1. ひとつ前の画像と差の絶対値を取ります。
2. ノイズを除去します。
3. 検出エリアの指定があればそれ以外を除去します。
4. 2値化します。
5. 閾値以上の面積比を計算します。
6. 標準偏差を計算します。
7. 範囲内の場合、
   中点が変化した箇所か判定します。
   変化がなければ再度ノイズ除去と標準偏差を計算します。
8. 範囲内の場合、検出フラグを立てます。
9. 連続フレームでない場合は、検出通知します。

void InitImage(unsigned short *dst, int width, int height, unsigned short val);
void SLImage(unsigned short *dst, unsigned short *src, int width, int height, int num);
void SDImage(unsigned short *dst, unsigned short *src, int width, int height, int num);
void AvrImage(unsigned short *dst, unsigned short *src, int width, int height, int num);
void SubImage(unsigned short *dst, unsigned short *src, int width, int height, int num);
void DifImage(unsigned short *dst, unsigned short *src1, unsigned short *src2, int width, int height, int num);
void AbsImage(unsigned short *dst, unsigned short *src, int width, int height, int num);
void CopyImage(unsigned short *dst, unsigned short *src, int width, int height, int num);
void BNRImage(unsigned short *dst, unsigned short threshold, int width, int height, int masksize);
void BNRImageArea(unsigned short *dst, unsigned short threshold, int width, int height, int masksize, int *minx, int *miny, int *maxx, int *maxy);
float BinzImage(unsigned short *dst, unsigned short threshold, int width, int height);
void BinzImageArea(unsigned short *dst, unsigned short threshold, int width, int height, int *minx, int *miny, int *maxx, int *maxy);
float CountImage(unsigned short *dst, unsigned short threshold, int width, int height);
void SDeviImage(unsigned short *dst, unsigned short threshold, int width, int height, double *ax, double *ay, double *sx, double *sy);
void MaxMinImage(unsigned short *dst, unsigned short threshold, int width, int height, int *minx, int *miny, int *maxx, int *maxy);
void SDeviMaxImage(unsigned short *dst, unsigned short threshold, int width, int height, double *ax, double *ay, double *sx, double *sy, int *minx, int *miny, int *maxx, int *maxy);
void SDeviMaxImageArea(unsigned short *dst, unsigned short threshold, int width, int height, double *ax, double *ay, double *sx, double *sy, int *minx, int *miny, int *maxx, int *maxy);
void NRImage(unsigned short *dst, unsigned short threshold, int width, int height);
void WBImageRG(unsigned short *src, int width, int height);
bool GetPix(unsigned short *dst, unsigned short threshold, int width, int height, int x, int y);

int readSer(char *path, float lthresh, float ratio, double sthresh, unsigned short bthresh){
    FILE *fpSer;
    serHeader SerHeader;
    char tmpc[41];

    printf("%s\n",path);

    fpSer = fopen64(path, "rb");
    int r = fread(&SerHeader.FileID, 1, sizeof(SerHeader.FileID), fpSer);
    strncpy(tmpc, SerHeader.FileID, 14);
    tmpc[14]='\0';
    r = fread(&SerHeader.LuID, 1, sizeof(SerHeader.LuID), fpSer);
    r = fread(&SerHeader.ColorID, 1, sizeof(SerHeader.ColorID), fpSer);
    r = fread(&SerHeader.LittleEndian, 1, sizeof(SerHeader.LittleEndian), fpSer);
    r = fread(&SerHeader.ImageWidth, 1, sizeof(SEEK_CUR), fpSer);
    r = fread(&SerHeader.ImageHeight, 1, sizeof(SerHeader.ImageHeight), fpSer);
    r = fread(&SerHeader.PixelDepthPerPlane, 1, sizeof(SerHeader.PixelDepthPerPlane), fpSer);
    r = fread(&SerHeader.FrameCount, 1, sizeof(SerHeader.FrameCount), fpSer);
    r = fread(&SerHeader.Observer, 1, sizeof(SerHeader.Observer), fpSer);
    strncpy(tmpc, SerHeader.Observer, 40);
    tmpc[40]='\0';
    r = fread(&SerHeader.Instrument, 1, sizeof(SerHeader.Instrument), fpSer);
    strncpy(tmpc, SerHeader.Instrument, 40);
    tmpc[40]='\0';
    r = fread(&SerHeader.Telescope, 1, sizeof(SerHeader.Telescope), fpSer);
    strncpy(tmpc, SerHeader.Telescope, 40);
    tmpc[40]='\0';//
    int year, month, day, hour, minute, second, microsec;
    r = fread(&SerHeader.DateTime, 1, sizeof(SerHeader.DateTime), fpSer);
    timestamp2date(SerHeader.DateTime, &year, &month, &day, &hour, &minute, &second, µsec);
    r = fread(&SerHeader.DateTime_UTC, 1, sizeof(SerHeader.DateTime_UTC), fpSer);
    timestamp2date(SerHeader.DateTime_UTC, &year, &month, &day, &hour, &minute, &second, µsec);
    unsigned long TrailerDate;
    unsigned long *TrailerDateP = (unsigned long *)malloc(SerHeader.FrameCount * sizeof(TrailerDate));
    fseek(fpSer, -1*SerHeader.FrameCount * sizeof(TrailerDate), SEEK_END);
    for(int i = 0; i < SerHeader.FrameCount; i++){
        r = fread(&TrailerDate, 1, sizeof(TrailerDate), fpSer);
        if(r < 1){
            printf("trailer read error\n");
            free(TrailerDateP);
            return(1);
        }
        TrailerDateP[i] = TrailerDate;
        timestamp2date(TrailerDate, &year, &month, &day, &hour, &minute, &second, µsec);
    }

    fseek(fpSer, 178, SEEK_SET);
    int RawSize = SerHeader.ImageWidth * SerHeader.ImageHeight * SerHeader.PixelDepthPerPlane / 8;
    cv::Mat rgb8BitMat(SerHeader.ImageHeight, SerHeader.ImageWidth, CV_8UC3);			// RGB用バッファを用意
    cv::Mat rgb8BitMat2(SerHeader.ImageHeight/2, SerHeader.ImageWidth/2, CV_8UC3);			// RGB用バッファを用意
    int oc = -1;
    for(int i=0; i<SerHeader.FrameCount; i++){
        Temp = OldImage;
        OldImage = NewImage;
        NewImage = Temp;
        int r = fread(NewImage, sizeof(char), RawSize, fpSer);
        if(r < RawSize){
            printf("image read error\n");
            break;
        }
        if(DarkImage != NULL)
            SubImage(NewImage, DarkImage, SerHeader.ImageWidth, SerHeader.ImageHeight, 0);
        WBImageRG((unsigned short *)NewImage, SerHeader.ImageWidth, SerHeader.ImageWidth);
        if(mask_r.data != NULL)
            bmask(mask_r, (unsigned short *)NewImage);
        if(i == 0)//
            continue;
        DifImage(DffImage, NewImage, OldImage, SerHeader.ImageWidth, SerHeader.ImageHeight, 0);
        NRImage(DffImage, bthresh, SerHeader.ImageWidth, SerHeader.ImageHeight);
        if(mask_d.data != NULL)
            bmask(mask_d, DffImage);
        float lrate = BinzImage(DffImage, bthresh, SerHeader.ImageWidth, SerHeader.ImageHeight) * 100;
        if(lrate < 0.03 && lrate > lthresh){
            double ax, ay, sx, sy;
            int minx, miny, maxx, maxy;
            SDeviMaxImage(DffImage, bthresh, SerHeader.ImageWidth, SerHeader.ImageHeight, &ax, &ay, &sx, &sy, &minx, &miny, &maxx, &maxy);
            if(!GetPix(DffImage, bthresh, SerHeader.ImageWidth, SerHeader.ImageHeight, (minx + maxx) / 2, (miny + maxy) / 2)){
                BNRImageArea(DffImage, bthresh, SerHeader.ImageWidth, SerHeader.ImageHeight, sthresh * 2, &minx, &miny, &maxx, &maxy);
                float lrate = BinzImage(DffImage, bthresh, SerHeader.ImageWidth, SerHeader.ImageHeight) * 100;
                if(lrate <= lthresh){
                    continue;
                }
                SDeviMaxImage(DffImage, bthresh, SerHeader.ImageWidth, SerHeader.ImageHeight, &ax, &ay, &sx, &sy, &minx, &miny, &maxx, &maxy);
            }
            if(sx > sthresh || sy > sthresh){
                fc++;
                if(i != oc + 1){
                    mc++;
                    printf("Meteor No. %d, frame No. %d\n", mc, i);
                }

                oc = i;
                cv::Mat OutImage(cv::Size(SerHeader.ImageWidth * 2, SerHeader.ImageHeight), CV_8UC3);   // 合成後のイメージ作成
                cv::Mat imageLeft(OutImage, cv::Rect(                    0, 0, rgb8BitMat.cols, rgb8BitMat.rows));  // コピーする領域左側
                cv::Mat imageRight(OutImage, cv::Rect(SerHeader.ImageWidth, 0, rgb8BitMat.cols, rgb8BitMat.rows));  // コピーする領域右側

                cv::Mat bayer16BitMat(SerHeader.ImageHeight, SerHeader.ImageWidth, CV_16UC1, NewImage);	// 16bit用バッファを用意して取り込み
                cv::Mat bayer8BitMat = bayer16BitMat.clone();                   // 8bit用バッファを用意
                bayer8BitMat.convertTo(bayer8BitMat, CV_8UC1, 0.0625*ratio);	// 8bitに変換
                cv::cvtColor(bayer8BitMat, rgb8BitMat, cv::COLOR_BayerRG2RGB);	// デベイヤー
                rgb8BitMat.copyTo(imageRight);                                  // 右側にコピーして表示させる

                cv::rectangle(imageRight, cv::Point(ax-1, ay-1), cv::Point(ax+1, ay+1), CV_RGB(255,0,0), 2, 10, 0);           // 赤の矩形
                cv::rectangle(imageRight, cv::Point(ax-sx, ay-sy), cv::Point(ax+sx, ay+sy), CV_RGB(0,0,255), 2, 10, 0);       // 青の矩形
                cv::rectangle(imageRight, cv::Point(minx, miny), cv::Point(maxx, maxy), CV_RGB(0,255,0), 2, 10, 0);           // 緑の矩形

                cv::Mat bayer16BitMat2(SerHeader.ImageHeight, SerHeader.ImageWidth, CV_16UC1, DffImage); // 16bit用バッファを用意して取り込み
                bayer8BitMat = bayer16BitMat2.clone();                          // 8bit用バッファを用意
                bayer8BitMat.convertTo(bayer8BitMat, CV_8UC1, 0.0625*ratio);	// 8bitに変換
                cv::cvtColor(bayer8BitMat, rgb8BitMat, cv::COLOR_BayerRG2RGB);	// デベイヤー

                timestamp2date(TrailerDateP[i], &year, &month, &day, &hour, &minute, &second, µsec);
                sprintf(str, "%4.4d %4.4d %4.4d:%2.4f%", fc, mc, i, lrate);
                cv::putText(rgb8BitMat, str, cv::Point(20, 50),cv::FONT_HERSHEY_SIMPLEX, 1, CV_RGB(200,200,200), 1);
                sprintf(str, "%4.4d-%2.2d-%2.2d %2.2d:%2.2d:%2.2d.%4.4dUTC", year, month, day, hour, minute, second, microsec);
                cv::putText(rgb8BitMat, str, cv::Point(20, 100),cv::FONT_HERSHEY_SIMPLEX, 1, CV_RGB(200,200,200), 1);
                sprintf(str, "ax:%04.0lf ay:%04.0lf sx:%04.0lf sy:%04.0lf", ax, ay, sx, sy);
                cv::putText(rgb8BitMat, str, cv::Point(20, SerHeader.ImageHeight - 20),cv::FONT_HERSHEY_SIMPLEX, 1, CV_RGB(200,200,200), 1);
                rgb8BitMat.copyTo(imageLeft);                                   // 左側にコピーして表示させる

                fprintf(fpLog,"%4.4d,%4.4d,%s,%4.4d,%4.4d-%2.2d-%2.2d,%2.2d:%2.2d:%2.2d.%4.4dUTC,%2.4f%,"
                             , fc, mc, path, i, year, month, day, hour, minute, second, microsec, lrate);
                fprintf(fpLog,"%3.0lf,%3.0lf,%3.0lf,%3.0lf,%3.0d,%3.0d,%3.0d,%3.0d\n"
                             , ax, ay, sx, sy, minx, miny, maxx, maxy);

                writer << OutImage;  										// 画像 image を動画ファイルへ書き出す
                cv::resize(OutImage, OutImage, cv::Size(), 0.5, 0.5);		// 縮小
                writer2 << OutImage;  										// 画像 image を動画ファイルへ書き出す

                SLImage(StkImage, DffImage, SerHeader.ImageWidth, SerHeader.ImageHeight, 0);
            }
        }
    }
    free(TrailerDateP);
    fclose(fpSer);
    return 0;
}

    //-------------------------------------------------------------------
    // 画像を読み込み,表示する
    //-------------------------------------------------------------------
    timeout_counter = 0;
    frame_count = oc = 0;
    st = GetTime();

    zoom_setMouseCallback((char *)"se_cam", 1/(float)div);

    while (1) {
        if (ReadRAW(RawImage) == 0) {
            if (++timeout_counter > TIMEOUT) {
                fprintf(stderr, "sensorlaunch: time out.\n");
                return  1;
            }
            usleep(500);
            continue;
        }
        frame_count++;
        timeout_counter = 0;

        unsigned char *Temp = BinImage3;
        BinImage3 = BinImage2;
        BinImage2 = Temp;
        CnvertImage(BinImage2, RawImage, RawSize, rawbit, raw8_flag);
        if(mask_r.data != NULL)
            bmask(mask_r, (unsigned short *)BinImage2);

        if(mode == SERD_MODE){
            int sthresh = 5;
            float lthresh = 0.0002;

            DifImage((unsigned short *)DiffImage, (unsigned short *)BinImage2, (unsigned short *)BinImage3, width, height, 0);
            NRImage((unsigned short *)DiffImage, bthresh >> (16-bpp), width, height);
            if(mask_d.data != NULL)
                bmask(mask_d, (unsigned short *)DiffImage);
            BinzImage((unsigned short *)DiffImage, bthresh >> (16-bpp), width, height);
            float lrate = CountImage((unsigned short *)DiffImage, bthresh >> (16-bpp), width, height) * 100;
            if(lrate > lthresh){
                double ax, ay, sx, sy;
                int minx, miny, maxx, maxy;
                SDeviMaxImage((unsigned short *)DiffImage, bthresh >> (16-bpp), width, height, &ax, &ay, &sx, &sy, &minx, &miny, &maxx, &maxy);
                if(!GetPix((unsigned short *)DiffImage, bthresh >> (16-bpp), width, height, (minx + maxx) / 2, (miny + maxy) / 2)){
                    BNRImageArea((unsigned short *)DiffImage, bthresh >> (16-bpp), width, height, sthresh * 2, &minx, &miny, &maxx, &maxy);
                    float lrate = BinzImage((unsigned short *)DiffImage, bthresh >> (16-bpp), width, height) * 100;
                    if(lrate <= lthresh){
                        continue;
                    }
                    SDeviMaxImage((unsigned short *)DiffImage, bthresh >> (16-bpp), width, height, &ax, &ay, &sx, &sy, &minx, &miny, &maxx, &maxy);
                }

                if(sx > sthresh || sy > sthresh){
                   printf("%5d:Diff Detect. sx:%04.0lf sy:%04.0lf\n", ++diffcount, sx, sy);
                    diff = ON;
                    if(frame_count != oc +1)
                        system("~/detect_voice.sh");
                    oc = frame_count;
                }
            }

            // 差分表示用
            cv::Mat bayerXBitMat2(height, width, depth, DiffImage);         // Xbit用バッファを用意して取り込み
            cv::Mat bayer8BitMat2 = bayerXBitMat2.clone();                  // 8bit用バッファを用意
            resize(bayer8BitMat2, bayer8BitMat2, cv::Size(), 1/(float)div, 1/(float)div);       // 縮小
            cv::imshow("ImageDiff", bayer8BitMat2);                          // ウィンドウに画像を表示する

            // 差分積算表示用
            if(diff == ON){
                SLImage((unsigned short *)StkImage, (unsigned short *)DiffImage, width, height, 0);
                cv::Mat bayer8BitMat3(height, width, CV_16UC1, StkImage);   // 16bit用バッファを用意して取り込み
                bayer8BitMat3.convertTo(bayer8BitMat3, CV_8UC1, 0.0625*2);  // 8bitに変換
                sprintf(str, "%d differences detected", diffcount);
                cv::putText(bayer8BitMat3, str, cv::Point(20, 50),cv::FONT_HERSHEY_SIMPLEX, 1, CV_RGB(200,200,200), 1);
                resize(bayer8BitMat3, bayer8BitMat3, cv::Size(), 1/(float)div, 1/(float)div);   // 縮小
                cv::imshow("ImageDiffStack", bayer8BitMat3);                 // ウィンドウに画像を表示する
            }
        }

        // メインのRAW表示用
        cv::Mat bayerXBitMat(height, width, depth, BinImage2);              // Xbit用バッファを用意して取り込み
        cv::Mat bayer8BitMat = bayerXBitMat.clone();                        // 8bit用バッファを用意
        if(!raw8_flag){
            bayer8BitMat.convertTo(bayer8BitMat, CV_8UC1, 0.02*4);          // 8bitに変換
        }
        cv::Mat rgb8BitMat(height, width, CV_8UC3);                         // 保存用RGBバッファを用意
        cv::Mat dsp8BitMat(height, width, CV_8UC3);	                        // 表示用RGBバッファを用意
        cv::cvtColor(bayer8BitMat, rgb8BitMat, cv::COLOR_BayerRG2RGB);      // デベイヤー
        resize(rgb8BitMat, dsp8BitMat, cv::Size(), 1/(float)div, 1/(float)div);     // 縮小
        zoom_imshow(rgb8BitMat, dsp8BitMat, 2.0);                           // 拡大表示ウィンドウに画像を表示する
        cv::imshow("se_cam", dsp8BitMat);                                   // ウィンドウに画像を表示する

        // キー入力の処理