motioncells: new element to detect areas of motion

1 files changed, 593 insertions, 0 deletions

diff --git a/ext/opencv/MotionCells.cpp b/ext/opencv/MotionCells.cpp
new file mode 100644
index 000000000..2b81b305d
--- /dev/null
+++ b/ext/opencv/MotionCells.cpp
@@ -0,0 +1,593 @@
+/*
+ * GStreamer
+ * Copyright (C) 2011 Robert Jobbagy <jobbagy.robert@gmail.com>
+ * Copyright (C) 2011 Nicola Murino <nicola.murino@gmail.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ *
+ * Alternatively, the contents of this file may be used under the
+ * GNU Lesser General Public License Version 2.1 (the "LGPL"), in
+ * which case the following provisions apply instead of the ones
+ * mentioned above:
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Library General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Library General Public License for more details.
+ *
+ * You should have received a copy of the GNU Library General Public
+ * License along with this library; if not, write to the
+ * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include <cstdlib>
+#include <errno.h>
+#include <math.h>
+#include <gst/gst.h>
+#include <arpa/inet.h>
+#include "MotionCells.h"
+
+uint64_t ntohl64 (uint64_t val);
+uint64_t htonl64 (uint64_t val);
+
+uint64_t
+ntohl64 (uint64_t val)
+{
+  uint64_t res64;
+  uint32_t low = (uint32_t) (val & 0x00000000FFFFFFFFLL);
+  uint32_t high = (uint32_t) ((val & 0xFFFFFFFF00000000LL) >> 32);
+  low = ntohl (low);
+  high = ntohl (high);
+  res64 = (uint64_t) high + (((uint64_t) low) << 32);
+  return res64;
+}
+
+
+uint64_t
+htonl64 (uint64_t val)
+{
+  uint64_t res64;
+  uint32_t low = (uint32_t) (val & 0x00000000FFFFFFFFLL);
+  uint32_t high = (uint32_t) ((val & 0xFFFFFFFF00000000LL) >> 32);
+  low = htonl (low);
+  high = htonl (high);
+  res64 = (uint64_t) high + (((uint64_t) low) << 32);
+  return res64;
+}
+
+MotionCells::MotionCells ()
+{
+  m_framecnt = 0;
+  m_motioncells_idx_count = 0;
+  m_motioncellsidxcstr = NULL;
+  m_saveInDatafile = false;
+  mc_savefile = NULL;
+  m_pcurFrame = NULL;
+  m_pprevFrame = NULL;
+  transparencyimg = NULL;
+  m_pdifferenceImage = NULL;
+  m_pbwImage = NULL;
+  m_initdatafilefailed = new char[BUSMSGLEN];
+  m_savedatafilefailed = new char[BUSMSGLEN];
+  m_initerrorcode = 0;
+  m_saveerrorcode = 0;
+  m_alpha = 0.5;
+  m_beta = 0.5;
+
+}
+
+MotionCells::~MotionCells ()
+{
+  if (mc_savefile) {
+    fclose (mc_savefile);
+    mc_savefile = NULL;
+  }
+  delete[]m_initdatafilefailed;
+  delete[]m_savedatafilefailed;
+  if (m_motioncellsidxcstr)
+    delete[]m_motioncellsidxcstr;
+  if (m_pcurFrame)
+    cvReleaseImage (&m_pcurFrame);
+  if (m_pprevFrame)
+    cvReleaseImage (&m_pprevFrame);
+  if (transparencyimg)
+    cvReleaseImage (&transparencyimg);
+  if (m_pdifferenceImage)
+    cvReleaseImage (&m_pdifferenceImage);
+  if (m_pbwImage)
+    cvReleaseImage (&m_pbwImage);
+}
+
+int
+MotionCells::performDetectionMotionCells (IplImage * p_frame,
+    double p_sensitivity, double p_framerate, int p_gridx, int p_gridy,
+    gint64 timestamp_millisec, bool p_isVisible, bool p_useAlpha,
+    int motionmaskcoord_count, motionmaskcoordrect * motionmaskcoords,
+    int motionmaskcells_count, motioncellidx * motionmaskcellsidx,
+    cellscolor motioncellscolor, int motioncells_count,
+    motioncellidx * motioncellsidx, gint64 starttime, char *p_datafile,
+    bool p_changed_datafile, int p_thickness)
+{
+
+  int sumframecnt = 0;
+  int ret = 0;
+  p_framerate >= 1 ? p_framerate <= 5 ? sumframecnt = 1
+      : p_framerate <= 10 ? sumframecnt = 2
+      : p_framerate <= 15 ? sumframecnt = 3
+      : p_framerate <= 20 ? sumframecnt = 4
+      : p_framerate <= 25 ? sumframecnt = 5 : sumframecnt = 0 : sumframecnt = 0;
+
+  m_framecnt++;
+  m_changed_datafile = p_changed_datafile;
+  if (m_framecnt >= sumframecnt) {
+    m_useAlpha = p_useAlpha;
+    m_gridx = p_gridx;
+    m_gridy = p_gridy;
+    if (m_changed_datafile) {
+      ret = initDataFile (p_datafile, starttime);
+      if (ret != 0)
+        return ret;
+    }
+
+    m_frameSize = cvGetSize (p_frame);
+    m_frameSize.width /= 2;
+    m_frameSize.height /= 2;
+    setMotionCells (m_frameSize.width, m_frameSize.height);
+    m_sensitivity = 1 - p_sensitivity;
+    m_isVisible = p_isVisible;
+    m_pcurFrame = cvCloneImage (p_frame);
+    IplImage *m_pcurgreyImage = cvCreateImage (m_frameSize, IPL_DEPTH_8U, 1);
+    IplImage *m_pprevgreyImage = cvCreateImage (m_frameSize, IPL_DEPTH_8U, 1);
+    IplImage *m_pgreyImage = cvCreateImage (m_frameSize, IPL_DEPTH_8U, 1);
+    IplImage *m_pcurDown =
+        cvCreateImage (m_frameSize, m_pcurFrame->depth, m_pcurFrame->nChannels);
+    IplImage *m_pprevDown = cvCreateImage (m_frameSize, m_pprevFrame->depth,
+        m_pprevFrame->nChannels);
+    m_pbwImage = cvCreateImage (m_frameSize, IPL_DEPTH_8U, 1);
+    cvPyrDown (m_pprevFrame, m_pprevDown);
+    cvCvtColor (m_pprevDown, m_pprevgreyImage, CV_RGB2GRAY);
+    if (m_pprevFrame)
+      cvReleaseImage (&m_pprevFrame);
+    cvPyrDown (m_pcurFrame, m_pcurDown);
+    cvCvtColor (m_pcurDown, m_pcurgreyImage, CV_RGB2GRAY);
+    m_pdifferenceImage = cvCloneImage (m_pcurgreyImage);
+    //cvSmooth(m_pcurgreyImage, m_pcurgreyImage, CV_GAUSSIAN, 3, 0);//TODO camera noise reduce,something smoothing, and rethink runningavg weights
+
+    //Minus the current gray frame from the 8U moving average.
+    cvAbsDiff (m_pprevgreyImage, m_pcurgreyImage, m_pdifferenceImage);
+
+    //Convert the image to black and white.
+    cvAdaptiveThreshold (m_pdifferenceImage, m_pbwImage, 255,
+        CV_ADAPTIVE_THRESH_GAUSSIAN_C, CV_THRESH_BINARY_INV, 7);
+
+    // Dilate and erode to get object blobs
+    cvDilate (m_pbwImage, m_pbwImage, NULL, 2);
+    cvErode (m_pbwImage, m_pbwImage, NULL, 2);
+
+    //mask-out the overlay on difference image
+    if (motionmaskcoord_count > 0)
+      performMotionMaskCoords (motionmaskcoords, motionmaskcoord_count);
+    if (motionmaskcells_count > 0)
+      performMotionMask (motionmaskcellsidx, motionmaskcells_count);
+    if (getIsNonZero (m_pbwImage)) {    //detect Motion
+      GST_DEBUG ("DETECT MOTION \n");
+      if (m_MotionCells.size () > 0)    //it contains previous motioncells what we used when frames dropped
+        m_MotionCells.clear ();
+      if (transparencyimg)
+        cvReleaseImage (&transparencyimg);
+      (motioncells_count > 0) ?
+          calculateMotionPercentInMotionCells (motioncellsidx,
+          motioncells_count)
+          : calculateMotionPercentInMotionCells (motionmaskcellsidx, 0);
+
+      transparencyimg = cvCreateImage (cvGetSize (p_frame), p_frame->depth, 3);
+      cvSetZero (transparencyimg);
+      if (m_motioncellsidxcstr)
+        delete[]m_motioncellsidxcstr;
+      m_motioncells_idx_count = m_MotionCells.size () * MSGLEN; //one motion cell idx: (lin idx : col idx,) it's 4 character except last motion cell idx
+      m_motioncellsidxcstr = new char[m_motioncells_idx_count];
+      char *tmpstr = new char[MSGLEN];
+      for (int i = 0; i < MSGLEN; i++)
+        tmpstr[i] = ' ';
+      for (unsigned int i = 0; i < m_MotionCells.size (); i++) {
+        CvPoint pt1, pt2;
+        pt1.x = m_MotionCells.at (i).cell_pt1.x * 2;
+        pt1.y = m_MotionCells.at (i).cell_pt1.y * 2;
+        pt2.x = m_MotionCells.at (i).cell_pt2.x * 2;
+        pt2.y = m_MotionCells.at (i).cell_pt2.y * 2;
+        if (m_useAlpha && m_isVisible) {
+          cvRectangle (transparencyimg,
+              pt1,
+              pt2,
+              CV_RGB (motioncellscolor.B_channel_value,
+                  motioncellscolor.G_channel_value,
+                  motioncellscolor.R_channel_value), CV_FILLED);
+        } else if (m_isVisible) {
+          cvRectangle (p_frame,
+              pt1,
+              pt2,
+              CV_RGB (motioncellscolor.B_channel_value,
+                  motioncellscolor.G_channel_value,
+                  motioncellscolor.R_channel_value), p_thickness);
+        }
+
+        if (i < m_MotionCells.size () - 1) {
+          snprintf (tmpstr, MSGLEN, "%d:%d,", m_MotionCells.at (i).lineidx,
+              m_MotionCells.at (i).colidx);
+        } else {
+          snprintf (tmpstr, MSGLEN, "%d:%d", m_MotionCells.at (i).lineidx,
+              m_MotionCells.at (i).colidx);
+        }
+        if (i == 0)
+          strncpy (m_motioncellsidxcstr, tmpstr, m_motioncells_idx_count);
+        else
+          strcat (m_motioncellsidxcstr, tmpstr);
+      }
+      if (m_MotionCells.size () == 0)
+        strncpy (m_motioncellsidxcstr, " ", m_motioncells_idx_count);
+
+      if (m_useAlpha && m_isVisible) {
+        if (m_MotionCells.size () > 0)
+          blendImages (p_frame, transparencyimg, m_alpha, m_beta);
+      }
+
+      delete[]tmpstr;
+
+      if (mc_savefile && m_saveInDatafile) {
+        ret = saveMotionCells (timestamp_millisec);
+        if (ret != 0)
+          return ret;
+      }
+    } else {
+      m_motioncells_idx_count = 0;
+      if (m_MotionCells.size () > 0)
+        m_MotionCells.clear ();
+      if (transparencyimg)
+        cvReleaseImage (&transparencyimg);
+    }
+
+    m_pprevFrame = cvCloneImage (m_pcurFrame);
+    m_framecnt = 0;
+    if (m_pcurFrame)
+      cvReleaseImage (&m_pcurFrame);
+    if (m_pdifferenceImage)
+      cvReleaseImage (&m_pdifferenceImage);
+    if (m_pcurgreyImage)
+      cvReleaseImage (&m_pcurgreyImage);
+    if (m_pprevgreyImage)
+      cvReleaseImage (&m_pprevgreyImage);
+    if (m_pgreyImage)
+      cvReleaseImage (&m_pgreyImage);
+    if (m_pbwImage)
+      cvReleaseImage (&m_pbwImage);
+    if (m_pprevDown)
+      cvReleaseImage (&m_pprevDown);
+    if (m_pcurDown)
+      cvReleaseImage (&m_pcurDown);
+    if (m_pCells) {
+      for (int i = 0; i < m_gridy; ++i) {
+        delete[]m_pCells[i];
+      }
+      delete[]m_pCells;
+    }
+
+    if (p_framerate <= 5) {
+      if (m_MotionCells.size () > 0)
+        m_MotionCells.clear ();
+      if (transparencyimg)
+        cvReleaseImage (&transparencyimg);
+    }
+  } else {                      //we do frame drop
+    m_motioncells_idx_count = 0;
+    ret = -2;
+    for (unsigned int i = 0; i < m_MotionCells.size (); i++) {
+      CvPoint pt1, pt2;
+      pt1.x = m_MotionCells.at (i).cell_pt1.x * 2;
+      pt1.y = m_MotionCells.at (i).cell_pt1.y * 2;
+      pt2.x = m_MotionCells.at (i).cell_pt2.x * 2;
+      pt2.y = m_MotionCells.at (i).cell_pt2.y * 2;
+      if (m_useAlpha && m_isVisible) {
+        cvRectangle (transparencyimg,
+            pt1,
+            pt2,
+            CV_RGB (motioncellscolor.B_channel_value,
+                motioncellscolor.G_channel_value,
+                motioncellscolor.R_channel_value), CV_FILLED);
+      } else if (m_isVisible) {
+        cvRectangle (p_frame,
+            pt1,
+            pt2,
+            CV_RGB (motioncellscolor.B_channel_value,
+                motioncellscolor.G_channel_value,
+                motioncellscolor.R_channel_value), p_thickness);
+      }
+
+    }
+    if (m_useAlpha && m_isVisible) {
+      if (m_MotionCells.size () > 0)
+        blendImages (p_frame, transparencyimg, m_alpha, m_beta);
+    }
+  }
+  return ret;
+}
+
+int
+MotionCells::initDataFile (char *p_datafile, gint64 starttime)  //p_date is increased with difference between current and previous buffer ts
+{
+  MotionCellData mcd;
+  if (strncmp (p_datafile, " ", 1)) {
+    mc_savefile = fopen (p_datafile, "w");
+    if (mc_savefile == NULL) {
+      //fprintf(stderr, "%s %d:initDataFile:fopen:%d (%s)\n", __FILE__, __LINE__, errno,
+      //strerror(errno));
+      strncpy (m_initdatafilefailed, strerror (errno), BUSMSGLEN - 1);
+      m_initerrorcode = errno;
+      return 1;
+    } else {
+      m_saveInDatafile = true;
+    }
+  } else
+    mc_savefile = NULL;
+  bzero (&m_header, sizeof (MotionCellHeader));
+  m_header.headersize = htonl (MC_HEADER);
+  m_header.type = htonl (MC_TYPE);
+  m_header.version = htonl (MC_VERSION);
+  //it needs these bytes
+  m_header.itemsize =
+      htonl ((int) ceil (ceil (m_gridx * m_gridy / 8.0) / 4.0) * 4 +
+      sizeof (mcd.timestamp));
+  m_header.gridx = htonl (m_gridx);
+  m_header.gridy = htonl (m_gridy);
+  m_header.starttime = htonl64 (starttime);
+
+  snprintf (m_header.name, sizeof (m_header.name), "%s %dx%d", MC_VERSIONTEXT,
+      ntohl (m_header.gridx), ntohl (m_header.gridy));
+  m_changed_datafile = false;
+  return 0;
+}
+
+int
+MotionCells::saveMotionCells (gint64 timestamp_millisec)
+{
+
+  MotionCellData mc_data;
+  mc_data.timestamp = htonl (timestamp_millisec);
+  mc_data.data = NULL;
+  //There is no datafile
+  if (mc_savefile == NULL)
+    return 0;
+
+  if (ftello (mc_savefile) == 0) {
+    //cerr << "Writing out file header"<< m_header.headersize <<":" << sizeof(MotionCellHeader) << " itemsize:"
+    //<< m_header.itemsize << endl;
+    if (fwrite (&m_header, sizeof (MotionCellHeader), 1, mc_savefile) != 1) {
+      //fprintf(stderr, "%s %d:saveMotionCells:fwrite:%d (%s)\n", __FILE__, __LINE__, errno,
+      //strerror(errno));
+      strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
+      m_saveerrorcode = errno;
+      return -1;
+    }
+  }
+
+  mc_data.data =
+      (char *) calloc (1,
+      ntohl (m_header.itemsize) - sizeof (mc_data.timestamp));
+  if (mc_data.data == NULL) {
+    //fprintf(stderr, "%s %d:saveMotionCells:calloc:%d (%s)\n", __FILE__, __LINE__, errno,
+    //strerror(errno));
+    strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
+    m_saveerrorcode = errno;
+    return -1;
+  }
+
+  for (unsigned int i = 0; i < m_MotionCells.size (); i++) {
+    int bitnum =
+        m_MotionCells.at (i).lineidx * ntohl (m_header.gridx) +
+        m_MotionCells.at (i).colidx;
+    int bytenum = (int) floor (bitnum / 8.0);
+    int shift = bitnum - bytenum * 8;
+    mc_data.data[bytenum] = mc_data.data[bytenum] | (1 << shift);
+    //cerr << "Motion Detected " <<  "line:" << m_MotionCells.at(i).lineidx << " col:" << m_MotionCells.at(i).colidx;
+    //cerr << "    bitnum " << bitnum << " bytenum " << bytenum << " shift " << shift << " value " << (int)mc_data.data[bytenum] << endl;
+  }
+
+  if (fwrite (&mc_data.timestamp, sizeof (mc_data.timestamp), 1,
+          mc_savefile) != 1) {
+    //fprintf(stderr, "%s %d:saveMotionCells:fwrite:%d (%s)\n", __FILE__, __LINE__, errno,
+    //strerror(errno));
+    strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
+    m_saveerrorcode = errno;
+    return -1;
+  }
+
+  if (fwrite (mc_data.data,
+          ntohl (m_header.itemsize) - sizeof (mc_data.timestamp), 1,
+          mc_savefile) != 1) {
+    //fprintf(stderr, "%s %d:saveMotionCells:fwrite:%d (%s)\n", __FILE__, __LINE__, errno,
+    //strerror(errno));
+    strncpy (m_savedatafilefailed, strerror (errno), BUSMSGLEN - 1);
+    m_saveerrorcode = errno;
+    return -1;
+  }
+
+  free (mc_data.data);
+  return 0;
+}
+
+double
+MotionCells::calculateMotionPercentInCell (int p_row, int p_col,
+    double *p_cellarea, double *p_motionarea)
+{
+  double cntpixelsnum = 0;
+  double cntmotionpixelnum = 0;
+
+  int ybegin = floor ((double) p_row * m_cellheight);
+  int yend = floor ((double) (p_row + 1) * m_cellheight);
+  int xbegin = floor ((double) (p_col) * m_cellwidth);
+  int xend = floor ((double) (p_col + 1) * m_cellwidth);
+  int cellw = xend - xbegin;
+  int cellh = yend - ybegin;
+  int cellarea = cellw * cellh;
+  *p_cellarea = cellarea;
+  int thresholdmotionpixelnum = floor ((double) cellarea * m_sensitivity);
+
+  for (int i = ybegin; i < yend; i++) {
+    for (int j = xbegin; j < xend; j++) {
+      cntpixelsnum++;
+      if ((((uchar *) (m_pbwImage->imageData + m_pbwImage->widthStep * i))[j]) >
+          0) {
+        cntmotionpixelnum++;
+        if (cntmotionpixelnum >= thresholdmotionpixelnum) {     //we dont needs calculate anymore
+          *p_motionarea = cntmotionpixelnum;
+          return (cntmotionpixelnum / cntpixelsnum);
+        }
+      }
+      int remainingpixelsnum = cellarea - cntpixelsnum;
+      if ((cntmotionpixelnum + remainingpixelsnum) < thresholdmotionpixelnum) { //moving pixels number will be less than threshold
+        *p_motionarea = 0;
+        return 0;
+      }
+    }
+  }
+
+  return (cntmotionpixelnum / cntpixelsnum);
+}
+
+void
+MotionCells::calculateMotionPercentInMotionCells (motioncellidx *
+    p_motioncellsidx, int p_motioncells_count)
+{
+  if (p_motioncells_count == 0) {
+    for (int i = 0; i < m_gridy; i++) {
+      for (int j = 0; j < m_gridx; j++) {
+        m_pCells[i][j].MotionPercent = calculateMotionPercentInCell (i, j,
+            &m_pCells[i][j].CellArea, &m_pCells[i][j].MotionArea);
+        m_pCells[i][j].hasMotion =
+            m_sensitivity < m_pCells[i][j].MotionPercent ? true : false;
+        if (m_pCells[i][j].hasMotion) {
+          MotionCellsIdx mci;
+          mci.lineidx = i;
+          mci.colidx = j;
+          mci.cell_pt1.x = floor ((double) j * m_cellwidth);
+          mci.cell_pt1.y = floor ((double) i * m_cellheight);
+          mci.cell_pt2.x = floor ((double) (j + 1) * m_cellwidth);
+          mci.cell_pt2.y = floor ((double) (i + 1) * m_cellheight);
+          int w = mci.cell_pt2.x - mci.cell_pt1.x;
+          int h = mci.cell_pt2.y - mci.cell_pt1.y;
+          mci.motioncell = cvRect (mci.cell_pt1.x, mci.cell_pt1.y, w, h);
+          m_MotionCells.push_back (mci);
+        }
+      }
+    }
+  } else {
+    for (int k = 0; k < p_motioncells_count; ++k) {
+
+      int i = p_motioncellsidx[k].lineidx;
+      int j = p_motioncellsidx[k].columnidx;
+      m_pCells[i][j].MotionPercent =
+          calculateMotionPercentInCell (i, j,
+          &m_pCells[i][j].CellArea, &m_pCells[i][j].MotionArea);
+      m_pCells[i][j].hasMotion =
+          m_pCells[i][j].MotionPercent > m_sensitivity ? true : false;
+      if (m_pCells[i][j].hasMotion) {
+        MotionCellsIdx mci;
+        mci.lineidx = p_motioncellsidx[k].lineidx;
+        mci.colidx = p_motioncellsidx[k].columnidx;
+        mci.cell_pt1.x = floor ((double) j * m_cellwidth);
+        mci.cell_pt1.y = floor ((double) i * m_cellheight);
+        mci.cell_pt2.x = floor ((double) (j + 1) * m_cellwidth);
+        mci.cell_pt2.y = floor ((double) (i + 1) * m_cellheight);
+        int w = mci.cell_pt2.x - mci.cell_pt1.x;
+        int h = mci.cell_pt2.y - mci.cell_pt1.y;
+        mci.motioncell = cvRect (mci.cell_pt1.x, mci.cell_pt1.y, w, h);
+        m_MotionCells.push_back (mci);
+      }
+    }
+  }
+}
+
+void
+MotionCells::performMotionMaskCoords (motionmaskcoordrect * p_motionmaskcoords,
+    int p_motionmaskcoords_count)
+{
+  CvPoint upperleft;
+  upperleft.x = 0;
+  upperleft.y = 0;
+  CvPoint lowerright;
+  lowerright.x = 0;
+  lowerright.y = 0;
+  for (int i = 0; i < p_motionmaskcoords_count; i++) {
+    upperleft.x = p_motionmaskcoords[i].upper_left_x;
+    upperleft.y = p_motionmaskcoords[i].upper_left_y;
+    lowerright.x = p_motionmaskcoords[i].lower_right_x;
+    lowerright.y = p_motionmaskcoords[i].lower_right_y;
+    cvRectangle (m_pbwImage, upperleft, lowerright, CV_RGB (0, 0, 0),
+        CV_FILLED);
+  }
+}
+
+void
+MotionCells::performMotionMask (motioncellidx * p_motionmaskcellsidx,
+    int p_motionmaskcells_count)
+{
+  for (int k = 0; k < p_motionmaskcells_count; k++) {
+    int beginy = p_motionmaskcellsidx[k].lineidx * m_cellheight;
+    int beginx = p_motionmaskcellsidx[k].columnidx * m_cellwidth;
+    int endx =
+        (double) p_motionmaskcellsidx[k].columnidx * m_cellwidth + m_cellwidth;
+    int endy =
+        (double) p_motionmaskcellsidx[k].lineidx * m_cellheight + m_cellheight;
+    for (int i = beginy; i < endy; i++)
+      for (int j = beginx; j < endx; j++) {
+        ((uchar *) (m_pbwImage->imageData + m_pbwImage->widthStep * i))[j] = 0;
+      }
+  }
+}
+
+///BGR if we use only OpenCV
+//RGB if we use gst+OpenCV
+void
+MotionCells::blendImages (IplImage * p_actFrame, IplImage * p_cellsFrame,
+    float p_alpha, float p_beta)
+{
+
+  int height = p_actFrame->height;
+  int width = p_actFrame->width;
+  int step = p_actFrame->widthStep / sizeof (uchar);
+  int channels = p_actFrame->nChannels;
+  int cellstep = p_cellsFrame->widthStep / sizeof (uchar);
+  uchar *curImageData = (uchar *) p_actFrame->imageData;
+  uchar *cellImageData = (uchar *) p_cellsFrame->imageData;
+
+  for (int i = 0; i < height; i++)
+    for (int j = 0; j < width; j++)
+      for (int k = 0; k < channels; k++)
+        if (cellImageData[i * cellstep + j * channels + k] > 0) {
+          curImageData[i * step + j * channels + k] =
+              round ((double) curImageData[i * step + j * channels +
+                  k] * p_alpha + ((double) cellImageData[i * cellstep +
+                      j * channels + k] * p_beta));
+        }
+}