ProcessImage.h
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39 #include "main.hh"
40 #include "cmdline.h"
41 #include "LaneDetector.hh"
42 #include "main.hh"
43 #include "cmdline.h"
44 #include "LaneDetector.hh"
45 #include <stdio.h>
46 #include <fstream>
47 #include <sstream>
48 #include <iostream>
49 #include <iomanip>
50 #include <ctime>
51 
52 // includes do opencv antigo
53 #include <cv.h>
54 #include <highgui.h>
55 // #include <opencv2/imgproc/imgproc.hpp>
56 // #include <opencv2/highgui/highgui.hpp>
57 // Useful message macro
58 #define MSG(fmt, ...) \
59 (fprintf(stdout, "%s:%d msg " fmt "\n", __FILE__, __LINE__, ##__VA_ARGS__) ? 0 : 0)
60 
61 // Useful error macro
62 #define ERROR(fmt, ...) \
63 (fprintf(stderr, "%s:%d error " fmt "\n", __FILE__, __LINE__, ##__VA_ARGS__) ? -1 : -1)
64 // int DEBUG_LINES = 1;
65 
66 using namespace LaneDetector;
67 using namespace std;
68 using namespace cv;
69 
70 class Procecess
71 {
72  private:
73  // parse the command line paramters
74  gengetopt_args_info options;
75  // read the camera configurations
76  CameraInfo cameraInfo;
77  // read the configurations
78  LaneDetectorConf lanesConf, stoplinesConf;
79 
80 
81  public:
82  // Load the configuration files to global variables
83  int Load_config(int argc, char** argv)
84  {
85  // parse the command line paramters
86 // gengetopt_args_info options_local;
87  if (cmdline_parser (argc, argv, &options) < 0)
88  return -1;
89 
90  // read the camera configurations
91  mcvInitCameraInfo(options.camera_conf_arg,&cameraInfo);
92  MSG("Loaded camera file");
93 
94  // read the configurations
95  if (!options.no_lanes_flag)
96  {
97  mcvInitLaneDetectorConf(options.lanes_conf_arg,&lanesConf);
98  MSG("Loaded lanes config file");
99  }
100 
101  if (!options.no_stoplines_flag)
102  {
103  mcvInitLaneDetectorConf(options.stoplines_conf_arg, &stoplinesConf);
104  MSG("Loaded stop lines config file");
105  }
106 
107  // set debug to true
108  if (options.debug_flag)
109  DEBUG_LINES = 1;
110 
111 
112  return 1;
113  }
114 
115 
124  void ProcessImage(Mat &raw_mat, ofstream* outputFile,int index, clock_t *elapsedTime)
125  {
126 
127 
128  Mat eq_img = raw_mat;
129  cvtColor(eq_img, eq_img, CV_BGR2GRAY);
130 
131  if ( DEBUG_LINES == 1)
132  imshow("grey_img",eq_img);
133 
134 // // // // // // Fazer o pré-processamento da imagem em C++
135  /* Equalização de histograma */
136  equalizeHist( eq_img , eq_img );
137  if ( DEBUG_LINES == 1)
138  imshow("eq_img",eq_img);
139 
140  // Since MORPH_X : 2,3,4,5 and 6
141  int operation = 2;
142 
143  Mat element = getStructuringElement( 0, Size( 2*0 + 1, 2*0+1 ), Point( 0, 0 ) );
144 // morphologyEx(eq_img,eq_img,operation,element);
145 
146 
147  /* TopHat */
148  if ( DEBUG_LINES == 1)
149  imshow("top_hat",eq_img);
150 
151 
152  // convert cv::Mat to cvMat
153  Mat mat = eq_img;
154  CvMat clrImage = mat;
155  CvMat cv_raw_mat = raw_mat;
156  // convert to mat and get first channel
157  CvMat *channelImage;
158 // cout<<"------> Debug at in "<<__FILE__<<" at line "<<__LINE__<<endl;
159 
160  // convert to single channel
161 // CvMat* tchannelImage = cvCreateMat(raw_mat.rows, raw_mat.cols, INT_MAT_TYPE);
162 // cvSplit(raw_mat, tchannelImage, NULL, NULL, NULL);
163 // cout<<"------> Debug at in "<<__FILE__<<" at line "<<__LINE__<<endl;
164 
165  // convert to float
166  channelImage = cvCreateMat(raw_mat.rows, raw_mat.cols, FLOAT_MAT_TYPE);
167  cvConvertScale(&clrImage, channelImage, 1./255);
168 // cout<<"------> Debug at in "<<__FILE__<<" at line "<<__LINE__<<endl;
169 
170  // destroy
171 // cvReleaseMat(&tchannelImage);
172 
173 // cout<<"Enter - ProcessImage"<<endl;
174  // detect lanes
175  vector<FLOAT> lineScores, splineScores;
176  vector<Line> lanes;
177  vector<Spline> splines;
178  clock_t startTime = clock();
179 
180  mcvGetLanes(channelImage, &cv_raw_mat, &lanes, &lineScores, &splines, &splineScores,&cameraInfo, &lanesConf, NULL);
181 // cout<<"-> Saiu do mcvGetLanes"<<endl;
182 
183  clock_t endTime = clock();
184  MSG("Found %d lanes in %f msec", splines.size(), static_cast<double>(endTime - startTime) / CLOCKS_PER_SEC * 1000.);
185 
186 
187  // update elapsed time
188  if (elapsedTime)
189  (*elapsedTime) += endTime - startTime;
190 
191 // cout<<"------> Debug at in "<<__FILE__<<" at line "<<__LINE__<<endl;
192  // save results?
193  if (options.save_lanes_flag && outputFile && outputFile->is_open())
194  {
195  (*outputFile) << "frame#" << setw(8) << setfill('0') << index <<
196  " has " << splines.size() << " splines" << endl;
197  for (uint i=0; i<splines.size(); ++i)
198  {
199  (*outputFile) << "\tspline#" << i+1 << " has " <<splines[i].degree+1 << " points and score " << splineScores[i] << endl;
200  for (int j=0; j<=splines[i].degree; ++j)
201  (*outputFile) << "\t\t" <<splines[i].points[j].x << ", " <<splines[i].points[j].y << endl;
202  }
203  }
204 // cout<<"------> Debug at in "<<__FILE__<<" at line "<<__LINE__<<endl;
205 
206  // show or save
207  if (options.show_flag || options.save_images_flag)
208  {
209 // cout<<"------> Debug at in "<<__FILE__<<" at line "<<__LINE__<<endl;
210  // show detected lanes
211  CvMat *imDisplay = cvCloneMat(&cv_raw_mat);
212 // cout<<"------> Debug at in "<<__FILE__<<" at line "<<__LINE__<<endl;
213  // convert to BGR
214  // cvCvtColor(raw_mat, imDisplay, CV_RGB2BGR);
215  if (lanesConf.ransacLine && !lanesConf.ransacSpline)
216  for(uint i=0; i<lanes.size(); i++)
217  mcvDrawLine(imDisplay, lanes[i], CV_RGB(0,125,0), 3);
218 // cout<<"------> Debug at in "<<__FILE__<<" at line "<<__LINE__<<endl;
219  // print lanes
220  if (lanesConf.ransacSpline)
221  {
222  for(uint i=0; i<splines.size(); i++)
223  {
224  if (splines[i].color == LINE_COLOR_YELLOW)
225  {
226  mcvDrawSpline(imDisplay, splines[i], CV_RGB(255,255,0), 3);
227 
228 
229  }
230  else
231  {
232  mcvDrawSpline(imDisplay, splines[i], CV_RGB(0,255,0), 3);
233 
234 // cout<<"splines.degree--> "<<splines[i].degree<<endl;
235  double x_max=0,y_max=0;
236  double x_min = cameraInfo.imageWidth;
237  double y_min = cameraInfo.imageHeight;
238 
239  for (uint n=0 ; n<4 ; n++)
240  {
241  if (DEBUG_LINES)
242  {
243  cout<<"spline->"<<i<<endl;
244  cout<<"splines.points.x--> "<<splines[i].points[n].x<<endl;
245  cout<<"splines.points.y--> "<<splines[i].points[n].y<<endl;
246  }
247 
248  /* Escolher os pontos extremos, para desenhar o poligono que reprensenta a estrada */
249  if ( (splines[i].points[n].x < x_min) )
250  {
251  x_min = splines[i].points[n].x;
252  y_min = splines[i].points[n].y;
253  }
254 
255  if ( (splines[i].points[n].x > x_max) )
256  {
257  x_max = splines[n].points[i].x;
258  y_max = splines[n].points[i].y;
259  }
260 
261  /* display dos pontos extremos */
262 // if (DEBUG_LINES)
263 // {
264  if (n==3)
265  {
266  cout<<"Image size: "<<cameraInfo.imageHeight<<"x"<<cameraInfo.imageWidth<<endl;
267  cout<<"min point x = ("<<x_min<<" , "<<y_min<<" )"<<endl;
268  cout<<"max point x = ("<<x_max<<" , "<<y_max<<" )"<<endl;
269  cout<<"i=="<<i<<endl;
271  /* Creat a poligom image with the road */
273 // int npts = 6;
274 // int npt[] = { 6 };
275 //
276 // Point Pts_poly[1][npts];
277 // Pts_poly[0][0] = cv::Point( TwoLanes1(0,0) , TwoLanes1(1,0) );
278 // Pts_poly[0][1] = cv::Point( TwoLanes1(2,0) , TwoLanes1(3,0) );
279 // Pts_poly[0][2] = cv::Point( Templ(0) , Templ(1) );
280 // Pts_poly[0][3] = cv::Point( Tempr(0) , Tempr(1) );
281 // Pts_poly[0][4] = cv::Point( TwoLanes1(2,1),TwoLanes1(3,1) );
282 // Pts_poly[0][5] = cv::Point( TwoLanes1(0,1),TwoLanes1(1,1) );
283 //
284 // const Point *ppt[1]={ Pts_poly[0] };
285 
286 // fillPoly( cv_clone, ppt, npt, 1, Scalar( 200, 200, 200 ),8);
288  if ( i==1 ) /* Só desenhar o poligono caso existam mais de uma linha encontrada */
289  {
290  int npts = 4;
291  int npt[] = { 4 };
292 
293  Point Pts_poly[1][npts];
294 
295  for (uint pt = 0; pt<npts ; pt++)
296  Pts_poly[0][0] = Point( splines[0].points[0].x , splines[0].points[0].y ) ;
297 //
298  Mat disp = cv::Mat(imDisplay, true); // to copy the data
299 
300  const Point *ppt[1]={ Pts_poly[0] };
301  fillPoly( disp, ppt, npt, 1, Scalar( 200, 200, 200 ),8);
302  }
303  }
304 // }
305  }
306 
307  }
308  // print numbers?
309  if (options.show_lane_numbers_flag)
310  {
311  char str[256];
312  sprintf(str, "%d", i);
313  mcvDrawText(imDisplay, str,cvPointFrom32f(splines[i].points[splines[i].degree]),1, CV_RGB(0, 0, 255));
314  }
315  }
316  }
317  // show?
318  if (options.show_flag)
319  {
320  // set the wait value
321  int wait = options.step_flag ? 0 : options.wait_arg;
322  // show image with detected lanes
323  SHOW_IMAGE(imDisplay, "Detected Lanes", wait);
324  }
325 
326  // clear
327  cvReleaseMat(&imDisplay);
328  }
329 
330 //
331 
332 
333 
334 // cout<<"------> Debug at in "<<__FILE__<<" at line "<<__LINE__<<endl;
335 // cvReleaseMat(&raw_mat);
336 // cvReleaseMat(&channelImage);
337 // cout<<"------> Debug at in "<<__FILE__<<" at line "<<__LINE__<<endl;
338  }
339 
340 
347  bool ReadLines(const char* filename, vector<string> *lines)
348  {
349  // make sure it's not NULL
350  if (!lines)
351  return false;
352  // resize
353  lines->clear();
354 
355  ifstream file;
356  file.open(filename, ifstream::in);
357  char buf[5000];
358  // read lines and process
359  while (file.getline(buf, 5000))
360  {
361  string str(buf);
362  lines->push_back(str);
363  }
364  // close
365  file.close();
366  return true;
367  }
368 
369 }; //end class0xd6c474
gengetopt_args_info
Definition: cmdline.h:51
LaneDetector::mcvInitCameraInfo
void mcvInitCameraInfo(char *const fileName, CameraInfo *cameraInfo)
Definition: InversePerspectiveMapping.cpp:499
Procecess::options
gengetopt_args_info options
Definition: ProcessImage.h:74
LaneDetector::mcvDrawText
void mcvDrawText(CvMat *image, char *str, CvPoint point, float size, CvScalar color)
Definition: LaneDetector.cpp:5199
uint
unsigned int uint
Definition: ranker.h:38
cmdline_parser
int cmdline_parser(int argc, char *const *argv, struct gengetopt_args_info *args_info)
Definition: cmdline.cpp:443
LaneDetector::mcvDrawLine
void mcvDrawLine(CvMat *image, Line line, CvScalar color, int width)
Definition: LaneDetector.cpp:2691
LaneDetector::mcvGetLanes
void mcvGetLanes(const CvMat *inImage, const CvMat *clrImage, vector< Line > *lanes, vector< FLOAT > *lineScores, vector< Spline > *splines, vector< float > *splineScores, CameraInfo *cameraInfo, LaneDetectorConf *stopLineConf, LineState *state)
Definition: LaneDetector.cpp:1503
LaneDetector::mcvInitLaneDetectorConf
void mcvInitLaneDetectorConf(char *const fileName, LaneDetectorConf *stopLineConf)
Definition: LaneDetector.cpp:2705
LaneDetector::SHOW_IMAGE
void SHOW_IMAGE(const CvMat *pmat, const char str[], int wait)
Definition: mcv.cpp:67
LaneDetector::mcvDrawSpline
void mcvDrawSpline(CvMat *image, Spline spline, CvScalar color, int width)
Definition: LaneDetector.cpp:5142
FLOAT_MAT_TYPE
#define FLOAT_MAT_TYPE
Definition: mcv.hh:21
Procecess::ReadLines
bool ReadLines(const char *filename, vector< string > *lines)
Definition: ProcessImage.h:347
Procecess::stoplinesConf
LaneDetectorConf stoplinesConf
Definition: ProcessImage.h:78
LaneDetector::LaneDetectorConf
Structure to hold lane detector settings.
Definition: LaneDetector.hh:84
MSG
#define MSG(fmt,...)
Definition: ProcessImage.h:58
Procecess::Load_config
int Load_config(int argc, char **argv)
Definition: ProcessImage.h:83
LaneDetector::CameraInfo
Camera Calibration info.
Definition: InversePerspectiveMapping.hh:58
Procecess::cameraInfo
CameraInfo cameraInfo
Definition: ProcessImage.h:76
Procecess::ProcessImage
void ProcessImage(Mat &raw_mat, ofstream *outputFile, int index, clock_t *elapsedTime)
Definition: ProcessImage.h:124

caltech_lanes
Author(s): Ricardo Morais
autogenerated on Mon Mar 2 2015 01:31:31