unsigned char * selectSegmentationForRGBFrame(unsigned char * source , unsigned int inputFrameWidth , unsigned int inputFrameHeight , struct SegmentationFeaturesRGB * segConf, struct calibration * calib,unsigned int * selectedPixels)
{
unsigned int width = inputFrameWidth;
unsigned int height = inputFrameHeight;
//This will be our response segmentation
unsigned char * selectedRGB = (unsigned char*) malloc(width*height*sizeof(unsigned char));
if (selectedRGB==0) { fprintf(stderr,"Could not allocate memory for RGB Selection\n"); return 0; }
//if we don't need to segment , conserve our CPU
if (justSelectAllRGBPixels(segConf,width,height))
{
fprintf(stderr,"======== Just Selecting All RGB Frame ======== \n");
*selectedPixels=width*height;
memset(selectedRGB,1,width*height*sizeof(unsigned char));
return selectedRGB;
}
//We initially disqualify ( unselect ) the whole image , so we only PICK things that are ok
*selectedPixels=0; memset(selectedRGB,0,width*height*sizeof(unsigned char));
//In case our bounds are impossible we get an unselected image..!
if ( segConf->maxX > width ) { segConf->maxX = width; }
if ( segConf->maxY > height ) { segConf->maxY = height; }
if ( segConf->minX > segConf->maxX ) { return selectedRGB; }
if ( segConf->minY > segConf->maxY ) { return selectedRGB; }
unsigned char * sourceCopy = (unsigned char *) malloc( width * height * 3 * sizeof( unsigned char));
if ( sourceCopy == 0) { fprintf(stderr,"Could not allocate a buffer to copy the source..\n"); return 0; }
memcpy(sourceCopy,source,width*height*3*sizeof(char));
removeFloodFillBeforeProcessing(sourceCopy,width,height,segConf);
unsigned int posX = segConf->minX , posY = segConf->minY;
unsigned int limX = segConf->maxX , limY = segConf->maxY;
unsigned int patchWidth = limX-posX-1 , patchHeight = limY-posY-1;
unsigned int sourceWidthStep = width * 3;
unsigned char * sourcePixelsStart = (unsigned char*) sourceCopy + ( (posX*3) + posY * sourceWidthStep );
unsigned char * sourcePixelsLineEnd = sourcePixelsStart + ((patchWidth)*3);
unsigned char * sourcePixelsEnd = sourcePixelsLineEnd + ((patchHeight-1) * sourceWidthStep );
unsigned char * sourcePixels = sourcePixelsStart;
unsigned char * selectedPtrStart = selectedRGB + ( posX + (posY * width) ) ;
unsigned char * selectedPtr = selectedPtrStart;
register unsigned char selected;
register unsigned char * R , * G , * B;
while (sourcePixels<sourcePixelsEnd)
{
while (sourcePixels<sourcePixelsLineEnd)
{
R = sourcePixels++;
G = sourcePixels++;
B = sourcePixels++;
selected=(
( (*R!=segConf->replaceR) || (*G!=segConf->replaceG) || (*B!=segConf->replaceB) ) &&
(
(segConf->minR <= *R) && (*R <= segConf->maxR) &&
(segConf->minG <= *G) && (*G <= segConf->maxG) &&
(segConf->minB <= *B) && (*B <= segConf->maxB)
)
);
*selectedPixels+=selected;
*selectedPtr=selected;
++selectedPtr;
}
sourcePixelsStart+=sourceWidthStep;
sourcePixels=sourcePixelsStart;
sourcePixelsLineEnd+=sourceWidthStep;
selectedPtrStart+=width;
selectedPtr=selectedPtrStart;
}
if (segConf->enableRGBMotionDetection)
{
//In case we want motion detection we should record the first frame we have so that we can use it to select pixels
if (! keepFirstRGBFrame(sourceCopy , width , height , segConf) )
{
selectBasedOnRGBMovement(selectedRGB, segConf->firstRGBFrame , sourceCopy ,
segConf->motionRThreshold , segConf->motionGThreshold , segConf->motionBThreshold , width , height );
}
} else
{
if (segConf->firstRGBFrame!=0)
{
fprintf(stderr,"Freeing first frame for rgb motion detection\n");
free(segConf->firstRGBFrame);
segConf->firstRGBFrame=0;
}
}
if (segConf->invert)
{ invertSelection(selectedRGB , inputFrameWidth , inputFrameHeight ,selectedPixels); }
free(sourceCopy);
return selectedRGB;
}
unsigned char * selectSegmentationForRGBFrame(unsigned char * source , unsigned int width , unsigned int height , struct SegmentationFeaturesRGB * segConf, struct calibration * calib)
{
unsigned char * sourceCopy = (unsigned char *) malloc( width * height * 3 * sizeof( unsigned char));
if ( sourceCopy == 0) { return 0; }
memcpy(sourceCopy,source,width*height*3*sizeof(char));
char * target = (char *) malloc( width * height * 3 * sizeof(char));
if ( target == 0) { free(sourceCopy); return 0; }
memset(target,0,width*height*3*sizeof(char));
removeFloodFillBeforeProcessing(sourceCopy,target,width,height,segConf);
unsigned int posX = 0;
unsigned int posY = 0;
unsigned int sourceWidthStep = width * 3;
char * sourcePixelsStart = (char*) sourceCopy + ( (posX*3) + posY * sourceWidthStep );
char * sourcePixelsLineEnd = sourcePixelsStart + (width*3);
char * sourcePixelsEnd = sourcePixelsLineEnd + ((height-1) * sourceWidthStep );
char * sourcePixels = sourcePixelsStart;
unsigned char * selectedRGB = (unsigned char*) malloc(width*height*sizeof(unsigned char));
if (selectedRGB==0) { fprintf(stderr,"Could not allocate memory for RGB Selection\n"); return 0; }
memset(selectedRGB,0,width*height*sizeof(unsigned char));
unsigned char * selectedPtr = selectedRGB;
unsigned int x=0 , y=0;
unsigned char * R , * G , * B;
while (sourcePixels<sourcePixelsEnd)
{
if ( (y<segConf->minY) || (y>segConf->maxY) )
{
sourcePixels+=sourceWidthStep;
selectedPtr+=width;
} else
{
x=0;
while (sourcePixels<sourcePixelsLineEnd)
{
R = sourcePixels++;
G = sourcePixels++;
B = sourcePixels++;
if (
(segConf->minR <= *R) && (*R <= segConf->maxR) &&
(segConf->minG <= *G) && (*G <= segConf->maxG) &&
(segConf->minB <= *B) && (*B <= segConf->maxB) &&
(segConf->minX <= x) && ( x<= segConf->maxX)
)
{
*selectedPtr=1;
} else
{
*selectedPtr=0;
}
++selectedPtr;
++x;
}
}
sourcePixelsLineEnd+=sourceWidthStep;
++y;
}
free(sourceCopy);
return selectedRGB;
}
