3 * Copyright (C) 2011 Robert Jobbagy <jobbagy.robert@gmail.com>
4 * Copyright (C) 2011 Nicola Murino <nicola.murino@gmail.com>
6 * Permission is hereby granted, free of charge, to any person obtaining a
7 * copy of this software and associated documentation files (the "Software"),
8 * to deal in the Software without restriction, including without limitation
9 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
10 * and/or sell copies of the Software, and to permit persons to whom the
11 * Software is furnished to do so, subject to the following conditions:
13 * The above copyright notice and this permission notice shall be included in
14 * all copies or substantial portions of the Software.
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
18 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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20 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
21 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
22 * DEALINGS IN THE SOFTWARE.
24 * Alternatively, the contents of this file may be used under the
25 * GNU Lesser General Public License Version 2.1 (the "LGPL"), in
26 * which case the following provisions apply instead of the ones
29 * This library is free software; you can redistribute it and/or
30 * modify it under the terms of the GNU Library General Public
31 * License as published by the Free Software Foundation; either
32 * version 2 of the License, or (at your option) any later version.
34 * This library is distributed in the hope that it will be useful,
35 * but WITHOUT ANY WARRANTY; without even the implied warranty of
36 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
37 * Library General Public License for more details.
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42 * Boston, MA 02110-1301, USA.
45 /* This breaks the build for reasons that aren't entirely clear to me yet */
47 //#ifdef HAVE_CONFIG_H
56 #include "MotionCells.h"
58 MotionCells::MotionCells ()
61 m_motioncells_idx_count = 0;
62 m_motioncellsidxcstr = NULL;
63 m_saveInDatafile = false;
67 transparencyimg = NULL;
68 m_pdifferenceImage = NULL;
70 m_initdatafilefailed = new char[BUSMSGLEN];
71 m_savedatafilefailed = new char[BUSMSGLEN];
81 MotionCells::~MotionCells ()
87 delete[]m_initdatafilefailed;
88 delete[]m_savedatafilefailed;
89 if (m_motioncellsidxcstr)
90 delete[]m_motioncellsidxcstr;
92 cvReleaseImage (&m_pcurFrame);
94 cvReleaseImage (&m_pprevFrame);
96 cvReleaseImage (&transparencyimg);
97 if (m_pdifferenceImage)
98 cvReleaseImage (&m_pdifferenceImage);
100 cvReleaseImage (&m_pbwImage);
104 MotionCells::performDetectionMotionCells (IplImage * p_frame,
105 double p_sensitivity, double p_framerate, int p_gridx, int p_gridy,
106 gint64 timestamp_millisec, bool p_isVisible, bool p_useAlpha,
107 int motionmaskcoord_count, motionmaskcoordrect * motionmaskcoords,
108 int motionmaskcells_count, motioncellidx * motionmaskcellsidx,
109 cellscolor motioncellscolor, int motioncells_count,
110 motioncellidx * motioncellsidx, gint64 starttime, char *p_datafile,
111 bool p_changed_datafile, int p_thickness)
116 p_framerate >= 1 ? p_framerate <= 5 ? sumframecnt = 1
117 : p_framerate <= 10 ? sumframecnt = 2
118 : p_framerate <= 15 ? sumframecnt = 3
119 : p_framerate <= 20 ? sumframecnt = 4
120 : p_framerate <= 25 ? sumframecnt = 5
121 : p_framerate <= 30 ? sumframecnt = 6 : sumframecnt = 0 : sumframecnt = 0;
124 m_changed_datafile = p_changed_datafile;
125 if (m_framecnt >= sumframecnt) {
126 m_useAlpha = p_useAlpha;
129 if (m_changed_datafile) {
130 ret = initDataFile (p_datafile, starttime);
135 m_frameSize = cvGetSize (p_frame);
136 m_frameSize.width /= 2;
137 m_frameSize.height /= 2;
138 setMotionCells (m_frameSize.width, m_frameSize.height);
139 m_sensitivity = 1 - p_sensitivity;
140 m_isVisible = p_isVisible;
141 m_pcurFrame = cvCloneImage (p_frame);
142 IplImage *m_pcurgreyImage = cvCreateImage (m_frameSize, IPL_DEPTH_8U, 1);
143 IplImage *m_pprevgreyImage = cvCreateImage (m_frameSize, IPL_DEPTH_8U, 1);
144 IplImage *m_pgreyImage = cvCreateImage (m_frameSize, IPL_DEPTH_8U, 1);
145 IplImage *m_pcurDown =
146 cvCreateImage (m_frameSize, m_pcurFrame->depth, m_pcurFrame->nChannels);
147 IplImage *m_pprevDown = cvCreateImage (m_frameSize, m_pprevFrame->depth,
148 m_pprevFrame->nChannels);
149 m_pbwImage = cvCreateImage (m_frameSize, IPL_DEPTH_8U, 1);
150 cvPyrDown (m_pprevFrame, m_pprevDown);
151 cvCvtColor (m_pprevDown, m_pprevgreyImage, CV_RGB2GRAY);
152 cvPyrDown (m_pcurFrame, m_pcurDown);
153 cvCvtColor (m_pcurDown, m_pcurgreyImage, CV_RGB2GRAY);
154 m_pdifferenceImage = cvCloneImage (m_pcurgreyImage);
155 //cvSmooth(m_pcurgreyImage, m_pcurgreyImage, CV_GAUSSIAN, 3, 0);//TODO camera noise reduce,something smoothing, and rethink runningavg weights
157 //Minus the current gray frame from the 8U moving average.
158 cvAbsDiff (m_pprevgreyImage, m_pcurgreyImage, m_pdifferenceImage);
160 //Convert the image to black and white.
161 cvAdaptiveThreshold (m_pdifferenceImage, m_pbwImage, 255,
162 CV_ADAPTIVE_THRESH_GAUSSIAN_C, CV_THRESH_BINARY_INV, 7);
164 // Dilate and erode to get object blobs
165 cvDilate (m_pbwImage, m_pbwImage, NULL, 2);
166 cvErode (m_pbwImage, m_pbwImage, NULL, 2);
168 //mask-out the overlay on difference image
169 if (motionmaskcoord_count > 0)
170 performMotionMaskCoords (motionmaskcoords, motionmaskcoord_count);
171 if (motionmaskcells_count > 0)
172 performMotionMask (motionmaskcellsidx, motionmaskcells_count);
173 if (getIsNonZero (m_pbwImage)) { //detect Motion
174 if (m_MotionCells.size () > 0) //it contains previous motioncells what we used when frames dropped
175 m_MotionCells.clear ();
177 cvReleaseImage (&transparencyimg);
178 (motioncells_count > 0) ?
179 calculateMotionPercentInMotionCells (motioncellsidx,
181 : calculateMotionPercentInMotionCells (motionmaskcellsidx, 0);
183 transparencyimg = cvCreateImage (cvGetSize (p_frame), p_frame->depth, 3);
184 cvSetZero (transparencyimg);
185 if (m_motioncellsidxcstr)
186 delete[]m_motioncellsidxcstr;
187 m_motioncells_idx_count = m_MotionCells.size () * MSGLEN; //one motion cell idx: (lin idx : col idx,) it's 4 character except last motion cell idx
188 m_motioncellsidxcstr = new char[m_motioncells_idx_count];
189 char *tmpstr = new char[MSGLEN];
190 for (int i = 0; i < MSGLEN; i++)
192 for (unsigned int i = 0; i < m_MotionCells.size (); i++) {
194 pt1.x = m_MotionCells.at (i).cell_pt1.x * 2;
195 pt1.y = m_MotionCells.at (i).cell_pt1.y * 2;
196 pt2.x = m_MotionCells.at (i).cell_pt2.x * 2;
197 pt2.y = m_MotionCells.at (i).cell_pt2.y * 2;
198 if (m_useAlpha && m_isVisible) {
199 cvRectangle (transparencyimg,
202 CV_RGB (motioncellscolor.B_channel_value,
203 motioncellscolor.G_channel_value,
204 motioncellscolor.R_channel_value), CV_FILLED);
205 } else if (m_isVisible) {
206 cvRectangle (p_frame,
209 CV_RGB (motioncellscolor.B_channel_value,
210 motioncellscolor.G_channel_value,
211 motioncellscolor.R_channel_value), p_thickness);
214 if (i < m_MotionCells.size () - 1) {
215 snprintf (tmpstr, MSGLEN, "%d:%d,", m_MotionCells.at (i).lineidx,
216 m_MotionCells.at (i).colidx);
218 snprintf (tmpstr, MSGLEN, "%d:%d", m_MotionCells.at (i).lineidx,
219 m_MotionCells.at (i).colidx);
222 strncpy (m_motioncellsidxcstr, tmpstr, m_motioncells_idx_count);
224 strcat (m_motioncellsidxcstr, tmpstr);
226 if (m_MotionCells.size () == 0)
227 strncpy (m_motioncellsidxcstr, " ", m_motioncells_idx_count);
229 if (m_useAlpha && m_isVisible) {
230 if (m_MotionCells.size () > 0)
231 blendImages (p_frame, transparencyimg, m_alpha, m_beta);
236 if (mc_savefile && m_saveInDatafile) {
237 ret = saveMotionCells (timestamp_millisec);
242 m_motioncells_idx_count = 0;
243 if (m_MotionCells.size () > 0)
244 m_MotionCells.clear ();
246 cvReleaseImage (&transparencyimg);
250 cvReleaseImage (&m_pprevFrame);
251 m_pprevFrame = cvCloneImage (m_pcurFrame);
254 cvReleaseImage (&m_pcurFrame);
255 if (m_pdifferenceImage)
256 cvReleaseImage (&m_pdifferenceImage);
258 cvReleaseImage (&m_pcurgreyImage);
259 if (m_pprevgreyImage)
260 cvReleaseImage (&m_pprevgreyImage);
262 cvReleaseImage (&m_pgreyImage);
264 cvReleaseImage (&m_pbwImage);
266 cvReleaseImage (&m_pprevDown);
268 cvReleaseImage (&m_pcurDown);
270 for (int i = 0; i < m_gridy; ++i) {
276 if (p_framerate <= 5) {
277 if (m_MotionCells.size () > 0)
278 m_MotionCells.clear ();
280 cvReleaseImage (&transparencyimg);
282 } else { //we do frame drop
283 m_motioncells_idx_count = 0;
285 for (unsigned int i = 0; i < m_MotionCells.size (); i++) {
287 pt1.x = m_MotionCells.at (i).cell_pt1.x * 2;
288 pt1.y = m_MotionCells.at (i).cell_pt1.y * 2;
289 pt2.x = m_MotionCells.at (i).cell_pt2.x * 2;
290 pt2.y = m_MotionCells.at (i).cell_pt2.y * 2;
291 if (m_useAlpha && m_isVisible) {
292 cvRectangle (transparencyimg,
295 CV_RGB (motioncellscolor.B_channel_value,
296 motioncellscolor.G_channel_value,
297 motioncellscolor.R_channel_value), CV_FILLED);
298 } else if (m_isVisible) {
299 cvRectangle (p_frame,
302 CV_RGB (motioncellscolor.B_channel_value,
303 motioncellscolor.G_channel_value,
304 motioncellscolor.R_channel_value), p_thickness);
308 if (m_useAlpha && m_isVisible) {
309 if (m_MotionCells.size () > 0)
310 blendImages (p_frame, transparencyimg, m_alpha, m_beta);
317 MotionCells::initDataFile (char *p_datafile, gint64 starttime) //p_date is increased with difference between current and previous buffer ts
320 if (strncmp (p_datafile, " ", 1)) {
321 mc_savefile = fopen (p_datafile, "w");
322 if (mc_savefile == NULL) {
323 //fprintf(stderr, "%s %d:initDataFile:fopen:%d (%s)\n", __FILE__, __LINE__, errno,
325 strncpy (m_initdatafilefailed, strerror (errno), BUSMSGLEN - 1);
326 m_initerrorcode = errno;
329 m_saveInDatafile = true;
333 memset (&m_header, 0, sizeof (MotionCellHeader));
334 m_header.headersize = GINT32_TO_BE (MC_HEADER);
335 m_header.type = GINT32_TO_BE (MC_TYPE);
336 m_header.version = GINT32_TO_BE (MC_VERSION);
337 //it needs these bytes
339 GINT32_TO_BE ((int) ceil (ceil (m_gridx * m_gridy / 8.0) / 4.0) * 4 +
340 sizeof (mcd.timestamp));
341 m_header.gridx = GINT32_TO_BE (m_gridx);
342 m_header.gridy = GINT32_TO_BE (m_gridy);
343 m_header.starttime = GINT64_TO_BE (starttime);
345 snprintf (m_header.name, sizeof (m_header.name), "%s %dx%d", MC_VERSIONTEXT,
346 GINT32_FROM_BE (m_header.gridx), GINT32_FROM_BE (m_header.gridy));
347 m_changed_datafile = false;
352 MotionCells::saveMotionCells (gint64 timestamp_millisec)
355 MotionCellData mc_data;
356 mc_data.timestamp = GINT32_TO_BE (timestamp_millisec);
358 //There is no datafile
359 if (mc_savefile == NULL)
362 if (ftello (mc_savefile) == 0) {
363 //cerr << "Writing out file header"<< m_header.headersize <<":" << sizeof(MotionCellHeader) << " itemsize:"
364 //<< m_header.itemsize << endl;
365 if (fwrite (&m_header, sizeof (MotionCellHeader), 1, mc_savefile) != 1) {
366 //fprintf(stderr, "%s %d:saveMotionCells:fwrite:%d (%s)\n", __FILE__, __LINE__, errno,
368 strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
369 m_saveerrorcode = errno;
376 GINT32_FROM_BE (m_header.itemsize) - sizeof (mc_data.timestamp));
377 if (mc_data.data == NULL) {
378 //fprintf(stderr, "%s %d:saveMotionCells:calloc:%d (%s)\n", __FILE__, __LINE__, errno,
380 strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
381 m_saveerrorcode = errno;
385 for (unsigned int i = 0; i < m_MotionCells.size (); i++) {
387 m_MotionCells.at (i).lineidx * GINT32_FROM_BE (m_header.gridx) +
388 m_MotionCells.at (i).colidx;
389 int bytenum = (int) floor (bitnum / 8.0);
390 int shift = bitnum - bytenum * 8;
391 mc_data.data[bytenum] = mc_data.data[bytenum] | (1 << shift);
392 //cerr << "Motion Detected " << "line:" << m_MotionCells.at(i).lineidx << " col:" << m_MotionCells.at(i).colidx;
393 //cerr << " bitnum " << bitnum << " bytenum " << bytenum << " shift " << shift << " value " << (int)mc_data.data[bytenum] << endl;
396 if (fwrite (&mc_data.timestamp, sizeof (mc_data.timestamp), 1,
398 //fprintf(stderr, "%s %d:saveMotionCells:fwrite:%d (%s)\n", __FILE__, __LINE__, errno,
400 strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
401 m_saveerrorcode = errno;
405 if (fwrite (mc_data.data,
406 GINT32_FROM_BE (m_header.itemsize) - sizeof (mc_data.timestamp), 1,
408 //fprintf(stderr, "%s %d:saveMotionCells:fwrite:%d (%s)\n", __FILE__, __LINE__, errno,
410 strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
411 m_saveerrorcode = errno;
420 MotionCells::calculateMotionPercentInCell (int p_row, int p_col,
421 double *p_cellarea, double *p_motionarea)
423 double cntpixelsnum = 0;
424 double cntmotionpixelnum = 0;
426 int ybegin = floor ((double) p_row * m_cellheight);
427 int yend = floor ((double) (p_row + 1) * m_cellheight);
428 int xbegin = floor ((double) (p_col) * m_cellwidth);
429 int xend = floor ((double) (p_col + 1) * m_cellwidth);
430 int cellw = xend - xbegin;
431 int cellh = yend - ybegin;
432 int cellarea = cellw * cellh;
433 *p_cellarea = cellarea;
434 int thresholdmotionpixelnum = floor ((double) cellarea * m_sensitivity);
436 for (int i = ybegin; i < yend; i++) {
437 for (int j = xbegin; j < xend; j++) {
439 if ((((uchar *) (m_pbwImage->imageData + m_pbwImage->widthStep * i))[j]) >
442 if (cntmotionpixelnum >= thresholdmotionpixelnum) { //we dont needs calculate anymore
443 *p_motionarea = cntmotionpixelnum;
444 return (cntmotionpixelnum / cntpixelsnum);
447 int remainingpixelsnum = cellarea - cntpixelsnum;
448 if ((cntmotionpixelnum + remainingpixelsnum) < thresholdmotionpixelnum) { //moving pixels number will be less than threshold
455 return (cntmotionpixelnum / cntpixelsnum);
459 MotionCells::calculateMotionPercentInMotionCells (motioncellidx *
460 p_motioncellsidx, int p_motioncells_count)
462 if (p_motioncells_count == 0) {
463 for (int i = 0; i < m_gridy; i++) {
464 for (int j = 0; j < m_gridx; j++) {
465 m_pCells[i][j].MotionPercent = calculateMotionPercentInCell (i, j,
466 &m_pCells[i][j].CellArea, &m_pCells[i][j].MotionArea);
467 m_pCells[i][j].hasMotion =
468 m_sensitivity < m_pCells[i][j].MotionPercent ? true : false;
469 if (m_pCells[i][j].hasMotion) {
473 mci.cell_pt1.x = floor ((double) j * m_cellwidth);
474 mci.cell_pt1.y = floor ((double) i * m_cellheight);
475 mci.cell_pt2.x = floor ((double) (j + 1) * m_cellwidth);
476 mci.cell_pt2.y = floor ((double) (i + 1) * m_cellheight);
477 int w = mci.cell_pt2.x - mci.cell_pt1.x;
478 int h = mci.cell_pt2.y - mci.cell_pt1.y;
479 mci.motioncell = cvRect (mci.cell_pt1.x, mci.cell_pt1.y, w, h);
480 m_MotionCells.push_back (mci);
485 for (int k = 0; k < p_motioncells_count; ++k) {
487 int i = p_motioncellsidx[k].lineidx;
488 int j = p_motioncellsidx[k].columnidx;
489 m_pCells[i][j].MotionPercent =
490 calculateMotionPercentInCell (i, j,
491 &m_pCells[i][j].CellArea, &m_pCells[i][j].MotionArea);
492 m_pCells[i][j].hasMotion =
493 m_pCells[i][j].MotionPercent > m_sensitivity ? true : false;
494 if (m_pCells[i][j].hasMotion) {
496 mci.lineidx = p_motioncellsidx[k].lineidx;
497 mci.colidx = p_motioncellsidx[k].columnidx;
498 mci.cell_pt1.x = floor ((double) j * m_cellwidth);
499 mci.cell_pt1.y = floor ((double) i * m_cellheight);
500 mci.cell_pt2.x = floor ((double) (j + 1) * m_cellwidth);
501 mci.cell_pt2.y = floor ((double) (i + 1) * m_cellheight);
502 int w = mci.cell_pt2.x - mci.cell_pt1.x;
503 int h = mci.cell_pt2.y - mci.cell_pt1.y;
504 mci.motioncell = cvRect (mci.cell_pt1.x, mci.cell_pt1.y, w, h);
505 m_MotionCells.push_back (mci);
512 MotionCells::performMotionMaskCoords (motionmaskcoordrect * p_motionmaskcoords,
513 int p_motionmaskcoords_count)
521 for (int i = 0; i < p_motionmaskcoords_count; i++) {
522 upperleft.x = p_motionmaskcoords[i].upper_left_x;
523 upperleft.y = p_motionmaskcoords[i].upper_left_y;
524 lowerright.x = p_motionmaskcoords[i].lower_right_x;
525 lowerright.y = p_motionmaskcoords[i].lower_right_y;
526 cvRectangle (m_pbwImage, upperleft, lowerright, CV_RGB (0, 0, 0),
532 MotionCells::performMotionMask (motioncellidx * p_motionmaskcellsidx,
533 int p_motionmaskcells_count)
535 for (int k = 0; k < p_motionmaskcells_count; k++) {
536 int beginy = p_motionmaskcellsidx[k].lineidx * m_cellheight;
537 int beginx = p_motionmaskcellsidx[k].columnidx * m_cellwidth;
539 (double) p_motionmaskcellsidx[k].columnidx * m_cellwidth + m_cellwidth;
541 (double) p_motionmaskcellsidx[k].lineidx * m_cellheight + m_cellheight;
542 for (int i = beginy; i < endy; i++)
543 for (int j = beginx; j < endx; j++) {
544 ((uchar *) (m_pbwImage->imageData + m_pbwImage->widthStep * i))[j] = 0;
549 ///BGR if we use only OpenCV
550 //RGB if we use gst+OpenCV
552 MotionCells::blendImages (IplImage * p_actFrame, IplImage * p_cellsFrame,
553 float p_alpha, float p_beta)
556 int height = p_actFrame->height;
557 int width = p_actFrame->width;
558 int step = p_actFrame->widthStep / sizeof (uchar);
559 int channels = p_actFrame->nChannels;
560 int cellstep = p_cellsFrame->widthStep / sizeof (uchar);
561 uchar *curImageData = (uchar *) p_actFrame->imageData;
562 uchar *cellImageData = (uchar *) p_cellsFrame->imageData;
564 for (int i = 0; i < height; i++)
565 for (int j = 0; j < width; j++)
566 for (int k = 0; k < channels; k++)
567 if (cellImageData[i * cellstep + j * channels + k] > 0) {
568 curImageData[i * step + j * channels + k] =
569 round ((double) curImageData[i * step + j * channels +
570 k] * p_alpha + ((double) cellImageData[i * cellstep +
571 j * channels + k] * p_beta));