Changeset 653

Timestamp:

02/05/10 12:26:46 (2 years ago)

Author:

mosttw

Message:

Made sobel.py output sobels of HSV channels individually. Added texture to hist_test.m, though it doesn't really help.

Location:

branches/2010-image-rec

Files:

• hist_test.m (modified) (7 diffs)
• sobel.py (modified) (1 diff)

branches/2010-image-rec/hist_test.m

@@ -9 +9 @@
 fn = 'images/elphel/cam-000094.jpeg';
 fn = 'images/elphel/cam-000081.jpeg';
+
+fprintf('Running on %s... ', fn);
 
 % Number of bins in the histogram.
@@ -21 +23 @@
 s_mean_factor = 0.2; % Seems to most effect obstacle detection
 v_mean_factor = 0.1; % Obstacles and lines
+t_mean_factor = 0.1;
+texture_band = 2;
 
-im = imread(fn);
-im = imresize(im, 0.25);
-im = rgb2hsv(im);
+im_rgb = imread(fn);
+im_rgb = imresize(im_rgb, 0.25);
+rows = size(im_rgb, 1);
+cols = size(im_rgb, 2);
 
-rows = size(im, 1);
-cols = size(im, 2);
+im = zeros(rows, cols, 4);
+im(:,:,1:3) = rgb2hsv(im_rgb);
+fsobel = fspecial('sobel');
+hedges = filter2(fsobel , im(:,:,texture_band));
+vedges = filter2(fsobel', im(:,:,texture_band));
+edges = sqrt(hedges .^ 2 + vedges .^ 2);
+texture = filter2(fspecial('average', 10), edges);
+texture = filter2(fspecial('average', 10), texture);
+texture = filter2(fspecial('average', 10), texture);
+texture = filter2(fspecial('average', 10), texture);
+texture = filter2(fspecial('average', 10), texture);
+texture = filter2(fspecial('average', 10), texture);
+texture = filter2(fspecial('average', 10), texture);
+texture = filter2(fspecial('average', 10), texture);
+texture(texture > 1) = 1;
 
+figure(1);
+imshow([edges; texture]);
+
+im(:,:,4) = texture;
 
 % Area at the bottom of the image assumed to be grass, clear of obstacles
@@ -39 +61 @@
 grass_s_hist = hist(reshape(clear_area(:,:,2), 1, []), hist_bins);
 grass_v_hist = hist(reshape(clear_area(:,:,3), 1, []), hist_bins);
+grass_t_hist = hist(reshape(clear_area(:,:,4), 1, []), hist_bins);
 
 % Make matrices with values that are indices into the histograms
@@ -44 +67 @@
 s = ceil(im(:,:,2) * (hist_bins - 1)) + 1;
 v = ceil(im(:,:,3) * (hist_bins - 1)) + 1;
+t = ceil(im(:,:,4) * (hist_bins - 1)) + 1;
 
 % Make masks from the histograms.
@@ -52 +76 @@
 grass_v_mask = grass_v_hist;
 grass_v_mask(grass_v_hist < mean(grass_v_hist) * v_mean_factor) = 0;
+grass_t_mask = grass_t_hist;
+grass_t_mask(grass_t_hist < mean(grass_t_hist) * t_mean_factor) = 0;
 
 % Ungodly slow loop through the pixels
@@ -57 +83 @@
 for r = 1:rows
     for c = 1:cols
-        if grass_h_mask(h(r,c)) && grass_s_mask(s(r,c)) && grass_v_mask(v(r,c))
+        if grass_h_mask(h(r,c)) && grass_s_mask(s(r,c)) && ...
+                grass_v_mask(v(r,c)) && grass_t_mask(t(r,c))
             mask(r,c) = 1;
         end
@@ -64 +91 @@
 
 % Clean things up a bit
-se = strel('square', 4);
-mask = imclose(mask, se);
+% se = strel('square', 4);
+% mask = imclose(mask, se);
 
 % Display
-imshow([im; bw2rgb(mask)]);
+figure(2);
+imshow([double(im_rgb) / 255; bw2rgb(mask)]);
 
 % Draw a box over the "clear" area

branches/2010-image-rec/sobel.py

@@ -5 +5 @@
 
 fn = sys.argv[1]
-try:
-        use_hsv = sys.argv[2] == 'hsv'
-except IndexError:
-        use_hsv = False
 
 im = cv.LoadImage(fn)
-if use_hsv:
-        hsv = cv.CreateImage((im.width, im.height), cv.IPL_DEPTH_8U, 3)
-        cv.CvtColor(im, hsv, cv.CV_BGR2HSV)
-        im = hsv
+hsv = cv.CreateImage((im.width, im.height), cv.IPL_DEPTH_8U, 3)
+cv.CvtColor(im, hsv, cv.CV_BGR2HSV)
+im = hsv
 
-print "sobelizing"
+print "sobelizing",
 sobel = cv.CreateMat(im.height, im.width, cv.CV_32FC3)
-cv.Sobel(im, sobel, 1, 1, 5)
+#sobel_x = cv.CreateMat(im.height, im.width, cv.CV_32FC3)
+#sobel_y = cv.CreateMat(im.height, im.width, cv.CV_32FC3)
+#cv.Sobel(im, sobel_x, 1, 0, 3)
+#cv.Sobel(im, sobel_y, 0, 1, 3)
+cv.Sobel(im, sobel, 1, 1, 3)
+
 #cv.ShowImage('window', sobel)
 #cv.WaitKey()
 sobel_img = cv.CreateImage((im.width, im.height), cv.IPL_DEPTH_8U, 3)
 cv.ConvertScale(sobel, sobel_img, 8.0)
-if use_hsv:
-        sobel_fn = fn + '-hsv-sobel.png'
-else:
-        sobel_fn = fn + '-sobel.png'
-
-cv.SaveImage(sobel_fn, sobel_img)
+sobel_h = cv.CreateImage((im.width, im.height), cv.IPL_DEPTH_8U, 1)
+sobel_s = cv.CreateImage((im.width, im.height), cv.IPL_DEPTH_8U, 1)
+sobel_v = cv.CreateImage((im.width, im.height), cv.IPL_DEPTH_8U, 1)
+cv.Split(sobel_img, sobel_h, sobel_s, sobel_v, None)
+cv.SaveImage(fn + '-sobel-h.png', sobel_h)
+cv.SaveImage(fn + '-sobel-s.png', sobel_s)
+cv.SaveImage(fn + '-sobel-v.png', sobel_v)
+print "wrote %s-sobel-[hsv].png" % fn
 sys.exit(0)