1. clear all ;close all;clc
pic1_prv=imread('street_crossing_0536-scaled.png');
pic1_cur=imread('street_crossing_0538-scaled.png'); %imread('MovingCar273.JPG');
pic2_prv=imread('street_crossing_0540-scaled.png');% imread('MovingCar274.JPG');
pic2_cur=imread('street_crossing_0544-scaled.png'); %imread('MovingCar275.JPG');
h=[1,1,1;1,1,1;1,1,1];
gh=h./9;
a=0.000001;
b=1-a;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
pic1_prv_g=rgb2gray(pic1_prv);
pic1_cur_g=rgb2gray(pic1_cur);
pic1_prv_gf=imfilter(pic1_prv_g,gh);
pic1_cur_gf=imfilter(pic1_cur_g,gh);
pic1_B0=pic1_prv_gf;
pic1_I0=pic1_prv_gf;
pic1_I1=pic1_cur_gf;
pic1_B1=(b*pic1_B0)-(a*pic1_I1);
pic1_D1=pic1_I1-pic1_B0;
pic1_D1t= im2bw(pic1_D1,0.15);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
pic2_prv_g=rgb2gray(pic2_prv);
pic2_cur_g=rgb2gray(pic2_cur);
pic2_prv_gf=imfilter(pic2_prv_g,gh);
pic2_cur_gf=imfilter(pic2_cur_g,gh);
pic2_B0=pic2_prv_gf;
pic2_I0=pic2_prv_gf;
pic2_I1=pic2_cur_gf;
pic2_B1=(b*pic2_B0)-(a*pic2_I1);
pic2_D1=pic2_I1-pic2_B0;
pic2_D1t= im2bw(pic2_D1,0.15);
%%%%%%%%%%%%%%%%%%%%%%%%%
%Section 2
%delete unwanted fake lights
%1{
[L_p1_hgt,N_p1_hgt]=bwlabel(pic1_D1t);
pic1_D1t_hgt = pic1_D1t;
if N_p1_hgt > 0
for i=1:N_p1_hgt,
[r_p1_hgt,c_p1_hgt]=find(L_p1_hgt==i);
lightheight=(max(r_p1_hgt));
%display(lightheight);
if ( lightheight <45)
pic1_D1t_hgt = bwareaopen(pic1_D1t,18);
%display(lightheight);
end
end
end
[L_p1_ar,N_p1_ar]=bwlabel(pic1_D1t_hgt);
pic1_D1t_ar = pic1_D1t_hgt;
if N_p1_ar > 0
for i=1:N_p1_ar,
[r_p1_ar,c_p1_ar]=find(L_p1_ar==i);
pic1_labelsize=size(c_p1_ar,1);
if (pic1_labelsize <30)
pic1_D1t_ar = bwareaopen(pic1_D1t_hgt,15);
end
end
end
pic1_D1t2 = pic1_D1t_ar;
%1}

2. %2{
[L_p2_hgt,N_p2_hgt]=bwlabel(pic2_D1t);
pic2_D1t_hgt = pic2_D1t;
if N_p2_hgt > 0
for i=1:N_p2_hgt,
[r_p2_hgt,c_p2_hgt]=find(L_p2_hgt==i);
lightheight=(max(r_p2_hgt));
%display(lightheight);
if ( lightheight <45)
pic2_D1t_hgt = bwareaopen(pic2_D1t,18);
%display(lightheight);
end
end
end
[L_p2_ar,N_p2_ar]=bwlabel(pic2_D1t_hgt);
pic2_D1t_ar = pic2_D1t_hgt;
if N_p2_ar > 0
for i=1:N_p2_ar,
[r_p2_ar,c_p2_ar]=find(L_p2_ar==i);
pic2_labelsize=size(c_p2_ar,1);
if (pic2_labelsize <30)
pic2_D1t_ar = bwareaopen(pic2_D1t_hgt,15);
end
end
end
pic2_D1t2 = pic2_D1t_ar;
%2}
%now all the small fake lights are removed
%Section 3
%display output after the threshold
%{
for debugging
figure; imshow (pic1_D1t);
figure; imshow (pic2_D1t);
figure; imshow (pic1_D1t2);
figure; imshow (pic2_D1t2);
%}
%Section 4
% the following commands will draw bounding box around the headlights
% and label them
%section 4a draw headlights
%section 4b draw car
pic1_back=pic1_B1;
pic1_cur=pic1_I1;
figure; imshow(pic1_I1);hold on;
[pic1_L,pic1_N]=bwlabel(pic1_D1t2);
[pic2_L,pic2_N]=bwlabel(pic2_D1t2);
%Section 4a: draw headlights
if pic1_N > 0
for i=1:2:pic1_N,
[pic1_r_lb1,pic1_c_lb1]=find(pic1_L==i);
[pic1_r_lb2,pic1_c_lb2]=find(pic1_L==i+1);
pic1_area_lb1=size(pic1_c_lb1,1);
pic1_area_lb2=size(pic1_c_lb2,1);
if ((pic1_area_lb1 > 10) && (pic1_area_lb2 > 10)) % && (area <50)) PLEASE
EDIT IN FINAL ROUND
pic1_ctop_lb1 =(min(pic1_c_lb1));
pic1_rtop_lb1 =(min(pic1_r_lb1));
pic1_cbottom_lb1=(max(pic1_c_lb1));
pic1_rbottom_lb1=(max(pic1_r_lb1));
pic1_c_min_lb1 = (min(pic1_c_lb1));
pic1_c_min_lb2 = (min(pic1_c_lb2));
pic1_r_min_lb1 = (min(pic1_r_lb1));
pic1_r_min_lb2 = (min(pic1_r_lb2));

3. plot([pic1_ctop_lb1 pic1_ctop_lb1 pic1_cbottom_lb1 pic1_cbottom_lb1
pic1_ctop_lb1], [pic1_rtop_lb1 pic1_rbottom_lb1 pic1_rbottom_lb1 pic1_rtop_lb1
pic1_rtop_lb1],'r')
H=text(pic1_cbottom_lb1-5,pic1_rtop_lb1-9, '1' );
set(H,'color',[1 0 0]);
set(H,'fontsize',12);
[pic2_r_lb1,pic2_c_lb1] =find(pic2_L==i);
[pic2_r_lb2,pic2_c_lb2] =find(pic2_L==i+1);
pic2_area_lb1 = size(pic2_c_lb1,1);
pic2_area_lb2 = size(pic2_c_lb2,1);
if ((pic2_area_lb1 > 10) && (pic2_area_lb2 > 10)) % && (area <220))
pic2_c_min_lb1 =( min(pic2_c_lb1) );
pic2_c_min_lb2 =( min(pic2_c_lb2) );
pic2_r_min_lb1 =( min(pic2_r_lb1) );
pic2_r_min_lb2 =( min(pic2_r_lb2) );
dir_horiz_lb1 = abs( pic2_c_min_lb1 - pic1_c_min_lb1 );
dir_horiz_lb2 = abs( pic2_c_min_lb2 - pic1_c_min_lb2 );
dir_vert_lb1 = abs( pic2_r_min_lb1 - pic1_r_min_lb1 );
dir_vert_lb2 = abs( pic2_r_min_lb2 - pic1_r_min_lb2 );
display (dir_horiz_lb1);
display (dir_vert_lb1);
display (dir_horiz_lb2);
display (dir_vert_lb2);
%section 4b draw car
%left to right
if (( dir_horiz_lb1 > dir_vert_lb1) && (dir_horiz_lb2 >
dir_vert_lb2))
carlength= abs ( (min(pic1_c_lb2))- (min(pic1_c_lb1)) );
display(carlength);
if ( (carlength < 65) && (carlength > 50))
pic1_ctop_outer=pic1_ctop_lb1;
pic1_rtop_outer= pic1_rtop_lb1-15;
pic1_cbottom_outer= max(pic1_c_lb2); %trial use:
pic2_cbottom;
pic1_cbottom+60;
pic1_rbottom_outer=pic1_rbottom_lb1;
plot([pic1_ctop_outer pic1_ctop_outer pic1_cbottom_outer
pic1_cbottom_outer pic1_ctop_outer],[pic1_rtop_outer pic1_rbottom_outer
pic1_rbottom_outer pic1_rtop_outer pic1_rtop_outer],'g')
end
%end
%bottom to up (vertical)
else
carwidth= abs ( (min(pic1_r_lb2))- (min(pic1_r_lb1)) );
display(carwidth);
%{
if ( (carwidth < 30) && (carwidth > 25))
pic1_ctop_outer=pic1_ctop_lb1;
pic1_rtop_outer= pic1_rtop_lb1-15;
pic1_cbottom_outer= max(pic1_c_lb2);
pic1_rbottom_outer=pic1_rbottom_lb1;
plot([pic1_ctop_outer pic1_ctop_outer pic1_cbottom_outer
pic1_cbottom_outer pic1_ctop_outer],[pic1_rtop_outer pic1_rbottom_outer
pic1_rbottom_outer pic1_rtop_outer pic1_rtop_outer],'g')
end
%}

4. [L,N]=bwlabel(pic1_D1t2);
if N > 0
for i=1:N,
[ri,ci]=find(L==i);
rci=[ri, ci];
area=size(ci,1);
for k=(i+1):N;
[rk,ck]=find(L==k);
rck=[rk, ck];
dist= abs((min(ci)) - (min(ck))) ;
display (dist);
if ( (dist<30) && (dist>23) )
ctop_outer=(max(ck));
rtop_outer=(min(rk)*1.1); %.2;
cbottom_outer=(min(ci));
rbottom_outer=(max(ri)*0.8);
plot([ctop_outer ctop_outer cbottom_outer
cbottom_outer ctop_outer],[rtop_outer rbottom_outer rbottom_outer rtop_outer
rtop_outer],'g')
H=text(cbottom_outer+25,rtop_outer-9, '' );
set(H,'color',[0 1 0]);
set(H,'fontsize',12);
end
end
end
end %
end
end
end
end
end