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.
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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
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];
82 m_changed_datafile = false;
84 memset (&m_header, 0, sizeof (MotionCellHeader));
85 m_header.headersize = GINT32_TO_BE (MC_HEADER);
86 m_header.type = GINT32_TO_BE (MC_TYPE);
87 m_header.version = GINT32_TO_BE (MC_VERSION);
88 m_header.itemsize = 0;
91 m_header.starttime = 0;
94 MotionCells::~MotionCells ()
100 delete[]m_initdatafilefailed;
101 delete[]m_savedatafilefailed;
102 if (m_motioncellsidxcstr)
103 delete[]m_motioncellsidxcstr;
105 cvReleaseImage (&m_pcurFrame);
107 cvReleaseImage (&m_pprevFrame);
109 cvReleaseImage (&transparencyimg);
110 if (m_pdifferenceImage)
111 cvReleaseImage (&m_pdifferenceImage);
113 cvReleaseImage (&m_pbwImage);
117 MotionCells::performDetectionMotionCells (IplImage * p_frame,
118 double p_sensitivity, double p_framerate, int p_gridx, int p_gridy,
119 gint64 timestamp_millisec, bool p_isVisible, bool p_useAlpha,
120 int motionmaskcoord_count, motionmaskcoordrect * motionmaskcoords,
121 int motionmaskcells_count, motioncellidx * motionmaskcellsidx,
122 cellscolor motioncellscolor, int motioncells_count,
123 motioncellidx * motioncellsidx, gint64 starttime, char *p_datafile,
124 bool p_changed_datafile, int p_thickness)
131 p_framerate >= 1 ? p_framerate <= 5 ? sumframecnt = 1
132 : p_framerate <= 10 ? sumframecnt = 2
133 : p_framerate <= 15 ? sumframecnt = 3
134 : p_framerate <= 20 ? sumframecnt = 4
135 : p_framerate <= 25 ? sumframecnt = 5
136 : p_framerate <= 30 ? sumframecnt = 6 : sumframecnt = 0 : sumframecnt = 0;
139 m_changed_datafile = p_changed_datafile;
140 if (m_framecnt >= sumframecnt) {
141 m_useAlpha = p_useAlpha;
144 if (m_changed_datafile) {
145 ret = initDataFile (p_datafile, starttime);
150 frameSize = cvGetSize (p_frame);
151 frameSize.width /= 2;
152 frameSize.height /= 2;
153 setMotionCells (frameSize.width, frameSize.height);
154 m_sensitivity = 1 - p_sensitivity;
155 m_isVisible = p_isVisible;
156 m_pcurFrame = cvCloneImage (p_frame);
157 IplImage *m_pcurgreyImage = cvCreateImage (frameSize, IPL_DEPTH_8U, 1);
158 IplImage *m_pprevgreyImage = cvCreateImage (frameSize, IPL_DEPTH_8U, 1);
159 IplImage *m_pgreyImage = cvCreateImage (frameSize, IPL_DEPTH_8U, 1);
160 IplImage *m_pcurDown =
161 cvCreateImage (frameSize, m_pcurFrame->depth, m_pcurFrame->nChannels);
162 IplImage *m_pprevDown = cvCreateImage (frameSize, m_pprevFrame->depth,
163 m_pprevFrame->nChannels);
164 m_pbwImage = cvCreateImage (frameSize, IPL_DEPTH_8U, 1);
165 cvPyrDown (m_pprevFrame, m_pprevDown);
166 cvCvtColor (m_pprevDown, m_pprevgreyImage, CV_RGB2GRAY);
167 cvPyrDown (m_pcurFrame, m_pcurDown);
168 cvCvtColor (m_pcurDown, m_pcurgreyImage, CV_RGB2GRAY);
169 m_pdifferenceImage = cvCloneImage (m_pcurgreyImage);
170 //cvSmooth(m_pcurgreyImage, m_pcurgreyImage, CV_GAUSSIAN, 3, 0);//TODO camera noise reduce,something smoothing, and rethink runningavg weights
172 //Minus the current gray frame from the 8U moving average.
173 cvAbsDiff (m_pprevgreyImage, m_pcurgreyImage, m_pdifferenceImage);
175 //Convert the image to black and white.
176 cvAdaptiveThreshold (m_pdifferenceImage, m_pbwImage, 255,
177 CV_ADAPTIVE_THRESH_GAUSSIAN_C, CV_THRESH_BINARY_INV, 7);
179 // Dilate and erode to get object blobs
180 cvDilate (m_pbwImage, m_pbwImage, NULL, 2);
181 cvErode (m_pbwImage, m_pbwImage, NULL, 2);
183 //mask-out the overlay on difference image
184 if (motionmaskcoord_count > 0)
185 performMotionMaskCoords (motionmaskcoords, motionmaskcoord_count);
186 if (motionmaskcells_count > 0)
187 performMotionMask (motionmaskcellsidx, motionmaskcells_count);
188 if (getIsNonZero (m_pbwImage)) { //detect Motion
189 if (m_MotionCells.size () > 0) //it contains previous motioncells what we used when frames dropped
190 m_MotionCells.clear ();
192 cvReleaseImage (&transparencyimg);
193 (motioncells_count > 0) ?
194 calculateMotionPercentInMotionCells (motioncellsidx,
196 : calculateMotionPercentInMotionCells (motionmaskcellsidx, 0);
198 transparencyimg = cvCreateImage (cvGetSize (p_frame), p_frame->depth, 3);
199 cvSetZero (transparencyimg);
200 if (m_motioncellsidxcstr)
201 delete[]m_motioncellsidxcstr;
202 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
203 m_motioncellsidxcstr = new char[m_motioncells_idx_count];
204 char *tmpstr = new char[MSGLEN+ 1];
206 for (unsigned int i = 0; i < m_MotionCells.size (); i++) {
208 pt1.x = m_MotionCells.at (i).cell_pt1.x * 2;
209 pt1.y = m_MotionCells.at (i).cell_pt1.y * 2;
210 pt2.x = m_MotionCells.at (i).cell_pt2.x * 2;
211 pt2.y = m_MotionCells.at (i).cell_pt2.y * 2;
212 if (m_useAlpha && m_isVisible) {
213 cvRectangle (transparencyimg,
216 CV_RGB (motioncellscolor.B_channel_value,
217 motioncellscolor.G_channel_value,
218 motioncellscolor.R_channel_value), CV_FILLED);
219 } else if (m_isVisible) {
220 cvRectangle (p_frame,
223 CV_RGB (motioncellscolor.B_channel_value,
224 motioncellscolor.G_channel_value,
225 motioncellscolor.R_channel_value), p_thickness);
228 if (i < m_MotionCells.size () - 1) {
229 snprintf (tmpstr, MSGLEN+1, "%d:%d,", m_MotionCells.at (i).lineidx,
230 m_MotionCells.at (i).colidx);
232 snprintf (tmpstr, MSGLEN+1, "%d:%d", m_MotionCells.at (i).lineidx,
233 m_MotionCells.at (i).colidx);
236 strncpy (m_motioncellsidxcstr, tmpstr, m_motioncells_idx_count);
238 strcat (m_motioncellsidxcstr, tmpstr);
240 if (m_MotionCells.size () == 0)
241 strncpy (m_motioncellsidxcstr, " ", m_motioncells_idx_count);
243 if (m_useAlpha && m_isVisible) {
244 if (m_MotionCells.size () > 0)
245 blendImages (p_frame, transparencyimg, m_alpha, m_beta);
250 if (mc_savefile && m_saveInDatafile) {
251 ret = saveMotionCells (timestamp_millisec);
256 m_motioncells_idx_count = 0;
257 if (m_MotionCells.size () > 0)
258 m_MotionCells.clear ();
260 cvReleaseImage (&transparencyimg);
264 cvReleaseImage (&m_pprevFrame);
265 m_pprevFrame = cvCloneImage (m_pcurFrame);
268 cvReleaseImage (&m_pcurFrame);
269 if (m_pdifferenceImage)
270 cvReleaseImage (&m_pdifferenceImage);
272 cvReleaseImage (&m_pcurgreyImage);
273 if (m_pprevgreyImage)
274 cvReleaseImage (&m_pprevgreyImage);
276 cvReleaseImage (&m_pgreyImage);
278 cvReleaseImage (&m_pbwImage);
280 cvReleaseImage (&m_pprevDown);
282 cvReleaseImage (&m_pcurDown);
284 for (int i = 0; i < m_gridy; ++i) {
290 if (p_framerate <= 5) {
291 if (m_MotionCells.size () > 0)
292 m_MotionCells.clear ();
294 cvReleaseImage (&transparencyimg);
296 } else { //we do frame drop
297 m_motioncells_idx_count = 0;
299 for (unsigned int i = 0; i < m_MotionCells.size (); i++) {
301 pt1.x = m_MotionCells.at (i).cell_pt1.x * 2;
302 pt1.y = m_MotionCells.at (i).cell_pt1.y * 2;
303 pt2.x = m_MotionCells.at (i).cell_pt2.x * 2;
304 pt2.y = m_MotionCells.at (i).cell_pt2.y * 2;
305 if (m_useAlpha && m_isVisible) {
306 cvRectangle (transparencyimg,
309 CV_RGB (motioncellscolor.B_channel_value,
310 motioncellscolor.G_channel_value,
311 motioncellscolor.R_channel_value), CV_FILLED);
312 } else if (m_isVisible) {
313 cvRectangle (p_frame,
316 CV_RGB (motioncellscolor.B_channel_value,
317 motioncellscolor.G_channel_value,
318 motioncellscolor.R_channel_value), p_thickness);
322 if (m_useAlpha && m_isVisible) {
323 if (m_MotionCells.size () > 0)
324 blendImages (p_frame, transparencyimg, m_alpha, m_beta);
331 MotionCells::initDataFile (char *p_datafile, gint64 starttime) //p_date is increased with difference between current and previous buffer ts
334 if (strncmp (p_datafile, " ", 1)) {
335 mc_savefile = fopen (p_datafile, "w");
336 if (mc_savefile == NULL) {
337 //fprintf(stderr, "%s %d:initDataFile:fopen:%d (%s)\n", __FILE__, __LINE__, errno,
339 strncpy (m_initdatafilefailed, strerror (errno), BUSMSGLEN - 1);
340 m_initerrorcode = errno;
343 m_saveInDatafile = true;
348 //it needs these bytes
350 GINT32_TO_BE ((int) ceil (ceil (m_gridx * m_gridy / 8.0) / 4.0) * 4 +
351 sizeof (mcd.timestamp));
352 m_header.gridx = GINT32_TO_BE (m_gridx);
353 m_header.gridy = GINT32_TO_BE (m_gridy);
354 m_header.starttime = GINT64_TO_BE (starttime);
356 snprintf (m_header.name, sizeof (m_header.name), "%s %dx%d", MC_VERSIONTEXT,
357 GINT32_FROM_BE (m_header.gridx), GINT32_FROM_BE (m_header.gridy));
358 m_changed_datafile = false;
363 MotionCells::saveMotionCells (gint64 timestamp_millisec)
366 MotionCellData mc_data;
367 mc_data.timestamp = GINT32_TO_BE (timestamp_millisec);
369 //There is no datafile
370 if (mc_savefile == NULL)
373 if (ftello (mc_savefile) == 0) {
374 //cerr << "Writing out file header"<< m_header.headersize <<":" << sizeof(MotionCellHeader) << " itemsize:"
375 //<< m_header.itemsize << endl;
376 if (fwrite (&m_header, sizeof (MotionCellHeader), 1, mc_savefile) != 1) {
377 //fprintf(stderr, "%s %d:saveMotionCells:fwrite:%d (%s)\n", __FILE__, __LINE__, errno,
379 strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
380 m_saveerrorcode = errno;
387 GINT32_FROM_BE (m_header.itemsize) - sizeof (mc_data.timestamp));
388 if (mc_data.data == NULL) {
389 //fprintf(stderr, "%s %d:saveMotionCells:calloc:%d (%s)\n", __FILE__, __LINE__, errno,
391 strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
392 m_saveerrorcode = errno;
396 for (unsigned int i = 0; i < m_MotionCells.size (); i++) {
398 m_MotionCells.at (i).lineidx * GINT32_FROM_BE (m_header.gridx) +
399 m_MotionCells.at (i).colidx;
400 int bytenum = (int) floor (bitnum / 8.0);
401 int shift = bitnum - bytenum * 8;
402 mc_data.data[bytenum] = mc_data.data[bytenum] | (1 << shift);
403 //cerr << "Motion Detected " << "line:" << m_MotionCells.at(i).lineidx << " col:" << m_MotionCells.at(i).colidx;
404 //cerr << " bitnum " << bitnum << " bytenum " << bytenum << " shift " << shift << " value " << (int)mc_data.data[bytenum] << endl;
407 if (fwrite (&mc_data.timestamp, sizeof (mc_data.timestamp), 1,
409 //fprintf(stderr, "%s %d:saveMotionCells:fwrite:%d (%s)\n", __FILE__, __LINE__, errno,
411 strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
412 m_saveerrorcode = errno;
416 if (fwrite (mc_data.data,
417 GINT32_FROM_BE (m_header.itemsize) - sizeof (mc_data.timestamp), 1,
419 //fprintf(stderr, "%s %d:saveMotionCells:fwrite:%d (%s)\n", __FILE__, __LINE__, errno,
421 strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
422 m_saveerrorcode = errno;
431 MotionCells::calculateMotionPercentInCell (int p_row, int p_col,
432 double *p_cellarea, double *p_motionarea)
434 double cntpixelsnum = 0;
435 double cntmotionpixelnum = 0;
437 int ybegin = floor ((double) p_row * m_cellheight);
438 int yend = floor ((double) (p_row + 1) * m_cellheight);
439 int xbegin = floor ((double) (p_col) * m_cellwidth);
440 int xend = floor ((double) (p_col + 1) * m_cellwidth);
441 int cellw = xend - xbegin;
442 int cellh = yend - ybegin;
443 int cellarea = cellw * cellh;
444 *p_cellarea = cellarea;
445 int thresholdmotionpixelnum = floor ((double) cellarea * m_sensitivity);
447 for (int i = ybegin; i < yend; i++) {
448 for (int j = xbegin; j < xend; j++) {
450 if ((((uchar *) (m_pbwImage->imageData + m_pbwImage->widthStep * i))[j]) >
453 if (cntmotionpixelnum >= thresholdmotionpixelnum) { //we dont needs calculate anymore
454 *p_motionarea = cntmotionpixelnum;
455 return (cntmotionpixelnum / cntpixelsnum);
458 int remainingpixelsnum = cellarea - cntpixelsnum;
459 if ((cntmotionpixelnum + remainingpixelsnum) < thresholdmotionpixelnum) { //moving pixels number will be less than threshold
466 return (cntmotionpixelnum / cntpixelsnum);
470 MotionCells::calculateMotionPercentInMotionCells (motioncellidx *
471 p_motioncellsidx, int p_motioncells_count)
473 if (p_motioncells_count == 0) {
474 for (int i = 0; i < m_gridy; i++) {
475 for (int j = 0; j < m_gridx; j++) {
476 m_pCells[i][j].MotionPercent = calculateMotionPercentInCell (i, j,
477 &m_pCells[i][j].CellArea, &m_pCells[i][j].MotionArea);
478 m_pCells[i][j].hasMotion =
479 m_sensitivity < m_pCells[i][j].MotionPercent ? true : false;
480 if (m_pCells[i][j].hasMotion) {
484 mci.cell_pt1.x = floor ((double) j * m_cellwidth);
485 mci.cell_pt1.y = floor ((double) i * m_cellheight);
486 mci.cell_pt2.x = floor ((double) (j + 1) * m_cellwidth);
487 mci.cell_pt2.y = floor ((double) (i + 1) * m_cellheight);
488 int w = mci.cell_pt2.x - mci.cell_pt1.x;
489 int h = mci.cell_pt2.y - mci.cell_pt1.y;
490 mci.motioncell = cvRect (mci.cell_pt1.x, mci.cell_pt1.y, w, h);
491 m_MotionCells.push_back (mci);
496 for (int k = 0; k < p_motioncells_count; ++k) {
498 int i = p_motioncellsidx[k].lineidx;
499 int j = p_motioncellsidx[k].columnidx;
500 m_pCells[i][j].MotionPercent =
501 calculateMotionPercentInCell (i, j,
502 &m_pCells[i][j].CellArea, &m_pCells[i][j].MotionArea);
503 m_pCells[i][j].hasMotion =
504 m_pCells[i][j].MotionPercent > m_sensitivity ? true : false;
505 if (m_pCells[i][j].hasMotion) {
507 mci.lineidx = p_motioncellsidx[k].lineidx;
508 mci.colidx = p_motioncellsidx[k].columnidx;
509 mci.cell_pt1.x = floor ((double) j * m_cellwidth);
510 mci.cell_pt1.y = floor ((double) i * m_cellheight);
511 mci.cell_pt2.x = floor ((double) (j + 1) * m_cellwidth);
512 mci.cell_pt2.y = floor ((double) (i + 1) * m_cellheight);
513 int w = mci.cell_pt2.x - mci.cell_pt1.x;
514 int h = mci.cell_pt2.y - mci.cell_pt1.y;
515 mci.motioncell = cvRect (mci.cell_pt1.x, mci.cell_pt1.y, w, h);
516 m_MotionCells.push_back (mci);
523 MotionCells::performMotionMaskCoords (motionmaskcoordrect * p_motionmaskcoords,
524 int p_motionmaskcoords_count)
532 for (int i = 0; i < p_motionmaskcoords_count; i++) {
533 upperleft.x = p_motionmaskcoords[i].upper_left_x;
534 upperleft.y = p_motionmaskcoords[i].upper_left_y;
535 lowerright.x = p_motionmaskcoords[i].lower_right_x;
536 lowerright.y = p_motionmaskcoords[i].lower_right_y;
537 cvRectangle (m_pbwImage, upperleft, lowerright, CV_RGB (0, 0, 0),
543 MotionCells::performMotionMask (motioncellidx * p_motionmaskcellsidx,
544 int p_motionmaskcells_count)
546 for (int k = 0; k < p_motionmaskcells_count; k++) {
547 int beginy = p_motionmaskcellsidx[k].lineidx * m_cellheight;
548 int beginx = p_motionmaskcellsidx[k].columnidx * m_cellwidth;
550 (double) p_motionmaskcellsidx[k].columnidx * m_cellwidth + m_cellwidth;
552 (double) p_motionmaskcellsidx[k].lineidx * m_cellheight + m_cellheight;
553 for (int i = beginy; i < endy; i++)
554 for (int j = beginx; j < endx; j++) {
555 ((uchar *) (m_pbwImage->imageData + m_pbwImage->widthStep * i))[j] = 0;
560 ///BGR if we use only OpenCV
561 //RGB if we use gst+OpenCV
563 MotionCells::blendImages (IplImage * p_actFrame, IplImage * p_cellsFrame,
564 float p_alpha, float p_beta)
567 int height = p_actFrame->height;
568 int width = p_actFrame->width;
569 int step = p_actFrame->widthStep / sizeof (uchar);
570 int channels = p_actFrame->nChannels;
571 int cellstep = p_cellsFrame->widthStep / sizeof (uchar);
572 uchar *curImageData = (uchar *) p_actFrame->imageData;
573 uchar *cellImageData = (uchar *) p_cellsFrame->imageData;
575 for (int i = 0; i < height; i++)
576 for (int j = 0; j < width; j++)
577 for (int k = 0; k < channels; k++)
578 if (cellImageData[i * cellstep + j * channels + k] > 0) {
579 curImageData[i * step + j * channels + k] =
580 round ((double) curImageData[i * step + j * channels +
581 k] * p_alpha + ((double) cellImageData[i * cellstep +
582 j * channels + k] * p_beta));