detect_window.c

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/*
 * Copyright (C) 2015
 *
 * This file is part of Paparazzi.
 *
 * Paparazzi 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, or (at your option)
 * any later version.
 *
 * Paparazzi 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 paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 *
 */
 
#define RES 100
#define N_WINDOW_SIZES 1
 
#include "cv.h"
#include "detect_window.h"
#include <stdio.h>
 
#ifndef DETECT_WINDOW_FPS
#define DETECT_WINDOW_FPS 0       
#endif
PRINT_CONFIG_VAR(DETECT_WINDOW_FPS)
 
void detect_window_init(void)
{
#ifdef DETECT_WINDOW_CAMERA
  cv_add_to_device(&DETECT_WINDOW_CAMERA, detect_window, DETECT_WINDOW_FPS, 0);
#else
#warning "DETECT_WINDOW_CAMERA not defined, CV callback not added to device"
#endif
}
 
struct image_t *detect_window(struct image_t *img, uint8_t camera_id)
{
 
  uint16_t coordinate[2];
  coordinate[0] = 0; coordinate[1] = 0;
  uint16_t response = 0;
  uint32_t integral_image[img->w * img->h];
  struct image_t gray;
  image_create(&gray, img->w, img->h, IMAGE_GRAYSCALE);
  image_to_grayscale(img, &gray);
 
  response = detect_window_sizes((uint8_t *)gray.buf, (uint32_t)img->w, (uint32_t)img->h, coordinate, integral_image,
                                 MODE_BRIGHT);
  printf("Coordinate: %d, %d\n", coordinate[0], coordinate[1]);
  printf("Response = %d\n", response);
 
  image_free(&gray);
  return NULL; // No new image was created
}
 
 
uint16_t detect_window_sizes(uint8_t *in, uint32_t image_width, uint32_t image_height, uint16_t *coordinate,
                             uint32_t *integral_image, uint8_t MODE)
{
  // whether to calculate the integral image (only do once):
  uint8_t calculate_integral_image = 1;
  uint16_t sizes[N_WINDOW_SIZES];
  uint16_t best_response[N_WINDOW_SIZES];
  uint16_t best_index = 0;
  uint16_t best_xc = 0;
  uint16_t best_yc = 0;
  uint16_t s = 0;
  sizes[0] = 100; //sizes[1] = 40; sizes[2] = 50; sizes[3] = 60;
 
  for (s = 0; s < N_WINDOW_SIZES; s++) {
 
    // coordinate will contain the coordinate, best_response will be the best match * 100
    calculate_integral_image = (s == 0); // only calculate the integal image for the first window size
    best_response[s] = detect_window_one_size(in, image_width, image_height, coordinate, &sizes[s],
                       calculate_integral_image, integral_image, MODE);
    if (s == 0 || best_response[s] < best_response[best_index]) {
      best_index = s;
      best_xc = coordinate[0];
      best_yc = coordinate[1];
    }
  }
 
  coordinate[0] = best_xc;
  coordinate[1] = best_yc;
  return best_response[best_index];
}
 
uint16_t detect_window_one_size(uint8_t *in, uint32_t image_width, uint32_t image_height, uint16_t *coordinate,
                                uint16_t *size, uint8_t calculate_integral_image, uint32_t *integral_image, uint8_t MODE)
{
  /*
   * Steps:
   * (0) filter out the bad pixels (i.e., those lower than 4) and replace them with a disparity of 6.
   * (1) get integral image (if calculate_integral_image == 1)
   * (2) determine responses per location while determining the best-matching location (put it in coordinate)
   */
 
  // output of the function:
  uint16_t min_response = RES;
 
  // parameters:
  //uint16_t image_border = 10;
  uint16_t window_size, border_size, feature_size, px_whole, px_inner, px_border, px_outer;
  uint16_t relative_border = 15; // border in percentage of window size
 
  // declaration other vars:
  uint16_t x, y;
  uint32_t response;
 
  // (1) get integral image (if calculate_integral_image == 1)
 
  if (calculate_integral_image) {
    get_integral_image(in, image_width, image_height, integral_image);
  }
 
  // window size is without border, feature size is with border:
  window_size = (*size);
  border_size = (relative_border * window_size) / 100; // percentage
  feature_size = window_size + 2 * border_size;
  px_inner = feature_size - 2 * border_size;
  px_inner = px_inner * px_inner;
  px_whole = feature_size * feature_size;
  px_border = px_whole - px_inner;
  px_outer = border_size * window_size;
 
  // (2) determine a response map for that size
  for (x = 0; x < image_width - feature_size; x++) {
    for (y = 0; y < image_height - feature_size; y++) {
      response = get_window_response(x, y, feature_size, border_size, integral_image, image_width, image_height, px_inner,
                                     px_border, MODE);
 
      if (response < RES) {
        if (MODE == MODE_DARK) {
          // the inside is further away than the outside, perform the border test:
          response = get_border_response(x, y, feature_size, window_size, border_size, integral_image, image_width, image_height,
                                         px_inner, px_outer);
        }
 
        if (response < min_response) {
          coordinate[0] = x;
          coordinate[1] = y;
          min_response = response;
        }
      } else {
        //in[x+y*image_width] = 255;
 
      }
    }
  }
 
  // the coordinate is at the top left corner of the feature,
  // the center of the window is then at:
  coordinate[0] += feature_size / 2;
  coordinate[1] += feature_size / 2;
 
  return min_response;
}
 
// this function can help if the window is not visible anymore:
uint16_t detect_escape(uint8_t *in __attribute__((unused)), uint32_t image_width, uint32_t image_height, uint16_t *escape_coordinate,
                       uint32_t *integral_image, uint8_t n_cells)
{
  uint16_t c, r, min_c, min_r;
  uint16_t cell_width, cell_height;
  uint32_t min_avg = 10000;
  uint32_t avg;
  uint16_t border = 10;
  cell_width = (image_width - 2 * border) / n_cells;
  cell_height = (image_height - 2 * border) / n_cells;
  // Get the average disparities of all cells in a grid:
  for (c = 0; c < n_cells; c++) {
    for (r = 0; r < n_cells; r++) {
      avg = get_avg_disparity(c * cell_width + border, r * cell_height + border, (c + 1) * cell_width + border,
                              (r + 1) * cell_height + border, integral_image, image_width, image_height);
      if (avg < min_avg) {
        min_avg = avg;
        min_c = c;
        min_r = r;
      }
    }
  }
  // return coordinates for the best option:
  if (min_avg == 10000) {
    escape_coordinate[0] = image_width / 2;
    escape_coordinate[1] = image_height / 2;
  } else {
    escape_coordinate[0] = min_c * cell_width + border + cell_width / 2;
    escape_coordinate[1] = min_r * cell_height + border + cell_height / 2;
  }
 
  return min_avg;
}
 
void get_integral_image(uint8_t *in, uint32_t image_width, uint32_t image_height, uint32_t *integral_image)
{
  uint16_t x, y;
  for (x = 0; x < image_width; x++) {
    for (y = 0; y < image_height; y++) {
      if (x >= 1 && y >= 1) {
        integral_image[x + y * image_width] = (uint32_t) in[x + y * image_width] + integral_image[x - 1 + y * image_width] +
                                              integral_image[x + (y - 1) * image_width] - integral_image[x - 1 + (y - 1) * image_width];
      } else if (x >= 1) {
        integral_image[x + y * image_width] = (uint32_t) in[x + y * image_width] + integral_image[x - 1 + y * image_width];
      } else if (y >= 1) {
        integral_image[x + y * image_width] = (uint32_t) in[x + y * image_width] + integral_image[x + (y - 1) * image_width];
      } else {
        integral_image[x + y * image_width] = (uint32_t) in[x + y * image_width];
      }
    }
  }
}
 
uint32_t get_sum_disparities(uint16_t min_x, uint16_t min_y, uint16_t max_x, uint16_t max_y, uint32_t *integral_image,
                             uint32_t image_width, uint32_t image_height)
{
  uint32_t sum;
  // If variables are not unsigned, then check for negative inputs
  // if (min_x + min_y * image_width < 0) { return 0; }
  if (max_x + max_y * image_width >= image_width * image_height) { return 0; }
  sum = integral_image[min_x + min_y * image_width] + integral_image[max_x + max_y * image_width] -
        integral_image[max_x + min_y * image_width] - integral_image[min_x + max_y * image_width];
  return sum;
}
 
uint32_t get_avg_disparity(uint16_t min_x, uint16_t min_y, uint16_t max_x, uint16_t max_y, uint32_t *integral_image,
                           uint32_t image_width, uint32_t image_height __attribute__((unused)))
{
  uint16_t w, h;
  uint32_t sum, avg, n_pix;
 
  // width and height of the window
  w = max_x - min_x + 1;
  h = max_y - min_y + 1;
  n_pix = w * h;
  // sum over the area:
  sum = integral_image[min_x + min_y * image_width] + integral_image[max_x + max_y * image_width] -
        integral_image[max_x + min_y * image_width] - integral_image[min_x + max_y * image_width];
  // take the average, scaled by RES:
  avg = (sum * RES) / n_pix;
  return avg;
}
 
 
uint16_t get_window_response(uint16_t x, uint16_t y, uint16_t feature_size, uint16_t border, uint32_t *integral_image,
                             uint16_t image_width, uint16_t image_height, uint16_t px_inner, uint16_t px_border, uint8_t MODE)
{
  uint32_t whole_area, inner_area, resp;
 
  whole_area = get_sum_disparities(x, y, x + feature_size, y + feature_size, integral_image, image_width, image_height);
 
  inner_area = get_sum_disparities(x + border, y + border, x + feature_size - border, y + feature_size - border,
                                   integral_image, image_width, image_height);
 
  if (MODE == MODE_DARK) {
    if (whole_area - inner_area > 0) {
      resp = (inner_area * RES * px_border) / ((whole_area - inner_area) * px_inner);
    } else {
      resp = RES;
    }
  } else { //if(MODE == MODE_BRIGHT)
    if (inner_area > 0 && (inner_area / px_inner) > 0) {
      resp = (RES * (whole_area - inner_area) / px_border) / (inner_area / px_inner);
      //printf("%u: %u %u %u %u\n",resp,(RES*RES*(whole_area - inner_area)/px_border), (inner_area/px_inner), px_inner, px_border);
    } else {
      resp = RES;
    }
  }
 
 
  return resp;
}
 
uint16_t get_border_response(uint16_t x, uint16_t y, uint16_t feature_size, uint16_t window_size, uint16_t border,
                             uint32_t *integral_image, uint16_t image_width, uint16_t image_height, uint16_t px_inner, uint16_t px_outer)
{
  uint32_t inner_area, avg_inner, left_area, right_area, up_area, down_area, darkest, avg_dark, resp;
  // inner area
  inner_area = get_sum_disparities(x + border, y + border, x + feature_size - border, y + feature_size - border,
                                   integral_image, image_width, image_height);
  avg_inner = (RES * inner_area) / px_inner;
  // outer areas:
  left_area = get_sum_disparities(x, y + border, x + border, y + border + window_size, integral_image, image_width,
                                  image_height);
  right_area = get_sum_disparities(x + border + window_size, y + border, x + 2 * border + window_size,
                                   y + border + window_size, integral_image, image_width, image_height);
  up_area = get_sum_disparities(x + border, y, x + border + window_size, y + border, integral_image, image_width,
                                image_height);
  down_area = get_sum_disparities(x + border, y + border + window_size, x + border + window_size,
                                  y + 2 * border + window_size, integral_image, image_width, image_height);
  // darkest outer area:
  darkest = (left_area < right_area) ? left_area : right_area;
  darkest = (darkest < up_area) ? darkest : up_area;
  darkest = (darkest < down_area) ? darkest : down_area;
  avg_dark = RES * darkest / px_outer;
  if (avg_dark < avg_inner) {
    resp = RES;
  } else {
    if (avg_dark == 0) {
      resp = RES;
    } else {
      resp = RES * avg_inner / avg_dark;
    }
  }
 
  return resp;
}
 
void filter_bad_pixels(uint8_t *in, uint32_t image_width, uint32_t image_height)
{
  uint16_t x, y;
  for (x = 0; x < image_width; x++) {
    for (y = 0; y < image_height; y++) {
      if (in[x + y * image_width] < 4) {
        in[x + y * image_width] = 6;
      }
    }
  }
}
 
 
void transform_illuminance_image(uint8_t *in, uint8_t *out, uint32_t image_width, uint32_t image_height, uint8_t n_bits,
                                 uint8_t bright_win)
{
  uint16_t x, y;
  for (x = 0; x < image_width; x++) {
    for (y = 0; y < image_height; y++) {
      // we put the right image entirely in the left image instead of in the even rows:
      if (!bright_win) {
        out[x + y * image_width] = in[2 * (x + y * image_width)] >> n_bits;
      } else {
        out[x + y * image_width] = (255 - in[2 * (x + y * image_width)]) >> n_bits;
      }
    }
  }
}