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