diff options
| -rw-r--r-- | detect_road_borders.cpp | 221 | ||||
| -rw-r--r-- | mariokart01.cpp | 3 |
2 files changed, 125 insertions, 99 deletions
diff --git a/detect_road_borders.cpp b/detect_road_borders.cpp index 5a7c31d..33d3d2f 100644 --- a/detect_road_borders.cpp +++ b/detect_road_borders.cpp @@ -124,86 +124,72 @@ double linear(double x, double x1, double y1, double x2, double y2, bool clip=fa } -#define AREA_HISTORY 10 -int alertcnt=21; -int main(int argc, char* argv[]) +int annotate_regions(Mat img) //img is treated as black/white (0, !=0) +// changes img, and returns the number of found areas { - if (argc!=2) {printf("usage: %s videofile\n",argv[0]); exit(1);} - VideoCapture capture(argv[1]); - - if (!capture.isOpened()) + int region_index=1; // "0" means "no area" + for (int row = 0; row<img.rows; row++) { - cout << "couldn't open file" << endl; - exit(1); + uchar* data=img.ptr<uchar>(row); + + for (int col=0; col<img.cols;col++) + { + if (*data==255) + { + floodFill(img, Point(col,row), region_index); + region_index++; + } + + data++; + } } - - Mat erode_kernel=circle_mat(10); - - - Mat frame; - capture >> frame; - - + return region_index-1; +} +Mat nicely_draw_regions(Mat annotated, int* area_cnt, int total_area_cnt, int largest_region) +{ + Mat result; + annotated.copyTo(result); - - Mat thres(frame.rows, frame.cols, CV_8UC1); - Mat tmp(frame.rows, frame.cols, CV_8UC1); - int** contour_map; - contour_map=new int*[frame.cols]; - for (int i=0;i<frame.cols;i++) - contour_map[i]=new int[frame.rows]; - - int area_history[AREA_HISTORY]; - for (int i=0;i<AREA_HISTORY;i++) area_history[i]=1; - int area_history_ptr=0; - int area_history_sum=AREA_HISTORY; - cout << endl<<endl<<endl; - int frameno=0; - while (1) + // Das ist nur zum schönsein. + for (int row=0; row<result.rows; row++) { - capture >> frame; - - if (frameno<190) - { - frameno++; - continue; - } - - cvtColor(frame, tmp, CV_RGB2GRAY); - threshold(tmp, thres, 132, 255, THRESH_BINARY); - dilate(thres,tmp,Mat()); - erode(tmp,thres,Mat()); - erode(thres,tmp,Mat()); - dilate(tmp,thres,Mat()); - - int area_index=1; // "0" means "no area" - for (int row = 0; row<thres.rows; row++) - { - uchar* data=thres.ptr<uchar>(row); + uchar* data=result.ptr<uchar>(row); - for (int col=0; col<thres.cols;col++) + for (int col=0; col<result.cols;col++) + { + if (*data) { - if (*data==255) - { - floodFill(thres, Point(col,row), area_index); - area_index++; - } - - data++; + long long tmp = (long long)30000*(long)area_cnt[*data-1]/(long)total_area_cnt + 64; + if (tmp>200) tmp=200; + if (*data==largest_region) tmp=255; + *data=tmp; } + + data++; } + } +} + +double only_retain_largest_region(Mat img, int* size) +// img is a binary image +// in *size, if non-NULL, the size of the largest area is stored. +// returns: ratio between the second-largest and largest region +// 0.0 means "that's the only region", 1.0 means "both had the same size!" +// can be interpreted as 1.0 - "confidence". +{ + int n_regions = annotate_regions(img); - - int* area_cnt = new int[area_index-1]; + // calculate the area of each region + int* area_cnt = new int[n_regions]; + for (int i=0;i<n_regions;i++) area_cnt[i]=0; int total_area_cnt=0; - for (int i=0;i<area_index-1;i++) area_cnt[i]=0; - for (int row = 0; row<thres.rows; row++) + for (int row=0; row<img.rows; row++) { - uchar* data=thres.ptr<uchar>(row); + uchar* data=img.ptr<uchar>(row); - for (int col=0; col<thres.cols;col++) + for (int col=0; col<img.cols;col++) { if (*data) { @@ -216,30 +202,11 @@ int main(int argc, char* argv[]) } - /* - // Das ist nur zum schönsein. man wird einfach den größten area_cnt nehmen wollen und den rest nullen. - for (int row = 0; row<thres.rows; row++) - { - uchar* data=thres.ptr<uchar>(row); - - for (int col=0; col<thres.cols;col++) - { - if (*data) - { - long long tmp = (long long )30000*(long)area_cnt[*data-1]/(long)total_area_cnt + 64; - if (tmp>200) tmp=255; - *data=tmp; - } - - data++; - } - } - */ // finde die größte und zweitgrößte fläche int maxi=0, maxa=area_cnt[0], maxi2=-1; - for (int i=1;i<area_index-1;i++) + for (int i=1;i<n_regions;i++) { if (area_cnt[i]>maxa) { @@ -251,11 +218,11 @@ int main(int argc, char* argv[]) // lösche alle bis auf die größte fläche - for (int row = 0; row<thres.rows; row++) + for (int row = 0; row<img.rows; row++) { - uchar* data=thres.ptr<uchar>(row); + uchar* data=img.ptr<uchar>(row); - for (int col=0; col<thres.cols;col++) + for (int col=0; col<img.cols;col++) { if (*data) { @@ -266,6 +233,67 @@ int main(int argc, char* argv[]) } + if (size) *size=area_cnt[maxi]; + + if (maxi2==-1) return 0; + else return (double)area_cnt[maxi2]/(double)area_cnt[maxi]; +} + +#define AREA_HISTORY 10 +int alertcnt=21; +int main(int argc, char* argv[]) +{ + if (argc!=2) {printf("usage: %s videofile\n",argv[0]); exit(1);} + VideoCapture capture(argv[1]); + + if (!capture.isOpened()) + { + cout << "couldn't open file" << endl; + exit(1); + } + + Mat erode_kernel=circle_mat(10); + + + Mat frame; + capture >> frame; + + + + + + Mat thres(frame.rows, frame.cols, CV_8UC1); + Mat tmp(frame.rows, frame.cols, CV_8UC1); + int** contour_map; + contour_map=new int*[frame.cols]; + for (int i=0;i<frame.cols;i++) + contour_map[i]=new int[frame.rows]; + + int area_history[AREA_HISTORY]; + for (int i=0;i<AREA_HISTORY;i++) area_history[i]=1; + int area_history_ptr=0; + int area_history_sum=AREA_HISTORY; + cout << endl<<endl<<endl; + int frameno=0; + while (1) + { + capture >> frame; + + if (frameno<190) + { + frameno++; + continue; + } + + cvtColor(frame, tmp, CV_RGB2GRAY); + threshold(tmp, thres, 132, 255, THRESH_BINARY); + dilate(thres,tmp,Mat()); + erode(tmp,thres,Mat()); + erode(thres,tmp,Mat()); + dilate(tmp,thres,Mat()); + + int area_abs; + double area_ratio = only_retain_largest_region(thres, &area_abs); dilate(thres, tmp, erode_kernel); @@ -273,9 +301,8 @@ int main(int argc, char* argv[]) - Mat thres_tmp, thres_tmp_; - thres.copyTo(thres_tmp); - //thres_tmp=thres_tmp_.rowRange(0, 0.6*thres_tmp_.rows ); + Mat thres_tmp; + thres.copyTo(thres_tmp); // this is needed because findContours destroys its input. vector<vector<Point> > contours; vector<Vec4i> hierarchy; @@ -521,21 +548,21 @@ int main(int argc, char* argv[]) area_history_sum-=area_history[area_history_ptr]; - area_history[area_history_ptr]=area_cnt[maxi]; - area_history_sum+=area_cnt[maxi]; + area_history[area_history_ptr]=area_abs; + area_history_sum+=area_abs; area_history_ptr=(area_history_ptr+1)%AREA_HISTORY; int prev_area=area_history_sum/AREA_HISTORY; - cout << "\r\e[2A area = "<<area_cnt[maxi]<<", \tvize = "<<((maxi2!=-1)?area_cnt[maxi2]:-1)<<", \tratio="<< ((maxi2!=-1)?(area_cnt[maxi]/area_cnt[maxi2]):-1 )<<" \n" << - "prev area = "<<prev_area<<",\tchange="<< (100*area_cnt[maxi]/prev_area -100) <<"%\n"<<flush; + cout << "\r\e[2A area = "<<area_abs<<",\tratio="<< area_ratio <<" \n" << + "prev area = "<<prev_area<<",\tchange="<< (100*area_abs/prev_area -100) <<"%\n"<<flush; - if (maxi!=-1 && maxi2!=-1 && (area_cnt[maxi]/area_cnt[maxi2]) < 10) + if (area_ratio>0.1) { cout << "\nALERT: possibly split road!\n\n\n" << flush; alertcnt=0; } - if (abs(100*area_cnt[maxi]/prev_area -100) >=10) + if (abs(100*area_abs/prev_area -100) >=10) { cout << "\nALERT: too fast road area change!\n\n\n" << flush; alertcnt=0; diff --git a/mariokart01.cpp b/mariokart01.cpp index 955bbe7..3e4d98b 100644 --- a/mariokart01.cpp +++ b/mariokart01.cpp @@ -697,8 +697,7 @@ try { joystick.reset(); getchar(); joystick.reset(); -joystick.press_a(true); -getchar(); + #ifdef LINUX XorgGrabber capture("glN64"); #endif |