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- Committer: Stephane List
- Date: 2010-12-12 14:54:49 UTC
- Revision ID: slist@lilotux.net-20101212145449-t3p63qypyb1jsgyn
Initial import
- files added:
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motiondetector.cpp
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/***************************************************************************
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* Copyright (C) 2008, 2009, 2010 by Stephane List *
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* slist@lilotux.net *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, write to the *
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* Free Software Foundation, Inc., *
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* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
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***************************************************************************/
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#include "motiondetector.h"
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#include <QDebug>
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#include <QTime>
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// various tracking parameters (in seconds)
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const double MHI_DURATION = 1;
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const double MAX_TIME_DELTA = 0.5;
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const double MIN_TIME_DELTA = 0.05;
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// number of cyclic frame buffer used for motion detection
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// (should, probably, depend on FPS)
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const int N = 4;
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const int MAGNITUDE_GLOBAL = 100;
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const int MAGNITUDE_COMPONENT = 30;
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MotionDetector::MotionDetector(QObject *parent)
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: QObject(parent),
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show_global_(true),
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show_component_(true),
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motion_(0),
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last(0),
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buf(0),
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mhi(0),
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orient(0),
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mask(0),
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red(0),
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green(0),
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blue(0),
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segmask(0),
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storage(0)
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{
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qDebug() << "MotionDetector::MotionDetector";
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}
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MotionDetector::~MotionDetector()
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{
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qDebug() << "MotionDetector::~MotionDetector";
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}
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void MotionDetector::input(const IplImage & image)
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{
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//qDebug() << "MotionDetector::input";
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if( !motion_ )
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{
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motion_ = cvCreateImage(cvSize(image.width,image.height), 8, 3 );
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cvZero(motion_);
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motion_->origin = image.origin;
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}
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update_mhi(&image, motion_, threshold_);
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//emit output(image);
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emit output(*motion_);
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}
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void MotionDetector::set_motion_color(const QColor & col)
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{
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//qDebug() << "color set to : " << col;
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color_ = col;
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};
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void MotionDetector::set_threshold(int t)
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{
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//qDebug() << "threshold set to : " << t;
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threshold_ = t;
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}
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// parameters:
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// img - input video frame
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// dst - resultant motion picture
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// diff_threshold - threshold to avoid motion detection because of noise in the video
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void MotionDetector::update_mhi(const IplImage* img, IplImage* dst, int diff_threshold )
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{
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double timestamp = (double)clock()/CLOCKS_PER_SEC; // get current time in seconds
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CvSize size = cvSize(img->width,img->height); // get current frame size
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int i, idx1 = last, idx2;
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IplImage* silh;
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CvSeq* seq;
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CvRect comp_rect;
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double count, angle, magnitude;
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CvPoint center;
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CvScalar color;
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//qDebug() << "MotionDetector::update_mhi";
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// allocate images at the beginning or
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// reallocate them if the frame size is changed
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if( !mhi || mhi->width != size.width || mhi->height != size.height ) {
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if( buf == 0 ) {
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buf = (IplImage**)malloc(N*sizeof(buf[0]));
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memset( buf, 0, N*sizeof(buf[0]));
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}
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for( i = 0; i < N; i++ ) {
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cvReleaseImage( &buf[i] );
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buf[i] = cvCreateImage( size, IPL_DEPTH_8U, 1 );
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cvZero( buf[i] );
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}
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cvReleaseImage( &mhi );
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cvReleaseImage( &orient );
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cvReleaseImage( &segmask );
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cvReleaseImage( &mask );
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cvReleaseImage( &red );
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cvReleaseImage( &green );
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cvReleaseImage( &blue );
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mhi = cvCreateImage( size, IPL_DEPTH_32F, 1 );
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cvZero( mhi ); // clear MHI at the beginning
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orient = cvCreateImage( size, IPL_DEPTH_32F, 1 );
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segmask = cvCreateImage( size, IPL_DEPTH_32F, 1 );
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mask = cvCreateImage( size, IPL_DEPTH_8U, 1 );
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red = cvCreateImage( size, IPL_DEPTH_8U, 1 );
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green = cvCreateImage( size, IPL_DEPTH_8U, 1 );
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blue = cvCreateImage( size, IPL_DEPTH_8U, 1 );
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}
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cvCvtColor( img, buf[last], CV_BGR2GRAY ); // convert frame to grayscale
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//emit output(*buf[last]);
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idx2 = (last + 1) % N; // index of (last - (N-1))th frame
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last = idx2;
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silh = buf[idx2];
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cvAbsDiff( buf[idx1], buf[idx2], silh ); // get difference between frames
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//emit output(*silh);
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cvThreshold( silh, silh, diff_threshold, 1, CV_THRESH_BINARY ); // and threshold it
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//emit output(*silh);
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cvUpdateMotionHistory( silh, mhi, timestamp, MHI_DURATION ); // update MHI
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// convert MHI to blue 8u image
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cvCvtScale( mhi, mask, 255./MHI_DURATION, (MHI_DURATION - timestamp)*255./MHI_DURATION );
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// convert 8u image to 32u image using custom color
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cvCvtScale( mask, red, color_.red() / 255.0, 0.);
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cvCvtScale( mask, green, color_.green() / 255.0, 0.);
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cvCvtScale( mask, blue, color_.blue() / 255.0, 0.);
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cvZero( dst );
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cvCvtPlaneToPix( blue, green, red, 0, dst );
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// calculate motion gradient orientation and valid orientation mask
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cvCalcMotionGradient( mhi, mask, orient, MAX_TIME_DELTA, MIN_TIME_DELTA, 3 );
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if( !storage )
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storage = cvCreateMemStorage(0);
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else
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cvClearMemStorage(storage);
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// segment motion: get sequence of motion components
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// segmask is marked motion components map. It is not used further
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seq = cvSegmentMotion( mhi, segmask, storage, timestamp, MAX_TIME_DELTA );
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// iterate through the motion components,
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// One more iteration (i == -1) corresponds to the whole image (global motion)
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for( i = -1; i < seq->total; i++ ) {
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if( i < 0 ) { // case of the whole image
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comp_rect = cvRect( 0, 0, size.width, size.height );
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color = CV_RGB(255,255,255); // white
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magnitude = MAGNITUDE_GLOBAL;
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}
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else { // i-th motion component
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comp_rect = ((CvConnectedComp*)cvGetSeqElem( seq, i ))->rect;
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if( comp_rect.width + comp_rect.height < 100 ) // reject very small components
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continue;
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color = CV_RGB(255,0,0); // red
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magnitude = MAGNITUDE_COMPONENT;
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}
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// select component ROI
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cvSetImageROI( silh, comp_rect );
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cvSetImageROI( mhi, comp_rect );
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cvSetImageROI( orient, comp_rect );
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cvSetImageROI( mask, comp_rect );
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// calculate orientation
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angle = cvCalcGlobalOrientation( orient, mask, mhi, timestamp, MHI_DURATION);
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angle = 360.0 - angle; // adjust for images with top-left origin
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count = cvNorm( silh, 0, CV_L1, 0 ); // calculate number of points within silhouette ROI
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cvResetImageROI( mhi );
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cvResetImageROI( orient );
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cvResetImageROI( mask );
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cvResetImageROI( silh );
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// check for the case of little motion
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if( count < comp_rect.width*comp_rect.height * 0.05 )
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continue;
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if (((magnitude == MAGNITUDE_GLOBAL) && show_global_)
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|| ((magnitude == MAGNITUDE_COMPONENT) && show_component_))
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{
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// draw a clock with arrow indicating the direction
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center = cvPoint(comp_rect.x + comp_rect.width / 2,comp_rect.y + comp_rect.height / 2);
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magnitude = (magnitude * size.height) / (3 * MAGNITUDE_GLOBAL);
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cvCircle(dst,center,cvRound(magnitude * 1.2),color,3,CV_AA,0);
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cvLine(dst,center
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,cvPoint(cvRound(center.x + magnitude * cos(angle * CV_PI / 180))
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,cvRound(center.y - magnitude * sin(angle * CV_PI / 180)))
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,color,3,CV_AA,0);
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}
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if (i == -1)
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{
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//qDebug() << "emit Motion Detected !";
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emit motion();
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}
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}
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}
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