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
19 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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.
39 * You should have received a copy of the GNU Library General Public
40 * License along with this library; if not, write to the
41 * Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
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
53 #include "MotionCells.h"
54 #include <opencv2/imgproc/imgproc_c.h>
56 MotionCells::MotionCells ()
59 m_motioncells_idx_count = 0;
60 m_motioncellsidxcstr = NULL;
61 m_saveInDatafile = false;
65 transparencyimg = NULL;
66 m_pdifferenceImage = NULL;
68 m_initdatafilefailed = new char[BUSMSGLEN];
69 m_savedatafilefailed = new char[BUSMSGLEN];
84 MotionCells::~MotionCells ()
90 delete[]m_initdatafilefailed;
91 delete[]m_savedatafilefailed;
92 if (m_motioncellsidxcstr)
93 delete[]m_motioncellsidxcstr;
95 cvReleaseImage (&m_pcurFrame);
97 cvReleaseImage (&m_pprevFrame);
99 cvReleaseImage (&transparencyimg);
100 if (m_pdifferenceImage)
101 cvReleaseImage (&m_pdifferenceImage);
103 cvReleaseImage (&m_pbwImage);
107 MotionCells::performDetectionMotionCells (IplImage * p_frame,
108 double p_sensitivity, double p_framerate, int p_gridx, int p_gridy,
109 gint64 timestamp_millisec, bool p_isVisible, bool p_useAlpha,
110 int motionmaskcoord_count, motionmaskcoordrect * motionmaskcoords,
111 int motionmaskcells_count, motioncellidx * motionmaskcellsidx,
112 cellscolor motioncellscolor, int motioncells_count,
113 motioncellidx * motioncellsidx, gint64 starttime, char *p_datafile,
114 bool p_changed_datafile, int p_thickness)
119 p_framerate >= 1 ? p_framerate <= 5 ? sumframecnt = 1
120 : p_framerate <= 10 ? sumframecnt = 2
121 : p_framerate <= 15 ? sumframecnt = 3
122 : p_framerate <= 20 ? sumframecnt = 4
123 : p_framerate <= 25 ? sumframecnt = 5
124 : p_framerate <= 30 ? sumframecnt = 6 : sumframecnt = 0 : sumframecnt = 0;
127 m_changed_datafile = p_changed_datafile;
128 if (m_framecnt >= sumframecnt) {
129 m_useAlpha = p_useAlpha;
132 if (m_changed_datafile) {
133 ret = initDataFile (p_datafile, starttime);
138 m_frameSize = cvGetSize (p_frame);
139 m_frameSize.width /= 2;
140 m_frameSize.height /= 2;
141 setMotionCells (m_frameSize.width, m_frameSize.height);
142 m_sensitivity = 1 - p_sensitivity;
143 m_isVisible = p_isVisible;
144 m_pcurFrame = cvCloneImage (p_frame);
145 IplImage *m_pcurgreyImage = cvCreateImage (m_frameSize, IPL_DEPTH_8U, 1);
146 IplImage *m_pprevgreyImage = cvCreateImage (m_frameSize, IPL_DEPTH_8U, 1);
147 IplImage *m_pgreyImage = cvCreateImage (m_frameSize, IPL_DEPTH_8U, 1);
148 IplImage *m_pcurDown =
149 cvCreateImage (m_frameSize, m_pcurFrame->depth, m_pcurFrame->nChannels);
150 IplImage *m_pprevDown = cvCreateImage (m_frameSize, m_pprevFrame->depth,
151 m_pprevFrame->nChannels);
152 m_pbwImage = cvCreateImage (m_frameSize, IPL_DEPTH_8U, 1);
153 cvPyrDown (m_pprevFrame, m_pprevDown);
154 cvCvtColor (m_pprevDown, m_pprevgreyImage, CV_RGB2GRAY);
155 cvPyrDown (m_pcurFrame, m_pcurDown);
156 cvCvtColor (m_pcurDown, m_pcurgreyImage, CV_RGB2GRAY);
157 m_pdifferenceImage = cvCloneImage (m_pcurgreyImage);
158 //cvSmooth(m_pcurgreyImage, m_pcurgreyImage, CV_GAUSSIAN, 3, 0);//TODO camera noise reduce,something smoothing, and rethink runningavg weights
160 //Minus the current gray frame from the 8U moving average.
161 cvAbsDiff (m_pprevgreyImage, m_pcurgreyImage, m_pdifferenceImage);
163 //Convert the image to black and white.
164 cvAdaptiveThreshold (m_pdifferenceImage, m_pbwImage, 255,
165 CV_ADAPTIVE_THRESH_GAUSSIAN_C, CV_THRESH_BINARY_INV, 7);
167 // Dilate and erode to get object blobs
168 cvDilate (m_pbwImage, m_pbwImage, NULL, 2);
169 cvErode (m_pbwImage, m_pbwImage, NULL, 2);
171 //mask-out the overlay on difference image
172 if (motionmaskcoord_count > 0)
173 performMotionMaskCoords (motionmaskcoords, motionmaskcoord_count);
174 if (motionmaskcells_count > 0)
175 performMotionMask (motionmaskcellsidx, motionmaskcells_count);
176 if (getIsNonZero (m_pbwImage)) { //detect Motion
177 if (m_MotionCells.size () > 0) //it contains previous motioncells what we used when frames dropped
178 m_MotionCells.clear ();
180 cvReleaseImage (&transparencyimg);
181 (motioncells_count > 0) ?
182 calculateMotionPercentInMotionCells (motioncellsidx,
184 : calculateMotionPercentInMotionCells (motionmaskcellsidx, 0);
186 transparencyimg = cvCreateImage (cvGetSize (p_frame), p_frame->depth, 3);
187 cvSetZero (transparencyimg);
188 if (m_motioncellsidxcstr)
189 delete[]m_motioncellsidxcstr;
190 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
191 m_motioncellsidxcstr = new char[m_motioncells_idx_count];
192 char *tmpstr = new char[MSGLEN];
193 for (int i = 0; i < MSGLEN; i++)
195 for (unsigned int i = 0; i < m_MotionCells.size (); i++) {
197 pt1.x = m_MotionCells.at (i).cell_pt1.x * 2;
198 pt1.y = m_MotionCells.at (i).cell_pt1.y * 2;
199 pt2.x = m_MotionCells.at (i).cell_pt2.x * 2;
200 pt2.y = m_MotionCells.at (i).cell_pt2.y * 2;
201 if (m_useAlpha && m_isVisible) {
202 cvRectangle (transparencyimg,
205 CV_RGB (motioncellscolor.B_channel_value,
206 motioncellscolor.G_channel_value,
207 motioncellscolor.R_channel_value), CV_FILLED);
208 } else if (m_isVisible) {
209 cvRectangle (p_frame,
212 CV_RGB (motioncellscolor.B_channel_value,
213 motioncellscolor.G_channel_value,
214 motioncellscolor.R_channel_value), p_thickness);
217 if (i < m_MotionCells.size () - 1) {
218 snprintf (tmpstr, MSGLEN, "%d:%d,", m_MotionCells.at (i).lineidx,
219 m_MotionCells.at (i).colidx);
221 snprintf (tmpstr, MSGLEN, "%d:%d", m_MotionCells.at (i).lineidx,
222 m_MotionCells.at (i).colidx);
225 strncpy (m_motioncellsidxcstr, tmpstr, m_motioncells_idx_count);
227 strcat (m_motioncellsidxcstr, tmpstr);
229 if (m_MotionCells.size () == 0)
230 strncpy (m_motioncellsidxcstr, " ", m_motioncells_idx_count);
232 if (m_useAlpha && m_isVisible) {
233 if (m_MotionCells.size () > 0)
234 blendImages (p_frame, transparencyimg, m_alpha, m_beta);
239 if (mc_savefile && m_saveInDatafile) {
240 ret = saveMotionCells (timestamp_millisec);
245 m_motioncells_idx_count = 0;
246 if (m_MotionCells.size () > 0)
247 m_MotionCells.clear ();
249 cvReleaseImage (&transparencyimg);
253 cvReleaseImage (&m_pprevFrame);
254 m_pprevFrame = cvCloneImage (m_pcurFrame);
257 cvReleaseImage (&m_pcurFrame);
258 if (m_pdifferenceImage)
259 cvReleaseImage (&m_pdifferenceImage);
261 cvReleaseImage (&m_pcurgreyImage);
262 if (m_pprevgreyImage)
263 cvReleaseImage (&m_pprevgreyImage);
265 cvReleaseImage (&m_pgreyImage);
267 cvReleaseImage (&m_pbwImage);
269 cvReleaseImage (&m_pprevDown);
271 cvReleaseImage (&m_pcurDown);
273 for (int i = 0; i < m_gridy; ++i) {
279 if (p_framerate <= 5) {
280 if (m_MotionCells.size () > 0)
281 m_MotionCells.clear ();
283 cvReleaseImage (&transparencyimg);
285 } else { //we do frame drop
286 m_motioncells_idx_count = 0;
288 for (unsigned int i = 0; i < m_MotionCells.size (); i++) {
290 pt1.x = m_MotionCells.at (i).cell_pt1.x * 2;
291 pt1.y = m_MotionCells.at (i).cell_pt1.y * 2;
292 pt2.x = m_MotionCells.at (i).cell_pt2.x * 2;
293 pt2.y = m_MotionCells.at (i).cell_pt2.y * 2;
294 if (m_useAlpha && m_isVisible) {
295 cvRectangle (transparencyimg,
298 CV_RGB (motioncellscolor.B_channel_value,
299 motioncellscolor.G_channel_value,
300 motioncellscolor.R_channel_value), CV_FILLED);
301 } else if (m_isVisible) {
302 cvRectangle (p_frame,
305 CV_RGB (motioncellscolor.B_channel_value,
306 motioncellscolor.G_channel_value,
307 motioncellscolor.R_channel_value), p_thickness);
311 if (m_useAlpha && m_isVisible) {
312 if (m_MotionCells.size () > 0)
313 blendImages (p_frame, transparencyimg, m_alpha, m_beta);
320 MotionCells::initDataFile (char *p_datafile, gint64 starttime) //p_date is increased with difference between current and previous buffer ts
323 if (strncmp (p_datafile, " ", 1)) {
324 mc_savefile = fopen (p_datafile, "w");
325 if (mc_savefile == NULL) {
326 //fprintf(stderr, "%s %d:initDataFile:fopen:%d (%s)\n", __FILE__, __LINE__, errno,
328 strncpy (m_initdatafilefailed, strerror (errno), BUSMSGLEN - 1);
329 m_initerrorcode = errno;
332 m_saveInDatafile = true;
336 memset (&m_header, 0, sizeof (MotionCellHeader));
337 m_header.headersize = GINT32_TO_BE (MC_HEADER);
338 m_header.type = GINT32_TO_BE (MC_TYPE);
339 m_header.version = GINT32_TO_BE (MC_VERSION);
340 //it needs these bytes
342 GINT32_TO_BE ((int) ceil (ceil (m_gridx * m_gridy / 8.0) / 4.0) * 4 +
343 sizeof (mcd.timestamp));
344 m_header.gridx = GINT32_TO_BE (m_gridx);
345 m_header.gridy = GINT32_TO_BE (m_gridy);
346 m_header.starttime = GINT64_TO_BE (starttime);
348 snprintf (m_header.name, sizeof (m_header.name), "%s %dx%d", MC_VERSIONTEXT,
349 GINT32_FROM_BE (m_header.gridx), GINT32_FROM_BE (m_header.gridy));
350 m_changed_datafile = false;
355 MotionCells::saveMotionCells (gint64 timestamp_millisec)
358 MotionCellData mc_data;
359 mc_data.timestamp = GINT32_TO_BE (timestamp_millisec);
361 //There is no datafile
362 if (mc_savefile == NULL)
365 if (ftello (mc_savefile) == 0) {
366 //cerr << "Writing out file header"<< m_header.headersize <<":" << sizeof(MotionCellHeader) << " itemsize:"
367 //<< m_header.itemsize << endl;
368 if (fwrite (&m_header, sizeof (MotionCellHeader), 1, mc_savefile) != 1) {
369 //fprintf(stderr, "%s %d:saveMotionCells:fwrite:%d (%s)\n", __FILE__, __LINE__, errno,
371 strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
372 m_saveerrorcode = errno;
379 GINT32_FROM_BE (m_header.itemsize) - sizeof (mc_data.timestamp));
380 if (mc_data.data == NULL) {
381 //fprintf(stderr, "%s %d:saveMotionCells:calloc:%d (%s)\n", __FILE__, __LINE__, errno,
383 strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
384 m_saveerrorcode = errno;
388 for (unsigned int i = 0; i < m_MotionCells.size (); i++) {
390 m_MotionCells.at (i).lineidx * GINT32_FROM_BE (m_header.gridx) +
391 m_MotionCells.at (i).colidx;
392 int bytenum = (int) floor (bitnum / 8.0);
393 int shift = bitnum - bytenum * 8;
394 mc_data.data[bytenum] = mc_data.data[bytenum] | (1 << shift);
395 //cerr << "Motion Detected " << "line:" << m_MotionCells.at(i).lineidx << " col:" << m_MotionCells.at(i).colidx;
396 //cerr << " bitnum " << bitnum << " bytenum " << bytenum << " shift " << shift << " value " << (int)mc_data.data[bytenum] << endl;
399 if (fwrite (&mc_data.timestamp, sizeof (mc_data.timestamp), 1,
401 //fprintf(stderr, "%s %d:saveMotionCells:fwrite:%d (%s)\n", __FILE__, __LINE__, errno,
403 strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
404 m_saveerrorcode = errno;
408 if (fwrite (mc_data.data,
409 GINT32_FROM_BE (m_header.itemsize) - sizeof (mc_data.timestamp), 1,
411 //fprintf(stderr, "%s %d:saveMotionCells:fwrite:%d (%s)\n", __FILE__, __LINE__, errno,
413 strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
414 m_saveerrorcode = errno;
423 MotionCells::calculateMotionPercentInCell (int p_row, int p_col,
424 double *p_cellarea, double *p_motionarea)
426 double cntpixelsnum = 0;
427 double cntmotionpixelnum = 0;
429 int ybegin = floor ((double) p_row * m_cellheight);
430 int yend = floor ((double) (p_row + 1) * m_cellheight);
431 int xbegin = floor ((double) (p_col) * m_cellwidth);
432 int xend = floor ((double) (p_col + 1) * m_cellwidth);
433 int cellw = xend - xbegin;
434 int cellh = yend - ybegin;
435 int cellarea = cellw * cellh;
436 *p_cellarea = cellarea;
437 int thresholdmotionpixelnum = floor ((double) cellarea * m_sensitivity);
439 for (int i = ybegin; i < yend; i++) {
440 for (int j = xbegin; j < xend; j++) {
442 if ((((uchar *) (m_pbwImage->imageData + m_pbwImage->widthStep * i))[j]) >
445 if (cntmotionpixelnum >= thresholdmotionpixelnum) { //we dont needs calculate anymore
446 *p_motionarea = cntmotionpixelnum;
447 return (cntmotionpixelnum / cntpixelsnum);
450 int remainingpixelsnum = cellarea - cntpixelsnum;
451 if ((cntmotionpixelnum + remainingpixelsnum) < thresholdmotionpixelnum) { //moving pixels number will be less than threshold
458 return (cntmotionpixelnum / cntpixelsnum);
462 MotionCells::calculateMotionPercentInMotionCells (motioncellidx *
463 p_motioncellsidx, int p_motioncells_count)
465 if (p_motioncells_count == 0) {
466 for (int i = 0; i < m_gridy; i++) {
467 for (int j = 0; j < m_gridx; j++) {
468 m_pCells[i][j].MotionPercent = calculateMotionPercentInCell (i, j,
469 &m_pCells[i][j].CellArea, &m_pCells[i][j].MotionArea);
470 m_pCells[i][j].hasMotion =
471 m_sensitivity < m_pCells[i][j].MotionPercent ? true : false;
472 if (m_pCells[i][j].hasMotion) {
476 mci.cell_pt1.x = floor ((double) j * m_cellwidth);
477 mci.cell_pt1.y = floor ((double) i * m_cellheight);
478 mci.cell_pt2.x = floor ((double) (j + 1) * m_cellwidth);
479 mci.cell_pt2.y = floor ((double) (i + 1) * m_cellheight);
480 int w = mci.cell_pt2.x - mci.cell_pt1.x;
481 int h = mci.cell_pt2.y - mci.cell_pt1.y;
482 mci.motioncell = cvRect (mci.cell_pt1.x, mci.cell_pt1.y, w, h);
483 m_MotionCells.push_back (mci);
488 for (int k = 0; k < p_motioncells_count; ++k) {
490 int i = p_motioncellsidx[k].lineidx;
491 int j = p_motioncellsidx[k].columnidx;
492 m_pCells[i][j].MotionPercent =
493 calculateMotionPercentInCell (i, j,
494 &m_pCells[i][j].CellArea, &m_pCells[i][j].MotionArea);
495 m_pCells[i][j].hasMotion =
496 m_pCells[i][j].MotionPercent > m_sensitivity ? true : false;
497 if (m_pCells[i][j].hasMotion) {
499 mci.lineidx = p_motioncellsidx[k].lineidx;
500 mci.colidx = p_motioncellsidx[k].columnidx;
501 mci.cell_pt1.x = floor ((double) j * m_cellwidth);
502 mci.cell_pt1.y = floor ((double) i * m_cellheight);
503 mci.cell_pt2.x = floor ((double) (j + 1) * m_cellwidth);
504 mci.cell_pt2.y = floor ((double) (i + 1) * m_cellheight);
505 int w = mci.cell_pt2.x - mci.cell_pt1.x;
506 int h = mci.cell_pt2.y - mci.cell_pt1.y;
507 mci.motioncell = cvRect (mci.cell_pt1.x, mci.cell_pt1.y, w, h);
508 m_MotionCells.push_back (mci);
515 MotionCells::performMotionMaskCoords (motionmaskcoordrect * p_motionmaskcoords,
516 int p_motionmaskcoords_count)
524 for (int i = 0; i < p_motionmaskcoords_count; i++) {
525 upperleft.x = p_motionmaskcoords[i].upper_left_x;
526 upperleft.y = p_motionmaskcoords[i].upper_left_y;
527 lowerright.x = p_motionmaskcoords[i].lower_right_x;
528 lowerright.y = p_motionmaskcoords[i].lower_right_y;
529 cvRectangle (m_pbwImage, upperleft, lowerright, CV_RGB (0, 0, 0),
535 MotionCells::performMotionMask (motioncellidx * p_motionmaskcellsidx,
536 int p_motionmaskcells_count)
538 for (int k = 0; k < p_motionmaskcells_count; k++) {
539 int beginy = p_motionmaskcellsidx[k].lineidx * m_cellheight;
540 int beginx = p_motionmaskcellsidx[k].columnidx * m_cellwidth;
542 (double) p_motionmaskcellsidx[k].columnidx * m_cellwidth + m_cellwidth;
544 (double) p_motionmaskcellsidx[k].lineidx * m_cellheight + m_cellheight;
545 for (int i = beginy; i < endy; i++)
546 for (int j = beginx; j < endx; j++) {
547 ((uchar *) (m_pbwImage->imageData + m_pbwImage->widthStep * i))[j] = 0;
552 ///BGR if we use only OpenCV
553 //RGB if we use gst+OpenCV
555 MotionCells::blendImages (IplImage * p_actFrame, IplImage * p_cellsFrame,
556 float p_alpha, float p_beta)
559 int height = p_actFrame->height;
560 int width = p_actFrame->width;
561 int step = p_actFrame->widthStep / sizeof (uchar);
562 int channels = p_actFrame->nChannels;
563 int cellstep = p_cellsFrame->widthStep / sizeof (uchar);
564 uchar *curImageData = (uchar *) p_actFrame->imageData;
565 uchar *cellImageData = (uchar *) p_cellsFrame->imageData;
567 for (int i = 0; i < height; i++)
568 for (int j = 0; j < width; j++)
569 for (int k = 0; k < channels; k++)
570 if (cellImageData[i * cellstep + j * channels + k] > 0) {
571 curImageData[i * step + j * channels + k] =
572 round ((double) curImageData[i * step + j * channels +
573 k] * p_alpha + ((double) cellImageData[i * cellstep +
574 j * channels + k] * p_beta));