[Robotflow-cvs] RobotFlow/Vision/src CvBiModalTest.cc,1.3,1.4

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Update of /cvsroot/robotflow/RobotFlow/Vision/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv9322

Modified Files:
	CvBiModalTest.cc 
Log Message:
added threshold output

Index: CvBiModalTest.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Vision/src/CvBiModalTest.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** CvBiModalTest.cc	17 May 2005 18:18:28 -0000	1.3
--- CvBiModalTest.cc	8 Jun 2005 13:45:47 -0000	1.4
***************
*** 51,56 ****
--- 51,62 ----
   * @output_description binarized image
   *
+  * @output_name THRESHOLD
+  * @output_type float
+  * @output_description Binarization threshold
+  *
   END*/

+ #define TILE_SIZE 8
+ 
    class CvBiModalTest : public BufferedNode {

***************
*** 62,69 ****
--- 68,77 ----
      IplImage *m_gray;
      IplImage *m_binarized;
+     IplImage *m_background;

      int m_imageInID;
      int m_imageOutID;
      int m_binImageOutID;
+     int m_binThresholdOutID;
      double m_minDist;
      double m_maxStd;
***************
*** 77,81 ****
        m_imageOutID = addOutput("CONTOUR_IMG");
        m_binImageOutID = addOutput("BINARIZED_IMG");
!       
        m_minDist = dereference_cast<float>(parameters.get("MIN_DIST"));
        m_maxStd =  dereference_cast<float>(parameters.get("MAX_STD"));
--- 85,89 ----
        m_imageOutID = addOutput("CONTOUR_IMG");
        m_binImageOutID = addOutput("BINARIZED_IMG");
!       m_binThresholdOutID = addOutput("THRESHOLD");
        m_minDist = dereference_cast<float>(parameters.get("MIN_DIST"));
        m_maxStd =  dereference_cast<float>(parameters.get("MAX_STD"));
***************
*** 89,92 ****
--- 97,101 ----
        m_gray = cvCreateImage( cvSize(320,240), IPL_DEPTH_8U, 1 );
        m_binarized = cvCreateImage( cvSize(320,240), IPL_DEPTH_8U, 1 );
+       m_background = cvCreateImage( cvSize(320,240), IPL_DEPTH_8U, 1 );
      }

***************
*** 98,101 ****
--- 107,111 ----
        cvReleaseImage(&m_gray);  
        cvReleaseImage(&m_binarized); 
+       cvReleaseImage(&m_background); 
      }

***************
*** 108,111 ****
--- 118,181 ----

+     void processBackground(CvRect rect, IplImage *src, IplImage *dest, double std_max) {
+ 
+       cvSetImageROI(src,rect);
+       cvSetImageROI(dest,rect);
+ 
+       CvScalar mean0;
+       CvScalar stddev0;
+ 
+       //Get Mean, std dev
+       cvAvgSdv(src,&mean0,&stddev0);
+ 
+       double std2sum = sqrt(stddev0.val[0] * stddev0.val[0]+ 
+ 			    stddev0.val[1] * stddev0.val[1] + 
+ 			    stddev0.val[2] * stddev0.val[2]);
+ 
+       unsigned char color = 0;
+ 
+       if (stddev0.val[0] < std_max &&
+ 	  stddev0.val[1] < std_max &&
+ 	  stddev0.val[2] < std_max) {
+ 	color = 0xFF;
+       }
+       else {
+ 	color = 0x00;
+       }
+       
+       //draw on the image the background
+       for (int row = rect.y; row < rect.y + rect.height; row++) {
+ 
+ 	char *basePtr = &dest->imageData[(row * dest->widthStep) + (rect.x * dest->nChannels)];
+ 	char *imgPtr = basePtr;
+ 
+ 	for (; imgPtr < basePtr + (dest->nChannels *  rect.width); imgPtr += dest->nChannels) {
+ 	  *imgPtr = color;
+ 	}
+       }
+ 
+     }
+ 
+     bool insideBackgroundContour(CvSeq *backgroundContour, CvRect rect) {
+       
+       for( ; backgroundContour != 0; backgroundContour = backgroundContour->h_next ) {
+ 	
+ 	CvRect backgroundRect = cvBoundingRect(backgroundContour,0);
+ 
+ 	if ((rect.x >= backgroundRect.x) &&
+ 	    (rect.y >= backgroundRect.y) &&
+ 	    ((rect.x + rect.width) <= (backgroundRect.x + backgroundRect.width)) &&
+ 	    ((rect.y + rect.height) <= (backgroundRect.y + backgroundRect.height))) {
+ 	  return true;
+ 	}
+ 	
+       }
+       
+       
+       return false;
+ 
+     }
+ 
+ 
      bool processRect(CvRect rect, IplImage *src, IplImage *dest, double std_max, double min_dist, double *threshold = 0) {

***************
*** 128,133 ****
--- 198,212 ----
        cvAvgSdv(src,&mean0,&stddev0);

+       /*
+       double test = sqrt(stddev0.val[0] * stddev0.val[0] + 
+ 			 stddev0.val[1] * stddev0.val[1] +
+ 			 stddev0.val[2] * stddev0.val[2]);
+ 
+       if (test > std_max) return true;
+       else return false;
+       */

+ 
        //cerr<<"CV made (mean0): "<<mean0.val[0]<<" "<<mean0.val[1]<<" "<<mean0.val[2]<<endl;
        //cerr<<"CV made (stddev0): "<<stddev0.val[0]<<" "<<stddev0.val[1]<<" "<<stddev0.val[2]<<endl;
***************
*** 242,255 ****
        }

!       
! 
!       //TEST CONDITIONS
!       if (mean_dist > min_dist &&
! 	  (stddev1.val[0] < mean_dist / std_max) &&
  	  (stddev1.val[1] < mean_dist / std_max) &&
  	  (stddev1.val[2] < mean_dist / std_max) &&
  	  (stddev2.val[0] < mean_dist / std_max) &&
  	  (stddev2.val[1] < mean_dist / std_max) &&
! 	  (stddev2.val[2] < mean_dist / std_max)) {
  	bimodal = true;
        }
--- 321,338 ----
        }

!       /*
!        (stddev1.val[0] < mean_dist / std_max) &&
  	  (stddev1.val[1] < mean_dist / std_max) &&
  	  (stddev1.val[2] < mean_dist / std_max) &&
  	  (stddev2.val[0] < mean_dist / std_max) &&
  	  (stddev2.val[1] < mean_dist / std_max) &&
! 	  (stddev2.val[2] < mean_dist / std_max)
!       */
!       /*
! 	(std1sum < mean_dist / std_max) &&
! 	(std2sum < mean_dist / std_max)
!       */
!       //TEST CONDITIONS
!       if (mean_dist > min_dist) {
  	bimodal = true;
        }
***************
*** 275,298 ****
  	cvResetImageROI(m_gray);
  	cvResetImageROI(m_binarized);

  	cvCopy(m_src,m_dest,NULL);

  	//clear binarized image
! 	memset(m_binarized->imageData,0xFF,320*240);

  	struct timeb t1, t2;
  	ftime(&t1);

! 	//TILE MODE
! 	/*

! 	for (int y = 0; y < 240; y+= 16) {
! 	  for (int x = 0; x < 320; x+= 16) {
  	    CvRect rect;
  	    rect.x = x;
  	    rect.y = y;
! 	    rect.width = 16;
! 	    rect.height = 16;
! 	    if (processRect(rect,m_src,m_dest,m_maxStd,m_minDist)) {
  	       CvScalar color = CV_RGB(255,0,0);
  	        CvPoint p1,p2;
--- 358,393 ----
  	cvResetImageROI(m_gray);
  	cvResetImageROI(m_binarized);
+ 	cvResetImageROI(m_background);

  	cvCopy(m_src,m_dest,NULL);

  	//clear binarized image
! 	memset(m_binarized->imageData,0x80,320*240);

  	struct timeb t1, t2;
  	ftime(&t1);

! 	cvCvtColor(m_src, m_gray, CV_BGR2GRAY);
! 	cvCvtColor(m_src, m_background, CV_BGR2GRAY);
! 	cvSmooth(m_gray,m_gray,CV_GAUSSIAN,3);
! 	cvSmooth(m_background,m_background,CV_GAUSSIAN,3);

! 	//TILE MODE FOR BACKGROUND
! 	CvMemStorage* backgroundStorage = cvCreateMemStorage(0);
! 	CvSeq* backgroundContour = 0;
! 
! 	for (int y = 0; y < 240; y+= TILE_SIZE) {
! 	  for (int x = 0; x < 320; x+= TILE_SIZE) {
  	    CvRect rect;
  	    rect.x = x;
  	    rect.y = y;
! 	    rect.width = TILE_SIZE;
! 	    rect.height = TILE_SIZE;
! 	    
! 	    processBackground(rect,m_src,m_background,m_maxStd);
! 	  
! 	    /*
! 	    double threshold;
! 	    if (processRect(rect,m_src,m_dest,m_maxStd,m_minDist,&threshold)) {
  	       CvScalar color = CV_RGB(255,0,0);
  	        CvPoint p1,p2;
***************
*** 302,317 ****
  		p2.y = rect.y  + rect.height;
  		cvRectangle(m_dest,p1,p2,color);
  	    }
  	  }
  	}
! 	*/
  	//EDGE MODE
! 	cvCvtColor(m_src, m_gray, CV_BGR2GRAY);
! 	cvSmooth(m_gray,m_gray,CV_GAUSSIAN,3);
! 	cvCanny(m_gray, m_edges, 128, 255, 3);

  	CvMemStorage* storage = cvCreateMemStorage(0);
  	CvSeq* contour = 0;

  	cvFindContours(m_edges, storage, &contour, sizeof(CvContour), CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE );
--- 397,418 ----
  		p2.y = rect.y  + rect.height;
  		cvRectangle(m_dest,p1,p2,color);
+ 		//cerr<<"threshold "<<threshold<<endl;
+ 		binarize(rect,m_gray,m_binarized,threshold);
  	    }
+ 	    */
  	  }
  	}
! 	cvResetImageROI(m_background);
! 	cvFindContours(m_background, backgroundStorage, 
! 			   &backgroundContour, sizeof(CvContour), CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE );
! 	
  	//EDGE MODE
! 	
! 	cvCanny(m_gray, m_edges, 55, 200, 3);

  	CvMemStorage* storage = cvCreateMemStorage(0);
  	CvSeq* contour = 0;

+ 	double threshold;

  	cvFindContours(m_edges, storage, &contour, sizeof(CvContour), CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE );
***************
*** 320,324 ****

  	  CvRect rect = cvBoundingRect(contour,0);
! 	  double threshold;

  	  if (processRect(rect,m_src,m_dest,m_maxStd,m_minDist, &threshold)) {
--- 421,428 ----

  	  CvRect rect = cvBoundingRect(contour,0);
!   
! 
! 	  if (!insideBackgroundContour(backgroundContour,rect)) continue;
! 

  	  if (processRect(rect,m_src,m_dest,m_maxStd,m_minDist, &threshold)) {
***************
*** 335,339 ****
  	      cvRectangle(m_dest,p1,p2,color);

! 	      //void binarize(CvRect rect, IplImage *src, IplImage *dest, double threshold) {
  	      binarize(rect,m_gray,m_binarized,threshold);
  	    }
--- 439,443 ----
  	      cvRectangle(m_dest,p1,p2,color);

! 	      
  	      binarize(rect,m_gray,m_binarized,threshold);
  	    }
***************
*** 344,347 ****
--- 448,454 ----

+ 	cvReleaseMemStorage(&backgroundStorage);
+ 
+ 
  	ftime(&t2);
  	double timeDiff=(t2.time-t1.time)+((t2.millitm-t1.millitm)/1000.0);
***************
*** 357,363 ****

! 	memcpy(m_binImg->get_data(), m_binarized->imageData,m_binImg->get_size());
  	(*outputs[m_binImageOutID].buffer)[count] = ObjectRef(m_binImg);

        }
        catch (BaseException *e) {
--- 464,473 ----

! 	memcpy(m_binImg->get_data(), m_background->imageData,m_binImg->get_size());
  	(*outputs[m_binImageOutID].buffer)[count] = ObjectRef(m_binImg);

+ 	(*outputs[m_binThresholdOutID].buffer)[count] = ObjectRef(Float::alloc(threshold / 255.0));
+ 
+ 
        }
        catch (BaseException *e) {