//--------------------------------------------------------------
void testApp::setup(){
vidGrabber.setVerbose(true);
vidGrabber.initGrabber(320,240);
colorImg.allocate(320,240);
gauss_foregroundImg.allocate(320,240);
gauss_backgroundImg.allocate(320,240);
fgd_foregroundImg.allocate(320,240);
fgd_backgroundImg.allocate(320,240);
CvGaussBGStatModelParams* params = new CvGaussBGStatModelParams;
params->win_size=2;
params->n_gauss=5;
params->bg_threshold=0.7;
params->std_threshold=3.5;
params->minArea=15;
params->weight_init=0.05;
params->variance_init=30;
//bgModel = cvCreateGaussianBGModel(colorImg.getCvImage() ,params);
gauss_bgModel = cvCreateGaussianBGModel(colorImg.getCvImage());
fgd_bgModel = cvCreateFGDStatModel(colorImg.getCvImage());
}
// Function cvCreateBGStatModel creates and returns initialized BG model.
// Parameters:
// first_frame - frame from video sequence
// model_type ñ type of BG model (CV_BG_MODEL_MOG, CV_BG_MODEL_FGD,Ö)
// parameters - (optional) if NULL the default parameters of the algorithm will be used
static CvBGStatModel* cvCreateBGStatModel( IplImage* first_frame, int model_type, void* params )
{
CvBGStatModel* bg_model = NULL;
if( model_type == CV_BG_MODEL_FGD || model_type == CV_BG_MODEL_FGD_SIMPLE )
bg_model = cvCreateFGDStatModel( first_frame, (CvFGDStatModelParams*)params );
else if( model_type == CV_BG_MODEL_MOG )
bg_model = cvCreateGaussianBGModel( first_frame, (CvGaussBGStatModelParams*)params );
return bg_model;
}
CvBGStatModel* BGModelCvMoGFactory::createModel(const jderobotutil::ParamDict params, IplImage* firstFrame) const{
CvGaussBGStatModelParams tmpParams;
tmpParams.win_size = params.getParamAsIntWithDefault("win_size",defaultParams.win_size);
tmpParams.n_gauss = params.getParamAsIntWithDefault("n_gauss",defaultParams.n_gauss);
tmpParams.bg_threshold = params.getParamAsFloatWithDefault("bg_threshold",defaultParams.bg_threshold);
tmpParams.std_threshold = params.getParamAsFloatWithDefault("std_threshold",defaultParams.std_threshold);
tmpParams.minArea = params.getParamAsFloatWithDefault("minArea",defaultParams.minArea);
tmpParams.weight_init = params.getParamAsFloatWithDefault("weight_init",defaultParams.weight_init);
tmpParams.variance_init = params.getParamAsFloatWithDefault("variance_init",defaultParams.variance_init);
return cvCreateGaussianBGModel(firstFrame,&tmpParams);
}
void initBackgroundModel(CvBGStatModel ** bgmodel, IplImage* tmp_frame, CvGaussBGStatModelParams* paramMoG){
paramMoG->win_size = 200; //200;
paramMoG->n_gauss = 3; //5;
paramMoG->bg_threshold = 0.1; //0.7;
paramMoG->std_threshold = 5; //2.5;
paramMoG->minArea = 200.f; //15.f;
paramMoG->weight_init = 0.01; //0.05;
paramMoG->variance_init = 30; //30*30;
*bgmodel = cvCreateGaussianBGModel(tmp_frame, paramMoG);
}
//this is a sample for foreground detection functions
int main(int argc, char** argv)
{
IplImage* tmp_frame = NULL;
CvCapture* cap = NULL;
if( argc < 2 )
{
printf("please specify video file name \n");
exit(0);
}
cap = cvCaptureFromFile(argv[1]);
tmp_frame = cvQueryFrame(cap);
if(!tmp_frame)
{
printf("bad video \n");
exit(0);
}
cvNamedWindow("BG", 1);
cvNamedWindow("FG", 1);
//create BG model
CvBGStatModel* bg_model = cvCreateGaussianBGModel( tmp_frame );
for( int fr = 1;tmp_frame; tmp_frame = cvQueryFrame(cap), fr++ )
{
cvUpdateBGStatModel( tmp_frame, bg_model );
cvShowImage("BG", bg_model->background);
cvShowImage("FG", bg_model->foreground);
int k = cvWaitKey(5);
if( k == 27 ) break;
}
cvReleaseBGStatModel( &bg_model );
cvReleaseCapture(&cap);
return 0;
}
int main(int argc, char ** argv)
{
CvCapture* capture = cvCreateCameraCapture( 0 );
assert(capture);
/* print a welcome message, and the OpenCV version */
// CV_VERSION,
// CV_MAJOR_VERSION, CV_MINOR_VERSION, CV_SUBMINOR_VERSION);
/* Capture 1 video frame for initialization */
IplImage* videoFrame = NULL;
videoFrame = cvQueryFrame(capture);
if(!videoFrame)
{
printf("Bad frame \n");
exit(0);
}
// Create windows
cvNamedWindow("BG", 1);
cvNamedWindow("FG", 1);
// Select parameters for Gaussian model.
CvGaussBGStatModelParams* params = new CvGaussBGStatModelParams;
params->win_size=2;
params->n_gauss=3;
params->bg_threshold=0.9;
params->std_threshold=.5;
params->minArea=15;
params->weight_init=0.05;
params->variance_init=30;
// Creat CvBGStatModel
// cvCreateGaussianBGModel( IplImage* first_frame, CvGaussBGStatModelParams* parameters )
// or
// cvCreateGaussianBGModel( IplImage* first_frame )
CvBGStatModel* bgModel = cvCreateGaussianBGModel(videoFrame ,params);
int key=-1;
// while(key != 'q')
//{
// Grab a fram
videoFrame = cvQueryFrame(capture);
//if( !videoFrame )
// break;
int sv = 2;
// Step number 1: Update model(Background subtraction)
// cvUpdateBGStatModel(videoFrame,bgModel);
for(int x = 0; x<videoFrame->width; x++)
{
for(int y = 0; y<videoFrame->height; y++)
{
if(checkForSkinColor(x,y, videoFrame))
{
connectedComp(x,y, videoFrame);
}
}
}
for(int k =0;k < i; k++)
{
printf("\n");
for( int j =0; j<2; j++)
printf("%d", ConnectedComponent[k][j]);
}
// Display results
//cvShowImage("BG", bgModel->background);
//cvShowImage("FG", bgModel->foreground);
// key = cvWaitKey(100);
// }
cvDestroyWindow("BG");
cvDestroyWindow("FG");
cvReleaseBGStatModel( &bgModel );
cvReleaseCapture(&capture);
return 0;
}
int main(int argc, char** argv)
{
IplImage* temp1 = NULL;
IplImage* temp2 = NULL;
IplImage* result = NULL;
IplImage* result1 = NULL;
IplImage* result2 = NULL;
CvBGStatModel* bg_model=0;
CvBGStatModel* bg_model1=0;
IplImage* rawImage = 0;
IplImage* yuvImage = 0;
IplImage* rawImage1 = 0;
IplImage* pFrImg = 0;
IplImage* pFrImg1= 0;
IplImage* pFrImg2= 0;
IplImage* ImaskCodeBookCC = 0;
CvCapture* capture = 0;
int c,n;
maxMod[0] = 25;
minMod[0] = 35;
maxMod[1] = 8;
minMod[1] = 8;
maxMod[2] = 8;
minMod[2] = 8;
argc=2;
argv[1]="intelligentroom_raw.avi";
if( argc > 2 )
{
fprintf(stderr, "Usage: bkgrd [video_file_name]\n");
return -1;
}
if (argc ==1)
if( !(capture = cvCaptureFromCAM(-1)))
{
fprintf(stderr, "Can not open camera.\n");
return -2;
}
if(argc == 2)
if( !(capture = cvCaptureFromFile(argv[1])))
{
fprintf(stderr, "Can not open video file %s\n", argv[1]);
return -2;
}
bool pause = false;
bool singlestep = false;
if( capture )
{
cvNamedWindow( "原视频序列图像", 1 );
cvNamedWindow("不实时更新的Codebook算法[本文]",1);
cvNamedWindow("实时更新的Codebook算法[本文]",1);
cvNamedWindow("基于MOG的方法[Chris Stauffer'2001]",1);
cvNamedWindow("三帧差分", 1);
cvNamedWindow("基于Bayes decision的方法[Liyuan Li'2003]", 1);
cvMoveWindow("原视频序列图像", 0, 0);
cvMoveWindow("不实时更新的Codebook算法[本文]", 360, 0);
cvMoveWindow("实时更新的Codebook算法[本文]", 720, 350);
cvMoveWindow("基于MOG的方法[Chris Stauffer'2001]", 0, 350);
cvMoveWindow("三帧差分", 720, 0);
cvMoveWindow("基于Bayes decision的方法[Liyuan Li'2003]",360, 350);
int nFrmNum = -1;
for(;;)
{
if(!pause)
{
rawImage = cvQueryFrame( capture );
++nFrmNum;
printf("第%d帧\n",nFrmNum);
if(!rawImage)
break;
}
if(singlestep)
{
pause = true;
}
if(0 == nFrmNum)
{
printf(". . . wait for it . . .\n");
temp1 = cvCreateImage(cvGetSize(rawImage), IPL_DEPTH_8U, 3);
temp2 = cvCreateImage(cvGetSize(rawImage), IPL_DEPTH_8U, 3);
result1 = cvCreateImage(cvGetSize(rawImage), IPL_DEPTH_8U, 1);
result2 = cvCreateImage(cvGetSize(rawImage), IPL_DEPTH_8U, 1);
result = cvCreateImage(cvGetSize(rawImage), IPL_DEPTH_8U, 1);
bg_model = cvCreateGaussianBGModel(rawImage);
bg_model1 = cvCreateFGDStatModel(rawImage);
rawImage1 = cvCreateImage( cvGetSize(rawImage), IPL_DEPTH_8U, 3 );
yuvImage = cvCloneImage(rawImage);
pFrImg = cvCreateImage( cvGetSize(rawImage), IPL_DEPTH_8U, 1 );
pFrImg1 = cvCreateImage( cvGetSize(rawImage), IPL_DEPTH_8U, 1 );
pFrImg2 = cvCreateImage( cvGetSize(rawImage), IPL_DEPTH_8U, 1 );
ImaskCodeBookCC = cvCreateImage( cvGetSize(rawImage), IPL_DEPTH_8U, 1 );
imageLen = rawImage->width*rawImage->height;
cA = new codeBook [imageLen];
cC = new codeBook [imageLen];
cD = new codeBook [imageLen];
for(int f = 0; f<imageLen; f++)
{
cA[f].numEntries = 0; cA[f].t = 0;
cC[f].numEntries = 0; cC[f].t = 0;
cD[f].numEntries = 0; cD[f].t = 0;
}
for(int nc=0; nc<nChannels;nc++)
{
cbBounds[nc] = 10;
}
ch[0] = true;
ch[1] = true;
ch[2] = true;
}
if( rawImage )
{
if(!pause)
{
cvSmooth(rawImage, rawImage1, CV_GAUSSIAN,3,3);
cvChangeDetection(temp1, temp2, result1);
cvChangeDetection(rawImage1, temp1, result2);
cvAnd(result1, result2, result, NULL);
cvCopy(temp1,temp2, NULL);
cvCopy(rawImage,temp1, NULL);
cvUpdateBGStatModel( rawImage, bg_model );
cvUpdateBGStatModel( rawImage, bg_model1 );
}
cvCvtColor( rawImage1, yuvImage, CV_BGR2YCrCb );
if( !pause && nFrmNum >= 1 && nFrmNum < T )
{
pColor = (uchar *)((yuvImage)->imageData);
for(int c=0; c<imageLen; c++)
{
update_codebook_model(pColor, cA[c],cbBounds,nChannels);
trainig_codebook(pColor, cC[c],cbBounds,nChannels);
pColor += 3;
}
}
if( nFrmNum == T)
{
for(c=0; c<imageLen; c++)
{
clear_stale_entries(cA[c]);
training_clear_stale_entries(cC[c]);
}
}
if(nFrmNum > T)
{
pColor = (uchar *)((yuvImage)->imageData);
uchar maskPixelCodeBook;
uchar maskPixelCodeBook1;
uchar maskPixelCodeBook2;
uchar *pMask = (uchar *)((pFrImg)->imageData);
uchar *pMask1 = (uchar *)((pFrImg1)->imageData);
uchar *pMask2 = (uchar *)((pFrImg2)->imageData);
for(int c=0; c<imageLen; c++)
{
//本文中不带自动背景更新的算法输出
maskPixelCodeBook1=background_Diff(pColor, cA[c],nChannels,minMod,maxMod);
*pMask1++ = maskPixelCodeBook1;
//本文中带自动背景更新的算法输出
if ( !pause && det_update_codebook_cC(pColor, cC[c],cbBounds,nChannels))
{
det_update_codebook_cD(pColor, cD[c],cbBounds,nChannels, nFrmNum);
realtime_clear_stale_entries_cD(cD[c], nFrmNum);
cD_to_cC(cD[c], cC[c], (nFrmNum - T)/5);
}
else
{
realtime_clear_stale_entries_cC(cC[c], nFrmNum);
}
maskPixelCodeBook2=background_Diff(pColor, cC[c],nChannels,minMod,maxMod);
*pMask2++ = maskPixelCodeBook2;
pColor += 3;
}
cvCopy(pFrImg2,ImaskCodeBookCC);
if(!pause)
{
count_Segmentation(cC,yuvImage,nChannels,minMod,maxMod);
forgratio = (float) (fgcount)/ imageLen;
}
}
bg_model1->foreground->origin=1;
bg_model->foreground->origin=1;
pFrImg->origin=1;
pFrImg1->origin=1;
pFrImg2->origin=1;
ImaskCodeBookCC->origin=1;
result->origin=1;
//connected_Components(pFrImg1,1,40);
//connected_Components(pFrImg2,1,40);
cvShowImage("基于MOG的方法[Chris Stauffer'2001]", bg_model->foreground);
cvShowImage( "原视频序列图像", rawImage );
cvShowImage("三帧差分", result);
cvShowImage( "不实时更新的Codebook算法[本文]",pFrImg1);
cvShowImage("实时更新的Codebook算法[本文]",pFrImg2);
cvShowImage("基于Bayes decision的方法[Liyuan Li'2003]", bg_model1->foreground);
c = cvWaitKey(1)&0xFF;
//End processing on ESC, q or Q
if(c == 27 || c == 'q' || c == 'Q')
break;
//Else check for user input
switch(c)
{
case 'h':
help();
break;
case 'p':
pause ^= 1;
break;
case 's':
singlestep = 1;
pause = false;
break;
case 'r':
pause = false;
singlestep = false;
break;
//CODEBOOK PARAMS
case 'y':
case '0':
ch[0] = 1;
ch[1] = 0;
ch[2] = 0;
printf("CodeBook YUV Channels active: ");
for(n=0; n<nChannels; n++)
printf("%d, ",ch[n]);
printf("\n");
break;
case 'u':
case '1':
ch[0] = 0;
ch[1] = 1;
ch[2] = 0;
printf("CodeBook YUV Channels active: ");
for(n=0; n<nChannels; n++)
printf("%d, ",ch[n]);
printf("\n");
break;
case 'v':
case '2':
ch[0] = 0;
ch[1] = 0;
ch[2] = 1;
printf("CodeBook YUV Channels active: ");
for(n=0; n<nChannels; n++)
printf("%d, ",ch[n]);
printf("\n");
break;
case 'a': //All
case '3':
ch[0] = 1;
ch[1] = 1;
ch[2] = 1;
printf("CodeBook YUV Channels active: ");
for(n=0; n<nChannels; n++)
printf("%d, ",ch[n]);
printf("\n");
break;
case 'b': //both u and v together
ch[0] = 0;
ch[1] = 1;
ch[2] = 1;
printf("CodeBook YUV Channels active: ");
for(n=0; n<nChannels; n++)
printf("%d, ",ch[n]);
printf("\n");
break;
case 'z':
printf(" Fadd加1 ");
Fadd += 1;
printf("Fadd=%.4d\n",Fadd);
break;
case 'x':
printf(" Fadd减1 ");
Fadd -= 1;
printf("Fadd=%.4d\n",Fadd);
break;
case 'n':
printf(" Tavgstale加1 ");
Tavgstale += 1;
printf("Tavgstale=%.4d\n",Tavgstale);
break;
case 'm':
printf(" Tavgstale减1 ");
Tavgstale -= 1;
printf("Tavgstale=%.4d\n",Tavgstale);
break;
case 'i': //modify max classification bounds (max bound goes higher)
for(n=0; n<nChannels; n++)
{
if(ch[n])
maxMod[n] += 1;
printf("%.4d,",maxMod[n]);
}
printf(" CodeBook High Side\n");
break;
case 'o': //modify max classification bounds (max bound goes lower)
for(n=0; n<nChannels; n++)
{
if(ch[n])
maxMod[n] -= 1;
printf("%.4d,",maxMod[n]);
}
printf(" CodeBook High Side\n");
break;
case 'k': //modify min classification bounds (min bound goes lower)
for(n=0; n<nChannels; n++)
{
if(ch[n])
minMod[n] += 1;
printf("%.4d,",minMod[n]);
}
printf(" CodeBook Low Side\n");
break;
case 'l': //modify min classification bounds (min bound goes higher)
for(n=0; n<nChannels; n++)
{
if(ch[n])
minMod[n] -= 1;
printf("%.4d,",minMod[n]);
}
printf(" CodeBook Low Side\n");
break;
}
}
}
cvReleaseCapture( &capture );
cvReleaseBGStatModel((CvBGStatModel**)&bg_model);
cvReleaseBGStatModel((CvBGStatModel**)&bg_model1);
cvDestroyWindow( "原视频序列图像" );
cvDestroyWindow( "不实时更新的Codebook算法[本文]");
cvDestroyWindow( "实时更新的Codebook算法[本文]");
cvDestroyWindow( "基于MOG的方法[Chris Stauffer'2001]");
cvDestroyWindow( "三帧差分" );
cvDestroyWindow( "基于Bayes decision的方法[Liyuan Li'2003]");
cvReleaseImage(&temp1);
cvReleaseImage(&temp2);
cvReleaseImage(&result);
cvReleaseImage(&result1);
cvReleaseImage(&result2);
cvReleaseImage(&pFrImg);
cvReleaseImage(&pFrImg1);
cvReleaseImage(&pFrImg2);
if(yuvImage) cvReleaseImage(&yuvImage);
if(rawImage) cvReleaseImage(&rawImage);
if(rawImage1) cvReleaseImage(&rawImage1);
if(ImaskCodeBookCC) cvReleaseImage(&ImaskCodeBookCC);
delete [] cA;
delete [] cC;
delete [] cD;
}
else
{
printf("\n\nDarn, Something wrong with the parameters\n\n"); help();
}
return 0;
}
// update Gaussian Mixture Model
void GMM::update(IplImage* curr){
if(bgModel == NULL){
bgModel = cvCreateGaussianBGModel(curr, NULL);
}else{
// check channels
IplImage* curr_gray;
if(curr->nChannels == 3){
curr_gray = cvCreateImage(cvGetSize(curr), IPL_DEPTH_8U, 1);
cvCvtColor(curr, curr_gray, CV_RGB2GRAY);
cvEqualizeHist(curr_gray, curr_gray);
}else if(curr->nChannels == 1){
curr_gray = curr;
cvEqualizeHist(curr_gray, curr_gray);
}else{
// exception
}
//learning rate
if(frameCnt++ <= learnCnt){
cvUpdateBGStatModel(curr_gray, bgModel, -1); // learn
}else{
cvUpdateBGStatModel(curr_gray, bgModel, 0);
}
if(curr->nChannels == 3){
cvReleaseImage(&curr_gray);
}
}
if(fgclone){
cvCopy(bgModel->foreground, fgclone, NULL);
// remove salt & pepper noise
cvSmooth(fgclone, fgclone, CV_MEDIAN, 5);
}else{
fgclone = cvCloneImage(bgModel->foreground);
//remove salt & pepper noise
cvSmooth(fgclone, fgclone, CV_MEDIAN, 5);
}
}
