// Get grayscale image out of the specified one
public static void ConvertToGrayscale( UnmanagedImage source, UnmanagedImage destination )
{
if ( source.PixelFormat != PixelFormat.Format8bppIndexed )
{
Grayscale.CommonAlgorithms.BT709.Apply( source, destination );
}
else
{
source.Copy( destination );
}
}
/// <summary>
/// Process the filter on the specified image.
/// </summary>
///
/// <param name="sourceData">Source image data.</param>
/// <param name="destinationData">Destination image data.</param>
///
protected unsafe override void ProcessFilter(UnmanagedImage sourceData, UnmanagedImage destinationData)
{
int width = sourceData.Width;
int height = sourceData.Height;
PixelFormat format = sourceData.PixelFormat;
int pixelSize = System.Drawing.Bitmap.GetPixelFormatSize(format) / 8;
sourceData.Clone();
UnmanagedImage temp = UnmanagedImage.Create(width, height, format);
int lineWidth = width * pixelSize;
int srcStride = temp.Stride;
int srcOffset = srcStride - lineWidth;
int dstStride = destinationData.Stride;
int dstOffset = dstStride - lineWidth;
byte* srcStart = (byte*)temp.ImageData.ToPointer();
byte* dstStart = (byte*)destinationData.ImageData.ToPointer();
// first
Convolution c = new Convolution(masks[0]);
c.Apply(sourceData, destinationData);
// others
for (int i = 1; i < masks.Length; i++)
{
c.Kernel = masks[i];
c.Apply(sourceData, temp);
byte* src = srcStart;
byte* dst = dstStart;
for (int y = 0; y < height; y++)
{
for (int x = 0; x < lineWidth; x++, src++, dst++)
{
if (*src > *dst)
*dst = *src;
}
dst += dstOffset;
src += srcOffset;
}
}
}
/// <summary>
/// Process image looking for corners.
/// </summary>
///
/// <param name="image">Source image data to process.</param>
///
/// <returns>Returns list of found corners (X-Y coordinates).</returns>
///
/// <exception cref="UnsupportedImageFormatException">
/// The source image has incorrect pixel format.
/// </exception>
///
public List<IntPoint> ProcessImage(UnmanagedImage image)
{
// check image format
if (
(image.PixelFormat != PixelFormat.Format8bppIndexed) &&
(image.PixelFormat != PixelFormat.Format24bppRgb) &&
(image.PixelFormat != PixelFormat.Format32bppRgb) &&
(image.PixelFormat != PixelFormat.Format32bppArgb)
)
{
throw new UnsupportedImageFormatException("Unsupported pixel format of the source image.");
}
// make sure we have grayscale image
UnmanagedImage grayImage = null;
if (image.PixelFormat == PixelFormat.Format8bppIndexed)
{
grayImage = image;
}
else
{
// create temporary grayscale image
grayImage = Grayscale.CommonAlgorithms.BT709.Apply(image);
}
// get source image size
int width = grayImage.Width;
int height = grayImage.Height;
int stride = grayImage.Stride;
int offset = stride - width;
// 1. Calculate partial differences
float[,] diffx = new float[height, width];
float[,] diffy = new float[height, width];
float[,] diffxy = new float[height, width];
unsafe
{
fixed (float* pdx = diffx, pdy = diffy, pdxy = diffxy)
{
// Begin skipping first line
byte* src = (byte*)grayImage.ImageData.ToPointer() + stride;
float* dx = pdx + width;
float* dy = pdy + width;
float* dxy = pdxy + width;
// for each line
for (int y = 1; y < height - 1; y++)
{
// skip first column
dx++; dy++; dxy++; src++;
// for each inner pixel in line (skipping first and last)
for (int x = 1; x < width - 1; x++, src++, dx++, dy++, dxy++)
{
// Retrieve the pixel neighborhood
byte a11 = src[+stride + 1], a12 = src[+1], a13 = src[-stride + 1];
byte a21 = src[+stride + 0], /* a22 */ a23 = src[-stride + 0];
byte a31 = src[+stride - 1], a32 = src[-1], a33 = src[-stride - 1];
// Convolution with horizontal differentiation kernel mask
float h = ((a11 + a12 + a13) - (a31 + a32 + a33)) * 0.166666667f;
// Convolution with vertical differentiation kernel mask
float v = ((a11 + a21 + a31) - (a13 + a23 + a33)) * 0.166666667f;
// Store squared differences directly
*dx = h * h;
*dy = v * v;
*dxy = h * v;
}
// Skip last column
dx++; dy++; dxy++;
src += offset + 1;
}
// Free some resources which wont be needed anymore
if (image.PixelFormat != PixelFormat.Format8bppIndexed)
grayImage.Dispose();
}
}
// 2. Smooth the diff images
if (sigma > 0.0)
{
float[,] temp = new float[height, width];
// Convolve with Gaussian kernel
convolve(diffx, temp, kernel);
convolve(diffy, temp, kernel);
convolve(diffxy, temp, kernel);
}
// 3. Compute Harris Corner Response Map
float[,] map = new float[height, width];
unsafe
{
fixed (float* pdx = diffx, pdy = diffy, pdxy = diffxy, pmap = map)
{
float* dx = pdx;
float* dy = pdy;
float* dxy = pdxy;
float* H = pmap;
float M, A, B, C;
for (int y = 0; y < height; y++)
{
for (int x = 0; x < width; x++, dx++, dy++, dxy++, H++)
{
A = *dx;
B = *dy;
C = *dxy;
if (measure == HarrisCornerMeasure.Harris)
{
// Original Harris corner measure
M = (A * B - C * C) - (k * ((A + B) * (A + B)));
}
else
{
// Harris-Noble corner measure
M = (A * B - C * C) / (A + B + Constants.SingleEpsilon);
}
if (M > threshold)
{
*H = M; // insert value in the map
}
}
}
}
}
// 4. Suppress non-maximum points
List<IntPoint> cornersList = new List<IntPoint>();
// for each row
for (int y = r, maxY = height - r; y < maxY; y++)
{
// for each pixel
for (int x = r, maxX = width - r; x < maxX; x++)
{
float currentValue = map[y, x];
// for each windows' row
for (int i = -r; (currentValue != 0) && (i <= r); i++)
{
// for each windows' pixel
for (int j = -r; j <= r; j++)
{
if (map[y + i, x + j] > currentValue)
{
currentValue = 0;
break;
}
}
}
// check if this point is really interesting
if (currentValue != 0)
{
cornersList.Add(new IntPoint(x, y));
}
}
}
return cornersList;
}
/// <summary>
/// Computes the Gray-level Difference Method (GLDM)
/// Histogram for the given source image.
/// </summary>
///
/// <param name="source">The source image.</param>
///
/// <returns>An histogram containing co-occurrences
/// for every gray level in <paramref name="source"/>.</returns>
///
public int[] Compute(UnmanagedImage source)
{
int width = source.Width;
int height = source.Height;
int stride = source.Stride;
int offset = stride - width;
int maxGray = 255;
int[] hist;
unsafe
{
byte* src = (byte*)source.ImageData.ToPointer();
if (autoGray)
maxGray = max(width, height, offset, src);
hist = new int[maxGray + 1];
switch (degree)
{
case CooccurrenceDegree.Degree0:
for (int y = 0; y < height; y++)
{
for (int x = 1; x < width; x++)
{
byte a = src[stride * y + (x - 1)];
byte b = src[stride * y + x];
int bin = Math.Abs(a - b);
hist[bin]++;
}
}
break;
case CooccurrenceDegree.Degree45:
for (int y = 1; y < height; y++)
{
for (int x = 0; x < width - 1; x++)
{
byte a = src[stride * y + x];
byte b = src[stride * (y - 1) + (x + 1)];
int bin = Math.Abs(a - b);
hist[bin]++;
}
}
break;
case CooccurrenceDegree.Degree90:
for (int y = 1; y < height; y++)
{
for (int x = 0; x < width; x++)
{
byte a = src[stride * (y - 1) + x];
byte b = src[stride * y + x];
int bin = Math.Abs(a - b);
hist[bin]++;
}
}
break;
case CooccurrenceDegree.Degree135:
for (int y = 1; y < height; y++)
{
int steps = width - 1;
for (int x = 0; x < width - 1; x++)
{
byte a = src[stride * y + (steps - x)];
byte b = src[stride * (y - 1) + (steps - 1 - x)];
int bin = Math.Abs(a - b);
hist[bin]++;
}
}
break;
}
}
return hist;
}
/// <summary>
/// Process an image building Hough map.
/// </summary>
///
/// <param name="image">Source unmanaged image to process.</param>
///
/// <exception cref="UnsupportedImageFormatException">Unsupported pixel format of the source image.</exception>
///
public void ProcessImage(UnmanagedImage image)
{
if (image.PixelFormat != PixelFormat.Format8bppIndexed)
{
throw new UnsupportedImageFormatException("Unsupported pixel format of the source image.");
}
// get source image size
width = image.Width;
height = image.Height;
int srcOffset = image.Stride - width;
// allocate Hough map of the same size like image
houghMap = new short[height, width];
// do the job
unsafe
{
byte* src = (byte*)image.ImageData.ToPointer();
// for each row
for (int y = 0; y < height; y++)
{
// for each pixel
for (int x = 0; x < width; x++, src++)
{
if (*src != 0)
{
DrawHoughCircle(x, y);
}
}
src += srcOffset;
}
}
// find max value in Hough map
maxMapIntensity = 0;
for (int i = 0; i < height; i++)
{
for (int j = 0; j < width; j++)
{
if (houghMap[i, j] > maxMapIntensity)
{
maxMapIntensity = houghMap[i, j];
}
}
}
CollectCircles();
}
/// <summary>
/// Process the filter on the specified image.
/// </summary>
///
/// <param name="sourceData">Source image data.</param>
/// <param name="destinationData">Destination image data.</param>
///
protected override unsafe void ProcessFilter(UnmanagedImage sourceData, UnmanagedImage destinationData)
{
int width = sourceData.Width;
int height = sourceData.Height;
int pixelSize = System.Drawing.Image.GetPixelFormatSize(sourceData.PixelFormat) / 8;
int srcStride = sourceData.Stride;
int dstStride = destinationData.Stride;
int srcOffset = srcStride - width * pixelSize;
int dstOffset = dstStride - width * pixelSize;
byte* src = (byte*)sourceData.ImageData.ToPointer();
byte* dst = (byte*)destinationData.ImageData.ToPointer();
// TODO: Move or cache the creation of those filters
int[,] kernel = Accord.Math.Matrix.Create(radius * 2 + 1, radius * 2 + 1, 1);
Convolution conv = new Convolution(kernel);
FastVariance fv = new FastVariance(radius);
// Mean filter
UnmanagedImage mean = conv.Apply(sourceData);
// Variance filter
UnmanagedImage var = fv.Apply(sourceData);
// do the processing job
if (sourceData.PixelFormat == PixelFormat.Format8bppIndexed)
{
byte* srcVar = (byte*)var.ImageData.ToPointer();
byte* srcMean = (byte*)mean.ImageData.ToPointer();
// Store maximum value from variance.
int maxV = Max(width, height, srcVar, srcOffset);
// Store minimum value from image.
int minG = Min(width, height, src, srcOffset);
for (int y = 0; y < height; y++)
{
for (int x = 0; x < width; x++, src++, srcMean++, srcVar++, dst++)
{
double mP = *srcMean;
double vP = *srcVar;
double threshold = (mP + k * ((Math.Sqrt(vP) / (double)maxV - 1.0) * (mP - (double)minG)));
*dst = (byte)(*src > threshold ? 255 : 0);
}
src += srcOffset;
srcMean += srcOffset;
srcVar += srcOffset;
dst += dstOffset;
}
}
}
/// <summary>
/// Computes the new image size.
/// </summary>
///
protected override Size CalculateNewImageSize(UnmanagedImage sourceData)
{
// Calculate source size
float w = sourceData.Width;
float h = sourceData.Height;
// Get the four corners and the center of the image
PointF[] corners =
{
new PointF(0, 0),
new PointF(w, 0),
new PointF(0, h),
new PointF(w, h),
new PointF(w / 2f, h / 2f)
};
// Project those points
corners = homography.Inverse().TransformPoints(corners);
// Recalculate image size
float[] px = { corners[0].X, corners[1].X, corners[2].X, corners[3].X };
float[] py = { corners[0].Y, corners[1].Y, corners[2].Y, corners[3].Y };
float maxX = Matrix.Max(px);
float minX = Matrix.Min(px);
float newWidth = Math.Max(maxX, overlayImage.Width) - Math.Min(0, minX);
float maxY = Accord.Math.Matrix.Max(py);
float minY = Accord.Math.Matrix.Min(py);
float newHeight = Math.Max(maxY, overlayImage.Height) - Math.Min(0, minY);
// Store overlay image size
this.imageSize = new Size((int)Math.Round(maxX - minX), (int)Math.Round(maxY - minY));
// Store image center
this.center = Point.Round(corners[4]);
// Calculate and store image offset
int offsetX = 0, offsetY = 0;
if (minX < 0) offsetX = (int)Math.Round(minX);
if (minY < 0) offsetY = (int)Math.Round(minY);
this.offset = new Point(offsetX, offsetY);
if (Double.IsNaN(newWidth) || newWidth == 0)
newWidth = 1;
if (Double.IsNaN(newHeight) || newHeight == 0)
newHeight = 1;
// Return the final image size
return new Size((int)Math.Ceiling(newWidth), (int)Math.Ceiling(newHeight));
}
/// <summary>
/// Reset motion detector to initial state.
/// </summary>
///
/// <remarks><para>The method resets motion detection and motion processing algotithms by calling
/// their <see cref="IMotionDetector.Reset"/> and <see cref="IMotionProcessing.Reset"/> methods.</para>
/// </remarks>
///
public void Reset( )
{
lock ( sync )
{
if ( detector != null )
{
detector.Reset( );
}
if ( processor != null )
{
processor.Reset( );
}
videoWidth = 0;
videoHeight = 0;
if ( zonesFrame != null )
{
zonesFrame.Dispose( );
zonesFrame = null;
}
}
}
/// <summary>
/// Process the filter on the specified image.
/// </summary>
///
/// <param name="image">Source image data.</param>
///
protected unsafe override void ProcessFilter(UnmanagedImage image)
{
int pixelSize = System.Drawing.Image.GetPixelFormatSize(image.PixelFormat) / 8;
// get source image size
int width = image.Width;
int height = image.Height;
// check is the same size
if (image.Height != baseHeight || image.Width != baseWidth)
throw new InvalidImagePropertiesException("Image does not have expected dimensions.", "image");
if (pixelSize == 8)
{
// for each channel
for (int c = 0; c < channels.Length; c++)
{
byte* dst = (byte*)((int)image.ImageData + c);
byte* src = (byte*)channels[c].ImageData;
// copy channel to image
for (int y = 0; y < height; y++)
{
for (int x = 0; x < width; x++)
{
*(dst += pixelSize) = *(src++);
}
}
}
}
else if (pixelSize == 16)
{
// for each channel
for (int c = 0; c < channels.Length; c++)
{
short* dst = (short*)((int)image.ImageData + c);
short* src = (short*)channels[c].ImageData;
// copy channel to image
for (int y = 0; y < height; y++)
{
for (int x = 0; x < width; x++)
{
*(dst += pixelSize) = *(src++);
}
}
}
}
else
{
throw new UnsupportedImageFormatException("Unsupported pixel size.");
}
}
private void BtnCalcAccord_Click(object sender, RoutedEventArgs e)
{
if (imageLoaded)
{
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
Accord.Imaging.UnmanagedImage unmanagedImage1 = Accord.Imaging.UnmanagedImage.FromManagedImage(GrayScaleImage);
Accord.Imaging.BlobCounter bc = new Accord.Imaging.BlobCounter
{
BackgroundThreshold = Color.Black,
CoupledSizeFiltering = true,
FilterBlobs = true,
MinHeight = 30,
MinWidth = 30,
MaxHeight = 100,
MaxWidth = 100
};
bc.ProcessImage(GrayScaleImage);
Bitmap indexMap = AForge.Imaging.Image.Clone(GrayScaleImage);
for (int x = 0; x < indexMap.Width; x++)
{
for (int y = 0; y < indexMap.Height; y++)
{
indexMap.SetPixel(x, y, System.Drawing.Color.Black);
}
}
System.Drawing.Rectangle[] rects = bc.GetObjectsRectangles();
// process blobs
BreadBlob[] breadBlob1 = new BreadBlob[bc.ObjectsCount];
int blobArrayIndex = 0;
int blobPt = Convert.ToInt16(txbBlobNum.Text);
int blobThreshold = Convert.ToInt16(txbBlobThreshold.Text);
if (blobPt > bc.ObjectsCount)
{
blobPt = bc.ObjectsCount - 1;
}
StaticsCalculator MuffinStatistics = new StaticsCalculator();
Graphics g = Graphics.FromImage(indexMap);
List <Accord.Imaging.Blob> blobList = new List <Accord.Imaging.Blob>();
foreach (Accord.Imaging.Blob blob in bc.GetObjects(GrayScaleImage, false))
{
blobList.Add(blob);
breadBlob1[blobArrayIndex] = new BreadBlob();
breadBlob1[blobArrayIndex].TopDownThreshold = blobThreshold;
byte[,] blobArray = new byte[blob.Rectangle.Width, blob.Rectangle.Height];
for (int x = blob.Rectangle.Left; x < blob.Rectangle.Right; x++)
{
for (int y = blob.Rectangle.Top; y < blob.Rectangle.Bottom; y++)
{
System.Drawing.Color tempPixelColor = GrayScaleImage.GetPixel(x, y);
blobArray[x - blob.Rectangle.Left, y - blob.Rectangle.Top] = tempPixelColor.G;
}
}
breadBlob1[blobArrayIndex].PixelArray = blobArray;
breadBlob1[blobArrayIndex].X = blob.Rectangle.X;
breadBlob1[blobArrayIndex].Y = blob.Rectangle.Y;
if (blobArrayIndex == blobPt)
{
System.Drawing.Rectangle tempRect = blob.Rectangle;
tempRect.X -= 1;
tempRect.Y -= 1;
tempRect.Width += 2;
tempRect.Height += 2;
Accord.Imaging.Drawing.Rectangle(unmanagedImage1, tempRect, System.Drawing.Color.Yellow);
}
if (breadBlob1[blobArrayIndex].IsTop())
{
Accord.Imaging.Drawing.Rectangle(unmanagedImage1, blob.Rectangle, System.Drawing.Color.Green);
}
else
{
Accord.Imaging.Drawing.Rectangle(unmanagedImage1, blob.Rectangle, System.Drawing.Color.Red);
}
RectangleF rectf = new RectangleF(blob.Rectangle.X, blob.Rectangle.Y, blob.Rectangle.Width, blob.Rectangle.Height);
g.SmoothingMode = SmoothingMode.AntiAlias;
g.InterpolationMode = InterpolationMode.HighQualityBicubic;
g.PixelOffsetMode = PixelOffsetMode.HighQuality;
g.DrawString(Convert.ToString(blob.ID - 1), new Font("Arial", 5), System.Drawing.Brushes.White, rectf);
lblBlobHeight.Content = blob.Rectangle.Height;
lblBlobWidth.Content = blob.Rectangle.Width;
blobArrayIndex++;
}
lblAccordStdDev.Content = blobList[blobPt].ColorStdDev.B;
BitmapImage indexMap_temp = ToBitmapImage(indexMap);
g.Flush();
// conver to managed image if it is required to display it at some point of time
Bitmap managedImage = unmanagedImage1.ToManagedImage();
// create filter
Add filter = new Add(indexMap);
// apply the filter
Bitmap resultImage = filter.Apply(managedImage);
BitmapImage GrayImage_temp = ToBitmapImage(resultImage);
imgGray.Source = GrayImage_temp;
stopwatch.Stop();
lblTime.Content = stopwatch.ElapsedMilliseconds;
lblBlobCount.Content = bc.ObjectsCount;
lblLib.Content = "Accord";
lblVariance.Content = breadBlob1[blobPt].GetVariance(BreadBlob.VarianceType.All);
lblX.Content = breadBlob1[blobPt].X;
lblY.Content = breadBlob1[blobPt].Y;
lblQ1Variance.Content = "";
lblQ2Variance.Content = "";
lblQ3Variance.Content = "";
lblQ4Variance.Content = "";
lblQAverage.Content = breadBlob1[blobPt].GetVariance(BreadBlob.VarianceType.QAverage);
//lblAllMuffinStat.Content = MuffinStatistics.StandardDeviation;
}
}
List <FeatureDescriptor> IFeatureDetector <FeatureDescriptor, double[]> .ProcessImage(UnmanagedImage image)
{
return(ProcessImage(image).ConvertAll(p => new FeatureDescriptor(p)));
}
/// <summary>
/// Process image looking for interest points.
/// </summary>
///
/// <param name="image">Source image data to process.</param>
///
/// <returns>Returns list of found features points.</returns>
///
/// <exception cref="UnsupportedImageFormatException">
/// The source image has incorrect pixel format.
/// </exception>
///
public List <double[]> ProcessImage(UnmanagedImage image)
{
// check image format
if (
(image.PixelFormat != PixelFormat.Format8bppIndexed) &&
(image.PixelFormat != PixelFormat.Format24bppRgb) &&
(image.PixelFormat != PixelFormat.Format32bppRgb) &&
(image.PixelFormat != PixelFormat.Format32bppArgb)
)
{
throw new UnsupportedImageFormatException("Unsupported pixel format of the source image.");
}
// make sure we have grayscale image
UnmanagedImage grayImage = null;
if (image.PixelFormat == PixelFormat.Format8bppIndexed)
{
grayImage = image;
}
else
{
// create temporary grayscale image
grayImage = Grayscale.CommonAlgorithms.BT709.Apply(image);
}
// get source image size
int width = grayImage.Width;
int height = grayImage.Height;
int stride = grayImage.Stride;
int offset = stride - width;
// 1. Calculate 8-pixel neighborhood binary patterns
patterns = new int[height, width];
unsafe
{
fixed(int *ptrPatterns = patterns)
{
// Begin skipping first line
byte *src = (byte *)grayImage.ImageData.ToPointer() + stride;
int * neighbors = ptrPatterns + width;
// for each line
for (int y = 1; y < height - 1; y++)
{
// skip first column
neighbors++; src++;
// for each inner pixel in line (skipping first and last)
for (int x = 1; x < width - 1; x++, src++, neighbors++)
{
// Retrieve the pixel neighborhood
byte a11 = src[+stride + 1], a12 = src[+1], a13 = src[-stride + 1];
byte a21 = src[+stride + 0], a22 = src[0], a23 = src[-stride + 0];
byte a31 = src[+stride - 1], a32 = src[-1], a33 = src[-stride - 1];
int sum = 0;
if (a22 < a11)
{
sum += 1 << 0;
}
if (a22 < a12)
{
sum += 1 << 1;
}
if (a22 < a13)
{
sum += 1 << 2;
}
if (a22 < a21)
{
sum += 1 << 3;
}
if (a22 < a23)
{
sum += 1 << 4;
}
if (a22 < a31)
{
sum += 1 << 5;
}
if (a22 < a32)
{
sum += 1 << 6;
}
if (a22 < a33)
{
sum += 1 << 7;
}
*neighbors = sum;
}
// Skip last column
neighbors++; src += offset + 1;
}
}
}
// Free some resources which wont be needed anymore
if (image.PixelFormat != PixelFormat.Format8bppIndexed)
{
grayImage.Dispose();
}
// 2. Compute cell histograms
int cellCountX;
int cellCountY;
if (cellSize > 0)
{
cellCountX = (int)Math.Floor(width / (double)cellSize);
cellCountY = (int)Math.Floor(height / (double)cellSize);
histograms = new int[cellCountX, cellCountY][];
// For each cell
for (int i = 0; i < cellCountX; i++)
{
for (int j = 0; j < cellCountY; j++)
{
// Compute the histogram
int[] histogram = new int[numberOfBins];
int startCellX = i * cellSize;
int startCellY = j * cellSize;
// for each pixel in the cell
for (int x = 0; x < cellSize; x++)
{
for (int y = 0; y < cellSize; y++)
{
histogram[patterns[startCellY + y, startCellX + x]]++;
}
}
histograms[i, j] = histogram;
}
}
}
else
{
cellCountX = cellCountY = 1;
int[] histogram = new int[numberOfBins];
for (int i = 0; i < height; i++)
{
for (int j = 0; j < width; j++)
{
histogram[patterns[i, j]]++;
}
}
histograms = new int[, ][] { { histogram } };
}
// 3. Group the cells into larger, normalized blocks
int blocksCountX;
int blocksCountY;
if (blockSize > 0)
{
blocksCountX = (int)Math.Floor(cellCountX / (double)blockSize);
blocksCountY = (int)Math.Floor(cellCountY / (double)blockSize);
}
else
{
blockSize = blocksCountX = blocksCountY = 1;
}
List <double[]> blocks = new List <double[]>();
for (int i = 0; i < blocksCountX; i++)
{
for (int j = 0; j < blocksCountY; j++)
{
double[] v = new double[blockSize * blockSize * numberOfBins];
int startBlockX = i * blockSize;
int startBlockY = j * blockSize;
int c = 0;
// for each cell in the block
for (int x = 0; x < blockSize; x++)
{
for (int y = 0; y < blockSize; y++)
{
int[] histogram =
histograms[startBlockX + x, startBlockY + y];
// Copy all histograms to the block vector
for (int k = 0; k < histogram.Length; k++)
{
v[c++] = histogram[k];
}
}
}
double[] block = (normalize) ?
v.Divide(v.Euclidean() + epsilon) : v;
blocks.Add(block);
}
}
return(blocks);
}
/// <summary>
/// Constructs a new Integral image from an unmanaged image.
/// </summary>
///
/// <param name="image">The source image from where the integral image should be computed.</param>
/// <param name="channel">The image channel to consider in the computations. Default is 0.</param>
/// <param name="computeTilted"><c>True</c> to compute the tilted version of the integral image,
/// <c>false</c> otherwise. Default is false.</param>
///
/// <returns>
/// The <see cref="IntegralImage2"/> representation of
/// the <paramref name="image">source image</paramref>.</returns>
///
public static IntegralImage2 FromBitmap(UnmanagedImage image, int channel, bool computeTilted)
{
// check image format
if (!(image.PixelFormat == PixelFormat.Format8bppIndexed ||
image.PixelFormat == PixelFormat.Format24bppRgb ||
image.PixelFormat == PixelFormat.Format32bppArgb ||
image.PixelFormat == PixelFormat.Format32bppRgb))
{
throw new UnsupportedImageFormatException("Only grayscale, 24 and 32 bpp RGB images are supported.");
}
int pixelSize = System.Drawing.Image.GetPixelFormatSize(image.PixelFormat) / 8;
// get source image size
int width = image.Width;
int height = image.Height;
int stride = image.Stride;
int offset = stride - width * pixelSize;
// create integral image
IntegralImage2 im = new IntegralImage2(width, height, computeTilted);
long * nSum = im.nSum;
long * sSum = im.sSum;
long * tSum = im.tSum;
int nWidth = im.nWidth;
int tWidth = im.tWidth;
if (image.PixelFormat == PixelFormat.Format8bppIndexed && channel != 0)
{
throw new ArgumentException("Only the first channel is available for 8 bpp images.", "channel");
}
byte *srcStart = (byte *)image.ImageData.ToPointer() + channel;
// do the job
byte *src = srcStart;
// for each line
for (int y = 1; y <= height; y++)
{
int yy = nWidth * (y);
int y1 = nWidth * (y - 1);
// for each pixel
for (int x = 1; x <= width; x++, src += pixelSize)
{
long p1 = *src;
long p2 = p1 * p1;
int r = yy + (x);
int a = yy + (x - 1);
int b = y1 + (x);
int c = y1 + (x - 1);
nSum[r] = p1 + nSum[a] + nSum[b] - nSum[c];
sSum[r] = p2 + sSum[a] + sSum[b] - sSum[c];
}
src += offset;
}
if (computeTilted)
{
src = srcStart;
// Left-to-right, top-to-bottom pass
for (int y = 1; y <= height; y++, src += offset)
{
int yy = tWidth * (y);
int y1 = tWidth * (y - 1);
for (int x = 2; x < width + 2; x++, src += pixelSize)
{
int a = y1 + (x - 1);
int b = yy + (x - 1);
int c = y1 + (x - 2);
int r = yy + (x);
tSum[r] = *src + tSum[a] + tSum[b] - tSum[c];
}
}
{
int yy = tWidth * (height);
int y1 = tWidth * (height + 1);
for (int x = 2; x < width + 2; x++, src += pixelSize)
{
int a = yy + (x - 1);
int c = yy + (x - 2);
int b = y1 + (x - 1);
int r = y1 + (x);
tSum[r] = tSum[a] + tSum[b] - tSum[c];
}
}
// Right-to-left, bottom-to-top pass
for (int y = height; y >= 0; y--)
{
int yy = tWidth * (y);
int y1 = tWidth * (y + 1);
for (int x = width + 1; x >= 1; x--)
{
int r = yy + (x);
int b = y1 + (x - 1);
tSum[r] += tSum[b];
}
}
for (int y = height + 1; y >= 0; y--)
{
int yy = tWidth * (y);
for (int x = width + 1; x >= 2; x--)
{
int r = yy + (x);
int b = yy + (x - 2);
tSum[r] -= tSum[b];
}
}
}
return(im);
}
/// <summary>
/// Constructs a new Integral image from an unmanaged image.
/// </summary>
///
/// <param name="image">The source image from where the integral image should be computed.</param>
/// <param name="computeTilted"><c>True</c> to compute the tilted version of the integral image,
/// <c>false</c> otherwise. Default is false.</param>
///
/// <returns>
/// The <see cref="IntegralImage2"/> representation of
/// the <paramref name="image">source image</paramref>.</returns>
///
public static IntegralImage2 FromBitmap(UnmanagedImage image, bool computeTilted)
{
return(FromBitmap(image, 0, computeTilted));
}
/// <summary>
/// Computes the center moments for the specified image.
/// </summary>
///
/// <param name="image">The image whose moments should be computed.</param>
/// <param name="area">The region of interest in the image to compute moments for.</param>
///
public override void Compute(UnmanagedImage image, Rectangle area)
{
this.Compute(new RawMoments(image, area, Order));
}
/// <summary>
/// Reset motion detector to initial state.
/// </summary>
///
/// <remarks><para>Resets internal state and variables of motion detection algorithm.
/// Usually this is required to be done before processing new video source, but
/// may be also done at any time to restart motion detection algorithm.</para>
/// </remarks>
///
public void Reset( )
{
lock ( sync )
{
if ( backgroundFrame != null )
{
backgroundFrame.Dispose( );
backgroundFrame = null;
}
if ( motionFrame != null )
{
motionFrame.Dispose( );
motionFrame = null;
}
if ( tempFrame != null )
{
tempFrame.Dispose( );
tempFrame = null;
}
framesCounter = 0;
}
}
/// <summary>
/// Process the filter on the specified image.
/// </summary>
///
/// <param name="image">Source image data.</param>
///
protected unsafe override void ProcessFilter(UnmanagedImage image)
{
int width = image.Width;
int height = image.Height;
int pixelSize = System.Drawing.Image.GetPixelFormatSize(image.PixelFormat) / 8;
int stride = image.Stride;
int offset = stride - image.Width * pixelSize;
byte* src = (byte*)image.ImageData.ToPointer();
// Get maximum color image values
int maxR = 0, maxG = 0, maxB = 0;
for (int i = 0; i < height; i++)
{
for (int j = 0; j < width; j++)
{
if (src[RGB.R] > maxR) maxR = src[RGB.R];
if (src[RGB.G] > maxG) maxG = src[RGB.G];
if (src[RGB.B] > maxB) maxB = src[RGB.B];
}
}
double kr = maxR > 0 ? (255.0 / maxR) : 0;
double kg = maxG > 0 ? (255.0 / maxG) : 0;
double kb = maxB > 0 ? (255.0 / maxB) : 0;
src = (byte*)image.ImageData.ToPointer();
for (int y = 0; y < height; y++)
{
for (int x = 0; x < width; x++, src += pixelSize)
{
double r = kr * src[RGB.R];
double g = kg * src[RGB.G];
double b = kb * src[RGB.B];
src[RGB.R] = (byte)(r > 255 ? 255 : r);
src[RGB.G] = (byte)(g > 255 ? 255 : g);
src[RGB.B] = (byte)(b > 255 ? 255 : b);
}
src += offset;
}
}
/// <summary>
/// Constructs a new Integral image from an unmanaged image.
/// </summary>
///
/// <param name="image">The source image from where the integral image should be computed.</param>
///
/// <returns>
/// The <see cref="IntegralImage2"/> representation of
/// the <paramref name="image">source image</paramref>.</returns>
///
public static IntegralImage2 FromBitmap(UnmanagedImage image)
{
return(FromBitmap(image, 0, false));
}
/// <summary>
/// Process image looking for corners.
/// </summary>
///
/// <param name="image">Unmanaged source image to process.</param>
///
/// <returns>Returns array of found corners (X-Y coordinates).</returns>
///
/// <exception cref="UnsupportedImageFormatException">The source image has incorrect pixel format.</exception>
///
public List<IntPoint> ProcessImage(UnmanagedImage image)
{
// check image format
if (
(image.PixelFormat != PixelFormat.Format8bppIndexed) &&
(image.PixelFormat != PixelFormat.Format24bppRgb) &&
(image.PixelFormat != PixelFormat.Format32bppRgb) &&
(image.PixelFormat != PixelFormat.Format32bppArgb)
)
{
throw new UnsupportedImageFormatException("Unsupported pixel format of the source image.");
}
// get source image size
int width = image.Width;
int height = image.Height;
int stride = image.Stride;
int pixelSize = Bitmap.GetPixelFormatSize(image.PixelFormat) / 8;
// window radius
int windowRadius = windowSize / 2;
// offset
int offset = stride - windowSize * pixelSize;
// create moravec cornerness map
int[,] moravecMap = new int[height, width];
// do the job
unsafe
{
byte* ptr = (byte*)image.ImageData.ToPointer();
// for each row
for (int y = windowRadius, maxY = height - windowRadius; y < maxY; y++)
{
// for each pixel
for (int x = windowRadius, maxX = width - windowRadius; x < maxX; x++)
{
int minSum = int.MaxValue;
// go through 8 possible shifting directions
for (int k = 0; k < 8; k++)
{
// calculate center of shifted window
int sy = y + yDelta[k];
int sx = x + xDelta[k];
// check if shifted window is within the image
if (
(sy < windowRadius) || (sy >= maxY) ||
(sx < windowRadius) || (sx >= maxX)
)
{
// skip this shifted window
continue;
}
int sum = 0;
byte* ptr1 = ptr + (y - windowRadius) * stride + (x - windowRadius) * pixelSize;
byte* ptr2 = ptr + (sy - windowRadius) * stride + (sx - windowRadius) * pixelSize;
// for each windows' rows
for (int i = 0; i < windowSize; i++)
{
// for each windows' pixels
for (int j = 0, maxJ = windowSize * pixelSize; j < maxJ; j++, ptr1++, ptr2++)
{
int dif = *ptr1 - *ptr2;
sum += dif * dif;
}
ptr1 += offset;
ptr2 += offset;
}
// check if the sum is mimimal
if (sum < minSum)
{
minSum = sum;
}
}
// threshold the minimum sum
if (minSum < threshold)
{
minSum = 0;
}
moravecMap[y, x] = minSum;
}
}
}
// collect interesting points - only those points, which are local maximums
List<IntPoint> cornersList = new List<IntPoint>();
// for each row
for (int y = windowRadius, maxY = height - windowRadius; y < maxY; y++)
{
// for each pixel
for (int x = windowRadius, maxX = width - windowRadius; x < maxX; x++)
{
int currentValue = moravecMap[y, x];
// for each windows' rows
for (int i = -windowRadius; (currentValue != 0) && (i <= windowRadius); i++)
{
// for each windows' pixels
for (int j = -windowRadius; j <= windowRadius; j++)
{
if (moravecMap[y + i, x + j] > currentValue)
{
currentValue = 0;
break;
}
}
}
// check if this point is really interesting
if (currentValue != 0)
{
cornersList.Add(new IntPoint(x, y));
}
}
}
return cornersList;
}
// Create motion zones' image
private unsafe void CreateMotionZonesFrame( )
{
lock ( sync )
{
// free previous motion zones frame
if ( zonesFrame != null )
{
zonesFrame.Dispose( );
zonesFrame = null;
}
// create motion zones frame only in the case if the algorithm has processed at least one frame
if ( ( motionZones != null ) && ( motionZones.Length != 0 ) && ( videoWidth != 0 ) )
{
zonesFrame = UnmanagedImage.Create( videoWidth, videoHeight, PixelFormat.Format8bppIndexed );
Rectangle imageRect = new Rectangle( 0, 0, videoWidth, videoHeight );
// draw all motion zones on motion frame
foreach ( Rectangle rect in motionZones )
{
rect.Intersect( imageRect );
// rectangle's dimenstion
int rectWidth = rect.Width;
int rectHeight = rect.Height;
// start pointer
int stride = zonesFrame.Stride;
byte* ptr = (byte*) zonesFrame.ImageData.ToPointer( ) + rect.Y * stride + rect.X;
for ( int y = 0; y < rectHeight; y++ )
{
Accord.SystemTools.SetUnmanagedMemory( ptr, 255, rectWidth );
ptr += stride;
}
}
}
}
}
private void source_NewFrame(object sender, NewFrameEventArgs eventArgs)
{
if (requestedToStop)
return;
if (!IsTracking && !IsDetecting)
return;
lock (syncObject)
{
// skip first frames during initialization
if (skip < 10) { skip++; return; }
Bitmap frame = eventArgs.Frame;
int width = frame.Width;
int height = frame.Height;
BitmapData data = frame.LockBits(new Rectangle(0, 0, width, height),
ImageLockMode.ReadWrite, frame.PixelFormat);
UnmanagedImage image = new UnmanagedImage(data);
if (IsDetecting)
{
// Reduce frame size to process it faster
float xscale = (float)width / resize.NewWidth;
float yscale = (float)height / resize.NewHeight;
UnmanagedImage downsample = resize.Apply(image);
// Process the face detector in the downsampled image
Rectangle[] regions = detector.ProcessFrame(downsample);
// Check if the face has been steady 5 frames in a row
if (detector.Steady >= 5)
{
// Yes, so track the face
Rectangle face = regions[0];
// Reduce the face size to avoid tracking background
Rectangle window = new Rectangle(
(int)((face.X + face.Width / 2f) * xscale),
(int)((face.Y + face.Height / 2f) * yscale),
1, 1);
window.Inflate((int)(0.25f * face.Width * xscale),
(int)(0.40f * face.Height * yscale));
// Re-initialize tracker
tracker.Reset();
tracker.SearchWindow = window;
tracker.ProcessFrame(image);
// Update initial position
computeCurrentPosition();
OnHeadEnter(new HeadEventArgs(currentX, currentY, currentAngle, currentScale));
}
}
else if (IsTracking)
{
tracker.Extract = (NewFrame != null);
// Track the object
tracker.ProcessFrame(image);
// Get the object position
TrackingObject obj = tracker.TrackingObject;
// Update current position
computeCurrentPosition();
if (obj.IsEmpty || !tracker.IsSteady)
{
OnHeadLeave(EventArgs.Empty);
}
else
{
OnHeadMove(new HeadEventArgs(currentX, currentY, currentAngle, currentScale));
if (NewFrame != null && obj.Image != null)
{
Bitmap headFrame = obj.Image.ToManagedImage();
NewFrame(this, new NewFrameEventArgs(headFrame));
}
}
}
frame.UnlockBits(data);
}
}
/// <summary>
/// Process the image filter.
/// </summary>
///
protected override void ProcessFilter(UnmanagedImage sourceData, UnmanagedImage destinationData)
{
// Locks the overlay image
BitmapData overlayData = overlayImage.LockBits(
new Rectangle(0, 0, overlayImage.Width, overlayImage.Height),
ImageLockMode.ReadOnly, overlayImage.PixelFormat);
// get source image size
int width = sourceData.Width;
int height = sourceData.Height;
// get destination image size
int newWidth = destinationData.Width;
int newHeight = destinationData.Height;
int srcPixelSize = System.Drawing.Image.GetPixelFormatSize(sourceData.PixelFormat) / 8;
int orgPixelSize = System.Drawing.Image.GetPixelFormatSize(overlayData.PixelFormat) / 8;
int srcStride = sourceData.Stride;
int dstOffset = destinationData.Stride - newWidth * 4; // destination always 32bpp argb
// Get center of first image
Point center1 = new Point((int)(overlayImage.Width / 2f),
(int)(overlayImage.Height / 2f));
// Get center of second image
Point center2 = this.center;
// Compute maximum center distances
float dmax1 = Math.Min(
distance(center1.X, center1.Y, center2.X - imageSize.Width / 2f, center1.Y),
distance(center1.X, center1.Y, center1.X, center1.Y + overlayImage.Height / 2f));
float dmax2 = Math.Min(
distance(center2.X, center2.Y, center2.X + imageSize.Width / 2f, center2.Y),
distance(center2.X, center2.Y, center2.X, center2.Y + imageSize.Height / 2f));
float dmax = -System.Math.Abs(dmax2 - dmax1);
// fill values
byte fillR = fillColor.R;
byte fillG = fillColor.G;
byte fillB = fillColor.B;
byte fillA = 0;//fillColor.A;
// Retrieve homography matrix as float array
float[,] H = (float[,])homography;
// do the job
unsafe
{
byte* org = (byte*)overlayData.Scan0.ToPointer();
byte* src = (byte*)sourceData.ImageData.ToPointer();
byte* dst = (byte*)destinationData.ImageData.ToPointer();
// destination pixel's coordinate relative to image center
double cx, cy;
// destination pixel's homogenous coordinate
double hx, hy, hw;
// source pixel's coordinates
int ox, oy;
// Copy the overlay image
for (int y = 0; y < newHeight; y++)
{
for (int x = 0; x < newWidth; x++, dst += 4)
{
ox = (int)(x + offset.X);
oy = (int)(y + offset.Y);
// validate source pixel's coordinates
if ((ox < 0) || (oy < 0) || (ox >= overlayData.Width) || (oy >= overlayData.Height))
{
// fill destination image with filler
dst[0] = fillB;
dst[1] = fillG;
dst[2] = fillR;
dst[3] = fillA;
}
else
{
int c = oy * overlayData.Stride + ox * orgPixelSize;
// fill destination image with pixel from original image
if (orgPixelSize == 3)
{
// 24 bpp
dst[0] = org[c + 0];
dst[1] = org[c + 1];
dst[2] = org[c + 2];
dst[3] = (byte)255;
}
else if (orgPixelSize == 4)
{
// 32 bpp
dst[0] = org[c + 0];
dst[1] = org[c + 1];
dst[2] = org[c + 2];
dst[3] = org[c + 3];
}
else
{
// 8 bpp
dst[0] = org[c];
dst[1] = org[c];
dst[2] = org[c];
dst[3] = org[c];
}
}
}
dst += dstOffset;
}
org = (byte*)overlayData.Scan0.ToPointer();
src = (byte*)sourceData.ImageData.ToPointer();
dst = (byte*)destinationData.ImageData.ToPointer();
// Project and blend the second image
for (int y = 0; y < newHeight; y++)
{
for (int x = 0; x < newWidth; x++, dst += 4)
{
cx = x + offset.X;
cy = y + offset.Y;
// projection using homogenous coordinates
hw = (H[2, 0] * cx + H[2, 1] * cy + H[2, 2]);
hx = (H[0, 0] * cx + H[0, 1] * cy + H[0, 2]) / hw;
hy = (H[1, 0] * cx + H[1, 1] * cy + H[1, 2]) / hw;
// coordinate of the nearest point
ox = (int)(hx);
oy = (int)(hy);
// validate source pixel's coordinates
if ((ox >= 0) && (oy >= 0) && (ox < width) && (oy < height))
{
int c = oy * srcStride + ox * srcPixelSize;
// fill destination image with pixel from source image
if (srcPixelSize == 4 && src[c + 3] == 0)
{
// source pixel is fully transparent, nothing to copy
}
else if (dst[3] > 0)
{
float f1 = 0.5f, f2 = 0.5f;
if (Gradient)
{
// there is a pixel from the other image here, blend
float d1 = distance(x, y, center1.X, center1.Y);
float d2 = distance(x, y, center2.X, center2.Y);
f1 = Vector.Scale(d1 - d2, 0, dmax, 0, 1);
if (f1 < 0) f1 = 0f;
if (f1 > 1) f1 = 1f;
f2 = (1f - f1);
}
if (!AlphaOnly)
{
if (srcPixelSize == 3)
{
// 24 bpp
dst[0] = (byte)(src[c + 0] * f2 + dst[0] * f1);
dst[1] = (byte)(src[c + 1] * f2 + dst[1] * f1);
dst[2] = (byte)(src[c + 2] * f2 + dst[2] * f1);
dst[3] = (byte)255;
}
else if (srcPixelSize == 4)
{
// 32 bpp
dst[0] = (byte)(src[c + 0] * f2 + dst[0] * f1);
dst[1] = (byte)(src[c + 1] * f2 + dst[1] * f1);
dst[2] = (byte)(src[c + 2] * f2 + dst[2] * f1);
dst[3] = (byte)(src[c + 3] * f2 + dst[3] * f1);
}
else
{
// 8 bpp
dst[0] = (byte)(src[c] * f2 + dst[0] * f1);
dst[1] = (byte)(src[c] * f2 + dst[1] * f1);
dst[2] = (byte)(src[c] * f2 + dst[2] * f1);
dst[3] = (byte)255;
}
}
else
{
if (srcPixelSize == 3)
{
// 24 bpp
dst[0] = (byte)(src[c + 0]);
dst[1] = (byte)(src[c + 1]);
dst[2] = (byte)(src[c + 2]);
}
else if (srcPixelSize == 4)
{
// 32 bpp
dst[0] = (byte)(src[c + 0]);
dst[1] = (byte)(src[c + 1]);
dst[2] = (byte)(src[c + 2]);
}
else
{
// 8 bpp
dst[0] = (byte)(src[c]);
dst[1] = (byte)(src[c]);
dst[2] = (byte)(src[c]);
}
}
}
else
{
// just copy the source into the destination image
if (srcPixelSize == 3)
{
// 24bpp
dst[0] = src[c + 0];
dst[1] = src[c + 1];
dst[2] = src[c + 2];
dst[3] = (byte)255;
}
else if (srcPixelSize == 4)
{
// 32bpp
dst[0] = src[c + 0];
dst[1] = src[c + 1];
dst[2] = src[c + 2];
dst[3] = src[c + 3];
}
else
{
// 8bpp
dst[0] = src[c];
dst[1] = src[c];
dst[2] = src[c];
dst[3] = 0;
}
}
}
}
dst += dstOffset;
}
}
overlayImage.UnlockBits(overlayData);
}
/// <summary>
/// Clone the unmanaged images.
/// </summary>
///
/// <returns>Returns clone of the unmanaged image.</returns>
///
/// <remarks><para>The method does complete cloning of the object.</para></remarks>
///
public UnmanagedImage Clone()
{
// allocate memory for the image
IntPtr newImageData = System.Runtime.InteropServices.Marshal.AllocHGlobal(stride * height);
System.GC.AddMemoryPressure(stride * height);
UnmanagedImage newImage = new UnmanagedImage(newImageData, width, height, stride, pixelFormat);
newImage.mustBeDisposed = true;
Accord.SystemTools.CopyUnmanagedMemory(newImageData, imageData, stride * height);
return newImage;
}
/// <summary>
/// Copy unmanaged image.
/// </summary>
///
/// <param name="destImage">Destination image to copy this image to.</param>
///
/// <remarks><para>The method copies current unmanaged image to the specified image.
/// Size and pixel format of the destination image must be exactly the same.</para></remarks>
///
/// <exception cref="InvalidImagePropertiesException">Destination image has different size or pixel format.</exception>
///
public void Copy(UnmanagedImage destImage)
{
if (
(width != destImage.width) || (height != destImage.height) ||
(pixelFormat != destImage.pixelFormat))
{
throw new InvalidImagePropertiesException("Destination image has different size or pixel format.");
}
if (stride == destImage.stride)
{
// copy entire image
Accord.SystemTools.CopyUnmanagedMemory(destImage.imageData, imageData, stride * height);
}
else
{
unsafe
{
int dstStride = destImage.stride;
int copyLength = (stride < dstStride) ? stride : dstStride;
byte* src = (byte*)imageData.ToPointer();
byte* dst = (byte*)destImage.imageData.ToPointer();
// copy line by line
for (int i = 0; i < height; i++)
{
Accord.SystemTools.CopyUnmanagedMemory(dst, src, copyLength);
dst += dstStride;
src += stride;
}
}
}
}
/// <summary>
/// Allocate new image in unmanaged memory.
/// </summary>
///
/// <param name="width">Image width.</param>
/// <param name="height">Image height.</param>
/// <param name="pixelFormat">Image pixel format.</param>
///
/// <returns>Return image allocated in unmanaged memory.</returns>
///
/// <remarks><para>Allocate new image with specified attributes in unmanaged memory.</para>
///
/// <para><note>The method supports only
/// <see cref="System.Drawing.Imaging.PixelFormat">Format8bppIndexed</see>,
/// <see cref="System.Drawing.Imaging.PixelFormat">Format16bppGrayScale</see>,
/// <see cref="System.Drawing.Imaging.PixelFormat">Format24bppRgb</see>,
/// <see cref="System.Drawing.Imaging.PixelFormat">Format32bppRgb</see>,
/// <see cref="System.Drawing.Imaging.PixelFormat">Format32bppArgb</see>,
/// <see cref="System.Drawing.Imaging.PixelFormat">Format32bppPArgb</see>,
/// <see cref="System.Drawing.Imaging.PixelFormat">Format48bppRgb</see>,
/// <see cref="System.Drawing.Imaging.PixelFormat">Format64bppArgb</see> and
/// <see cref="System.Drawing.Imaging.PixelFormat">Format64bppPArgb</see> pixel formats.
/// In the case if <see cref="System.Drawing.Imaging.PixelFormat">Format8bppIndexed</see>
/// format is specified, pallete is not not created for the image (supposed that it is
/// 8 bpp grayscale image).
/// </note></para>
/// </remarks>
///
/// <exception cref="UnsupportedImageFormatException">Unsupported pixel format was specified.</exception>
/// <exception cref="InvalidImagePropertiesException">Invalid image size was specified.</exception>
///
public static UnmanagedImage Create(int width, int height, PixelFormat pixelFormat)
{
int bytesPerPixel = 0;
// calculate bytes per pixel
switch (pixelFormat)
{
case PixelFormat.Format8bppIndexed:
bytesPerPixel = 1;
break;
case PixelFormat.Format16bppGrayScale:
bytesPerPixel = 2;
break;
case PixelFormat.Format24bppRgb:
bytesPerPixel = 3;
break;
case PixelFormat.Format32bppRgb:
case PixelFormat.Format32bppArgb:
case PixelFormat.Format32bppPArgb:
bytesPerPixel = 4;
break;
case PixelFormat.Format48bppRgb:
bytesPerPixel = 6;
break;
case PixelFormat.Format64bppArgb:
case PixelFormat.Format64bppPArgb:
bytesPerPixel = 8;
break;
default:
throw new UnsupportedImageFormatException("Can not create image with specified pixel format.");
}
// check image size
if ((width <= 0) || (height <= 0))
{
throw new InvalidImagePropertiesException("Invalid image size specified.");
}
// calculate stride
int stride = width * bytesPerPixel;
if (stride % 4 != 0)
{
stride += (4 - (stride % 4));
}
// allocate memory for the image
IntPtr imageData = System.Runtime.InteropServices.Marshal.AllocHGlobal(stride * height);
Accord.SystemTools.SetUnmanagedMemory(imageData, 0, stride * height);
System.GC.AddMemoryPressure(stride * height);
UnmanagedImage image = new UnmanagedImage(imageData, width, height, stride, pixelFormat);
image.mustBeDisposed = true;
return image;
}
/// <summary>
/// Extracts the contour from a single object in a grayscale image.
/// </summary>
///
/// <param name="image">A grayscale image.</param>
/// <returns>A list of <see cref="IntPoint"/>s defining a contour.</returns>
///
public List<IntPoint> FindContour(UnmanagedImage image)
{
CheckPixelFormat(image.PixelFormat);
int width = image.Width;
int height = image.Height;
int stride = image.Stride;
List<IntPoint> contour = new List<IntPoint>();
unsafe
{
byte* src = (byte*)image.ImageData.ToPointer();
byte* start = null;
IntPoint prevPosition = new IntPoint();
// 1. Find the lowest point in the image
// The lowest point is searched first by lowest X, then lowest Y, to use
// the same ordering of AForge.NET's GrahamConvexHull. Unfortunately, this
// means we have to search our image by inspecting columns rather than rows.
bool found = false;
byte* col = src;
for (int x = 0; x < width && !found; x++, col++)
{
byte* row = col;
for (int y = 0; y < height && !found; y++, row += stride)
{
if (*row > Threshold)
{
start = row;
prevPosition = new IntPoint(x, y);
contour.Add(prevPosition);
found = true;
}
}
}
if (contour.Count == 0)
{
// Empty image
return contour;
}
// 2. Beginning on the first point, starting from left
// neighbor and going into counter-clockwise direction,
// find a neighbor pixel which is black.
int[] windowOffset =
{
+1, // 0: Right
-stride + 1, // 1: Top-Right
-stride, // 2: Top
-stride - 1, // 3: Top-Left
-1, // 4: Left
+stride - 1, // 5: Bottom-Left
+stride, // 6: Bottom
+stride + 1, // 7: Bottom-Right
};
int direction = 4; // 4: Left
byte* current = start;
byte* previous = null;
do // Search until we find a dead end (or the starting pixel)
{
found = false;
// Search in the neighborhood window
for (int i = 0; i < windowOffset.Length; i++)
{
// Find the next candidate neighbor point
IntPoint next = prevPosition + positionOffset[direction];
// Check if it is inside the blob area
if (next.X < 0 || next.X >= width ||
next.Y < 0 || next.Y >= height)
{
// It isn't. Change direction and continue.
direction = (direction + 1) % windowOffset.Length;
continue;
}
// Find the next candidate neighbor pixel
byte* neighbor = unchecked(current + windowOffset[direction]);
// Check if it is a colored pixel
if (*neighbor <= Threshold)
{
// It isn't. Change direction and continue.
direction = (direction + 1) % windowOffset.Length;
continue;
}
// Check if it is a previously found pixel
if (neighbor == previous || neighbor == start)
{
// We found a dead end.
found = false; break;
}
// If we reached until here, we have
// found a neighboring black pixel.
found = true; break;
}
if (found)
{
// Navigate to neighbor pixel
previous = current;
current = unchecked(current + windowOffset[direction]);
// Add to the contour
prevPosition += positionOffset[direction];
contour.Add(prevPosition);
// Continue counter-clockwise search
// from the most promising direction
direction = nextDirection[direction];
}
} while (found);
}
return contour;
}
/// <summary>
/// Create unmanaged image from the specified managed image.
/// </summary>
///
/// <param name="imageData">Source locked image data.</param>
///
/// <returns>Returns new unmanaged image, which is a copy of source managed image.</returns>
///
/// <remarks><para>The method creates an exact copy of specified managed image, but allocated
/// in unmanaged memory. This means that managed image may be unlocked right after call to this
/// method.</para></remarks>
///
/// <exception cref="UnsupportedImageFormatException">Unsupported pixel format of source image.</exception>
///
public static UnmanagedImage FromManagedImage(BitmapData imageData)
{
PixelFormat pixelFormat = imageData.PixelFormat;
// check source pixel format
if (
(pixelFormat != PixelFormat.Format8bppIndexed) &&
(pixelFormat != PixelFormat.Format16bppGrayScale) &&
(pixelFormat != PixelFormat.Format24bppRgb) &&
(pixelFormat != PixelFormat.Format32bppRgb) &&
(pixelFormat != PixelFormat.Format32bppArgb) &&
(pixelFormat != PixelFormat.Format32bppPArgb) &&
(pixelFormat != PixelFormat.Format48bppRgb) &&
(pixelFormat != PixelFormat.Format64bppArgb) &&
(pixelFormat != PixelFormat.Format64bppPArgb))
{
throw new UnsupportedImageFormatException("Unsupported pixel format of the source image.");
}
// allocate memory for the image
IntPtr dstImageData = System.Runtime.InteropServices.Marshal.AllocHGlobal(imageData.Stride * imageData.Height);
System.GC.AddMemoryPressure(imageData.Stride * imageData.Height);
UnmanagedImage image = new UnmanagedImage(dstImageData, imageData.Width, imageData.Height, imageData.Stride, pixelFormat);
Accord.SystemTools.CopyUnmanagedMemory(dstImageData, imageData.Scan0, imageData.Stride * imageData.Height);
image.mustBeDisposed = true;
return image;
}
/// <summary>
/// Process the filter on the specified image.
/// </summary>
///
/// <param name="sourceData">Source image data.</param>
/// <param name="destinationData">Destination image data.</param>
///
protected override void ProcessFilter(UnmanagedImage sourceData, UnmanagedImage destinationData)
{
convolution.Apply(sourceData, destinationData);
}
/// <summary>
/// Construct integral image from source grayscale image.
/// </summary>
///
/// <param name="image">Source unmanaged image.</param>
///
/// <returns>Returns integral image.</returns>
///
/// <exception cref="UnsupportedImageFormatException">The source image has incorrect pixel format.</exception>
///
public static IntegralImage FromBitmap(UnmanagedImage image)
{
// check image format
if (image.PixelFormat != PixelFormat.Format8bppIndexed)
{
throw new ArgumentException("Source image can be graysclae (8 bpp indexed) image only.");
}
// get source image size
int width = image.Width;
int height = image.Height;
int offset = image.Stride - width;
// create integral image
var im = new IntegralImage(width, height);
uint[,] integralImage = im.integralImage;
// do the job
unsafe
{
byte* src = (byte*)image.ImageData.ToPointer();
// for each line
for (int y = 1; y <= height; y++)
{
uint rowSum = 0;
// for each pixel
for (int x = 1; x <= width; x++, src++)
{
rowSum += *src;
integralImage[y, x] = rowSum + integralImage[y - 1, x];
}
src += offset;
}
}
return im;
}
/// <summary>
/// Initializes a new instance of the <see cref="CentralMoments"/> class.
/// </summary>
///
/// <param name="order">The maximum order for the moments.</param>
/// <param name="image">The image whose moments should be computed.</param>
/// <param name="area">The region of interest in the image to compute moments for.</param>
///
public CentralMoments(UnmanagedImage image, Rectangle area, int order = DefaultOrder)
: base(image, area, order) { }
/// <summary>
/// Initializes a new instance of the <see cref="RecursiveBlobCounter"/> class.
/// </summary>
///
/// <param name="image">Unmanaged image to look for objects in.</param>
///
public RecursiveBlobCounter(UnmanagedImage image)
: base(image)
{
}
/// <summary>
/// Process new video frame.
/// </summary>
///
/// <param name="videoFrame">Video frame to process (detect motion in).</param>
///
/// <remarks><para>Processes new frame from video source and detects motion in it.</para>
///
/// <para>Check <see cref="MotionLevel"/> property to get information about amount of motion
/// (changes) in the processed frame.</para>
/// </remarks>
///
public void ProcessFrame( UnmanagedImage videoFrame )
{
lock ( sync )
{
// check background frame
if ( backgroundFrame == null )
{
lastTimeMeasurment = DateTime.Now;
// save image dimension
width = videoFrame.Width;
height = videoFrame.Height;
// alocate memory for previous and current frames
backgroundFrame = UnmanagedImage.Create( width, height, PixelFormat.Format8bppIndexed );
motionFrame = UnmanagedImage.Create( width, height, PixelFormat.Format8bppIndexed );
frameSize = motionFrame.Stride * height;
// temporary buffer
if ( suppressNoise )
{
tempFrame = UnmanagedImage.Create( width, height, PixelFormat.Format8bppIndexed );
}
// convert source frame to grayscale
Accord.Vision.Tools.ConvertToGrayscale(videoFrame, backgroundFrame);
return;
}
// check image dimension
if ( ( videoFrame.Width != width ) || ( videoFrame.Height != height ) )
return;
// convert current image to grayscale
Accord.Vision.Tools.ConvertToGrayscale(videoFrame, motionFrame);
unsafe
{
// pointers to background and current frames
byte* backFrame;
byte* currFrame;
int diff;
// update background frame
if ( millisecondsPerBackgroundUpdate == 0 )
{
// update background frame using frame counter as a base
if ( ++framesCounter == framesPerBackgroundUpdate )
{
framesCounter = 0;
backFrame = (byte*) backgroundFrame.ImageData.ToPointer( );
currFrame = (byte*) motionFrame.ImageData.ToPointer( );
for ( int i = 0; i < frameSize; i++, backFrame++, currFrame++ )
{
diff = *currFrame - *backFrame;
if ( diff > 0 )
{
( *backFrame )++;
}
else if ( diff < 0 )
{
( *backFrame )--;
}
}
}
}
else
{
// update background frame using timer as a base
// get current time and calculate difference
DateTime currentTime = DateTime.Now;
TimeSpan timeDff = currentTime - lastTimeMeasurment;
// save current time as the last measurment
lastTimeMeasurment = currentTime;
int millisonds = (int) timeDff.TotalMilliseconds + millisecondsLeftUnprocessed;
// save remainder so it could be taken into account in the future
millisecondsLeftUnprocessed = millisonds % millisecondsPerBackgroundUpdate;
// get amount for background update
int updateAmount = (int) ( millisonds / millisecondsPerBackgroundUpdate );
backFrame = (byte*) backgroundFrame.ImageData.ToPointer( );
currFrame = (byte*) motionFrame.ImageData.ToPointer( );
for ( int i = 0; i < frameSize; i++, backFrame++, currFrame++ )
{
diff = *currFrame - *backFrame;
if ( diff > 0 )
{
( *backFrame ) += (byte) ( ( diff < updateAmount ) ? diff : updateAmount );
}
else if ( diff < 0 )
{
( *backFrame ) += (byte) ( ( -diff < updateAmount ) ? diff : -updateAmount );
}
}
}
backFrame = (byte*) backgroundFrame.ImageData.ToPointer( );
currFrame = (byte*) motionFrame.ImageData.ToPointer( );
// 1 - get difference between frames
// 2 - threshold the difference
for ( int i = 0; i < frameSize; i++, backFrame++, currFrame++ )
{
// difference
diff = (int) *currFrame - (int) *backFrame;
// treshold
*currFrame = ( ( diff >= differenceThreshold ) || ( diff <= differenceThresholdNeg ) ) ? (byte) 255 : (byte) 0;
}
if ( suppressNoise )
{
// suppress noise and calculate motion amount
Accord.SystemTools.CopyUnmanagedMemory( tempFrame.ImageData, motionFrame.ImageData, frameSize );
erosionFilter.Apply( tempFrame, motionFrame );
if ( keepObjectEdges )
{
Accord.SystemTools.CopyUnmanagedMemory( tempFrame.ImageData, motionFrame.ImageData, frameSize );
dilatationFilter.Apply( tempFrame, motionFrame );
}
}
// calculate amount of motion pixels
pixelsChanged = 0;
byte* motion = (byte*) motionFrame.ImageData.ToPointer( );
for ( int i = 0; i < frameSize; i++, motion++ )
{
pixelsChanged += ( *motion & 1 );
}
}
}
}
/// <summary>
/// Actual objects map building.
/// </summary>
///
/// <param name="image">Unmanaged image to process.</param>
///
/// <remarks>The method supports 8 bpp indexed grayscale images and 24/32 bpp color images.</remarks>
///
/// <exception cref="UnsupportedImageFormatException">Unsupported pixel format of the source image.</exception>
///
protected override void BuildObjectsMap(UnmanagedImage image)
{
this.stride = image.Stride;
// check pixel format
if ((image.PixelFormat != PixelFormat.Format8bppIndexed) &&
(image.PixelFormat != PixelFormat.Format24bppRgb) &&
(image.PixelFormat != PixelFormat.Format32bppRgb) &&
(image.PixelFormat != PixelFormat.Format32bppArgb) &&
(image.PixelFormat != PixelFormat.Format32bppPArgb))
{
throw new UnsupportedImageFormatException("Unsupported pixel format of the source image.");
}
// allocate temporary labels array
tempLabels = new int[(ImageWidth + 2) * (ImageHeight + 2)];
// fill boundaries with reserved value
for (int x = 0, mx = ImageWidth + 2; x < mx; x++)
{
tempLabels[x] = -1;
tempLabels[x + (ImageHeight + 1) * (ImageWidth + 2)] = -1;
}
for (int y = 0, my = ImageHeight + 2; y < my; y++)
{
tempLabels[y * (ImageWidth + 2)] = -1;
tempLabels[y * (ImageWidth + 2) + ImageWidth + 1] = -1;
}
// initial objects count
ObjectsCount = 0;
// do the job
unsafe
{
byte* src = (byte*)image.ImageData.ToPointer();
int p = ImageWidth + 2 + 1;
if (image.PixelFormat == PixelFormat.Format8bppIndexed)
{
int offset = stride - ImageWidth;
// for each line
for (int y = 0; y < ImageHeight; y++)
{
// for each pixel
for (int x = 0; x < ImageWidth; x++, src++, p++)
{
// check for non-labeled pixel
if ((*src > backgroundThresholdG) && (tempLabels[p] == 0))
{
ObjectsCount++;
LabelPixel(src, p);
}
}
src += offset;
p += 2;
}
}
else
{
pixelSize = Bitmap.GetPixelFormatSize(image.PixelFormat) / 8;
int offset = stride - ImageWidth * pixelSize;
// for each line
for (int y = 0; y < ImageHeight; y++)
{
// for each pixel
for (int x = 0; x < ImageWidth; x++, src += pixelSize, p++)
{
// check for non-labeled pixel
if ((
(src[RGB.R] > backgroundThresholdR) ||
(src[RGB.G] > backgroundThresholdG) ||
(src[RGB.B] > backgroundThresholdB)
) &&
(tempLabels[p] == 0))
{
ObjectsCount++;
LabelColorPixel(src, p);
}
}
src += offset;
p += 2;
}
}
}
// allocate labels array
ObjectLabels = new int[ImageWidth * ImageHeight];
for (int y = 0; y < ImageHeight; y++)
Array.Copy(tempLabels, (y + 1) * (ImageWidth + 2) + 1, ObjectLabels, y * ImageWidth, ImageWidth);
}
/// <summary>
/// Initializes a new instance of the <see cref="FastRetinaKeypointDescriptor"/> class.
/// </summary>
///
internal FastRetinaKeypointDescriptor(UnmanagedImage image,
IntegralImage integral, FastRetinaKeypointPattern pattern)
{
this.Extended = false;
this.IsOrientationNormal = true;
this.IsScaleNormal = true;
this.Image = image;
this.Integral = integral;
this.pattern = pattern;
}
/// <summary>
/// Process new video frame.
/// </summary>
///
/// <param name="videoFrame">Video frame to process (detect motion in).</param>
///
/// <returns>Returns amount of motion, which is provided <see cref="IMotionDetector.MotionLevel"/>
/// property of the <see cref="MotionDetectionAlgorithm">motion detection algorithm in use</see>.</returns>
///
/// <remarks><para>The method first of all applies motion detection algorithm to the specified video
/// frame to calculate <see cref="IMotionDetector.MotionLevel">motion level</see> and
/// <see cref="IMotionDetector.MotionFrame">motion frame</see>. After this it applies motion processing algorithm
/// (if it was set) to do further post processing, like highlighting motion areas, counting moving
/// objects, etc.</para>
///
/// <para><note>In the case if <see cref="MotionZones"/> property is set, this method will perform
/// motion filtering right after motion algorithm is done and before passing motion frame to motion
/// processing algorithm. The method does filtering right on the motion frame, which is produced
/// by motion detection algorithm. At the same time the method recalculates motion level and returns
/// new value, which takes motion zones into account (but the new value is not set back to motion detection
/// algorithm' <see cref="IMotionDetector.MotionLevel"/> property).
/// </note></para>
/// </remarks>
///
public float ProcessFrame( UnmanagedImage videoFrame )
{
lock ( sync )
{
if ( detector == null )
return 0;
videoWidth = videoFrame.Width;
videoHeight = videoFrame.Height;
float motionLevel = 0;
// call motion detection
detector.ProcessFrame( videoFrame );
motionLevel = detector.MotionLevel;
// check if motion zones are specified
if ( motionZones != null )
{
if ( zonesFrame == null )
{
CreateMotionZonesFrame( );
}
if ( ( videoWidth == zonesFrame.Width ) && ( videoHeight == zonesFrame.Height ) )
{
unsafe
{
// pointers to background and current frames
byte* zonesPtr = (byte*) zonesFrame.ImageData.ToPointer( );
byte* motionPtr = (byte*) detector.MotionFrame.ImageData.ToPointer( );
motionLevel = 0;
for ( int i = 0, frameSize = zonesFrame.Stride * videoHeight; i < frameSize; i++, zonesPtr++, motionPtr++ )
{
*motionPtr &= *zonesPtr;
motionLevel += ( *motionPtr & 1 );
}
motionLevel /= ( videoWidth * videoHeight );
}
}
}
// call motion post processing
if ( ( processor != null ) && ( detector.MotionFrame != null ) )
{
processor.ProcessFrame( videoFrame, detector.MotionFrame );
}
return motionLevel;
}
}
/// <summary>
/// Process video and motion frames doing further post processing after
/// performed motion detection.
/// </summary>
///
/// <param name="videoFrame">Original video frame.</param>
/// <param name="motionFrame">Motion frame provided by motion detection
/// algorithm (see <see cref="IMotionDetector"/>).</param>
///
/// <remarks><para>Processes provided motion frame and highlights motion areas
/// on the original video frame with <see cref="HighlightColor">specified color</see>.</para>
/// </remarks>
///
/// <exception cref="InvalidImagePropertiesException">Motion frame is not 8 bpp image, but it must be so.</exception>
/// <exception cref="UnsupportedImageFormatException">Video frame must be 8 bpp grayscale image or 24/32 bpp color image.</exception>
///
public void ProcessFrame( UnmanagedImage videoFrame, UnmanagedImage motionFrame )
{
if ( motionFrame.PixelFormat != PixelFormat.Format8bppIndexed )
{
throw new InvalidImagePropertiesException( "Motion frame must be 8 bpp image." );
}
if ( ( videoFrame.PixelFormat != PixelFormat.Format8bppIndexed ) &&
( videoFrame.PixelFormat != PixelFormat.Format24bppRgb ) &&
( videoFrame.PixelFormat != PixelFormat.Format32bppRgb ) &&
( videoFrame.PixelFormat != PixelFormat.Format32bppArgb ) )
{
throw new UnsupportedImageFormatException( "Video frame must be 8 bpp grayscale image or 24/32 bpp color image." );
}
int width = videoFrame.Width;
int height = videoFrame.Height;
int pixelSize = Bitmap.GetPixelFormatSize( videoFrame.PixelFormat ) / 8;
if ( ( motionFrame.Width != width ) || ( motionFrame.Height != height ) )
return;
unsafe
{
byte* src = (byte*) videoFrame.ImageData.ToPointer( );
byte* motion = (byte*) motionFrame.ImageData.ToPointer( );
int srcOffset = videoFrame.Stride - width * pixelSize;
int motionOffset = motionFrame.Stride - width;
if ( pixelSize == 1 )
{
// grayscale case
byte fillG = (byte) ( 0.2125 * highlightColor.R +
0.7154 * highlightColor.G +
0.0721 * highlightColor.B );
for ( int y = 0; y < height; y++ )
{
for ( int x = 0; x < width; x++, motion++, src++ )
{
if ( ( *motion != 0 ) && ( ( ( x + y ) & 1 ) == 0 ) )
{
*src = fillG;
}
}
src += srcOffset;
motion += motionOffset;
}
}
else
{
// color case
byte fillR = highlightColor.R;
byte fillG = highlightColor.G;
byte fillB = highlightColor.B;
for ( int y = 0; y < height; y++ )
{
for ( int x = 0; x < width; x++, motion++, src += pixelSize )
{
if ( ( *motion != 0 ) && ( ( ( x + y ) & 1 ) == 0 ) )
{
src[RGB.R] = fillR;
src[RGB.G] = fillG;
src[RGB.B] = fillB;
}
}
src += srcOffset;
motion += motionOffset;
}
}
}
}
/// <summary>
/// Constructs a new Integral image from an unmanaged image.
/// </summary>
///
/// <param name="image">The source image from where the integral image should be computed.</param>
/// <param name="channel">The image channel to consider in the computations. Default is 0.</param>
///
/// <returns>
/// The <see cref="IntegralImage2"/> representation of
/// the <paramref name="image">source image</paramref>.</returns>
///
public static IntegralImage2 FromBitmap(UnmanagedImage image, int channel)
{
return(FromBitmap(image, channel, false));
}