cvmotempl.cpp

opencv库在TI DM6437上的移植,目前包括两个库cv.lib和cxcore.lib的工程

        orient_row.data.ptr = orient->data.ptr + y*orient->step;
        
        for( x = 0; x < size.width; x++ )
        {
            float d0 = dY_max_row.data.fl[x] - dX_min_row.data.fl[x];

            if( mask_row.data.ptr[x] == 0 || d0 < min_delta || max_delta < d0 )
            {
                mask_row.data.ptr[x] = 0;
                orient_row.data.i[x] = 0;
            }
        }
    }

    __END__;

    cvReleaseMat( &dX_min );
    cvReleaseMat( &dY_max );
    cvReleaseStructuringElement( &el );
}


CV_IMPL double
cvCalcGlobalOrientation( const void* orientation, const void* maskimg, const void* mhiimg,
                         double curr_mhi_timestamp, double mhi_duration )
{
    double  angle = 0;
    int hist_size = 12;
    CvHistogram* hist = 0;

    CV_FUNCNAME( "cvCalcGlobalOrientation" );

    __BEGIN__;

    CvMat  mhistub, *mhi = (CvMat*)mhiimg;
    CvMat  maskstub, *mask = (CvMat*)maskimg;
    CvMat  orientstub, *orient = (CvMat*)orientation;
    void*  _orient;
    float _ranges[] = { 0, 360 };
    float* ranges = _ranges;
    int base_orient;
    double shift_orient = 0, shift_weight = 0, fbase_orient;
    double a, b;
    float delbound;
    CvMat mhi_row, mask_row, orient_row;
    int x, y, mhi_rows, mhi_cols;

    CV_CALL( mhi = cvGetMat( mhi, &mhistub ));
    CV_CALL( mask = cvGetMat( mask, &maskstub ));
    CV_CALL( orient = cvGetMat( orient, &orientstub ));

    if( !CV_IS_MASK_ARR( mask ))
        CV_ERROR( CV_StsBadMask, "" );

    if( CV_MAT_TYPE( mhi->type ) != CV_32FC1 || CV_MAT_TYPE( orient->type ) != CV_32FC1 )
        CV_ERROR( CV_StsUnsupportedFormat,
        "MHI and orientation must be single-channel floating-point images" );

    if( !CV_ARE_SIZES_EQ( mhi, mask ) || !CV_ARE_SIZES_EQ( orient, mhi ))
        CV_ERROR( CV_StsUnmatchedSizes, "" );

    if( mhi_duration <= 0 )
        CV_ERROR( CV_StsOutOfRange, "MHI duration must be positive" );

    if( orient->data.ptr == mhi->data.ptr )
        CV_ERROR( CV_StsInplaceNotSupported, "orientation image must be different from MHI" );

    // calculate histogram of different orientation values
    CV_CALL( hist = cvCreateHist( 1, &hist_size, CV_HIST_ARRAY, &ranges ));
    _orient = orient;
    cvCalcArrHist( &_orient, hist, 0, mask );

    // find the maximum index (the dominant orientation)
    cvGetMinMaxHistValue( hist, 0, 0, 0, &base_orient );
    base_orient *= 360/hist_size;

    // override timestamp with the maximum value in MHI
    cvMinMaxLoc( mhi, 0, &curr_mhi_timestamp, 0, 0, mask );

    // find the shift relative to the dominant orientation as weighted sum of relative angles
    a = 254. / 255. / mhi_duration;
    b = 1. - curr_mhi_timestamp * a;
    fbase_orient = base_orient;
    delbound = (float)(curr_mhi_timestamp - mhi_duration);
    mhi_rows = mhi->rows;
    mhi_cols = mhi->cols;

    if( CV_IS_MAT_CONT( mhi->type & mask->type & orient->type ))
    {
        mhi_cols *= mhi_rows;
        mhi_rows = 1;
    }

    cvGetRow( mhi, &mhi_row, 0 );
    cvGetRow( mask, &mask_row, 0 );
    cvGetRow( orient, &orient_row, 0 );

    /*
       a = 254/(255*dt)
       b = 1 - t*a = 1 - 254*t/(255*dur) =
       (255*dt - 254*t)/(255*dt) =
       (dt - (t - dt)*254)/(255*dt);
       --------------------------------------------------------
       ax + b = 254*x/(255*dt) + (dt - (t - dt)*254)/(255*dt) =
       (254*x + dt - (t - dt)*254)/(255*dt) =
       ((x - (t - dt))*254 + dt)/(255*dt) =
       (((x - (t - dt))/dt)*254 + 1)/255 = (((x - low_time)/dt)*254 + 1)/255
     */
    for( y = 0; y < mhi_rows; y++ )
    {
        mhi_row.data.ptr = mhi->data.ptr + mhi->step*y;
        mask_row.data.ptr = mask->data.ptr + mask->step*y;
        orient_row.data.ptr = orient->data.ptr + orient->step*y;

        for( x = 0; x < mhi_cols; x++ )
            if( mask_row.data.ptr[x] != 0 && mhi_row.data.fl[x] > delbound )
            {
                /*
                   orient in 0..360, base_orient in 0..360
                   -> (rel_angle = orient - base_orient) in -360..360.
                   rel_angle is translated to -180..180
                 */
                double weight = mhi_row.data.fl[x] * a + b;
                int rel_angle = cvRound( orient_row.data.fl[x] - fbase_orient );

                rel_angle += (rel_angle < -180 ? 360 : 0);
                rel_angle += (rel_angle > 180 ? -360 : 0);

                if( abs(rel_angle) < 90 )
                {
                    shift_orient += weight * rel_angle;
                    shift_weight += weight;
                }
            }
    }

    // add the dominant orientation and the relative shift
    if( shift_weight == 0 )
        shift_weight = 0.01;

    base_orient = base_orient + cvRound( shift_orient / shift_weight );
    base_orient -= (base_orient < 360 ? 0 : 360);
    base_orient += (base_orient >= 0 ? 0 : 360);

    angle = base_orient;

    __END__;

    cvReleaseHist( &hist );
    return angle;
}


CV_IMPL CvSeq*
cvSegmentMotion( const CvArr* mhiimg, CvArr* segmask, CvMemStorage* storage,
                 double timestamp, double seg_thresh )
{
    CvSeq* components = 0;
    CvMat* mask8u = 0;

    CV_FUNCNAME( "cvSegmentMotion" );

    __BEGIN__;

    CvMat  mhistub, *mhi = (CvMat*)mhiimg;
    CvMat  maskstub, *mask = (CvMat*)segmask;
    Cv32suf v, comp_idx;
    int stub_val, ts;
    int x, y;

    if( !storage )
        CV_ERROR( CV_StsNullPtr, "NULL memory storage" );

    CV_CALL( mhi = cvGetMat( mhi, &mhistub ));
    CV_CALL( mask = cvGetMat( mask, &maskstub ));

    if( CV_MAT_TYPE( mhi->type ) != CV_32FC1 || CV_MAT_TYPE( mask->type ) != CV_32FC1 )
        CV_ERROR( CV_BadDepth, "Both MHI and the destination mask" );

    if( !CV_ARE_SIZES_EQ( mhi, mask ))
        CV_ERROR( CV_StsUnmatchedSizes, "" );

    CV_CALL( mask8u = cvCreateMat( mhi->rows + 2, mhi->cols + 2, CV_8UC1 ));
    cvZero( mask8u );
    cvZero( mask );
    CV_CALL( components = cvCreateSeq( CV_SEQ_KIND_GENERIC, sizeof(CvSeq),
                                       sizeof(CvConnectedComp), storage ));
    
    v.f = (float)timestamp; ts = v.i;
    v.f = FLT_MAX*0.1f; stub_val = v.i;
    comp_idx.f = 1;

    for( y = 0; y < mhi->rows; y++ )
    {
        int* mhi_row = (int*)(mhi->data.ptr + y*mhi->step);
        for( x = 0; x < mhi->cols; x++ )
        {
            if( mhi_row[x] == 0 )
                mhi_row[x] = stub_val;
        }
    }

    for( y = 0; y < mhi->rows; y++ )
    {
        int* mhi_row = (int*)(mhi->data.ptr + y*mhi->step);
        uchar* mask8u_row = mask8u->data.ptr + (y+1)*mask8u->step + 1;

        for( x = 0; x < mhi->cols; x++ )
        {
            if( mhi_row[x] == ts && mask8u_row[x] == 0 )
            {
                CvConnectedComp comp;
                int x1, y1;
                CvScalar _seg_thresh = cvRealScalar(seg_thresh);
                CvPoint seed = cvPoint(x,y);

                CV_CALL( cvFloodFill( mhi, seed, cvRealScalar(0), _seg_thresh, _seg_thresh,
                                      &comp, CV_FLOODFILL_MASK_ONLY + 2*256 + 4, mask8u ));

                for( y1 = 0; y1 < comp.rect.height; y1++ )
                {
                    int* mask_row1 = (int*)(mask->data.ptr +
                                    (comp.rect.y + y1)*mask->step) + comp.rect.x;
                    uchar* mask8u_row1 = mask8u->data.ptr +
                                    (comp.rect.y + y1+1)*mask8u->step + comp.rect.x+1;

                    for( x1 = 0; x1 < comp.rect.width; x1++ )
                    {
                        if( mask8u_row1[x1] > 1 )
                        {
                            mask8u_row1[x1] = 1;
                            mask_row1[x1] = comp_idx.i;
                        }
                    }
                }
                comp_idx.f++;
                cvSeqPush( components, &comp );
            }
        }
    }

    for( y = 0; y < mhi->rows; y++ )
    {
        int* mhi_row = (int*)(mhi->data.ptr + y*mhi->step);
        for( x = 0; x < mhi->cols; x++ )
        {
            if( mhi_row[x] == stub_val )
                mhi_row[x] = 0;
        }
    }

    __END__;

    cvReleaseMat( &mask8u );
    return components;
}

/* End of file. */