#include <uimageana.h>

Public Member Functions
bool	findRoad (unsigned int x, unsigned int y, unsigned int w, unsigned int h, UImage resultImg, bool debug, int imgNum, char imgN)

bool	findRoadCroma (unsigned int x, unsigned int y, unsigned int w, unsigned int h, UImage resultImg, bool debug, int imgNum, char imgN, int pct)

bool	findRoadFill (unsigned int x, unsigned int y, unsigned int w, unsigned int h, UImage resi, bool debug, int camDev, char imgName, int pct, bool lookingLeft)

bool	findRoadPoly (bool debug, int camDev, char *imgN, double ballance, double limit, double lookingLeft, int x1, int y1, int x2, int y2, bool colorCorrect)

double	getCromaTraceSD ()

CvPoint *	getFloorPolygon ()

int	getFloorPolygonCnt ()

int *	getFloorPolygonCntP ()

char *	getImageName (const char list, const char subdir, int n, char *buff, int buffLng)

const char *	getImageName2 (int i)

bool *	getObstacleFlags ()

bool	imageContour2 (UImage img, UImage imgC, unsigned int row, unsigned int col, UPixelLinked outlineBuffer, int outlineBufferCnt, double diff, double diffa)

bool	imageContourMaha (UImage img, UImage imgC, unsigned int row, unsigned int col, UPixelLinked outlineBuffer, int outlineBufferCnt, UMatrix4 averageSeed, UMatrix4 covarianceInv, double diff, double diffa)

bool	imageContourMahaCroma (UImage img, UImage imgC, unsigned int row, unsigned int col, int x1, int y1, int x2, int y2, int maxH, UPixelLinked outlineBuffer, int outlineBufferCnt, UMatrix4 averageCroma, UMatrix4 covarCromaInv, UMatrix4 averageRgb, UMatrix4 covarRgbInv, double ballance, double limit)

bool	imageUsable (UImage *img)

double	polygonArea (CvPoint *poly, int elements)

bool	polygonReduce (UPixelLinked outlineBuffer, int outlineBufferCnt, double tollerance, int topLine)

bool	polygonReduce2 (UPixelLinked outlineBuffer, int outlineBufferCnt, double tollerance, int topLine)

void	setImage (UImage *toImg)

void	setImagePool (UImagePool *imagePool)

void	setStorage (CvMemStorage *mem)

	UImageAna ()

	~UImageAna ()

Protected Member Functions
double	getMahalonobisDist (UPixel pix, UMatrix4 average, UMatrix4 *covarianceInv)

double	getMahalonobisDistCroma (UPixel pix, UMatrix4 average, UMatrix4 *covarianceInv, double averageY, bool useShadow)

Private Member Functions
int	countContourEdges (CvSeq *contours)

int	countContourLimits (CvSeq contours, int left, int right, int top, int *bottom, bool lookingLeft)

bool	distFilt (UImage simg, UImage dimg, unsigned int maxW, unsigned int minW, unsigned int minR, unsigned int maxR)

bool	distFiltH (UImage simg, UImage dimg, unsigned int maxW, unsigned int minW, unsigned int minR, unsigned int maxR, unsigned int maxMaskHeight)

int	findContour (UImage imgMask, UImage dest, CvPoint flp, int flpMax, bool tooHigh, bool *tooSmall, bool lookingLeft)

int	findContourPoly (UImage imgM, UImage imgC, bool *tooSmall, double lookingLeft, double pct1, double pct2)

int	findContourPolyCroma (UImage imgM, UImage imgC, UImage imgCroma, bool tooSmall, double lookingLeft, int x1, int y1, int x2, int y2, int maxH, double ballance, double limit)

void	findVertex (const UPixelLinked end1, const UPixelLinked end2, const int count, const int startNum, int *vertexList, int vertexListCnt, const int listLength, const float toll, const int topLine)

bool	getAvgVar (UImage img, unsigned int x, unsigned int y, unsigned int w, unsigned int h, UMatrix4 mE, UMatrix4 *mC)

double	getRoadProbability (int r, int c, UImage img, UImage imgC, UMatrix4 vECroma, UMatrix4 averageCroma, UMatrix4 *covarCromaInv, double ballance, double averageY, bool useShadow)

bool	paintRoadImage (int seedR, int seedC, UImage img, UImage imgC, UMatrix4 vCroma, UMatrix4 mCromaInv, UMatrix4 vRgb, UMatrix4 mRgbInv, double dyn, double abs)

int	pixCmp (UPixel p1, UPixel p2)

UPixel *	pixSort (UPixel ***ps, int pixCnt)

Private Attributes
double	cromaTrace

CvPoint *	floorArea

int	floorAreaCnt

UPixelLinked *	floorOutline

int	floorOutlineCnt

UImage *	img

UImagePool *	imgPool

bool *	obst

CvMemStorage *	storage

Detailed Description

Class for image analysis. Initially color statistics only.

Author: Christian Andersen

Constructor & Destructor Documentation

UImageAna::UImageAna ( )

Constructor

References img.

UImageAna::~UImageAna ( )

Destructor

Member Function Documentation

int UImageAna::countContourEdges ( CvSeq * contours )

private

Count edges in contour sequebnce

int UImageAna::countContourLimits	(	CvSeq *	contours,
		int *	left,
		int *	right,
		int *	top,
		int *	bottom,
		bool	lookingLeft
	)

private

Find square limits of found contour returns the point cont, and if limit pointers != NULL the left, right, top and bottol limits of the points in the sequence.

References UPixelLinked::r.

bool UImageAna::distFilt	(	UImage *	simg,
		UImage *	dimg,
		unsigned int	maxW,
		unsigned int	minW,
		unsigned int	minR,
		unsigned int	maxR
	)

private

Filter image based on row number

References UPixelLinked::c, UImage::copy(), UImage::getLine(), UPixelLinked::r, and UImage::width().

bool UImageAna::distFiltH	(	UImage *	simg,
		UImage *	dimg,
		unsigned int	maxW,
		unsigned int	minW,
		unsigned int	minR,
		unsigned int	maxR,
		unsigned int	maxMaskHeight
	)

private

Median filter with variable mask width and maximum mask height. Mask height must be smaller than or equal to 5 (od number). Mask width must be smaller than or equal to 40.

References UPixelLinked::c, UImage::copy(), UImage::getLine(), UImage::height(), mini(), UPixelLinked::r, and UImage::width().

int UImageAna::findContour	(	UImage *	imgMask,
		UImage *	dest,
		CvPoint *	flp,
		int	flpMax,
		bool *	tooHigh,
		bool *	tooSmall,
		bool	lookingLeft
	)

private

Find contour of maksked area. and paint result in destination image.

References UImage::cvArr(), UImage::height(), img, mini(), UTime::Now(), and UImage::width().

int UImageAna::findContourPoly	(	UImage *	imgM,
		UImage *	imgC,
		bool *	tooSmall,
		double	lookingLeft,
		double	pct1,
		double	pct2
	)

private

Find contour of area, using own routine, and reduction using Douglas-Peucker. LookingLeft decides seed-point 1.0 seed is full right, -1.0 seed is full left. Parameters are pct1 is dynamic edge size and pct2 is absolute from reference point. Resulting polygon is returned in floorArea with floorAreaCnt points. floorOutline buffer is used during calculation and holds the same information on return. too-small is set trus if outline is less that 100 pixels. Returns true if a proper area is found.

References UPixelLinked::c, UImage::copy(), UImage::getLine(), UImage::getPixRef(), UImage::height(), img, UImage::imgTime, UMatrix4::inversed(), MAX_POLYGON_OUTLINE_POINTS, MAX_POLYGON_POINTS, maxi(), mini(), UTime::Now(), UPixel::p1, UPixel::p2, UPixel::p3, UMatrix::print(), UPixelLinked::r, roundi(), UImage::setNameAndExt(), UMatrix::setRow(), UMatrix::setSize(), and UImage::width().

int UImageAna::findContourPolyCroma	(	UImage *	imgM,
		UImage *	imgC,
		UImage *	imgCroma,
		bool *	tooSmall,
		double	lookingLeft,
		int	x1,
		int	y1,
		int	x2,
		int	y2,
		int	maxH,
		double	ballance,
		double	limit
	)

private

Find contour polygon using cromaticity

Todo:: try to remove small appendices from the road outline

References UPixelLinked::c, UImage::copyMeta(), UImage::cvArr(), UTime::GetDateString(), UImage::getLine(), UImage::getPixRef(), UTime::GetTimeAsString(), UImage::height(), img, UImage::imgTime, UMatrix::init(), UMatrix4::inversed(), MAX_POLYGON_OUTLINE_POINTS, MAX_POLYGON_POINTS, maxi(), mini(), UMatrix::mult(), UImage::name, UTime::Now(), UPixel::p1, UPixel::p2, UPixel::p3, UPixel::pixRGB(), UMatrix::print(), UPixelLinked::px, UPixelLinked::r, roundi(), UImage::setNameAndExt(), UImage::setPix(), UMatrix::setRC(), UMatrix::setRow(), UMatrix::setSize(), SHADOW_COMPENSATION_FACTOR, sqr(), UMatrix::trace(), and UImage::width().

bool UImageAna::findRoad	(	unsigned int	x,
		unsigned int	y,
		unsigned int	w,
		unsigned int	h,
		UImage *	resultImg,
		bool	debug,
		int	imgNum,
		char *	imgN
	)

Find road as area that matches this start area. Paint result in result image if in debug mode.

References UPixelLinked::c, UImage::copy(), UImage::copyMeta(), UMatrix::cvArr(), UImage::cvArr(), fire(), UImage::getLine(), UImage::height(), imagePath, img, UPixel::p1, UPixel::p2, UPixel::p3, UPixelLinked::r, UImage::saveBMP(), UMatrix::set(), UImage::setSize(), and UImage::width().

bool UImageAna::findRoadCroma	(	unsigned int	x,
		unsigned int	y,
		unsigned int	w,
		unsigned int	h,
		UImage *	resultImg,
		bool	debug,
		int	imgNum,
		char *	imgN,
		int	pct
	)

Find road as area that matches this start area. Paint result in result image if in debug mode.

References UMatrix::add(), UPixel::asBGR(), UPixel::asYUV(), UPixelLinked::c, UImage::copy(), UImage::copyMeta(), UMatrix::cvArr(), UImage::cvArr(), UImage::getData(), UImage::getLine(), UImage::height(), imagePath, img, UMatrix::inverse(), maxd(), mind(), UPixel::p1, UPixel::p2, UPixel::p3, PIX_PLANES_BGR, PIX_PLANES_YUV, UMatrix::print(), UPixelLinked::r, UImage::saveBMP(), UMatrix::set(), UPixel::set(), UImage::setSize(), UImage::width(), and UPixel::y.

bool UImageAna::findRoadFill	(	unsigned int	x,
		unsigned int	y,
		unsigned int	w,
		unsigned int	h,
		UImage *	resi,
		bool	debug,
		int	camDev,
		char *	imgName,
		int	pct,
		bool	lookingLeft
	)

Find road by filtering alone

References UPixel::asRGB(), UPixel::asYUV(), bool2str(), UPixelLinked::c, UImage::clear(), UImage::copy(), UImage::cvArr(), UImage::edgeSobel(), UImage::getData(), UImage::getLine(), UImage::height(), imagePath, img, MAX_POLYGON_POINTS, maxi(), mini(), UTime::Now(), PIX_PLANES_BGR, PIX_PLANES_YUV, UPixelLinked::r, UImage::saveBMP(), UPixel::set(), UImage::setSize(), UPixel::u, UPixel::v, UImage::width(), and UPixel::y.

bool UImageAna::findRoadPoly	(	bool	debug,
		int	camDev,
		char *	imgN,
		double	ballance,
		double	limit,
		double	lookingLeft,
		int	x1,
		int	y1,
		int	x2,
		int	y2,
		bool	colorCorrect
	)

Find road using new outline search algorithem

References UImage::copy(), UImage::copyMeta(), UImage::cvArr(), UImage::getLine(), UImage::height(), img, UImage::imgUpdated(), maxi(), mini(), UImage::name, UTime::Now(), UPixel::p1, UPixel::p2, UPixel::p3, UImage::setNameAndExt(), UImage::toBGR(), and UImage::width().

Referenced by UFunctionCamPath::findPath().

void UImageAna::findVertex	(	const UPixelLinked *	end1,
		const UPixelLinked *	end2,
		const int	count,
		const int	startNum,
		int **	vertexList,
		int *	vertexListCnt,
		const int	listLength,
		const float	toll,
		const int	topLine
	)

private

Find the most distant vertex from the line between these endpoints and recursively find all vertexes in between. Adds the index to the found verteces to the vertex list. This needs to be sorted at the end.

References UPixelLinked::c, mini(), UPixelLinked::r, sqr(), and sqri().

bool UImageAna::getAvgVar	(	UImage *	img,
		unsigned int	x,
		unsigned int	y,
		unsigned int	w,
		unsigned int	h,
		UMatrix4 *	mE,
		UMatrix4 *	mC
	)

private

Clear openCv storeage area Get average and covariance matrix for this part of image. Returns true if image is valid.

References UMatrix::add(), UPixelLinked::c, UMatrix::clear(), UImage::getLine(), UMatrix::mult(), UPixel::p1, UPixel::p2, UPixel::p3, UPixelLinked::r, UMatrix::set(), UMatrix::sub(), and UMatrix::transpose().

double UImageAna::getCromaTraceSD ( )

inline

Get the cromaticity SD from the seed area.

References img.

Referenced by UFunctionCamPath::findPath().

CvPoint* UImageAna::getFloorPolygon ( )

inline

Get estimated floor polygon

Referenced by UFunctionCamPath::findPath().

int UImageAna::getFloorPolygonCnt ( )

inline

Get number of vertexes in floor polygon .

Referenced by UFunctionCamPath::findPath().

int* UImageAna::getFloorPolygonCntP ( )

inline

Get pointer to number of vertexes in floor polygon .

char * UImageAna::getImageName	(	const char *	list,
		const char *	subdir,
		int	n,
		char *	buff,
		int	buffLng
	)

Get image name from a 'ls *.bmp >imgListLog' list in file 'list' in subdirectory 'subdir' in the imagePath. The n'th filename in the list is extracted and stored in 'buff'. The buffer 'buffer' has space for buffCnt characters. If no name is found, then the returned string is empty, and NULL is returned. else a pointer to the filename is returned. The filename must be a *.bmp file and the '.bmp' is removed from the filename. There is no path (imagePath nor subdir) in the filename.

References imagePath.

const char* UImageAna::getImageName2 ( int i )

Get image name - static for test purpose only

double UImageAna::getMahalonobisDist	(	UPixel *	pix,
		UMatrix4 *	average,
		UMatrix4 *	covarianceInv
	)

protected

Find the distance weighted (sqr) distance from this pixel value (RGB) using the provided covariance matrix as weight (Mahalonibis) Average must be a 1x3 vector and covariance must be 3x3 vector.

References UMatrix::get(), UPixel::p1, UPixel::p2, UPixel::p3, UMatrix::setRow(), and UMatrix::setSize().

double UImageAna::getMahalonobisDistCroma	(	UPixel *	pix,
		UMatrix4 *	average,
		UMatrix4 *	covarianceInv,
		double	averageY,
		bool	useShadow
	)

protected

Find the distance weighted (sqr) distance from this pixel value (CROMATICITY) using the provided covariance matrix as weight (Mahalonibis). Average must be a 1x2 vector and covariance must be 2x2 vector. If useShadow then the red value is shadow compensated.

References UMatrix::get(), UPixel::p1, UPixel::p2, UPixel::p3, UPixelLinked::r, UMatrix::setRow(), UMatrix::setSize(), and SHADOW_COMPENSATION_FACTOR.

bool* UImageAna::getObstacleFlags ( )

inline

Get boolean flag array to indicate that the vertex is part of an obstacle.

Referenced by UFunctionCamPath::findPath().

double UImageAna::getRoadProbability	(	int	r,
		int	c,
		UImage *	img,
		UImage *	imgC,
		UMatrix4 *	vECroma,
		UMatrix4 *	averageCroma,
		UMatrix4 *	covarCromaInv,
		double	ballance,
		double	averageY,
		bool	useShadow
	)

private

Get road probability value for pixel at (r, c). If useShadow then a compensation for shadow is attempted.

References UImage::getPixRef(), UPixel::getSum(), UImage::height(), maxi(), mini(), and UImage::width().

bool UImageAna::imageContour2	(	UImage *	img,
		UImage *	imgC,
		unsigned int	row,
		unsigned int	col,
		UPixelLinked *	outlineBuffer,
		int *	outlineBufferCnt,
		double	diff,
		double	diffa
	)

Find contour of image 'img' from a seed point by traversing from seedpoint clockwise until seedpoint is again reached. NB! must start at an bottom or right edge, as first test is down and there must be no way to loop back to start point clockwise. Finds an outline of area, but discards islands, that is only connected to "mainland" with one pixel. Bufer size should be at least 4000 points for a 320x240 image. Returns true if images are valid

References absi(), bool2str(), UPixelLinked::c, UPixelLinked::getNext(), UImage::getPixRef(), UImage::height(), UPixelLinked::nx, UPixel::p1, UPixel::p2, UPixel::p3, UPixelLinked::px, UPixelLinked::r, UImage::setPix(), and UImage::width().

bool UImageAna::imageContourMaha	(	UImage *	img,
		UImage *	imgC,
		unsigned int	row,
		unsigned int	col,
		UPixelLinked *	outlineBuffer,
		int *	outlineBufferCnt,
		UMatrix4 *	averageSeed,
		UMatrix4 *	covarianceInv,
		double	diff,
		double	diffa
	)

Same as above, but using Mahalonobis distance

References bool2str(), UPixelLinked::c, UPixelLinked::getNext(), UImage::getPixRef(), UImage::height(), UPixelLinked::nx, UPixel::p1, UPixel::p2, UPixel::p3, UPixelLinked::px, UPixelLinked::r, UImage::setPix(), and UImage::width().

bool UImageAna::imageContourMahaCroma	(	UImage *	img,
		UImage *	imgC,
		unsigned int	row,
		unsigned int	col,
		int	x1,
		int	y1,
		int	x2,
		int	y2,
		int	maxH,
		UPixelLinked *	outlineBuffer,
		int *	outlineBufferCnt,
		UMatrix4 *	averageCroma,
		UMatrix4 *	covarCromaInv,
		UMatrix4 *	averageRgb,
		UMatrix4 *	covarRgbInv,
		double	ballance,
		double	limit
	)

Same as above, but using Mahalonobis cromaticity distance Ballance is range [0..1] - default = 0.5. limit range 2.0 (no road) to 0.0 (all road) .

References bool2str(), UPixelLinked::c, UMatrix::get(), UPixelLinked::getNext(), UImage::getPixRef(), UPixelLinked::nx, UPixel::p1, UPixel::p2, UPixel::p3, UPixelLinked::px, UPixelLinked::r, and UImage::width().

bool UImageAna::imageUsable ( UImage * img )

Test image for illumination sanity Returns true if statistics seems OK

References UPixelLinked::c, UImage::getPix(), UImage::height(), UImage::isValid(), UImage::isYUV(), UImage::isYUV420(), UPixel::p1, UPixel::p2, UPixel::p3, UPixelLinked::px, UPixelLinked::r, UImage::width(), and UPixel::y.

Referenced by UFunctionCamPath::findPath().

bool UImageAna::paintRoadImage	(	int	seedR,
		int	seedC,
		UImage *	img,
		UImage *	imgC,
		UMatrix4 *	vCroma,
		UMatrix4 *	mCromaInv,
		UMatrix4 *	vRgb,
		UMatrix4 *	mRgbInv,
		double	dyn,
		double	abs
	)

private

Paint base image with road detection

References UPixelLinked::c, UMatrix::copy(), UImage::height(), UPixelLinked::r, and UImage::width().

int UImageAna::pixCmp	(	UPixel *	p1,
		UPixel *	p2
	)

private

Compare pixels for intensity. Returns positive if p1 > p2, and 0 if equal, and negative if p2 > p1.

References a, UPixel::p1, UPixel::p2, and UPixel::p3.

UPixel * UImageAna::pixSort	(	UPixel ***	ps,
		int	pixCnt
	)

private

Order this number of pixels after intensity in all channels (try), Returns the center element. NB! no range checks

double UImageAna::polygonArea	(	CvPoint *	poly,
		int	elements
	)

Finds area of a polygon. The area is signed - positive if clockwise. Calculated as A = 0.5 * sum(a(i)) over all i in [0, n-1], where a(i) = x(i) * y(i-1) - x(i-1) * y(i), where the first element (i=0) uses the last element (n-1) i.s.f. (i-1). http://homepages.borland.com/efg2lab/Graphics/PolygonArea.htm.

References a.

bool UImageAna::polygonReduce	(	UPixelLinked *	outlineBuffer,
		int *	outlineBufferCnt,
		double	tollerance,
		int	topLine
	)

Reduce vertex count using a Douglas-Peuker reduction method. Method from: http://geometryalgorithms.com/Archive/algorithm_0205

References MAX_POLYGON_POINTS, and sqr().

bool UImageAna::polygonReduce2	(	UPixelLinked *	outlineBuffer,
		int *	outlineBufferCnt,
		double	tollerance,
		int	topLine
	)

Remove closed appendix areas

References a, UPixelLinked::c, mini(), and UPixelLinked::r.

void UImageAna::setImage ( UImage * toImg )

inline

Set image

References img.

Referenced by UFunctionCamPath::findPath().

void UImageAna::setImagePool ( UImagePool * imagePool )

inline

Set image pool

References UPixelLinked::c, and UPixelLinked::r.

Referenced by UFunctionCamPath::initializeFindPath().

void UImageAna::setStorage ( CvMemStorage * mem )

inline

Set storage pointer

Referenced by UFunctionCamPath::initializeFindPath().

Member Data Documentation

double UImageAna::cromaTrace

private

Seed area cromaticity standard deviation

CvPoint* UImageAna::floorArea

private

Array of CvPoint, that holds the the floor contour

int UImageAna::floorAreaCnt

private

Number of points in contour

UPixelLinked* UImageAna::floorOutline

private

Array of points and directions in floor outline

int UImageAna::floorOutlineCnt

private

Count of elements in outline

UImage* UImageAna::img

private

Image to be analized

UImagePool* UImageAna::imgPool

private

Reference to image pool

bool* UImageAna::obst

private

List of obstacle vertex. If two connected vertwx are non obstacle the the line between are not a detected obstacle, if on vertex is an obstacle, then it mustbe assumed to be so.

CvMemStorage* UImageAna::storage

private

Storage used by openCV

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation