From: Vadim Pisarevsky Date: Thu, 28 Jun 2012 16:24:48 +0000 (+0000) Subject: added GMG background segmentation algorithm by Andrew Godbehere, ticket #2065 X-Git-Tag: accepted/2.0/20130307.220821~364^2~484 X-Git-Url: http://review.tizen.org/git/?a=commitdiff_plain;h=e4b58ebff5d610b2a990ea27096d304b73e9cdae;p=profile%2Fivi%2Fopencv.git added GMG background segmentation algorithm by Andrew Godbehere, ticket #2065 --- diff --git a/modules/video/include/opencv2/video/background_segm.hpp b/modules/video/include/opencv2/video/background_segm.hpp index 5dfb032..28a9f21 100644 --- a/modules/video/include/opencv2/video/background_segm.hpp +++ b/modules/video/include/opencv2/video/background_segm.hpp @@ -44,7 +44,7 @@ #define __OPENCV_BACKGROUND_SEGM_HPP__ #include "opencv2/core/core.hpp" - +#include namespace cv { @@ -189,7 +189,263 @@ protected: //Tau= 0.5 means that if pixel is more than 2 times darker then it is not shadow //See: Prati,Mikic,Trivedi,Cucchiarra,"Detecting Moving Shadows...",IEEE PAMI,2003. }; - + +/** + * Background Subtractor module. Takes a series of images and returns a sequence of mask (8UC1) + * images of the same size, where 255 indicates Foreground and 0 represents Background. + * This class implements an algorithm described in "Visual Tracking of Human Visitors under + * Variable-Lighting Conditions for a Responsive Audio Art Installation," A. Godbehere, + * A. Matsukawa, K. Goldberg, American Control Conference, Montreal, June 2012. + */ +class CV_EXPORTS BackgroundSubtractorGMG: public cv::BackgroundSubtractor +{ +private: + /** + * A general flexible datatype. + * + * Used internally to enable background subtraction algorithm to be robust to any input Mat type. + * Datatype can be char, unsigned char, int, unsigned int, long int, float, or double. + */ + union flexitype{ + char c; + uchar uc; + int i; + unsigned int ui; + long int li; + float f; + double d; + + flexitype(){d = 0.0;} //!< Default constructor, set all bits of the union to 0. + flexitype(char cval){c = cval;} //!< Char type constructor + + bool operator ==(flexitype& rhs) + { + return d == rhs.d; + } + + //! Char type assignment operator + flexitype& operator =(char cval){ + if (this->c == cval){return *this;} + c = cval; return *this; + } + flexitype(unsigned char ucval){uc = ucval;} //!< unsigned char type constructor + + //! unsigned char type assignment operator + flexitype& operator =(unsigned char ucval){ + if (this->uc == ucval){return *this;} + uc = ucval; return *this; + } + flexitype(int ival){i = ival;} //!< int type constructor + //! int type assignment operator + flexitype& operator =(int ival){ + if (this->i == ival){return *this;} + i = ival; return *this; + } + flexitype(unsigned int uival){ui = uival;} //!< unsigned int type constructor + + //! unsigned int type assignment operator + flexitype& operator =(unsigned int uival){ + if (this->ui == uival){return *this;} + ui = uival; return *this; + } + flexitype(float fval){f = fval;} //!< float type constructor + //! float type assignment operator + flexitype& operator =(float fval){ + if (this->f == fval){return *this;} + f = fval; return *this; + } + flexitype(long int lival){li = lival;} //!< long int type constructor + //! long int type assignment operator + flexitype& operator =(long int lival){ + if (this->li == lival){return *this;} + li = lival; return *this; + } + + flexitype(double dval){d=dval;} //!< double type constructor + //! double type assignment operator + flexitype& operator =(double dval){ + if (this->d == dval){return *this;} + d = dval; return *this; + } + }; + /** + * Used internally to represent a single feature in a histogram. + * Feature is a color and an associated likelihood (weight in the histogram). + */ + struct HistogramFeatureGMG + { + /** + * Default constructor. + * Initializes likelihood of feature to 0, color remains uninitialized. + */ + HistogramFeatureGMG(){likelihood = 0.0;} + + /** + * Copy constructor. + * Required to use HistogramFeatureGMG in a std::vector + * @see operator =() + */ + HistogramFeatureGMG(const HistogramFeatureGMG& orig){ + color = orig.color; likelihood = orig.likelihood; + } + + /** + * Assignment operator. + * Required to use HistogramFeatureGMG in a std::vector + */ + HistogramFeatureGMG& operator =(const HistogramFeatureGMG& orig){ + color = orig.color; likelihood = orig.likelihood; return *this; + } + + /** + * Tests equality of histogram features. + * Equality is tested only by matching the color (feature), not the likelihood. + * This operator is used to look up an observed feature in a histogram. + */ + bool operator ==(HistogramFeatureGMG &rhs); + + //! Regardless of the image datatype, it is quantized and mapped to an integer and represented as a vector. + vector color; + + //! Represents the weight of feature in the histogram. + float likelihood; + friend class PixelModelGMG; + }; + + /** + * Representation of the statistical model of a single pixel for use in the background subtraction + * algorithm. + */ + class PixelModelGMG + { + public: + PixelModelGMG(); + virtual ~PixelModelGMG(); + + /** + * Incorporate the last observed feature into the statistical model. + * + * @param learningRate The adaptation parameter for the histogram. -1.0 to use default. Value + * should be between 0.0 and 1.0, the higher the value, the faster the + * adaptation. 1.0 is limiting case where fast adaptation means no memory. + */ + void insertFeature(double learningRate = -1.0); + + /** + * Set the feature last observed, to save before incorporating it into the statistical + * model with insertFeature(). + * + * @param feature The feature (color) just observed. + */ + void setLastObservedFeature(BackgroundSubtractorGMG::HistogramFeatureGMG feature); + /** + * Set the upper limit for the number of features to store in the histogram. Use to adjust + * memory requirements. + * + * @param max size_t representing the max number of features. + */ + void setMaxFeatures(size_t max) { + maxFeatures = max; histogram.resize(max); histogram.clear(); + } + /** + * Normalize the histogram, so sum of weights of all features = 1.0 + */ + void normalizeHistogram(); + /** + * Return the weight of a feature in the histogram. If the feature is not represented in the + * histogram, the weight returned is 0.0. + */ + double getLikelihood(HistogramFeatureGMG f); + PixelModelGMG& operator *=(const float &rhs); + //friend class BackgroundSubtractorGMG; + //friend class HistogramFeatureGMG; + protected: + size_t numFeatures; //!< number of features in histogram + size_t maxFeatures; //!< max allowable features in histogram + std::list histogram; //!< represents the histogram as a list of features + HistogramFeatureGMG lastObservedFeature; + //!< store last observed feature in case we need to add it to histogram + }; + +public: + BackgroundSubtractorGMG(); + virtual ~BackgroundSubtractorGMG(); + virtual AlgorithmInfo* info() const; + + /** + * Performs single-frame background subtraction and builds up a statistical background image + * model. + * @param image Input image + * @param fgmask Output mask image representing foreground and background pixels + */ + virtual void operator()(InputArray image, OutputArray fgmask, double learningRate=-1.0); + + /** + * Validate parameters and set up data structures for appropriate image type. Must call before + * running on data. + * @param image One sample image from dataset + * @param min minimum value taken on by pixels in image sequence. Usually 0 + * @param max maximum value taken on by pixels in image sequence. e.g. 1.0 or 255 + */ + void initializeType(InputArray image, flexitype min, flexitype max); + /** + * Selectively update the background model. Only update background model for pixels identified + * as background. + * @param mask Mask image same size as images in sequence. Must be 8UC1 matrix, 255 for foreground + * and 0 for background. + */ + void updateBackgroundModel(InputArray mask); + /** + * Retrieve the greyscale image representing the probability that each pixel is foreground given + * the current estimated background model. Values are 0.0 (black) to 1.0 (white). + * @param img The 32FC1 image representing per-pixel probabilities that the pixel is foreground. + */ + void getPosteriorImage(OutputArray img); + +protected: + //! Total number of distinct colors to maintain in histogram. + int maxFeatures; + //! Set between 0.0 and 1.0, determines how quickly features are "forgotten" from histograms. + double learningRate; + //! Number of frames of video to use to initialize histograms. + int numInitializationFrames; + //! Number of discrete levels in each channel to be used in histograms. + int quantizationLevels; + //! Prior probability that any given pixel is a background pixel. A sensitivity parameter. + double backgroundPrior; + + double decisionThreshold; //!< value above which pixel is determined to be FG. + int smoothingRadius; //!< smoothing radius, in pixels, for cleaning up FG image. + + flexitype maxVal, minVal; + + /* + * General Parameters + */ + size_t imWidth; //!< width of image. + size_t imHeight; //!< height of image. + size_t numPixels; + + int imageDepth; //!< Depth of image, e.g. CV_8U + unsigned int numChannels; //!< Number of channels in image. + + bool isDataInitialized; + //!< After general parameters are set, data structures must be initialized. + + size_t elemSize; //!< store image mat element sizes + size_t elemSize1; + + /* + * Data Structures + */ + vector pixels; //!< Probabilistic background models for each pixel in image. + int frameNum; //!< Frame number counter, used to count frames in training mode. + Mat posteriorImage; //!< Posterior probability image. + Mat fgMaskImage; //!< Foreground mask image. +}; + +bool initModule_BackgroundSubtractorGMG(void); + } #endif diff --git a/modules/video/src/bgfg_gmg.cpp b/modules/video/src/bgfg_gmg.cpp new file mode 100644 index 0000000..f808cab --- /dev/null +++ b/modules/video/src/bgfg_gmg.cpp @@ -0,0 +1,480 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// +// Copyright (C) 2000, Intel Corporation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of Intel Corporation may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +//M*/ + +/* + * This class implements an algorithm described in "Visual Tracking of Human Visitors under + * Variable-Lighting Conditions for a Responsive Audio Art Installation," A. Godbehere, + * A. Matsukawa, K. Goldberg, American Control Conference, Montreal, June 2012. + * + * Prepared and integrated by Andrew B. Godbehere. + */ + +#include "precomp.hpp" + +using namespace std; + +namespace cv +{ + +BackgroundSubtractorGMG::BackgroundSubtractorGMG() +{ + /* + * Default Parameter Values. Override with algorithm "set" method. + */ + maxFeatures = 64; + learningRate = 0.025; + numInitializationFrames = 120; + quantizationLevels = 16; + backgroundPrior = 0.8; + decisionThreshold = 0.8; + smoothingRadius = 7; +} + +void BackgroundSubtractorGMG::initializeType(InputArray _image,flexitype min, flexitype max) +{ + minVal = min; + maxVal = max; + + if (minVal == maxVal) + { + CV_Error_(CV_StsBadArg,("minVal and maxVal cannot be the same.")); + } + + /* + * Parameter validation + */ + if (maxFeatures <= 0) + { + CV_Error_(CV_StsBadArg, + ("maxFeatures parameter must be 1 or greater. Instead, it is %d.",maxFeatures)); + } + if (learningRate < 0.0 || learningRate > 1.0) + { + CV_Error_(CV_StsBadArg, + ("learningRate parameter must be in the range [0.0,1.0]. Instead, it is %f.", + learningRate)); + } + if (numInitializationFrames < 1) + { + CV_Error_(CV_StsBadArg, + ("numInitializationFrames must be at least 1. Instead, it is %d.", + numInitializationFrames)); + } + if (quantizationLevels < 1) + { + CV_Error_(CV_StsBadArg, + ("quantizationLevels must be at least 1 (preferably more). Instead it is %d.", + quantizationLevels)); + } + if (backgroundPrior < 0.0 || backgroundPrior > 1.0) + { + CV_Error_(CV_StsBadArg, + ("backgroundPrior must be a probability, between 0.0 and 1.0. Instead it is %f.", + backgroundPrior)); + } + + /* + * Detect and accommodate the image depth + */ + Mat image = _image.getMat(); + imageDepth = image.depth(); // 32f, 8u, etc. + numChannels = image.channels(); + + /* + * Color quantization [0 | | | | max] --> [0 | | max] + * (0) Use double as intermediary to convert all types to int. + * (i) Shift min to 0, + * (ii) max/(num intervals) = factor. x/factor * factor = quantized result, after integer operation. + */ + + /* + * Data Structure Initialization + */ + Size imsize = image.size(); + imWidth = imsize.width; + imHeight = imsize.height; + numPixels = imWidth*imHeight; + pixels.resize(numPixels); + frameNum = 0; + + // used to iterate through matrix of type unknown at compile time + elemSize = image.elemSize(); + elemSize1 = image.elemSize1(); + + vector::iterator pixel; + vector::iterator pixel_end = pixels.end(); + for (pixel = pixels.begin(); pixel != pixel_end; ++pixel) + { + pixel->setMaxFeatures(maxFeatures); + } + + fgMaskImage = Mat::zeros(imHeight,imWidth,CV_8UC1); // 8-bit unsigned mask. 255 for FG, 0 for BG + posteriorImage = Mat::zeros(imHeight,imWidth,CV_32FC1); // float for storing probabilities. Can be viewed directly with imshow. + isDataInitialized = true; +} + +void BackgroundSubtractorGMG::operator()(InputArray _image, OutputArray _fgmask, double newLearningRate) +{ + if (!isDataInitialized) + { + CV_Error(CV_StsError,"BackgroundSubstractorGMG has not been initialized. Call initialize() first.\n"); + } + + /* + * Update learning rate parameter, if desired + */ + if (newLearningRate != -1.0) + { + if (newLearningRate < 0.0 || newLearningRate > 1.0) + { + CV_Error(CV_StsOutOfRange,"Learning rate for Operator () must be between 0.0 and 1.0.\n"); + } + this->learningRate = newLearningRate; + } + + Mat image = _image.getMat(); + + _fgmask.create(Size(imHeight,imWidth),CV_8U); + fgMaskImage = _fgmask.getMat(); // 8-bit unsigned mask. 255 for FG, 0 for BG + + /* + * Iterate over pixels in image + */ + // grab data at each pixel (1,2,3 channels, int, float, etc.) + // grab data as an array of bytes. Then, send that array to a function that reads data into vector of appropriate types... and quantizing... before saving as a feature, which is a vector of flexitypes, so code can be portable. + // multiple channels do have sequential storage, use mat::elemSize() and mat::elemSize1() + vector::iterator pixel; + vector::iterator pixel_end = pixels.end(); + size_t i; +//#pragma omp parallel + for (i = 0, pixel=pixels.begin(); pixel != pixel_end; ++i,++pixel) + { + HistogramFeatureGMG newFeature; + newFeature.color.clear(); + for (size_t c = 0; c < numChannels; ++c) + { + /* + * Perform quantization. in each channel. (color-min)*(levels)/(max-min). + * Shifts min to 0 and scales, finally casting to an int. + */ + size_t quantizedColor; + // pixel at data+elemSize*i. Individual channel c at data+elemSize*i+elemSize1*c + if (imageDepth == CV_8U) + { + uchar *color = (uchar*)(image.data+elemSize*i+elemSize1*c); + quantizedColor = (size_t)((double)(*color-minVal.uc)*quantizationLevels/(maxVal.uc-minVal.uc)); + } + else if (imageDepth == CV_8S) + { + char *color = (char*)(image.data+elemSize*i+elemSize1*c); + quantizedColor = (size_t)((double)(*color-minVal.c)*quantizationLevels/(maxVal.c-minVal.c)); + } + else if (imageDepth == CV_16U) + { + unsigned int *color = (unsigned int*)(image.data+elemSize*i+elemSize1*c); + quantizedColor = (size_t)((double)(*color-minVal.ui)*quantizationLevels/(maxVal.ui-minVal.ui)); + } + else if (imageDepth == CV_16S) + { + int *color = (int*)(image.data+elemSize*i+elemSize1*c); + quantizedColor = (size_t)((double)(*color-minVal.i)*quantizationLevels/(maxVal.i-minVal.i)); + } + else if (imageDepth == CV_32F) + { + float *color = (float*)image.data+elemSize*i+elemSize1*c; + quantizedColor = (size_t)((double)(*color-minVal.ui)*quantizationLevels/(maxVal.ui-minVal.ui)); + } + else if (imageDepth == CV_32S) + { + long int *color = (long int*)(image.data+elemSize*i+elemSize1*c); + quantizedColor = (size_t)((double)(*color-minVal.li)*quantizationLevels/(maxVal.li-minVal.li)); + } + else if (imageDepth == CV_64F) + { + double *color = (double*)image.data+elemSize*i+elemSize1*c; + quantizedColor = (size_t)((double)(*color-minVal.d)*quantizationLevels/(maxVal.d-minVal.d)); + } + newFeature.color.push_back(quantizedColor); + } + // now that the feature is ready for use, put it in the histogram + + if (frameNum > numInitializationFrames) // typical operation + { + newFeature.likelihood = learningRate; + /* + * (1) Query histogram to find posterior probability of feature under model. + */ + float likelihood = (float)pixel->getLikelihood(newFeature); + + // see Godbehere, Matsukawa, Goldberg (2012) for reasoning behind this implementation of Bayes rule + float posterior = (likelihood*backgroundPrior)/(likelihood*backgroundPrior+(1-likelihood)*(1-backgroundPrior)); + + /* + * (2) feed posterior probability into the posterior image + */ + int row,col; + col = i%imWidth; + row = (i-col)/imWidth; + posteriorImage.at(row,col) = (1.0-posterior); + } + pixel->setLastObservedFeature(newFeature); + } + /* + * (3) Perform filtering and threshold operations to yield final mask image. + * + * 2 options. First is morphological open/close as before. Second is "median filtering" which Jon Barron says is good to remove noise + */ + Mat thresholdedPosterior; + threshold(posteriorImage,thresholdedPosterior,decisionThreshold,1.0,THRESH_BINARY); + thresholdedPosterior.convertTo(fgMaskImage,CV_8U,255); // convert image to integer space for further filtering and mask creation + medianBlur(fgMaskImage,fgMaskImage,smoothingRadius); + + fgMaskImage.copyTo(_fgmask); + + ++frameNum; // keep track of how many frames we have processed +} + +void BackgroundSubtractorGMG::getPosteriorImage(OutputArray _img) +{ + _img.create(Size(imWidth,imHeight),CV_32F); + Mat img = _img.getMat(); + posteriorImage.copyTo(img); +} + +void BackgroundSubtractorGMG::updateBackgroundModel(InputArray _mask) +{ + CV_Assert(_mask.size() == Size(imWidth,imHeight)); // mask should be same size as image + + Mat maskImg = _mask.getMat(); +//#pragma omp parallel + for (size_t i = 0; i < imHeight; ++i) + { +//#pragma omp parallel + for (size_t j = 0; j < imWidth; ++j) + { + if (frameNum <= numInitializationFrames + 1) + { + // insert previously observed feature into the histogram. -1.0 parameter indicates training. + pixels[i*imWidth+j].insertFeature(-1.0); + if (frameNum >= numInitializationFrames+1) // training is done, normalize + { + pixels[i*imWidth+j].normalizeHistogram(); + } + } + // if mask is 0, pixel is identified as a background pixel, so update histogram. + else if (maskImg.at(i,j) == 0) + { + pixels[i*imWidth+j].insertFeature(learningRate); // updates the histogram for the next iteration. + } + } + } +} + +BackgroundSubtractorGMG::~BackgroundSubtractorGMG() +{ + +} + +BackgroundSubtractorGMG::PixelModelGMG::PixelModelGMG() +{ + numFeatures = 0; + maxFeatures = 0; +} + +BackgroundSubtractorGMG::PixelModelGMG::~PixelModelGMG() +{ + +} + +void BackgroundSubtractorGMG::PixelModelGMG::setLastObservedFeature(HistogramFeatureGMG f) +{ + this->lastObservedFeature = f; +} + +double BackgroundSubtractorGMG::PixelModelGMG::getLikelihood(BackgroundSubtractorGMG::HistogramFeatureGMG f) +{ + std::list::iterator feature = histogram.begin(); + std::list::iterator feature_end = histogram.end(); + + for (feature = histogram.begin(); feature != feature_end; ++feature) + { + // comparing only feature color, not likelihood. See equality operator for HistogramFeatureGMG + if (f == *feature) + { + return feature->likelihood; + } + } + + return 0.0; // not in histogram, so return 0. +} + +void BackgroundSubtractorGMG::PixelModelGMG::insertFeature(double learningRate) +{ + + std::list::iterator feature; + std::list::iterator swap_end; + std::list::iterator last_feature = histogram.end(); + /* + * If feature is in histogram already, add the weights, and move feature to front. + * If there are too many features, remove the end feature and push new feature to beginning + */ + if (learningRate == -1.0) // then, this is a training-mode update. + { + /* + * (1) Check if feature already represented in histogram + */ + lastObservedFeature.likelihood = 1.0; + + for (feature = histogram.begin(); feature != last_feature; ++feature) + { + if (lastObservedFeature == *feature) // feature in histogram + { + feature->likelihood += lastObservedFeature.likelihood; + // now, move feature to beginning of list and break the loop + HistogramFeatureGMG tomove = *feature; + histogram.erase(feature); + histogram.push_front(tomove); + return; + } + } + if (numFeatures == maxFeatures) + { + histogram.pop_back(); // discard oldest feature + histogram.push_front(lastObservedFeature); + } + else + { + histogram.push_front(lastObservedFeature); + ++numFeatures; + } + } + else + { + /* + * (1) Scale entire histogram by scaling factor + * (2) Scale input feature. + * (3) Check if feature already represented. If so, simply add. + * (4) If feature is not represented, remove old feature, distribute weight evenly among existing features, add in new feature. + */ + *this *= (1.0-learningRate); + lastObservedFeature.likelihood = learningRate; + + for (feature = histogram.begin(); feature != last_feature; ++feature) + { + if (lastObservedFeature == *feature) // feature in histogram + { + lastObservedFeature.likelihood += feature->likelihood; + histogram.erase(feature); + histogram.push_front(lastObservedFeature); + return; // done with the update. + } + } + if (numFeatures == maxFeatures) + { + histogram.pop_back(); // discard oldest feature + histogram.push_front(lastObservedFeature); + normalizeHistogram(); + } + else + { + histogram.push_front(lastObservedFeature); + ++numFeatures; + } + } +} + +BackgroundSubtractorGMG::PixelModelGMG& BackgroundSubtractorGMG::PixelModelGMG::operator *=(const float &rhs) +{ + /* + * Used to scale histogram by a constant factor + */ + list::iterator feature; + list::iterator last_feature = histogram.end(); + for (feature = histogram.begin(); feature != last_feature; ++feature) + { + feature->likelihood *= rhs; + } + return *this; +} + +void BackgroundSubtractorGMG::PixelModelGMG::normalizeHistogram() +{ + /* + * First, calculate the total weight in the histogram + */ + list::iterator feature; + list::iterator last_feature = histogram.end(); + double total = 0.0; + for (feature = histogram.begin(); feature != last_feature; ++feature) + { + total += feature->likelihood; + } + + /* + * Then, if weight is not 0, divide every feature by the total likelihood to re-normalize. + */ + for (feature = histogram.begin(); feature != last_feature; ++feature) + { + if (total != 0.0) + feature->likelihood /= total; + } +} + +bool BackgroundSubtractorGMG::HistogramFeatureGMG::operator ==(HistogramFeatureGMG &rhs) +{ + CV_Assert(color.size() == rhs.color.size()); + + std::vector::iterator color_a; + std::vector::iterator color_b; + std::vector::iterator color_a_end = this->color.end(); + std::vector::iterator color_b_end = rhs.color.end(); + for (color_a = color.begin(),color_b =rhs.color.begin();color_a!=color_a_end;++color_a,++color_b) + { + if (*color_a != *color_b) + { + return false; + } + } + return true; +} + + +} + diff --git a/modules/video/src/precomp.hpp b/modules/video/src/precomp.hpp index e80dfb0..4b36b64 100644 --- a/modules/video/src/precomp.hpp +++ b/modules/video/src/precomp.hpp @@ -52,6 +52,9 @@ #include "opencv2/imgproc/imgproc_c.h" #include "opencv2/core/internal.hpp" +#include +#include + #ifdef HAVE_TEGRA_OPTIMIZATION #include "opencv2/video/video_tegra.hpp" #endif diff --git a/modules/video/src/video_init.cpp b/modules/video/src/video_init.cpp index 91c215b..04b9a8d 100644 --- a/modules/video/src/video_init.cpp +++ b/modules/video/src/video_init.cpp @@ -64,11 +64,28 @@ CV_INIT_ALGORITHM(BackgroundSubtractorMOG2, "BackgroundSubtractor.MOG2", /////////////////////////////////////////////////////////////////////////////////////////////////////////// +CV_INIT_ALGORITHM(BackgroundSubtractorGMG, "BackgroundSubtractor.GMG", + obj.info()->addParam(obj, "maxFeatures", obj.maxFeatures,false,0,0, + "Maximum number of features to store in histogram. Harsh enforcement of sparsity constraint."); + obj.info()->addParam(obj, "learningRate", obj.learningRate,false,0,0, + "Adaptation rate of histogram. Close to 1, slow adaptation. Close to 0, fast adaptation, features forgotten quickly."); + obj.info()->addParam(obj, "initializationFrames", obj.numInitializationFrames,false,0,0, + "Number of frames to use to initialize histograms of pixels."); + obj.info()->addParam(obj, "quantizationLevels", obj.quantizationLevels,false,0,0, + "Number of discrete colors to be used in histograms. Up-front quantization."); + obj.info()->addParam(obj, "backgroundPrior", obj.backgroundPrior,false,0,0, + "Prior probability that each individual pixel is a background pixel."); + obj.info()->addParam(obj, "smoothingRadius", obj.smoothingRadius,false,0,0, + "Radius of smoothing kernel to filter noise from FG mask image."); + obj.info()->addParam(obj, "decisionThreshold", obj.decisionThreshold,false,0,0, + "Threshold for FG decision rule. Pixel is FG if posterior probability exceeds threshold.")); + bool initModule_video(void) { bool all = true; all &= !BackgroundSubtractorMOG_info_auto.name().empty(); all &= !BackgroundSubtractorMOG2_info_auto.name().empty(); + all &= !BackgroundSubtractorGMG_info_auto.name().empty(); return all; } diff --git a/modules/video/test/test_backgroundsubtractor_gbh.cpp b/modules/video/test/test_backgroundsubtractor_gbh.cpp new file mode 100644 index 0000000..0cedaaa --- /dev/null +++ b/modules/video/test/test_backgroundsubtractor_gbh.cpp @@ -0,0 +1,201 @@ +/* + * BackgroundSubtractorGBH_test.cpp + * + * Created on: Jun 14, 2012 + * Author: andrewgodbehere + */ + +#include "test_precomp.hpp" + +using namespace cv; + +class CV_BackgroundSubtractorTest : public cvtest::BaseTest +{ +public: + CV_BackgroundSubtractorTest(); +protected: + void run(int); +}; + +CV_BackgroundSubtractorTest::CV_BackgroundSubtractorTest() +{ +} + +/** + * This test checks the following: + * (i) BackgroundSubtractorGMG can operate with matrices of various types and sizes + * (ii) Training mode returns empty fgmask + * (iii) End of training mode, and anomalous frame yields every pixel detected as FG + */ +void CV_BackgroundSubtractorTest::run(int) +{ + int code = cvtest::TS::OK; + RNG& rng = ts->get_rng(); + int type = ((unsigned int)rng)%7; //!< pick a random type, 0 - 6, defined in types_c.h + int channels = 1 + ((unsigned int)rng)%4; //!< random number of channels from 1 to 4. + int channelsAndType = CV_MAKETYPE(type,channels); + int width = 2 + ((unsigned int)rng)%98; //!< Mat will be 2 to 100 in width and height + int height = 2 + ((unsigned int)rng)%98; + + Ptr fgbg = + Algorithm::create("BackgroundSubtractor.GMG"); + Mat fgmask; + + if (fgbg == NULL) + CV_Error(CV_StsError,"Failed to create Algorithm\n"); + + /** + * Set a few parameters + */ + fgbg->set("smoothingRadius",7); + fgbg->set("decisionThreshold",0.7); + fgbg->set("initializationFrames",120); + + /** + * Generate bounds for the values in the matrix for each type + */ + uchar maxuc,minuc = 0; + char maxc,minc = 0; + uint maxui,minui = 0; + int maxi,mini = 0; + long int maxli,minli = 0; + float maxf,minf = 0.0; + double maxd,mind = 0.0; + + /** + * Max value for simulated images picked randomly in upper half of type range + * Min value for simulated images picked randomly in lower half of type range + */ + if (type == CV_8U) + { + unsigned char half = UCHAR_MAX/2; + maxuc = (unsigned char)rng.uniform(half+32,UCHAR_MAX); + minuc = (unsigned char)rng.uniform(0,half-32); + } + else if (type == CV_8S) + { + char half = CHAR_MAX/2 + CHAR_MIN/2; + maxc = (char)rng.uniform(half+32,CHAR_MAX); + minc = (char)rng.uniform(CHAR_MIN,half-32); + } + else if (type == CV_16U) + { + uint half = UINT_MAX/2; + maxui = (unsigned int)rng.uniform((int)half+32,UINT_MAX); + minui = (unsigned int)rng.uniform(0,(int)half-32); + } + else if (type == CV_16S) + { + int half = INT_MAX/2 + INT_MIN/2; + maxi = rng.uniform(half+32,INT_MAX); + mini = rng.uniform(INT_MIN,half-32); + } + else if (type == CV_32S) + { + long int half = LONG_MAX/2 + LONG_MIN/2; + maxli = rng.uniform((int)half+32,(int)LONG_MAX); + minli = rng.uniform((int)LONG_MIN,(int)half-32); + } + else if (type == CV_32F) + { + float half = FLT_MAX/2.0 + FLT_MIN/2.0; + maxf = rng.uniform(half+(float)32.0*FLT_EPSILON,FLT_MAX); + minf = rng.uniform(FLT_MIN,half-(float)32.0*FLT_EPSILON); + } + else if (type == CV_64F) + { + double half = DBL_MAX/2.0 + DBL_MIN/2.0; + maxd = rng.uniform(half+(double)32.0*DBL_EPSILON,DBL_MAX); + mind = rng.uniform(DBL_MIN,half-(double)32.0*DBL_EPSILON); + } + + Mat simImage = Mat::zeros(height,width,channelsAndType); + const uint numLearningFrames = 120; + for (uint i = 0; i < numLearningFrames; ++i) + { + /** + * Genrate simulated "image" for any type. Values always confined to upper half of range. + */ + if (type == CV_8U) + { + rng.fill(simImage,RNG::UNIFORM,(unsigned char)(minuc/2+maxuc/2),maxuc); + if (i == 0) + fgbg->initializeType(simImage,minuc,maxuc); + } + else if (type == CV_8S) + { + rng.fill(simImage,RNG::UNIFORM,(char)(minc/2+maxc/2),maxc); + if (i==0) + fgbg->initializeType(simImage,minc,maxc); + } + else if (type == CV_16U) + { + rng.fill(simImage,RNG::UNIFORM,(unsigned int)(minui/2+maxui/2),maxui); + if (i==0) + fgbg->initializeType(simImage,minui,maxui); + } + else if (type == CV_16S) + { + rng.fill(simImage,RNG::UNIFORM,(int)(mini/2+maxi/2),maxi); + if (i==0) + fgbg->initializeType(simImage,mini,maxi); + } + else if (type == CV_32F) + { + rng.fill(simImage,RNG::UNIFORM,(float)(minf/2.0+maxf/2.0),maxf); + if (i==0) + fgbg->initializeType(simImage,minf,maxf); + } + else if (type == CV_32S) + { + rng.fill(simImage,RNG::UNIFORM,(long int)(minli/2+maxli/2),maxli); + if (i==0) + fgbg->initializeType(simImage,minli,maxli); + } + else if (type == CV_64F) + { + rng.fill(simImage,RNG::UNIFORM,(double)(mind/2.0+maxd/2.0),maxd); + if (i==0) + fgbg->initializeType(simImage,mind,maxd); + } + + /** + * Feed simulated images into background subtractor + */ + (*fgbg)(simImage,fgmask); + Mat fullbg = Mat::zeros(Size(simImage.cols,simImage.rows),CV_8U); + fgbg->updateBackgroundModel(fullbg); + + //! fgmask should be entirely background during training + code = cvtest::cmpEps2( ts, fgmask, fullbg, 0, false, "The training foreground mask" ); + if (code < 0) + ts->set_failed_test_info( code ); + } + //! generate last image, distinct from training images + if (type == CV_8U) + rng.fill(simImage,RNG::UNIFORM,minuc,minuc); + else if (type == CV_8S) + rng.fill(simImage,RNG::UNIFORM,minc,minc); + else if (type == CV_16U) + rng.fill(simImage,RNG::UNIFORM,minui,minui); + else if (type == CV_16S) + rng.fill(simImage,RNG::UNIFORM,mini,mini); + else if (type == CV_32F) + rng.fill(simImage,RNG::UNIFORM,minf,minf); + else if (type == CV_32S) + rng.fill(simImage,RNG::UNIFORM,minli,minli); + else if (type == CV_64F) + rng.fill(simImage,RNG::UNIFORM,mind,mind); + + (*fgbg)(simImage,fgmask); + //! now fgmask should be entirely foreground + Mat fullfg = 255*Mat::ones(Size(simImage.cols,simImage.rows),CV_8U); + code = cvtest::cmpEps2( ts, fgmask, fullfg, 255, false, "The final foreground mask" ); + if (code < 0) + { + ts->set_failed_test_info( code ); + } + +} + +TEST(VIDEO_BGSUBGMG, accuracy) { CV_BackgroundSubtractorTest test; test.safe_run(); } diff --git a/modules/video/test/test_precomp.hpp b/modules/video/test/test_precomp.hpp index d6e0e97..e39c6f8 100644 --- a/modules/video/test/test_precomp.hpp +++ b/modules/video/test/test_precomp.hpp @@ -9,6 +9,7 @@ #include "opencv2/imgproc/imgproc.hpp" #include "opencv2/imgproc/imgproc_c.h" #include "opencv2/video/tracking.hpp" +#include "opencv2/video/background_segm.hpp" #include "opencv2/highgui/highgui.hpp" #include diff --git a/samples/cpp/bgfg_gmg.cpp b/samples/cpp/bgfg_gmg.cpp new file mode 100644 index 0000000..b6a2852 --- /dev/null +++ b/samples/cpp/bgfg_gmg.cpp @@ -0,0 +1,97 @@ +/* + * FGBGTest.cpp + * + * Created on: May 7, 2012 + * Author: Andrew B. Godbehere + */ + +#include +#include +#include + +using namespace cv; + +static void help() +{ + std::cout << + "\nA program demonstrating the use and capabilities of a particular BackgroundSubtraction\n" + "algorithm described in A. Godbehere, A. Matsukawa, K. Goldberg, \n" + "\"Visual Tracking of Human Visitors under Variable-Lighting Conditions for a Responsive\n" + "Audio Art Installation\", American Control Conference, 2012, used in an interactive\n" + "installation at the Contemporary Jewish Museum in San Francisco, CA from March 31 through\n" + "July 31, 2011.\n" + "Call:\n" + "./BackgroundSubtractorGMG_sample\n" + "Using OpenCV version " << CV_VERSION << "\n"< fgbg = Algorithm::create("BackgroundSubtractor.GMG"); + if (fgbg == NULL) + { + CV_Error(CV_StsError,"Failed to create Algorithm\n"); + } + fgbg->set("smoothingRadius",7); + fgbg->set("decisionThreshold",0.7); + + VideoCapture cap; + if( argc > 1 ) + cap.open(argv[1]); + else + cap.open(0); + + if (!cap.isOpened()) + { + std::cout << "error: cannot read video. Try moving video file to sample directory.\n"; + return -1; + } + + Mat img, downimg, downimg2, fgmask, upfgmask, posterior, upposterior; + + bool first = true; + namedWindow("posterior"); + namedWindow("fgmask"); + namedWindow("FG Segmentation"); + int i = 0; + for (;;) + { + std::stringstream txt; + txt << "frame: "; + txt << i++; + + cap >> img; + putText(img,txt.str(),Point(20,40),FONT_HERSHEY_SIMPLEX,0.8,Scalar(1.0,0.0,0.0)); + + resize(img,downimg,Size(160,120),0,0,INTER_NEAREST); // Size(cols, rows) or Size(width,height) + if (first) + { + fgbg->initializeType(downimg,0,255); + first = false; + } + if (img.empty()) + { + return 0; + } + (*fgbg)(downimg,fgmask); + fgbg->updateBackgroundModel(Mat::zeros(120,160,CV_8U)); + fgbg->getPosteriorImage(posterior); + resize(fgmask,upfgmask,Size(640,480),0,0,INTER_NEAREST); + Mat coloredFG = Mat::zeros(480,640,CV_8UC3); + coloredFG.setTo(Scalar(100,100,0),upfgmask); + + resize(posterior,upposterior,Size(640,480),0,0,INTER_NEAREST); + imshow("posterior",upposterior); + imshow("fgmask",upfgmask); + resize(img, downimg2, Size(640, 480),0,0,INTER_LINEAR); + imshow("FG Segmentation",downimg2 + coloredFG); + int c = waitKey(30); + if( c == 'q' || c == 'Q' || (c & 255) == 27 ) + break; + } +} +