void SegmentImage::getSegmentedImage(QVector<QImage> &segmentedQImages, QImage& contourQImage)
{
//Returns segmented and contour images using references
int rows = getImgRows();
int cols = getImgCols();
int nSeeds = getSeedNumber();
Mat segmentationMatrix = getSegmentationMatrix();
QVector<Mat > segmentedImages;// This will contain two segmented images: background and foreground
//initialize both segmented images by setting background to be white
for(int i = 0; i < nSeeds; i++)
{
segmentedImages.append(Mat( getImgSize(), getImgType()));
segmentedImages[i].setTo(cv::Scalar(255, 255, 255));
}
//If wrong number of seeds provided, return blank images
if(nSeeds != 2)
{
segmentedQImages.resize(2);
segmentedQImages[0] = QImage(rows, cols, QImage::Format_RGB16);
segmentedQImages[0].fill(Qt::white);
segmentedQImages[1] = QImage(rows, cols, QImage::Format_RGB16);
segmentedQImages[1].fill(Qt::white);
contourQImage = QImage(rows, cols, QImage::Format_RGB16);
contourQImage.fill(Qt::white);
return;
}
for(int i = 0; i < rows; i++)
for (int j = 0; j < cols; j++ )
{
// seed value #1 is 1 and #2 is 2
// So using 1.5 as threshold we separate foreground from background
if (segmentationMatrix.at<double>(i, j) >= 1.5)
segmentedImages[0].at<Vec3b>(i, j) = getIntensity(i,j);
else
segmentedImages[1].at<Vec3b>(i,j) = getIntensity(i,j);
}
//Find contours and return the image with drawn contours
Mat contourIm;
//Compute the contour image
getImageWithContour(getOrigImage(), contourIm);//contour image returned via reference
//Save two SegmentationData images(one for background, one for foreground) into a QVector segmentedQImages
segmentedQImages.clear();
for(int i = 0; i < nSeeds; i++)
segmentedQImages.push_back(cvMatToQImage(segmentedImages[i]));//convert to QImage and save in a vector
//Convert the contour image into a QImage
contourQImage = cvMatToQImage(contourIm);
// All three images are returned through a reference
}
void ilG_tex_loadimage(ilG_tex *self, struct ilA_img *img)
{
GLenum format, internalformat, type;
format = getImgFormat(img);
type = getImgType(img);
internalformat = getImgIFormat(img);
ilG_tex_loaddata(self, GL_TEXTURE_2D, internalformat, img->width, img->height, 1, format, type, img->data);
}
void ilG_tex_loadimage(ilG_tex *tex, struct ilA_img img)
{
GLenum format, internalformat, type;
format = getImgFormat(&img);
type = getImgType(&img);
internalformat = getImgIFormat(&img);
ilG_tex_loaddata(tex, GL_TEXTURE_2D, internalformat,
img.width, img.height, 1,
format, type, img.data);
}
static void tex_cube_build(ilG_tex *self, struct ilG_context *context)
{
(void)context;
ilA_img **faces = self->data;
static const GLenum targets[6] = {
GL_TEXTURE_CUBE_MAP_POSITIVE_X,
GL_TEXTURE_CUBE_MAP_NEGATIVE_X,
GL_TEXTURE_CUBE_MAP_POSITIVE_Y,
GL_TEXTURE_CUBE_MAP_NEGATIVE_Y,
GL_TEXTURE_CUBE_MAP_POSITIVE_Z,
GL_TEXTURE_CUBE_MAP_NEGATIVE_Z,
};
glGenTextures(1, &self->object);
glBindTexture(GL_TEXTURE_CUBE_MAP, self->object);
for (unsigned i = 0; i < 6; i++) {
glTexImage2D(targets[i], 0, getImgIFormat(faces[i]), faces[i]->width,
faces[i]->height, 0, getImgFormat(faces[i]),
getImgType(faces[i]), faces[i]->data);
}
glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
}
void ilG_tex_loadcube(ilG_tex *tex, struct ilA_img faces[6])
{
static const GLenum targets[6] = {
GL_TEXTURE_CUBE_MAP_POSITIVE_X,
GL_TEXTURE_CUBE_MAP_NEGATIVE_X,
GL_TEXTURE_CUBE_MAP_POSITIVE_Y,
GL_TEXTURE_CUBE_MAP_NEGATIVE_Y,
GL_TEXTURE_CUBE_MAP_POSITIVE_Z,
GL_TEXTURE_CUBE_MAP_NEGATIVE_Z,
};
tex->target = GL_TEXTURE_CUBE_MAP;
glGenTextures(1, &tex->object);
glBindTexture(GL_TEXTURE_CUBE_MAP, tex->object);
for (unsigned i = 0; i < 6; i++) {
glTexImage2D(targets[i], 0, getImgIFormat(&faces[i]),
faces[i].width, faces[i].height, 0,
getImgFormat(&faces[i]),
getImgType(&faces[i]), faces[i].data);
ilA_img_free(faces[i]);
}
glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
}
int main()
{
int width;
char* bayer[] = {"RG","BG","GR","GB"};
char* controls[MAX_CONTROL] = {"Exposure", "Gain", "Gamma", "WB_R", "WB_B", "Brightness", "USB Traffic"};
int height;
int i;
char c;
bool bresult;
int time1,time2;
int count=0;
char buf[128]={0};
int CamNum=0;
///long exposure, exp_min, exp_max, exp_step, exp_flag, exp_default;
//long gain, gain_min, gain_max,gain_step, gain_flag, gain_default;
IplImage *pRgb;
int numDevices = getNumberOfConnectedCameras();
if(numDevices <= 0)
{
printf("no camera connected, press any key to exit\n");
getchar();
return -1;
}
else
printf("attached cameras:\n");
for(i = 0; i < numDevices; i++)
printf("%d %s\n",i, getCameraModel(i));
printf("\nselect one to privew\n");
scanf("%d", &CamNum);
bresult = openCamera(CamNum);
if(!bresult)
{
printf("OpenCamera error,are you root?,press any key to exit\n");
getchar();
return -1;
}
printf("%s information\n",getCameraModel(CamNum));
int iMaxWidth, iMaxHeight;
iMaxWidth = getMaxWidth();
iMaxHeight = getMaxHeight();
printf("resolution:%dX%d\n", iMaxWidth, iMaxHeight);
if(isColorCam())
printf("Color Camera: bayer pattern:%s\n",bayer[getColorBayer()]);
else
printf("Mono camera\n");
for( i = 0; i < MAX_CONTROL; i++)
{
if(isAvailable((Control_TYPE)i))
printf("%s support:Yes\n", controls[i]);
else
printf("%s support:No\n", controls[i]);
}
printf("\nPlease input the <width height bin image_type> with one space, ie. 640 480 2 0. use max resolution if input is 0. Press ESC when video window is focused to quit capture\n");
int bin = 1, Image_type;
scanf("%d %d %d %d", &width, &height, &bin, &Image_type);
if(width == 0 || height == 0)
{
width = iMaxWidth;
height = iMaxHeight;
}
initCamera(); //this must be called before camera operation. and it only need init once
printf("sensor temperature:%02f\n", getSensorTemp());
// IMG_TYPE image_type;
while(!setImageFormat(width, height, bin, (IMG_TYPE)Image_type))//IMG_RAW8
{
printf("Set format error, please check the width and height\n ASI120's data size(width*height) must be integer multiple of 1024\n");
printf("Please input the width and height again£¬ie. 640 480\n");
scanf("%d %d %d %d", &width, &height, &bin, &Image_type);
}
printf("\nset image format %d %d %d %d success, start privew, press ESC to stop \n", width, height, bin, Image_type);
if(Image_type == IMG_RAW16)
pRgb=cvCreateImage(cvSize(getWidth(),getHeight()), IPL_DEPTH_16U, 1);
else if(Image_type == IMG_RGB24)
pRgb=cvCreateImage(cvSize(getWidth(),getHeight()), IPL_DEPTH_8U, 3);
else
pRgb=cvCreateImage(cvSize(getWidth(),getHeight()), IPL_DEPTH_8U, 1);
setValue(CONTROL_EXPOSURE, 100*1000, false); //ms//auto
setValue(CONTROL_GAIN,getMin(CONTROL_GAIN), false);
setValue(CONTROL_BANDWIDTHOVERLOAD, getMin(CONTROL_BANDWIDTHOVERLOAD), false); //low transfer speed
setValue(CONTROL_WB_B, 90, false);
setValue(CONTROL_WB_R, 48, false);
setAutoPara(getMax(CONTROL_GAIN)/2,10,150); //max auto gain and exposure and target brightness
// EnableDarkSubtract("dark.bmp"); //dark subtract will be disabled when exposure set auto and exposure below 500ms
startCapture(); //start privew
bDisplay = 1;
#ifdef _LIN
pthread_t thread_display;
pthread_create(&thread_display, NULL, Display, (void*)pRgb);
#elif defined _WINDOWS
HANDLE thread_setgainexp;
thread_setgainexp = (HANDLE)_beginthread(Display, NULL, (void*)pRgb);
#endif
time1 = GetTickCount();
int iStrLen = 0, iTextX = 40, iTextY = 60;
void* retval;
// int time0, iWaitMs = -1;
// bool bGetImg;
while(bMain)
{
// time0 = GetTickCount();
getImageData((unsigned char*)pRgb->imageData, pRgb->imageSize, 200);
// bGetImg = getImageData((unsigned char*)pRgb->imageData, pRgb->imageSize, iWaitMs);
time2 = GetTickCount();
// printf("waitMs%d, deltaMs%d, %d\n", iWaitMs, time2 - time0, bGetImg);
count++;
if(time2-time1 > 1000 )
{
sprintf(buf, "fps:%d dropped frames:%lu ImageType:%d",count, getDroppedFrames(), (int)getImgType());
count = 0;
time1=GetTickCount();
printf(buf);
printf("\n");
}
if(Image_type != IMG_RGB24 && Image_type != IMG_RAW16)
{
iStrLen = strlen(buf);
CvRect rect = cvRect(iTextX, iTextY - 15, iStrLen* 11, 20);
cvSetImageROI(pRgb , rect);
cvSet(pRgb, CV_RGB(180, 180, 180));
cvResetImageROI(pRgb);
}
cvText(pRgb, buf, iTextX,iTextY );
if(bChangeFormat)
{
bChangeFormat = 0;
bDisplay = false;
pthread_join(thread_display, &retval);
cvReleaseImage(&pRgb);
stopCapture();
switch(change)
{
case change_imagetype:
Image_type++;
if(Image_type > 3)
Image_type = 0;
break;
case change_bin:
if(bin == 1)
{
bin = 2;
width/=2;
height/=2;
}
else
{
bin = 1;
width*=2;
height*=2;
}
break;
case change_size_smaller:
if(width > 320 && height > 240)
{
width/= 2;
height/= 2;
}
break;
case change_size_bigger:
if(width*2*bin <= iMaxWidth && height*2*bin <= iMaxHeight)
{
width*= 2;
height*= 2;
}
break;
}
setImageFormat(width, height, bin, (IMG_TYPE)Image_type);
if(Image_type == IMG_RAW16)
pRgb=cvCreateImage(cvSize(getWidth(),getHeight()), IPL_DEPTH_16U, 1);
else if(Image_type == IMG_RGB24)
pRgb=cvCreateImage(cvSize(getWidth(),getHeight()), IPL_DEPTH_8U, 3);
else
pRgb=cvCreateImage(cvSize(getWidth(),getHeight()), IPL_DEPTH_8U, 1);
bDisplay = 1;
pthread_create(&thread_display, NULL, Display, (void*)pRgb);
startCapture(); //start privew
}
}
END:
if(bDisplay)
{
bDisplay = 0;
#ifdef _LIN
pthread_join(thread_display, &retval);
#elif defined _WINDOWS
Sleep(50);
#endif
}
stopCapture();
closeCamera();
cvReleaseImage(&pRgb);
printf("main function over\n");
return 1;
}