void
CodeBook::updateModel(IplImage* videoFrame)
{
cvCvtColor(videoFrame, yuvFrame, CV_BGR2YCrCb );//YUV For codebook method
//This is where we build our background model
if( nframes-1 < nframesToLearnBG )
cvBGCodeBookUpdate( model, yuvFrame );
if( nframes-1 == nframesToLearnBG )
cvBGCodeBookClearStale( model, model->t/2 );
if( nframes-1 >= nframesToLearnBG )
{
// Find foreground by codebook method
cvBGCodeBookDiff( model, yuvFrame, mask);
cvThreshold( mask, mask, 1, 255, CV_THRESH_BINARY );
cvSegmentFGMask(mask);
emit
{
output(mask);
output(mask, videoFrame);
}
}
Mat CodeBookBackGround::process(Mat inputMat, Mat &foreMat)
{
Mat temp = inputMat.clone();
IplImage * tempRGB = &IplImage(temp);//
IplImage * rawImage = cvCreateImage(cvGetSize(tempRGB), 8, 3);
cvCvtColor(tempRGB, rawImage, CV_RGBA2BGR);
if (nframes == 1 && !inputMat.empty())
{
yuvImage = cvCloneImage(rawImage);
//对于mat到IplImage指针的转换，不能直接将mat的地址传给IplImage*；要用函数先转IplImage
ImaskCodeBook = cvCreateImage(cvGetSize(yuvImage), IPL_DEPTH_8U, 1);
ImaskCodeBookCC = cvCreateImage(cvGetSize(yuvImage), IPL_DEPTH_8U, 1);
cvSet(ImaskCodeBook, cvScalar(0));
//cvNamedWindow("Raw", 1);
// cvNamedWindow("ForegroundCodeBook", 1);
// cvNamedWindow("CodeBook_ConnectComp", 1);
}
else{
cvCvtColor(rawImage, yuvImage, CV_BGR2YCrCb);//YUV For codebook method
//This is where we build our background model
if ( nframes - 1 < nframesToLearnBG)//这nframesToLearnBG帧之前都是跟新
cvBGCodeBookUpdate(model, yuvImage);
if (nframes - 1 == nframesToLearnBG)
cvBGCodeBookClearStale(model, model->t / 2);//根据时间跟新
//Find the foreground if any
if (nframes - 1 >= nframesToLearnBG)
{
// Find foreground by codebook method
cvBGCodeBookDiff(model, yuvImage, ImaskCodeBook);//判断是否在码本范围内
// This part just to visualize bounding boxes and centers if desired
cvCopy(ImaskCodeBook, ImaskCodeBookCC);
cvSegmentFGMask(ImaskCodeBookCC);//对前景做连通域分割
}
//Display
// cvShowImage("Raw", rawImage);
// cvShowImage("ForegroundCodeBook", ImaskCodeBook);
// cvShowImage("CodeBook_ConnectComp", ImaskCodeBookCC);
}
foreMat = ImaskCodeBook;
++nframes;
// cout << "coodebook 第" << nframes << "帧 " << endl;
return foreMat;
}
/** Member function to subtract background **/
void BackgroundSubtraction::getSubtractedBackground(IplImage *rawImage)
{
if( !pause1 )
++nframes;
if( singlestep )
pause1 = true;
/** For first iteration **/
if( nframes == 1 )
{
std::cout<<"I am here"<<std::endl;
/** Codebook method allocation **/
yuvImage = cvCloneImage(rawImage);
ImaskCodeBook = cvCreateImage( cvGetSize(rawImage), IPL_DEPTH_8U, 1 );
ImaskCodeBookCC = cvCreateImage( cvGetSize(rawImage), IPL_DEPTH_8U, 1 );
cvSet(ImaskCodeBook,cvScalar(255));
}
/** YUV For codebook method **/
cvCvtColor( rawImage, yuvImage, CV_BGR2YCrCb );
/** This is where we build our background model **/
/** Find the foreground if any **/
if( nframes-1 >= nframesToLearnBG )
{
/** Find foreground by codebook method **/
cvBGCodeBookDiff( model, yuvImage, ImaskCodeBook );
/** This part just to visualize bounding boxes and centers if desired **/
cvCopy(ImaskCodeBook,ImaskCodeBookCC);
cvSegmentFGMask( ImaskCodeBookCC );
/** Calling member function to convert the obtained grayscale image to colored image **/
diff_pix(ImaskCodeBookCC,rawImage);
}
/** Update the background model till the specified number of frames **/
else if( !pause1 && (nframes-1 < nframesToLearnBG) )
cvBGCodeBookUpdate( model, yuvImage );
/** Clear stale **/
else if( nframes-1 == nframesToLearnBG )
cvBGCodeBookClearStale( model, model->t/2 );
/** Display the output image **/
std::cout<<"Showing image"<<std::endl;
cvShowImage( "Raw", rawImage );
}
//
//USAGE: ch9_background startFrameCollection# endFrameCollection# [movie filename, else from camera]
//If from AVI, then optionally add HighAvg, LowAvg, HighCB_Y LowCB_Y HighCB_U LowCB_U HighCB_V LowCB_V
//
int main(int argc, char** argv)
{
const char* filename = 0;
IplImage* rawImage = 0, *yuvImage = 0; //yuvImage is for codebook method
IplImage *ImaskCodeBook = 0,*ImaskCodeBookCC = 0;
CvCapture* capture = 0;
int c, n, nframes = 0;
int nframesToLearnBG = 300;
model = cvCreateBGCodeBookModel();
//Set color thresholds to default values
model->modMin[0] = 3;
model->modMin[1] = model->modMin[2] = 3;
model->modMax[0] = 10;
model->modMax[1] = model->modMax[2] = 10;
model->cbBounds[0] = model->cbBounds[1] = model->cbBounds[2] = 10;
bool pause = false;
bool singlestep = false;
for( n = 1; n < argc; n++ )
{
static const char* nframesOpt = "--nframes=";
if( strncmp(argv[n], nframesOpt, strlen(nframesOpt))==0 )
{
if( sscanf(argv[n] + strlen(nframesOpt), "%d", &nframesToLearnBG) == 0 )
{
help();
return -1;
}
}
else
filename = argv[n];
}
if( !filename )
{
printf("Capture from camera\n");
capture = cvCaptureFromCAM( 0 );
}
else
{
printf("Capture from file %s\n",filename);
capture = cvCreateFileCapture( filename );
}
if( !capture )
{
printf( "Can not initialize video capturing\n\n" );
help();
return -1;
}
//MAIN PROCESSING LOOP:
for(;;)
{
if( !pause )
{
rawImage = cvQueryFrame( capture );
++nframes;
if(!rawImage)
break;
}
if( singlestep )
pause = true;
//First time:
if( nframes == 1 && rawImage )
{
// CODEBOOK METHOD ALLOCATION
yuvImage = cvCloneImage(rawImage);
ImaskCodeBook = cvCreateImage( cvGetSize(rawImage), IPL_DEPTH_8U, 1 );
ImaskCodeBookCC = cvCreateImage( cvGetSize(rawImage), IPL_DEPTH_8U, 1 );
cvSet(ImaskCodeBook,cvScalar(255));
cvNamedWindow( "Raw", 1 );
cvNamedWindow( "ForegroundCodeBook",1);
cvNamedWindow( "CodeBook_ConnectComp",1);
}
// If we've got an rawImage and are good to go:
if( rawImage )
{
cvCvtColor( rawImage, yuvImage, CV_BGR2YCrCb );//YUV For codebook method
//This is where we build our background model
if( !pause && nframes-1 < nframesToLearnBG )
cvBGCodeBookUpdate( model, yuvImage );
if( nframes-1 == nframesToLearnBG )
cvBGCodeBookClearStale( model, model->t/2 );
//Find the foreground if any
if( nframes-1 >= nframesToLearnBG )
{
// Find foreground by codebook method
cvBGCodeBookDiff( model, yuvImage, ImaskCodeBook );
// This part just to visualize bounding boxes and centers if desired
cvCopy(ImaskCodeBook,ImaskCodeBookCC);
cvSegmentFGMask( ImaskCodeBookCC );
//bwareaopen_(ImaskCodeBookCC,100);
cvShowImage( "CodeBook_ConnectComp",ImaskCodeBookCC);
detect(ImaskCodeBookCC,rawImage);
}
//Display
cvShowImage( "Raw", rawImage );
cvShowImage( "ForegroundCodeBook",ImaskCodeBook);
}
// User input:
c = cvWaitKey(10)&0xFF;
c = tolower(c);
// End processing on ESC, q or Q
if(c == 27 || c == 'q')
break;
//Else check for user input
switch( c )
{
case 'h':
help();
break;
case 'p':
pause = !pause;
break;
case 's':
singlestep = !singlestep;
pause = false;
break;
case 'r':
pause = false;
singlestep = false;
break;
case ' ':
cvBGCodeBookClearStale( model, 0 );
nframes = 0;
break;
//CODEBOOK PARAMS
case 'y': case '0':
case 'u': case '1':
case 'v': case '2':
case 'a': case '3':
case 'b':
ch[0] = c == 'y' || c == '0' || c == 'a' || c == '3';
ch[1] = c == 'u' || c == '1' || c == 'a' || c == '3' || c == 'b';
ch[2] = c == 'v' || c == '2' || c == 'a' || c == '3' || c == 'b';
printf("CodeBook YUV Channels active: %d, %d, %d\n", ch[0], ch[1], ch[2] );
break;
case 'i': //modify max classification bounds (max bound goes higher)
case 'o': //modify max classification bounds (max bound goes lower)
case 'k': //modify min classification bounds (min bound goes lower)
case 'l': //modify min classification bounds (min bound goes higher)
{
uchar* ptr = c == 'i' || c == 'o' ? model->modMax : model->modMin;
for(n=0; n<NCHANNELS; n++)
{
if( ch[n] )
{
int v = ptr[n] + (c == 'i' || c == 'l' ? 1 : -1);
ptr[n] = CV_CAST_8U(v);
}
printf("%d,", ptr[n]);
}
printf(" CodeBook %s Side\n", c == 'i' || c == 'o' ? "High" : "Low" );
}
break;
}
}
cvReleaseCapture( &capture );
cvDestroyWindow( "Raw" );
cvDestroyWindow( "ForegroundCodeBook");
cvDestroyWindow( "CodeBook_ConnectComp");
return 0;
}
int main(int argc, char** argv)
{
CvMemStorage* mstrg = cvCreateMemStorage();
CvSeq* contours = 0;
CvSeq* contours2 = 0;
const char* filename = 0;
IplImage* rawImage = 0, *yuvImage = 0, *borde = 0; //yuvImage is for codebook method
IplImage *ImaskCodeBook = 0,*ImaskCodeBookCC = 0;
CvCapture* capture = 0;
int c, n, nframes = 0;
int nframesToLearnBG = 300;
model = cvCreateBGCodeBookModel();
//Set color thresholds to default values
model->modMin[0] = 3;
model->modMin[1] = model->modMin[2] = 3;
model->modMax[0] = 10;
model->modMax[1] = model->modMax[2] = 10;
model->cbBounds[0] = model->cbBounds[1] = model->cbBounds[2] = 10;
bool pause = false;
bool singlestep = false;
printf("Capturando de la camara...\n");
capture = cvCaptureFromCAM( 0 );
if( !capture )
{
printf( "No se pudo inicializar la captura de video\n\n" );
return -1;
}
while (true)
{
rawImage = cvQueryFrame( capture );
++nframes;
if(!rawImage)
break;
//First time:
if( nframes == 1 && rawImage )
{
borde = cvLoadImage("Borde.png",0);
// CODEBOOK METHOD ALLOCATION
yuvImage = cvCloneImage(rawImage);
int w = yuvImage->width;
cvSetImageROI(yuvImage, cvRect(w-250,0,250,250));
IplImage *tmp = cvCreateImage(cvGetSize(yuvImage),yuvImage->depth,yuvImage->nChannels);
cvCopy(yuvImage, tmp, NULL);
cvResetImageROI(yuvImage);
yuvImage = cvCloneImage(tmp);
ImaskCodeBook = cvCreateImage( cvGetSize(yuvImage), IPL_DEPTH_8U, 1 );
ImaskCodeBookCC = cvCreateImage( cvGetSize(yuvImage), IPL_DEPTH_8U, 1 );
cvSet(ImaskCodeBook,cvScalar(255));
cvNamedWindow("CapturaCam",CV_WINDOW_AUTOSIZE);
cvNamedWindow( "ForegroundCodeBook",CV_WINDOW_AUTOSIZE);
cvNamedWindow( "CodeBook_ConnectComp",CV_WINDOW_AUTOSIZE);
printf (">>Aprendiendo fondo\n");
}
// If we've got an rawImage and are good to go:
if( rawImage )
{
cvFlip(rawImage, NULL, 1);
int w = rawImage->width;
cvFindContours(borde,mstrg,&contours,sizeof(CvContour),CV_RETR_EXTERNAL);
//Dibujar contorno
cvLine(rawImage, cv::Point (w-250,0), cv::Point (w-250,250), CV_RGB(255,0,0),1, CV_AA, 0) ;
cvLine(rawImage, cv::Point (w-250,250), cv::Point (w,250), CV_RGB(255,0,0),1, CV_AA, 0) ;
//
if(nframes - 1 < nframesToLearnBG)
{
char buffer [33];
_itoa (nframesToLearnBG - nframes,buffer,10);
CvFont font2;
cvInitFont(&font2, CV_FONT_HERSHEY_SIMPLEX, 1.0, 1.0, 0, 3, CV_AA);
cvPutText(rawImage, buffer, cvPoint(50, 50), &font2, cvScalar(0, 0, 255, 0));
}
cvSetImageROI(rawImage, cvRect(w-250,0,250,250));
IplImage *temp = cvCreateImage(cvGetSize(rawImage),rawImage->depth,rawImage->nChannels);
cvCvtColor( rawImage, yuvImage, CV_BGR2YCrCb );
//YUV para el metodo del codebook
//Construccion del modelo del fondo
if(nframes-1 < nframesToLearnBG )
cvBGCodeBookUpdate( model, yuvImage );
if( nframes-1 == nframesToLearnBG )
{
cvBGCodeBookClearStale( model, model->t/2 );
printf (">>Fondo aprendido\n");
}
//Se encuentran objetos por el metodo de codebook
if( nframes-1 >= nframesToLearnBG )
{
cvBGCodeBookDiff( model, yuvImage, ImaskCodeBook );
cvCopy(ImaskCodeBook,ImaskCodeBookCC);
cvSegmentFGMask( ImaskCodeBookCC );
cvShowImage( "CodeBook_ConnectComp",ImaskCodeBookCC);
//deteccion de imagen
detect(ImaskCodeBookCC,rawImage);
//base para dibujar la mano
if(contours)
cvDrawContours(rawImage,contours, cvScalar(255, 0, 0, 0), cvScalarAll(128), 1 );
}
//Display
cvResetImageROI(rawImage);
cvShowImage( "CapturaCam", rawImage );
cvShowImage( "ForegroundCodeBook",ImaskCodeBook);
}
// User input:
c = cvWaitKey(10)&0xFF;
c = tolower(c);
// End processing on ESC, q or Q
if(c == 27 || c == 'q')
break;
//Else check for user input
switch( c )
{
case 'c':
saveLength = true;
break;
case ' ':
cvBGCodeBookClearStale( model, 0 );
nframes = 0;
break;
}
if (c != 'c')
saveLength=false;
}
cvReleaseCapture( &capture );
cvReleaseMemStorage(&mstrg);
cvDestroyWindow( "CapturaCam" );
cvDestroyWindow( "ForegroundCodeBook");
cvDestroyWindow( "CodeBook_ConnectComp");
return 0;
}
void clsTracking2D::calcCodeBook(IplImage *image, IplImage *foreground, IplImage *debugImage)
{
if(!BgCbstarted )
{
// usleep(1000);
startCodeBook(image);
BgCbstarted = true;
BgCbNrframes = 0;
}
cvCopy(image,bgfgImage);
if(paramsInt["blur"] > 0)
cvSmooth(bgfgImage, bgfgImage, CV_BLUR, paramsInt["blur"], paramsInt["blur"], 0, 0);
cvCvtColor( bgfgImage, bgfgImage, CV_BGR2YCrCb );
//POR CORES: cvInRangeS(frame_buffer, cvScalar(minH, minS, minL), cvScalar(maxH, maxS, maxL), frame_threshold);
try
{
if( BgCbNrframes-1 < paramsInt["bgCodeBookNFrames"] )
{
cvBGCodeBookUpdate( BGCodeBookModel, bgfgImage );
BgCbNrframes++;
DEBUGMSG(("adding frames..%d",BgCbNrframes ));
}
if( BgCbNrframes-1 == paramsInt["bgCodeBookNFrames"] )
{
cvBGCodeBookClearStale( BGCodeBookModel, BGCodeBookModel->t/2 );
BgCbNrframes++;
readyForParticles = true;
}
//Find the foreground if any
if( BgCbNrframes-1 >= paramsInt["bgCodeBookNFrames"] )
{
// Find foreground by codebook method
cvBGCodeBookDiff( BGCodeBookModel, bgfgImage, BgCbImaskCodeBook );
// This part just to visualize bounding boxes and centers if desired
cvCopy(BgCbImaskCodeBook,BgCbImaskCodeBookCC);
cvSegmentFGMask( BgCbImaskCodeBookCC );
// readyTo2Dtrack = true;
}
}
catch(Exception e)
{
ERRMSG(("EXCEPTION:: trying to restart the BGFGCodeBook"));
BgCbstarted = false;
}
//process erode dilate
//removing loose points
if(paramsInt["erosion"] > 0)
{
cvErode(BgCbImaskCodeBook, BgCbImaskCodeBook, NULL,paramsInt["erosion"] );
}
//augmenting neighbour points
// cvDilate(BgCbImaskCodeBook, BgCbImaskCodeBook, NULL,1);
// cvCanny(BgCbImaskCodeBook,BgCbImaskCodeBook,10,100,3);
cvCopy(BgCbImaskCodeBook,foreground);
if(debugImage != NULL)
cvCopy(BgCbImaskCodeBook,debugImage);
}
