mirror of
https://github.com/Steffo99/unimore-hpc-assignments.git
synced 2024-11-25 17:44:23 +00:00
283 lines
8.3 KiB
C++
283 lines
8.3 KiB
C++
/*
|
|
* BSD 2-Clause License
|
|
*
|
|
* Copyright (c) 2020, Alessandro Capotondi
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright notice, this
|
|
* list of conditions and the following disclaimer.
|
|
*
|
|
* * Redistributions in binary form must reproduce the above copyright notice,
|
|
* this list of conditions and the following disclaimer in the documentation
|
|
* and/or other materials provided with the distribution.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
|
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
|
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
|
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
|
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
*/
|
|
|
|
/**
|
|
* @file colorTracking.cpp
|
|
* @author Alessandro Capotondi
|
|
* @date 5 May 2020
|
|
* @brief Color Tracking
|
|
*
|
|
* @see https://dolly.fim.unimore.it/2019/course/view.php?id=152
|
|
*/
|
|
|
|
#include <stdio.h>
|
|
#include <time.h>
|
|
#include <sys/time.h>
|
|
#include <opencv2/opencv.hpp>
|
|
#include "opencv2/imgproc/imgproc_c.h"
|
|
#include "opencv2/imgproc/imgproc.hpp"
|
|
#include <opencv2/imgcodecs/imgcodecs.hpp>
|
|
#include <opencv2/objdetect/objdetect.hpp>
|
|
#include <opencv2/highgui/highgui.hpp>
|
|
|
|
using namespace cv;
|
|
using namespace std;
|
|
|
|
#ifdef CHECK
|
|
#include "data/sample_ground_truth.h"
|
|
#endif
|
|
|
|
extern "C"
|
|
{
|
|
#include "utils.h"
|
|
}
|
|
|
|
void ConversionRgb2Hsv(uint8_t *__restrict__ out, uint8_t *__restrict__ in, int width, int height, int nch)
|
|
{
|
|
// Get Raw Image Data pointer
|
|
int pixels = width * height * nch;
|
|
|
|
//Convert each pixel of input RGB image to HSV
|
|
for (int idx = 0; idx < pixels; idx += nch)
|
|
{
|
|
uint8_t V, S, H;
|
|
uint8_t rgb_min, rgb_max, rgb_mm;
|
|
|
|
//Read color channels
|
|
uint8_t red = in[idx];
|
|
uint8_t green = in[idx + 1];
|
|
uint8_t blue = in[idx + 2];
|
|
|
|
rgb_max = max(max(red, green), blue);
|
|
rgb_min = min(min(red, green), blue);
|
|
rgb_mm = rgb_max - rgb_min;
|
|
|
|
//Value computation
|
|
V = rgb_max;
|
|
if (V == 0)
|
|
H = S = 0;
|
|
else
|
|
{
|
|
//Saturation computation
|
|
S = (int)(((long)255 * (long)(rgb_mm)) / (long)V);
|
|
if (S == 0)
|
|
H = 0;
|
|
else
|
|
{
|
|
//Hue computation
|
|
if (rgb_max == red)
|
|
H = 0 + 43 * (green - blue) / rgb_mm;
|
|
else if (rgb_max == green)
|
|
H = 85 + 43 * (blue - red) / rgb_mm;
|
|
else
|
|
H = 171 + 43 * (red - green) / rgb_mm;
|
|
}
|
|
}
|
|
|
|
//Write HSV
|
|
out[idx] = (uint8_t)H;
|
|
out[idx + 1] = (uint8_t)S;
|
|
out[idx + 2] = (uint8_t)V;
|
|
}
|
|
}
|
|
|
|
void ImgThreashold(uint8_t *__restrict__ out, uint8_t *__restrict__ in, int32_t thLow[3], int32_t thHi[3], int width, int height, int nch)
|
|
{
|
|
int pixels = width * height;
|
|
uint8_t lb1 = (uint8_t)thLow[0];
|
|
uint8_t lb2 = (uint8_t)thLow[1];
|
|
uint8_t lb3 = (uint8_t)thLow[2];
|
|
uint8_t ub1 = (uint8_t)thHi[0];
|
|
uint8_t ub2 = (uint8_t)thHi[1];
|
|
uint8_t ub3 = (uint8_t)thHi[2];
|
|
|
|
for (int idx = 0; idx < pixels; ++idx)
|
|
{
|
|
out[idx] = ((in[idx * nch] >= lb1) && (in[idx * nch] <= ub1) &&
|
|
(in[idx * nch + 1] >= lb2) && (in[idx * nch + 1] <= ub2) &&
|
|
(in[idx * nch + 2] >= lb3) && (in[idx * nch + 2] <= ub3))
|
|
? 255
|
|
: 0;
|
|
}
|
|
}
|
|
|
|
void ImgCenterbyMoments(int *y, int *x, uint8_t *__restrict__ in, int width, int height, int nch)
|
|
{
|
|
uint64_t m_00 = 0, m_01 = 0, m_10 = 0;
|
|
for (int i = 0; i < height; ++i)
|
|
{
|
|
for (int j = 0; j < width; ++j)
|
|
{
|
|
if (in[i * width + j] > 0)
|
|
{
|
|
m_00++;
|
|
m_01 += j;
|
|
m_10 += i;
|
|
}
|
|
}
|
|
}
|
|
*y = m_00 ? (double)m_01 / m_00 : 0;
|
|
*x = m_00 ? (double)m_10 / m_00 : 0;
|
|
}
|
|
|
|
void ImgMerge(uint8_t *__restrict__ out, uint8_t *__restrict__ in1, uint8_t *__restrict__ in2, int width, int height, int nch)
|
|
{
|
|
// Get Raw Image Data pointer
|
|
int pixels = width * height * nch;
|
|
|
|
for (int idx = 0; idx < pixels; ++idx)
|
|
{
|
|
if(in2[idx])
|
|
out[idx] = in2[idx];
|
|
else
|
|
out[idx] = in1[idx];
|
|
}
|
|
}
|
|
|
|
int main(int argc, char *argv[])
|
|
{
|
|
struct timespec rt[2];
|
|
double wt;
|
|
|
|
//Open Video Example
|
|
VideoCapture cap("data/sample.avi");
|
|
int width = cap.get(CAP_PROP_FRAME_WIDTH);
|
|
int height = cap.get(CAP_PROP_FRAME_HEIGHT);
|
|
int nCh = 3;
|
|
|
|
// Upper and Lower Color Threasholds
|
|
int32_t thHi[3], thLow[3];
|
|
Scalar _thHi, _thLow;
|
|
|
|
// Frame Buffers
|
|
Mat frameRGB = Mat::zeros(height, width, CV_8UC3);
|
|
Mat frameHVS = Mat::zeros(height, width, CV_8UC3);
|
|
Mat frameTrack = Mat::zeros(height, width, CV_8UC3);
|
|
Mat frameMask = Mat::zeros(height, width, CV_8UC1);
|
|
|
|
//Check Video
|
|
if (!cap.isOpened())
|
|
{
|
|
cout << "[Error] Cannot open the video file" << endl;
|
|
return -1;
|
|
}
|
|
|
|
if (argc > 1)
|
|
{
|
|
if (argc == 7)
|
|
{
|
|
thLow[0] = atoi(argv[1]);
|
|
thLow[1] = atoi(argv[2]);
|
|
thLow[2] = atoi(argv[3]);
|
|
thHi[0] = atoi(argv[4]);
|
|
thHi[1] = atoi(argv[5]);
|
|
thHi[2] = atoi(argv[6]);
|
|
}
|
|
else
|
|
{
|
|
cout << "[Error] Invalid arguments: usage ./cTracking [thLow(H S V) thHi(H S V)]" << endl;
|
|
return -1;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
//Default Values
|
|
thLow[0] = 160;
|
|
thLow[1] = 100;
|
|
thLow[2] = 100;
|
|
thHi[0] = 180;
|
|
thHi[1] = 255;
|
|
thHi[2] = 255;
|
|
}
|
|
_thHi = Scalar(thHi[0], thHi[1], thHi[2]);
|
|
|
|
//Print Information
|
|
printf("--------------------------------------\n");
|
|
printf("Video Info\n");
|
|
printf("--------------------------------------\n");
|
|
printf("width :\t%d\n", (int)cap.get(CAP_PROP_FRAME_WIDTH));
|
|
printf("height:\t%d\n", (int)cap.get(CAP_PROP_FRAME_HEIGHT));
|
|
printf("fps :\t%d\n", (int)cap.get(CAP_PROP_FPS));
|
|
printf("--------------------------------------\n");
|
|
|
|
int lastX = 0;
|
|
int lastY = 0;
|
|
int posX = 0;
|
|
int posY = 0;
|
|
#ifdef CHECK
|
|
int check_id = 0;
|
|
#endif
|
|
int nFrames = 0;
|
|
double time_cnt = 0.0;
|
|
while (1)
|
|
{
|
|
bool lastFrame = cap.read(frameRGB); // read a new frame from video
|
|
if (!lastFrame)
|
|
break;
|
|
|
|
clock_gettime(CLOCK_REALTIME, rt + 0);
|
|
ConversionRgb2Hsv(frameHVS.ptr(), frameRGB.ptr(), width, height, nCh);
|
|
ImgThreashold(frameMask.ptr(), frameHVS.ptr(), thLow, thHi, width, height, nCh);
|
|
ImgCenterbyMoments(&posY, &posX, frameMask.ptr(), width, height, nCh);
|
|
|
|
// We want to draw a line only if its a valid position
|
|
if (lastX > 0 && lastY > 0 && posX > 0 && posY > 0)
|
|
line(frameTrack, Point(lastY, lastX), Point(posY, posX), _thHi, 2, CV_8UC3, 0);
|
|
|
|
ImgMerge(frameRGB.ptr(), frameRGB.ptr(), frameTrack.ptr(), width, height, nCh);
|
|
clock_gettime(CLOCK_REALTIME, rt + 1);
|
|
time_cnt+= (rt[1].tv_sec - rt[0].tv_sec) + 1.0e-9 * (rt[1].tv_nsec - rt[0].tv_nsec);
|
|
nFrames++;
|
|
|
|
#ifdef DISPLAY
|
|
// Show frames
|
|
imshow("frameRGB", frameRGB);
|
|
imshow("frameMask", frameMask);
|
|
imshow("frameTrack", frameTrack);
|
|
waitKey(1);
|
|
#endif
|
|
|
|
#ifdef CHECK
|
|
assert(ground_truth_YX[check_id++]==posY);
|
|
assert(ground_truth_YX[check_id++]==posX);
|
|
#endif
|
|
lastX = posX;
|
|
lastY = posY;
|
|
}
|
|
|
|
printf("ColorTracking: %d frames, %9.6f s per-frame (%9.6f fps)\n", nFrames, time_cnt/nFrames, 1/(time_cnt/nFrames));
|
|
|
|
//Release Memory - Avoid Memory Leak!
|
|
frameRGB.release();
|
|
frameHVS.release();
|
|
frameTrack.release();
|
|
frameMask.release();
|
|
cap.release();
|
|
|
|
return 0;
|
|
}
|