x2<<" "<<y2<<" ";
cv::cvtColor(polymask,polymask, CV_RGB2GRAY);
//Full alpha mask = polygon selection (a =200) + BG subtracted organism (a= 255) + Center Mark ( a = 250) + head mark (a = 240)
//Set Head to alpha=240
//Set Center to Alpha = 250
//Everything inside mask == alpha 200
//Everything outside alpha=100;
//BG subtracted ant = 255
Mat maskedsubtraction;
subtractedframe.copyTo(maskedsubtraction,polymask); // note that m.copyTo(m,mask) will have no masking effect
cvtColor(maskedsubtraction, maskedsubtraction,CV_BGR2GRAY);
polymask = polymask+155; //255 moves to 255, 0 moves to 155
polymask = polymask - 55; //255 moves to 200, 155 moves to 100
maskedsubtraction = polymask+maskedsubtraction;
cv::circle(maskedsubtraction,cv::Point(scaledcenterx,scaledcentery),1,Scalar(250),2); //Encode the Center
cv::circle(maskedsubtraction,cv::Point(scaledheadx,scaledheady),1,Scalar(240),2); //encode the head
Mat bgr;
bgr=origframe.clone();
Mat alpha;
maskedsubtraction.copyTo(alpha);
Mat bgra;
cvtColor(origframe, bgra,CV_BGR2BGRA); //Copy the origframe, we'll write over it next
// forming array of matrices is quite efficient operations,
// because the matrix data is not copied, only the headers
Mat in[] = { bgr, alpha };
// BGRa[0] -> bgr[0], BGRa[1] -> bgr[1],
// BGRa[2] -> bgr[2], BGRa[3] -> alpha[0]
int from_to[] = { 0,0, 1,1, 2,2, 3,3 };
mixChannels( in, 2, &bgra, 1, from_to, 4 ); // input array, number of files in input array, destination, number of files in destination, from-to array, number of pairs in from-to
QString ext = ".png";
// QString fullframe = savepath+paintCanvas->polyNames.at(i)+"_"+QString::number(centroids[i].x())+"_"+QString::number(centroids[i].y())+"_"+QString::number(currentFrame)+ext;
QString modelfilename = savepath+paintCanvas->polyNames.at(i)+"_f"+QString::number(currentFrame)+ext;
//DEBUG IMAGES
/*
imwrite(modelfilename.toStdString()+"_subtraction",subtractedframe);
imwrite(modelfilename.toStdString()+"_polymask",polymask);
imwrite(modelfilename.toStdString()+"_alpha",alpha);
*/
//save out Model
//Full Keyframe
// imwrite(modelfilename.toStdString()+"_keyframe",bgra); //Disabled for now
qDebug()<<"Saved out: "<<modelfilename;
//***Crop and Rotate ***//
qDebug()<<"crop centered on "<<scaledcenterx<<" "<<scaledcentery;
//crop the frame based on ROI
Point2f src_center(scaledcenterx, scaledcentery);
//To do this correctly use getRectSubPix instead of frameMat(MYROI) method
// getRectSubPix only works with certain image formats (this is undocumented in opencv : P
// so we have to do that cutting and mixing again!
getRectSubPix(bgr, cv::Size(sqrt(biggestdistancesquared)*2,sqrt(biggestdistancesquared)*2), src_center, bgr);
getRectSubPix(alpha, cv::Size(sqrt(biggestdistancesquared)*2,sqrt(biggestdistancesquared)*2), src_center, alpha);
Mat bgracropped;
cvtColor(bgr, bgracropped,CV_BGR2BGRA); //Copy the origframe, we'll write over it next
Mat inagain[] = { bgr, alpha };
int from_to2[] = { 0,0, 1,1, 2,2, 3,3 };
//Note: the height and width dimensions have to be the same for the inputs and outputs
mixChannels( inagain, 2, &bgracropped, 1, from_to2, 4 ); // input array, number of files in input array, destination, number of files in destination, from-to array, number of pairs in from-to
//rotate the cropped frame about the center of the cropped frame.
qDebug()<<"Rotate that image "<<angle;
bgracropped = rotateImage(bgracropped, angle);//Rotate full image about this center
//after I rotate clear the global angle
angle =0;
//debug
angle=-1;
// Save the Nicely Rotated and Cropped Model File
imwrite(modelfilename.toStdString(),bgracropped);
centroids.clear();
maxXY.clear();
minXY.clear();
paintCanvas->polyNames.clear();
paintCanvas->polygons.clear();
paintCanvas->masks.pop_back();
polyinfo = "Polygon cleared";
paintCanvas->temp.clear();
ui->statusBar->showMessage(polyinfo,2000);
paintCanvas->replyMask = replyNull;
capture.set(CV_CAP_PROP_POS_FRAMES,(double)currentFrame);
}
}
vector<PlateRegion> DetectorMorph::detect(Mat frame, std::vector<cv::Rect> regionsOfInterest) {
Mat frame_gray,frame_gray_cp;
if (frame.channels() > 2)
{
cvtColor( frame, frame_gray, CV_BGR2GRAY );
}
else
{
frame.copyTo(frame_gray);
}
frame_gray.copyTo(frame_gray_cp);
blur(frame_gray, frame_gray, Size(5, 5));
vector<PlateRegion> detectedRegions;
for (int i = 0; i < regionsOfInterest.size(); i++) {
Mat img_open, img_result;
Mat element = getStructuringElement(MORPH_RECT, Size(30, 4));
morphologyEx(frame_gray, img_open, CV_MOP_OPEN, element, cv::Point(-1, -1));
img_result = frame_gray - img_open;
if (config->debugDetector && config->debugShowImages) {
imshow("Opening", img_result);
}
//threshold image using otsu thresholding
Mat img_threshold, img_open2;
threshold(img_result, img_threshold, 0, 255, CV_THRESH_OTSU + CV_THRESH_BINARY);
if (config->debugDetector && config->debugShowImages) {
imshow("Threshold Detector", img_threshold);
}
Mat diamond(5, 5, CV_8U, cv::Scalar(1));
diamond.at<uchar>(0, 0) = 0;
diamond.at<uchar>(0, 1) = 0;
diamond.at<uchar>(1, 0) = 0;
diamond.at<uchar>(4, 4) = 0;
diamond.at<uchar>(3, 4) = 0;
diamond.at<uchar>(4, 3) = 0;
diamond.at<uchar>(4, 0) = 0;
diamond.at<uchar>(4, 1) = 0;
diamond.at<uchar>(3, 0) = 0;
diamond.at<uchar>(0, 4) = 0;
diamond.at<uchar>(0, 3) = 0;
diamond.at<uchar>(1, 4) = 0;
morphologyEx(img_threshold, img_open2, CV_MOP_OPEN, diamond, cv::Point(-1, -1));
Mat rectElement = getStructuringElement(cv::MORPH_RECT, Size(13, 4));
morphologyEx(img_open2, img_threshold, CV_MOP_CLOSE, rectElement, cv::Point(-1, -1));
if (config->debugDetector && config->debugShowImages) {
imshow("Close", img_threshold);
waitKey(0);
}
//Find contours of possibles plates
vector< vector< Point> > contours;
findContours(img_threshold,
contours, // a vector of contours
CV_RETR_EXTERNAL, // retrieve the external contours
CV_CHAIN_APPROX_NONE); // all pixels of each contours
//Start to iterate to each contour founded
vector<vector<Point> >::iterator itc = contours.begin();
vector<RotatedRect> rects;
//Remove patch that are no inside limits of aspect ratio and area.
while (itc != contours.end()) {
//Create bounding rect of object
RotatedRect mr = minAreaRect(Mat(*itc));
if (mr.angle < -45.) {
mr.angle += 90.0;
swap(mr.size.width, mr.size.height);
}
if (!CheckSizes(mr))
itc = contours.erase(itc);
else {
++itc;
rects.push_back(mr);
}
}
//Now prunning based on checking all candidate plates for a min/max number of blobsc
Mat img_crop, img_crop_b, img_crop_th, img_crop_th_inv;
vector< vector< Point> > plateBlobs;
vector< vector< Point> > plateBlobsInv;
double thresholds[] = { 10, 40, 80, 120, 160, 200, 240 };
const int num_thresholds = 7;
int numValidChars = 0;
Mat rotated;
for (int i = 0; i < rects.size(); i++) {
numValidChars = 0;
RotatedRect PlateRect = rects[i];
Size rect_size = PlateRect.size;
// get the rotation matrix
Mat M = getRotationMatrix2D(PlateRect.center, PlateRect.angle, 1.0);
// perform the affine transformation
warpAffine(frame_gray_cp, rotated, M, frame_gray_cp.size(), INTER_CUBIC);
//Crop area around candidate plate
getRectSubPix(rotated, rect_size, PlateRect.center, img_crop);
if (config->debugDetector && config->debugShowImages) {
imshow("Tilt Correction", img_crop);
waitKey(0);
}
for (int z = 0; z < num_thresholds; z++) {
cv::threshold(img_crop, img_crop_th, thresholds[z], 255, cv::THRESH_BINARY);
cv::threshold(img_crop, img_crop_th_inv, thresholds[z], 255, cv::THRESH_BINARY_INV);
findContours(img_crop_th,
plateBlobs, // a vector of contours
CV_RETR_LIST, // retrieve the contour list
CV_CHAIN_APPROX_NONE); // all pixels of each contours
findContours(img_crop_th_inv,
plateBlobsInv, // a vector of contours
CV_RETR_LIST, // retrieve the contour list
CV_CHAIN_APPROX_NONE); // all pixels of each contours
int numBlobs = plateBlobs.size();
int numBlobsInv = plateBlobsInv.size();
float idealAspect = config->avgCharWidthMM / config->avgCharHeightMM;
for (int j = 0; j < numBlobs; j++) {
cv::Rect r0 = cv::boundingRect(cv::Mat(plateBlobs[j]));
if (ValidateCharAspect(r0, idealAspect))
numValidChars++;
}
for (int j = 0; j < numBlobsInv; j++) {
cv::Rect r0 = cv::boundingRect(cv::Mat(plateBlobsInv[j]));
if (ValidateCharAspect(r0, idealAspect))
numValidChars++;
}
}
//If too much or too lcittle might not be a true plate
//if (numBlobs < 3 || numBlobs > 50) continue;
if (numValidChars < 4 || numValidChars > 50) continue;
PlateRegion PlateReg;
// Ensure that the rectangle isn't < 0 or > maxWidth/Height
Rect bounding_rect = PlateRect.boundingRect();
PlateReg.rect = expandRect(bounding_rect, 0, 0, frame.cols, frame.rows);
detectedRegions.push_back(PlateReg);
}
}
return detectedRegions;
}
