Detector.m

   1 classdef Detector < handle
   2     %DETECTOR Modul pro vyhledavani komara v snimcich zachycenych kamerou.
   3
   4     properties (Constant)
   5         % Brightness Limit - Jasova hranice pro rozpoznani komara
   6         BRG_LIM = 180;
   7         % Brightness Gnat - Jasova hranice, ktera urci, zda se jedna o
   8         % tmavy bod
   9         BRG_GNAT = 70;
  10     end
  11
  12     properties (GetAccess = 'private', SetAccess = 'private')
  13         % Komar
  14         Gnat;
  15         % Detektor
  16         Detect;
  17         % Snimek
  18         Shot;
  19         % Zamerny kriz komara
  20         Cross;
  21     end
  22
  23     methods (Access = private)
  24         function initProperties(obj, Shot)
  25             obj.Gnat.SIZE = 20; % Velikost komara na snimku v pixelech
  26             obj.Gnat.SIZE_MIN = 3; % Minimalni tolerovana velikost komara
  27             obj.Gnat.SIZE_MAX = 80; % Maximalni tolerovana velikost komara
  28             obj.Gnat.SIZE_TOL = obj.Gnat.SIZE_MAX + 10; % Tolerance velikosti komara
  29
  30             obj.Detect.ROW = 4; % Pocet radku snimku, po kolika ma byt detekovan komar
  31             obj.Detect.BORDER.Lin = -204;
  32             obj.Detect.BORDER.Lout = -284;
  33             obj.Detect.BORDER.Rin = 55;
  34             obj.Detect.BORDER.Rout = 126;
  35             obj.Detect.BORDER.Uin = -121;
  36             obj.Detect.BORDER.Uout = -193;
  37             obj.Detect.BORDER.Din = 80;
  38             obj.Detect.BORDER.Dout = 119;
  39
  40             obj.Detect.BORDER.diffLoutLin = obj.Detect.BORDER.Lout - obj.Detect.BORDER.Lin;
  41             obj.Detect.BORDER.diffRoutRin = obj.Detect.BORDER.Rout - obj.Detect.BORDER.Rin;
  42             obj.Detect.BORDER.diffUoutUin = obj.Detect.BORDER.Uout - obj.Detect.BORDER.Uin;
  43             obj.Detect.BORDER.diffDoutDin = obj.Detect.BORDER.Dout - obj.Detect.BORDER.Din;
  44
  45             obj.Shot = Shot; % Parametry snimku
  46             obj.Shot.HALF_WIDTH = Shot.WIDTH/2;
  47             obj.Shot.HALF_HEIGHT = Shot.HEIGHT/2;
  48
  49             obj.Cross.SIZE = 20;
  50             obj.Cross.HALF_SIZE = round(obj.Cross.SIZE/2);
  51             obj.Cross.QUARTER_SIZE = round(obj.Cross.SIZE/4);
  52         end
  53
  54         % Nalezeni nejtmavsiho bodu v snimku "shot" a vraceni v podobe
  55         % souradnic "PointDark". Pokud bude nalezeny bod tmavsi nez
  56         % stanovena hranice jasu, tak "PointDark.exist" bude true, v
  57         % opacnem pripade bude false.
  58         function [PointDark] = detectDark(obj, shot)
  59             PointDark.exist = false;
  60             PointDark.x = 0;
  61             PointDark.y = 0;
  62
  63             [mins,idx] = min(shot);
  64             [Brightness,PointDark.x] = min(mins);
  65             PointDark.y = idx(PointDark.x);
  66
  67             if Brightness <= obj.BRG_GNAT
  68                 PointDark.exist = true;
  69             end
  70         end
  71
  72         function [PointGnat, Dct] = detectGnat01Sub01(obj, shot, PointGnat, Dct)
  73             Dct.GnatHeight = 0;
  74             Dct.PointStartY.exist = false;
  75             Dct.PointEndY.exist = false;
  76
  77             c = Dct.PointStartX.x +...
  78                 round((Dct.PointEndX.x - Dct.PointStartX.x)/2);
  79             rF = Dct.PointStartX.y - obj.Gnat.SIZE_TOL;
  80             if rF < 1
  81                 rF = 1;
  82             end
  83             rI = Dct.PointStartX.y + obj.Gnat.SIZE_TOL;
  84             if rI > obj.Shot.HEIGHT
  85                 rI = obj.Shot.HEIGHT;
  86             end
  87             for r = rF:rI
  88                 if (shot(r,c) <= obj.BRG_LIM) && (~Dct.PointStartY.exist)
  89                     tempR = r - 1;
  90                     if tempR >= 1
  91                         if (shot(tempR,c) > obj.BRG_LIM)
  92                             Dct.PointStartY.exist = true;
  93                             Dct.PointStartY.x = c;
  94                             Dct.PointStartY.y = r;
  95                         end
  96                     end
  97                 elseif (Dct.PointStartY.exist) &&...
  98                         (shot(r,c) > obj.BRG_LIM)
  99                     if (Dct.GnatHeight >= obj.Gnat.SIZE_MIN) &&...
 100                             (Dct.GnatHeight <= obj.Gnat.SIZE_MAX)
 101                         Dct.PointEndY.exist = true;
 102                         Dct.PointEndY.x = c;
 103                         Dct.PointEndY.y = r;
 104                         break;
 105                     else
 106                         Dct.PointStartY.exist = false;
 107                         Dct.GnatHeight = 0;
 108                     end
 109                 end
 110                 if Dct.PointStartY.exist && (~Dct.PointEndY.exist)
 111                     Dct.GnatHeight = Dct.GnatHeight + 1;
 112                 end
 113             end
 114             if Dct.PointEndY.exist
 115                 PointGnat.exist = true;
 116                 PointGnat.x = c;
 117                 PointGnat.y = Dct.PointStartY.y +...
 118                     round((Dct.PointEndY.y - Dct.PointStartY.y)/2);
 119             else
 120                 Dct.GnatWidth = 0;
 121                 Dct.PointStartX.exist = false;
 122                 Dct.PointEndX.exist = false;
 123             end
 124         end
 125
 126         function [PointGnat, Dct] = detectGnat01Sub02(obj, shot, PointGnat, Dct)
 127             Dct.GnatWidth = 0;
 128             Dct.PointStartX.exist = false;
 129             Dct.PointEndX.exist = false;
 130
 131             r = Dct.PointStartY.y +...
 132                 round((Dct.PointEndY.y - Dct.PointStartY.y)/2);
 133             cF = Dct.PointStartY.x - obj.Gnat.SIZE_TOL;
 134             if cF < 1
 135                 cF = 1;
 136             end
 137             cI = Dct.PointStartY.x + obj.Gnat.SIZE_TOL;
 138             if cI > obj.Shot.WIDTH
 139                 cI = obj.Shot.WIDTH;
 140             end
 141             for c = cF:cI
 142                 if (shot(r,c) <= obj.BRG_LIM) && (~Dct.PointStartX.exist)
 143                     tempC = c - 1;
 144                     if tempC >= 1
 145                         if (shot(r,tempC) > obj.BRG_LIM)
 146                             Dct.PointStartX.exist = true;
 147                             Dct.PointStartX.x = c;
 148                             Dct.PointStartX.y = r;
 149                         end
 150                     end
 151                 elseif (Dct.PointStartX.exist) &&...
 152                         (shot(r,c) > obj.BRG_LIM)
 153                     if (Dct.GnatWidth >= obj.Gnat.SIZE_MIN) &&...
 154                             (Dct.GnatWidth <= obj.Gnat.SIZE_MAX)
 155                         Dct.PointEndX.exist = true;
 156                         Dct.PointEndX.x = c;
 157                         Dct.PointEndX.y = r;
 158                         break;
 159                     else
 160                         Dct.PointStartX.exist = false;
 161                         Dct.GnatWidth = 0;
 162                     end
 163                 end
 164                 if Dct.PointStartX.exist && (~Dct.PointEndX.exist)
 165                     Dct.GnatWidth = Dct.GnatWidth + 1;
 166                 end
 167             end
 168             if Dct.PointEndX.exist
 169                 PointGnat.exist = true;
 170                 PointGnat.x = Dct.PointStartX.x +...
 171                     round((Dct.PointEndX.x - Dct.PointStartX.x)/2);
 172                 PointGnat.y = r;
 173             else
 174                 Dct.GnatHeight = 0;
 175                 Dct.PointStartY.exist = false;
 176                 Dct.PointEndY.exist = false;
 177             end
 178         end
 179
 180         function [PointGnat] = detectGnat01Sub03(obj, shot, PointGnat)
 181             if shot(PointGnat.y,PointGnat.x) > obj.BRG_GNAT
 182                 PointGnat.exist = false;
 183             end
 184         end
 185
 186         % Vyhledani komara v snimku "shot" pomoci metody prohledavani po
 187         % radcich a sloupcich v blizkosti odhadovaneho bodu
 188         % "PointEstimation". Pokud "PointEstimation" neexistuje, pak se
 189         % prohledava cely snimek.
 190         function [PointGnat] = detectGnat01(obj, shot, varargin)
 191             optargin = size(varargin,2);
 192
 193             PointGnat.exist = false;
 194             PointGnat.x = 0;
 195             PointGnat.y = 0;
 196
 197             Dct.GnatWidth = 0;
 198             Dct.GnatHeight = 0;
 199             Dct.PointStartX.exist = false;
 200             Dct.PointEndX.exist = false;
 201             Dct.PointStartY.exist = false;
 202             Dct.PointEndY.exist = false;
 203
 204             if optargin == 0
 205                 rowFrom = 1;
 206                     rowInto = obj.Shot.HEIGHT;
 207                     colFrom = 1;
 208                     colInto = obj.Shot.WIDTH;
 209             elseif optargin == 1
 210                 PointEstimation = varargin{1};
 211
 212                 if PointEstimation.exist
 213                     rowFrom = PointEstimation.y - obj.Gnat.SIZE_TOL;
 214                     if rowFrom < 1
 215                         rowFrom = 1;
 216                     end
 217                     rowInto = PointEstimation.y + obj.Gnat.SIZE_TOL;
 218                     if rowInto > obj.Shot.HEIGHT
 219                         rowInto = obj.Shot.HEIGHT;
 220                     end
 221                     colFrom = PointEstimation.x - obj.Gnat.SIZE_TOL;
 222                     if colFrom < 1
 223                         colFrom = 1;
 224                     end
 225                     colInto = PointEstimation.x + obj.Gnat.SIZE_TOL;
 226                     if colInto > obj.Shot.WIDTH
 227                         colInto = obj.Shot.WIDTH;
 228                     end
 229                 else
 230                     return;
 231                 end
 232             else
 233                 fprintf('Detector - neznamy pocet parametru')
 234                 return;
 235             end
 236
 237             for row = rowFrom:obj.Detect.ROW:rowInto
 238                 Dct.GnatWidth = 0;
 239                 Dct.GnatHeight = 0;
 240                 Dct.PointStartX.exist = false;
 241                 Dct.PointEndX.exist = false;
 242                 Dct.PointStartY.exist = false;
 243                 Dct.PointEndY.exist = false;
 244
 245                 for col = colFrom:colInto
 246                     if (shot(row,col) <= obj.BRG_LIM) && (~Dct.PointStartX.exist)
 247                         tempCol = col - 1;
 248                         if tempCol >= 1
 249                             if (shot(row,tempCol) > obj.BRG_LIM)
 250                                 Dct.PointStartX.exist = true;
 251                                 Dct.PointStartX.x = col;
 252                                 Dct.PointStartX.y = row;
 253                                 %fprintf('PSX: %d %d\n',Dct.PointStartX.x,Dct.PointStartX.y)
 254                             end
 255                         end
 256                     elseif (Dct.PointStartX.exist) &&...
 257                             (shot(row,col) > obj.BRG_LIM)
 258
 259                         if (Dct.GnatWidth >= obj.Gnat.SIZE_MIN) &&...
 260                                 (Dct.GnatWidth <= obj.Gnat.SIZE_MAX)
 261
 262                             Dct.PointEndX.exist = true;
 263                             Dct.PointEndX.x = col;
 264                             Dct.PointEndX.y = row;
 265
 266                             fprintf('');
 267
 268                             [PointGnat, Dct] = obj.detectGnat01Sub01(shot, PointGnat, Dct);
 269
 270                             if PointGnat.exist
 271                                 [PointGnat, Dct] = obj.detectGnat01Sub02(shot, PointGnat, Dct);
 272                                 [PointGnat] = detectGnat01Sub03(obj, shot, PointGnat);
 273                             end
 274
 275                             if PointGnat.exist
 276                                 break;
 277                             end
 278                         else
 279                             Dct.PointStartX.exist = false;
 280                             Dct.GnatWidth = 0;
 281                         end
 282                     end
 283                     if Dct.PointStartX.exist && (~Dct.PointEndX.exist)
 284                         Dct.GnatWidth = Dct.GnatWidth + 1;
 285                     end
 286                 end
 287                 if PointGnat.exist
 288                     break;
 289                 end
 290             end
 291         end
 292
 293         function [Border] = detectBorder(obj,x,y)
 294             Border.L = 1;
 295             Border.R = obj.Shot.WIDTH;
 296             Border.U = 1;
 297             Border.D = obj.Shot.HEIGHT;
 298
 299             if x < obj.Detect.BORDER.Lin
 300                 Border.L = (x - obj.Detect.BORDER.Lin)/...
 301                     obj.Detect.BORDER.diffLoutLin * obj.Shot.HALF_WIDTH;
 302             elseif x > obj.Detect.BORDER.Rin
 303                 Border.R = obj.Shot.WIDTH - ((x - obj.Detect.BORDER.Rin)/...
 304                     obj.Detect.BORDER.diffRoutRin * obj.Shot.HALF_WIDTH);
 305             end
 306
 307             if y < obj.Detect.BORDER.Uin
 308                 Border.U = (y - obj.Detect.BORDER.Uin)/...
 309                     obj.Detect.BORDER.diffUoutUin * obj.Shot.HALF_HEIGHT;
 310             elseif y > obj.Detect.BORDER.Din
 311                 Border.D = obj.Shot.HEIGHT - ((y - obj.Detect.BORDER.Din)/...
 312                     obj.Detect.BORDER.diffDoutDin * obj.Shot.HALF_HEIGHT);
 313             end
 314         end
 315     end
 316
 317     methods
 318         function obj = Detector()
 319
 320         end
 321
 322         function initDetector(obj,Shot)
 323             obj.initProperties(Shot);
 324         end
 325
 326         function [PointGnat] = detection(obj, shot)
 327             PointGnat.exist = false;
 328             PointEstimation = obj.detectDark(shot);
 329             if PointEstimation.exist
 330                 PointGnat = obj.detectGnat01(shot, PointEstimation);
 331                 if ~PointGnat.exist
 332                     PointGnat = obj.detectGnat01(shot);
 333                 end
 334             end
 335         end
 336
 337         function [PointGnat] = detection1(obj, shot)
 338             PointGnat.exist = false;
 339             PointEstimation = obj.detectDark(shot);
 340             if PointEstimation.exist
 341                 PointGnat = obj.detectGnat01(shot);
 342             end
 343         end
 344
 345         function [PointGnat] = detection2(obj, shot)
 346             PointGnat.exist = false;
 347             PointGnat = obj.detectGnat01(shot);
 348         end
 349
 350         % Vykresli do vlozeneho snimku "shot" kriz ukazujici na pozici
 351         % "Point" a pak vrati tento snimek "shot".
 352         function [shot] = paintCross(obj, shot, Point)
 353             if ~Point.exist
 354                 return;
 355             end
 356
 357             crs.xFrom = Point.x - obj.Cross.HALF_SIZE;
 358             crs.xInto = Point.x + obj.Cross.HALF_SIZE;
 359             crs.yFrom = Point.y - obj.Cross.HALF_SIZE;
 360             crs.yInto = Point.y + obj.Cross.HALF_SIZE;
 361
 362             % Hlavni kriz
 363             for x = crs.xFrom:(crs.xFrom+obj.Cross.QUARTER_SIZE)
 364                 if (x >= 1) && (x <= obj.Shot.WIDTH)
 365                     shot(Point.y,x) = 255;
 366                     if (Point.y+1 <= obj.Shot.HEIGHT)
 367                         shot(Point.y+1,x) = 0;
 368                     end
 369                 end
 370             end
 371             for x = (crs.xInto-obj.Cross.QUARTER_SIZE):crs.xInto
 372                 if (x >= 1) && (x <= obj.Shot.WIDTH)
 373                     shot(Point.y,x) = 255;
 374                     if (Point.y+1 <= obj.Shot.HEIGHT)
 375                         shot(Point.y+1,x) = 0;
 376                     end
 377                 end
 378             end
 379             for y = crs.yFrom:(crs.yFrom+obj.Cross.QUARTER_SIZE)
 380                 if (y >= 1) && (y <= obj.Shot.HEIGHT)
 381                     shot(y,Point.x) = 255;
 382                     if (Point.x+1 <= obj.Shot.WIDTH)
 383                         shot(y,Point.x+1) = 0;
 384                     end
 385                 end
 386             end
 387             for y = (crs.yInto-obj.Cross.QUARTER_SIZE):crs.yInto
 388                 if (y >= 1) && (y <= obj.Shot.HEIGHT)
 389                     shot(y,Point.x) = 255;
 390                     if (Point.x+1 <= obj.Shot.WIDTH)
 391                         shot(y,Point.x+1) = 0;
 392                     end
 393                 end
 394             end
 395
 396             % Okraje krize
 397             for x = (crs.xFrom+obj.Cross.QUARTER_SIZE):...
 398                     (crs.xInto-obj.Cross.QUARTER_SIZE)
 399                 if (x >= 1) && (x <= obj.Shot.WIDTH) && (crs.yFrom >= 1)
 400                     shot(crs.yFrom,x) = 255;
 401                     shot(crs.yFrom+1,x) = 0;
 402                 end
 403             end
 404             for x = (crs.xFrom+obj.Cross.QUARTER_SIZE):...
 405                     (crs.xInto-obj.Cross.QUARTER_SIZE)
 406                 if (x >= 1) && (x <= obj.Shot.WIDTH) && (crs.yInto <= obj.Shot.HEIGHT)
 407                     shot(crs.yInto,x) = 255;
 408                     shot(crs.yInto-1,x) = 0;
 409                 end
 410             end
 411             for y = (crs.yFrom+obj.Cross.QUARTER_SIZE):...
 412                     (crs.yInto-obj.Cross.QUARTER_SIZE)
 413                 if (y >= 1) && (y <= obj.Shot.HEIGHT) && (crs.xFrom >= 1)
 414                     shot(y,crs.xFrom) = 255;
 415                     shot(y,crs.xFrom+1) = 0;
 416                 end
 417             end
 418             for y = (crs.yFrom+obj.Cross.QUARTER_SIZE):...
 419                     (crs.yInto-obj.Cross.QUARTER_SIZE)
 420                 if (y >= 1) && (y <= obj.Shot.HEIGHT) && (crs.xInto <= obj.Shot.WIDTH)
 421                     shot(y,crs.xInto) = 255;
 422                     shot(y,crs.xInto-1) = 0;
 423                 end
 424             end
 425         end
 426
 427         %% Ladici funkce
 428         function Border = dB(obj,x,y)
 429             Border = obj.detectBorder(x,y);
 430         end
 431
 432     end
 433 end