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gstreamer/subprojects/gst-plugins-bad/ext/opencv/MotionCells.cpp

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/*
* GStreamer
* Copyright (C) 2011 Robert Jobbagy <jobbagy.robert@gmail.com>
* Copyright (C) 2011 - 2018 Nicola Murino <nicola.murino@gmail.com>
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation
* the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
* DEALINGS IN THE SOFTWARE.
*
* Alternatively, the contents of this file may be used under the
* GNU Lesser General Public License Version 2.1 (the "LGPL"), in
* which case the following provisions apply instead of the ones
* mentioned above:
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Library General Public
* License as published by the Free Software Foundation; either
* version 2 of the License, or (at your option) any later version.
*
* This library 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
* Library General Public License for more details.
*
* You should have received a copy of the GNU Library General Public
* License along with this library; if not, write to the
* Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include <errno.h>
#include "MotionCells.h"
#include <opencv2/imgproc.hpp>
MotionCells::MotionCells ()
{
m_framecnt = 0;
m_motioncells_idx_count = 0;
m_motioncellsidxcstr = NULL;
m_saveInDatafile = false;
mc_savefile = NULL;
m_initdatafilefailed = new char[BUSMSGLEN];
m_savedatafilefailed = new char[BUSMSGLEN];
m_initerrorcode = 0;
m_saveerrorcode = 0;
m_alpha = 0.5;
m_beta = 0.5;
m_useAlpha = false;
m_isVisible = false;
m_pCells = NULL;
m_gridx = 0;
m_gridy = 0;
m_cellwidth = 0;
m_cellheight = 0;
m_sensitivity = 0;
m_changed_datafile = false;
memset (&m_header, 0, sizeof (MotionCellHeader));
m_header.headersize = GINT32_TO_BE (MC_HEADER);
m_header.type = GINT32_TO_BE (MC_TYPE);
m_header.version = GINT32_TO_BE (MC_VERSION);
m_header.itemsize = 0;
m_header.gridx = 0;
m_header.gridy = 0;
m_header.starttime = 0;
}
MotionCells::~MotionCells ()
{
if (mc_savefile) {
fclose (mc_savefile);
mc_savefile = NULL;
}
delete[]m_initdatafilefailed;
delete[]m_savedatafilefailed;
if (m_motioncellsidxcstr)
delete[]m_motioncellsidxcstr;
m_pcurFrame.release ();
m_pprevFrame.release ();
transparencyimg.release ();
m_pdifferenceImage.release ();
m_pbwImage.release ();
}
int
MotionCells::performDetectionMotionCells (cv::Mat p_frame,
double p_sensitivity, double p_framerate, int p_gridx, int p_gridy,
gint64 timestamp_millisec, bool p_isVisible, bool p_useAlpha,
int motionmaskcoord_count, motionmaskcoordrect * motionmaskcoords,
int motionmaskcells_count, motioncellidx * motionmaskcellsidx,
cellscolor motioncellscolor, int motioncells_count,
motioncellidx * motioncellsidx, gint64 starttime, char *p_datafile,
bool p_changed_datafile, int p_thickness)
{
int sumframecnt = 0;
int ret = 0;
cv::Size frameSize;
p_framerate >= 1 ? p_framerate <= 5 ? sumframecnt = 1
: p_framerate <= 10 ? sumframecnt = 2
: p_framerate <= 15 ? sumframecnt = 3
: p_framerate <= 20 ? sumframecnt = 4
: p_framerate <= 25 ? sumframecnt = 5
: p_framerate <= 30 ? sumframecnt = 6 : sumframecnt = 0 : sumframecnt = 0;
m_framecnt++;
m_changed_datafile = p_changed_datafile;
if (m_framecnt >= sumframecnt) {
m_useAlpha = p_useAlpha;
m_gridx = p_gridx;
m_gridy = p_gridy;
if (m_changed_datafile) {
ret = initDataFile (p_datafile, starttime);
if (ret != 0)
return ret;
}
frameSize = p_frame.size ();
frameSize.width /= 2;
frameSize.height /= 2;
setMotionCells (frameSize.width, frameSize.height);
m_sensitivity = 1 - p_sensitivity;
m_isVisible = p_isVisible;
m_pcurFrame = p_frame.clone ();
cv::Mat m_pcurgreyImage = cv::Mat (frameSize, CV_8UC1);
cv::Mat m_pprevgreyImage = cv::Mat (frameSize, CV_8UC1);
cv::Mat m_pgreyImage = cv::Mat (frameSize, CV_8UC1);
cv::Mat m_pcurDown = cv::Mat (frameSize, m_pcurFrame.type ());
cv::Mat m_pprevDown = cv::Mat (frameSize, m_pprevFrame.type ());
m_pbwImage.create (frameSize, CV_8UC1);
pyrDown (m_pprevFrame, m_pprevDown);
cvtColor (m_pprevDown, m_pprevgreyImage, cv::COLOR_RGB2GRAY);
pyrDown (m_pcurFrame, m_pcurDown);
cvtColor (m_pcurDown, m_pcurgreyImage, cv::COLOR_RGB2GRAY);
m_pdifferenceImage = m_pcurgreyImage.clone ();
//cvSmooth(m_pcurgreyImage, m_pcurgreyImage, CV_GAUSSIAN, 3, 0);//TODO camera noise reduce,something smoothing, and rethink runningavg weights
//Minus the current gray frame from the 8U moving average.
cv::absdiff (m_pprevgreyImage, m_pcurgreyImage, m_pdifferenceImage);
//Convert the image to black and white.
cv::adaptiveThreshold (m_pdifferenceImage, m_pbwImage, 255,
cv::ADAPTIVE_THRESH_GAUSSIAN_C, cv::THRESH_BINARY_INV, 7, 5);
// Dilate and erode to get object blobs
cv::dilate (m_pbwImage, m_pbwImage, cv::Mat (), cv::Point (-1, -1), 2);
cv::erode (m_pbwImage, m_pbwImage, cv::Mat (), cv::Point (-1, -1), 2);
//mask-out the overlay on difference image
if (motionmaskcoord_count > 0)
performMotionMaskCoords (motionmaskcoords, motionmaskcoord_count);
if (motionmaskcells_count > 0)
performMotionMask (motionmaskcellsidx, motionmaskcells_count);
if (getIsNonZero (m_pbwImage)) { //detect Motion
if (m_MotionCells.size () > 0) //it contains previous motioncells what we used when frames dropped
m_MotionCells.clear ();
(motioncells_count > 0) ?
calculateMotionPercentInMotionCells (motioncellsidx,
motioncells_count)
: calculateMotionPercentInMotionCells (motionmaskcellsidx, 0);
transparencyimg = cv::Mat::zeros (p_frame.size (), p_frame.type ());
if (m_motioncellsidxcstr)
delete[]m_motioncellsidxcstr;
m_motioncells_idx_count = m_MotionCells.size () * MSGLEN; //one motion cell idx: (lin idx : col idx,) it's up to 6 character except last motion cell idx
m_motioncellsidxcstr = new char[m_motioncells_idx_count];
char *tmpstr = new char[MSGLEN + 1];
tmpstr[0] = 0;
for (unsigned int i = 0; i < m_MotionCells.size (); i++) {
cv::Point pt1, pt2;
pt1.x = m_MotionCells.at (i).cell_pt1.x * 2;
pt1.y = m_MotionCells.at (i).cell_pt1.y * 2;
pt2.x = m_MotionCells.at (i).cell_pt2.x * 2;
pt2.y = m_MotionCells.at (i).cell_pt2.y * 2;
if (m_useAlpha && m_isVisible) {
cv::rectangle (transparencyimg,
pt1, pt2,
CV_RGB (motioncellscolor.B_channel_value,
motioncellscolor.G_channel_value,
motioncellscolor.R_channel_value), cv::FILLED);
} else if (m_isVisible) {
cv::rectangle (p_frame,
pt1, pt2,
CV_RGB (motioncellscolor.B_channel_value,
motioncellscolor.G_channel_value,
motioncellscolor.R_channel_value), p_thickness);
}
if (i < m_MotionCells.size () - 1) {
snprintf (tmpstr, MSGLEN + 1, "%d:%d,", m_MotionCells.at (i).lineidx,
m_MotionCells.at (i).colidx);
} else {
snprintf (tmpstr, MSGLEN + 1, "%d:%d", m_MotionCells.at (i).lineidx,
m_MotionCells.at (i).colidx);
}
if (i == 0)
strncpy (m_motioncellsidxcstr, tmpstr, m_motioncells_idx_count);
else
strcat (m_motioncellsidxcstr, tmpstr);
}
if (m_MotionCells.size () == 0)
strncpy (m_motioncellsidxcstr, " ", m_motioncells_idx_count);
if (m_useAlpha && m_isVisible) {
if (m_MotionCells.size () > 0)
blendImages (p_frame, transparencyimg, m_alpha, m_beta);
}
delete[]tmpstr;
if (mc_savefile && m_saveInDatafile) {
ret = saveMotionCells (timestamp_millisec);
if (ret != 0)
return ret;
}
} else {
m_motioncells_idx_count = 0;
if (m_MotionCells.size () > 0)
m_MotionCells.clear ();
}
m_pprevFrame = m_pcurFrame.clone ();
m_framecnt = 0;
if (m_pCells) {
for (int i = 0; i < m_gridy; ++i) {
delete[]m_pCells[i];
}
delete[]m_pCells;
}
if (p_framerate <= 5) {
if (m_MotionCells.size () > 0)
m_MotionCells.clear ();
}
} else { //we do frame drop
m_motioncells_idx_count = 0;
ret = -2;
for (unsigned int i = 0; i < m_MotionCells.size (); i++) {
cv::Point pt1, pt2;
pt1.x = m_MotionCells.at (i).cell_pt1.x * 2;
pt1.y = m_MotionCells.at (i).cell_pt1.y * 2;
pt2.x = m_MotionCells.at (i).cell_pt2.x * 2;
pt2.y = m_MotionCells.at (i).cell_pt2.y * 2;
if (m_useAlpha && m_isVisible) {
cv::rectangle (transparencyimg,
pt1,
pt2,
CV_RGB (motioncellscolor.B_channel_value,
motioncellscolor.G_channel_value,
motioncellscolor.R_channel_value), cv::FILLED);
} else if (m_isVisible) {
cv::rectangle (p_frame,
pt1,
pt2,
CV_RGB (motioncellscolor.B_channel_value,
motioncellscolor.G_channel_value,
motioncellscolor.R_channel_value), p_thickness);
}
}
if (m_useAlpha && m_isVisible) {
if (m_MotionCells.size () > 0)
blendImages (p_frame, transparencyimg, m_alpha, m_beta);
}
}
return ret;
}
int
MotionCells::initDataFile (char *p_datafile, gint64 starttime) //p_date is increased with difference between current and previous buffer ts
{
MotionCellData mcd;
if (strncmp (p_datafile, " ", 1)) {
mc_savefile = fopen (p_datafile, "w");
if (mc_savefile == NULL) {
//fprintf(stderr, "%s %d:initDataFile:fopen:%d (%s)\n", __FILE__, __LINE__, errno,
//strerror(errno));
strncpy (m_initdatafilefailed, strerror (errno), BUSMSGLEN - 1);
m_initerrorcode = errno;
return 1;
} else {
m_saveInDatafile = true;
}
} else
mc_savefile = NULL;
//it needs these bytes
m_header.itemsize =
GINT32_TO_BE ((int) ceil (ceil (m_gridx * m_gridy / 8.0) / 4.0) * 4 +
sizeof (mcd.timestamp));
m_header.gridx = GINT32_TO_BE (m_gridx);
m_header.gridy = GINT32_TO_BE (m_gridy);
m_header.starttime = GINT64_TO_BE (starttime);
snprintf (m_header.name, sizeof (m_header.name), "%s %dx%d", MC_VERSIONTEXT,
GINT32_FROM_BE (m_header.gridx), GINT32_FROM_BE (m_header.gridy));
m_changed_datafile = false;
return 0;
}
int
MotionCells::saveMotionCells (gint64 timestamp_millisec)
{
MotionCellData mc_data;
mc_data.timestamp = GINT32_TO_BE (timestamp_millisec);
mc_data.data = NULL;
//There is no datafile
if (mc_savefile == NULL)
return 0;
if (ftello (mc_savefile) == 0) {
//cerr << "Writing out file header"<< m_header.headersize <<":" << sizeof(MotionCellHeader) << " itemsize:"
//<< m_header.itemsize << endl;
if (fwrite (&m_header, sizeof (MotionCellHeader), 1, mc_savefile) != 1) {
//fprintf(stderr, "%s %d:saveMotionCells:fwrite:%d (%s)\n", __FILE__, __LINE__, errno,
//strerror(errno));
strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
m_saveerrorcode = errno;
return -1;
}
}
mc_data.data =
(char *) calloc (1,
GINT32_FROM_BE (m_header.itemsize) - sizeof (mc_data.timestamp));
if (mc_data.data == NULL) {
//fprintf(stderr, "%s %d:saveMotionCells:calloc:%d (%s)\n", __FILE__, __LINE__, errno,
//strerror(errno));
strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
m_saveerrorcode = errno;
return -1;
}
for (unsigned int i = 0; i < m_MotionCells.size (); i++) {
int bitnum =
m_MotionCells.at (i).lineidx * GINT32_FROM_BE (m_header.gridx) +
m_MotionCells.at (i).colidx;
int bytenum = (int) floor (bitnum / 8.0);
int shift = bitnum - bytenum * 8;
mc_data.data[bytenum] = mc_data.data[bytenum] | (1 << shift);
//cerr << "Motion Detected " << "line:" << m_MotionCells.at(i).lineidx << " col:" << m_MotionCells.at(i).colidx;
//cerr << " bitnum " << bitnum << " bytenum " << bytenum << " shift " << shift << " value " << (int)mc_data.data[bytenum] << endl;
}
if (fwrite (&mc_data.timestamp, sizeof (mc_data.timestamp), 1,
mc_savefile) != 1) {
//fprintf(stderr, "%s %d:saveMotionCells:fwrite:%d (%s)\n", __FILE__, __LINE__, errno,
//strerror(errno));
strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
m_saveerrorcode = errno;
return -1;
}
if (fwrite (mc_data.data,
GINT32_FROM_BE (m_header.itemsize) - sizeof (mc_data.timestamp), 1,
mc_savefile) != 1) {
//fprintf(stderr, "%s %d:saveMotionCells:fwrite:%d (%s)\n", __FILE__, __LINE__, errno,
//strerror(errno));
strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
m_saveerrorcode = errno;
return -1;
}
free (mc_data.data);
return 0;
}
double
MotionCells::calculateMotionPercentInCell (int p_row, int p_col,
double *p_cellarea, double *p_motionarea)
{
double cntpixelsnum = 0;
double cntmotionpixelnum = 0;
int ybegin = floor ((double) p_row * m_cellheight);
int yend = floor ((double) (p_row + 1) * m_cellheight);
int xbegin = floor ((double) (p_col) * m_cellwidth);
int xend = floor ((double) (p_col + 1) * m_cellwidth);
int cellw = xend - xbegin;
int cellh = yend - ybegin;
int cellarea = cellw * cellh;
*p_cellarea = cellarea;
int thresholdmotionpixelnum = floor ((double) cellarea * m_sensitivity);
for (int i = ybegin; i < yend; i++) {
for (int j = xbegin; j < xend; j++) {
cntpixelsnum++;
if ((((uchar *) (m_pbwImage.data + m_pbwImage.step[0] * i))[j]) > 0) {
cntmotionpixelnum++;
if (cntmotionpixelnum >= thresholdmotionpixelnum) { //we don't need to calculate anymore
*p_motionarea = cntmotionpixelnum;
return (cntmotionpixelnum / cntpixelsnum);
}
}
int remainingpixelsnum = cellarea - cntpixelsnum;
if ((cntmotionpixelnum + remainingpixelsnum) < thresholdmotionpixelnum) { //moving pixels number will be less than threshold
*p_motionarea = 0;
return 0;
}
}
}
return (cntmotionpixelnum / cntpixelsnum);
}
void
MotionCells::calculateMotionPercentInMotionCells (motioncellidx *
p_motioncellsidx, int p_motioncells_count)
{
if (p_motioncells_count == 0) {
for (int i = 0; i < m_gridy; i++) {
for (int j = 0; j < m_gridx; j++) {
m_pCells[i][j].MotionPercent = calculateMotionPercentInCell (i, j,
&m_pCells[i][j].CellArea, &m_pCells[i][j].MotionArea);
m_pCells[i][j].hasMotion =
m_sensitivity < m_pCells[i][j].MotionPercent ? true : false;
if (m_pCells[i][j].hasMotion) {
MotionCellsIdx mci;
mci.lineidx = i;
mci.colidx = j;
mci.cell_pt1.x = floor ((double) j * m_cellwidth);
mci.cell_pt1.y = floor ((double) i * m_cellheight);
mci.cell_pt2.x = floor ((double) (j + 1) * m_cellwidth);
mci.cell_pt2.y = floor ((double) (i + 1) * m_cellheight);
int w = mci.cell_pt2.x - mci.cell_pt1.x;
int h = mci.cell_pt2.y - mci.cell_pt1.y;
mci.motioncell = cv::Rect (mci.cell_pt1.x, mci.cell_pt1.y, w, h);
m_MotionCells.push_back (mci);
}
}
}
} else {
for (int k = 0; k < p_motioncells_count; ++k) {
int i = p_motioncellsidx[k].lineidx;
int j = p_motioncellsidx[k].columnidx;
m_pCells[i][j].MotionPercent =
calculateMotionPercentInCell (i, j,
&m_pCells[i][j].CellArea, &m_pCells[i][j].MotionArea);
m_pCells[i][j].hasMotion =
m_pCells[i][j].MotionPercent > m_sensitivity ? true : false;
if (m_pCells[i][j].hasMotion) {
MotionCellsIdx mci;
mci.lineidx = p_motioncellsidx[k].lineidx;
mci.colidx = p_motioncellsidx[k].columnidx;
mci.cell_pt1.x = floor ((double) j * m_cellwidth);
mci.cell_pt1.y = floor ((double) i * m_cellheight);
mci.cell_pt2.x = floor ((double) (j + 1) * m_cellwidth);
mci.cell_pt2.y = floor ((double) (i + 1) * m_cellheight);
int w = mci.cell_pt2.x - mci.cell_pt1.x;
int h = mci.cell_pt2.y - mci.cell_pt1.y;
mci.motioncell = cv::Rect (mci.cell_pt1.x, mci.cell_pt1.y, w, h);
m_MotionCells.push_back (mci);
}
}
}
}
void
MotionCells::performMotionMaskCoords (motionmaskcoordrect * p_motionmaskcoords,
int p_motionmaskcoords_count)
{
cv::Point upperleft;
upperleft.x = 0;
upperleft.y = 0;
cv::Point lowerright;
lowerright.x = 0;
lowerright.y = 0;
for (int i = 0; i < p_motionmaskcoords_count; i++) {
upperleft.x = p_motionmaskcoords[i].upper_left_x;
upperleft.y = p_motionmaskcoords[i].upper_left_y;
lowerright.x = p_motionmaskcoords[i].lower_right_x;
lowerright.y = p_motionmaskcoords[i].lower_right_y;
cv::rectangle (m_pbwImage, upperleft, lowerright, CV_RGB (0, 0, 0),
cv::FILLED);
}
}
void
MotionCells::performMotionMask (motioncellidx * p_motionmaskcellsidx,
int p_motionmaskcells_count)
{
for (int k = 0; k < p_motionmaskcells_count; k++) {
int beginy = p_motionmaskcellsidx[k].lineidx * m_cellheight;
int beginx = p_motionmaskcellsidx[k].columnidx * m_cellwidth;
int endx =
(double) p_motionmaskcellsidx[k].columnidx * m_cellwidth + m_cellwidth;
int endy =
(double) p_motionmaskcellsidx[k].lineidx * m_cellheight + m_cellheight;
for (int i = beginy; i < endy; i++)
for (int j = beginx; j < endx; j++) {
((uchar *) (m_pbwImage.data + m_pbwImage.step[0] * i))[j] = 0;
}
}
}
///BGR if we use only OpenCV
//RGB if we use gst+OpenCV
void
MotionCells::blendImages (cv::Mat p_actFrame, cv::Mat p_cellsFrame,
float p_alpha, float p_beta)
{
int height = p_actFrame.size ().height;
int width = p_actFrame.size ().width;
int step = p_actFrame.step[0] / sizeof (uchar);
int channels = p_actFrame.channels ();
int cellstep = p_cellsFrame.step[0] / sizeof (uchar);
uchar *curImageData = (uchar *) p_actFrame.data;
uchar *cellImageData = (uchar *) p_cellsFrame.data;
for (int i = 0; i < height; i++)
for (int j = 0; j < width; j++)
for (int k = 0; k < channels; k++)
if (cellImageData[i * cellstep + j * channels + k] > 0) {
curImageData[i * step + j * channels + k] =
round ((double) curImageData[i * step + j * channels +
k] * p_alpha + ((double) cellImageData[i * cellstep +
j * channels + k] * p_beta));
}
}
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