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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 3 | PointedEar | 1 | #if !defined OFINDER |
| 2 | #define OFINDER |
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| 3 | |||
| 5 | PointedEar | 4 | #include <opencv2/core/core.hpp> |
| 5 | #include <opencv2/imgproc/imgproc.hpp> |
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| 3 | PointedEar | 6 | |
| 7 | class ObjectFinder { |
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| 8 | |||
| 9 | private: |
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| 10 | |||
| 11 | float hranges[2]; |
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| 12 | const float* ranges[3]; |
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| 13 | int channels[3]; |
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| 14 | |||
| 15 | float threshold; |
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| 16 | cv::MatND histogram; |
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| 17 | cv::SparseMat shistogram; |
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| 18 | bool isSparse; |
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| 19 | |||
| 20 | public: |
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| 21 | |||
| 22 | ObjectFinder() : threshold(0.1f), isSparse(false) { |
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| 23 | |||
| 24 | ranges[0]= hranges; // all channels have the same range |
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| 25 | ranges[1]= hranges; |
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| 26 | ranges[2]= hranges; |
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| 27 | } |
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| 28 | |||
| 29 | // Sets the threshold on histogram values [0,1] |
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| 30 | void setThreshold(float t) { |
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| 31 | |||
| 32 | threshold= t; |
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| 33 | } |
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| 34 | |||
| 35 | // Gets the threshold |
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| 36 | float getThreshold() { |
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| 37 | |||
| 38 | return threshold; |
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| 39 | } |
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| 40 | |||
| 41 | // Sets the reference histogram |
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| 42 | void setHistogram(const cv::MatND& h) { |
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| 43 | |||
| 44 | isSparse= false; |
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| 45 | histogram= h; |
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| 46 | cv::normalize(histogram,histogram,1.0); |
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| 47 | } |
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| 48 | |||
| 49 | // Sets the reference histogram |
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| 50 | void setHistogram(const cv::SparseMat& h) { |
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| 51 | |||
| 52 | isSparse= true; |
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| 53 | shistogram= h; |
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| 54 | cv::normalize(shistogram,shistogram,1.0,cv::NORM_L2); |
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| 55 | } |
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| 56 | |||
| 57 | // Finds the pixels belonging to the histogram |
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| 58 | cv::Mat find(const cv::Mat& image) { |
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| 59 | |||
| 60 | cv::Mat result; |
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| 61 | |||
| 62 | hranges[0]= 0.0; // range [0,255] |
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| 63 | hranges[1]= 255.0; |
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| 64 | channels[0]= 0; // the three channels |
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| 65 | channels[1]= 1; |
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| 66 | channels[2]= 2; |
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| 67 | |||
| 68 | if (isSparse) { // call the right function based on histogram type |
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| 69 | |||
| 70 | cv::calcBackProject(&image, |
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| 71 | 1, // one image |
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| 72 | channels, // vector specifying what histogram dimensions belong to what image channels |
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| 73 | shistogram, // the histogram we are using |
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| 74 | result, // the resulting back projection image |
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| 75 | ranges, // the range of values, for each dimension |
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| 76 | 255.0 // the scaling factor is chosen such that a histogram value of 1 maps to 255 |
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| 77 | ); |
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| 78 | |||
| 79 | } else { |
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| 80 | |||
| 81 | cv::calcBackProject(&image, |
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| 82 | 1, // one image |
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| 83 | channels, // vector specifying what histogram dimensions belong to what image channels |
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| 84 | histogram, // the histogram we are using |
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| 85 | result, // the resulting back projection image |
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| 86 | ranges, // the range of values, for each dimension |
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| 87 | 255.0 // the scaling factor is chosen such that a histogram value of 1 maps to 255 |
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| 88 | ); |
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| 89 | } |
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| 90 | |||
| 91 | |||
| 92 | // Threshold back projection to obtain a binary image |
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| 93 | if (threshold>0.0) |
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| 94 | cv::threshold(result, result, 255*threshold, 255, cv::THRESH_BINARY); |
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| 95 | |||
| 96 | return result; |
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| 97 | } |
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| 98 | |||
| 99 | cv::Mat find(const cv::Mat& image, float minValue, float maxValue, int *channels, int dim) { |
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| 100 | |||
| 101 | cv::Mat result; |
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| 102 | |||
| 103 | hranges[0]= minValue; |
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| 104 | hranges[1]= maxValue; |
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| 105 | |||
| 106 | for (int i=0; i<dim; i++) |
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| 107 | this->channels[i]= channels[i]; |
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| 108 | |||
| 109 | if (isSparse) { // call the right function based on histogram type |
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| 110 | |||
| 111 | cv::calcBackProject(&image, |
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| 112 | 1, // we only use one image at a time |
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| 113 | channels, // vector specifying what histogram dimensions belong to what image channels |
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| 114 | shistogram, // the histogram we are using |
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| 115 | result, // the resulting back projection image |
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| 116 | ranges, // the range of values, for each dimension |
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| 117 | 255.0 // the scaling factor is chosen such that a histogram value of 1 maps to 255 |
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| 118 | ); |
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| 119 | |||
| 120 | } else { |
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| 121 | |||
| 122 | cv::calcBackProject(&image, |
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| 123 | 1, // we only use one image at a time |
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| 124 | channels, // vector specifying what histogram dimensions belong to what image channels |
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| 125 | histogram, // the histogram we are using |
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| 126 | result, // the resulting back projection image |
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| 127 | ranges, // the range of values, for each dimension |
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| 128 | 255.0 // the scaling factor is chosen such that a histogram value of 1 maps to 255 |
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| 129 | ); |
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| 130 | } |
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| 131 | |||
| 132 | // Threshold back projection to obtain a binary image |
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| 133 | if (threshold>0.0) |
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| 134 | cv::threshold(result, result, 255*threshold, 255, cv::THRESH_BINARY); |
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| 135 | |||
| 136 | return result; |
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| 137 | } |
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| 138 | |||
| 139 | }; |
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| 140 | |||
| 141 | |||
| 142 | #endif |