使用OSTU方法动态获取二值化阈值，计算黑色像素比例

本版本为比赛前的稳定加强版本，可以检测识别横向纵向信号灯

Main_TrafficSignRecognition.cpp

@@ -32,12 +32,12 @@ int Frame_pos;//µ±Ç°Ö¡Î»ÖÃ
 bool isTrain=false;//traffic signs
 bool TRAIN=false;//TL
 bool HORZ=false;//TL
-bool TLRecTrain=true;//是否训练信号灯识别分类器
-bool saveFlag=true;
+bool TLRecTrain=false;//是否训练信号灯识别分类器
+//bool saveFlag=true;
 Mat re_src;//for traffic signs detection 
 IplImage *resize_TLR=cvCreateImage(Size(800,600),8,3);
 
-vector<Rect> found_TL;//the bounding box for traffic lights
+//vector<Rect> found_TL;//the bounding box for traffic lights
 vector<Rect> found_TSR;//the bounding box for traffic signs
 Scalar colorMode[]={CV_RGB(255,255,0),CV_RGB(0,0,255),CV_RGB(255,0,0)};//the color mode for the traffic sign detection(Y,B,R)
 CvANN_MLP nnetwork,nnetwork_RoundRim,nnetwork_RectBlue;//neural networks for three different kinds of traffic signs 
@@ -169,9 +169,10 @@ void savePCA(string filepath,string outputPath)
 
 void TLDetectionPerFrame(IplImage *frame,float *TLDSend)
 {
-	IplImage *imageSeg=NULL,*imageNoiseRem =NULL;
+	IplImage *imageSeg=NULL;
+	//IplImage*imageNoiseRem =NULL;
 
-	found_TL.clear();
+	//found_TL.clear();
 	cvResize(frame,resize_TLR);
 	/*//此处先使用顶帽算法，再使用闭操作
 	IplImage* tmpGray=cvCreateImage(cvSize(frame->width,frame->height),IPL_DEPTH_8U,1);
@@ -193,16 +194,11 @@ void TLDetectionPerFrame(IplImage *frame,float *TLDSend)
 	cvReleaseStructuringElement(&t);*/
 
 	imageSeg = colorSegmentationTL(resize_TLR);
-
-
-
 	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);
-
-
-	imageNoiseRem=noiseRemoval(imageSeg);
+	//cvShowImage("closeImg",closeImg);
+	//imageNoiseRem=noiseRemoval(imageSeg);
 #if ISDEBUG_TL
 	cvNamedWindow("imgseg");
 	cvShowImage("imgseg",imageSeg);
@@ -213,7 +209,7 @@ void TLDetectionPerFrame(IplImage *frame,float *TLDSend)
 	//componentExtraction(imageNoiseRem,resize_TLR,TLDSend,found_TL);
 	componentExtractionTL(closeImg,resize_TLR,TLDSend);
 	cvReleaseImage(&imageSeg);
-	cvReleaseImage(&imageNoiseRem);
+	//cvReleaseImage(&imageNoiseRem);
 	cvReleaseImage(&closeImg);
 }
 
@@ -657,7 +653,7 @@ 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\\TL_HORZ.avi");
+	CvCapture * cap=cvCreateFileCapture("D:\\JY\\JY_TrainingSamples\\changshu data\\TL\\RedFalsePositive.avi");
 	//CvCapture * cap=cvCreateFileCapture("D:\\JY\\JY_TrainingSamples\\2014.11.16\\1_clip.mp4");
 	float startTime=1000*(float)getTickCount()/getTickFrequency();
 	CvVideoWriter * writer=NULL;
@@ -714,9 +710,9 @@ 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)
 		{

TrafficLightDetection/RectangleDetection.cpp

@@ -7,7 +7,7 @@ void GetImageRect(IplImage* orgImage, CvRect rectInImage, IplImage* imgRect)
 	CvSize size;
 	size.width=rectInImage.width;
 	size.height=rectInImage.height;
-	//result=cvCreateImage( size, orgImage->depth, orgImage->nChannels );
+
 	//从图像中提取子图像
 	cvSetImageROI(orgImage,rectInImage);
 	cvCopy(orgImage,result);
@@ -50,28 +50,24 @@ bool isLighInBox(Mat src)
 	return false;
 }
 
-bool rectangleDetection(IplImage* inputImage,IplImage* srcImage,CvRect iRect,int iColor,int* p1,int* p2)//p1为前行位，p2为左转位
+void rectangleDetection(IplImage* inputImage,IplImage* srcImage,CvRect iRect,int iColor,int* p1,int* p2)//p1为前行位，p2为左转位
 {
-
 	const int iWidth = inputImage->width;
 	const int iHeight = inputImage->height;
-	IplImage* imageGrayScale = cvCreateImage(cvSize(iWidth,iHeight),IPL_DEPTH_8U,1);
-	int iWidthStep = imageGrayScale->widthStep; 
-	cvCvtColor(srcImage,imageGrayScale,CV_BGR2GRAY);
+
+	//水平和竖直状态
 	bool VerticalReturnStatus = false;
 	bool HorzReturnStatus=false;
 
 	//横向检测框
 	int HorzRectHeight=(iRect.width+iRect.height)/2 + 6;
-	int HorzRectWidth=3*(HorzRectHeight-4)+6;
+	int HorzRectWidth=3*(HorzRectHeight-4)+3;
 	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 grayThresholding =80;//70
 	const int RatioThreshold =  55;//检测框中黑色像素所占比例
 
 	//纵向检测框
@@ -89,62 +85,98 @@ bool isLighInBox(Mat src)
 		HorzRectX1=iRect.x-HorzRectWidth/3*2;
 	}
 
+	//竖直检测窗设置
 	iDrawRectY2 = iDrawRectY1 + iDrawRectHeight;
 	iDrawRectX1 = iRect.x-3;
 	iDrawRectX2 = iDrawRectX1 + iDrawRectWidth;
 
+	//水平检测框设置
 	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;
+		//cvReleaseImage(&imageGrayScale);//when return the result, the image must be released, otherwise,the memory will be leaked
+		return;
 	}
 
 	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 VerticalReturnStatus;
+		//cvReleaseImage(&imageGrayScale);//when return the result, the image must be released, otherwise,the memory will be leaked
+		return;
 	}
 
+
+	//竖直方向统计黑色像素比例
+	CvRect VerticalRect;
+	VerticalRect.x=iDrawRectX1;
+	VerticalRect.y=iDrawRectY1;
+	VerticalRect.width=iDrawRectWidth;
+	VerticalRect.height=iDrawRectHeight;
+	IplImage*VerticalLight = cvCreateImage(cvSize(iDrawRectWidth,iDrawRectHeight),srcImage->depth,srcImage->nChannels);
+	GetImageRect(srcImage,VerticalRect,VerticalLight);
+	IplImage *VerticalGrayLight=cvCreateImage(cvSize(iDrawRectWidth,iDrawRectHeight),IPL_DEPTH_8U,1);
+	cvCvtColor(VerticalLight,VerticalGrayLight,CV_BGR2GRAY);
+	cvThreshold(VerticalGrayLight,VerticalGrayLight,0,255,CV_THRESH_OTSU);
+
+
+	/*
+	int iWidthStep = VerticalGrayLight->widthStep; 
 	int sum=0;
-	int grayValue=0;
-	//int bValue=0,gValue=0,rValue=0;
-	//int bgrMax=0,bgrMin=0;
-	unsigned char* pData;
-	//unsigned char* pSrcData;
-	for(int j=iDrawRectY1; j<=iDrawRectY2; j++){
-		pData = (unsigned char*)imageGrayScale->imageData + j*iWidthStep;
-		for(int i=iDrawRectX1; i<=iDrawRectX2; i++){
-			grayValue = pData[i];
-			if((grayValue<=grayThresholding))
+	int VerticalGrayValue=0;
+	unsigned char* pDataVertical;
+	for(int j=0; j<iDrawRectHeight; j++){
+		pDataVertical = (unsigned char*)VerticalGrayLight->imageData + j*iWidthStep;
+		for(int i=0; i<iDrawRectWidth; i++){
+			VerticalGrayValue = pDataVertical[i];
+			if((VerticalGrayValue<=grayThresholding))
 				sum++;
 		}
-	}	
+	}*/	
+
+	int cvVerticalSum=cvCountNonZero(VerticalGrayLight);
+	int verticalBlackNum=iDrawRectWidth*iDrawRectHeight-cvVerticalSum;//黑色像素点个数
+	cvReleaseImage(&VerticalLight);
+	cvReleaseImage(&VerticalGrayLight);
+
+
 
 	//水平方向统计黑色像素比例
+	CvRect HorzRect;
+	HorzRect.x=HorzRectX1;
+	HorzRect.y=HorzRectY1;
+	HorzRect.width=HorzRectWidth;
+	HorzRect.height=HorzRectHeight;
+	IplImage*HorzLight = cvCreateImage(cvSize(HorzRectWidth,HorzRectHeight),srcImage->depth,srcImage->nChannels);
+	GetImageRect(srcImage,HorzRect,HorzLight);
+	IplImage *HorzGrayLight=cvCreateImage(cvSize(HorzRectWidth,HorzRectHeight),IPL_DEPTH_8U,1);
+	cvCvtColor(HorzLight,HorzGrayLight,CV_BGR2GRAY);
+	cvThreshold(HorzGrayLight,HorzGrayLight,0,255,CV_THRESH_OTSU);
+
+
+/*	
+	int HorzWidthStep = HorzGrayLight->widthStep; 
 	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))
+	int HorzGrayValue=0;
+	unsigned char* pDataHorz;
+	for(int j=0; j<HorzRectHeight; j++){
+		pDataHorz = (unsigned char*)HorzGrayLight->imageData + j*HorzWidthStep;
+		for(int i=0; i<HorzRectWidth; i++){
+			HorzGrayValue = pDataHorz[i];
+			//if((HorzGrayValue<=grayThresholding))
+			if((HorzGrayValue==0))
 				HorzSum++;
 		}
-	}	
-
-	//竖直检测窗
-	iDrawRectHeight=iDrawRectY2-iDrawRectY1;
-	iDrawRectWidth=iDrawRectX2-iDrawRectX1;
-
-	//水平检测窗
-	HorzRectHeight=HorzRectY2-HorzRectY1;
-	HorzRectWidth=HorzRectX2-HorzRectX1;
+	}	*/
+	int cvHorzSum=cvCountNonZero(HorzGrayLight);
+	int horzBlackNum=HorzRectWidth*HorzRectHeight-cvHorzSum;
+	cvReleaseImage(&HorzLight);
+	cvReleaseImage(&HorzGrayLight);
+
 
-	int VerticalBlackRatio = (float)sum*100/(float)((iDrawRectWidth+1)*((float)iDrawRectHeight+1));//矩形框中黑色像素所占比例
-	int HorzBlackRatio=(float)HorzSum*100/(float)((HorzRectWidth+1)*((float)HorzRectHeight+1));//矩形框中黑色像素所占比例
+	int VerticalBlackRatio = (float)verticalBlackNum*100/(float)((iDrawRectWidth+1)*((float)iDrawRectHeight+1));//矩形框中黑色像素所占比例
+	int HorzBlackRatio=(float)horzBlackNum*100/(float)((HorzRectWidth+1)*((float)HorzRectHeight+1));//矩形框中黑色像素所占比例
 
 #if ISDEBUG_TL
 	ofstream outfile;
@@ -165,10 +197,12 @@ bool isLighInBox(Mat src)
 	isLighInBox(tmpMat);
 #endif
 
-	int DetectResult=isTL(srcImage,iRect);cout<<"有无信号灯："<<DetectResult<<endl;
+	int DetectResult=isTL(srcImage,iRect);
 	if (DetectResult==1)
 	{
-		if(VerticalBlackRatio>=RatioThreshold&&VerticalBlackRatio<=90)
+		//cout<<"Horz Ratio:"<<HorzBlackRatio<<endl;
+		//cout<<"Vertical Ratio:"<<VerticalBlackRatio<<endl;
+		if(VerticalBlackRatio>=RatioThreshold&&VerticalBlackRatio<=93)
 			VerticalReturnStatus = true;
 		else if (HorzBlackRatio>=RatioThreshold&&HorzBlackRatio<=90)
 		{
@@ -204,9 +238,9 @@ bool isLighInBox(Mat src)
 				//cout<<"禁止左转"<<endl;
 				*p2=1;
 				break;
-			case 2://右转
+			case 2://前行箭头
 				//cout<<"禁止右转"<<endl;
-				//*p3=1;
+				*p1=1;
 				break;
 			default:
 				break;
@@ -239,16 +273,14 @@ bool isLighInBox(Mat src)
 				//cout<<"禁止左转"<<endl;
 				*p2=1;
 				break;
-			case 2://右转
+			case 2://前行箭头
 				//cout<<"禁止右转"<<endl;
-				//*p3=1;
+				*p1=1;
 				break;
 			default:
 				break;
 			}
 		}
 	}
-
-	cvReleaseImage(&imageGrayScale);
-	return VerticalReturnStatus;
+	return;
 }

TrafficLightDetection/regionGrowFiltering.cpp

@@ -1,5 +1,5 @@
 #include "std_tlr.h"
-#define IS_CUTIMG 1
+#define IS_CUTIMG 0
 
 extern HOGDescriptor myHOG_vertical;
 extern HOGDescriptor myHOG_horz;

TrafficLightDetection/std_tlr.h

@@ -52,7 +52,7 @@ IplImage* noiseRemoval2(IplImage* inputImage);
 IplImage* fixImage(IplImage* colorseg,IplImage* tophat);
 bool sizeFiltering(CvRect rect);
 bool regionGrowFiltering(IplImage* inputImage,IplImage*colorSeg,CvRect iRect,CvRect& oRect,vector<Rect> &found_filtered);
-bool rectangleDetection(IplImage* inputImage,IplImage* srcImage,CvRect iRect,int iColor,int* p1,int* p2);
+void 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