From 2b9678f2c913b7059dfa2c6b2d392803333b4634 Mon Sep 17 00:00:00 2001 From: Jayn <694728662@qq.com> Date: Fri, 13 Nov 2015 01:51:26 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E6=A3=80=E6=B5=8B=E6=A8=AA?= =?UTF-8?q?=E5=90=91=E4=BF=A1=E5=8F=B7=E7=81=AF=E7=9A=84=E5=86=85=E5=AE=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Main_TrafficSignRecognition.cpp | 32 +++-- TrafficLightDetection/RectangleDetection.cpp | 131 ++++++++++++------ TrafficLightDetection/regionGrowFiltering.cpp | 100 ++++++++----- TrafficLightDetection/std_tlr.h | 3 + isTL.xml | 113 +++++++++++++++ traffic.h | 2 +- 6 files changed, 294 insertions(+), 87 deletions(-) create mode 100644 isTL.xml diff --git a/Main_TrafficSignRecognition.cpp b/Main_TrafficSignRecognition.cpp index c6e26b1..e83b4f1 100644 --- a/Main_TrafficSignRecognition.cpp +++ b/Main_TrafficSignRecognition.cpp @@ -20,8 +20,11 @@ HOGDescriptor RectHOG(Size(30,50),Size(10,10),Size(5,5),Size(5,5),9,1,-1.0,0,0.2 //识别信号灯类别的HOG特征 HOGDescriptor TLRecHOG(Size(12,12),Size(6,6),Size(3,3),Size(3,3),9,1,-1.0,0,0.2,true,20); +HOGDescriptor isTLHOG(Size(12,12),Size(6,6),Size(3,3),Size(3,3),9,1,-1.0,0,0.2,true,20);//识别是否是信号灯 + MySVM TriangleSVM,RoundRimSVM,RectBlueSVM; MySVM TLRecSVM;//识别红色信号灯类别的SVM分类器 +MySVM isTLSVM;//识别识别是否为信号灯的SVM分类器 int Frame_pos;//µ±Ç°Ö¡Î»Öà @@ -191,10 +194,14 @@ void TLDetectionPerFrame(IplImage *frame,float *TLDSend) imageSeg = colorSegmentationTL(resize_TLR); - /*IplImage *closeImg=cvCreateImage(Size(imageSeg->width,imageSeg->height),imageSeg->depth,imageSeg->nChannels); + + + IplImage *closeImg=cvCreateImage(Size(imageSeg->width,imageSeg->height),imageSeg->depth,imageSeg->nChannels); IplConvKernel *t=cvCreateStructuringElementEx(7,7,3,3,CV_SHAPE_ELLIPSE); cvMorphologyEx(imageSeg,closeImg,NULL,t,CV_MOP_CLOSE); - cvShowImage("closeImg",closeImg);*/ + cvShowImage("closeImg",closeImg); + + imageNoiseRem=noiseRemoval(imageSeg); #if ISDEBUG_TL cvNamedWindow("imgseg"); @@ -204,9 +211,10 @@ void TLDetectionPerFrame(IplImage *frame,float *TLDSend) cvWaitKey(5); #endif //componentExtraction(imageNoiseRem,resize_TLR,TLDSend,found_TL); - componentExtractionTL(imageNoiseRem,resize_TLR,TLDSend); + componentExtractionTL(closeImg,resize_TLR,TLDSend); cvReleaseImage(&imageSeg); cvReleaseImage(&imageNoiseRem); + cvReleaseImage(&closeImg); } void TSRecognitionPerFrame(IplImage *frame,float *TSRSend) @@ -534,7 +542,7 @@ int main() hogSVMTrainTL(myHOG_horz,TRAIN,HORZ); else hogSVMTrainTL(myHOG_vertical,TRAIN,HORZ); - + //信号灯识别训练 if (TLRecTrain) { @@ -542,8 +550,14 @@ int main() const int TLTypeNum=3;//包括非TL HOGTrainingTrafficSign(TLRecPath,TLRecHOG,TLTypeNum,TLREC_WIDTH,TLREC_HEIGHT,"src//TLRec.xml"); TLRecSVM.load("src//TLRec.xml"); + + const String isTLPath="D:\\JY\\JY_TrainingSamples\\isTL"; + const int isTLNum=2; + HOGTrainingTrafficSign(isTLPath,isTLHOG,isTLNum,TLREC_WIDTH,TLREC_HEIGHT,"src//isTL.xml"); + isTLSVM.load("src//isTL.xml"); }else{ TLRecSVM.load("src//TLRec.xml"); + isTLSVM.load("src//isTL.xml"); } //traffic sign training @@ -643,8 +657,8 @@ void openMP_MultiThreadVideo() bool saveFlag=false; IplImage * frame,*copyFrame; float connectResult[8]={0,0,0,0,0,0,0,0}; - //CvCapture * cap=cvCreateFileCapture("D:\\JY\\JY_TrainingSamples\\changshu data\\TL\\good5.avi"); - CvCapture * cap=cvCreateFileCapture("D:\\JY\\JY_TrainingSamples\\2014.11.16\\1_clip.mp4"); + CvCapture * cap=cvCreateFileCapture("D:\\JY\\JY_TrainingSamples\\changshu data\\TL\\TL_HORZ.avi"); + //CvCapture * cap=cvCreateFileCapture("D:\\JY\\JY_TrainingSamples\\2014.11.16\\1_clip.mp4"); float startTime=1000*(float)getTickCount()/getTickFrequency(); CvVideoWriter * writer=NULL; //findColorRange(); @@ -700,9 +714,9 @@ void openMP_MultiThreadVideo() cvShowImage("TL",resize_TLR); cvWaitKey(5); //show the detection result of TSR - namedWindow("TSR"); - imshow("TSR",re_src); - waitKey(5); + //namedWindow("TSR"); + //imshow("TSR",re_src); + //waitKey(5); #endif if (saveFlag) { diff --git a/TrafficLightDetection/RectangleDetection.cpp b/TrafficLightDetection/RectangleDetection.cpp index 395841c..752b8c1 100644 --- a/TrafficLightDetection/RectangleDetection.cpp +++ b/TrafficLightDetection/RectangleDetection.cpp @@ -1,8 +1,4 @@ #include "std_tlr.h" -extern HOGDescriptor TLRecHOG; -extern MySVM TLRecSVM;//ʶɫźŵSVM - -#define IS_CUTIMG 0 void GetImageRect(IplImage* orgImage, CvRect rectInImage, IplImage* imgRect) { @@ -62,15 +58,23 @@ bool isLighInBox(Mat src) IplImage* imageGrayScale = cvCreateImage(cvSize(iWidth,iHeight),IPL_DEPTH_8U,1); int iWidthStep = imageGrayScale->widthStep; cvCvtColor(srcImage,imageGrayScale,CV_BGR2GRAY); - - - bool returnStatus = false; + bool VerticalReturnStatus = false; + bool HorzReturnStatus=false; + + // + int HorzRectHeight=(iRect.width+iRect.height)/2 + 6; + int HorzRectWidth=3*(HorzRectHeight-4)+6; + int HorzRectX1=0, HorzRectY1=0; + int HorzRectX2=0, HorzRectY2=0; + + //int iSrcWidthStep = srcImage->widthStep; //thresholding for graylevel differences between seedpoints and its neibours const int grayThresholding =70;//70 const int RatioThreshold = 55;//кɫռ + // int iDrawRectWidth = (iRect.width+iRect.height)/2 + 6; int iDrawRectHeight = 3*(iDrawRectWidth-4)+6; int iDrawRectX1=0, iDrawRectY1=0; @@ -78,22 +82,32 @@ bool isLighInBox(Mat src) if(iColor==RED_PIXEL_LABEL){ iDrawRectY1 = iRect.y - 3; + HorzRectX1= iRect.x-3; } else if(iColor == GREEN_PIXEL_LABEL){ iDrawRectY1 = iRect.y-iDrawRectHeight/3*2; + HorzRectX1=iRect.x-HorzRectWidth/3*2; } iDrawRectY2 = iDrawRectY1 + iDrawRectHeight; iDrawRectX1 = iRect.x-3; iDrawRectX2 = iDrawRectX1 + iDrawRectWidth; + HorzRectX2= HorzRectX1+HorzRectWidth; + HorzRectY1= iRect.y-3; + HorzRectY2= HorzRectY1+HorzRectHeight; + if(HorzRectX1<0 || HorzRectY1<0 || HorzRectX2>=iWidth || HorzRectY2>=iHeight) + { + cvReleaseImage(&imageGrayScale);//when return the result, the image must be released, otherwise,the memory will be leaked + return HorzReturnStatus; + } + if( iDrawRectX1<0 || iDrawRectY1<0 || iDrawRectX2>=iWidth || iDrawRectY2>=iHeight) { cvReleaseImage(&imageGrayScale);//when return the result, the image must be released, otherwise,the memory will be leaked - return returnStatus; + return VerticalReturnStatus; } - int sum=0; int grayValue=0; @@ -110,10 +124,27 @@ bool isLighInBox(Mat src) } } + //ˮƽͳƺɫر + int HorzSum=0; + for(int j=HorzRectY1; j<=HorzRectY2; j++){ + pData = (unsigned char*)imageGrayScale->imageData + j*iWidthStep; + for(int i=HorzRectX1; i<=HorzRectX2; i++){ + grayValue = pData[i]; + if((grayValue<=grayThresholding)) + HorzSum++; + } + } + + //ֱⴰ iDrawRectHeight=iDrawRectY2-iDrawRectY1; iDrawRectWidth=iDrawRectX2-iDrawRectX1; - int ratio = (float)sum*100/(float)((iDrawRectWidth+1)*((float)iDrawRectHeight+1));//οкɫռ + //ˮƽⴰ + HorzRectHeight=HorzRectY2-HorzRectY1; + HorzRectWidth=HorzRectX2-HorzRectX1; + + int VerticalBlackRatio = (float)sum*100/(float)((iDrawRectWidth+1)*((float)iDrawRectHeight+1));//οкɫռ + int HorzBlackRatio=(float)HorzSum*100/(float)((HorzRectWidth+1)*((float)HorzRectHeight+1));//οкɫռ #if ISDEBUG_TL ofstream outfile; @@ -134,11 +165,20 @@ bool isLighInBox(Mat src) isLighInBox(tmpMat); #endif - if(ratio>=RatioThreshold&&ratio<=90&&BlackAroundLight(srcImage,iRect)) - returnStatus = true; + int DetectResult=isTL(srcImage,iRect);cout<<"źŵƣ"<=RatioThreshold&&VerticalBlackRatio<=90) + VerticalReturnStatus = true; + else if (HorzBlackRatio>=RatioThreshold&&HorzBlackRatio<=90) + { + HorzReturnStatus=true; + } + } + //ľοԭʼͼϻαʾ - if(returnStatus==true) + if(VerticalReturnStatus==true) { if(iColor==GREEN_PIXEL_LABEL) { @@ -153,34 +193,42 @@ bool isLighInBox(Mat src) //TODO:ʶźŵָ - CvSize cutSize; - cutSize.width=iRect.width; - cutSize.height=iRect.height; - IplImage *tmpCutImg=cvCreateImage(cutSize,srcImage->depth,srcImage->nChannels); - GetImageRect(srcImage,iRect,tmpCutImg); -#if IS_CUTIMG - cvShowImage("tmpCutImg",tmpCutImg); - cvWaitKey(1); - char tmpName[100]; - static int ppp=0; - ppp++; - sprintf_s(tmpName,"ImgCut//%d.jpg",ppp); - cvSaveImage(tmpName,tmpCutImg); -#endif + int result=RecognizeLight(srcImage,iRect); + switch(result) + { + case 0://Բ + //cout<<"Բ"< descriptor; - - //ʶźŵ - resize(cutMat,tmpTLRec,Size(TLREC_WIDTH,TLREC_HEIGHT)); - TLRecHOG.compute(tmpTLRec,descriptor,Size(8,8)); - int DescriptorDim=descriptor.size(); - Mat SVMTriangleMat(1,DescriptorDim,CV_32FC1); - for(int i=0; i(0,i) = descriptor[i]; - - int result=TLRecSVM.predict(SVMTriangleMat); + else if(iColor==RED_PIXEL_LABEL) + { + cvRectangle(srcImage,cvPoint(HorzRectX1,HorzRectY1),cvPoint(HorzRectX2,HorzRectY2),cvScalar(0,0,255),2); + //*p1=*p1+1; + + + //TODO:ʶźŵָ + int result=RecognizeLight(srcImage,iRect); switch(result) { case 0://Բ @@ -198,10 +246,9 @@ bool isLighInBox(Mat src) default: break; } - cvReleaseImage(&tmpCutImg);//ʹMatͷţIplImageMatͱ } } cvReleaseImage(&imageGrayScale); - return returnStatus; + return VerticalReturnStatus; } \ No newline at end of file diff --git a/TrafficLightDetection/regionGrowFiltering.cpp b/TrafficLightDetection/regionGrowFiltering.cpp index 3f048f0..614d141 100644 --- a/TrafficLightDetection/regionGrowFiltering.cpp +++ b/TrafficLightDetection/regionGrowFiltering.cpp @@ -1,6 +1,13 @@ #include "std_tlr.h" +#define IS_CUTIMG 1 + extern HOGDescriptor myHOG_vertical; extern HOGDescriptor myHOG_horz; +extern HOGDescriptor TLRecHOG; +extern HOGDescriptor isTLHOG; + +extern MySVM TLRecSVM;//ʶɫźŵSVM +extern MySVM isTLSVM;//ʶǷźŵ extern bool TRAIN; extern bool HORZ; @@ -66,49 +73,72 @@ bool BlackAroundLight(IplImage* srcImg,CvRect iRect) return flag; } -/* + //not using hole traffic ligh as samples,just use the square light -bool IsLight(IplImage* srcImg,CvRect iRect) +int RecognizeLight(IplImage* srcImg,CvRect iRect) { - bool returnStatus = false; - int iWidth = srcImg->width,topX=iRect.x; - int iHeight = srcImg->height,topY=iRect.y; - int RectWidth,RectHeight; - if(iRect.width<15)RectWidth=15; - RectWidth=iRect.width; - if(iRect.height<30)RectHeight=30; - RectHeight=iRect.height; - bool flag=false; - - + CvSize cutSize; + cutSize.width=iRect.width; + cutSize.height=iRect.height; + IplImage *tmpCutImg=cvCreateImage(cutSize,srcImg->depth,srcImg->nChannels); + GetImageRect(srcImg,iRect,tmpCutImg); +#if IS_CUTIMG + cvShowImage("tmpCutImg",tmpCutImg); + cvWaitKey(1); + char tmpName[100]; + static int ppp=0; + ppp++; + sprintf_s(tmpName,"ImgCut//%d.jpg",ppp); + cvSaveImage(tmpName,tmpCutImg); +#endif - //SVM+HOG - CvRect rect; - if(topX+25>iWidth||topX-20<0)return false; - else{ - rect.x=iRect.x-20; - rect.width=45; - } + Mat cutMat(tmpCutImg); + Mat tmpTLRec; + vector descriptor; + + //ʶźŵ + resize(cutMat,tmpTLRec,Size(TLREC_WIDTH,TLREC_HEIGHT)); + TLRecHOG.compute(tmpTLRec,descriptor,Size(8,8)); + int DescriptorDim=descriptor.size(); + Mat SVMTLRecMat(1,DescriptorDim,CV_32FC1); + for(int i=0; i(0,i) = descriptor[i]; + + int result=TLRecSVM.predict(SVMTLRecMat); + cvReleaseImage(&tmpCutImg); + return result; +} - if(topY+40>iHeight||topY-30<0)return false; - else{ - rect.y=iRect.y-30; - rect.height=70; - } - cvSetImageROI(srcImg,rect); - Mat SVMROI(srcImg); +int isTL(IplImage* srcImg,CvRect iRect) +{ + CvSize cutSize; + cutSize.width=iRect.width; + cutSize.height=iRect.height; + IplImage *tmpCutImg=cvCreateImage(cutSize,srcImg->depth,srcImg->nChannels); + GetImageRect(srcImg,iRect,tmpCutImg); +#if IS_CUTIMG + cvShowImage("tmpCutImg",tmpCutImg); + cvWaitKey(1); +#endif - cvResetImageROI(srcImg);//һ˾ͳ˰ - if(HORZ) - flag=BoxDetectTL(SVMROI,myHOG_horz,HORZ); - flag=BoxDetectTL(SVMROI,myHOG_vertical,HORZ); - //cvReleaseImage(&srcImg); - return flag; + Mat cutMat(tmpCutImg); + Mat tmpIsTL; + vector descriptor; + + //ʶźŵ + resize(cutMat,tmpIsTL,Size(TLREC_WIDTH,TLREC_HEIGHT)); + isTLHOG.compute(tmpIsTL,descriptor,Size(8,8)); + int DescriptorDim=descriptor.size(); + Mat SVMTLRecMat(1,DescriptorDim,CV_32FC1); + for(int i=0; i(0,i) = descriptor[i]; + + int result=isTLSVM.predict(SVMTLRecMat); + cvReleaseImage(&tmpCutImg); + return result; } -*/ - diff --git a/TrafficLightDetection/std_tlr.h b/TrafficLightDetection/std_tlr.h index 042c7f3..7275d07 100644 --- a/TrafficLightDetection/std_tlr.h +++ b/TrafficLightDetection/std_tlr.h @@ -55,6 +55,9 @@ bool regionGrowFiltering(IplImage* inputImage,IplImage*colorSeg,CvRect iRect,CvR bool rectangleDetection(IplImage* inputImage,IplImage* srcImage,CvRect iRect,int iColor,int* p1,int* p2); bool BoxDetectTL(Mat src_test,HOGDescriptor &myHOG,bool HORZ); bool BlackAroundLight(IplImage* srcImg,CvRect iRect); +int RecognizeLight(IplImage* srcImg,CvRect iRect);//return the TL recognition result +int isTL(IplImage* srcImg,CvRect iRect);//жǷΪźŵ +void GetImageRect(IplImage* orgImage, CvRect rectInImage, IplImage* imgRect); using namespace std; using namespace cv; diff --git a/isTL.xml b/isTL.xml new file mode 100644 index 0000000..24a59eb --- /dev/null +++ b/isTL.xml @@ -0,0 +1,113 @@ + + + + C_SVC + LINEAR + 1.0000000000000001e-001 + 1.1920928955078125e-007 + 1000 + 324 + 324 + 2 + + 1 + 2 +
i
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