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@ -37,6 +37,8 @@ Detect::Detect() { // @suppress("Class members should be properly initialized")
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posmaxy = 0;
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maxx = NULL;
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maxy = NULL;
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detmatrix = NULL;
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inputtype = 0;
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};
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@ -66,7 +68,8 @@ int Detect::NewFrame(VideoFrame *newframe) {
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// Thread: newFrame |------> Find Object --- not found ---> send gui information
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void Detect::Thread() {
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DetectOutput output;
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int posx, posy;
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int errorinputtype = -1;
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int posx = -1, posy = -1;
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while (running) {
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// check for new frame
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@ -74,9 +77,32 @@ void Detect::Thread() {
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if (inFrameNew == 1) {
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inFrameNew = 0;
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LockMutex(); // lock Config
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//
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// do some input detection improvement
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InputDetect(&posx, &posy);
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// 1. if no position of the object is known, search brightest
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// object on the inFrame image.
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// 2. check near the last known position.
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switch (inputtype) {
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case 0:
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InputDetect(&posx, &posy);
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break;
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case 1:
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if (posx < objectW/2 || posy < objectH/2 ||
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posx > (inFrame.w-objectW/2) || posy > (inFrame.h-objectH/2))
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InputDetect(&posx, &posy);
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else InputDetectCrossC(&posx, &posy);
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break;
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default:
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if (errorinputtype != inputtype)
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printf ("%s:%d %s error: inputtype (%d) not found\n", __FILE__, __LINE__, __FUNCTION__, inputtype);
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errorinputtype = inputtype;
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break;
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}
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oldFrame.CopyFrom(&inFrame);
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UnLockInMutex();
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@ -84,6 +110,9 @@ void Detect::Thread() {
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LockImageMutex();
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imagegtk.CopyFrom(&image);
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UnLockImageMutex();
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UnLockMutex(); // unlock Config
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output.posx = posx;
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output.posy = posy;
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output.image = &imagegtk;
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@ -106,6 +135,12 @@ void Detect::SetInputSize (int nw, int nh) {
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if (maxy != NULL) free (maxy);
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maxy = (float*) malloc (nh * sizeof (float));
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}
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if ((posmaxx * posmaxy) < (nw * nh) || detmatrix != NULL) {
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free (detmatrix);
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detmatrix = (float*) malloc (sizeof(float) * nw * nh);
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}
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posmaxx = nw;
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posmaxy = nh;
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}
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@ -172,6 +207,111 @@ void Detect::InputDetect(int *posx, int *posy) {
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// printf ("[%d , %d] --> [%d, %d] idx: %d --> %d Value:%d\n", x, y, dx, dy, idx, didx, pxs[idx+i]);
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for (i = 0; i < 3; i++) pxi[didx+i] = pxs[idx+i];
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}
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// printf ("%s:%d %s pos: %d,%d \n", __FILE__, __LINE__, __FUNCTION__, *posx, *posy);
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#ifdef DEBUGTIMES
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f = get_cycletime(&t1);
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printf ("%s:%d copy output:%f\n", __FILE__, __LINE__, f);
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f = get_cycletime(&t2);
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printf ("%s:%d time needed:%f\n", __FILE__, __LINE__, f);
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#endif
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}
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#define MAXSHIFT 20
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// #define DEBUGTIMES 1
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void Detect::InputDetectCrossC(int *posx, int *posy) {
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unsigned char *pxi; // input image
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unsigned char *pxd; // destination image
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unsigned char *pxo; // old image
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int inx, iny, oldx, oldy;
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struct timeval t1, t2;
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int shiftx, shifty, x, y, ini, oldi, desti, mxi, mxx, mxy;
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float f;
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if (oldFrame.h != inFrame.h || oldFrame.w != inFrame.w || *posx == -1 || *posy == -1) {
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*posx = -1;
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*posy = -1;
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return;
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}
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#ifdef DEBUGTIMES
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f = get_cycletime(&t1);
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t2 = t1;
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#endif
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if (objectW > inFrame.w || objectH > inFrame.h) {
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printf ("%s:%d %s objectW,H (%d,%d) > inFrame.W,H (%d, %d)\n", __FILE__, __LINE__, __FUNCTION__,
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objectW, objectH, inFrame.w, inFrame.h);
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*posx = -1;
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*posy = -1;
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return;
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}
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image.SetSize (objectW, objectH);
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SetInputSize(inFrame.w, inFrame.h);
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pxi = inFrame.data;
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pxo = oldFrame.data;
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pxd = image.data;
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#ifdef DEBUGTIMES
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f = get_cycletime(&t1);
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printf ("%s:%d setup memory time needed:%f\n", __FILE__, __LINE__, f);
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#endif
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mxx = mxy = 0;
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for (shifty = 0; shifty < MAXSHIFT; shifty++) {
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// printf ("%s:%d %s shift (%d)\n", __FILE__, __LINE__, __FUNCTION__, shifty);
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mxi = shifty * objectW;
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for (shiftx = 0; shiftx < MAXSHIFT; shiftx++, mxi++) {
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// fixme: help help
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f = 0.0;
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for (y = 0; y < objectH; y++) {
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oldx = (*posx)- objectW/2;
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oldy = (*posy)- objectH/2 + y;
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oldi = 3 * (oldx + oldFrame.w * oldy);
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inx = oldx + shiftx - MAXSHIFT/2;
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iny = oldy + shifty - MAXSHIFT/2;
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ini = 3* (inx + inFrame.w * iny);
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for (x = 0; x < objectW; x++, oldi += 3, ini += 3, oldx++, inx++) {
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if (oldx >= 0 && oldy >= 0 && oldx < oldFrame.w && oldy <= oldFrame.h &&
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inx >= 0 && inx < inFrame.w && iny >= 0 && iny < inFrame.h) {
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f += (float)(pxo[oldi+0])*(float)(pxi[ini+0]);
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}
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}
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}
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detmatrix[mxi] = f;
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if (detmatrix[mxx + (mxy * objectW)] < f) {
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mxx = shiftx;
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mxy = shifty;
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}
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}
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}
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// printf ("%s:%d %s pos (%d,%d) dpos (%d,%d) newpos (%d,%d)\n", __FILE__, __LINE__, __FUNCTION__,
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// *posx, *posy, (mxx-MAXSHIFT/2), (mxy-MAXSHIFT/2), *posx - (mxx-MAXSHIFT/2), *posy - (mxy-MAXSHIFT/2));
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*posx -= (mxx-MAXSHIFT/2);
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*posy -= (mxy-MAXSHIFT/2);
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//
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// copy image data to destination
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for (x = 0; x < objectW; x++) for (y = 0; y < objectH; y++) {
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desti = 3*(x + y * objectW);
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ini = 3*((x + *posx - objectW/2) + (y + *posy - objectH/2) * inFrame.w);
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if (desti < 0 || desti > objectW*objectH*3) continue;
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if (ini < 0 || ini > inFrame.w*inFrame.h*3) continue;
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pxd[desti+0] = pxi[ini+0];
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pxd[desti+1] = pxi[ini+1];
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pxd[desti+2] = pxi[ini+2];
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}
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#ifdef DEBUGTIMES
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f = get_cycletime(&t1);
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printf ("%s:%d copy output:%f\n", __FILE__, __LINE__, f);
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@ -181,6 +321,14 @@ void Detect::InputDetect(int *posx, int *posy) {
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}
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void Detect::SetInputType(int intype) {
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LockMutex();
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inputtype = intype;
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UnLockMutex();
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}
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void Detect::SetObjectSize(int neww, int newh) {
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LockImageMutex();
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LockInMutex();
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@ -195,3 +343,9 @@ void Detect::SetObjectSize(int neww, int newh) {
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}
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void Detect::SetMinBrightness(int value) {
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LockMutex();
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minBright = value;
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UnLockMutex();
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}
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