From 9a6dabf3b53990ed8c5226d7ba5c3a5f242c55ab Mon Sep 17 00:00:00 2001
From: Andrews Sobral <andrewssobral@gmail.com>
Date: Sun, 16 Feb 2014 22:47:36 +0100
Subject: [PATCH] bgslibrary v1.9.0
35 algorithms available
---
CMakeLists.txt | 52 +
COPYING.txt | 674 ++++++
Config.h | 22 +
Demo.cpp | 182 ++
FrameProcessor.cpp | 557 +++++
FrameProcessor.h | 235 ++
IFrameProcessor.h | 26 +
LICENSE.txt | 12 +
Main.cpp | 82 +
PreProcessor.cpp | 146 ++
PreProcessor.h | 49 +
README.txt | 16 +
VideoAnalysis.cpp | 130 +
VideoAnalysis.h | 45 +
VideoCapture.cpp | 275 +++
VideoCapture.h | 63 +
bgslibrary_vs2010_opencv.txt | 39 +
config/FrameProcessor.xml | 38 +
config/PreProcessor.xml | 6 +
config/VideoCapture.xml | 13 +
dataset/video.avi | Bin 0 -> 1049784 bytes
demos/DemoFrameDifferenceBGS.cpp | 49 +
demos/DemoMultiLayerBGS.cpp | 49 +
package_analysis/ForegroundMaskAnalysis.cpp | 101 +
package_analysis/ForegroundMaskAnalysis.h | 42 +
package_bgs/AdaptiveBackgroundLearning.cpp | 111 +
package_bgs/AdaptiveBackgroundLearning.h | 50 +
.../AdaptiveSelectiveBackgroundLearning.cpp | 131 +
.../AdaptiveSelectiveBackgroundLearning.h | 49 +
package_bgs/FrameDifferenceBGS.cpp | 83 +
package_bgs/FrameDifferenceBGS.h | 44 +
package_bgs/GMG.cpp | 99 +
package_bgs/GMG.h | 45 +
package_bgs/IBGS.h | 33 +
package_bgs/MixtureOfGaussianV1BGS.cpp | 95 +
package_bgs/MixtureOfGaussianV1BGS.h | 47 +
package_bgs/MixtureOfGaussianV2BGS.cpp | 98 +
package_bgs/MixtureOfGaussianV2BGS.h | 47 +
package_bgs/StaticFrameDifferenceBGS.cpp | 79 +
package_bgs/StaticFrameDifferenceBGS.h | 45 +
package_bgs/WeightedMovingMeanBGS.cpp | 122 +
package_bgs/WeightedMovingMeanBGS.h | 47 +
package_bgs/WeightedMovingVarianceBGS.cpp | 161 ++
package_bgs/WeightedMovingVarianceBGS.h | 48 +
package_bgs/ae/KDE.cpp | 128 +
package_bgs/ae/KDE.h | 58 +
package_bgs/ae/KernelTable.cpp | 116 +
package_bgs/ae/KernelTable.h | 71 +
package_bgs/ae/NPBGSubtractor.cpp | 1160 +++++++++
package_bgs/ae/NPBGSubtractor.h | 154 ++
package_bgs/ae/NPBGmodel.cpp | 127 +
package_bgs/ae/NPBGmodel.h | 111 +
package_bgs/av/TBackground.cpp | 166 ++
package_bgs/av/TBackground.h | 51 +
package_bgs/av/TBackgroundVuMeter.cpp | 380 +++
package_bgs/av/TBackgroundVuMeter.h | 67 +
package_bgs/av/VuMeter.cpp | 116 +
package_bgs/av/VuMeter.h | 53 +
package_bgs/ck/LbpMrf.cpp | 87 +
package_bgs/ck/LbpMrf.h | 44 +
package_bgs/ck/MEDefs.cpp | 40 +
package_bgs/ck/MEDefs.hpp | 83 +
package_bgs/ck/MEHistogram.cpp | 508 ++++
package_bgs/ck/MEHistogram.hpp | 348 +++
package_bgs/ck/MEImage.cpp | 1472 ++++++++++++
package_bgs/ck/MEImage.hpp | 999 ++++++++
package_bgs/ck/MotionDetection.cpp | 1425 +++++++++++
package_bgs/ck/MotionDetection.hpp | 401 ++++
package_bgs/ck/README.TXT | 135 ++
package_bgs/ck/block.h | 286 +++
package_bgs/ck/graph.cpp | 80 +
package_bgs/ck/graph.h | 180 ++
package_bgs/ck/maxflow.cpp | 514 ++++
package_bgs/db/IndependentMultimodalBGS.cpp | 54 +
package_bgs/db/IndependentMultimodalBGS.h | 29 +
package_bgs/db/imbs.cpp | 748 ++++++
package_bgs/db/imbs.hpp | 178 ++
package_bgs/dp/AdaptiveMedianBGS.cpp | 140 ++
package_bgs/dp/AdaptiveMedianBGS.h | 89 +
package_bgs/dp/Bgs.h | 67 +
package_bgs/dp/BgsParams.h | 59 +
package_bgs/dp/DPAdaptiveMedianBGS.cpp | 104 +
package_bgs/dp/DPAdaptiveMedianBGS.h | 56 +
package_bgs/dp/DPEigenbackgroundBGS.cpp | 106 +
package_bgs/dp/DPEigenbackgroundBGS.h | 56 +
package_bgs/dp/DPGrimsonGMMBGS.cpp | 105 +
package_bgs/dp/DPGrimsonGMMBGS.h | 56 +
package_bgs/dp/DPMeanBGS.cpp | 105 +
package_bgs/dp/DPMeanBGS.h | 56 +
package_bgs/dp/DPPratiMediodBGS.cpp | 107 +
package_bgs/dp/DPPratiMediodBGS.h | 57 +
package_bgs/dp/DPTextureBGS.cpp | 156 ++
package_bgs/dp/DPTextureBGS.h | 60 +
package_bgs/dp/DPWrenGABGS.cpp | 105 +
package_bgs/dp/DPWrenGABGS.h | 56 +
package_bgs/dp/DPZivkovicAGMMBGS.cpp | 104 +
package_bgs/dp/DPZivkovicAGMMBGS.h | 56 +
package_bgs/dp/Eigenbackground.cpp | 190 ++
package_bgs/dp/Eigenbackground.h | 101 +
package_bgs/dp/Error.cpp | 57 +
package_bgs/dp/Error.h | 36 +
package_bgs/dp/GrimsonGMM.cpp | 332 +++
package_bgs/dp/GrimsonGMM.h | 150 ++
package_bgs/dp/Image.cpp | 76 +
package_bgs/dp/Image.h | 364 +++
package_bgs/dp/MeanBGS.cpp | 131 +
package_bgs/dp/MeanBGS.h | 98 +
package_bgs/dp/PratiMediodBGS.cpp | 276 +++
package_bgs/dp/PratiMediodBGS.h | 142 ++
package_bgs/dp/TextureBGS.cpp | 153 ++
package_bgs/dp/TextureBGS.h | 55 +
package_bgs/dp/WrenGA.cpp | 174 ++
package_bgs/dp/WrenGA.h | 120 +
package_bgs/dp/ZivkovicAGMM.cpp | 411 ++++
package_bgs/dp/ZivkovicAGMM.h | 160 ++
package_bgs/jmo/BGS.h | 216 ++
package_bgs/jmo/BackgroundSubtractionAPI.h | 158 ++
package_bgs/jmo/BlobExtraction.cpp | 1490 ++++++++++++
package_bgs/jmo/BlobExtraction.h | 76 +
package_bgs/jmo/BlobLibraryConfiguration.h | 62 +
package_bgs/jmo/BlobResult.cpp | 920 +++++++
package_bgs/jmo/BlobResult.h | 213 ++
package_bgs/jmo/CMultiLayerBGS.cpp | 2128 +++++++++++++++++
package_bgs/jmo/CMultiLayerBGS.h | 313 +++
package_bgs/jmo/LocalBinaryPattern.cpp | 314 +++
package_bgs/jmo/LocalBinaryPattern.h | 103 +
package_bgs/jmo/MultiLayerBGS.cpp | 332 +++
package_bgs/jmo/MultiLayerBGS.h | 101 +
package_bgs/jmo/OpenCvDataConversion.h | 224 ++
package_bgs/jmo/blob.cpp | 1149 +++++++++
package_bgs/jmo/blob.h | 853 +++++++
package_bgs/lb/BGModel.cpp | 87 +
package_bgs/lb/BGModel.h | 78 +
package_bgs/lb/BGModelFuzzyGauss.cpp | 210 ++
package_bgs/lb/BGModelFuzzyGauss.h | 75 +
package_bgs/lb/BGModelFuzzySom.cpp | 298 +++
package_bgs/lb/BGModelFuzzySom.h | 95 +
package_bgs/lb/BGModelGauss.cpp | 200 ++
package_bgs/lb/BGModelGauss.h | 73 +
package_bgs/lb/BGModelMog.cpp | 309 +++
package_bgs/lb/BGModelMog.h | 83 +
package_bgs/lb/BGModelSom.cpp | 291 +++
package_bgs/lb/BGModelSom.h | 92 +
package_bgs/lb/LBAdaptiveSOM.cpp | 109 +
package_bgs/lb/LBAdaptiveSOM.h | 56 +
package_bgs/lb/LBFuzzyAdaptiveSOM.cpp | 109 +
package_bgs/lb/LBFuzzyAdaptiveSOM.h | 56 +
package_bgs/lb/LBFuzzyGaussian.cpp | 105 +
package_bgs/lb/LBFuzzyGaussian.h | 55 +
package_bgs/lb/LBMixtureOfGaussians.cpp | 105 +
package_bgs/lb/LBMixtureOfGaussians.h | 55 +
package_bgs/lb/LBSimpleGaussian.cpp | 100 +
package_bgs/lb/LBSimpleGaussian.h | 54 +
package_bgs/lb/Types.h | 99 +
package_bgs/my/MyBGS.cpp | 26 +
package_bgs/my/MyBGS.h | 22 +
package_bgs/pt/PBAS.cpp | 586 +++++
package_bgs/pt/PBAS.h | 207 ++
.../pt/PixelBasedAdaptiveSegmenter.cpp | 124 +
package_bgs/pt/PixelBasedAdaptiveSegmenter.h | 58 +
package_bgs/sjn/SJN_MultiCueBGS.cpp | 2062 ++++++++++++++++
package_bgs/sjn/SJN_MultiCueBGS.h | 243 ++
package_bgs/tb/FuzzyChoquetIntegral.cpp | 204 ++
package_bgs/tb/FuzzyChoquetIntegral.h | 55 +
package_bgs/tb/FuzzySugenoIntegral.cpp | 204 ++
package_bgs/tb/FuzzySugenoIntegral.h | 55 +
package_bgs/tb/FuzzyUtils.cpp | 511 ++++
package_bgs/tb/FuzzyUtils.h | 54 +
package_bgs/tb/MRF.cpp | 339 +++
package_bgs/tb/MRF.h | 107 +
package_bgs/tb/PerformanceUtils.cpp | 521 ++++
package_bgs/tb/PerformanceUtils.h | 54 +
package_bgs/tb/PixelUtils.cpp | 351 +++
package_bgs/tb/PixelUtils.h | 61 +
package_bgs/tb/T2FGMM.cpp | 337 +++
package_bgs/tb/T2FGMM.h | 135 ++
package_bgs/tb/T2FGMM_UM.cpp | 111 +
package_bgs/tb/T2FGMM_UM.h | 58 +
package_bgs/tb/T2FGMM_UV.cpp | 111 +
package_bgs/tb/T2FGMM_UV.h | 58 +
package_bgs/tb/T2FMRF.cpp | 432 ++++
package_bgs/tb/T2FMRF.h | 164 ++
package_bgs/tb/T2FMRF_UM.cpp | 140 ++
package_bgs/tb/T2FMRF_UM.h | 64 +
package_bgs/tb/T2FMRF_UV.cpp | 140 ++
package_bgs/tb/T2FMRF_UV.h | 64 +
run_camera.sh | 3 +
run_demo.sh | 3 +
run_video.sh | 3 +
vs2010/bgslibrary.sln | 20 +
vs2010/bgslibrary.suo | Bin 0 -> 11776 bytes
vs2010/bgslibrary.vcxproj | 220 ++
vs2010/bgslibrary.vcxproj.filters | 444 ++++
vs2010/bgslibrary.vcxproj.user | 8 +
194 files changed, 39237 insertions(+)
create mode 100644 CMakeLists.txt
create mode 100644 COPYING.txt
create mode 100644 Config.h
create mode 100644 Demo.cpp
create mode 100644 FrameProcessor.cpp
create mode 100644 FrameProcessor.h
create mode 100644 IFrameProcessor.h
create mode 100644 LICENSE.txt
create mode 100644 Main.cpp
create mode 100644 PreProcessor.cpp
create mode 100644 PreProcessor.h
create mode 100644 README.txt
create mode 100644 VideoAnalysis.cpp
create mode 100644 VideoAnalysis.h
create mode 100644 VideoCapture.cpp
create mode 100644 VideoCapture.h
create mode 100644 bgslibrary_vs2010_opencv.txt
create mode 100644 config/FrameProcessor.xml
create mode 100644 config/PreProcessor.xml
create mode 100644 config/VideoCapture.xml
create mode 100644 dataset/video.avi
create mode 100644 demos/DemoFrameDifferenceBGS.cpp
create mode 100644 demos/DemoMultiLayerBGS.cpp
create mode 100644 package_analysis/ForegroundMaskAnalysis.cpp
create mode 100644 package_analysis/ForegroundMaskAnalysis.h
create mode 100644 package_bgs/AdaptiveBackgroundLearning.cpp
create mode 100644 package_bgs/AdaptiveBackgroundLearning.h
create mode 100644 package_bgs/AdaptiveSelectiveBackgroundLearning.cpp
create mode 100644 package_bgs/AdaptiveSelectiveBackgroundLearning.h
create mode 100644 package_bgs/FrameDifferenceBGS.cpp
create mode 100644 package_bgs/FrameDifferenceBGS.h
create mode 100644 package_bgs/GMG.cpp
create mode 100644 package_bgs/GMG.h
create mode 100644 package_bgs/IBGS.h
create mode 100644 package_bgs/MixtureOfGaussianV1BGS.cpp
create mode 100644 package_bgs/MixtureOfGaussianV1BGS.h
create mode 100644 package_bgs/MixtureOfGaussianV2BGS.cpp
create mode 100644 package_bgs/MixtureOfGaussianV2BGS.h
create mode 100644 package_bgs/StaticFrameDifferenceBGS.cpp
create mode 100644 package_bgs/StaticFrameDifferenceBGS.h
create mode 100644 package_bgs/WeightedMovingMeanBGS.cpp
create mode 100644 package_bgs/WeightedMovingMeanBGS.h
create mode 100644 package_bgs/WeightedMovingVarianceBGS.cpp
create mode 100644 package_bgs/WeightedMovingVarianceBGS.h
create mode 100644 package_bgs/ae/KDE.cpp
create mode 100644 package_bgs/ae/KDE.h
create mode 100644 package_bgs/ae/KernelTable.cpp
create mode 100644 package_bgs/ae/KernelTable.h
create mode 100644 package_bgs/ae/NPBGSubtractor.cpp
create mode 100644 package_bgs/ae/NPBGSubtractor.h
create mode 100644 package_bgs/ae/NPBGmodel.cpp
create mode 100644 package_bgs/ae/NPBGmodel.h
create mode 100644 package_bgs/av/TBackground.cpp
create mode 100644 package_bgs/av/TBackground.h
create mode 100644 package_bgs/av/TBackgroundVuMeter.cpp
create mode 100644 package_bgs/av/TBackgroundVuMeter.h
create mode 100644 package_bgs/av/VuMeter.cpp
create mode 100644 package_bgs/av/VuMeter.h
create mode 100644 package_bgs/ck/LbpMrf.cpp
create mode 100644 package_bgs/ck/LbpMrf.h
create mode 100644 package_bgs/ck/MEDefs.cpp
create mode 100644 package_bgs/ck/MEDefs.hpp
create mode 100644 package_bgs/ck/MEHistogram.cpp
create mode 100644 package_bgs/ck/MEHistogram.hpp
create mode 100644 package_bgs/ck/MEImage.cpp
create mode 100644 package_bgs/ck/MEImage.hpp
create mode 100644 package_bgs/ck/MotionDetection.cpp
create mode 100644 package_bgs/ck/MotionDetection.hpp
create mode 100644 package_bgs/ck/README.TXT
create mode 100644 package_bgs/ck/block.h
create mode 100644 package_bgs/ck/graph.cpp
create mode 100644 package_bgs/ck/graph.h
create mode 100644 package_bgs/ck/maxflow.cpp
create mode 100644 package_bgs/db/IndependentMultimodalBGS.cpp
create mode 100644 package_bgs/db/IndependentMultimodalBGS.h
create mode 100644 package_bgs/db/imbs.cpp
create mode 100644 package_bgs/db/imbs.hpp
create mode 100644 package_bgs/dp/AdaptiveMedianBGS.cpp
create mode 100644 package_bgs/dp/AdaptiveMedianBGS.h
create mode 100644 package_bgs/dp/Bgs.h
create mode 100644 package_bgs/dp/BgsParams.h
create mode 100644 package_bgs/dp/DPAdaptiveMedianBGS.cpp
create mode 100644 package_bgs/dp/DPAdaptiveMedianBGS.h
create mode 100644 package_bgs/dp/DPEigenbackgroundBGS.cpp
create mode 100644 package_bgs/dp/DPEigenbackgroundBGS.h
create mode 100644 package_bgs/dp/DPGrimsonGMMBGS.cpp
create mode 100644 package_bgs/dp/DPGrimsonGMMBGS.h
create mode 100644 package_bgs/dp/DPMeanBGS.cpp
create mode 100644 package_bgs/dp/DPMeanBGS.h
create mode 100644 package_bgs/dp/DPPratiMediodBGS.cpp
create mode 100644 package_bgs/dp/DPPratiMediodBGS.h
create mode 100644 package_bgs/dp/DPTextureBGS.cpp
create mode 100644 package_bgs/dp/DPTextureBGS.h
create mode 100644 package_bgs/dp/DPWrenGABGS.cpp
create mode 100644 package_bgs/dp/DPWrenGABGS.h
create mode 100644 package_bgs/dp/DPZivkovicAGMMBGS.cpp
create mode 100644 package_bgs/dp/DPZivkovicAGMMBGS.h
create mode 100644 package_bgs/dp/Eigenbackground.cpp
create mode 100644 package_bgs/dp/Eigenbackground.h
create mode 100644 package_bgs/dp/Error.cpp
create mode 100644 package_bgs/dp/Error.h
create mode 100644 package_bgs/dp/GrimsonGMM.cpp
create mode 100644 package_bgs/dp/GrimsonGMM.h
create mode 100644 package_bgs/dp/Image.cpp
create mode 100644 package_bgs/dp/Image.h
create mode 100644 package_bgs/dp/MeanBGS.cpp
create mode 100644 package_bgs/dp/MeanBGS.h
create mode 100644 package_bgs/dp/PratiMediodBGS.cpp
create mode 100644 package_bgs/dp/PratiMediodBGS.h
create mode 100644 package_bgs/dp/TextureBGS.cpp
create mode 100644 package_bgs/dp/TextureBGS.h
create mode 100644 package_bgs/dp/WrenGA.cpp
create mode 100644 package_bgs/dp/WrenGA.h
create mode 100644 package_bgs/dp/ZivkovicAGMM.cpp
create mode 100644 package_bgs/dp/ZivkovicAGMM.h
create mode 100644 package_bgs/jmo/BGS.h
create mode 100644 package_bgs/jmo/BackgroundSubtractionAPI.h
create mode 100644 package_bgs/jmo/BlobExtraction.cpp
create mode 100644 package_bgs/jmo/BlobExtraction.h
create mode 100644 package_bgs/jmo/BlobLibraryConfiguration.h
create mode 100644 package_bgs/jmo/BlobResult.cpp
create mode 100644 package_bgs/jmo/BlobResult.h
create mode 100644 package_bgs/jmo/CMultiLayerBGS.cpp
create mode 100644 package_bgs/jmo/CMultiLayerBGS.h
create mode 100644 package_bgs/jmo/LocalBinaryPattern.cpp
create mode 100644 package_bgs/jmo/LocalBinaryPattern.h
create mode 100644 package_bgs/jmo/MultiLayerBGS.cpp
create mode 100644 package_bgs/jmo/MultiLayerBGS.h
create mode 100644 package_bgs/jmo/OpenCvDataConversion.h
create mode 100644 package_bgs/jmo/blob.cpp
create mode 100644 package_bgs/jmo/blob.h
create mode 100644 package_bgs/lb/BGModel.cpp
create mode 100644 package_bgs/lb/BGModel.h
create mode 100644 package_bgs/lb/BGModelFuzzyGauss.cpp
create mode 100644 package_bgs/lb/BGModelFuzzyGauss.h
create mode 100644 package_bgs/lb/BGModelFuzzySom.cpp
create mode 100644 package_bgs/lb/BGModelFuzzySom.h
create mode 100644 package_bgs/lb/BGModelGauss.cpp
create mode 100644 package_bgs/lb/BGModelGauss.h
create mode 100644 package_bgs/lb/BGModelMog.cpp
create mode 100644 package_bgs/lb/BGModelMog.h
create mode 100644 package_bgs/lb/BGModelSom.cpp
create mode 100644 package_bgs/lb/BGModelSom.h
create mode 100644 package_bgs/lb/LBAdaptiveSOM.cpp
create mode 100644 package_bgs/lb/LBAdaptiveSOM.h
create mode 100644 package_bgs/lb/LBFuzzyAdaptiveSOM.cpp
create mode 100644 package_bgs/lb/LBFuzzyAdaptiveSOM.h
create mode 100644 package_bgs/lb/LBFuzzyGaussian.cpp
create mode 100644 package_bgs/lb/LBFuzzyGaussian.h
create mode 100644 package_bgs/lb/LBMixtureOfGaussians.cpp
create mode 100644 package_bgs/lb/LBMixtureOfGaussians.h
create mode 100644 package_bgs/lb/LBSimpleGaussian.cpp
create mode 100644 package_bgs/lb/LBSimpleGaussian.h
create mode 100644 package_bgs/lb/Types.h
create mode 100644 package_bgs/my/MyBGS.cpp
create mode 100644 package_bgs/my/MyBGS.h
create mode 100644 package_bgs/pt/PBAS.cpp
create mode 100644 package_bgs/pt/PBAS.h
create mode 100644 package_bgs/pt/PixelBasedAdaptiveSegmenter.cpp
create mode 100644 package_bgs/pt/PixelBasedAdaptiveSegmenter.h
create mode 100644 package_bgs/sjn/SJN_MultiCueBGS.cpp
create mode 100644 package_bgs/sjn/SJN_MultiCueBGS.h
create mode 100644 package_bgs/tb/FuzzyChoquetIntegral.cpp
create mode 100644 package_bgs/tb/FuzzyChoquetIntegral.h
create mode 100644 package_bgs/tb/FuzzySugenoIntegral.cpp
create mode 100644 package_bgs/tb/FuzzySugenoIntegral.h
create mode 100644 package_bgs/tb/FuzzyUtils.cpp
create mode 100644 package_bgs/tb/FuzzyUtils.h
create mode 100644 package_bgs/tb/MRF.cpp
create mode 100644 package_bgs/tb/MRF.h
create mode 100644 package_bgs/tb/PerformanceUtils.cpp
create mode 100644 package_bgs/tb/PerformanceUtils.h
create mode 100644 package_bgs/tb/PixelUtils.cpp
create mode 100644 package_bgs/tb/PixelUtils.h
create mode 100644 package_bgs/tb/T2FGMM.cpp
create mode 100644 package_bgs/tb/T2FGMM.h
create mode 100644 package_bgs/tb/T2FGMM_UM.cpp
create mode 100644 package_bgs/tb/T2FGMM_UM.h
create mode 100644 package_bgs/tb/T2FGMM_UV.cpp
create mode 100644 package_bgs/tb/T2FGMM_UV.h
create mode 100644 package_bgs/tb/T2FMRF.cpp
create mode 100644 package_bgs/tb/T2FMRF.h
create mode 100644 package_bgs/tb/T2FMRF_UM.cpp
create mode 100644 package_bgs/tb/T2FMRF_UM.h
create mode 100644 package_bgs/tb/T2FMRF_UV.cpp
create mode 100644 package_bgs/tb/T2FMRF_UV.h
create mode 100644 run_camera.sh
create mode 100644 run_demo.sh
create mode 100644 run_video.sh
create mode 100644 vs2010/bgslibrary.sln
create mode 100644 vs2010/bgslibrary.suo
create mode 100644 vs2010/bgslibrary.vcxproj
create mode 100644 vs2010/bgslibrary.vcxproj.filters
create mode 100644 vs2010/bgslibrary.vcxproj.user
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..9e26507
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,52 @@
+
+cmake_minimum_required(VERSION 2.8)
+
+project(bgs)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CSS_FLAGS} -std=gnu++0x")
+
+find_package(OpenCV REQUIRED)
+
+if(${OpenCV_VERSION} VERSION_LESS 2.3.1)
+ message (FATAL_ERROR "OpenCV version is not compatible: ${OpenCV_VERSION}")
+endif()
+
+file(GLOB sources FrameProcessor.cpp PreProcessor.cpp VideoAnalysis.cpp VideoCapture.cpp)
+file(GLOB main Main.cpp)
+file(GLOB demo Demo.cpp)
+
+list(REMOVE_ITEM sources ${demo})
+
+file(GLOB_RECURSE analysis package_analysis/*.cpp)
+file(GLOB_RECURSE bgs package_bgs/*.cpp)
+file(GLOB_RECURSE bgs_include package_bgs/*.h)
+
+# GMG is not available in older OpenCV versions
+if(${OpenCV_VERSION} VERSION_LESS 2.4.3)
+ file(GLOB gmg package_bgs/GMG.cpp)
+ list(REMOVE_ITEM bgs ${gmg})
+endif()
+
+include_directories(${CMAKE_SOURCE_DIR})
+
+add_library(bgs SHARED ${sources} ${bgs} ${analysis})
+target_link_libraries(bgs ${OpenCV_LIBS})
+set_property(TARGET bgs PROPERTY PUBLIC_HEADER ${bgs_include})
+
+add_executable(bgs_bin ${main})
+target_link_libraries(bgs_bin ${OpenCV_LIBS} bgs)
+set_target_properties(bgs_bin
+ PROPERTIES OUTPUT_NAME bgs)
+
+add_executable(bgs_demo ${demo})
+target_link_libraries(bgs_demo ${OpenCV_LIBS} bgs)
+
+INSTALL(TARGETS bgs
+ bgs_demo
+ bgs_bin
+ RUNTIME DESTINATION bin COMPONENT app
+ LIBRARY DESTINATION lib COMPONENT runtime
+ ARCHIVE DESTINATION lib COMPONENT runtime
+ PUBLIC_HEADER DESTINATION include/package_bgs COMPONENT dev
+ FRAMEWORK DESTINATION "/Library/Frameworks"
+)
diff --git a/COPYING.txt b/COPYING.txt
new file mode 100644
index 0000000..94a9ed0
--- /dev/null
+++ b/COPYING.txt
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+ The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works. By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users. We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors. You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+ To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights. Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
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+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
diff --git a/Config.h b/Config.h
new file mode 100644
index 0000000..01cf721
--- /dev/null
+++ b/Config.h
@@ -0,0 +1,22 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+const int KEY_REPEAT = 'r';
+const int KEY_SPACE = 32;
+const int KEY_ESC = 27;
+const int KEY_ESC2 = 'q';
diff --git a/Demo.cpp b/Demo.cpp
new file mode 100644
index 0000000..3936976
--- /dev/null
+++ b/Demo.cpp
@@ -0,0 +1,182 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "package_bgs/FrameDifferenceBGS.h"
+#include "package_bgs/StaticFrameDifferenceBGS.h"
+#include "package_bgs/WeightedMovingMeanBGS.h"
+#include "package_bgs/WeightedMovingVarianceBGS.h"
+#include "package_bgs/MixtureOfGaussianV1BGS.h"
+#include "package_bgs/MixtureOfGaussianV2BGS.h"
+#include "package_bgs/AdaptiveBackgroundLearning.h"
+#include "package_bgs/AdaptiveSelectiveBackgroundLearning.h"
+
+#if CV_MAJOR_VERSION >= 2 && CV_MINOR_VERSION >= 4 && CV_SUBMINOR_VERSION >= 3
+#include "package_bgs/GMG.h"
+#endif
+
+#include "package_bgs/dp/DPAdaptiveMedianBGS.h"
+#include "package_bgs/dp/DPGrimsonGMMBGS.h"
+#include "package_bgs/dp/DPZivkovicAGMMBGS.h"
+#include "package_bgs/dp/DPMeanBGS.h"
+#include "package_bgs/dp/DPWrenGABGS.h"
+#include "package_bgs/dp/DPPratiMediodBGS.h"
+#include "package_bgs/dp/DPEigenbackgroundBGS.h"
+#include "package_bgs/dp/DPTextureBGS.h"
+
+#include "package_bgs/tb/T2FGMM_UM.h"
+#include "package_bgs/tb/T2FGMM_UV.h"
+#include "package_bgs/tb/T2FMRF_UM.h"
+#include "package_bgs/tb/T2FMRF_UV.h"
+#include "package_bgs/tb/FuzzySugenoIntegral.h"
+#include "package_bgs/tb/FuzzyChoquetIntegral.h"
+
+#include "package_bgs/lb/LBSimpleGaussian.h"
+#include "package_bgs/lb/LBFuzzyGaussian.h"
+#include "package_bgs/lb/LBMixtureOfGaussians.h"
+#include "package_bgs/lb/LBAdaptiveSOM.h"
+#include "package_bgs/lb/LBFuzzyAdaptiveSOM.h"
+
+#if !defined(_WIN32)
+// Currently this method works only on Linux platform.
+#include "package_bgs/ck/LbpMrf.h"
+#endif
+
+#include "package_bgs/jmo/MultiLayerBGS.h"
+#include "package_bgs/pt/PixelBasedAdaptiveSegmenter.h"
+#include "package_bgs/av/VuMeter.h"
+#include "package_bgs/ae/KDE.h"
+#include "package_bgs/db/IndependentMultimodalBGS.h"
+#include "package_bgs/sjn/SJN_MultiCueBGS.h"
+
+void main(int argc, char **argv)
+{
+ std::cout << "Using OpenCV " << CV_MAJOR_VERSION << "." << CV_MINOR_VERSION << "." << CV_SUBMINOR_VERSION << std::endl;
+
+ CvCapture *capture = 0;
+ int resize_factor = 100;
+
+ if(argc > 1)
+ {
+ std::cout << "Openning: " << argv[1] << std::endl;
+ capture = cvCaptureFromAVI(argv[1]);
+ }
+ else
+ {
+ capture = cvCaptureFromCAM(0);
+ resize_factor = 50; // set size = 50% of original image
+ }
+
+ if(!capture)
+ {
+ std::cerr << "Cannot initialize video!" << std::endl;
+ return;
+ }
+
+ IplImage *frame_aux = cvQueryFrame(capture);
+ IplImage *frame = cvCreateImage(cvSize((int)((frame_aux->width*resize_factor)/100) , (int)((frame_aux->height*resize_factor)/100)), frame_aux->depth, frame_aux->nChannels);
+ cvResize(frame_aux, frame);
+
+ /* Background Subtraction Methods */
+ IBGS *bgs;
+
+ /*** Default Package ***/
+ bgs = new FrameDifferenceBGS;
+ //bgs = new StaticFrameDifferenceBGS;
+ //bgs = new WeightedMovingMeanBGS;
+ //bgs = new WeightedMovingVarianceBGS;
+ //bgs = new MixtureOfGaussianV1BGS;
+ //bgs = new MixtureOfGaussianV2BGS;
+ //bgs = new AdaptiveBackgroundLearning;
+ //bgs = new AdaptiveSelectiveBackgroundLearning;
+ //bgs = new GMG;
+
+ /*** DP Package (thanks to Donovan Parks) ***/
+ //bgs = new DPAdaptiveMedianBGS;
+ //bgs = new DPGrimsonGMMBGS;
+ //bgs = new DPZivkovicAGMMBGS;
+ //bgs = new DPMeanBGS;
+ //bgs = new DPWrenGABGS;
+ //bgs = new DPPratiMediodBGS;
+ //bgs = new DPEigenbackgroundBGS;
+ //bgs = new DPTextureBGS;
+
+ /*** TB Package (thanks to Thierry Bouwmans, Fida EL BAF and Zhenjie Zhao) ***/
+ //bgs = new T2FGMM_UM;
+ //bgs = new T2FGMM_UV;
+ //bgs = new T2FMRF_UM;
+ //bgs = new T2FMRF_UV;
+ //bgs = new FuzzySugenoIntegral;
+ //bgs = new FuzzyChoquetIntegral;
+
+ /*** JMO Package (thanks to Jean-Marc Odobez) ***/
+ //bgs = new MultiLayerBGS;
+
+ /*** PT Package (thanks to Martin Hofmann, Philipp Tiefenbacher and Gerhard Rigoll) ***/
+ //bgs = new PixelBasedAdaptiveSegmenter;
+
+ /*** LB Package (thanks to Laurence Bender) ***/
+ //bgs = new LBSimpleGaussian;
+ //bgs = new LBFuzzyGaussian;
+ //bgs = new LBMixtureOfGaussians;
+ //bgs = new LBAdaptiveSOM;
+ //bgs = new LBFuzzyAdaptiveSOM;
+
+ /*** LBP-MRF Package (thanks to Csaba Kertész) ***/
+ //bgs = new LbpMrf;
+
+ /*** AV Package (thanks to Lionel Robinault and Antoine Vacavant) ***/
+ //bgs = new VuMeter;
+
+ /*** EG Package (thanks to Ahmed Elgammal) ***/
+ //bgs = new KDE;
+
+ /*** DB Package (thanks to Domenico Daniele Bloisi) ***/
+ //bgs = new IndependentMultimodalBGS;
+
+ /*** SJN Package (thanks to SeungJong Noh) ***/
+ //bgs = new SJN_MultiCueBGS;
+
+ int key = 0;
+ while(key != 'q')
+ {
+ frame_aux = cvQueryFrame(capture);
+ if(!frame_aux) break;
+
+ cvResize(frame_aux, frame);
+
+ cv::Mat img_input(frame);
+ cv::imshow("input", img_input);
+
+ cv::Mat img_mask;
+ cv::Mat img_bkgmodel;
+ bgs->process(img_input, img_mask, img_bkgmodel); // by default, it shows automatically the foreground mask image
+
+ //if(!img_mask.empty())
+ // cv::imshow("Foreground", img_mask);
+ // do something
+
+ key = cvWaitKey(33);
+ }
+
+ delete bgs;
+
+ cvDestroyAllWindows();
+ cvReleaseCapture(&capture);
+}
diff --git a/FrameProcessor.cpp b/FrameProcessor.cpp
new file mode 100644
index 0000000..585cb9b
--- /dev/null
+++ b/FrameProcessor.cpp
@@ -0,0 +1,557 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "FrameProcessor.h"
+
+FrameProcessor::FrameProcessor() : firstTime(true), frameNumber(0), duration(0), tictoc(""), frameToStop(0)
+{
+ std::cout << "FrameProcessor()" << std::endl;
+
+ loadConfig();
+ saveConfig();
+}
+
+FrameProcessor::~FrameProcessor()
+{
+ std::cout << "~FrameProcessor()" << std::endl;
+}
+
+void FrameProcessor::init()
+{
+ if(enablePreProcessor)
+ preProcessor = new PreProcessor;
+
+ if(enableFrameDifferenceBGS)
+ frameDifference = new FrameDifferenceBGS;
+
+ if(enableStaticFrameDifferenceBGS)
+ staticFrameDifference = new StaticFrameDifferenceBGS;
+
+ if(enableWeightedMovingMeanBGS)
+ weightedMovingMean = new WeightedMovingMeanBGS;
+
+ if(enableWeightedMovingVarianceBGS)
+ weightedMovingVariance = new WeightedMovingVarianceBGS;
+
+ if(enableMixtureOfGaussianV1BGS)
+ mixtureOfGaussianV1BGS = new MixtureOfGaussianV1BGS;
+
+ if(enableMixtureOfGaussianV2BGS)
+ mixtureOfGaussianV2BGS = new MixtureOfGaussianV2BGS;
+
+ if(enableAdaptiveBackgroundLearning)
+ adaptiveBackgroundLearning = new AdaptiveBackgroundLearning;
+
+#if CV_MAJOR_VERSION >= 2 && CV_MINOR_VERSION >= 4 && CV_SUBMINOR_VERSION >= 3
+ if(enableGMG)
+ gmg = new GMG;
+#endif
+
+ if(enableDPAdaptiveMedianBGS)
+ adaptiveMedian = new DPAdaptiveMedianBGS;
+
+ if(enableDPGrimsonGMMBGS)
+ grimsonGMM = new DPGrimsonGMMBGS;
+
+ if(enableDPZivkovicAGMMBGS)
+ zivkovicAGMM = new DPZivkovicAGMMBGS;
+
+ if(enableDPMeanBGS)
+ temporalMean = new DPMeanBGS;
+
+ if(enableDPWrenGABGS)
+ wrenGA = new DPWrenGABGS;
+
+ if(enableDPPratiMediodBGS)
+ pratiMediod = new DPPratiMediodBGS;
+
+ if(enableDPEigenbackgroundBGS)
+ eigenBackground = new DPEigenbackgroundBGS;
+
+ if(enableDPTextureBGS)
+ textureBGS = new DPTextureBGS;
+
+ if(enableT2FGMM_UM)
+ type2FuzzyGMM_UM = new T2FGMM_UM;
+
+ if(enableT2FGMM_UV)
+ type2FuzzyGMM_UV = new T2FGMM_UV;
+
+ if(enableT2FMRF_UM)
+ type2FuzzyMRF_UM = new T2FMRF_UM;
+
+ if(enableT2FMRF_UV)
+ type2FuzzyMRF_UV = new T2FMRF_UV;
+
+ if(enableFuzzySugenoIntegral)
+ fuzzySugenoIntegral = new FuzzySugenoIntegral;
+
+ if(enableFuzzyChoquetIntegral)
+ fuzzyChoquetIntegral = new FuzzyChoquetIntegral;
+
+ if(enableLBSimpleGaussian)
+ lbSimpleGaussian = new LBSimpleGaussian;
+
+ if(enableLBFuzzyGaussian)
+ lbFuzzyGaussian = new LBFuzzyGaussian;
+
+ if(enableLBMixtureOfGaussians)
+ lbMixtureOfGaussians = new LBMixtureOfGaussians;
+
+ if(enableLBAdaptiveSOM)
+ lbAdaptiveSOM = new LBAdaptiveSOM;
+
+ if(enableLBFuzzyAdaptiveSOM)
+ lbFuzzyAdaptiveSOM = new LBFuzzyAdaptiveSOM;
+
+ #if !defined(_WIN32)
+ if(enableLbpMrf)
+ lbpMrf = new LbpMrf;
+ #endif
+
+ if(enableMultiLayerBGS)
+ multiLayerBGS = new MultiLayerBGS;
+
+ if(enablePBAS)
+ pixelBasedAdaptiveSegmenter = new PixelBasedAdaptiveSegmenter;
+
+ if(enableVuMeter)
+ vuMeter = new VuMeter;
+
+ if(enableKDE)
+ kde = new KDE;
+
+ if(enableForegroundMaskAnalysis)
+ foregroundMaskAnalysis = new ForegroundMaskAnalysis;
+}
+
+void FrameProcessor::process(std::string name, IBGS *bgs, const cv::Mat &img_input, cv::Mat &img_bgs)
+{
+ if(tictoc == name)
+ tic(name);
+
+ cv::Mat img_bkgmodel;
+ bgs->process(img_input, img_bgs, img_bkgmodel);
+
+ if(tictoc == name)
+ toc();
+}
+
+void FrameProcessor::process(const cv::Mat &img_input)
+{
+ frameNumber++;
+
+ if(enablePreProcessor)
+ preProcessor->process(img_input, img_prep);
+
+ if(enableFrameDifferenceBGS)
+ process("FrameDifferenceBGS", frameDifference, img_prep, img_framediff);
+
+ if(enableStaticFrameDifferenceBGS)
+ process("StaticFrameDifferenceBGS", staticFrameDifference, img_prep, img_staticfdiff);
+
+ if(enableWeightedMovingMeanBGS)
+ process("WeightedMovingMeanBGS", weightedMovingMean, img_prep, img_wmovmean);
+
+ if(enableWeightedMovingVarianceBGS)
+ process("WeightedMovingVarianceBGS", weightedMovingVariance, img_prep, img_movvar);
+
+ if(enableMixtureOfGaussianV1BGS)
+ process("MixtureOfGaussianV1BGS", mixtureOfGaussianV1BGS, img_prep, img_mog1);
+
+ if(enableMixtureOfGaussianV2BGS)
+ process("MixtureOfGaussianV2BGS", mixtureOfGaussianV2BGS, img_prep, img_mog2);
+
+ if(enableAdaptiveBackgroundLearning)
+ process("AdaptiveBackgroundLearning", adaptiveBackgroundLearning, img_prep, img_bkgl_fgmask);
+
+#if CV_MAJOR_VERSION >= 2 && CV_MINOR_VERSION >= 4 && CV_SUBMINOR_VERSION >= 3
+ if(enableGMG)
+ process("GMG", gmg, img_prep, img_gmg);
+#endif
+
+ if(enableDPAdaptiveMedianBGS)
+ process("DPAdaptiveMedianBGS", adaptiveMedian, img_prep, img_adpmed);
+
+ if(enableDPGrimsonGMMBGS)
+ process("DPGrimsonGMMBGS", grimsonGMM, img_prep, img_grigmm);
+
+ if(enableDPZivkovicAGMMBGS)
+ process("DPZivkovicAGMMBGS", zivkovicAGMM, img_prep, img_zivgmm);
+
+ if(enableDPMeanBGS)
+ process("DPMeanBGS", temporalMean, img_prep, img_tmpmean);
+
+ if(enableDPWrenGABGS)
+ process("DPWrenGABGS", wrenGA, img_prep, img_wrenga);
+
+ if(enableDPPratiMediodBGS)
+ process("DPPratiMediodBGS", pratiMediod, img_prep, img_pramed);
+
+ if(enableDPEigenbackgroundBGS)
+ process("DPEigenbackgroundBGS", eigenBackground, img_prep, img_eigbkg);
+
+ if(enableDPTextureBGS)
+ process("DPTextureBGS", textureBGS, img_prep, img_texbgs);
+
+ if(enableT2FGMM_UM)
+ process("T2FGMM_UM", type2FuzzyGMM_UM, img_prep, img_t2fgmm_um);
+
+ if(enableT2FGMM_UV)
+ process("T2FGMM_UV", type2FuzzyGMM_UV, img_prep, img_t2fgmm_uv);
+
+ if(enableT2FMRF_UM)
+ process("T2FMRF_UM", type2FuzzyMRF_UM, img_prep, img_t2fmrf_um);
+
+ if(enableT2FMRF_UV)
+ process("T2FMRF_UV", type2FuzzyMRF_UV, img_prep, img_t2fmrf_uv);
+
+ if(enableFuzzySugenoIntegral)
+ process("FuzzySugenoIntegral", fuzzySugenoIntegral, img_prep, img_fsi);
+
+ if(enableFuzzyChoquetIntegral)
+ process("FuzzyChoquetIntegral", fuzzyChoquetIntegral, img_prep, img_fci);
+
+ if(enableLBSimpleGaussian)
+ process("LBSimpleGaussian", lbSimpleGaussian, img_prep, img_lb_sg);
+
+ if(enableLBFuzzyGaussian)
+ process("LBFuzzyGaussian", lbFuzzyGaussian, img_prep, img_lb_fg);
+
+ if(enableLBMixtureOfGaussians)
+ process("LBMixtureOfGaussians", lbMixtureOfGaussians, img_prep, img_lb_mog);
+
+ if(enableLBAdaptiveSOM)
+ process("LBAdaptiveSOM", lbAdaptiveSOM, img_prep, img_lb_som);
+
+ if(enableLBFuzzyAdaptiveSOM)
+ process("LBFuzzyAdaptiveSOM", lbFuzzyAdaptiveSOM, img_prep, img_lb_fsom);
+
+ #if !defined(_WIN32)
+ if(enableLbpMrf)
+ process("LbpMrf", lbpMrf, img_prep, img_lbp_mrf);
+ #endif
+
+ if(enableMultiLayerBGS)
+ {
+ multiLayerBGS->setStatus(MultiLayerBGS::Status::MLBGS_LEARN);
+ //multiLayerBGS->setStatus(MultiLayerBGS::Status::MLBGS_DETECT);
+ process("MultiLayerBGS", multiLayerBGS, img_prep, img_mlbgs);
+ }
+
+ if(enablePBAS)
+ process("PBAS", pixelBasedAdaptiveSegmenter, img_prep, img_pt_pbas);
+
+ if(enableVuMeter)
+ process("VuMeter", vuMeter, img_prep, img_vumeter);
+
+ if(enableKDE)
+ process("KDE", kde, img_prep, img_kde);
+
+ if(enableForegroundMaskAnalysis)
+ {
+ foregroundMaskAnalysis->stopAt = frameToStop;
+ foregroundMaskAnalysis->img_ref_path = imgref;
+
+ foregroundMaskAnalysis->process(frameNumber, "FrameDifferenceBGS", img_framediff);
+ foregroundMaskAnalysis->process(frameNumber, "StaticFrameDifferenceBGS", img_staticfdiff);
+ foregroundMaskAnalysis->process(frameNumber, "WeightedMovingMeanBGS", img_wmovmean);
+ foregroundMaskAnalysis->process(frameNumber, "WeightedMovingVarianceBGS", img_movvar);
+ foregroundMaskAnalysis->process(frameNumber, "MixtureOfGaussianV1BGS", img_mog1);
+ foregroundMaskAnalysis->process(frameNumber, "MixtureOfGaussianV2BGS", img_mog2);
+ foregroundMaskAnalysis->process(frameNumber, "AdaptiveBackgroundLearning", img_bkgl_fgmask);
+#if CV_MAJOR_VERSION >= 2 && CV_MINOR_VERSION >= 4 && CV_SUBMINOR_VERSION >= 3
+ foregroundMaskAnalysis->process(frameNumber, "GMG", img_gmg);
+#endif
+ foregroundMaskAnalysis->process(frameNumber, "DPAdaptiveMedianBGS", img_adpmed);
+ foregroundMaskAnalysis->process(frameNumber, "DPGrimsonGMMBGS", img_grigmm);
+ foregroundMaskAnalysis->process(frameNumber, "DPZivkovicAGMMBGS", img_zivgmm);
+ foregroundMaskAnalysis->process(frameNumber, "DPMeanBGS", img_tmpmean);
+ foregroundMaskAnalysis->process(frameNumber, "DPWrenGABGS", img_wrenga);
+ foregroundMaskAnalysis->process(frameNumber, "DPPratiMediodBGS", img_pramed);
+ foregroundMaskAnalysis->process(frameNumber, "DPEigenbackgroundBGS", img_eigbkg);
+ foregroundMaskAnalysis->process(frameNumber, "DPTextureBGS", img_texbgs);
+ foregroundMaskAnalysis->process(frameNumber, "T2FGMM_UM", img_t2fgmm_um);
+ foregroundMaskAnalysis->process(frameNumber, "T2FGMM_UV", img_t2fgmm_uv);
+ foregroundMaskAnalysis->process(frameNumber, "T2FMRF_UM", img_t2fmrf_um);
+ foregroundMaskAnalysis->process(frameNumber, "T2FMRF_UV", img_t2fmrf_uv);
+ foregroundMaskAnalysis->process(frameNumber, "FuzzySugenoIntegral", img_fsi);
+ foregroundMaskAnalysis->process(frameNumber, "FuzzyChoquetIntegral", img_fci);
+ foregroundMaskAnalysis->process(frameNumber, "LBSimpleGaussian", img_lb_sg);
+ foregroundMaskAnalysis->process(frameNumber, "LBFuzzyGaussian", img_lb_fg);
+ foregroundMaskAnalysis->process(frameNumber, "LBMixtureOfGaussians", img_lb_mog);
+ foregroundMaskAnalysis->process(frameNumber, "LBAdaptiveSOM", img_lb_som);
+ foregroundMaskAnalysis->process(frameNumber, "LBFuzzyAdaptiveSOM", img_lb_fsom);
+ #if !defined(_WIN32)
+ foregroundMaskAnalysis->process(frameNumber, "LbpMrf", img_lbp_mrf);
+ #endif
+ foregroundMaskAnalysis->process(frameNumber, "MultiLayerBGS", img_mlbgs);
+ foregroundMaskAnalysis->process(frameNumber, "PBAS", img_pt_pbas);
+ foregroundMaskAnalysis->process(frameNumber, "VuMeter", img_vumeter);
+ foregroundMaskAnalysis->process(frameNumber, "KDE", img_kde);
+ }
+
+ firstTime = false;
+}
+
+void FrameProcessor::finish(void)
+{
+ /*if(enableMultiLayerBGS)
+ multiLayerBGS->finish();
+
+ if(enableLBSimpleGaussian)
+ lbSimpleGaussian->finish();
+
+ if(enableLBFuzzyGaussian)
+ lbFuzzyGaussian->finish();
+
+ if(enableLBMixtureOfGaussians)
+ lbMixtureOfGaussians->finish();
+
+ if(enableLBAdaptiveSOM)
+ lbAdaptiveSOM->finish();
+
+ if(enableLBFuzzyAdaptiveSOM)
+ lbFuzzyAdaptiveSOM->finish();*/
+
+ if(enableForegroundMaskAnalysis)
+ delete foregroundMaskAnalysis;
+
+ if(enableKDE)
+ delete kde;
+
+ if(enableVuMeter)
+ delete vuMeter;
+
+ if(enablePBAS)
+ delete pixelBasedAdaptiveSegmenter;
+
+ if(enableMultiLayerBGS)
+ delete multiLayerBGS;
+
+ if(enableLBFuzzyAdaptiveSOM)
+ delete lbFuzzyAdaptiveSOM;
+
+ if(enableLBAdaptiveSOM)
+ delete lbAdaptiveSOM;
+
+ if(enableLBMixtureOfGaussians)
+ delete lbMixtureOfGaussians;
+
+ if(enableLBFuzzyGaussian)
+ delete lbFuzzyGaussian;
+
+ if(enableLBSimpleGaussian)
+ delete lbSimpleGaussian;
+
+ #if !defined(_WIN32)
+ if(enableLbpMrf)
+ delete lbpMrf;
+ #endif
+
+ if(enableFuzzyChoquetIntegral)
+ delete fuzzyChoquetIntegral;
+
+ if(enableFuzzySugenoIntegral)
+ delete fuzzySugenoIntegral;
+
+ if(enableT2FMRF_UV)
+ delete type2FuzzyMRF_UV;
+
+ if(enableT2FMRF_UM)
+ delete type2FuzzyMRF_UM;
+
+ if(enableT2FGMM_UV)
+ delete type2FuzzyGMM_UV;
+
+ if(enableT2FGMM_UM)
+ delete type2FuzzyGMM_UM;
+
+ if(enableDPTextureBGS)
+ delete textureBGS;
+
+ if(enableDPEigenbackgroundBGS)
+ delete eigenBackground;
+
+ if(enableDPPratiMediodBGS)
+ delete pratiMediod;
+
+ if(enableDPWrenGABGS)
+ delete wrenGA;
+
+ if(enableDPMeanBGS)
+ delete temporalMean;
+
+ if(enableDPZivkovicAGMMBGS)
+ delete zivkovicAGMM;
+
+ if(enableDPGrimsonGMMBGS)
+ delete grimsonGMM;
+
+ if(enableDPAdaptiveMedianBGS)
+ delete adaptiveMedian;
+
+#if CV_MAJOR_VERSION >= 2 && CV_MINOR_VERSION >= 4 && CV_SUBMINOR_VERSION >= 3
+ if(enableGMG)
+ delete gmg;
+#endif
+
+ if(enableAdaptiveBackgroundLearning)
+ delete adaptiveBackgroundLearning;
+
+ if(enableMixtureOfGaussianV2BGS)
+ delete mixtureOfGaussianV2BGS;
+
+ if(enableMixtureOfGaussianV1BGS)
+ delete mixtureOfGaussianV1BGS;
+
+ if(enableWeightedMovingVarianceBGS)
+ delete weightedMovingVariance;
+
+ if(enableWeightedMovingMeanBGS)
+ delete weightedMovingMean;
+
+ if(enableStaticFrameDifferenceBGS)
+ delete staticFrameDifference;
+
+ if(enableFrameDifferenceBGS)
+ delete frameDifference;
+
+ if(enablePreProcessor)
+ delete preProcessor;
+}
+
+void FrameProcessor::tic(std::string value)
+{
+ processname = value;
+ duration = static_cast<double>(cv::getTickCount());
+}
+
+void FrameProcessor::toc()
+{
+ duration = (static_cast<double>(cv::getTickCount()) - duration)/cv::getTickFrequency();
+ std::cout << processname << "\ttime(sec):" << std::fixed << std::setprecision(6) << duration << std::endl;
+}
+
+void FrameProcessor::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/FrameProcessor.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteString(fs, "tictoc", tictoc.c_str());
+
+ cvWriteInt(fs, "enablePreProcessor", enablePreProcessor);
+
+ cvWriteInt(fs, "enableForegroundMaskAnalysis", enableForegroundMaskAnalysis);
+
+ cvWriteInt(fs, "enableFrameDifferenceBGS", enableFrameDifferenceBGS);
+ cvWriteInt(fs, "enableStaticFrameDifferenceBGS", enableStaticFrameDifferenceBGS);
+ cvWriteInt(fs, "enableWeightedMovingMeanBGS", enableWeightedMovingMeanBGS);
+ cvWriteInt(fs, "enableWeightedMovingVarianceBGS", enableWeightedMovingVarianceBGS);
+ cvWriteInt(fs, "enableMixtureOfGaussianV1BGS", enableMixtureOfGaussianV1BGS);
+ cvWriteInt(fs, "enableMixtureOfGaussianV2BGS", enableMixtureOfGaussianV2BGS);
+ cvWriteInt(fs, "enableAdaptiveBackgroundLearning", enableAdaptiveBackgroundLearning);
+#if CV_MAJOR_VERSION >= 2 && CV_MINOR_VERSION >= 4 && CV_SUBMINOR_VERSION >= 3
+ cvWriteInt(fs, "enableGMG", enableGMG);
+#endif
+
+ cvWriteInt(fs, "enableDPAdaptiveMedianBGS", enableDPAdaptiveMedianBGS);
+ cvWriteInt(fs, "enableDPGrimsonGMMBGS", enableDPGrimsonGMMBGS);
+ cvWriteInt(fs, "enableDPZivkovicAGMMBGS", enableDPZivkovicAGMMBGS);
+ cvWriteInt(fs, "enableDPMeanBGS", enableDPMeanBGS);
+ cvWriteInt(fs, "enableDPWrenGABGS", enableDPWrenGABGS);
+ cvWriteInt(fs, "enableDPPratiMediodBGS", enableDPPratiMediodBGS);
+ cvWriteInt(fs, "enableDPEigenbackgroundBGS", enableDPEigenbackgroundBGS);
+ cvWriteInt(fs, "enableDPTextureBGS", enableDPTextureBGS);
+
+ cvWriteInt(fs, "enableT2FGMM_UM", enableT2FGMM_UM);
+ cvWriteInt(fs, "enableT2FGMM_UV", enableT2FGMM_UV);
+ cvWriteInt(fs, "enableT2FMRF_UM", enableT2FMRF_UM);
+ cvWriteInt(fs, "enableT2FMRF_UV", enableT2FMRF_UV);
+ cvWriteInt(fs, "enableFuzzySugenoIntegral", enableFuzzySugenoIntegral);
+ cvWriteInt(fs, "enableFuzzyChoquetIntegral", enableFuzzyChoquetIntegral);
+
+ cvWriteInt(fs, "enableLBSimpleGaussian", enableLBSimpleGaussian);
+ cvWriteInt(fs, "enableLBFuzzyGaussian", enableLBFuzzyGaussian);
+ cvWriteInt(fs, "enableLBMixtureOfGaussians", enableLBMixtureOfGaussians);
+ cvWriteInt(fs, "enableLBAdaptiveSOM", enableLBAdaptiveSOM);
+ cvWriteInt(fs, "enableLBFuzzyAdaptiveSOM", enableLBFuzzyAdaptiveSOM);
+
+ #if !defined(_WIN32)
+ cvWriteInt(fs, "enableLbpMrf", enableLbpMrf);
+ #endif
+
+ cvWriteInt(fs, "enableMultiLayerBGS", enableMultiLayerBGS);
+ cvWriteInt(fs, "enablePBAS", enablePBAS);
+ cvWriteInt(fs, "enableVuMeter", enableVuMeter);
+ cvWriteInt(fs, "enableKDE", enableKDE);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void FrameProcessor::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/FrameProcessor.xml", 0, CV_STORAGE_READ);
+
+ tictoc = cvReadStringByName(fs, 0, "tictoc", "");
+
+ enablePreProcessor = cvReadIntByName(fs, 0, "enablePreProcessor", true);
+
+ enableForegroundMaskAnalysis = cvReadIntByName(fs, 0, "enableForegroundMaskAnalysis", false);
+
+ enableFrameDifferenceBGS = cvReadIntByName(fs, 0, "enableFrameDifferenceBGS", false);
+ enableStaticFrameDifferenceBGS = cvReadIntByName(fs, 0, "enableStaticFrameDifferenceBGS", false);
+ enableWeightedMovingMeanBGS = cvReadIntByName(fs, 0, "enableWeightedMovingMeanBGS", false);
+ enableWeightedMovingVarianceBGS = cvReadIntByName(fs, 0, "enableWeightedMovingVarianceBGS", false);
+ enableMixtureOfGaussianV1BGS = cvReadIntByName(fs, 0, "enableMixtureOfGaussianV1BGS", false);
+ enableMixtureOfGaussianV2BGS = cvReadIntByName(fs, 0, "enableMixtureOfGaussianV2BGS", false);
+ enableAdaptiveBackgroundLearning = cvReadIntByName(fs, 0, "enableAdaptiveBackgroundLearning", false);
+#if CV_MAJOR_VERSION >= 2 && CV_MINOR_VERSION >= 4 && CV_SUBMINOR_VERSION >= 3
+ enableGMG = cvReadIntByName(fs, 0, "enableGMG", false);
+#endif
+
+ enableDPAdaptiveMedianBGS = cvReadIntByName(fs, 0, "enableDPAdaptiveMedianBGS", false);
+ enableDPGrimsonGMMBGS = cvReadIntByName(fs, 0, "enableDPGrimsonGMMBGS", false);
+ enableDPZivkovicAGMMBGS = cvReadIntByName(fs, 0, "enableDPZivkovicAGMMBGS", false);
+ enableDPMeanBGS = cvReadIntByName(fs, 0, "enableDPMeanBGS", false);
+ enableDPWrenGABGS = cvReadIntByName(fs, 0, "enableDPWrenGABGS", false);
+ enableDPPratiMediodBGS = cvReadIntByName(fs, 0, "enableDPPratiMediodBGS", false);
+ enableDPEigenbackgroundBGS = cvReadIntByName(fs, 0, "enableDPEigenbackgroundBGS", false);
+ enableDPTextureBGS = cvReadIntByName(fs, 0, "enableDPTextureBGS", false);
+
+ enableT2FGMM_UM = cvReadIntByName(fs, 0, "enableT2FGMM_UM", false);
+ enableT2FGMM_UV = cvReadIntByName(fs, 0, "enableT2FGMM_UV", false);
+ enableT2FMRF_UM = cvReadIntByName(fs, 0, "enableT2FMRF_UM", false);
+ enableT2FMRF_UV = cvReadIntByName(fs, 0, "enableT2FMRF_UV", false);
+ enableFuzzySugenoIntegral = cvReadIntByName(fs, 0, "enableFuzzySugenoIntegral", false);
+ enableFuzzyChoquetIntegral = cvReadIntByName(fs, 0, "enableFuzzyChoquetIntegral", false);
+
+ enableLBSimpleGaussian = cvReadIntByName(fs, 0, "enableLBSimpleGaussian", false);
+ enableLBFuzzyGaussian = cvReadIntByName(fs, 0, "enableLBFuzzyGaussian", false);
+ enableLBMixtureOfGaussians = cvReadIntByName(fs, 0, "enableLBMixtureOfGaussians", false);
+ enableLBAdaptiveSOM = cvReadIntByName(fs, 0, "enableLBAdaptiveSOM", false);
+ enableLBFuzzyAdaptiveSOM = cvReadIntByName(fs, 0, "enableLBFuzzyAdaptiveSOM", false);
+
+ #if !defined(_WIN32)
+ enableLbpMrf = cvReadIntByName(fs, 0, "enableLbpMrf", false);
+ #endif
+
+ enableMultiLayerBGS = cvReadIntByName(fs, 0, "enableMultiLayerBGS", false);
+ enablePBAS = cvReadIntByName(fs, 0, "enablePBAS", false);
+ enableVuMeter = cvReadIntByName(fs, 0, "enableVuMeter", false);
+ enableKDE = cvReadIntByName(fs, 0, "enableKDE", false);
+
+ cvReleaseFileStorage(&fs);
+}
diff --git a/FrameProcessor.h b/FrameProcessor.h
new file mode 100644
index 0000000..44ad2aa
--- /dev/null
+++ b/FrameProcessor.h
@@ -0,0 +1,235 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+#pragma warning(disable : 4482)
+
+#include "IFrameProcessor.h"
+#include "PreProcessor.h"
+
+#include "package_bgs/IBGS.h"
+
+#include "package_bgs/FrameDifferenceBGS.h"
+#include "package_bgs/StaticFrameDifferenceBGS.h"
+#include "package_bgs/WeightedMovingMeanBGS.h"
+#include "package_bgs/WeightedMovingVarianceBGS.h"
+#include "package_bgs/MixtureOfGaussianV1BGS.h"
+#include "package_bgs/MixtureOfGaussianV2BGS.h"
+#include "package_bgs/AdaptiveBackgroundLearning.h"
+#if CV_MAJOR_VERSION >= 2 && CV_MINOR_VERSION >= 4 && CV_SUBMINOR_VERSION >= 3
+#include "package_bgs/GMG.h"
+#endif
+
+#include "package_bgs/dp/DPAdaptiveMedianBGS.h"
+#include "package_bgs/dp/DPGrimsonGMMBGS.h"
+#include "package_bgs/dp/DPZivkovicAGMMBGS.h"
+#include "package_bgs/dp/DPMeanBGS.h"
+#include "package_bgs/dp/DPWrenGABGS.h"
+#include "package_bgs/dp/DPPratiMediodBGS.h"
+#include "package_bgs/dp/DPEigenbackgroundBGS.h"
+#include "package_bgs/dp/DPTextureBGS.h"
+
+#include "package_bgs/tb/T2FGMM_UM.h"
+#include "package_bgs/tb/T2FGMM_UV.h"
+#include "package_bgs/tb/T2FMRF_UM.h"
+#include "package_bgs/tb/T2FMRF_UV.h"
+#include "package_bgs/tb/FuzzySugenoIntegral.h"
+#include "package_bgs/tb/FuzzyChoquetIntegral.h"
+
+#include "package_bgs/lb/LBSimpleGaussian.h"
+#include "package_bgs/lb/LBFuzzyGaussian.h"
+#include "package_bgs/lb/LBMixtureOfGaussians.h"
+#include "package_bgs/lb/LBAdaptiveSOM.h"
+#include "package_bgs/lb/LBFuzzyAdaptiveSOM.h"
+
+#if !defined(_WIN32)
+#include "package_bgs/ck/LbpMrf.h"
+#endif
+
+#include "package_bgs/jmo/MultiLayerBGS.h"
+#include "package_bgs/pt/PixelBasedAdaptiveSegmenter.h"
+#include "package_bgs/av/VuMeter.h"
+#include "package_bgs/ae/KDE.h"
+
+#include "package_analysis/ForegroundMaskAnalysis.h"
+
+class FrameProcessor : public IFrameProcessor
+{
+private:
+ bool firstTime;
+ long frameNumber;
+ std::string processname;
+ double duration;
+ std::string tictoc;
+
+ cv::Mat img_prep;
+ PreProcessor* preProcessor;
+ bool enablePreProcessor;
+
+ cv::Mat img_framediff;
+ FrameDifferenceBGS* frameDifference;
+ bool enableFrameDifferenceBGS;
+
+ cv::Mat img_staticfdiff;
+ StaticFrameDifferenceBGS* staticFrameDifference;
+ bool enableStaticFrameDifferenceBGS;
+
+ cv::Mat img_wmovmean;
+ WeightedMovingMeanBGS* weightedMovingMean;
+ bool enableWeightedMovingMeanBGS;
+
+ cv::Mat img_movvar;
+ WeightedMovingVarianceBGS* weightedMovingVariance;
+ bool enableWeightedMovingVarianceBGS;
+
+ cv::Mat img_mog1;
+ MixtureOfGaussianV1BGS* mixtureOfGaussianV1BGS;
+ bool enableMixtureOfGaussianV1BGS;
+
+ cv::Mat img_mog2;
+ MixtureOfGaussianV2BGS* mixtureOfGaussianV2BGS;
+ bool enableMixtureOfGaussianV2BGS;
+
+ cv::Mat img_bkgl_fgmask;
+ AdaptiveBackgroundLearning* adaptiveBackgroundLearning;
+ bool enableAdaptiveBackgroundLearning;
+
+#if CV_MAJOR_VERSION >= 2 && CV_MINOR_VERSION >= 4 && CV_SUBMINOR_VERSION >= 3
+ cv::Mat img_gmg;
+ GMG* gmg;
+ bool enableGMG;
+#endif
+
+ cv::Mat img_adpmed;
+ DPAdaptiveMedianBGS* adaptiveMedian;
+ bool enableDPAdaptiveMedianBGS;
+
+ cv::Mat img_grigmm;
+ DPGrimsonGMMBGS* grimsonGMM;
+ bool enableDPGrimsonGMMBGS;
+
+ cv::Mat img_zivgmm;
+ DPZivkovicAGMMBGS* zivkovicAGMM;
+ bool enableDPZivkovicAGMMBGS;
+
+ cv::Mat img_tmpmean;
+ DPMeanBGS* temporalMean;
+ bool enableDPMeanBGS;
+
+ cv::Mat img_wrenga;
+ DPWrenGABGS* wrenGA;
+ bool enableDPWrenGABGS;
+
+ cv::Mat img_pramed;
+ DPPratiMediodBGS* pratiMediod;
+ bool enableDPPratiMediodBGS;
+
+ cv::Mat img_eigbkg;
+ DPEigenbackgroundBGS* eigenBackground;
+ bool enableDPEigenbackgroundBGS;
+
+ cv::Mat img_texbgs;
+ DPTextureBGS* textureBGS;
+ bool enableDPTextureBGS;
+
+ cv::Mat img_t2fgmm_um;
+ T2FGMM_UM* type2FuzzyGMM_UM;
+ bool enableT2FGMM_UM;
+
+ cv::Mat img_t2fgmm_uv;
+ T2FGMM_UV* type2FuzzyGMM_UV;
+ bool enableT2FGMM_UV;
+
+ cv::Mat img_t2fmrf_um;
+ T2FMRF_UM* type2FuzzyMRF_UM;
+ bool enableT2FMRF_UM;
+
+ cv::Mat img_t2fmrf_uv;
+ T2FMRF_UV* type2FuzzyMRF_UV;
+ bool enableT2FMRF_UV;
+
+ cv::Mat img_fsi;
+ FuzzySugenoIntegral* fuzzySugenoIntegral;
+ bool enableFuzzySugenoIntegral;
+
+ cv::Mat img_fci;
+ FuzzyChoquetIntegral* fuzzyChoquetIntegral;
+ bool enableFuzzyChoquetIntegral;
+
+ cv::Mat img_lb_sg;
+ LBSimpleGaussian* lbSimpleGaussian;
+ bool enableLBSimpleGaussian;
+
+ cv::Mat img_lb_fg;
+ LBFuzzyGaussian* lbFuzzyGaussian;
+ bool enableLBFuzzyGaussian;
+
+ cv::Mat img_lb_mog;
+ LBMixtureOfGaussians* lbMixtureOfGaussians;
+ bool enableLBMixtureOfGaussians;
+
+ cv::Mat img_lb_som;
+ LBAdaptiveSOM* lbAdaptiveSOM;
+ bool enableLBAdaptiveSOM;
+
+ cv::Mat img_lb_fsom;
+ LBFuzzyAdaptiveSOM* lbFuzzyAdaptiveSOM;
+ bool enableLBFuzzyAdaptiveSOM;
+
+ #if !defined(_WIN32)
+ cv::Mat img_lbp_mrf;
+ LbpMrf* lbpMrf;
+ bool enableLbpMrf;
+ #endif
+
+ cv::Mat img_mlbgs;
+ MultiLayerBGS* multiLayerBGS;
+ bool enableMultiLayerBGS;
+
+ cv::Mat img_pt_pbas;
+ PixelBasedAdaptiveSegmenter* pixelBasedAdaptiveSegmenter;
+ bool enablePBAS;
+
+ cv::Mat img_vumeter;
+ VuMeter* vuMeter;
+ bool enableVuMeter;
+
+ cv::Mat img_kde;
+ KDE* kde;
+ bool enableKDE;
+
+ ForegroundMaskAnalysis* foregroundMaskAnalysis;
+ bool enableForegroundMaskAnalysis;
+
+public:
+ FrameProcessor();
+ ~FrameProcessor();
+
+ long frameToStop;
+ std::string imgref;
+
+ void init();
+ void process(const cv::Mat &img_input);
+ void finish(void);
+
+private:
+ void process(std::string name, IBGS *bgs, const cv::Mat &img_input, cv::Mat &img_bgs);
+ void tic(std::string value);
+ void toc();
+
+ void saveConfig();
+ void loadConfig();
+};
diff --git a/IFrameProcessor.h b/IFrameProcessor.h
new file mode 100644
index 0000000..ef50b1f
--- /dev/null
+++ b/IFrameProcessor.h
@@ -0,0 +1,26 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <cv.h>
+
+class IFrameProcessor
+{
+ public:
+ virtual void process(const cv:: Mat &input) = 0;
+ virtual ~IFrameProcessor(){}
+};
\ No newline at end of file
diff --git a/LICENSE.txt b/LICENSE.txt
new file mode 100644
index 0000000..e2ce0d8
--- /dev/null
+++ b/LICENSE.txt
@@ -0,0 +1,12 @@
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
\ No newline at end of file
diff --git a/Main.cpp b/Main.cpp
new file mode 100644
index 0000000..4e59ee5
--- /dev/null
+++ b/Main.cpp
@@ -0,0 +1,82 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "Config.h"
+#include "VideoAnalysis.h"
+#include <iostream>
+
+class Main
+{
+private:
+ Main();
+
+public:
+ static void start(int argc, const char **argv)
+ {
+ std::cout << "-----------------------------------------" << std::endl;
+ std::cout << "Background Subtraction Library v1.7.0 " << std::endl;
+ std::cout << "http://code.google.com/p/bgslibrary " << std::endl;
+ std::cout << "by: " << std::endl;
+ std::cout << "Andrews Sobral (andrewssobral@gmail.com) " << std::endl;
+ std::cout << "-----------------------------------------" << std::endl;
+ std::cout << "Using OpenCV version " << CV_VERSION << std::endl;
+
+ try
+ {
+ int key = KEY_ESC;
+
+ do
+ {
+ VideoAnalysis* videoAnalysis = new VideoAnalysis;
+
+ if(videoAnalysis->setup(argc, argv))
+ {
+ videoAnalysis->start();
+
+ std::cout << "Processing finished, enter:" << std::endl;
+ std::cout << "R - Repeat" << std::endl;
+ std::cout << "Q - Quit" << std::endl;
+
+ key = cv::waitKey();
+ }
+
+ cv::destroyAllWindows();
+ delete videoAnalysis;
+
+ }while(key == KEY_REPEAT);
+ }
+ catch(const std::exception& ex)
+ {
+ std::cout << "std::exception:" << ex.what() << std::endl;
+ return;
+ }
+ catch(...)
+ {
+ std::cout << "Unknow error" << std::endl;
+ return;
+ }
+
+#ifdef WIN32
+ //system("pause");
+#endif
+ }
+};
+
+int main(int argc, const char **argv)
+{
+ Main::start(argc, argv);
+ return 0;
+}
diff --git a/PreProcessor.cpp b/PreProcessor.cpp
new file mode 100644
index 0000000..834996b
--- /dev/null
+++ b/PreProcessor.cpp
@@ -0,0 +1,146 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "PreProcessor.h"
+
+PreProcessor::PreProcessor() : firstTime(true), equalizeHist(false), gaussianBlur(false)
+{
+ std::cout << "PreProcessor()" << std::endl;
+}
+
+PreProcessor::~PreProcessor()
+{
+ std::cout << "~PreProcessor()" << std::endl;
+}
+
+void PreProcessor::setEqualizeHist(bool value)
+{
+ equalizeHist = value;
+}
+
+void PreProcessor::setGaussianBlur(bool value)
+{
+ gaussianBlur = value;
+}
+
+cv::Mat PreProcessor::getGrayScale()
+{
+ return img_gray.clone();
+}
+
+void PreProcessor::process(const cv::Mat &img_input, cv::Mat &img_output)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ img_input.copyTo(img_output);
+
+ // Converts image from one color space to another
+ // http://opencv.willowgarage.com/documentation/cpp/miscellaneous_image_transformations.html#cv-cvtcolor
+ cv::cvtColor(img_input, img_gray, CV_BGR2GRAY);
+ //img_gray.copyTo(img_output);
+
+ // Equalizes the histogram of a grayscale image
+ // http://opencv.willowgarage.com/documentation/cpp/histograms.html#cv-equalizehist
+ if(equalizeHist)
+ cv::equalizeHist(img_output, img_output);
+
+ // Smoothes image using a Gaussian filter
+ // http://opencv.willowgarage.com/documentation/cpp/imgproc_image_filtering.html#GaussianBlur
+ if(gaussianBlur)
+ cv::GaussianBlur(img_output, img_output, cv::Size(7,7), 1.5);
+
+ if(enableShow)
+ cv::imshow("Pre Processor", img_output);
+
+ firstTime = false;
+}
+
+void PreProcessor::rotate(const cv::Mat &img_input, cv::Mat &img_output, float angle)
+{
+ IplImage* image = new IplImage(img_input);
+
+ //IplImage *rotatedImage = cvCreateImage(cvSize(480,320), IPL_DEPTH_8U, image->nChannels);
+ //IplImage *rotatedImage = cvCreateImage(cvSize(image->width,image->height), IPL_DEPTH_8U, image->nChannels);
+ IplImage* rotatedImage = cvCreateImage(cvSize(image->height,image->width), IPL_DEPTH_8U, image->nChannels);
+
+ CvPoint2D32f center;
+ //center.x = 160;
+ //center.y = 160;
+ center.x = (image->height / 2);
+ center.y = (image->width / 2);
+
+ CvMat* mapMatrix = cvCreateMat(2, 3, CV_32FC1);
+
+ cv2DRotationMatrix(center, angle, 1.0, mapMatrix);
+ cvWarpAffine(image, rotatedImage, mapMatrix, CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS, cvScalarAll(0));
+
+ cv::Mat img_rot(rotatedImage);
+ img_rot.copyTo(img_output);
+
+ cvReleaseImage(&image);
+ cvReleaseImage(&rotatedImage);
+ cvReleaseMat(&mapMatrix);
+}
+
+void PreProcessor::applyCanny(const cv::Mat &img_input, cv::Mat &img_output)
+{
+ if(img_input.empty())
+ return;
+
+ //------------------------------------------------------------------
+ // Canny
+ // Finds edges in an image using Canny algorithm.
+ // http://opencv.willowgarage.com/documentation/cpp/imgproc_feature_detection.html#cv-canny
+ //------------------------------------------------------------------
+
+ cv::Mat img_canny;
+ cv::Canny(
+ img_input, // image � Single-channel 8-bit input image
+ img_canny, // edges � The output edge map. It will have the same size and the same type as image
+ 100, // threshold1 � The first threshold for the hysteresis procedure
+ 200); // threshold2 � The second threshold for the hysteresis procedure
+ cv::threshold(img_canny, img_canny, 128, 255, cv::THRESH_BINARY_INV);
+
+ img_canny.copyTo(img_output);
+}
+
+void PreProcessor::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/PreProcessor.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "equalizeHist", equalizeHist);
+ cvWriteInt(fs, "gaussianBlur", gaussianBlur);
+ cvWriteInt(fs, "enableShow", enableShow);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void PreProcessor::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/PreProcessor.xml", 0, CV_STORAGE_READ);
+
+ equalizeHist = cvReadIntByName(fs, 0, "equalizeHist", false);
+ gaussianBlur = cvReadIntByName(fs, 0, "gaussianBlur", false);
+ enableShow = cvReadIntByName(fs, 0, "enableShow", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/PreProcessor.h b/PreProcessor.h
new file mode 100644
index 0000000..9a04623
--- /dev/null
+++ b/PreProcessor.h
@@ -0,0 +1,49 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+class PreProcessor
+{
+private:
+ bool firstTime;
+ bool equalizeHist;
+ bool gaussianBlur;
+ cv::Mat img_gray;
+ bool enableShow;
+
+public:
+ PreProcessor();
+ ~PreProcessor();
+
+ void setEqualizeHist(bool value);
+ void setGaussianBlur(bool value);
+ cv::Mat getGrayScale();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output);
+
+ void rotate(const cv::Mat &img_input, cv::Mat &img_output, float angle);
+ void applyCanny(const cv::Mat &img_input, cv::Mat &img_output);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/README.txt b/README.txt
new file mode 100644
index 0000000..b7fe6c5
--- /dev/null
+++ b/README.txt
@@ -0,0 +1,16 @@
+#
+# HOW TO COMPILE ON LINUX
+#
+# Requirements:
+# cmake >= 2.8
+# opencv >= 2.3.1
+
+cd build
+cmake ..
+make
+cd ..
+
+chmod +x run_video.sh run_camera.sh run_demo.sh
+./run_video.sh
+./run_camera.sh
+./run_demo.sh
diff --git a/VideoAnalysis.cpp b/VideoAnalysis.cpp
new file mode 100644
index 0000000..0123933
--- /dev/null
+++ b/VideoAnalysis.cpp
@@ -0,0 +1,130 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "VideoAnalysis.h"
+
+VideoAnalysis::VideoAnalysis() : use_file(false), use_camera(false), cameraIndex(0), use_comp(false), frameToStop(0)
+{
+ std::cout << "VideoAnalysis()" << std::endl;
+}
+
+VideoAnalysis::~VideoAnalysis()
+{
+ std::cout << "~VideoAnalysis()" << std::endl;
+}
+
+bool VideoAnalysis::setup(int argc, const char **argv)
+{
+ bool flag = false;
+
+ const char* keys =
+ "{hp|help|false|Print help message}"
+ "{uf|use_file|false|Use video file}"
+ "{fn|filename||Specify video file}"
+ "{uc|use_cam|false|Use camera}"
+ "{ca|camera|0|Specify camera index}"
+ "{co|use_comp|false|Use mask comparator}"
+ "{st|stopAt|0|Frame number to stop}"
+ "{im|imgref||Specify image file}"
+ ;
+ cv::CommandLineParser cmd(argc, argv, keys);
+
+ if(argc <= 1 || cmd.get<bool>("help") == true)
+ {
+ std::cout << "Usage: " << argv[0] << " [options]" << std::endl;
+ std::cout << "Avaible options:" << std::endl;
+ cmd.printParams();
+ return false;
+ }
+
+ use_file = cmd.get<bool>("use_file");
+ if(use_file)
+ {
+ filename = cmd.get<std::string>("filename");
+
+ if(filename.empty())
+ {
+ std::cout << "Specify filename"<< std::endl;
+ return false;
+ }
+
+ flag = true;
+ }
+
+ use_camera = cmd.get<bool>("use_cam");
+ if(use_camera)
+ {
+ cameraIndex = cmd.get<int>("camera");
+ flag = true;
+ }
+
+ if(flag == true)
+ {
+ use_comp = cmd.get<bool>("use_comp");
+ if(use_comp)
+ {
+ frameToStop = cmd.get<int>("stopAt");
+ imgref = cmd.get<std::string>("imgref");
+
+ if(imgref.empty())
+ {
+ std::cout << "Specify image reference"<< std::endl;
+ return false;
+ }
+ }
+ }
+
+ return flag;
+}
+
+void VideoAnalysis::start()
+{
+ do
+ {
+ videoCapture = new VideoCapture;
+ frameProcessor = new FrameProcessor;
+
+ frameProcessor->init();
+ frameProcessor->frameToStop = frameToStop;
+ frameProcessor->imgref = imgref;
+
+ videoCapture->setFrameProcessor(frameProcessor);
+
+ if(use_file)
+ videoCapture->setVideo(filename);
+
+ if(use_camera)
+ videoCapture->setCamera(cameraIndex);
+
+ videoCapture->start();
+
+ if(use_file || use_camera)
+ break;
+
+ frameProcessor->finish();
+
+ int key = cvWaitKey(500);
+ if(key == KEY_ESC)
+ break;
+
+ delete frameProcessor;
+ delete videoCapture;
+
+ }while(1);
+
+ delete frameProcessor;
+ delete videoCapture;
+}
\ No newline at end of file
diff --git a/VideoAnalysis.h b/VideoAnalysis.h
new file mode 100644
index 0000000..74eacf7
--- /dev/null
+++ b/VideoAnalysis.h
@@ -0,0 +1,45 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <sstream>
+
+#include "VideoCapture.h"
+#include "FrameProcessor.h"
+
+class VideoAnalysis
+{
+private:
+ VideoCapture* videoCapture;
+ FrameProcessor* frameProcessor;
+ bool use_file;
+ std::string filename;
+ bool use_camera;
+ int cameraIndex;
+ bool use_comp;
+ long frameToStop;
+ std::string imgref;
+
+public:
+ VideoAnalysis();
+ ~VideoAnalysis();
+
+ bool setup(int argc, const char **argv);
+ void start();
+};
+
diff --git a/VideoCapture.cpp b/VideoCapture.cpp
new file mode 100644
index 0000000..8952053
--- /dev/null
+++ b/VideoCapture.cpp
@@ -0,0 +1,275 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "VideoCapture.h"
+
+namespace VC_ROI
+{
+ IplImage* img_input1 = 0;
+ IplImage* img_input2 = 0;
+ int roi_x0 = 0;
+ int roi_y0 = 0;
+ int roi_x1 = 0;
+ int roi_y1 = 0;
+ int numOfRec = 0;
+ int startDraw = 0;
+ bool roi_defined = false;
+ bool use_roi = true;
+ bool disable_event = false;
+
+ void reset(void)
+ {
+ disable_event = false;
+ startDraw = false;
+ }
+
+ void VideoCapture_on_mouse(int evt, int x, int y, int flag, void* param)
+ {
+ if(use_roi == false || disable_event == true)
+ return;
+
+ if(evt == CV_EVENT_LBUTTONDOWN)
+ {
+ if(!startDraw)
+ {
+ roi_x0 = x;
+ roi_y0 = y;
+ startDraw = 1;
+ }
+ else
+ {
+ roi_x1 = x;
+ roi_y1 = y;
+ startDraw = 0;
+ roi_defined = true;
+ disable_event = true;
+ }
+ }
+
+ if(evt == CV_EVENT_MOUSEMOVE && startDraw)
+ {
+ //redraw ROI selection
+ img_input2 = cvCloneImage(img_input1);
+ cvRectangle(img_input2, cvPoint(roi_x0,roi_y0), cvPoint(x,y), CV_RGB(255,0,0), 1);
+ cvShowImage("Input", img_input2);
+ cvReleaseImage(&img_input2);
+ //startDraw = false;
+ //disable_event = true;
+ }
+ }
+}
+
+VideoCapture::VideoCapture() : key(0), start_time(0), delta_time(0), freq(0), fps(0), frameNumber(0), stopAt(0),
+ useCamera(false), useVideo(false), input_resize_percent(100), showOutput(true), enableFlip(false)
+{
+ std::cout << "VideoCapture()" << std::endl;
+}
+
+VideoCapture::~VideoCapture()
+{
+ std::cout << "~VideoCapture()" << std::endl;
+}
+
+void VideoCapture::setFrameProcessor(IFrameProcessor* frameProcessorPtr)
+{
+ frameProcessor = frameProcessorPtr;
+}
+
+void VideoCapture::setCamera(int index)
+{
+ useCamera = true;
+ cameraIndex = index;
+
+ useVideo = false;
+}
+
+void VideoCapture::setUpCamera()
+{
+ std::cout << "Camera index:" << cameraIndex << std::endl;
+ capture = cvCaptureFromCAM(cameraIndex);
+
+ if(!capture)
+ std::cerr << "Cannot open initialize webcam!\n" << std::endl;
+}
+
+void VideoCapture::setVideo(std::string filename)
+{
+ useVideo = true;
+ videoFileName = filename;
+
+ useCamera = false;
+}
+
+void VideoCapture::setUpVideo()
+{
+ capture = cvCaptureFromFile(videoFileName.c_str());
+
+ if(!capture)
+ std::cerr << "Cannot open video file "<< videoFileName << std::endl;
+}
+
+void VideoCapture::start()
+{
+ loadConfig();
+
+ if(useCamera) setUpCamera();
+ if(useVideo) setUpVideo();
+ if(!capture) std::cerr << "Capture error..." << std::endl;
+
+ int input_fps = cvGetCaptureProperty(capture,CV_CAP_PROP_FPS);
+ std::cout << "input->fps:" << input_fps << std::endl;
+
+ IplImage* frame1 = cvQueryFrame(capture);
+ frame = cvCreateImage(cvSize((int)((frame1->width*input_resize_percent)/100) , (int)((frame1->height*input_resize_percent)/100)), frame1->depth, frame1->nChannels);
+ //cvCreateImage(cvSize(frame1->width/input_resize_factor, frame1->height/input_resize_factor), frame1->depth, frame1->nChannels);
+ std::cout << "input->resize_percent:" << input_resize_percent << std::endl;
+ std::cout << "input->width:" << frame->width << std::endl;
+ std::cout << "input->height:" << frame->height << std::endl;
+
+ double loopDelay = 33.333;
+ if(input_fps > 0)
+ loopDelay = (1./input_fps)*1000.;
+ std::cout << "loopDelay:" << loopDelay << std::endl;
+
+ bool firstTime = true;
+ do
+ {
+ frameNumber++;
+
+ frame1 = cvQueryFrame(capture);
+ if(!frame1) break;
+
+ cvResize(frame1, frame);
+
+ if(enableFlip)
+ cvFlip(frame, frame, 0);
+
+ if(VC_ROI::use_roi == true && VC_ROI::roi_defined == false && firstTime == true)
+ {
+ VC_ROI::reset();
+
+ do
+ {
+ cv::Mat img_input(frame);
+
+ if(showOutput)
+ {
+ cv::imshow("Input", img_input);
+
+ std::cout << "Set ROI (press ESC to skip)" << std::endl;
+ VC_ROI::img_input1 = new IplImage(img_input);
+ cvSetMouseCallback("Input", VC_ROI::VideoCapture_on_mouse, NULL);
+ key = cvWaitKey(0);
+ delete VC_ROI::img_input1;
+ }
+ else
+ key = KEY_ESC;
+
+ if(key == KEY_ESC)
+ {
+ std::cout << "ROI disabled" << std::endl;
+ VC_ROI::reset();
+ VC_ROI::use_roi = false;
+ break;
+ }
+
+ if(VC_ROI::roi_defined)
+ {
+ std::cout << "ROI defined (" << VC_ROI::roi_x0 << "," << VC_ROI::roi_y0 << "," << VC_ROI::roi_x1 << "," << VC_ROI::roi_y1 << ")" << std::endl;
+ break;
+ }
+ else
+ std::cout << "ROI undefined" << std::endl;
+
+ }while(1);
+ }
+
+ if(VC_ROI::use_roi == true && VC_ROI::roi_defined == true)
+ {
+ CvRect rect = cvRect(VC_ROI::roi_x0, VC_ROI::roi_y0, VC_ROI::roi_x1 - VC_ROI::roi_x0, VC_ROI::roi_y1 - VC_ROI::roi_y0);
+ cvSetImageROI(frame, rect);
+ }
+
+ cv::Mat img_input(frame);
+
+ if(showOutput)
+ cv::imshow("Input", img_input);
+
+ if(firstTime)
+ saveConfig();
+
+ start_time = cv::getTickCount();
+ frameProcessor->process(img_input);
+ int64 delta_time = cv::getTickCount() - start_time;
+ freq = cv::getTickFrequency();
+ fps = freq / delta_time;
+ //std::cout << "FPS: " << fps << std::endl;
+
+ cvResetImageROI(frame);
+
+ key = cvWaitKey(loopDelay);
+ //std::cout << "key: " << key << std::endl;
+
+ if(key == KEY_SPACE)
+ key = cvWaitKey(0);
+
+ if(key == KEY_ESC)
+ break;
+
+ if(stopAt > 0 && stopAt == frameNumber)
+ key = cvWaitKey(0);
+
+ firstTime = false;
+ }while(1);
+
+ cvReleaseCapture(&capture);
+}
+
+void VideoCapture::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/VideoCapture.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "stopAt", stopAt);
+ cvWriteInt(fs, "input_resize_percent", input_resize_percent);
+ cvWriteInt(fs, "enableFlip", enableFlip);
+ cvWriteInt(fs, "use_roi", VC_ROI::use_roi);
+ cvWriteInt(fs, "roi_defined", VC_ROI::roi_defined);
+ cvWriteInt(fs, "roi_x0", VC_ROI::roi_x0);
+ cvWriteInt(fs, "roi_y0", VC_ROI::roi_y0);
+ cvWriteInt(fs, "roi_x1", VC_ROI::roi_x1);
+ cvWriteInt(fs, "roi_y1", VC_ROI::roi_y1);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void VideoCapture::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/VideoCapture.xml", 0, CV_STORAGE_READ);
+
+ stopAt = cvReadIntByName(fs, 0, "stopAt", 0);
+ input_resize_percent = cvReadIntByName(fs, 0, "input_resize_percent", 100);
+ enableFlip = cvReadIntByName(fs, 0, "enableFlip", false);
+ VC_ROI::use_roi = cvReadIntByName(fs, 0, "use_roi", true);
+ VC_ROI::roi_defined = cvReadIntByName(fs, 0, "roi_defined", false);
+ VC_ROI::roi_x0 = cvReadIntByName(fs, 0, "roi_x0", 0);
+ VC_ROI::roi_y0 = cvReadIntByName(fs, 0, "roi_y0", 0);
+ VC_ROI::roi_x1 = cvReadIntByName(fs, 0, "roi_x1", 0);
+ VC_ROI::roi_y1 = cvReadIntByName(fs, 0, "roi_y1", 0);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/VideoCapture.h b/VideoCapture.h
new file mode 100644
index 0000000..caf6f6c
--- /dev/null
+++ b/VideoCapture.h
@@ -0,0 +1,63 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "Config.h"
+#include "IFrameProcessor.h"
+
+class VideoCapture
+{
+private:
+ IFrameProcessor* frameProcessor;
+ CvCapture* capture;
+ IplImage* frame;
+ int key;
+ int64 start_time;
+ int64 delta_time;
+ double freq;
+ double fps;
+ long frameNumber;
+ long stopAt;
+ bool useCamera;
+ int cameraIndex;
+ bool useVideo;
+ std::string videoFileName;
+ int input_resize_percent;
+ bool showOutput;
+ bool enableFlip;
+
+public:
+ VideoCapture();
+ ~VideoCapture();
+
+ void setFrameProcessor(IFrameProcessor* frameProcessorPtr);
+ void setCamera(int cameraIndex);
+ void setVideo(std::string filename);
+ void start();
+
+private:
+ void setUpCamera();
+ void setUpVideo();
+
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/bgslibrary_vs2010_opencv.txt b/bgslibrary_vs2010_opencv.txt
new file mode 100644
index 0000000..6ea8256
--- /dev/null
+++ b/bgslibrary_vs2010_opencv.txt
@@ -0,0 +1,39 @@
+---------------------------------------------------
+BGSLibrary with Visual Studio 2010 and Opencv 2.4.5
+---------------------------------------------------
+
+1) Check our example project at [vs2010] folder
+http://code.google.com/p/bgslibrary/source/browse/trunk/vs2010
+
+
+Or configure manually by:
+
+
+1) Install OpenCV
+1.a) Download OpenCV 2.4.5 from http://opencv.org/
+2.b) Install in: C:\OpenCV2.4.5
+2.c) Add OpenCV binaries in your Path
+C:\OpenCV2.4.5\build\x86\vc10\bin
+
+2) Download BGSLibrary
+2.a) Checkout bgslibrary SVN at C:\bgslibrary
+
+3) Start Visual Studio 2010
+3.a) Create New Project
+3.b) Select Visual C++ -> Win32 -> Win32 Console Application
+3.c) Set project location: C:\bgslibrary
+3.d) Set project name: bgslibrary
+3.e) Set Empty project
+3.f) Add Demo.cpp in [Source Files]
+3.g) Add content of c:\bgslibrary\package_bgs\*.* in [Header Files]
+3.h) Add content of c:\bgslibrary\package_analysis\*.* in [Header Files]
+3.i) Change to [Release] [Win32] mode
+3.j) Click on Project->Properties
+3.k) Change [Output Directory] to ..\
+3.l) Add OpenCV include in [C/C++] -> [Additional Include Directories]
+C:\OpenCV2.4.5\build\include;C:\OpenCV2.4.5\build\include\opencv;
+3.m) Add OpenCV libraries in [Linker]->[Input]
+C:\OpenCV2.4.5\build\x86\vc10\lib\*.lib
+3.n) Click in Build and wait
+3.o) Run C:\bgslibrary\bgslibrary.exe
+Enjoy!
\ No newline at end of file
diff --git a/config/FrameProcessor.xml b/config/FrameProcessor.xml
new file mode 100644
index 0000000..c76f826
--- /dev/null
+++ b/config/FrameProcessor.xml
@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<opencv_storage>
+<tictoc>""</tictoc>
+<enablePreProcessor>1</enablePreProcessor>
+<enableForegroundMaskAnalysis>0</enableForegroundMaskAnalysis>
+<enableFrameDifferenceBGS>1</enableFrameDifferenceBGS>
+<enableStaticFrameDifferenceBGS>0</enableStaticFrameDifferenceBGS>
+<enableWeightedMovingMeanBGS>0</enableWeightedMovingMeanBGS>
+<enableWeightedMovingVarianceBGS>0</enableWeightedMovingVarianceBGS>
+<enableMixtureOfGaussianV1BGS>0</enableMixtureOfGaussianV1BGS>
+<enableMixtureOfGaussianV2BGS>0</enableMixtureOfGaussianV2BGS>
+<enableAdaptiveBackgroundLearning>0</enableAdaptiveBackgroundLearning>
+<enableGMG>0</enableGMG>
+<enableDPAdaptiveMedianBGS>0</enableDPAdaptiveMedianBGS>
+<enableDPGrimsonGMMBGS>0</enableDPGrimsonGMMBGS>
+<enableDPZivkovicAGMMBGS>0</enableDPZivkovicAGMMBGS>
+<enableDPMeanBGS>0</enableDPMeanBGS>
+<enableDPWrenGABGS>0</enableDPWrenGABGS>
+<enableDPPratiMediodBGS>0</enableDPPratiMediodBGS>
+<enableDPEigenbackgroundBGS>0</enableDPEigenbackgroundBGS>
+<enableDPTextureBGS>0</enableDPTextureBGS>
+<enableT2FGMM_UM>0</enableT2FGMM_UM>
+<enableT2FGMM_UV>0</enableT2FGMM_UV>
+<enableT2FMRF_UM>0</enableT2FMRF_UM>
+<enableT2FMRF_UV>0</enableT2FMRF_UV>
+<enableFuzzySugenoIntegral>0</enableFuzzySugenoIntegral>
+<enableFuzzyChoquetIntegral>0</enableFuzzyChoquetIntegral>
+<enableLBSimpleGaussian>0</enableLBSimpleGaussian>
+<enableLBFuzzyGaussian>0</enableLBFuzzyGaussian>
+<enableLBMixtureOfGaussians>0</enableLBMixtureOfGaussians>
+<enableLBAdaptiveSOM>0</enableLBAdaptiveSOM>
+<enableLBFuzzyAdaptiveSOM>0</enableLBFuzzyAdaptiveSOM>
+<enableLbpMrf>0</enableLbpMrf>
+<enableMultiLayerBGS>0</enableMultiLayerBGS>
+<enablePBAS>0</enablePBAS>
+<enableVuMeter>0</enableVuMeter>
+<enableKDE>0</enableKDE>
+</opencv_storage>
diff --git a/config/PreProcessor.xml b/config/PreProcessor.xml
new file mode 100644
index 0000000..e58b318
--- /dev/null
+++ b/config/PreProcessor.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<opencv_storage>
+<equalizeHist>0</equalizeHist>
+<gaussianBlur>0</gaussianBlur>
+<enableShow>1</enableShow>
+</opencv_storage>
diff --git a/config/VideoCapture.xml b/config/VideoCapture.xml
new file mode 100644
index 0000000..60dd9aa
--- /dev/null
+++ b/config/VideoCapture.xml
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<opencv_storage>
+<stopAt>0</stopAt>
+<input_resize_percent>100</input_resize_percent>
+<enableFlip>0</enableFlip>
+<use_roi>0</use_roi>
+<roi_defined>0</roi_defined>
+<roi_x0>0</roi_x0>
+<roi_y0>0</roi_y0>
+<roi_x1>0</roi_x1>
+<roi_y1>0</roi_y1>
+<showOutput>1</showOutput>
+</opencv_storage>
diff --git a/dataset/video.avi b/dataset/video.avi
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diff --git a/demos/DemoFrameDifferenceBGS.cpp b/demos/DemoFrameDifferenceBGS.cpp
new file mode 100644
index 0000000..5f81242
--- /dev/null
+++ b/demos/DemoFrameDifferenceBGS.cpp
@@ -0,0 +1,49 @@
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "package_bgs/FrameDifferenceBGS.h"
+
+int main(int argc, char **argv)
+{
+ CvCapture *capture = 0;
+
+ capture = cvCaptureFromCAM(0);
+ //capture = cvCaptureFromAVI("video.avi");
+
+ if(!capture){
+ std::cerr << "Cannot open initialize webcam!" << std::endl;
+ return 1;
+ }
+
+ IplImage *frame = cvQueryFrame(capture);
+
+ FrameDifferenceBGS* bgs = new FrameDifferenceBGS;
+
+ int key = 0;
+ while(key != 'q')
+ {
+ frame = cvQueryFrame(capture);
+
+ if(!frame) break;
+
+ cv::Mat img_input(frame,true);
+ cv::resize(img_input,img_input,cv::Size(320,240));
+ cv::imshow("input", img_input);
+
+ cv::Mat img_mask;
+ bgs->process(img_input, img_mask); // automatically shows the foreground mask image
+
+ //if(!img_mask.empty())
+ // do something
+
+ key = cvWaitKey(1);
+ }
+
+ delete bgs;
+
+ cvDestroyAllWindows();
+ cvReleaseCapture(&capture);
+
+ return 0;
+}
diff --git a/demos/DemoMultiLayerBGS.cpp b/demos/DemoMultiLayerBGS.cpp
new file mode 100644
index 0000000..bf2bbad
--- /dev/null
+++ b/demos/DemoMultiLayerBGS.cpp
@@ -0,0 +1,49 @@
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "package_bgs/jmo/MultiLayerBGS.h"
+
+int main(int argc, char **argv)
+{
+ CvCapture *capture = 0;
+
+ capture = cvCaptureFromCAM(0);
+ //capture = cvCaptureFromAVI("video.avi");
+
+ if(!capture){
+ std::cerr << "Cannot open initialize webcam!" << std::endl;
+ return 1;
+ }
+
+ IplImage *frame = cvQueryFrame(capture);
+
+ MultiLayerBGS* bgs = new MultiLayerBGS;
+
+ int key = 0;
+ while(key != 'q')
+ {
+ frame = cvQueryFrame(capture);
+
+ if(!frame) break;
+
+ cv::Mat img_input(frame,true);
+ cv::resize(img_input,img_input,cv::Size(320,240));
+ cv::imshow("input", img_input);
+
+ cv::Mat img_mask;
+ bgs->process(img_input, img_mask); // automatically shows the foreground mask image
+
+ //if(!img_mask.empty())
+ // do something
+
+ key = cvWaitKey(1);
+ }
+
+ delete bgs;
+
+ cvDestroyAllWindows();
+ cvReleaseCapture(&capture);
+
+ return 0;
+}
diff --git a/package_analysis/ForegroundMaskAnalysis.cpp b/package_analysis/ForegroundMaskAnalysis.cpp
new file mode 100644
index 0000000..45645a0
--- /dev/null
+++ b/package_analysis/ForegroundMaskAnalysis.cpp
@@ -0,0 +1,101 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "ForegroundMaskAnalysis.h"
+
+ForegroundMaskAnalysis::ForegroundMaskAnalysis() : firstTime(true), stopAt(0), showOutput(true), img_ref_path("")
+{
+ std::cout << "ForegroundMaskAnalysis()" << std::endl;
+}
+
+ForegroundMaskAnalysis::~ForegroundMaskAnalysis()
+{
+ std::cout << "~ForegroundMaskAnalysis()" << std::endl;
+}
+
+void ForegroundMaskAnalysis::process(const long &frameNumber, const std::string &name, const cv::Mat &img_input)
+{
+ if(img_input.empty())
+ return;
+
+ if(stopAt == 0)
+ {
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+ }
+
+ if(stopAt == frameNumber && img_ref_path.empty() == false)
+ {
+ cv::Mat img_ref = cv::imread(img_ref_path, 0);
+
+ if(showOutput)
+ cv::imshow("ForegroundMaskAnalysis", img_ref);
+
+ int rn = cv::countNonZero(img_ref);
+ cv::Mat i;
+ cv::Mat u;
+
+ if(rn > 0)
+ {
+ i = img_input & img_ref;
+ u = img_input | img_ref;
+ }
+ else
+ {
+ i = (~img_input) & (~img_ref);
+ u = (~img_input) | (~img_ref);
+ }
+
+ int in = cv::countNonZero(i);
+ int un = cv::countNonZero(u);
+
+ double s = (((double)in) / ((double)un));
+
+ if(showOutput)
+ {
+ cv::imshow("A^B", i);
+ cv::imshow("AvB", u);
+ }
+
+ std::cout << name << " - Similarity Measure: " << s << " press ENTER to continue" << std::endl;
+
+ cv::waitKey(0);
+ }
+
+ firstTime = false;
+}
+
+void ForegroundMaskAnalysis::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/ForegroundMaskAnalysis.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "stopAt", stopAt);
+ cvWriteString(fs, "img_ref_path", img_ref_path.c_str());
+
+ cvReleaseFileStorage(&fs);
+}
+
+void ForegroundMaskAnalysis::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/ForegroundMaskAnalysis.xml", 0, CV_STORAGE_READ);
+
+ stopAt = cvReadIntByName(fs, 0, "stopAt", 0);
+ img_ref_path = cvReadStringByName(fs, 0, "img_ref_path", "");
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_analysis/ForegroundMaskAnalysis.h b/package_analysis/ForegroundMaskAnalysis.h
new file mode 100644
index 0000000..d6bfdae
--- /dev/null
+++ b/package_analysis/ForegroundMaskAnalysis.h
@@ -0,0 +1,42 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <string>
+#include <cv.h>
+#include <highgui.h>
+
+class ForegroundMaskAnalysis
+{
+private:
+ bool firstTime;
+ bool showOutput;
+
+public:
+ ForegroundMaskAnalysis();
+ ~ForegroundMaskAnalysis();
+
+ long stopAt;
+ std::string img_ref_path;
+
+ void process(const long &frameNumber, const std::string &name, const cv::Mat &img_input);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
\ No newline at end of file
diff --git a/package_bgs/AdaptiveBackgroundLearning.cpp b/package_bgs/AdaptiveBackgroundLearning.cpp
new file mode 100644
index 0000000..b111e65
--- /dev/null
+++ b/package_bgs/AdaptiveBackgroundLearning.cpp
@@ -0,0 +1,111 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "AdaptiveBackgroundLearning.h"
+
+AdaptiveBackgroundLearning::AdaptiveBackgroundLearning() : firstTime(true), alpha(0.05), limit(-1), counter(0), minVal(0.0), maxVal(1.0),
+ enableThreshold(true), threshold(15), showForeground(true), showBackground(true)
+{
+ std::cout << "AdaptiveBackgroundLearning()" << std::endl;
+}
+
+AdaptiveBackgroundLearning::~AdaptiveBackgroundLearning()
+{
+ std::cout << "~AdaptiveBackgroundLearning()" << std::endl;
+}
+
+void AdaptiveBackgroundLearning::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ if(img_background.empty())
+ img_input.copyTo(img_background);
+
+ cv::Mat img_input_f(img_input.size(), CV_32F);
+ img_input.convertTo(img_input_f, CV_32F, 1./255.);
+
+ cv::Mat img_background_f(img_background.size(), CV_32F);
+ img_background.convertTo(img_background_f, CV_32F, 1./255.);
+
+ cv::Mat img_diff_f(img_input.size(), CV_32F);
+ cv::absdiff(img_input_f, img_background_f, img_diff_f);
+
+ if((limit > 0 && limit < counter) || limit == -1)
+ {
+ img_background_f = alpha*img_input_f + (1-alpha)*img_background_f;
+
+ cv::Mat img_new_background(img_input.size(), CV_8U);
+ img_background_f.convertTo(img_new_background, CV_8U, 255.0/(maxVal - minVal), -minVal);
+ img_new_background.copyTo(img_background);
+
+ if(limit > 0 && limit < counter)
+ counter++;
+ }
+
+ cv::Mat img_foreground(img_input.size(), CV_8U);
+ img_diff_f.convertTo(img_foreground, CV_8U, 255.0/(maxVal - minVal), -minVal);
+
+ if(img_foreground.channels() == 3)
+ cv::cvtColor(img_foreground, img_foreground, CV_BGR2GRAY);
+
+ if(enableThreshold)
+ cv::threshold(img_foreground, img_foreground, threshold, 255, cv::THRESH_BINARY);
+
+ if(showForeground)
+ cv::imshow("A-Learning FG", img_foreground);
+
+ if(showBackground)
+ cv::imshow("A-Learning BG", img_background);
+
+ img_foreground.copyTo(img_output);
+ img_background.copyTo(img_bgmodel);
+
+ firstTime = false;
+}
+
+void AdaptiveBackgroundLearning::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/AdaptiveBackgroundLearning.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteReal(fs, "alpha", alpha);
+ cvWriteInt(fs, "limit", limit);
+ cvWriteInt(fs, "enableThreshold", enableThreshold);
+ cvWriteInt(fs, "threshold", threshold);
+ cvWriteInt(fs, "showForeground", showForeground);
+ cvWriteInt(fs, "showBackground", showBackground);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void AdaptiveBackgroundLearning::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/AdaptiveBackgroundLearning.xml", 0, CV_STORAGE_READ);
+
+ alpha = cvReadRealByName(fs, 0, "alpha", 0.05);
+ limit = cvReadIntByName(fs, 0, "limit", -1);
+ enableThreshold = cvReadIntByName(fs, 0, "enableThreshold", true);
+ threshold = cvReadIntByName(fs, 0, "threshold", 15);
+ showForeground = cvReadIntByName(fs, 0, "showForeground", true);
+ showBackground = cvReadIntByName(fs, 0, "showBackground", true);
+
+ cvReleaseFileStorage(&fs);
+}
diff --git a/package_bgs/AdaptiveBackgroundLearning.h b/package_bgs/AdaptiveBackgroundLearning.h
new file mode 100644
index 0000000..eb07a64
--- /dev/null
+++ b/package_bgs/AdaptiveBackgroundLearning.h
@@ -0,0 +1,50 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "IBGS.h"
+
+class AdaptiveBackgroundLearning : public IBGS
+{
+private:
+ bool firstTime;
+ cv::Mat img_background;
+ double alpha;
+ long limit;
+ long counter;
+ double minVal;
+ double maxVal;
+ bool enableThreshold;
+ int threshold;
+ bool showForeground;
+ bool showBackground;
+
+public:
+ AdaptiveBackgroundLearning();
+ ~AdaptiveBackgroundLearning();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/AdaptiveSelectiveBackgroundLearning.cpp b/package_bgs/AdaptiveSelectiveBackgroundLearning.cpp
new file mode 100644
index 0000000..cd3e7d3
--- /dev/null
+++ b/package_bgs/AdaptiveSelectiveBackgroundLearning.cpp
@@ -0,0 +1,131 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "AdaptiveSelectiveBackgroundLearning.h"
+
+AdaptiveSelectiveBackgroundLearning::AdaptiveSelectiveBackgroundLearning() : firstTime(true),
+alphaLearn(0.05), alphaDetection(0.05), learningFrames(-1), counter(0), minVal(0.0), maxVal(1.0),
+threshold(15), showOutput(true)
+{
+ std::cout << "AdaptiveSelectiveBackgroundLearning()" << std::endl;
+}
+
+AdaptiveSelectiveBackgroundLearning::~AdaptiveSelectiveBackgroundLearning()
+{
+ std::cout << "~AdaptiveSelectiveBackgroundLearning()" << std::endl;
+}
+
+void AdaptiveSelectiveBackgroundLearning::process(const cv::Mat &img_input_, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input_.empty())
+ return;
+
+ cv::Mat img_input;
+ if (img_input_.channels() == 3)
+ cv::cvtColor(img_input_, img_input, CV_BGR2GRAY);
+ else
+ img_input_.copyTo(img_input);
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ if(img_background.empty())
+ img_input.copyTo(img_background);
+
+ cv::Mat img_input_f(img_input.size(), CV_32F);
+ img_input.convertTo(img_input_f, CV_32F, 1./255.);
+
+ cv::Mat img_background_f(img_background.size(), CV_32F);
+ img_background.convertTo(img_background_f, CV_32F, 1./255.);
+
+ cv::Mat img_diff_f(img_input.size(), CV_32F);
+ cv::absdiff(img_input_f, img_background_f, img_diff_f);
+
+ cv::Mat img_foreground(img_input.size(), CV_8U);
+ img_diff_f.convertTo(img_foreground, CV_8U, 255.0 / (maxVal - minVal), -minVal);
+
+ cv::threshold(img_foreground, img_foreground, threshold, 255, cv::THRESH_BINARY);
+ cv::medianBlur(img_foreground, img_foreground, 3);
+
+ if (learningFrames > 0 && counter <= learningFrames)
+ {
+ //std::cout << "Adaptive update..." << std::endl;
+ // Only Adaptive update of the background model
+ img_background_f = alphaLearn * img_input_f + (1 - alphaLearn) * img_background_f;
+ counter++;
+ }
+ else
+ {
+ //std::cout << "Adaptive and Selective update..." << std::endl;
+ int rows = img_input.rows;
+ int cols = img_input.cols;
+
+ for (int i = 0; i < rows; i++)
+ {
+ for (int j = 0; j < cols; j++)
+ {
+ // Adaptive and Selective update of the background model
+ if (img_foreground.at<uchar>(i, j) == 0)
+ {
+ img_background_f.at<float>(i, j) = alphaDetection * img_input_f.at<float>(i, j) + (1 - alphaDetection) * img_background_f.at<float>(i, j);
+ }
+ }
+ }
+ }
+
+ cv::Mat img_new_background(img_input.size(), CV_8U);
+ img_background_f.convertTo(img_new_background, CV_8U, 255.0 / (maxVal - minVal), -minVal);
+ img_new_background.copyTo(img_background);
+
+ if(showOutput)
+ {
+ cv::imshow("AS-Learning FG", img_foreground);
+ cv::imshow("AS-Learning BG", img_background);
+ }
+
+ img_foreground.copyTo(img_output);
+ img_background.copyTo(img_bgmodel);
+
+ firstTime = false;
+}
+
+void AdaptiveSelectiveBackgroundLearning::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/AdaptiveSelectiveBackgroundLearning.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "learningFrames", learningFrames);
+ cvWriteReal(fs, "alphaLearn", alphaLearn);
+ cvWriteReal(fs, "alphaDetection", alphaDetection);
+ cvWriteInt(fs, "threshold", threshold);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void AdaptiveSelectiveBackgroundLearning::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/AdaptiveSelectiveBackgroundLearning.xml", 0, CV_STORAGE_READ);
+
+ learningFrames = cvReadIntByName(fs, 0, "learningFrames", 90);
+ alphaLearn = cvReadRealByName(fs, 0, "alphaLearn", 0.05);
+ alphaDetection = cvReadRealByName(fs, 0, "alphaDetection", 0.05);
+ threshold = cvReadIntByName(fs, 0, "threshold", 25);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
diff --git a/package_bgs/AdaptiveSelectiveBackgroundLearning.h b/package_bgs/AdaptiveSelectiveBackgroundLearning.h
new file mode 100644
index 0000000..cb9f4d5
--- /dev/null
+++ b/package_bgs/AdaptiveSelectiveBackgroundLearning.h
@@ -0,0 +1,49 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "IBGS.h"
+
+class AdaptiveSelectiveBackgroundLearning : public IBGS
+{
+private:
+ bool firstTime;
+ cv::Mat img_background;
+ double alphaLearn;
+ double alphaDetection;
+ long learningFrames;
+ long counter;
+ double minVal;
+ double maxVal;
+ int threshold;
+ bool showOutput;
+
+public:
+ AdaptiveSelectiveBackgroundLearning();
+ ~AdaptiveSelectiveBackgroundLearning();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/FrameDifferenceBGS.cpp b/package_bgs/FrameDifferenceBGS.cpp
new file mode 100644
index 0000000..e871651
--- /dev/null
+++ b/package_bgs/FrameDifferenceBGS.cpp
@@ -0,0 +1,83 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "FrameDifferenceBGS.h"
+
+FrameDifferenceBGS::FrameDifferenceBGS() : firstTime(true), enableThreshold(true), threshold(15), showOutput(true)
+{
+ std::cout << "FrameDifferenceBGS()" << std::endl;
+}
+
+FrameDifferenceBGS::~FrameDifferenceBGS()
+{
+ std::cout << "~FrameDifferenceBGS()" << std::endl;
+}
+
+void FrameDifferenceBGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ if(img_input_prev.empty())
+ {
+ img_input.copyTo(img_input_prev);
+ return;
+ }
+
+ cv::absdiff(img_input_prev, img_input, img_foreground);
+
+ if(img_foreground.channels() == 3)
+ cv::cvtColor(img_foreground, img_foreground, CV_BGR2GRAY);
+
+ if(enableThreshold)
+ cv::threshold(img_foreground, img_foreground, threshold, 255, cv::THRESH_BINARY);
+
+ if(showOutput)
+ cv::imshow("Frame Difference", img_foreground);
+
+ img_foreground.copyTo(img_output);
+
+ img_input.copyTo(img_input_prev);
+
+ firstTime = false;
+}
+
+void FrameDifferenceBGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/FrameDifferenceBGS.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "enableThreshold", enableThreshold);
+ cvWriteInt(fs, "threshold", threshold);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void FrameDifferenceBGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/FrameDifferenceBGS.xml", 0, CV_STORAGE_READ);
+
+ enableThreshold = cvReadIntByName(fs, 0, "enableThreshold", true);
+ threshold = cvReadIntByName(fs, 0, "threshold", 15);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/FrameDifferenceBGS.h b/package_bgs/FrameDifferenceBGS.h
new file mode 100644
index 0000000..3fab44d
--- /dev/null
+++ b/package_bgs/FrameDifferenceBGS.h
@@ -0,0 +1,44 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "IBGS.h"
+
+class FrameDifferenceBGS : public IBGS
+{
+private:
+ bool firstTime;
+ cv::Mat img_input_prev;
+ cv::Mat img_foreground;
+ bool enableThreshold;
+ int threshold;
+ bool showOutput;
+
+public:
+ FrameDifferenceBGS();
+ ~FrameDifferenceBGS();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
\ No newline at end of file
diff --git a/package_bgs/GMG.cpp b/package_bgs/GMG.cpp
new file mode 100644
index 0000000..675b23c
--- /dev/null
+++ b/package_bgs/GMG.cpp
@@ -0,0 +1,99 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "GMG.h"
+
+GMG::GMG() : firstTime(true), initializationFrames(20), decisionThreshold(0.7), showOutput(true)
+{
+ std::cout << "GMG()" << std::endl;
+
+ cv::initModule_video();
+ cv::setUseOptimized(true);
+ cv::setNumThreads(8);
+
+ fgbg = cv::Algorithm::create<cv::BackgroundSubtractorGMG>("BackgroundSubtractor.GMG");
+}
+
+GMG::~GMG()
+{
+ std::cout << "~GMG()" << std::endl;
+}
+
+void GMG::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ {
+ fgbg->set("initializationFrames", initializationFrames);
+ fgbg->set("decisionThreshold", decisionThreshold);
+
+ saveConfig();
+ }
+
+ if(fgbg.empty())
+ {
+ std::cerr << "Failed to create BackgroundSubtractor.GMG Algorithm." << std::endl;
+ return;
+ }
+
+ (*fgbg)(img_input, img_foreground);
+
+ cv::Mat img_background;
+ (*fgbg).getBackgroundImage(img_background);
+
+ img_input.copyTo(img_segmentation);
+ cv::add(img_input, cv::Scalar(100, 100, 0), img_segmentation, img_foreground);
+
+ if(showOutput)
+ {
+ if (!img_foreground.empty())
+ cv::imshow("GMG FG (Godbehere-Matsukawa-Goldberg)", img_foreground);
+
+ if (!img_background.empty())
+ cv::imshow("GMG BG (Godbehere-Matsukawa-Goldberg)", img_background);
+ }
+
+ img_foreground.copyTo(img_output);
+ img_background.copyTo(img_bgmodel);
+
+ firstTime = false;
+}
+
+void GMG::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/GMG.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "initializationFrames", initializationFrames);
+ cvWriteReal(fs, "decisionThreshold", decisionThreshold);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void GMG::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/GMG.xml", 0, CV_STORAGE_READ);
+
+ initializationFrames = cvReadIntByName(fs, 0, "initializationFrames", 20);
+ decisionThreshold = cvReadRealByName(fs, 0, "decisionThreshold", 0.7);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
diff --git a/package_bgs/GMG.h b/package_bgs/GMG.h
new file mode 100644
index 0000000..9da28ad
--- /dev/null
+++ b/package_bgs/GMG.h
@@ -0,0 +1,45 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <opencv2/opencv.hpp>
+
+#include "IBGS.h"
+
+class GMG : public IBGS
+{
+private:
+ bool firstTime;
+ cv::Ptr<cv::BackgroundSubtractorGMG> fgbg;
+ int initializationFrames;
+ double decisionThreshold;
+ cv::Mat img_foreground;
+ cv::Mat img_segmentation;
+ bool showOutput;
+
+public:
+ GMG();
+ ~GMG();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/IBGS.h b/package_bgs/IBGS.h
new file mode 100644
index 0000000..0b57658
--- /dev/null
+++ b/package_bgs/IBGS.h
@@ -0,0 +1,33 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <cv.h>
+
+class IBGS
+{
+public:
+ virtual void process(const cv::Mat &img_input, cv::Mat &img_foreground, cv::Mat &img_background) = 0;
+ /*virtual void process(const cv::Mat &img_input, cv::Mat &img_foreground){
+ process(img_input, img_foreground, cv::Mat());
+ }*/
+ virtual ~IBGS(){}
+
+private:
+ virtual void saveConfig() = 0;
+ virtual void loadConfig() = 0;
+};
diff --git a/package_bgs/MixtureOfGaussianV1BGS.cpp b/package_bgs/MixtureOfGaussianV1BGS.cpp
new file mode 100644
index 0000000..51d41eb
--- /dev/null
+++ b/package_bgs/MixtureOfGaussianV1BGS.cpp
@@ -0,0 +1,95 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "MixtureOfGaussianV1BGS.h"
+
+MixtureOfGaussianV1BGS::MixtureOfGaussianV1BGS() : firstTime(true), alpha(0.05), enableThreshold(true), threshold(15), showOutput(true)
+{
+ std::cout << "MixtureOfGaussianV1BGS()" << std::endl;
+}
+
+MixtureOfGaussianV1BGS::~MixtureOfGaussianV1BGS()
+{
+ std::cout << "~MixtureOfGaussianV1BGS()" << std::endl;
+}
+
+void MixtureOfGaussianV1BGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ //------------------------------------------------------------------
+ // BackgroundSubtractorMOG
+ // http://opencv.itseez.com/modules/video/doc/motion_analysis_and_object_tracking.html#backgroundsubtractormog
+ //
+ // Gaussian Mixture-based Backbround/Foreground Segmentation Algorithm.
+ //
+ // The class implements the algorithm described in:
+ // P. KadewTraKuPong and R. Bowden,
+ // An improved adaptive background mixture model for real-time tracking with shadow detection,
+ // Proc. 2nd European Workshp on Advanced Video-Based Surveillance Systems, 2001
+ //------------------------------------------------------------------
+
+ mog(img_input, img_foreground, alpha);
+ cv::Mat img_background;
+ mog.getBackgroundImage(img_background);
+
+ if(enableThreshold)
+ cv::threshold(img_foreground, img_foreground, threshold, 255, cv::THRESH_BINARY);
+
+ if(showOutput)
+ {
+ if (!img_foreground.empty())
+ cv::imshow("GMM FG (KadewTraKuPong&Bowden)", img_foreground);
+
+ if (!img_background.empty())
+ cv::imshow("GMM BG (KadewTraKuPong&Bowden)", img_background);
+ }
+
+ img_foreground.copyTo(img_output);
+ img_background.copyTo(img_bgmodel);
+
+ firstTime = false;
+}
+
+void MixtureOfGaussianV1BGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/MixtureOfGaussianV1BGS.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteReal(fs, "alpha", alpha);
+ cvWriteInt(fs, "enableThreshold", enableThreshold);
+ cvWriteInt(fs, "threshold", threshold);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void MixtureOfGaussianV1BGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/MixtureOfGaussianV1BGS.xml", 0, CV_STORAGE_READ);
+
+ alpha = cvReadRealByName(fs, 0, "alpha", 0.05);
+ enableThreshold = cvReadIntByName(fs, 0, "enableThreshold", true);
+ threshold = cvReadIntByName(fs, 0, "threshold", 15);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
diff --git a/package_bgs/MixtureOfGaussianV1BGS.h b/package_bgs/MixtureOfGaussianV1BGS.h
new file mode 100644
index 0000000..8a67acc
--- /dev/null
+++ b/package_bgs/MixtureOfGaussianV1BGS.h
@@ -0,0 +1,47 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+#include <opencv2/video/background_segm.hpp>
+
+#include "IBGS.h"
+
+class MixtureOfGaussianV1BGS : public IBGS
+{
+private:
+ bool firstTime;
+ cv::BackgroundSubtractorMOG mog;
+ cv::Mat img_foreground;
+ double alpha;
+ bool enableThreshold;
+ int threshold;
+ bool showOutput;
+
+public:
+ MixtureOfGaussianV1BGS();
+ ~MixtureOfGaussianV1BGS();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/MixtureOfGaussianV2BGS.cpp b/package_bgs/MixtureOfGaussianV2BGS.cpp
new file mode 100644
index 0000000..5ce33a3
--- /dev/null
+++ b/package_bgs/MixtureOfGaussianV2BGS.cpp
@@ -0,0 +1,98 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "MixtureOfGaussianV2BGS.h"
+
+MixtureOfGaussianV2BGS::MixtureOfGaussianV2BGS() : firstTime(true), alpha(0.05), enableThreshold(true), threshold(15), showOutput(true)
+{
+ std::cout << "MixtureOfGaussianV2BGS()" << std::endl;
+}
+
+MixtureOfGaussianV2BGS::~MixtureOfGaussianV2BGS()
+{
+ std::cout << "~MixtureOfGaussianV2BGS()" << std::endl;
+}
+
+void MixtureOfGaussianV2BGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ //------------------------------------------------------------------
+ // BackgroundSubtractorMOG2
+ // http://opencv.itseez.com/modules/video/doc/motion_analysis_and_object_tracking.html#backgroundsubtractormog2
+ //
+ // Gaussian Mixture-based Backbround/Foreground Segmentation Algorithm.
+ //
+ // The class implements the Gaussian mixture model background subtraction described in:
+ // (1) Z.Zivkovic, Improved adaptive Gausian mixture model for background subtraction, International Conference Pattern Recognition, UK, August, 2004,
+ // The code is very fast and performs also shadow detection. Number of Gausssian components is adapted per pixel.
+ //
+ // (2) Z.Zivkovic, F. van der Heijden, Efficient Adaptive Density Estimation per Image Pixel for the Task of Background Subtraction,
+ // Pattern Recognition Letters, vol. 27, no. 7, pages 773-780, 2006.
+ // The algorithm similar to the standard Stauffer&Grimson algorithm with additional selection of the number of the Gaussian components based on:
+ // Z.Zivkovic, F.van der Heijden, Recursive unsupervised learning of finite mixture models, IEEE Trans. on Pattern Analysis and Machine Intelligence,
+ // vol.26, no.5, pages 651-656, 2004.
+ //------------------------------------------------------------------
+
+ mog(img_input, img_foreground, alpha);
+
+ cv::Mat img_background;
+ mog.getBackgroundImage(img_background);
+
+ if(enableThreshold)
+ cv::threshold(img_foreground, img_foreground, threshold, 255, cv::THRESH_BINARY);
+
+ if(showOutput)
+ {
+ cv::imshow("GMM (Zivkovic&Heijden)", img_foreground);
+ cv::imshow("GMM BKG (Zivkovic&Heijden)", img_background);
+ }
+
+ img_foreground.copyTo(img_output);
+ img_background.copyTo(img_bgmodel);
+
+ firstTime = false;
+}
+
+void MixtureOfGaussianV2BGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/MixtureOfGaussianV2BGS.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteReal(fs, "alpha", alpha);
+ cvWriteInt(fs, "enableThreshold", enableThreshold);
+ cvWriteInt(fs, "threshold", threshold);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void MixtureOfGaussianV2BGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/MixtureOfGaussianV2BGS.xml", 0, CV_STORAGE_READ);
+
+ alpha = cvReadRealByName(fs, 0, "alpha", 0.05);
+ enableThreshold = cvReadIntByName(fs, 0, "enableThreshold", true);
+ threshold = cvReadIntByName(fs, 0, "threshold", 15);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
diff --git a/package_bgs/MixtureOfGaussianV2BGS.h b/package_bgs/MixtureOfGaussianV2BGS.h
new file mode 100644
index 0000000..495d701
--- /dev/null
+++ b/package_bgs/MixtureOfGaussianV2BGS.h
@@ -0,0 +1,47 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+#include <opencv2/video/background_segm.hpp>
+
+#include "IBGS.h"
+
+class MixtureOfGaussianV2BGS : public IBGS
+{
+private:
+ bool firstTime;
+ cv::BackgroundSubtractorMOG2 mog;
+ cv::Mat img_foreground;
+ double alpha;
+ bool enableThreshold;
+ int threshold;
+ bool showOutput;
+
+public:
+ MixtureOfGaussianV2BGS();
+ ~MixtureOfGaussianV2BGS();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/StaticFrameDifferenceBGS.cpp b/package_bgs/StaticFrameDifferenceBGS.cpp
new file mode 100644
index 0000000..3463c45
--- /dev/null
+++ b/package_bgs/StaticFrameDifferenceBGS.cpp
@@ -0,0 +1,79 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "StaticFrameDifferenceBGS.h"
+
+StaticFrameDifferenceBGS::StaticFrameDifferenceBGS() : firstTime(true), enableThreshold(true), threshold(15), showOutput(true)
+{
+ std::cout << "StaticFrameDifferenceBGS()" << std::endl;
+}
+
+StaticFrameDifferenceBGS::~StaticFrameDifferenceBGS()
+{
+ std::cout << "~StaticFrameDifferenceBGS()" << std::endl;
+}
+
+void StaticFrameDifferenceBGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ if(img_background.empty())
+ img_input.copyTo(img_background);
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ cv::absdiff(img_input, img_background, img_foreground);
+
+ if(img_foreground.channels() == 3)
+ cv::cvtColor(img_foreground, img_foreground, CV_BGR2GRAY);
+
+ if(enableThreshold)
+ cv::threshold(img_foreground, img_foreground, threshold, 255, cv::THRESH_BINARY);
+
+ if(showOutput)
+ cv::imshow("Static Frame Difference", img_foreground);
+
+ img_foreground.copyTo(img_output);
+ img_background.copyTo(img_bgmodel);
+
+ firstTime = false;
+}
+
+void StaticFrameDifferenceBGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/StaticFrameDifferenceBGS.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "enableThreshold", enableThreshold);
+ cvWriteInt(fs, "threshold", threshold);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void StaticFrameDifferenceBGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/StaticFrameDifferenceBGS.xml", 0, CV_STORAGE_READ);
+
+ enableThreshold = cvReadIntByName(fs, 0, "enableThreshold", true);
+ threshold = cvReadIntByName(fs, 0, "threshold", 15);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/StaticFrameDifferenceBGS.h b/package_bgs/StaticFrameDifferenceBGS.h
new file mode 100644
index 0000000..416d13b
--- /dev/null
+++ b/package_bgs/StaticFrameDifferenceBGS.h
@@ -0,0 +1,45 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "IBGS.h"
+
+class StaticFrameDifferenceBGS : public IBGS
+{
+private:
+ bool firstTime;
+ cv::Mat img_background;
+ cv::Mat img_foreground;
+ bool enableThreshold;
+ int threshold;
+ bool showOutput;
+
+public:
+ StaticFrameDifferenceBGS();
+ ~StaticFrameDifferenceBGS();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/WeightedMovingMeanBGS.cpp b/package_bgs/WeightedMovingMeanBGS.cpp
new file mode 100644
index 0000000..841c467
--- /dev/null
+++ b/package_bgs/WeightedMovingMeanBGS.cpp
@@ -0,0 +1,122 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "WeightedMovingMeanBGS.h"
+
+WeightedMovingMeanBGS::WeightedMovingMeanBGS() : firstTime(true), enableWeight(true), enableThreshold(true), threshold(15), showOutput(true), showBackground(false)
+{
+ std::cout << "WeightedMovingMeanBGS()" << std::endl;
+}
+
+WeightedMovingMeanBGS::~WeightedMovingMeanBGS()
+{
+ std::cout << "~WeightedMovingMeanBGS()" << std::endl;
+}
+
+void WeightedMovingMeanBGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ if(img_input_prev_1.empty())
+ {
+ img_input.copyTo(img_input_prev_1);
+ return;
+ }
+
+ if(img_input_prev_2.empty())
+ {
+ img_input_prev_1.copyTo(img_input_prev_2);
+ img_input.copyTo(img_input_prev_1);
+ return;
+ }
+
+ cv::Mat img_input_f(img_input.size(), CV_32F);
+ img_input.convertTo(img_input_f, CV_32F, 1./255.);
+
+ cv::Mat img_input_prev_1_f(img_input.size(), CV_32F);
+ img_input_prev_1.convertTo(img_input_prev_1_f, CV_32F, 1./255.);
+
+ cv::Mat img_input_prev_2_f(img_input.size(), CV_32F);
+ img_input_prev_2.convertTo(img_input_prev_2_f, CV_32F, 1./255.);
+
+ cv::Mat img_background_f(img_input.size(), CV_32F);
+
+ if(enableWeight)
+ img_background_f = ((img_input_f * 0.5) + (img_input_prev_1_f * 0.3) + (img_input_prev_2_f * 0.2));
+ else
+ img_background_f = ((img_input_f) + (img_input_prev_1_f) + (img_input_prev_2_f)) / 3.0;
+
+ cv::Mat img_background(img_background_f.size(), CV_8U);
+
+ double minVal, maxVal;
+ minVal = 0.; maxVal = 1.;
+ img_background_f.convertTo(img_background, CV_8U, 255.0/(maxVal - minVal), -minVal);
+
+ if(showBackground)
+ cv::imshow("W Moving Mean BG Model", img_background);
+
+ cv::Mat img_foreground;
+ cv::absdiff(img_input, img_background, img_foreground);
+
+ if(img_foreground.channels() == 3)
+ cv::cvtColor(img_foreground, img_foreground, CV_BGR2GRAY);
+
+ if(enableThreshold)
+ cv::threshold(img_foreground, img_foreground, threshold, 255, cv::THRESH_BINARY);
+
+ if(showOutput)
+ cv::imshow("W Moving Mean FG Mask", img_foreground);
+
+ img_foreground.copyTo(img_output);
+ img_background.copyTo(img_bgmodel);
+
+ img_input_prev_1.copyTo(img_input_prev_2);
+ img_input.copyTo(img_input_prev_1);
+
+ firstTime = false;
+}
+
+void WeightedMovingMeanBGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/WeightedMovingMeanBGS.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "enableWeight", enableWeight);
+ cvWriteInt(fs, "enableThreshold", enableThreshold);
+ cvWriteInt(fs, "threshold", threshold);
+ cvWriteInt(fs, "showOutput", showOutput);
+ cvWriteInt(fs, "showBackground", showBackground);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void WeightedMovingMeanBGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/WeightedMovingMeanBGS.xml", 0, CV_STORAGE_READ);
+
+ enableWeight = cvReadIntByName(fs, 0, "enableWeight", true);
+ enableThreshold = cvReadIntByName(fs, 0, "enableThreshold", true);
+ threshold = cvReadIntByName(fs, 0, "threshold", 15);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+ showBackground = cvReadIntByName(fs, 0, "showBackground", false);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/WeightedMovingMeanBGS.h b/package_bgs/WeightedMovingMeanBGS.h
new file mode 100644
index 0000000..a6684e7
--- /dev/null
+++ b/package_bgs/WeightedMovingMeanBGS.h
@@ -0,0 +1,47 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "IBGS.h"
+
+class WeightedMovingMeanBGS : public IBGS
+{
+private:
+ bool firstTime;
+ cv::Mat img_input_prev_1;
+ cv::Mat img_input_prev_2;
+ bool enableWeight;
+ bool enableThreshold;
+ int threshold;
+ bool showOutput;
+ bool showBackground;
+
+public:
+ WeightedMovingMeanBGS();
+ ~WeightedMovingMeanBGS();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/WeightedMovingVarianceBGS.cpp b/package_bgs/WeightedMovingVarianceBGS.cpp
new file mode 100644
index 0000000..7e691e9
--- /dev/null
+++ b/package_bgs/WeightedMovingVarianceBGS.cpp
@@ -0,0 +1,161 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "WeightedMovingVarianceBGS.h"
+
+WeightedMovingVarianceBGS::WeightedMovingVarianceBGS() : firstTime(true), enableWeight(true),
+ enableThreshold(true), threshold(15), showOutput(true)
+{
+ std::cout << "WeightedMovingVarianceBGS()" << std::endl;
+}
+
+WeightedMovingVarianceBGS::~WeightedMovingVarianceBGS()
+{
+ std::cout << "~WeightedMovingVarianceBGS()" << std::endl;
+}
+
+void WeightedMovingVarianceBGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ if(img_input_prev_1.empty())
+ {
+ img_input.copyTo(img_input_prev_1);
+ return;
+ }
+
+ if(img_input_prev_2.empty())
+ {
+ img_input_prev_1.copyTo(img_input_prev_2);
+ img_input.copyTo(img_input_prev_1);
+ return;
+ }
+
+ cv::Mat img_input_f(img_input.size(), CV_32F);
+ img_input.convertTo(img_input_f, CV_32F, 1./255.);
+
+ cv::Mat img_input_prev_1_f(img_input.size(), CV_32F);
+ img_input_prev_1.convertTo(img_input_prev_1_f, CV_32F, 1./255.);
+
+ cv::Mat img_input_prev_2_f(img_input.size(), CV_32F);
+ img_input_prev_2.convertTo(img_input_prev_2_f, CV_32F, 1./255.);
+
+ cv::Mat img_foreground;
+
+ // Weighted mean
+ cv::Mat img_mean_f(img_input.size(), CV_32F);
+
+ if(enableWeight)
+ img_mean_f = ((img_input_f * 0.5) + (img_input_prev_1_f * 0.3) + (img_input_prev_2_f * 0.2));
+ else
+ img_mean_f = ((img_input_f * 0.3) + (img_input_prev_1_f * 0.3) + (img_input_prev_2_f * 0.3));
+
+ // Weighted variance
+ cv::Mat img_1_f(img_input.size(), CV_32F);
+ cv::Mat img_2_f(img_input.size(), CV_32F);
+ cv::Mat img_3_f(img_input.size(), CV_32F);
+ cv::Mat img_4_f(img_input.size(), CV_32F);
+
+ if(enableWeight)
+ {
+ img_1_f = computeWeightedVariance(img_input_f, img_mean_f, 0.5);
+ img_2_f = computeWeightedVariance(img_input_prev_1_f, img_mean_f, 0.3);
+ img_3_f = computeWeightedVariance(img_input_prev_2_f, img_mean_f, 0.2);
+ img_4_f = (img_1_f + img_2_f + img_3_f);
+ }
+ else
+ {
+ img_1_f = computeWeightedVariance(img_input_f, img_mean_f, 0.3);
+ img_2_f = computeWeightedVariance(img_input_prev_1_f, img_mean_f, 0.3);
+ img_3_f = computeWeightedVariance(img_input_prev_2_f, img_mean_f, 0.3);
+ img_4_f = (img_1_f + img_2_f + img_3_f);
+ }
+
+ // Standard deviation
+ cv::Mat img_sqrt_f(img_input.size(), CV_32F);
+ cv::sqrt(img_4_f, img_sqrt_f);
+ cv::Mat img_sqrt(img_input.size(), CV_8U);
+ double minVal, maxVal;
+ minVal = 0.; maxVal = 1.;
+ img_sqrt_f.convertTo(img_sqrt, CV_8U, 255.0/(maxVal - minVal), -minVal);
+ img_sqrt.copyTo(img_foreground);
+
+ if(img_foreground.channels() == 3)
+ cv::cvtColor(img_foreground, img_foreground, CV_BGR2GRAY);
+
+ if(enableThreshold)
+ cv::threshold(img_foreground, img_foreground, threshold, 255, cv::THRESH_BINARY);
+
+ if(showOutput)
+ cv::imshow("W Moving Variance", img_foreground);
+
+ img_foreground.copyTo(img_output);
+
+ img_input_prev_1.copyTo(img_input_prev_2);
+ img_input.copyTo(img_input_prev_1);
+
+ firstTime = false;
+}
+
+//unused
+cv::Mat WeightedMovingVarianceBGS::computeWeightedMean(const std::vector<cv::Mat> &v_img_input_f, const std::vector<double> weights)
+{
+ cv::Mat img;
+ return img;
+}
+
+cv::Mat WeightedMovingVarianceBGS::computeWeightedVariance(const cv::Mat &img_input_f, const cv::Mat &img_mean_f, const double weight)
+{
+ //ERROR in return (weight * ((cv::abs(img_input_f - img_mean_f))^2.));
+
+ cv::Mat img_f_absdiff(img_input_f.size(), CV_32F);
+ cv::absdiff(img_input_f, img_mean_f, img_f_absdiff);
+ cv::Mat img_f_pow(img_input_f.size(), CV_32F);
+ cv::pow(img_f_absdiff, 2.0, img_f_pow);
+ cv::Mat img_f = weight * img_f_pow;
+
+ return img_f;
+}
+
+void WeightedMovingVarianceBGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/WeightedMovingVarianceBGS.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "enableWeight", enableWeight);
+ cvWriteInt(fs, "enableThreshold", enableThreshold);
+ cvWriteInt(fs, "threshold", threshold);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void WeightedMovingVarianceBGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/WeightedMovingVarianceBGS.xml", 0, CV_STORAGE_READ);
+
+ enableWeight = cvReadIntByName(fs, 0, "enableWeight", true);
+ enableThreshold = cvReadIntByName(fs, 0, "enableThreshold", true);
+ threshold = cvReadIntByName(fs, 0, "threshold", 15);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
diff --git a/package_bgs/WeightedMovingVarianceBGS.h b/package_bgs/WeightedMovingVarianceBGS.h
new file mode 100644
index 0000000..f07cf59
--- /dev/null
+++ b/package_bgs/WeightedMovingVarianceBGS.h
@@ -0,0 +1,48 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "IBGS.h"
+
+class WeightedMovingVarianceBGS : public IBGS
+{
+private:
+ bool firstTime;
+ cv::Mat img_input_prev_1;
+ cv::Mat img_input_prev_2;
+ bool enableWeight;
+ bool enableThreshold;
+ int threshold;
+ bool showOutput;
+
+public:
+ WeightedMovingVarianceBGS();
+ ~WeightedMovingVarianceBGS();
+
+ cv::Mat computeWeightedMean(const std::vector<cv::Mat> &v_img_input_f, const std::vector<double> weights);
+ cv::Mat computeWeightedVariance(const cv::Mat &img_input_f, const cv::Mat &img_mean_f, const double weight);
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
diff --git a/package_bgs/ae/KDE.cpp b/package_bgs/ae/KDE.cpp
new file mode 100644
index 0000000..2cbbd8c
--- /dev/null
+++ b/package_bgs/ae/KDE.cpp
@@ -0,0 +1,128 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "KDE.h"
+
+KDE::KDE() : SequenceLength(50), TimeWindowSize(100), SDEstimationFlag(1), lUseColorRatiosFlag(1),
+ th(10e-8), alpha(0.3), framesToLearn(10), frameNumber(0), firstTime(true), showOutput(true)
+{
+ p = new NPBGSubtractor;
+ std::cout << "KDE()" << std::endl;
+}
+
+KDE::~KDE()
+{
+ delete FGImage;
+ delete p;
+ std::cout << "~KDE()" << std::endl;
+}
+
+void KDE::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ {
+ rows = img_input.size().height;
+ cols = img_input.size().width;
+ color_channels = img_input.channels();
+
+ // SequenceLength: number of samples for each pixel.
+ // TimeWindowSize: Time window for sampling. for example in the call above, the bg will sample 50 points out of 100 frames.
+ // this rate will affect how fast the model adapt.
+ // SDEstimationFlag: True means to estimate suitable kernel bandwidth to each pixel, False uses a default value.
+ // lUseColorRatiosFlag: True means use normalized RGB for color (recommended.)
+ p->Intialize(rows,cols,color_channels,SequenceLength,TimeWindowSize,SDEstimationFlag,lUseColorRatiosFlag);
+ // th: 0-1 is the probability threshold for a pixel to be a foregroud. typically make it small as 10e-8. the smaller the value the less false positive and more false negative.
+ // alpha: 0-1, for color. typically set to 0.3. this affect shadow suppression.
+ p->SetThresholds(th,alpha);
+
+ FGImage = new unsigned char[rows*cols];
+ //FilteredFGImage = new unsigned char[rows*cols];
+ FilteredFGImage = 0;
+ DisplayBuffers = 0;
+
+ img_foreground = cv::Mat::zeros(rows,cols,CV_8UC1);
+
+ frameNumber = 0;
+ saveConfig();
+ firstTime = false;
+ }
+
+ // Stores the first N frames to build the background model
+ if(frameNumber < framesToLearn)
+ {
+ p->AddFrame(img_input.data);
+ frameNumber++;
+ return;
+ }
+
+ // Build the background model with first 10 frames
+ if(frameNumber == framesToLearn)
+ {
+ p->Estimation();
+ frameNumber++;
+ }
+
+ // Now, we can subtract the background
+ ((NPBGSubtractor *)p)->NBBGSubtraction(img_input.data,FGImage,FilteredFGImage,DisplayBuffers);
+
+ // At each frame also you can call the update function to adapt the bg
+ // here you pass a mask where pixels with true value will be masked out of the update.
+ ((NPBGSubtractor *)p)->Update(FGImage);
+
+ img_foreground.data = FGImage;
+
+ if(showOutput)
+ cv::imshow("KDE", img_foreground);
+
+ img_foreground.copyTo(img_output);
+}
+
+void KDE::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/KDE.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "framesToLearn", framesToLearn);
+ cvWriteInt(fs, "SequenceLength", SequenceLength);
+ cvWriteInt(fs, "TimeWindowSize", TimeWindowSize);
+ cvWriteInt(fs, "SDEstimationFlag", SDEstimationFlag);
+ cvWriteInt(fs, "lUseColorRatiosFlag", lUseColorRatiosFlag);
+ cvWriteReal(fs, "th", th);
+ cvWriteReal(fs, "alpha", alpha);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void KDE::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/KDE.xml", 0, CV_STORAGE_READ);
+
+ framesToLearn = cvReadIntByName(fs, 0, "framesToLearn", 10);
+ SequenceLength = cvReadIntByName(fs, 0, "SequenceLength", 50);
+ TimeWindowSize = cvReadIntByName(fs, 0, "TimeWindowSize", 100);
+ SDEstimationFlag = cvReadIntByName(fs, 0, "SDEstimationFlag", 1);
+ lUseColorRatiosFlag = cvReadIntByName(fs, 0, "lUseColorRatiosFlag", 1);
+ th = cvReadRealByName(fs, 0, "th", 10e-8);
+ alpha = cvReadRealByName(fs, 0, "alpha", 0.3);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
diff --git a/package_bgs/ae/KDE.h b/package_bgs/ae/KDE.h
new file mode 100644
index 0000000..39f01dc
--- /dev/null
+++ b/package_bgs/ae/KDE.h
@@ -0,0 +1,58 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "NPBGSubtractor.h"
+#include "../IBGS.h"
+
+class KDE : public IBGS
+{
+private:
+ NPBGSubtractor *p;
+ int rows;
+ int cols;
+ int color_channels;
+ int SequenceLength;
+ int TimeWindowSize;
+ int SDEstimationFlag;
+ int lUseColorRatiosFlag;
+ double th;
+ double alpha;
+ int framesToLearn;
+ int frameNumber;
+ bool firstTime;
+ bool showOutput;
+
+ cv::Mat img_foreground;
+ unsigned char *FGImage;
+ unsigned char *FilteredFGImage;
+ unsigned char **DisplayBuffers;
+
+public:
+ KDE();
+ ~KDE();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
diff --git a/package_bgs/ae/KernelTable.cpp b/package_bgs/ae/KernelTable.cpp
new file mode 100644
index 0000000..9e20d7c
--- /dev/null
+++ b/package_bgs/ae/KernelTable.cpp
@@ -0,0 +1,116 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/*
+*
+* Copyright 2001 by Ahmed Elgammal All rights reserved.
+*
+* Permission to use, copy, or modify this software and its documentation
+* for educational and research purposes only and without fee is hereby
+* granted, provided that this copyright notice and the original authors's
+* name appear on all copies and supporting documentation. If individual
+* files are separated from this distribution directory structure, this
+* copyright notice must be included. For any other uses of this software,
+* in original or modified form, including but not limited to distribution
+* in whole or in part, specific prior permission must be obtained from
+* Author or UMIACS. These programs shall not be used, rewritten, or
+* adapted as the basis of a commercial software or hardware product
+* without first obtaining appropriate licenses from Author.
+* Other than these cases, no part of this software may be used or
+* distributed without written permission of the author.
+*
+* Neither the author nor UMIACS make any representations about the
+* suitability of this software for any purpose. It is provided
+* "as is" without express or implied warranty.
+*
+* Ahmed Elgammal
+*
+* University of Maryland at College Park
+* UMIACS
+* A.V. Williams Bldg.
+* CollegePark, MD 20742
+* E-mail: elgammal@umiacs.umd.edu
+*
+**/
+
+#include "KernelTable.h"
+#include <math.h>
+
+#define PI 3.14159
+
+KernelLUTable::KernelLUTable()
+{
+ std::cout << "KernelLUTable()" << std::endl;
+}
+
+KernelLUTable::~KernelLUTable()
+{
+ delete kerneltable;
+ delete kernelsums;
+ std::cout << "~KernelLUTable()" << std::endl;
+}
+
+KernelLUTable::KernelLUTable(int KernelHalfWidth, double Segmamin, double Segmamax, int Segmabins)
+{
+ std::cout << "KernelLUTable()" << std::endl;
+
+ double C1,C2,v,segma,sum;
+ int bin,b;
+
+ minsegma = Segmamin;
+ maxsegma = Segmamax;
+ segmabins = Segmabins;
+ tablehalfwidth = KernelHalfWidth;
+
+ // Generate the Kernel
+
+ // allocate memory for the Kernal Table
+ kerneltable = new double[segmabins*(2*KernelHalfWidth+1)];
+ kernelsums = new double[segmabins];
+
+ double segmastep = (maxsegma - minsegma) / segmabins;
+ double y;
+
+ for(segma = minsegma, bin = 0; bin < segmabins; segma += segmastep, bin++)
+ {
+ C1 = 1/(sqrt(2*PI)*segma);
+ C2 = -1/(2*segma*segma);
+
+ b = (2*KernelHalfWidth+1)*bin;
+ sum = 0;
+
+ for(int x = 0; x <= KernelHalfWidth; x++)
+ {
+ y = x/1.0;
+ v = C1*exp(C2*y*y);
+ kerneltable[b+KernelHalfWidth+x]=v;
+ kerneltable[b+KernelHalfWidth-x]=v;
+ sum += 2*v;
+ }
+
+ sum -= C1;
+
+ kernelsums[bin] = sum;
+
+ // Normailization
+ for(int x = 0; x <= KernelHalfWidth; x++)
+ {
+ v = kerneltable[b+KernelHalfWidth+x] / sum;
+ kerneltable[b+KernelHalfWidth+x]=v;
+ kerneltable[b+KernelHalfWidth-x]=v;
+ }
+ }
+}
diff --git a/package_bgs/ae/KernelTable.h b/package_bgs/ae/KernelTable.h
new file mode 100644
index 0000000..bc37cc4
--- /dev/null
+++ b/package_bgs/ae/KernelTable.h
@@ -0,0 +1,71 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/*
+*
+* Copyright 2001 by Ahmed Elgammal All rights reserved.
+*
+* Permission to use, copy, or modify this software and its documentation
+* for educational and research purposes only and without fee is hereby
+* granted, provided that this copyright notice and the original authors's
+* name appear on all copies and supporting documentation. If individual
+* files are separated from this distribution directory structure, this
+* copyright notice must be included. For any other uses of this software,
+* in original or modified form, including but not limited to distribution
+* in whole or in part, specific prior permission must be obtained from
+* Author or UMIACS. These programs shall not be used, rewritten, or
+* adapted as the basis of a commercial software or hardware product
+* without first obtaining appropriate licenses from Author.
+* Other than these cases, no part of this software may be used or
+* distributed without written permission of the author.
+*
+* Neither the author nor UMIACS make any representations about the
+* suitability of this software for any purpose. It is provided
+* "as is" without express or implied warranty.
+*
+* Ahmed Elgammal
+*
+* University of Maryland at College Park
+* UMIACS
+* A.V. Williams Bldg.
+* CollegePark, MD 20742
+* E-mail: elgammal@umiacs.umd.edu
+*
+**/
+
+#ifndef __KERNEL_TABLE__
+#define __KERNEL_TABLE__
+
+#include <iostream>
+
+class KernelLUTable
+{
+public:
+ double minsegma;
+ double maxsegma;
+ int segmabins;
+ int tablehalfwidth;
+ double *kerneltable;
+ double *kernelsums;
+
+public:
+ KernelLUTable();
+ ~KernelLUTable();
+
+ KernelLUTable(int KernelHalfWidth,double Segmamin,double Segmamax,int Segmabins);
+};
+
+#endif
diff --git a/package_bgs/ae/NPBGSubtractor.cpp b/package_bgs/ae/NPBGSubtractor.cpp
new file mode 100644
index 0000000..0f77a9a
--- /dev/null
+++ b/package_bgs/ae/NPBGSubtractor.cpp
@@ -0,0 +1,1160 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/*
+*
+* Copyright 2001 by Ahmed Elgammal All rights reserved.
+*
+* Permission to use, copy, or modify this software and its documentation
+* for educational and research purposes only and without fee is hereby
+* granted, provided that this copyright notice and the original authors's
+* name appear on all copies and supporting documentation. If individual
+* files are separated from this distribution directory structure, this
+* copyright notice must be included. For any other uses of this software,
+* in original or modified form, including but not limited to distribution
+* in whole or in part, specific prior permission must be obtained from
+* Author or UMIACS. These programs shall not be used, rewritten, or
+* adapted as the basis of a commercial software or hardware product
+* without first obtaining appropriate licenses from Author.
+* Other than these cases, no part of this software may be used or
+* distributed without written permission of the author.
+*
+* Neither the author nor UMIACS make any representations about the
+* suitability of this software for any purpose. It is provided
+* "as is" without express or implied warranty.
+*
+* Ahmed Elgammal
+*
+* University of Maryland at College Park
+* UMIACS
+* A.V. Williams Bldg.
+* CollegePark, MD 20742
+* E-mail: elgammal@umiacs.umd.edu
+*
+**/
+
+// NPBGSubtractor.cpp: implementation of the NPBGSubtractor class.
+//
+//////////////////////////////////////////////////////////////////////
+
+#include "NPBGSubtractor.h"
+#include <assert.h>
+#include <math.h>
+#include <string.h>
+
+//#ifdef _DEBUG
+//#undef THIS_FILE
+//static char THIS_FILE[]=__FILE__;
+//#define new DEBUG_NEW
+//#endif
+
+void BGR2SnGnRn(unsigned char * in_image,
+ unsigned char * out_image,
+ unsigned int rows,
+ unsigned int cols)
+{
+ unsigned int i;
+ unsigned int r1,r2,r3;
+ unsigned int r,g,b;
+ double s;
+
+ for(i = 0; i < rows*cols*3; i += 3)
+ {
+ b=in_image[i];
+ g=in_image[i+1];
+ r=in_image[i+2];
+
+ // calculate color ratios
+ s = (double) 255 / (double) (b+g+r+30);
+
+ r2 =(unsigned int) ((g+10) * s );
+ r3 =(unsigned int) ((r+10) * s );
+
+ out_image[i] = (unsigned char) (((unsigned int) b+g+r) / 3);
+ out_image[i+1] = (unsigned char) (r2 > 255 ? 255 : r2) ;
+ out_image[i+2] = (unsigned char) (r3 > 255 ? 255 : r3) ;
+ }
+}
+
+void UpdateDiffHist(unsigned char * image1, unsigned char * image2, DynamicMedianHistogram * pHist)
+{
+ unsigned int j;
+ int bin,diff;
+
+ unsigned int imagesize = pHist->imagesize;
+ unsigned char histbins = pHist->histbins;
+ unsigned char *pAbsDiffHist = pHist->Hist;
+
+ int histbins_1 = histbins-1;
+
+ for(j = 0; j < imagesize; j++)
+ {
+ diff = (int) image1[j] - (int) image2[j];
+ diff = abs(diff);
+ // update histogram
+ bin = (diff < histbins ? diff : histbins_1);
+ pAbsDiffHist[j*histbins+bin]++;
+ }
+}
+
+void FindHistMedians(DynamicMedianHistogram * pAbsDiffHist)
+{
+ unsigned char * Hist = pAbsDiffHist->Hist;
+ unsigned char * MedianBins = pAbsDiffHist->MedianBins;
+ unsigned char * AccSum = pAbsDiffHist->AccSum;
+ unsigned char histsum = pAbsDiffHist->histsum;
+ unsigned char histbins = pAbsDiffHist->histbins;
+ unsigned int imagesize = pAbsDiffHist->imagesize;
+
+ int sum;
+ int bin;
+ unsigned int histindex;
+ unsigned char medianCount=histsum/2;
+ unsigned int j;
+
+ // find medians
+ for(j = 0; j < imagesize; j++)
+ {
+ // find the median
+ bin=0;
+ sum=0;
+
+ histindex=j*histbins;
+
+ while(sum < medianCount)
+ {
+ sum+=Hist[histindex+bin];
+ bin++;
+ }
+
+ bin--;
+
+ MedianBins[j]=bin;
+ AccSum[j]=sum;
+ }
+}
+
+DynamicMedianHistogram BuildAbsDiffHist(unsigned char * pSequence,
+ unsigned int rows,
+ unsigned int cols,
+ unsigned int color_channels,
+ unsigned int SequenceLength,
+ unsigned int histbins)
+{
+
+ unsigned int imagesize=rows*cols*color_channels;
+ unsigned int i;
+
+ DynamicMedianHistogram Hist;
+
+ unsigned char *pAbsDiffHist = new unsigned char[rows*cols*color_channels*histbins];
+ unsigned char *pMedianBins = new unsigned char[rows*cols*color_channels];
+ unsigned char *pMedianFreq = new unsigned char[rows*cols*color_channels];
+ unsigned char *pAccSum = new unsigned char[rows*cols*color_channels];
+
+ memset(pAbsDiffHist,0,rows*cols*color_channels*histbins);
+
+ Hist.Hist = pAbsDiffHist;
+ Hist.MedianBins = pMedianBins;
+ Hist.MedianFreq = pMedianFreq;
+ Hist.AccSum = pAccSum;
+ Hist.histbins = histbins;
+ Hist.imagesize = rows*cols*color_channels;
+ Hist.histsum = SequenceLength-1;
+
+ unsigned char *image1, *image2;
+ for(i = 1; i < SequenceLength; i++)
+ {
+ // find diff between frame i,i-1;
+ image1 = pSequence+(i-1)*imagesize;
+ image2 = pSequence+(i)*imagesize;
+
+ UpdateDiffHist(image1,image2,&Hist);
+ }
+
+ FindHistMedians(&Hist);
+
+ return Hist;
+}
+
+void EstimateSDsFromAbsDiffHist(DynamicMedianHistogram * pAbsDiffHist,
+ unsigned char * pSDs,
+ unsigned int imagesize,
+ double MinSD,
+ double MaxSD,
+ unsigned int kernelbins)
+{
+ double v;
+ double kernelbinfactor=(kernelbins-1)/(MaxSD-MinSD);
+ int medianCount;
+ int sum;
+ int bin;
+ unsigned int histindex;
+ unsigned int j;
+ unsigned int x1,x2;
+
+ unsigned char *Hist =pAbsDiffHist->Hist;
+ unsigned char *MedianBins =pAbsDiffHist->MedianBins;
+ unsigned char *AccSum =pAbsDiffHist->AccSum;
+ unsigned char histsum =pAbsDiffHist->histsum;
+ unsigned char histbins =pAbsDiffHist->histbins;
+
+ medianCount=(histsum)/2 ;
+
+ for(j = 0; j < imagesize; j++)
+ {
+ histindex=j*histbins;
+
+ bin=MedianBins[j];
+ sum=AccSum[j];
+
+ x1=sum-Hist[histindex+bin];
+ x2=sum;
+
+ // interpolate to get the median
+ // x1 < 50 % < x2
+
+ v =1.04 * ((double) bin-(double) (x2-medianCount)/ (double) (x2-x1));
+ v=( v <= MinSD ? MinSD : v);
+
+ // convert sd to kernel table bin
+
+ bin=(int) (v>=MaxSD ? kernelbins-1 : floor((v-MinSD)*kernelbinfactor+.5));
+
+ assert(bin>=0 && bin < kernelbins );
+
+ pSDs[j]=bin;
+ }
+}
+
+//////////////////////////////////////////////////////////////////////
+// Construction/Destruction
+//////////////////////////////////////////////////////////////////////
+
+NPBGSubtractor::NPBGSubtractor(){}
+
+NPBGSubtractor::~NPBGSubtractor()
+{
+ delete AbsDiffHist.Hist;
+ delete AbsDiffHist.MedianBins;
+ delete AbsDiffHist.MedianFreq;
+ delete AbsDiffHist.AccSum;
+ delete KernelTable;
+ delete BGModel->SDbinsImage;
+ delete BGModel;
+ delete Pimage1;
+ delete Pimage2;
+ delete tempFrame;
+ delete imageindex->List;
+ delete imageindex;
+}
+
+int NPBGSubtractor::Intialize(unsigned int prows,
+ unsigned int pcols,
+ unsigned int pcolor_channels,
+ unsigned int SequenceLength,
+ unsigned int pTimeWindowSize,
+ unsigned char pSDEstimationFlag,
+ unsigned char pUseColorRatiosFlag)
+{
+
+ rows=prows;
+ cols=pcols;
+ color_channels=pcolor_channels;
+ imagesize=rows*cols*color_channels;
+ SdEstimateFlag = pSDEstimationFlag;
+ UseColorRatiosFlag=pUseColorRatiosFlag;
+ //SampleSize = SequenceLength;
+
+ AdaptBGFlag = FALSE;
+ //
+ SubsetFlag = TRUE;
+
+ UpdateSDRate = 0;
+
+ BGModel = new NPBGmodel(rows,cols,color_channels,SequenceLength,pTimeWindowSize,500);
+
+ Pimage1= new double[rows*cols];
+ Pimage2= new double[rows*cols];
+
+ tempFrame= new unsigned char[rows*cols*3];
+
+ imageindex = new ImageIndex;
+ imageindex->List= new unsigned int [rows*cols];
+
+ // error checking
+ if (BGModel==NULL)
+ return 0;
+
+ return 1;
+}
+
+void NPBGSubtractor::AddFrame(unsigned char *ImageBuffer)
+{
+ if(UseColorRatiosFlag && color_channels==3)
+ BGR2SnGnRn(ImageBuffer,ImageBuffer,rows,cols);
+
+ BGModel->AddFrame(ImageBuffer);
+}
+
+void NPBGSubtractor::Estimation()
+{
+ int SampleSize=BGModel->SampleSize;
+
+ memset(BGModel->TemporalMask,0,rows*cols*BGModel->TemporalBufferLength);
+
+ //BGModel->AccMask= new unsigned int [rows*cols];
+ memset(BGModel->AccMask,0,rows*cols*sizeof(unsigned int));
+
+ unsigned char *pSDs = new unsigned char[rows*cols*color_channels];
+
+ //DynamicMedianHistogram AbsDiffHist;
+
+ int Abshistbins = 20;
+
+ TimeIndex=0;
+
+ // estimate standard deviations
+
+ if(SdEstimateFlag)
+ {
+ AbsDiffHist = BuildAbsDiffHist(BGModel->Sequence,rows,cols,color_channels,SampleSize,Abshistbins);
+ EstimateSDsFromAbsDiffHist(&AbsDiffHist,pSDs,imagesize,SEGMAMIN,SEGMAMAX,SEGMABINS);
+ }
+ else
+ {
+ unsigned int bin;
+ bin = (unsigned int) floor(((DEFAULTSEGMA-SEGMAMIN)*SEGMABINS)/(SEGMAMAX-SEGMAMIN));
+ memset(pSDs,bin,rows*cols*color_channels*sizeof(unsigned char));
+ }
+
+ BGModel->SDbinsImage=pSDs;
+
+ // Generate the Kernel
+ KernelTable = new KernelLUTable(KERNELHALFWIDTH,SEGMAMIN,SEGMAMAX,SEGMABINS);
+}
+
+/*********************************************************************/
+
+void BuildImageIndex(unsigned char * Image,
+ ImageIndex * imageIndex,
+ unsigned int rows,
+ unsigned int cols)
+{
+ unsigned int i,j;
+ unsigned int r,c;
+ unsigned int * image_list;
+
+ j=cols+1;
+ i=0;
+ image_list=imageIndex->List;
+
+ for(r = 1; r < rows-1; r++)
+ {
+ for(c = 1; c < cols-1; c++)
+ {
+ if(Image[j])
+ image_list[i++]=j;
+
+ j++;
+ }
+ j+=2;
+ }
+
+ imageIndex->cnt = i;
+}
+
+/*********************************************************************/
+
+void HystExpandOperatorIndexed(unsigned char * inImage,
+ ImageIndex * inIndex,
+ double * Pimage,
+ double hyst_th,
+ unsigned char * outImage,
+ ImageIndex * outIndex,
+ unsigned int urows,
+ unsigned int ucols)
+{
+ unsigned int * in_list;
+ unsigned int in_cnt;
+ unsigned int * out_list;
+
+ int rows,cols;
+
+ int Nbr[9];
+ unsigned int i,j;
+ unsigned int k;
+ unsigned int idx;
+
+ rows=(int) urows;
+ cols=(int) ucols;
+
+ in_cnt=inIndex->cnt;
+ in_list=inIndex->List;
+
+ Nbr[0]=-cols-1;
+ Nbr[1]=-cols;
+ Nbr[2]=-cols+1;
+ Nbr[3]=-1;
+ Nbr[4]=0;
+ Nbr[5]=1;
+ Nbr[6]=cols-1;
+ Nbr[7]=cols;
+ Nbr[8]=cols+1;
+
+ memset(outImage,0,rows*cols);
+
+ out_list=outIndex->List;
+ k=0;
+
+ for(i = 0; i < in_cnt; i++)
+ {
+ for(j = 0; j < 9; j++)
+ {
+ idx = in_list[i] + Nbr[j];
+
+ if(Pimage[idx] < hyst_th)
+ outImage[idx] = 255;
+ }
+ }
+
+ // build index for out image
+ BuildImageIndex(outImage,outIndex,urows,ucols);
+}
+
+/*********************************************************************/
+
+void HystShrinkOperatorIndexed(unsigned char * inImage,
+ ImageIndex * inIndex,
+ double * Pimage,
+ double hyst_th,
+ unsigned char * outImage,
+ ImageIndex * outIndex,
+ unsigned int urows,
+ unsigned int ucols)
+{
+ unsigned int * in_list;
+ unsigned int in_cnt;
+ unsigned int * out_list;
+
+ int rows,cols;
+
+ int Nbr[9];
+ unsigned int i,j;
+ unsigned int k,idx;
+
+ rows=(int) urows;
+ cols=(int) ucols;
+
+ in_cnt=inIndex->cnt;
+ in_list=inIndex->List;
+
+ Nbr[0]=-cols-1;
+ Nbr[1]=-cols;
+ Nbr[2]=-cols+1;
+ Nbr[3]=-1;
+ Nbr[4]=0;
+ Nbr[5]=1;
+ Nbr[6]=cols-1;
+ Nbr[7]=cols;
+ Nbr[8]=cols+1;
+
+ memset(outImage,0,rows*cols);
+
+ out_list=outIndex->List;
+ k=0;
+
+ for(i = 0; i < in_cnt; i++)
+ {
+ idx = in_list[i];
+ j = 0;
+
+ while(j < 9 && inImage[idx+Nbr[j]])
+ j++;
+
+ if(j >= 9 || Pimage[idx] <= hyst_th)
+ outImage[idx]=255;
+ }
+
+ BuildImageIndex(outImage,outIndex,rows,cols);
+}
+
+/*********************************************************************/
+
+void ExpandOperatorIndexed(unsigned char * inImage,
+ ImageIndex * inIndex,
+ unsigned char * outImage,
+ ImageIndex * outIndex,
+ unsigned int urows,
+ unsigned int ucols)
+{
+ unsigned int * in_list;
+ unsigned int in_cnt;
+ unsigned int * out_list;
+
+ int rows,cols;
+
+ int Nbr[9];
+ unsigned int i,j;
+ unsigned int k;
+ unsigned int idx;
+
+ rows=(int) urows;
+ cols=(int) ucols;
+
+ in_cnt=inIndex->cnt;
+ in_list=inIndex->List;
+
+ Nbr[0]=-cols-1;
+ Nbr[1]=-cols;
+ Nbr[2]=-cols+1;
+ Nbr[3]=-1;
+ Nbr[4]=0;
+ Nbr[5]=1;
+ Nbr[6]=cols-1;
+ Nbr[7]=cols;
+ Nbr[8]=cols+1;
+
+
+ memset(outImage,0,rows*cols);
+
+
+ out_list=outIndex->List;
+ k=0;
+ for (i=0; i<in_cnt;i++)
+ for (j=0;j<9;j++) {
+ idx=in_list[i]+Nbr[j];
+ outImage[idx]=255;
+ }
+
+
+ // build index for out image
+
+ BuildImageIndex(outImage,outIndex,rows,cols);
+
+}
+
+/*********************************************************************/
+
+void ShrinkOperatorIndexed(unsigned char * inImage,
+ ImageIndex * inIndex,
+ unsigned char * outImage,
+ ImageIndex * outIndex,
+ unsigned int urows,
+ unsigned int ucols)
+{
+
+ unsigned int * in_list;
+ unsigned int in_cnt;
+ unsigned int * out_list;
+
+ int rows,cols;
+
+ int Nbr[9];
+ unsigned int i,j;
+ unsigned int k,idx;
+
+ rows=(int) urows;
+ cols=(int) ucols;
+
+ in_cnt=inIndex->cnt;
+ in_list=inIndex->List;
+
+ Nbr[0]=-cols-1;
+ Nbr[1]=-cols;
+ Nbr[2]=-cols+1;
+ Nbr[3]=-1;
+ Nbr[4]=0;
+ Nbr[5]=1;
+ Nbr[6]=cols-1;
+ Nbr[7]=cols;
+ Nbr[8]=cols+1;
+
+
+ memset(outImage,0,rows*cols);
+
+ out_list=outIndex->List;
+ k=0;
+ for (i=0; i<in_cnt;i++) {
+ idx=in_list[i];
+ j=0;
+
+ while ( j<9 && inImage[idx+Nbr[j]]){
+ j++;
+ }
+
+ if (j>=9) {
+ outImage[idx]=255;
+ }
+ }
+
+ BuildImageIndex(outImage,outIndex,rows,cols);
+}
+
+/*********************************************************************/
+
+void NoiseFilter_o(unsigned char * Image,
+ unsigned char * ResultIm,
+ int rows,
+ int cols,
+ unsigned char th)
+{
+ /* assuming input is 1 for on, 0 for off */
+
+
+ int r,c;
+ unsigned char *p,*n,*nw,*ne,*e,*w,*s,*sw,*se;
+ unsigned int v;
+ unsigned int TH;
+
+ unsigned char * ResultPtr;
+
+ TH=255*th;
+
+ memset(ResultIm,0,rows*cols);
+
+ p=Image+cols+1;
+ ResultPtr=ResultIm+cols+1;
+
+ for(r=1;r<rows-1;r++)
+ {
+ for(c=1;c<cols-1;c++)
+ {
+ if (*p)
+ {
+ n=p-cols;
+ ne=n+1;
+ nw=n-1;
+ e=p+1;
+ w=p-1;
+ s=p+cols;
+ se=s+1;
+ sw=s-1;
+
+ v=(unsigned int) *nw+*n+*ne+*w+*e+*sw+*s+*se;
+
+ if (v>=TH)
+ *ResultPtr=255;
+ else
+ *ResultPtr=0;
+ }
+ p++;
+ ResultPtr++;
+ }
+ p+=2;
+ ResultPtr+=2;
+ }
+}
+
+/*********************************************************************/
+
+void NPBGSubtractor::SequenceBGUpdate_Pairs(unsigned char * image,
+ unsigned char * Mask)
+{
+ unsigned int i,ic;
+ unsigned char * pSequence =BGModel->Sequence;
+ unsigned char * PixelQTop =BGModel->PixelQTop;
+ unsigned int Top =BGModel->Top;
+ unsigned int rate;
+
+ int TemporalBufferTop =(int) BGModel->TemporalBufferTop;
+ unsigned char * pTemporalBuffer = BGModel->TemporalBuffer;
+ unsigned char * pTemporalMask = BGModel->TemporalMask;
+ int TemporalBufferLength = BGModel->TemporalBufferLength;
+
+ unsigned int * AccMask = BGModel->AccMask;
+ unsigned int ResetMaskTh = BGModel->ResetMaskTh;
+
+ unsigned char *pAbsDiffHist = AbsDiffHist.Hist;
+ unsigned char histbins = AbsDiffHist.histbins;
+ int histbins_1=histbins-1;
+
+ int TimeWindowSize = BGModel->TimeWindowSize;
+ int SampleSize = BGModel->SampleSize;
+
+ int TemporalBufferNext;
+
+ unsigned int imagebuffersize=rows*cols*color_channels;
+ unsigned int imagespatialsize=rows*cols;
+
+ unsigned char mask;
+
+ unsigned int histindex;
+ unsigned char diff;
+ unsigned char bin;
+
+ static int TBCount=0;
+
+ unsigned char * pTBbase1, * pTBbase2;
+ unsigned char * pModelbase1, * pModelbase2;
+
+ rate=TimeWindowSize/SampleSize;
+ rate=(rate > 2) ? rate : 2;
+
+
+ TemporalBufferNext=(TemporalBufferTop+1)
+ % TemporalBufferLength;
+
+ // pointers to Masks : Top and Next
+ unsigned char * pTMaskTop=pTemporalMask+TemporalBufferTop*imagespatialsize;
+ unsigned char * pTMaskNext=pTemporalMask+TemporalBufferNext*imagespatialsize;
+
+ // pointers to TB frames: Top and Next
+ unsigned char * pTBTop=pTemporalBuffer+TemporalBufferTop*imagebuffersize;
+ unsigned char * pTBNext=pTemporalBuffer+TemporalBufferNext*imagebuffersize;
+
+ if ( ((TimeIndex) % rate == 0) && TBCount >= TemporalBufferLength )
+ {
+ for(i=0,ic=0;i<imagespatialsize;i++,ic+=color_channels)
+ {
+ mask= * (pTMaskTop+i) || * (pTMaskNext+i);
+
+ if(!mask)
+ {
+ // pointer to TB pixels to be added to the model
+ pTBbase1=pTBTop+ic;
+ pTBbase2=pTBNext+ic;
+
+ // pointers to Model pixels to be replaced
+ pModelbase1=pSequence+PixelQTop[i]*imagebuffersize+ic;
+ pModelbase2=pSequence+((PixelQTop[i]+1)% SampleSize)*imagebuffersize+ic;
+
+ // update Deviation Histogram
+ if(SdEstimateFlag)
+ {
+ if(color_channels==1)
+ {
+ histindex=i*histbins;
+
+ // add new pair from temporal buffer
+ diff=(unsigned char) abs((int) *pTBbase1 - (int) *pTBbase2);
+ bin=(diff < histbins ? diff : histbins_1);
+ pAbsDiffHist[histindex+bin]++;
+
+
+ // remove old pair from the model
+ diff=(unsigned char) abs((int) *pModelbase1-(int) *pModelbase2);
+ bin=(diff < histbins ? diff : histbins_1);
+ pAbsDiffHist[histindex+bin]--;
+ }
+ else
+ {
+ // color
+
+ // add new pair from temporal buffer
+ histindex=ic*histbins;
+ diff=abs(*pTBbase1 -
+ *pTBbase2);
+ bin=(diff < histbins ? diff : histbins_1);
+ pAbsDiffHist[histindex+bin]++;
+
+ histindex+=histbins;
+ diff=abs(*(pTBbase1+1) -
+ *(pTBbase2+1));
+ bin=(diff < histbins ? diff : histbins_1);
+ pAbsDiffHist[histindex+bin]++;
+
+ histindex+=histbins;
+ diff=abs(*(pTBbase1+2) -
+ *(pTBbase2+2));
+ bin=(diff < histbins ? diff : histbins_1);
+ pAbsDiffHist[histindex+bin]++;
+
+ // remove old pair from the model
+ histindex=ic*histbins;
+
+ diff=abs(*pModelbase1-
+ *pModelbase2);
+ bin=(diff < histbins ? diff : histbins_1);
+ pAbsDiffHist[histindex+bin]--;
+
+ histindex+=histbins;
+ diff=abs(*(pModelbase1+1)-
+ *(pModelbase2+1));
+ bin=(diff < histbins ? diff : histbins_1);
+ pAbsDiffHist[histindex+bin]--;
+
+ histindex+=histbins;
+ diff=abs(*(pModelbase1+2)-
+ *(pModelbase2+2));
+ bin=(diff < histbins ? diff : histbins_1);
+ pAbsDiffHist[histindex+bin]--;
+ }
+ }
+
+ // add new pair into the model
+ memcpy(pModelbase1,pTBbase1, color_channels*sizeof(unsigned char));
+
+ memcpy(pModelbase2,pTBbase2, color_channels*sizeof(unsigned char));
+
+ PixelQTop[i]=(PixelQTop[i]+2) % SampleSize;
+ }
+ }
+ } // end if (sampling event)
+
+ // update temporal buffer
+ // add new frame to Temporal buffer.
+ memcpy(pTBTop,image,imagebuffersize);
+
+ // update AccMask
+ // update new Mask with information in AccMask
+
+ for (i=0;i<rows*cols;i++)
+ {
+ if (Mask[i])
+ AccMask[i]++;
+ else
+ AccMask[i]=0;
+
+ if (AccMask[i] > ResetMaskTh)
+ Mask[i]=0;
+ }
+
+ // add new mask
+ memcpy(pTMaskTop,Mask,imagespatialsize);
+
+ // advance Temporal buffer pointer
+ TemporalBufferTop=(TemporalBufferTop+1) % TemporalBufferLength;
+
+ BGModel->TemporalBufferTop=TemporalBufferTop;
+
+ TBCount++;
+
+ // estimate SDs
+
+ if (SdEstimateFlag && UpdateSDRate && ((TimeIndex) % UpdateSDRate == 0))
+ {
+ double MaxSD = KernelTable->maxsegma;
+ double MinSD = KernelTable->minsegma;
+ int KernelBins = KernelTable->segmabins;
+
+ unsigned char * pSDs= BGModel->SDbinsImage;
+
+ FindHistMedians(&(AbsDiffHist));
+ EstimateSDsFromAbsDiffHist(&(AbsDiffHist),pSDs,imagebuffersize,MinSD,MaxSD,KernelBins);
+ }
+
+ TimeIndex++;
+}
+
+/*********************************************************************/
+
+void DisplayPropabilityImageWithThresholding(double * Pimage,
+ unsigned char * DisplayImage,
+ double Threshold,
+ unsigned int rows,
+ unsigned int cols)
+{
+ double p;
+
+ for(unsigned int i=0;i<rows*cols;i++)
+ {
+ p = Pimage[i];
+
+ DisplayImage[i]=(p > Threshold) ? 0 : 255;
+ }
+}
+
+/*********************************************************************/
+
+void NPBGSubtractor::NPBGSubtraction_Subset_Kernel(
+ unsigned char * image,
+ unsigned char * FGImage,
+ unsigned char * FilteredFGImage)
+{
+ unsigned int i,j;
+ unsigned char *pSequence =BGModel->Sequence;
+
+ unsigned int SampleSize = BGModel->SampleSize;
+
+ double *kerneltable = KernelTable->kerneltable;
+ int KernelHalfWidth = KernelTable->tablehalfwidth;
+ double *KernelSum = KernelTable->kernelsums;
+ double KernelMaxSigma = KernelTable->maxsegma;
+ double KernelMinSigma = KernelTable->minsegma;
+ int KernelBins = KernelTable->segmabins;
+ unsigned char * SDbins= BGModel->SDbinsImage;
+
+ unsigned char * SaturationImage=FilteredFGImage;
+
+ // default sigmas .. to be removed.
+ double sigma1;
+ double sigma2;
+ double sigma3;
+
+ sigma1=2.25;
+ sigma2=2.25;
+ sigma3=2.25;
+
+ double p;
+ double th;
+
+ double alpha,beta,beta_over_alpha, betau,betau_over_alpha;
+
+ alpha= AlphaValue;
+
+ /* intialize FG image */
+
+ memset(FGImage,0,rows*cols);
+
+ //Threshold=1;
+ th = Threshold * SampleSize;
+
+ double sum=0,kernel1,kernel2,kernel3;
+ int k,g;
+
+
+ if (color_channels==1)
+ {
+ // gray scale
+
+ int kernelbase;
+
+ for (i=0;i<rows*cols;i++)
+ {
+ kernelbase=SDbins[i]*(2*KernelHalfWidth+1);
+ sum=0;
+ j=0;
+
+ while (j<SampleSize && sum < th)
+ {
+ g=pSequence[j*imagesize+i];
+ k= g- image[i] +KernelHalfWidth;
+ sum+=kerneltable[kernelbase+k];
+ j++;
+ }
+
+ p=sum/j;
+ Pimage1[i]=p;
+ }
+ }
+ else if (UseColorRatiosFlag && SubsetFlag)
+ {
+ // color ratios
+
+ unsigned int ig;
+ int base;
+
+ int kernelbase1;
+ int kernelbase2;
+ int kernelbase3;
+
+ unsigned int kerneltablewidth=2*KernelHalfWidth+1;
+
+ beta=3.0; // minimum bound on the range.
+ betau=100.0;
+
+ beta_over_alpha = beta / alpha;
+ betau_over_alpha = betau / alpha;
+
+
+ double brightness_lowerbound = 1-alpha;
+ double brightness_upperbound = 1+alpha;
+ int x1,x2;
+ unsigned int SubsampleCount;
+
+ for (i=0,ig=0;i<imagesize;i+=3,ig++)
+ {
+ kernelbase1=SDbins[i]*kerneltablewidth;
+ kernelbase2=SDbins[i+1]*kerneltablewidth;
+ kernelbase3=SDbins[i+2]*kerneltablewidth;
+
+ sum=0;
+ j=0;
+ SubsampleCount=0;
+
+ while (j<SampleSize && sum < th)
+ {
+ base=j*imagesize+i;
+ g=pSequence[base];
+
+ if (g < beta_over_alpha)
+ {
+ x1=(int) (g-beta);
+ x2=(int) (g+beta);
+ }
+ else if (g > betau_over_alpha)
+ {
+ x1=(int) (g-betau);
+ x2=(int) (g+betau);
+ }
+ else
+ {
+ x1=(int) (g*brightness_lowerbound+0.5);
+ x2=(int) (g*brightness_upperbound+0.5);
+ }
+
+ if(x1<image[i] && image[i] <x2)
+ {
+ g=pSequence[base+1];
+ k= (g- image[i+1]) +KernelHalfWidth;
+ kernel2=kerneltable[kernelbase2+k];
+
+ g=pSequence[base+2];
+ k= (g- image[i+2]) +KernelHalfWidth;
+ kernel3=kerneltable[kernelbase3+k];
+
+ sum+=kernel2*kernel3;
+
+ SubsampleCount++;
+ }
+ j++;
+ }
+
+ p=sum / j;
+ Pimage1[ig]=p;
+ }
+ }
+ else if (UseColorRatiosFlag && ! SubsetFlag)
+ {
+ // color ratios
+
+ unsigned int ig;
+ int base;
+ int bin;
+
+ int kernelbase1;
+ int kernelbase2;
+ int kernelbase3;
+
+ unsigned int kerneltablewidth=2*KernelHalfWidth+1;
+
+ int gmin,gmax;
+ double gfactor;
+
+ gmax=200;
+ gmin=10;
+
+ gfactor = (KernelMaxSigma-KernelMinSigma) / (double) (gmax - gmin);
+
+ for (i=0,ig=0;i<imagesize;i+=3,ig++)
+ {
+
+ bin=(int) floor(((alpha*16-KernelMinSigma)*KernelBins)/(KernelMaxSigma-KernelMinSigma));
+
+ kernelbase1=bin*kerneltablewidth;
+ kernelbase2=SDbins[i+1]*kerneltablewidth;
+ kernelbase3=SDbins[i+2]*kerneltablewidth;
+
+ sum=0;
+ j=0;
+
+ while (j<SampleSize && sum < th)
+ {
+ base=j*imagesize+i;
+ g=pSequence[base];
+
+ if (g < gmin )
+ bin=0;
+ else if (g > gmax)
+ bin = KernelBins -1 ;
+ else
+ bin= (int) ((g-gmin) * gfactor + 0.5);
+
+ kernelbase1=bin*kerneltablewidth;
+
+ k= (g- image[i]) +KernelHalfWidth;
+ kernel1=kerneltable[kernelbase1+k];
+
+ g=pSequence[base+1];
+ k= (g- image[i+1]) +KernelHalfWidth;
+ kernel2=kerneltable[kernelbase2+k];
+
+ g=pSequence[base+2];
+ k= (g- image[i+2]) +KernelHalfWidth;
+ kernel3=kerneltable[kernelbase3+k];
+
+ sum+=kernel1*kernel2*kernel3;
+ j++;
+ }
+
+ p=sum / j;
+ Pimage1[ig]=p;
+ }
+ }
+ else // RGB color
+ {
+ unsigned int ig;
+ int base;
+
+ int kernelbase1;
+ int kernelbase2;
+ int kernelbase3;
+ unsigned int kerneltablewidth=2*KernelHalfWidth+1;
+
+ for (i=0,ig=0;i<imagesize;i+=3,ig++)
+ {
+ // used extimated kernel width to access the right kernel
+ kernelbase1=SDbins[i]*kerneltablewidth;
+ kernelbase2=SDbins[i+1]*kerneltablewidth;
+ kernelbase3=SDbins[i+2]*kerneltablewidth;
+
+ sum=0;
+ j=0;
+ while (j<SampleSize && sum < th)
+ {
+ base=j*imagesize+i;
+ g=pSequence[base];
+ k= (g- image[i]) +KernelHalfWidth;
+ kernel1=kerneltable[kernelbase1+k];
+
+ g=pSequence[base+1];
+ k= (g- image[i+1]) +KernelHalfWidth;
+ kernel2=kerneltable[kernelbase2+k];
+
+ g=pSequence[base+2];
+ k= (g- image[i+2]) +KernelHalfWidth;
+ kernel3=kerneltable[kernelbase3+k];
+
+ sum+=kernel1*kernel2*kernel3;
+ j++;
+ }
+
+ p=sum/j;
+ Pimage1[ig]=p;
+ }
+ }
+
+ DisplayPropabilityImageWithThresholding(Pimage1,FGImage,Threshold,rows,cols);
+}
+
+/*********************************************************************/
+
+void NPBGSubtractor::NBBGSubtraction(unsigned char * Frame,
+ unsigned char * FGImage,
+ unsigned char * FilteredFGImage,
+ unsigned char ** DisplayBuffers)
+{
+ if(UseColorRatiosFlag)
+ BGR2SnGnRn(Frame,tempFrame,rows,cols);
+ else
+ memcpy(tempFrame,Frame,rows*cols*color_channels);
+
+ NPBGSubtraction_Subset_Kernel(tempFrame,FGImage,FilteredFGImage);
+ /*NoiseFilter_o(FGImage,DisplayBuffers[3],rows,cols,4);
+ BuildImageIndex(DisplayBuffers[3],imageindex,rows,cols);
+
+ ExpandOperatorIndexed(DisplayBuffers[3],imageindex,DisplayBuffers[4],imageindex,rows,cols);
+ ShrinkOperatorIndexed(DisplayBuffers[4],imageindex,FilteredFGImage,imageindex,rows,cols);
+
+ memset(DisplayBuffers[3],0,rows*cols);*/
+}
+
+void NPBGSubtractor::Update(unsigned char * FGMask)
+{
+ if(UpdateBGFlag)
+ SequenceBGUpdate_Pairs(tempFrame,FGMask);
+}
diff --git a/package_bgs/ae/NPBGSubtractor.h b/package_bgs/ae/NPBGSubtractor.h
new file mode 100644
index 0000000..e7f3795
--- /dev/null
+++ b/package_bgs/ae/NPBGSubtractor.h
@@ -0,0 +1,154 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/*
+*
+* Copyright 2001 by Ahmed Elgammal All rights reserved.
+*
+* Permission to use, copy, or modify this software and its documentation
+* for educational and research purposes only and without fee is hereby
+* granted, provided that this copyright notice and the original authors's
+* name appear on all copies and supporting documentation. If individual
+* files are separated from this distribution directory structure, this
+* copyright notice must be included. For any other uses of this software,
+* in original or modified form, including but not limited to distribution
+* in whole or in part, specific prior permission must be obtained from
+* Author or UMIACS. These programs shall not be used, rewritten, or
+* adapted as the basis of a commercial software or hardware product
+* without first obtaining appropriate licenses from Author.
+* Other than these cases, no part of this software may be used or
+* distributed without written permission of the author.
+*
+* Neither the author nor UMIACS make any representations about the
+* suitability of this software for any purpose. It is provided
+* "as is" without express or implied warranty.
+*
+* Ahmed Elgammal
+*
+* University of Maryland at College Park
+* UMIACS
+* A.V. Williams Bldg.
+* CollegePark, MD 20742
+* E-mail: elgammal@umiacs.umd.edu
+*
+**/
+
+// NPBGSubtractor.h: interface for the NPBGSubtractor class.
+//
+//////////////////////////////////////////////////////////////////////
+
+#if !defined(AFX_NPBGSUBTRACTOR_H__84B0F51E_6E65_41E4_AC01_723B406363C4__INCLUDED_)
+#define AFX_NPBGSUBTRACTOR_H__84B0F51E_6E65_41E4_AC01_723B406363C4__INCLUDED_
+
+#if _MSC_VER > 1000
+#pragma once
+#endif // _MSC_VER > 1000
+
+#include "NPBGmodel.h"
+#include "KernelTable.h"
+
+#define FALSE 0
+#define TRUE 1
+
+// kernal look up table settings
+#define KERNELHALFWIDTH 255
+#define SEGMAMAX 36.5
+#define SEGMAMIN 0.5
+#define SEGMABINS 80
+#define DEFAULTSEGMA 1.0
+
+typedef struct
+{
+ unsigned char *Hist;
+ unsigned char *MedianBins;
+ unsigned char *MedianFreq;
+ unsigned char *AccSum;
+ unsigned char histbins;
+ unsigned char histsum;
+ unsigned int imagesize;
+} DynamicMedianHistogram;
+
+typedef struct
+{
+ unsigned int cnt;
+ unsigned int *List;
+} ImageIndex;
+
+class NPBGSubtractor
+{
+private:
+ unsigned int rows;
+ unsigned int cols;
+ unsigned int color_channels;
+ unsigned int imagesize;
+ // flags
+ unsigned char UpdateBGFlag;
+ unsigned char SdEstimateFlag;
+ unsigned char UseColorRatiosFlag;
+ unsigned char AdaptBGFlag;
+ unsigned char SubsetFlag;
+ //
+ int UpdateSDRate;
+ double Threshold;
+ double AlphaValue;
+ unsigned int TimeIndex;
+ ImageIndex *imageindex;
+ unsigned char *tempFrame;
+ KernelLUTable *KernelTable;
+ NPBGmodel *BGModel;
+ DynamicMedianHistogram AbsDiffHist;
+ double *Pimage1;
+ double *Pimage2;
+ //
+ void NPBGSubtraction_Subset_Kernel(unsigned char * image, unsigned char * FGImage, unsigned char * FilteredFGImage);
+ void SequenceBGUpdate_Pairs(unsigned char * image, unsigned char * Mask);
+
+public:
+ NPBGSubtractor();
+ virtual ~NPBGSubtractor();
+ //~NPBGSubtractor();
+
+ int Intialize(unsigned int rows,
+ unsigned int cols,
+ unsigned int color_channels,
+ unsigned int SequenceLength,
+ unsigned int TimeWindowSize,
+ unsigned char SDEstimationFlag,
+ unsigned char UseColorRatiosFlag);
+
+ void AddFrame(unsigned char * ImageBuffer);
+
+ void Estimation();
+
+ void NBBGSubtraction(unsigned char *Frame,
+ unsigned char *FGImage,
+ unsigned char *FilteredFGImage,
+ unsigned char **DisplayBuffers);
+
+ void Update(unsigned char *);
+
+ void SetThresholds(double th, double alpha)
+ {
+ Threshold = th;
+ AlphaValue = alpha;
+ };
+
+ void SetUpdateFlag(unsigned int bgflag){
+ UpdateBGFlag = bgflag;
+ };
+};
+
+#endif // !defined(AFX_NPBGSUBTRACTOR_H__84B0F51E_6E65_41E4_AC01_723B406363C4__INCLUDED_)
diff --git a/package_bgs/ae/NPBGmodel.cpp b/package_bgs/ae/NPBGmodel.cpp
new file mode 100644
index 0000000..2c8b074
--- /dev/null
+++ b/package_bgs/ae/NPBGmodel.cpp
@@ -0,0 +1,127 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/*
+*
+* Copyright 2001 by Ahmed Elgammal All rights reserved.
+*
+* Permission to use, copy, or modify this software and its documentation
+* for educational and research purposes only and without fee is hereby
+* granted, provided that this copyright notice and the original authors's
+* name appear on all copies and supporting documentation. If individual
+* files are separated from this distribution directory structure, this
+* copyright notice must be included. For any other uses of this software,
+* in original or modified form, including but not limited to distribution
+* in whole or in part, specific prior permission must be obtained from
+* Author or UMIACS. These programs shall not be used, rewritten, or
+* adapted as the basis of a commercial software or hardware product
+* without first obtaining appropriate licenses from Author.
+* Other than these cases, no part of this software may be used or
+* distributed without written permission of the author.
+*
+* Neither the author nor UMIACS make any representations about the
+* suitability of this software for any purpose. It is provided
+* "as is" without express or implied warranty.
+*
+* Ahmed Elgammal
+*
+* University of Maryland at College Park
+* UMIACS
+* A.V. Williams Bldg.
+* CollegePark, MD 20742
+* E-mail: elgammal@umiacs.umd.edu
+*
+**/
+
+// NPBGmodel.cpp: implementation of the NPBGmodel class.
+//
+//////////////////////////////////////////////////////////////////////
+
+#include "NPBGmodel.h"
+#include "memory.h"
+
+#ifdef _DEBUG
+#undef THIS_FILE
+static char THIS_FILE[]=__FILE__;
+//#define new DEBUG_NEW
+#endif
+
+//////////////////////////////////////////////////////////////////////
+// Construction/Destruction
+//////////////////////////////////////////////////////////////////////
+
+NPBGmodel::NPBGmodel()
+{
+ std::cout << "NPBGmodel()" << std::endl;
+}
+
+NPBGmodel::~NPBGmodel()
+{
+ delete Sequence;
+ delete PixelQTop;
+ delete TemporalBuffer;
+ delete TemporalMask;
+ delete AccMask;
+ //delete SDbinsImage;
+ std::cout << "~NPBGmodel()" << std::endl;
+}
+
+NPBGmodel::NPBGmodel(unsigned int Rows,
+ unsigned int Cols,
+ unsigned int ColorChannels,
+ unsigned int Length,
+ unsigned int pTimeWindowSize,
+ unsigned int bg_suppression_time)
+{
+ std::cout << "NPBGmodel()" << std::endl;
+
+ imagesize = Rows*Cols*ColorChannels;
+
+ rows = Rows;
+ cols = Cols;
+ color_channels = ColorChannels;
+
+ SampleSize = Length;
+
+ TimeWindowSize = pTimeWindowSize;
+
+ Sequence = new unsigned char[imagesize*Length];
+ Top = 0;
+ memset(Sequence,0,imagesize*Length);
+
+ PixelQTop = new unsigned char[rows*cols];
+
+ // temporalBuffer
+ TemporalBufferLength = (TimeWindowSize/Length > 2 ? TimeWindowSize/Length:2);
+ TemporalBuffer = new unsigned char[imagesize*TemporalBufferLength];
+ TemporalMask = new unsigned char[rows*cols*TemporalBufferLength];
+
+ TemporalBufferTop = 0;
+
+ AccMask = new unsigned int[rows*cols];
+
+ ResetMaskTh = bg_suppression_time;
+}
+
+void NPBGmodel::AddFrame(unsigned char *ImageBuffer)
+{
+ memcpy(Sequence+Top*imagesize,ImageBuffer,imagesize);
+ Top = (Top + 1) % SampleSize;
+
+ memset(PixelQTop, (unsigned char) Top, rows*cols);
+
+ memcpy(TemporalBuffer,ImageBuffer,imagesize);
+}
diff --git a/package_bgs/ae/NPBGmodel.h b/package_bgs/ae/NPBGmodel.h
new file mode 100644
index 0000000..9e28510
--- /dev/null
+++ b/package_bgs/ae/NPBGmodel.h
@@ -0,0 +1,111 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/*
+*
+* Copyright 2001 by Ahmed Elgammal All rights reserved.
+*
+* Permission to use, copy, or modify this software and its documentation
+* for educational and research purposes only and without fee is hereby
+* granted, provided that this copyright notice and the original authors's
+* name appear on all copies and supporting documentation. If individual
+* files are separated from this distribution directory structure, this
+* copyright notice must be included. For any other uses of this software,
+* in original or modified form, including but not limited to distribution
+* in whole or in part, specific prior permission must be obtained from
+* Author or UMIACS. These programs shall not be used, rewritten, or
+* adapted as the basis of a commercial software or hardware product
+* without first obtaining appropriate licenses from Author.
+* Other than these cases, no part of this software may be used or
+* distributed without written permission of the author.
+*
+* Neither the author nor UMIACS make any representations about the
+* suitability of this software for any purpose. It is provided
+* "as is" without express or implied warranty.
+*
+* Ahmed Elgammal
+*
+* University of Maryland at College Park
+* UMIACS
+* A.V. Williams Bldg.
+* CollegePark, MD 20742
+* E-mail: elgammal@umiacs.umd.edu
+*
+**/
+
+// NPBGmodel.h: interface for the NPBGmodel class.
+//
+//////////////////////////////////////////////////////////////////////
+
+#if !defined(AFX_NPBGMODEL_H__CCAF05D4_D06E_44C2_95D8_979E2249953A__INCLUDED_)
+#define AFX_NPBGMODEL_H__CCAF05D4_D06E_44C2_95D8_979E2249953A__INCLUDED_
+
+#if _MSC_VER > 1000
+#pragma once
+#endif // _MSC_VER > 1000
+
+#include <iostream>
+
+class NPBGmodel
+{
+private:
+ unsigned char *Sequence;
+ unsigned int SampleSize;
+ unsigned int TimeWindowSize;
+
+ unsigned int rows,cols,color_channels;
+ unsigned int imagesize;
+
+ unsigned int Top;
+ unsigned char *PixelQTop;
+
+ //unsigned int *PixelUpdateCounter;
+
+ unsigned char *SDbinsImage;
+
+ unsigned char *TemporalBuffer;
+ unsigned char TemporalBufferLength;
+ unsigned char TemporalBufferTop;
+ unsigned char *TemporalBufferMask;
+
+ unsigned char *TemporalMask;
+ unsigned char TemporalMaskLength;
+ unsigned char TemporalMaskTop;
+
+ unsigned int *AccMask;
+ unsigned int ResetMaskTh; // Max continous duration a pixel can be detected before
+ // it is forced to be updated...
+
+ double *weights;
+
+public:
+ NPBGmodel();
+ //~NPBGmodel();
+ virtual ~NPBGmodel();
+
+ NPBGmodel(unsigned int Rows,
+ unsigned int Cols,
+ unsigned int ColorChannels,
+ unsigned int Length,
+ unsigned int pTimeWindowSize,
+ unsigned int bg_suppression_time);
+
+ void AddFrame(unsigned char *ImageBuffer);
+
+ friend class NPBGSubtractor;
+};
+
+#endif // !defined(AFX_NPBGMODEL_H__CCAF05D4_D06E_44C2_95D8_979E2249953A__INCLUDED_)
diff --git a/package_bgs/av/TBackground.cpp b/package_bgs/av/TBackground.cpp
new file mode 100644
index 0000000..2e97d93
--- /dev/null
+++ b/package_bgs/av/TBackground.cpp
@@ -0,0 +1,166 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/*
+* TBackground.cpp
+* Framework
+*
+* Created by Robinault Lionel on 07/12/11.
+*
+*/
+
+#include "TBackground.h"
+
+TBackground::TBackground(void)
+{
+ std::cout << "TBackground()" << std::endl;
+}
+
+TBackground::~TBackground(void)
+{
+ Clear();
+ std::cout << "~TBackground()" << std::endl;
+}
+
+void TBackground::Clear(void)
+{
+}
+
+void TBackground::Reset(void)
+{
+}
+
+int TBackground::GetParameterCount(void)
+{
+ return 0;
+}
+
+std::string TBackground::GetParameterName(int nInd)
+{
+ return "";
+}
+
+std::string TBackground::GetParameterValue(int nInd)
+{
+ return "";
+}
+
+int TBackground::SetParameterValue(int nInd, std::string csNew)
+{
+ return 0;
+}
+
+int TBackground::Init(IplImage * pSource)
+{
+ return 0;
+}
+
+bool TBackground::isInitOk(IplImage * pSource, IplImage *pBackground, IplImage *pMotionMask)
+{
+ bool bResult = TRUE;
+ int nbl, nbc;
+
+ if(pSource == NULL || pSource->nChannels != 1 || pSource->depth != IPL_DEPTH_8U)
+ bResult = FALSE;
+
+ if(bResult)
+ {
+ nbl = pSource->height;
+ nbc = pSource->width;
+
+ if(pBackground == NULL || pBackground->width != nbc || pBackground->height != nbl || pBackground->imageSize != pSource->imageSize)
+ bResult = FALSE;
+
+ if(pMotionMask == NULL || pMotionMask->width != nbc || pMotionMask->height != nbl || pMotionMask->imageSize != pSource->imageSize)
+ bResult = FALSE;
+ }
+
+ return bResult;
+}
+
+int TBackground::UpdateBackground(IplImage * pSource, IplImage *pBackground, IplImage *pMotionMask)
+{
+ return 0;
+}
+
+IplImage *TBackground::CreateTestImg()
+{
+ IplImage *pImage = cvCreateImage(cvSize(256, 256), IPL_DEPTH_8U, 3);
+
+ if(pImage != NULL)
+ cvSetZero(pImage);
+
+ return pImage;
+}
+
+int TBackground::UpdateTest(IplImage *pSource, IplImage *pBackground, IplImage *pTest, int nX, int nY, int nInd)
+{
+ int nErr = 0;
+ CvScalar Color;
+ unsigned char *ptr;
+ int l, c;
+
+ if(pTest == NULL || !isInitOk(pSource, pBackground, pSource))
+ nErr = 1;
+
+ if(!nErr)
+ {
+ if(pTest->width != 256 || pTest->height != 256 || pTest->nChannels != 3)
+ nErr = 1;
+
+ if(nX < 0 || nX > pSource->width || nY < 0 || nY > pSource->height)
+ nErr = 1;
+
+ switch(nInd)
+ {
+ case 0 : Color = cvScalar(128, 0, 0); break;
+ case 1 : Color = cvScalar(0, 128, 0); break;
+ case 2 : Color = cvScalar(0, 0, 128); break;
+ default : nErr = 1;
+ }
+ }
+
+ if(!nErr)
+ {
+ // recupere l'indice de la colonne
+ ptr = (unsigned char *)(pTest->imageData);
+ c = *ptr;
+
+ // efface la colonne
+ cvLine(pTest, cvPoint(c, 0), cvPoint(c, 255), cvScalar(0));
+ *ptr += 1;
+
+ //recupere la couleur du fond
+ ptr = (unsigned char *)(pBackground->imageData + pBackground->widthStep * nY);
+ ptr += nX;
+ l = *ptr;
+
+ // dessine la couleur
+ cvLine(pTest, cvPoint(c, l - 5), cvPoint(c, l + 5), Color);
+
+ //recupere la couleur du point
+ ptr = (unsigned char *)(pSource->imageData + pSource->widthStep * nY);
+ ptr += nX;
+ l = *ptr;
+
+ // dessine la couleur
+ ptr = (unsigned char *)(pTest->imageData + pTest->widthStep * l);
+ ptr += (c * 3) + nInd;
+ *ptr = 255;
+ }
+
+ return nErr;
+}
diff --git a/package_bgs/av/TBackground.h b/package_bgs/av/TBackground.h
new file mode 100644
index 0000000..974cab9
--- /dev/null
+++ b/package_bgs/av/TBackground.h
@@ -0,0 +1,51 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/*
+* TBackground.h
+* Framework
+*
+* Created by Robinault Lionel on 07/12/11.
+*
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+class TBackground
+{
+public:
+ TBackground(void);
+ virtual ~TBackground(void);
+
+ virtual void Clear(void);
+ virtual void Reset(void);
+
+ virtual int UpdateBackground(IplImage * pSource, IplImage *pBackground, IplImage *pMotionMask);
+ virtual int UpdateTest(IplImage *pSource, IplImage *pBackground, IplImage *pTest, int nX, int nY, int nInd);
+ virtual IplImage *CreateTestImg();
+
+ virtual int GetParameterCount(void);
+ virtual std::string GetParameterName(int nInd);
+ virtual std::string GetParameterValue(int nInd);
+ virtual int SetParameterValue(int nInd, std::string csNew);
+
+protected:
+ virtual int Init(IplImage * pSource);
+ virtual bool isInitOk(IplImage * pSource, IplImage *pBackground, IplImage *pMotionMask);
+};
diff --git a/package_bgs/av/TBackgroundVuMeter.cpp b/package_bgs/av/TBackgroundVuMeter.cpp
new file mode 100644
index 0000000..4597621
--- /dev/null
+++ b/package_bgs/av/TBackgroundVuMeter.cpp
@@ -0,0 +1,380 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/*
+* TBackgroundVuMeter.cpp
+* Framework
+*
+* Created by Robinault Lionel on 07/12/11.
+*
+*/
+#include "TBackgroundVuMeter.h"
+
+#define PROCESS_PAR_COUNT 3
+
+TBackgroundVuMeter::TBackgroundVuMeter(void)
+ : m_pHist(NULL)
+ , m_nBinSize(8)
+ , m_nBinCount(0)
+ , m_fAlpha(0.995)
+ , m_fThreshold(0.03)
+ , m_nCount(0)
+{
+ std::cout << "TBackgroundVuMeter()" << std::endl;
+}
+
+TBackgroundVuMeter::~TBackgroundVuMeter(void)
+{
+ Clear();
+ std::cout << "~TBackgroundVuMeter()" << std::endl;
+}
+
+void TBackgroundVuMeter::Clear(void)
+{
+ int i;
+
+ TBackground::Clear();
+
+ if(m_pHist != NULL)
+ {
+ for(i = 0; i < m_nBinCount; ++i)
+ {
+ if(m_pHist[i] != NULL)
+ cvReleaseImage(&m_pHist[i]);
+ }
+
+ delete m_pHist;
+ m_pHist = NULL;
+ m_nBinCount = 0;
+ }
+
+ m_nCount = 0;
+}
+
+void TBackgroundVuMeter::Reset(void)
+{
+ int i;
+ float fVal = 0.0;
+
+ TBackground::Reset();
+
+ if(m_pHist != NULL)
+ {
+ // fVal = (m_nBinCount != 0) ? (float)(1.0 / (double)m_nBinCount) : (float)0.0;
+ fVal = 0.0;
+
+ for(i = 0; i < m_nBinCount; ++i)
+ {
+ if(m_pHist[i] != NULL)
+ {
+ cvSetZero(m_pHist[i]);
+ cvAddS(m_pHist[i], cvScalar(fVal), m_pHist[i]);
+ }
+ }
+ }
+
+ m_nCount = 0;
+}
+
+int TBackgroundVuMeter::GetParameterCount(void)
+{
+ return TBackground::GetParameterCount() + PROCESS_PAR_COUNT;
+}
+
+std::string TBackgroundVuMeter::GetParameterName(int nInd)
+{
+ std::string csResult;
+ int nNb;
+
+ nNb = TBackground::GetParameterCount();
+
+ if(nInd >= nNb)
+ {
+ nInd -= nNb;
+
+ switch(nInd)
+ {
+ case 0 : csResult = "Bin size"; break;
+ case 1 : csResult = "Alpha"; break;
+ case 2 : csResult = "Threshold"; break;
+ }
+ }
+ else
+ csResult = TBackground::GetParameterName(nInd);
+
+ return csResult;
+}
+
+std::string TBackgroundVuMeter::GetParameterValue(int nInd)
+{
+ std::string csResult;
+ int nNb;
+
+ nNb = TBackground::GetParameterCount();
+
+ if(nInd >= nNb)
+ {
+ nInd -= nNb;
+
+ char buff[100];
+
+ switch(nInd)
+ {
+ case 0 : sprintf(buff, "%d", m_nBinSize); break;
+ case 1 : sprintf(buff, "%.3f", m_fAlpha); break;
+ case 2 : sprintf(buff, "%.2f", m_fThreshold); break;
+ }
+
+ csResult = buff;
+ }
+ else
+ csResult = TBackground::GetParameterValue(nInd);
+
+ return csResult;
+}
+
+int TBackgroundVuMeter::SetParameterValue(int nInd, std::string csNew)
+{
+ int nErr = 0;
+
+ int nNb;
+
+ nNb = TBackground::GetParameterCount();
+
+ if(nInd >= nNb)
+ {
+ nInd -= nNb;
+
+ switch(nInd)
+ {
+ case 0 : SetBinSize(atoi(csNew.c_str())); break;
+ case 1 : SetAlpha(atof(csNew.c_str())); break;
+ case 2 : SetThreshold(atof(csNew.c_str())); break;
+ default : nErr = 1;
+ }
+ }
+ else
+ nErr = TBackground::SetParameterValue(nInd, csNew);
+
+ return nErr;
+}
+
+int TBackgroundVuMeter::Init(IplImage * pSource)
+{
+ int nErr = 0;
+ int i;
+ int nbl, nbc;
+
+ Clear();
+
+ nErr = TBackground::Init(pSource);
+
+ if(pSource == NULL)
+ nErr = 1;
+
+ // calcul le nb de bin
+ if(!nErr)
+ {
+ nbl = pSource->height;
+ nbc = pSource->width;
+ m_nBinCount = (m_nBinSize != 0) ? 256 / m_nBinSize : 0;
+
+ if(m_nBinCount <= 0 || m_nBinCount > 256)
+ nErr = 1;
+ }
+
+ // creation du tableau de pointeur
+ if(!nErr)
+ {
+ m_pHist = new IplImage *[m_nBinCount];
+
+ if(m_pHist == NULL)
+ nErr = 1;
+ }
+
+ // creation des images
+ if(!nErr)
+ {
+ for(i = 0; i < m_nBinCount; ++i)
+ {
+ m_pHist[i] = cvCreateImage(cvSize(nbc, nbl), IPL_DEPTH_32F, 1);
+
+ if(m_pHist[i] == NULL)
+ nErr = 1;
+ }
+ }
+
+ if(!nErr)
+ Reset();
+ else
+ Clear();
+
+ return nErr;
+}
+
+bool TBackgroundVuMeter::isInitOk(IplImage * pSource, IplImage *pBackground, IplImage *pMotionMask)
+{
+ bool bResult = TRUE;
+ int i;
+ int nbl, nbc;
+
+ bResult = TBackground::isInitOk(pSource, pBackground, pMotionMask);
+
+ if(pSource == NULL)
+ bResult = FALSE;
+
+ if(m_nBinSize == 0)
+ bResult = FALSE;
+
+ if(bResult)
+ {
+ i = (m_nBinSize != 0) ? 256 / m_nBinSize : 0;
+
+ if(i != m_nBinCount || m_pHist == NULL)
+ bResult = FALSE;
+ }
+
+ if(bResult)
+ {
+ nbl = pSource->height;
+ nbc = pSource->width;
+
+ for(i = 0; i < m_nBinCount; ++i)
+ {
+ if(m_pHist[i] == NULL || m_pHist[i]->width != nbc || m_pHist[i]->height != nbl)
+ bResult = FALSE;
+ }
+ }
+
+ return bResult;
+}
+
+int TBackgroundVuMeter::UpdateBackground(IplImage *pSource, IplImage *pBackground, IplImage *pMotionMask)
+{
+ int nErr = 0;
+ int i, l, c, nbl, nbc;
+ unsigned char *ptrs, *ptrb, *ptrm;
+ float *ptr1, *ptr2;
+ unsigned char v;
+
+ if(!isInitOk(pSource, pBackground, pMotionMask))
+ nErr = Init(pSource);
+
+ if(!nErr)
+ {
+ m_nCount++;
+ nbc = pSource->width;
+ nbl = pSource->height;
+ v = m_nBinSize;
+
+ // multiplie tout par alpha
+ for(i = 0; i < m_nBinCount; ++i)
+ cvConvertScale(m_pHist[i], m_pHist[i], m_fAlpha, 0.0);
+
+ for(l = 0; l < nbl; ++l)
+ {
+ ptrs = (unsigned char *)(pSource->imageData + pSource->widthStep * l);
+ ptrm = (unsigned char *)(pMotionMask->imageData + pMotionMask->widthStep * l);
+ ptrb = (unsigned char *)(pBackground->imageData + pBackground->widthStep * l);
+
+ for(c = 0; c < nbc; ++c, ptrs++, ptrb++, ptrm++)
+ {
+ // recherche le bin � augmenter
+ i = *ptrs / v;
+
+ if(i < 0 || i >= m_nBinCount)
+ i = 0;
+
+ ptr1 = (float *)(m_pHist[i]->imageData + m_pHist[i]->widthStep * l);
+ ptr1 += c;
+
+ *ptr1 += (float)(1.0 - m_fAlpha);
+ *ptrm = (*ptr1 < m_fThreshold) ? 255 : 0;
+
+ // recherche le bin du fond actuel
+ i = *ptrb / v;
+
+ if(i < 0 || i >= m_nBinCount)
+ i = 0;
+
+ ptr2 = (float *)(m_pHist[i]->imageData + m_pHist[i]->widthStep * l);
+ ptr2 += c;
+
+ if(*ptr2 < *ptr1)
+ *ptrb = *ptrs;
+ }
+ }
+
+ if(m_nCount < 5)
+ cvSetZero(pMotionMask);
+ }
+
+ return nErr;
+}
+
+IplImage *TBackgroundVuMeter::CreateTestImg()
+{
+ IplImage *pImage = NULL;
+
+ if(m_nBinCount > 0)
+ pImage = cvCreateImage(cvSize(m_nBinCount, 100), IPL_DEPTH_8U, 3);
+
+ if(pImage != NULL)
+ cvSetZero(pImage);
+
+ return pImage;
+}
+
+int TBackgroundVuMeter::UpdateTest(IplImage *pSource, IplImage *pBackground, IplImage *pTest, int nX, int nY, int nInd)
+{
+ int nErr = 0;
+ int i, nbl, nbc;
+ float *ptrf;
+
+ if(pTest == NULL || !isInitOk(pSource, pBackground, pSource))
+ nErr = 1;
+
+ if(!nErr)
+ {
+ nbl = pTest->height;
+ nbc = pTest->width;
+
+ if(nbl != 100 || nbc != m_nBinCount)
+ nErr = 1;
+
+ if(nX < 0 || nX >= pSource->width || nY < 0 || nY >= pSource->height)
+ nErr = 1;
+ }
+
+ if(!nErr)
+ {
+ cvSetZero(pTest);
+
+ for(i = 0; i < m_nBinCount; ++i)
+ {
+ ptrf = (float *)(m_pHist[i]->imageData + m_pHist[i]->widthStep * nY);
+ ptrf += nX;
+
+ if(*ptrf >= 0 || *ptrf <= 1.0) {
+ cvLine(pTest, cvPoint(i, 100), cvPoint(i, (int)(100.0 * (1.0 - *ptrf))), cvScalar(0, 255, 0));
+ }
+ }
+
+ cvLine(pTest, cvPoint(0, (int)(100.0 * (1.0 - m_fThreshold))), cvPoint(m_nBinCount, (int)(100.0 * (1.0 - m_fThreshold))), cvScalar(0, 128, 0));
+ }
+
+ return nErr;
+}
diff --git a/package_bgs/av/TBackgroundVuMeter.h b/package_bgs/av/TBackgroundVuMeter.h
new file mode 100644
index 0000000..1a19324
--- /dev/null
+++ b/package_bgs/av/TBackgroundVuMeter.h
@@ -0,0 +1,67 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/*
+* TBackgroundVuMeter.h
+* Framework
+*
+* Created by Robinault Lionel on 07/12/11.
+*
+*/
+#pragma once
+
+#include "TBackground.h"
+
+class TBackgroundVuMeter : public TBackground
+{
+public:
+ TBackgroundVuMeter(void);
+ virtual ~TBackgroundVuMeter(void);
+
+ virtual void Clear(void);
+ virtual void Reset(void);
+
+ virtual int UpdateBackground(IplImage * pSource, IplImage *pBackground, IplImage *pMotionMask);
+
+ virtual IplImage *CreateTestImg();
+ virtual int UpdateTest(IplImage *pSource, IplImage *pBackground, IplImage *pTest, int nX, int nY, int nInd);
+
+ virtual int GetParameterCount(void);
+ virtual std::string GetParameterName(int nInd);
+ virtual std::string GetParameterValue(int nInd);
+ virtual int SetParameterValue(int nInd, std::string csNew);
+
+ inline void SetBinSize(int nNew) { m_nBinSize = (nNew > 0 && nNew < 255) ? nNew : 8; }
+ inline double GetBinSize() { return m_nBinSize; }
+
+ inline void SetAlpha(double fNew) { m_fAlpha = (fNew > 0.0 && fNew < 1.0) ? fNew : 0.995; }
+ inline double GetAlpha() { return m_fAlpha; }
+
+ inline void SetThreshold(double fNew) { m_fThreshold = (fNew > 0.0 && fNew < 1.0) ? fNew : 0.03; }
+ inline double GetThreshold() { return m_fThreshold; }
+
+protected:
+ IplImage **m_pHist;
+
+ int m_nBinCount;
+ int m_nBinSize;
+ int m_nCount;
+ double m_fAlpha;
+ double m_fThreshold;
+
+ virtual int Init(IplImage * pSource);
+ virtual bool isInitOk(IplImage * pSource, IplImage *pBackground, IplImage *pMotionMask);
+};
diff --git a/package_bgs/av/VuMeter.cpp b/package_bgs/av/VuMeter.cpp
new file mode 100644
index 0000000..29a1477
--- /dev/null
+++ b/package_bgs/av/VuMeter.cpp
@@ -0,0 +1,116 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "VuMeter.h"
+
+VuMeter::VuMeter() : firstTime(true), showOutput(true), enableFilter(true), binSize(8), alpha(0.995), threshold(0.03)
+{
+ std::cout << "VuMeter()" << std::endl;
+}
+
+VuMeter::~VuMeter()
+{
+ cvReleaseImage(&mask);
+ cvReleaseImage(&background);
+ cvReleaseImage(&gray);
+
+ std::cout << "~VuMeter()" << std::endl;
+}
+
+void VuMeter::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+ else
+ frame = new IplImage(img_input);
+
+ loadConfig();
+
+ if(firstTime)
+ {
+ bgs.SetAlpha(alpha);
+ bgs.SetBinSize(binSize);
+ bgs.SetThreshold(threshold);
+
+ gray = cvCreateImage(cvGetSize(frame),IPL_DEPTH_8U,1);
+ cvCvtColor(frame,gray,CV_RGB2GRAY);
+
+ background = cvCreateImage(cvGetSize(gray),IPL_DEPTH_8U,1);
+ cvCopy(gray, background);
+
+ mask = cvCreateImage(cvGetSize(gray),IPL_DEPTH_8U,1);
+ cvZero(mask);
+
+ saveConfig();
+ }
+ else
+ cvCvtColor(frame,gray,CV_RGB2GRAY);
+
+ bgs.UpdateBackground(gray,background,mask);
+ cv::Mat img_foreground(mask);
+ cv::Mat img_bkg(background);
+
+ if(enableFilter)
+ {
+ cv::erode(img_foreground,img_foreground,cv::Mat());
+ cv::medianBlur(img_foreground, img_foreground, 5);
+ }
+
+ if(showOutput)
+ {
+ if(!img_foreground.empty())
+ cv::imshow("VuMeter", img_foreground);
+
+ if(!img_bkg.empty())
+ cv::imshow("VuMeter Bkg Model", img_bkg);
+ }
+
+ img_foreground.copyTo(img_output);
+ img_bkg.copyTo(img_bgmodel);
+
+ delete frame;
+ firstTime = false;
+}
+
+void VuMeter::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/VuMeter.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "enableFilter", enableFilter);
+
+ cvWriteInt(fs, "binSize", binSize);
+ cvWriteReal(fs, "alpha", alpha);
+ cvWriteReal(fs, "threshold", threshold);
+
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void VuMeter::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/VuMeter.xml", 0, CV_STORAGE_READ);
+
+ enableFilter = cvReadIntByName(fs, 0, "enableFilter", true);
+
+ binSize = cvReadIntByName(fs, 0, "binSize", 8);
+ alpha = cvReadRealByName(fs, 0, "alpha", 0.995);
+ threshold = cvReadRealByName(fs, 0, "threshold", 0.03);
+
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
diff --git a/package_bgs/av/VuMeter.h b/package_bgs/av/VuMeter.h
new file mode 100644
index 0000000..7884ff6
--- /dev/null
+++ b/package_bgs/av/VuMeter.h
@@ -0,0 +1,53 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "TBackgroundVuMeter.h"
+#include "../IBGS.h"
+
+class VuMeter : public IBGS
+{
+private:
+ TBackgroundVuMeter bgs;
+
+ IplImage *frame;
+ IplImage *gray;
+ IplImage *background;
+ IplImage *mask;
+
+ bool firstTime;
+ bool showOutput;
+ bool enableFilter;
+
+ int binSize;
+ double alpha;
+ double threshold;
+
+public:
+ VuMeter();
+ ~VuMeter();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
diff --git a/package_bgs/ck/LbpMrf.cpp b/package_bgs/ck/LbpMrf.cpp
new file mode 100644
index 0000000..f3d068c
--- /dev/null
+++ b/package_bgs/ck/LbpMrf.cpp
@@ -0,0 +1,87 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+
+Csaba, Kertész: Texture-Based Foreground Detection, International Journal of Signal Processing,
+Image Processing and Pattern Recognition (IJSIP), Vol. 4, No. 4, 2011.
+
+*/
+#include "LbpMrf.h"
+
+#include "MotionDetection.hpp"
+
+LbpMrf::LbpMrf() : firstTime(true), Detector(NULL), showOutput(true)
+{
+ std::cout << "LbpMrf()" << std::endl;
+ Detector = new MotionDetection();
+ Detector->SetMode(MotionDetection::md_LBPHistograms);
+}
+
+LbpMrf::~LbpMrf()
+{
+ std::cout << "~LbpMrf()" << std::endl;
+ delete Detector;
+ Detector = NULL;
+}
+
+void LbpMrf::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ {
+ saveConfig();
+ }
+
+ IplImage TempImage(img_input);
+ MEImage InputImage(img_input.cols, img_input.rows, img_input.channels());
+ MEImage OutputImage(img_input.cols, img_input.rows, img_input.channels());
+
+ InputImage.SetIplImage((void*)&TempImage);
+
+ Detector->DetectMotions(InputImage);
+ Detector->GetMotionsMask(OutputImage);
+ img_output = (IplImage*)OutputImage.GetIplImage();
+ bitwise_not(img_output, img_bgmodel);
+
+ if(showOutput)
+ {
+ cv::imshow("LBP-MRF FG", img_output);
+ cv::imshow("LBP-MRF BG", img_bgmodel);
+ }
+
+ firstTime = false;
+}
+
+void LbpMrf::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/LbpMrf.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void LbpMrf::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/LbpMrf.xml", 0, CV_STORAGE_READ);
+
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
diff --git a/package_bgs/ck/LbpMrf.h b/package_bgs/ck/LbpMrf.h
new file mode 100644
index 0000000..6fd7267
--- /dev/null
+++ b/package_bgs/ck/LbpMrf.h
@@ -0,0 +1,44 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <opencv2/opencv.hpp>
+
+#include "../IBGS.h"
+
+class MotionDetection;
+
+class LbpMrf : public IBGS
+{
+private:
+ bool firstTime;
+ MotionDetection* Detector;
+ cv::Mat img_foreground;
+ cv::Mat img_segmentation;
+ bool showOutput;
+
+public:
+ LbpMrf();
+ ~LbpMrf();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
diff --git a/package_bgs/ck/MEDefs.cpp b/package_bgs/ck/MEDefs.cpp
new file mode 100644
index 0000000..9347353
--- /dev/null
+++ b/package_bgs/ck/MEDefs.cpp
@@ -0,0 +1,40 @@
+/*
+ * This file is part of the AiBO+ project
+ *
+ * Copyright (C) 2005-2013 Csaba Kertész (csaba.kertesz@gmail.com)
+ *
+ * AiBO+ is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * AiBO+ 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
+ *
+ */
+
+#include "MEDefs.hpp"
+
+#include <math.h>
+
+float MERound(float number)
+{
+ double FracPart = 0.0;
+ double IntPart = 0.0;
+ float Ret = 0.0;
+
+ FracPart = modf((double)number, &IntPart);
+ if (number >= 0)
+ {
+ Ret = (float)(FracPart >= 0.5 ? IntPart+1 : IntPart);
+ } else {
+ Ret = (float)(FracPart <= -0.5 ? IntPart-1 : IntPart);
+ }
+ return Ret;
+}
diff --git a/package_bgs/ck/MEDefs.hpp b/package_bgs/ck/MEDefs.hpp
new file mode 100644
index 0000000..d5bc246
--- /dev/null
+++ b/package_bgs/ck/MEDefs.hpp
@@ -0,0 +1,83 @@
+/*
+ * This file is part of the AiBO+ project
+ *
+ * Copyright (C) 2005-2013 Csaba Kertész (csaba.kertesz@gmail.com)
+ *
+ * AiBO+ is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * AiBO+ 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
+ *
+ */
+
+#ifndef MEDefs_hpp
+#define MEDefs_hpp
+
+/**
+ * @addtogroup mindeye
+ * @{
+ */
+
+/// Pi value
+#ifndef ME_PI_VALUE
+#define ME_PI_VALUE 3.14159265
+#endif
+
+/*! Process state */
+typedef enum {
+ ps_Min = 0, /*!< Minimum value */
+ ps_Uninitialized = ps_Min, /*!< Uninitialized state */
+ ps_Initialized, /*!< Initialized state */
+ ps_InProgress, /*!< In progress state */
+ ps_Successful, /*!< Successful state */
+ ps_Max = ps_Successful /*!< Maximum value */
+} MEProcessStateType;
+
+template <typename T>
+const T& MEMin(const T& a, const T& b)
+{
+ if (a < b)
+ return a;
+ return b;
+}
+
+template <typename T>
+const T& MEMax(const T& a, const T& b)
+{
+ if (a < b)
+ return b;
+ return a;
+}
+
+template <typename T>
+const T& MEBound(const T& min, const T& val, const T& max)
+{
+ return MEMax(min, MEMin(max, val));
+}
+
+/*!
+ * @brief Round a float number
+ *
+ * @param number number to round
+ *
+ * @return New float number
+ *
+ * This method rounds a float number, if the fraction is .5 or lower
+ * then it rounds down, otherwise up.
+ *
+ */
+
+float MERound(float number);
+
+/** @} */
+
+#endif
diff --git a/package_bgs/ck/MEHistogram.cpp b/package_bgs/ck/MEHistogram.cpp
new file mode 100644
index 0000000..126fd25
--- /dev/null
+++ b/package_bgs/ck/MEHistogram.cpp
@@ -0,0 +1,508 @@
+/*
+ * This file is part of the AiBO+ project
+ *
+ * Copyright (C) 2005-2013 Csaba Kertész (csaba.kertesz@gmail.com)
+ *
+ * AiBO+ is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * AiBO+ 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
+ *
+ * Some histogram stretch codes are based on how Gimp does it, the same
+ * GPL 2 license applies for the following authors:
+ *
+ * The GIMP -- an image manipulation program
+ * Copyright (C) 1995 Spencer Kimball and Peter Mattis
+ *
+ */
+
+#include "MEHistogram.hpp"
+
+#if defined(__MINGW32__) || defined(__MINGW64__)
+#include <cv.h>
+#else
+#include <opencv/cv.h>
+#endif
+
+#include "MEDefs.hpp"
+#include "MEImage.hpp"
+
+MEHistogram::MEHistogram()
+{
+ Clear();
+}
+
+
+MEHistogram::~MEHistogram()
+{
+}
+
+
+void MEHistogram::Clear()
+{
+ memset(&HistogramData, 0, 256*sizeof(int));
+}
+
+
+bool MEHistogram::operator==(MEHistogram& histogram) const
+{
+ bool ret = true;
+
+ for (int i = 255; i >= 0; --i)
+ {
+ if (HistogramData[i] != histogram.HistogramData[i])
+ {
+ ret = false;
+ break;
+ }
+ }
+ return ret;
+}
+
+
+void MEHistogram::Calculate(MEImage& image, int channel, HistogramType mode)
+{
+ int Channel = (channel < 1) ? 1 : ((channel > image.GetLayers()) ? image.GetLayers() : channel);
+
+ if (mode == h_Overwrite)
+ {
+ Clear();
+ }
+
+ unsigned char *ImageData = image.GetImageData();
+ int rowStart = 0;
+
+ for (int i = image.GetHeight()-1; i >= 0; i--)
+ {
+ for (int i1 = (image.GetWidth()-1)*image.GetLayers()+Channel-1; i1 >= Channel-1; i1 -= image.GetLayers())
+ {
+ HistogramData[ImageData[rowStart+i1]]++;
+ }
+ rowStart += image.GetRowWidth();
+ }
+}
+
+
+void MEHistogram::Calculate(MEImage& image, HistogramType mode)
+{
+ if (mode == h_Overwrite)
+ {
+ Clear();
+ }
+
+ unsigned char *ImageData = image.GetImageData();
+ int RowStart = 0;
+ int RowWidth = image.GetRowWidth();
+
+ for (int i = image.GetHeight()-1; i >= 0; i--)
+ {
+ for (int i1 = image.GetWidth()*image.GetLayers()-1; i1 >= 0; i1--)
+ {
+ HistogramData[ImageData[RowStart+i1]]++;
+ }
+ RowStart += RowWidth;
+ }
+}
+
+
+void MEHistogram::Calculate(MEImage& image, int channel, int x0, int y0, int x1, int y1)
+{
+ int Channel = (channel < 1) ? 1 : ((channel > image.GetLayers()) ? image.GetLayers() : channel);
+ unsigned char *ImageData = image.GetImageData();
+ int RowStart = 0;
+ int RowWidth = image.GetRowWidth();
+ int X0 = x0 > x1 ? x1 : x0;
+ int Y0 = y0 > y1 ? y1 : y0;
+ int X1 = x0 < x1 ? x1 : x0;
+ int Y1 = y0 < y1 ? y1 : y0;
+
+ Clear();
+
+ // Compute the correct region coordinates and check them
+ X0 = X0 < 0 ? 0 : X0;
+ Y0 = Y0 < 0 ? 0 : Y0;
+ X1 = X1 > image.GetWidth()-1 ? image.GetWidth()-1 : X1;
+ Y1 = Y1 > image.GetHeight()-1 ? image.GetHeight()-1 : Y1;
+ RowStart = Y0*image.GetRowWidth();
+
+ for (int i = Y1; i >= Y0; --i)
+ {
+ for (int i1 = X1*image.GetLayers()+Channel-1; i1 >= X0*image.GetLayers()+Channel-1;
+ i1 -= image.GetLayers())
+ {
+ HistogramData[ImageData[RowStart+i1]]++;
+ }
+ RowStart += RowWidth;
+ }
+}
+
+
+int MEHistogram::GetPeakIndex() const
+{
+ int PeakIndex = 0;
+ int PeakValue = 0;
+
+ for (int i = 0; i < 256; i++)
+ {
+ if (PeakValue < HistogramData[i])
+ {
+ PeakValue = HistogramData[i];
+ PeakIndex = i;
+ }
+ }
+ return PeakIndex;
+}
+
+
+int MEHistogram::GetLowestLimitIndex(int threshold) const
+{
+ int MinIndex = 0;
+
+ for (int i = 0; i < 256; i++)
+ {
+ if (threshold <= HistogramData[i])
+ {
+ MinIndex = i;
+ break;
+ }
+ }
+ return MinIndex;
+}
+
+
+int MEHistogram::GetHighestLimitIndex(int threshold) const
+{
+ int MaxIndex = 255;
+
+ for (int i = 255; i >= 0; i--)
+ {
+ if (threshold <= HistogramData[i])
+ {
+ MaxIndex = i;
+ break;
+ }
+ }
+ return MaxIndex;
+}
+
+
+int MEHistogram::GetPowerAmount(int minindex, int maxindex) const
+{
+ int ValueAmount = 0;
+ int MinIndex = (minindex > 255) ? 255 : ((minindex < 0) ? 0 : minindex);
+ int MaxIndex = (maxindex > 255) ? 255 : ((maxindex < 0) ? 0 : maxindex);
+
+ if (MinIndex > MaxIndex)
+ {
+ int TempInt = MinIndex;
+ MinIndex = MaxIndex;
+ MaxIndex = TempInt;
+ }
+
+ for (int i = MinIndex; i <= MaxIndex; i++)
+ {
+ ValueAmount += HistogramData[i];
+ }
+ return ValueAmount;
+}
+
+
+int MEHistogram::GetCentroidIndex() const
+{
+ int ValueAmount = GetPowerAmount(0, 255);
+ int WeightedValueAmount = 1;
+ int CentroidIndex = 0;
+
+ // Calculate the normal and weighted amount of histogram values
+ for (int i = 0; i < 256; i++)
+ {
+ WeightedValueAmount += i*HistogramData[i];
+ }
+ // Calculate the centroid point of the histogram
+ CentroidIndex = WeightedValueAmount / ValueAmount;
+ return CentroidIndex;
+}
+
+
+bool MEHistogram::Stretch(StretchType mode)
+{
+ int MinIndex = -1;
+ int MaxIndex = -1;
+ int Percent = -1;
+ double Percentage = 0.0;
+ double NextPercentage = 0.0;
+ double Count = 0.0;
+ double NewCount = 0.0;
+ bool Ret = true;
+
+ switch (mode)
+ {
+ case s_OwnMode:
+ Percent = 20;
+ MinIndex = GetLowestLimitIndex(Percent);
+ MaxIndex = GetHighestLimitIndex(Percent);
+
+ while ((abs(MaxIndex-MinIndex) < 52) && (Percent > 1))
+ {
+ Percent = Percent / 2;
+ MinIndex = GetLowestLimitIndex(Percent);
+ MaxIndex = GetHighestLimitIndex(Percent);
+
+ // The calculation gives wrong answer back
+ if (MinIndex == 0 && MaxIndex == 255)
+ {
+ MinIndex = 128;
+ MaxIndex = 128;
+ Ret = false;
+ }
+ }
+ break;
+
+ case s_GimpMode:
+ Count = GetPowerAmount(0, 255);
+ NewCount = 0;
+
+ for (int i = 0; i < 255; i++)
+ {
+ double Value = 0.0;
+ double NextValue = 0.0;
+
+ Value = HistogramData[i];
+ NextValue = HistogramData[i+1];
+ NewCount += Value;
+ Percentage = NewCount / Count;
+ NextPercentage = (NewCount+NextValue) / Count;
+
+ if (fabs(Percentage-0.006) < fabs(NextPercentage-0.006))
+ {
+ MinIndex = i+1;
+ break;
+ }
+ }
+ NewCount = 0.0;
+ for (int i = 255; i > 0; i--)
+ {
+ double Value = 0.0;
+ double NextValue = 0.0;
+
+ Value = HistogramData[i];
+ NextValue = HistogramData[i-1];
+ NewCount += Value;
+ Percentage = NewCount / Count;
+ NextPercentage = (NewCount+NextValue) / Count;
+
+ if (fabs(Percentage-0.006) < fabs(NextPercentage-0.006))
+ {
+ MaxIndex = i-1;
+ break;
+ }
+ }
+ break;
+
+ default:
+ break;
+ }
+
+ if (MaxIndex <= MinIndex)
+ {
+ MinIndex = 0;
+ MaxIndex = 255;
+ Ret = false;
+ }
+ if (MaxIndex-MinIndex <= 10 ||
+ (MaxIndex-MinIndex <= 20 && (float)GetPowerAmount(MinIndex, MaxIndex) / GetPowerAmount(0, 255) < 0.20))
+ {
+ MinIndex = 0;
+ MaxIndex = 255;
+ Ret = false;
+ }
+ if (Ret)
+ {
+ unsigned char TransformedHistogram[256];
+
+ for (int i = 0; i < 256; ++i)
+ {
+ TransformedHistogram[i] = (unsigned char)MEBound(0, 255*(i-MinIndex) / (MaxIndex-MinIndex), 255);
+ }
+ for (int i = 0; i < 256; ++i)
+ {
+ HistogramData[i] = TransformedHistogram[i];
+ }
+ }
+ return Ret;
+}
+
+
+MEHistogramTransform::MEHistogramTransform() : ChannelMode(p_SeparateChannels),
+StretchMode(MEHistogram::s_GimpMode), DiscreteStretchingDone(false)
+{
+}
+
+
+MEHistogramTransform::~MEHistogramTransform()
+{
+}
+
+
+void MEHistogramTransform::HistogramStretch(MEImage& image)
+{
+ SetStretchProcessingMode(p_SeparateChannels, MEHistogram::s_GimpMode);
+ HistogramStretch(image, t_Continuous);
+}
+
+
+void MEHistogramTransform::HistogramStretch(MEImage& image, TransformType time_mode)
+{
+ if (time_mode == t_Continuous)
+ {
+ DiscreteStretchingDone = false;
+ }
+
+ if (ChannelMode == p_Average || image.GetLayers() == 1)
+ {
+ if (time_mode == t_Continuous || (time_mode == t_Discrete && !DiscreteStretchingDone))
+ {
+ RedChannel.Calculate(image, 1, MEHistogram::h_Overwrite);
+
+ for (int l = 1; l < image.GetLayers(); l++)
+ {
+ RedChannel.Calculate(image, l+1, MEHistogram::h_Add);
+ }
+ RedChannel.Stretch(StretchMode);
+ if (time_mode == t_Discrete && !DiscreteStretchingDone)
+ {
+ DiscreteStretchingDone = true;
+ }
+ }
+ unsigned char *ImageData = image.GetImageData();
+ int RowStart = 0;
+ int RowWidth = image.GetRowWidth();
+
+ for (int i = image.GetHeight()-1; i >= 0; i--)
+ {
+ for (int i1 = image.GetWidth()*image.GetLayers()-1; i1 >= 0; i1--)
+ {
+ ImageData[RowStart+i1] = RedChannel.HistogramData[ImageData[RowStart+i1]];
+ }
+ RowStart += RowWidth;
+ }
+ } else
+ if (ChannelMode == p_SeparateChannels)
+ {
+ if (time_mode == t_Continuous || (time_mode == t_Discrete && !DiscreteStretchingDone))
+ {
+ RedChannel.Calculate(image, 1, MEHistogram::h_Overwrite);
+ GreenChannel.Calculate(image, 2, MEHistogram::h_Overwrite);
+ BlueChannel.Calculate(image, 3, MEHistogram::h_Overwrite);
+ RedChannel.Stretch(StretchMode);
+ GreenChannel.Stretch(StretchMode);
+ BlueChannel.Stretch(StretchMode);
+ if (time_mode == t_Discrete && !DiscreteStretchingDone)
+ {
+ DiscreteStretchingDone = true;
+ }
+ }
+ unsigned char *ImageData = image.GetImageData();
+ int RowStart = 0;
+ int RowWidth = image.GetRowWidth();
+
+ for (int i = image.GetHeight()-1; i >= 0; i--)
+ {
+ for (int i1 = image.GetWidth()*image.GetLayers()-3; i1 >= 0; i1 -= 3)
+ {
+ ImageData[RowStart+i1] = RedChannel.HistogramData[ImageData[RowStart+i1]];
+ ImageData[RowStart+i1+1] = GreenChannel.HistogramData[ImageData[RowStart+i1+1]];
+ ImageData[RowStart+i1+2] = BlueChannel.HistogramData[ImageData[RowStart+i1+2]];
+ }
+ RowStart += RowWidth;
+ }
+ }
+}
+
+
+void MEHistogramTransform::HistogramEqualize(MEImage& image)
+{
+ DiscreteStretchingDone = false;
+ IplImage* cvDest8bitImg = NULL;
+ IplImage* cvDestImg = NULL;
+
+ switch (image.GetLayers())
+ {
+ case 1:
+ // Grayscale image
+ cvDest8bitImg = cvCreateImage(cvSize(image.GetWidth(), image.GetHeight()), 8, 1);
+ cvEqualizeHist((IplImage*)image.GetIplImage(), cvDest8bitImg);
+ image.SetIplImage((void*)cvDest8bitImg);
+ cvReleaseImage(&cvDest8bitImg);
+ break;
+
+ case 3:
+ // RGB image
+ cvDestImg = cvCreateImage(cvSize(image.GetWidth(), image.GetHeight()), 8, 3);
+ IplImage *cvR, *cvG, *cvB;
+
+ cvR = cvCreateImage(cvSize(image.GetWidth(), image.GetHeight()), 8, 1);
+ cvG = cvCreateImage(cvSize(image.GetWidth(), image.GetHeight()), 8, 1);
+ cvB = cvCreateImage(cvSize(image.GetWidth(), image.GetHeight()), 8, 1);
+
+ cvSplit((IplImage*)image.GetIplImage(), cvR, cvG, cvB, NULL);
+ cvEqualizeHist(cvR, cvR);
+ cvEqualizeHist(cvG, cvG);
+ cvEqualizeHist(cvB, cvB);
+ cvMerge(cvR, cvG, cvB, NULL, cvDestImg);
+
+ image.SetIplImage((void*)cvDestImg);
+ cvReleaseImage(&cvR);
+ cvReleaseImage(&cvG);
+ cvReleaseImage(&cvB);
+ cvReleaseImage(&cvDestImg);
+ break;
+
+ default:
+ break;
+ }
+}
+
+
+void MEHistogramTransform::SetStretchProcessingMode(ProcessingType new_channel_mode,
+ MEHistogram::StretchType new_stretch_mode)
+{
+ DiscreteStretchingDone = false;
+
+ switch(new_channel_mode)
+ {
+ case p_SeparateChannels:
+ ChannelMode = new_channel_mode;
+ break;
+
+ case p_Average:
+ ChannelMode = new_channel_mode;
+ break;
+
+ default:
+ break;
+ }
+
+ switch(new_stretch_mode)
+ {
+ case MEHistogram::s_OwnMode:
+ StretchMode = new_stretch_mode;
+ break;
+
+ case MEHistogram::s_GimpMode:
+ StretchMode = new_stretch_mode;
+ break;
+
+ default:
+ break;
+ }
+}
diff --git a/package_bgs/ck/MEHistogram.hpp b/package_bgs/ck/MEHistogram.hpp
new file mode 100644
index 0000000..5b2b47f
--- /dev/null
+++ b/package_bgs/ck/MEHistogram.hpp
@@ -0,0 +1,348 @@
+/*
+ * This file is part of the AiBO+ project
+ *
+ * Copyright (C) 2005-2013 Csaba Kertész (csaba.kertesz@gmail.com)
+ *
+ * AiBO+ is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * AiBO+ 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
+ *
+ */
+
+#ifndef MEHistogram_hpp
+#define MEHistogram_hpp
+
+/**
+ * @addtogroup mindeye
+ * @{
+ */
+
+class MEImage;
+
+/**
+ * MEHistogram
+ * @brief The class provides basic histogram operations
+ */
+class MEHistogram
+{
+public:
+
+ /// Types of histogram calculation
+ typedef enum {
+ h_Min = 0, /*!< Minimum value */
+ h_Overwrite = h_Min, /*!< Overwrite */
+ h_Add, /*!< Add */
+ h_Max = h_Add /*!< Maximum value */
+ } HistogramType;
+
+ /// Types of histogram stretching
+ typedef enum {
+ s_Min = 0, /*!< Minimum value */
+ s_OwnMode = s_Min, /*!< Own mode */
+ s_GimpMode, /*!< Gimp mode */
+ s_Max = s_GimpMode /*!< Maximum value */
+ } StretchType;
+
+ /// Constructor of class
+ MEHistogram();
+ /// Destructor of class
+ ~MEHistogram();
+
+ /*!
+ * @brief Clear histogram data
+ *
+ * Clear histogram data.
+ *
+ */
+
+ void Clear();
+
+ /*!
+ * @brief Equality (==) operator
+ *
+ * @param histogram Histogram to be compared
+ *
+ * @return True if the two histograms are equal.
+ *
+ * Compare two histograms.
+ *
+ */
+
+ bool operator==(MEHistogram& histogram) const;
+
+ /*!
+ * @brief Calculate the histogram of one color channel
+ *
+ * @param image Given image for the calculations
+ * @param channel Selected color channel for calculation (Range: 1..x)
+ * @param mode The mode of calculation.
+ *
+ * The method calculates the histograms of a color channel.
+ * There is two different type of the function:
+ *
+ * - h_Add: Add the data to the existing histogram.
+ * - h_Overwrite: Clear the histogram data before the
+ * calculation.
+ *
+ */
+
+ void Calculate(MEImage& image, int channel, HistogramType mode);
+
+ /*!
+ * @brief Calculate the average histogram of an image
+ *
+ * @param image Given image for the calculations
+ * @param mode Histogram calculation mode
+ *
+ * The method calculates the average histogram of an image.
+ *
+ */
+
+ void Calculate(MEImage& image, HistogramType mode = h_Overwrite);
+
+ /*!
+ * @brief Calculate the histogram of an image region
+ *
+ * @param image Given image for the calculations
+ * @param channel Selected color channel for calculation (Range: 1..x)
+ * @param x0 x0 coordinate of the region
+ * @param y0 y0 coordinate of the region
+ * @param x1 x1 coordinate of the region
+ * @param y1 y1 coordinate of the region
+ *
+ * The method calculates the average histogram of an image region
+ * (x0,y0)-(x1,y1).
+ *
+ */
+
+ void Calculate(MEImage& image, int channel, int x0, int y0, int x1, int y1);
+
+ /*!
+ * @brief Get the index of maximum value of the histogram
+ *
+ * @return Index number
+ *
+ * Function gives an index value back where is the highest
+ * peak of the histogram.
+ *
+ */
+
+ int GetPeakIndex() const;
+
+ /*!
+ * @brief Get the lowest histogram index with an threshold value
+ *
+ * @param threshold Specified threshold (in percent: 0..100 %)
+ *
+ * @return Index number
+ *
+ * Function gives the lowest index back whose value reaches
+ * an threshold value calculated by (counted pixel number /
+ * 10*threshold / 100).
+ *
+ */
+
+ int GetLowestLimitIndex(int threshold) const;
+
+ /*!
+ * @brief Get the highest histogram index with an threshold value
+ *
+ * @param threshold Specified threshold (in percent: 0..100 %)
+ *
+ * @return Index number
+ *
+ * Function gives the highest index back whose value reaches
+ * an threshold value calculated by (counted pixel number /
+ * 10*threshold / 100).
+ *
+ */
+
+ int GetHighestLimitIndex(int threshold) const;
+
+ /*!
+ * @brief Get the amount of the histogram values in an interval
+ *
+ * @param minindex Minimal index of the interval
+ * @param maxindex Maximal index of the interval
+ *
+ * @return Amount of the values
+ *
+ * Function calculates the amount of the histogram values
+ * in a given interval.
+ *
+ */
+
+ int GetPowerAmount(int min_index, int max_index) const;
+
+ /*!
+ * @brief Get index value of the centroid point of the histogram
+ *
+ * @return Index number
+ *
+ * Function calculates the centre of area of the histogram and
+ * gives the index number back.
+ *
+ */
+
+ int GetCentroidIndex() const;
+
+ /*!
+ * @brief Stretch the histogram
+ *
+ * @param mode Mode of the histogram stretching
+ *
+ * @return True if successful, otherwise false.
+ *
+ * The function selects and stretches the main power
+ * interval of the histogram. The following calculation
+ * modes are available:
+ *
+ * - s_OwnMode: The calculation of the power
+ * interval is selected by functions Histogram::GetHistogramLowestLimitIndex()
+ * and Histogram::GetHistogramHighestLimitIndex() where the
+ * threshold is 20, 10, 5, 2, 1 in order. The power range will
+ * be selected if the length is at least 52 long or the used
+ * threshold reaches the 1 value.
+ * - s_GimpMode: The minimum index of power interval is
+ * specified by the first fulfilled abs(percentage[i]-0.006) <
+ * fabs(percentage[i+1]-0.006) where the percentage[i] means
+ * the amount of the histogram values in the interval [0, i].
+ * The maximum index is specified by the first fulfilled
+ * (from the end of the histogram) abs(percentage[i]-0.006) <
+ * fabs(percentage[i-1]-0.006) where the percentage[i] means
+ * the amount of the histogram values in the interval [i, 255].
+ *
+ * The stretch operation is rejected if the power interval is
+ * less than 10 or less than 20 and the percentage[min_index, max_index]
+ * / percentage[0, 255] < 0.2.
+ *
+ */
+
+ bool Stretch(StretchType mode);
+
+ /// Histogram spectrum
+ int HistogramData[256];
+};
+
+
+/**
+ * MEHistogramTransform
+ * @brief The class provides histogram operations
+ */
+class MEHistogramTransform
+{
+public:
+ /// Types of histogram processing
+ typedef enum {
+ p_Min = 0, /*!< Minimum value */
+ p_SeparateChannels = p_Min, /*!< Separate channels */
+ p_Average, /*!< Average */
+ p_Max = p_Average /*!< Maximum value */
+ } ProcessingType;
+
+ /// Types of histogram transformations
+ typedef enum {
+ t_Min = 0, /*!< Minimum value */
+ t_Continuous = t_Min, /*!< Continuous */
+ t_Discrete, /*!< Discrete */
+ t_Max = t_Discrete /*!< Maximum value */
+ } TransformType;
+
+ /// Constructor of class
+ MEHistogramTransform();
+ /// Destructor of class
+ ~MEHistogramTransform();
+
+ /*!
+ * @brief Histogram stretching an image
+ *
+ * @param image Source image to stretch
+ *
+ * The function stretches the histogram of the given image with
+ * default parameters: process the color channels separately
+ * and continuously.
+ *
+ */
+
+ void HistogramStretch(MEImage& image);
+
+ /*!
+ * @brief Histogram stretching with specified parameters
+ *
+ * @param image Source image to stretch
+ * @param time_mode Mode of the histogram stretching
+ *
+ * The function transformations the histogram of the image.
+ * There is some different possibilities to make the operation:
+ *
+ * - t_Continuous: The function always stretches the
+ * image at each call of the method.
+ * - t_Discrete: A histogram is calculated at the first
+ * call of the function and all further images will be
+ * stretched by this initial histogram.
+ *
+ */
+
+ void HistogramStretch(MEImage& image, TransformType time_mode);
+
+ /*!
+ * @brief Histogram equalization on an image
+ *
+ * @param image Source image to equalize
+ *
+ * The source image is transformed by histogram
+ * equalization.
+ *
+ */
+
+ void HistogramEqualize(MEImage& image);
+
+ /*!
+ * @brief Set the process mode of the histogram transformation
+ *
+ * @param new_channel_mode New mode of processing channels
+ * @param new_stretch_mode New mode of histogram stretching
+ *
+ * The process mode of histogram transformation can be
+ * set by this method. Two process modes are available for
+ * processing channels:
+ *
+ * - p_SeparateChannels: The class processes the color channels
+ * separately.
+ * - p_Average: The color channels are averaged
+ * in the histogram operations.
+ *
+ * Two process modes are usable for histogram stretching:
+ * s_OwnMode and s_GimpMode. See Histogram::Stretch()
+ * for more details.
+ *
+ */
+
+ void SetStretchProcessingMode(ProcessingType new_channel_mode, MEHistogram::StretchType new_stretch_mode);
+
+private:
+ /// Type of the process of histograms
+ ProcessingType ChannelMode;
+ /// Stretch mode
+ MEHistogram::StretchType StretchMode;
+ /// Histograms for red, green and blue color channels
+ MEHistogram RedChannel, GreenChannel, BlueChannel;
+ /// Histogram for average calculation
+ MEHistogram AverageChannel;
+ /// Continuous histogram stretch is done already
+ bool DiscreteStretchingDone;
+};
+
+/** @} */
+
+#endif
diff --git a/package_bgs/ck/MEImage.cpp b/package_bgs/ck/MEImage.cpp
new file mode 100644
index 0000000..5a625a9
--- /dev/null
+++ b/package_bgs/ck/MEImage.cpp
@@ -0,0 +1,1472 @@
+/*
+ * This file is part of the AiBO+ project
+ *
+ * Copyright (C) 2005-2013 Csaba Kertész (csaba.kertesz@gmail.com)
+ *
+ * AiBO+ is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * AiBO+ 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
+ *
+ */
+
+#include "MEImage.hpp"
+
+#if defined(__MINGW32__) || defined(__MINGW64__)
+#include <cv.h>
+#include <highgui.h>
+#else
+#include <opencv/cv.h>
+#include <opencv/highgui.h>
+#endif
+
+#include "MEDefs.hpp"
+
+#define ME_CAST_TO_IPLIMAGE(image_ptr) ((IplImage*)image_ptr)
+#define ME_RELEASE_IPLIMAGE(image_ptr) \
+ cvReleaseImage((IplImage**)&image_ptr); \
+ image_ptr = NULL;
+
+// RGB to YUV transform
+const float RGBtoYUVMatrix[3][3] =
+ {{ 0.299, 0.587, 0.114 },
+ { -0.147, -0.289, 0.436 },
+ { 0.615, -0.515, -0.100 }};
+
+// RGB to YIQ transform
+const float RGBtoYIQMatrix[3][3] =
+ {{ 0.299, 0.587, 0.114 },
+ { 0.596, -0.274, -0.322 },
+ { 0.212, -0.523, 0.311 }};
+
+MEImage::MEImage(int width, int height, int layers) : cvImg(NULL)
+{
+ _Init(width, height, layers);
+}
+
+
+MEImage::MEImage(const MEImage& other) : cvImg(NULL)
+{
+ _Copy(other);
+}
+
+
+MEImage::~MEImage()
+{
+ if (ME_CAST_TO_IPLIMAGE(cvImg))
+ {
+ ME_RELEASE_IPLIMAGE(cvImg);
+ }
+}
+
+
+void MEImage::Clear()
+{
+ cvSetZero(ME_CAST_TO_IPLIMAGE(cvImg));
+}
+
+
+void MEImage::GetLayer(MEImage& new_layer, int layer_number) const
+{
+ int LayerNumber = layer_number;
+
+ if ((new_layer.GetWidth() != ME_CAST_TO_IPLIMAGE(cvImg)->width) ||
+ (new_layer.GetHeight() != ME_CAST_TO_IPLIMAGE(cvImg)->height) ||
+ (new_layer.GetLayers() != 1))
+ {
+ new_layer.Realloc(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height, 1);
+ }
+ if (ME_CAST_TO_IPLIMAGE(cvImg)->nChannels < LayerNumber)
+ {
+ printf("The given layer number is too large (%d > %d)\n",
+ LayerNumber, ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+
+ LayerNumber = ME_CAST_TO_IPLIMAGE(cvImg)->nChannels;
+ }
+ if (LayerNumber <= 0)
+ {
+ printf("The given layer number is too small (%d <= 0)\n", LayerNumber);
+ LayerNumber = 1;
+ }
+
+ cvSetImageCOI(ME_CAST_TO_IPLIMAGE(cvImg), LayerNumber);
+ cvCopy(ME_CAST_TO_IPLIMAGE(cvImg), (IplImage*)new_layer.GetIplImage(), NULL);
+ cvSetImageCOI(ME_CAST_TO_IPLIMAGE(cvImg), 0);
+}
+
+
+void MEImage::SetLayer(MEImage& layer, int layer_number)
+{
+ int LayerNumber = layer_number;
+
+ if (layer.GetWidth() != ME_CAST_TO_IPLIMAGE(cvImg)->width ||
+ layer.GetHeight() != ME_CAST_TO_IPLIMAGE(cvImg)->height)
+ {
+ printf("The dimensions of the layer and "
+ "destination image is different (%dx%d <> %dx%d)\n",
+ layer.GetWidth(), layer.GetHeight(), ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height);
+ return;
+ }
+ if (ME_CAST_TO_IPLIMAGE(cvImg)->nChannels < LayerNumber)
+ {
+ printf("The given layer number is too large (%d > %d)\n",
+ LayerNumber, ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+ LayerNumber = ME_CAST_TO_IPLIMAGE(cvImg)->nChannels;
+ }
+ if (LayerNumber <= 0)
+ {
+ printf("The given layer number is too small (%d <= 0)\n", LayerNumber);
+ LayerNumber = 1;
+ }
+ if (layer.GetLayers() != 1)
+ {
+ printf("The layer image has not one color channel (1 != %d)\n",
+ layer.GetLayers());
+ return;
+ }
+ cvSetImageCOI(ME_CAST_TO_IPLIMAGE(cvImg), LayerNumber);
+ cvCopy((IplImage*)layer.GetIplImage(), ME_CAST_TO_IPLIMAGE(cvImg), NULL);
+ cvSetImageCOI(ME_CAST_TO_IPLIMAGE(cvImg), 0);
+}
+
+
+void MEImage::CopyImageData(unsigned char* data)
+{
+ memcpy(ME_CAST_TO_IPLIMAGE(cvImg)->imageData, data, ME_CAST_TO_IPLIMAGE(cvImg)->width*ME_CAST_TO_IPLIMAGE(cvImg)->height*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+}
+
+
+void* MEImage::GetIplImage() const
+{
+ return (void*)ME_CAST_TO_IPLIMAGE(cvImg);
+}
+
+
+void MEImage::SetIplImage(void* image)
+{
+ if (ME_CAST_TO_IPLIMAGE(cvImg))
+ {
+ ME_RELEASE_IPLIMAGE(cvImg);
+ }
+ cvImg = cvCloneImage((IplImage*)image);
+ // Correct the origin of the image
+ if (ME_CAST_TO_IPLIMAGE(cvImg)->origin == 1)
+ {
+ MirrorVertical();
+ ME_CAST_TO_IPLIMAGE(cvImg)->origin = 0;
+ }
+}
+
+
+bool MEImage::operator==(const MEImage& image)
+{
+ return Equal(image);
+}
+
+
+bool MEImage::operator!=(const MEImage& image)
+{
+ return !operator==(image);
+}
+
+
+MEImage& MEImage::operator=(const MEImage& other_image)
+{
+ if (&other_image == this)
+ return *this;
+
+ _Copy(other_image);
+ return *this;
+}
+
+
+int MEImage::GetWidth() const
+{
+ return ME_CAST_TO_IPLIMAGE(cvImg) ? ME_CAST_TO_IPLIMAGE(cvImg)->width : 0;
+}
+
+
+int MEImage::GetRowWidth() const
+{
+ return ME_CAST_TO_IPLIMAGE(cvImg) ? ME_CAST_TO_IPLIMAGE(cvImg)->widthStep : 0;
+}
+
+
+int MEImage::GetHeight() const
+{
+ return ME_CAST_TO_IPLIMAGE(cvImg) ? ME_CAST_TO_IPLIMAGE(cvImg)->height : 0;
+}
+
+
+int MEImage::GetLayers() const
+{
+ return ME_CAST_TO_IPLIMAGE(cvImg) ? ME_CAST_TO_IPLIMAGE(cvImg)->nChannels : 0;
+}
+
+
+int MEImage::GetPixelDataNumber() const
+{
+ return ME_CAST_TO_IPLIMAGE(cvImg) ? GetWidth()*GetHeight()*GetLayers() : 0;
+}
+
+
+unsigned char* MEImage::GetImageData() const
+{
+ return ME_CAST_TO_IPLIMAGE(cvImg) ? (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData : NULL;
+}
+
+
+void MEImage::SetData(unsigned char* image_data, int width, int height, int channels)
+{
+ _Init(width, height, channels);
+
+ for (int y = height-1; y >= 0; --y)
+ {
+ int Start = GetRowWidth()*y;
+ int Start2 = width*channels*y;
+
+ memcpy(&ME_CAST_TO_IPLIMAGE(cvImg)->imageData[Start], &image_data[Start2], width*channels);
+ }
+}
+
+
+float MEImage::GetRatio() const
+{
+ return ME_CAST_TO_IPLIMAGE(cvImg) ? (float)ME_CAST_TO_IPLIMAGE(cvImg)->height/(float)ME_CAST_TO_IPLIMAGE(cvImg)->width : 0.0;
+}
+
+
+void MEImage::Realloc(int width, int height)
+{
+ Realloc(width, height, ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+}
+
+
+void MEImage::Realloc(int width, int height, int layers)
+{
+ _Init(width, height, layers);
+}
+
+
+void MEImage::Resize(int new_width, int new_height)
+{
+ if (new_height < 1)
+ {
+ printf("Invalid new height: %d < 1\n", new_height);
+ return;
+ }
+ if (new_width < 1)
+ {
+ printf("Invalid new width: %d < 1\n", new_width);
+ return;
+ }
+ IplImage* TempImg = cvCreateImage(cvSize(new_width, new_height), 8, ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+
+ cvResize(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_INTER_NN);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+}
+
+
+void MEImage::ResizeScaleX(int new_width)
+{
+ if (new_width < 1)
+ {
+ printf("Invalid new width: %d < 1\n", new_width);
+ return;
+ }
+ Resize(new_width, (int)((float)new_width*GetRatio()));
+}
+
+
+void MEImage::ResizeScaleY(int new_height)
+{
+ if (new_height < 1)
+ {
+ printf("Invalid new height: %d < 1\n", new_height);
+ return;
+ }
+ Resize((int)((float)new_height*1/GetRatio()), new_height);
+}
+
+
+void MEImage::MirrorHorizontal()
+{
+ cvFlip(ME_CAST_TO_IPLIMAGE(cvImg), NULL, 1);
+}
+
+
+void MEImage::MirrorVertical()
+{
+ cvFlip(ME_CAST_TO_IPLIMAGE(cvImg), NULL, 0);
+}
+
+
+void MEImage::Crop(int x1, int y1, int x2, int y2)
+{
+ int NewX1 = x1;
+ int NewY1 = y1;
+ int NewX2 = x2;
+ int NewY2 = y2;
+
+ NewX1 = (NewX1 < 0) ? 0 : NewX1;
+ NewX1 = (NewX1 > ME_CAST_TO_IPLIMAGE(cvImg)->width) ? ME_CAST_TO_IPLIMAGE(cvImg)->width : NewX1;
+ NewY1 = (NewY1 < 0) ? 0 : NewY1;
+ NewY1 = (NewY1 > ME_CAST_TO_IPLIMAGE(cvImg)->height) ? ME_CAST_TO_IPLIMAGE(cvImg)->height : NewY1;
+
+ NewX2 = (NewX2 < 0) ? 0 : NewX2;
+ NewX2 = (NewX2 > ME_CAST_TO_IPLIMAGE(cvImg)->width) ? ME_CAST_TO_IPLIMAGE(cvImg)->width : NewX2;
+ NewY2 = (NewY2 < 0) ? 0 : NewY2;
+ NewY2 = (NewY2 > ME_CAST_TO_IPLIMAGE(cvImg)->height) ? ME_CAST_TO_IPLIMAGE(cvImg)->height : NewY2;
+
+ if ((NewX2-NewX1) <= 0)
+ {
+ printf("Invalid new width: %d <= 0\n", NewX2-NewX1);
+ return;
+ }
+ if ((NewY2-NewY1) <= 0)
+ {
+ printf("Invalid new height: %d <= 0\n", NewY2-NewY1);
+ return;
+ }
+ IplImage* TempImg = cvCreateImage(cvSize(NewX2-NewX1, NewY2-NewY1), 8, ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+
+ cvSetImageROI(ME_CAST_TO_IPLIMAGE(cvImg), cvRect(NewX1, NewY1, NewX2-NewX1, NewY2-NewY1));
+ cvCopy(ME_CAST_TO_IPLIMAGE(cvImg), TempImg);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+}
+
+
+void MEImage::CopyImageInside(int x, int y, MEImage& source_image)
+{
+ int NewX = x;
+ int NewY = y;
+ int PasteLengthX = source_image.GetWidth();
+ int PasteLengthY = source_image.GetHeight();
+
+ if (ME_CAST_TO_IPLIMAGE(cvImg)->nChannels != source_image.GetLayers())
+ {
+ if (source_image.GetLayers() == 1 && ME_CAST_TO_IPLIMAGE(cvImg)->nChannels == 3)
+ {
+ source_image.ConvertGrayscaleToRGB();
+ }
+ if (ME_CAST_TO_IPLIMAGE(cvImg)->nChannels == 1 && source_image.GetLayers() == 3)
+ {
+ source_image.ConvertToGrayscale(g_OpenCV);
+ }
+ }
+ if (NewX < 0)
+ NewX = 0;
+ if (NewX > ME_CAST_TO_IPLIMAGE(cvImg)->width)
+ NewX = ME_CAST_TO_IPLIMAGE(cvImg)->width;
+ if (NewY < 0)
+ NewY = 0;
+ if (NewY > ME_CAST_TO_IPLIMAGE(cvImg)->height)
+ NewY = ME_CAST_TO_IPLIMAGE(cvImg)->height;
+ if (NewX+PasteLengthX > ME_CAST_TO_IPLIMAGE(cvImg)->width)
+ PasteLengthX = ME_CAST_TO_IPLIMAGE(cvImg)->width-NewX;
+ if (NewY+PasteLengthY > ME_CAST_TO_IPLIMAGE(cvImg)->height)
+ PasteLengthY = ME_CAST_TO_IPLIMAGE(cvImg)->height-NewY;
+
+ if (PasteLengthX != source_image.GetWidth() ||
+ PasteLengthY != source_image.GetHeight())
+ {
+ source_image.Resize(PasteLengthX, PasteLengthY);
+ }
+ cvSetImageROI(ME_CAST_TO_IPLIMAGE(cvImg), cvRect(NewX, NewY, PasteLengthX, PasteLengthY));
+ cvCopy((IplImage*)source_image.GetIplImage(), ME_CAST_TO_IPLIMAGE(cvImg));
+ cvResetImageROI(ME_CAST_TO_IPLIMAGE(cvImg));
+}
+
+
+void MEImage::Erode(int iterations)
+{
+ IplImage* TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width,
+ ME_CAST_TO_IPLIMAGE(cvImg)->height),
+ 8, ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+
+ cvErode(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, NULL, iterations);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+}
+
+
+void MEImage::Dilate(int iterations)
+{
+ IplImage* TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width,
+ ME_CAST_TO_IPLIMAGE(cvImg)->height),
+ 8, ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+
+ cvDilate(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, NULL, iterations);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+}
+
+
+void MEImage::Smooth()
+{
+ SmoothAdvanced(s_Median, 3);
+}
+
+
+void MEImage::SmoothAdvanced(SmoothType filtermode, int filtersize)
+{
+ IplImage* TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height), 8,
+ ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+
+ switch (filtermode)
+ {
+ case s_Blur:
+ cvSmooth(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_BLUR, filtersize, filtersize, 0);
+ break;
+ case s_Median:
+ cvSmooth(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_MEDIAN, filtersize, 0, 0);
+ break;
+ case s_Gaussian:
+ cvSmooth(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_GAUSSIAN, filtersize, filtersize, 0);
+ break;
+ default:
+ cvSmooth(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_MEDIAN, filtersize, 0, 0);
+ break;
+ }
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+}
+
+
+void MEImage::Canny()
+{
+ if (ME_CAST_TO_IPLIMAGE(cvImg)->nChannels > 1)
+ {
+ ConvertToGrayscale(g_OpenCV);
+ }
+
+ IplImage* TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height), 8,
+ ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+ cvCanny(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, 800, 1100, 5);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+}
+
+
+void MEImage::Laplace()
+{
+ if (ME_CAST_TO_IPLIMAGE(cvImg)->nChannels != 1)
+ {
+ ConvertToGrayscale(g_OpenCV);
+ }
+ IplImage* TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width,
+ ME_CAST_TO_IPLIMAGE(cvImg)->height),
+ IPL_DEPTH_16S, 1);
+ cvLaplace(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, 3);
+ cvConvertScale(TempImg, ME_CAST_TO_IPLIMAGE(cvImg), 1, 0);
+ ME_RELEASE_IPLIMAGE(cvImg);
+}
+
+
+void MEImage::Quantize(int levels)
+{
+ if (levels <= 0)
+ {
+ printf("Level number is too small (%d <= 0)\n", levels);
+ return;
+ }
+ if (levels > 256)
+ {
+ printf("Level number is too large (%d > 256)\n", levels);
+ return;
+ }
+ unsigned char* ImageData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+
+ for (int i = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep*ME_CAST_TO_IPLIMAGE(cvImg)->height-1; i >= 0; --i)
+ {
+ ImageData[i] = ImageData[i] / (256 / levels)*(256 / levels);
+ }
+}
+
+
+void MEImage::Threshold(int threshold_limit)
+{
+ if (threshold_limit < 0)
+ {
+ printf("Threshold number is too small (%d <= 0)\n", threshold_limit);
+ return;
+ }
+ if (threshold_limit > 255)
+ {
+ printf("Threshold number is too large (%d > 255)\n", threshold_limit);
+ return;
+ }
+ unsigned char* ImageData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+
+ for (int i = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep*ME_CAST_TO_IPLIMAGE(cvImg)->height-1; i >= 0; --i)
+ {
+ if (ImageData[i] < threshold_limit)
+ {
+ ImageData[i] = 0;
+ }
+ }
+}
+
+
+void MEImage::AdaptiveThreshold()
+{
+ if (ME_CAST_TO_IPLIMAGE(cvImg)->nChannels != 1)
+ {
+ ConvertToGrayscale(g_OpenCV);
+ }
+ IplImage* TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height), 8,
+ ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+ cvAdaptiveThreshold(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, 25,
+ CV_ADAPTIVE_THRESH_GAUSSIAN_C, CV_THRESH_BINARY, 7, -7);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+}
+
+
+void MEImage::ThresholdByMask(MEImage& mask_image)
+{
+ if (mask_image.GetWidth() != ME_CAST_TO_IPLIMAGE(cvImg)->width ||
+ mask_image.GetHeight() != ME_CAST_TO_IPLIMAGE(cvImg)->height)
+ {
+ printf("Image properties are different\n");
+ return;
+ }
+ if (mask_image.GetLayers() != 3 && ME_CAST_TO_IPLIMAGE(cvImg)->nChannels == 3)
+ {
+ mask_image.ConvertGrayscaleToRGB();
+ }
+ unsigned char* ImageData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+ unsigned char* MaskImageData = mask_image.GetImageData();
+
+ for (int i = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep*ME_CAST_TO_IPLIMAGE(cvImg)->height-1; i >= 0; --i)
+ {
+ if (MaskImageData[i] == 0)
+ {
+ ImageData[i] = 0;
+ }
+ }
+}
+
+
+void MEImage::ColorSpace(ColorSpaceConvertType mode)
+{
+ IplImage* TempImg = NULL;
+ unsigned char* ImageData = NULL;
+ int WidthStep = 0;
+ int RowStart = 0;
+
+ if (ME_CAST_TO_IPLIMAGE(cvImg)->nChannels == 1)
+ {
+ printf("No sense to convert: source image is greyscale\n");
+ ConvertGrayscaleToRGB();
+ }
+ switch (mode)
+ {
+ case csc_RGBtoXYZCIED65:
+ TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width,
+ ME_CAST_TO_IPLIMAGE(cvImg)->height), 8,
+ ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+ cvCvtColor(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_RGB2XYZ);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+ break;
+
+ case csc_XYZCIED65toRGB:
+ TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width,
+ ME_CAST_TO_IPLIMAGE(cvImg)->height), 8,
+ ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+ cvCvtColor(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_XYZ2RGB);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+ break;
+
+ case csc_RGBtoHSV:
+ TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width,
+ ME_CAST_TO_IPLIMAGE(cvImg)->height), 8,
+ ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+ cvCvtColor(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_RGB2HSV);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+ break;
+
+ case csc_HSVtoRGB:
+ TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width,
+ ME_CAST_TO_IPLIMAGE(cvImg)->height), 8,
+ ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+ cvCvtColor(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_HSV2RGB);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+ break;
+
+ case csc_RGBtoHLS:
+ TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height), 8,
+ ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+ cvCvtColor(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_RGB2HLS);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+ break;
+
+ case csc_HLStoRGB:
+ TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height), 8,
+ ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+ cvCvtColor(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_HLS2RGB);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+ break;
+
+ case csc_RGBtoCIELab:
+ TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height), 8,
+ ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+ cvCvtColor(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_RGB2Lab);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+ break;
+
+ case csc_CIELabtoRGB:
+ TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height), 8,
+ ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+ cvCvtColor(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_Lab2RGB);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+ break;
+
+ case csc_RGBtoCIELuv:
+ TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height), 8,
+ ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+ cvCvtColor(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_RGB2Luv);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+ break;
+
+ case csc_CIELuvtoRGB:
+ TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height), 8,
+ ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+ cvCvtColor(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_Luv2RGB);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+ break;
+
+ case csc_RGBtoYUV:
+ ComputeColorSpace(csc_RGBtoYUV);
+ break;
+
+ case csc_RGBtoYIQ:
+ ComputeColorSpace(csc_RGBtoYIQ);
+ break;
+
+ case csc_RGBtorgI:
+ ImageData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+ WidthStep = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep;
+ RowStart = 0;
+ for (int y = ME_CAST_TO_IPLIMAGE(cvImg)->height-1; y >= 0; --y)
+ {
+ for (int x = (ME_CAST_TO_IPLIMAGE(cvImg)->width-1)*3; x >= 0; x -= 3)
+ {
+ int r = 0;
+ int g = 0;
+ int I = 0;
+
+ I = (int)ImageData[RowStart+x]+(int)ImageData[RowStart+x+1]+(int)ImageData[RowStart+x+2];
+ r = (int)((float)ImageData[RowStart+x] / I*255);
+ g = (int)((float)ImageData[RowStart+x+1] / I*255);
+ ImageData[RowStart+x] = (unsigned char)r;
+ ImageData[RowStart+x+1] = (unsigned char)g;
+ ImageData[RowStart+x+2] = (unsigned char)(I / 3);
+ }
+ RowStart += WidthStep;
+ }
+ break;
+
+ default:
+ break;
+ }
+}
+
+
+void MEImage::ConvertToGrayscale(GrayscaleType grayscale_mode)
+{
+ if (ME_CAST_TO_IPLIMAGE(cvImg)->nChannels == 1)
+ {
+ printf("Image is already grayscale\n");
+ return;
+ }
+ IplImage* TempImg = NULL;
+ unsigned char* ImgData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+ unsigned char* ImageData = NULL;
+
+ switch (grayscale_mode)
+ {
+ case g_Average:
+ TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height), 8, 1);
+ ImageData = (unsigned char*)TempImg->imageData;
+
+ for (int i = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep*ME_CAST_TO_IPLIMAGE(cvImg)->height-3; i >= 0; i -= 3)
+ {
+ ImageData[i / 3] = (ImgData[i]+ImgData[i+1]+ImgData[i+2]) / 3;
+ }
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+ break;
+
+ case g_OpenCV:
+ TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height), 8, 1);
+ cvCvtColor(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_RGB2GRAY);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+ break;
+
+ default:
+ break;
+ }
+}
+
+
+void MEImage::ConvertGrayscaleToRGB()
+{
+ if (ME_CAST_TO_IPLIMAGE(cvImg)->nChannels != 1)
+ {
+ return;
+ }
+ IplImage* TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height), 8, 3);
+
+ cvCvtColor(ME_CAST_TO_IPLIMAGE(cvImg), TempImg, CV_GRAY2RGB);
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+}
+
+
+void MEImage::ConvertBGRToRGB()
+{
+ if (ME_CAST_TO_IPLIMAGE(cvImg)->nChannels != 3)
+ {
+ return;
+ }
+ cvCvtColor(ME_CAST_TO_IPLIMAGE(cvImg), ME_CAST_TO_IPLIMAGE(cvImg), CV_RGB2BGR);
+}
+
+
+void MEImage::LBP(LBPType mode)
+{
+ if (ME_CAST_TO_IPLIMAGE(cvImg)->nChannels > 1)
+ {
+ ConvertToGrayscale(g_OpenCV);
+ }
+ unsigned char* ImageData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+ IplImage* TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height), 8, 1);
+ unsigned char* TempImgData = (unsigned char*)TempImg->imageData;
+ int WidthStep = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep;
+ int WidthStep_2 = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep*2;
+
+ cvSetZero(TempImg);
+ switch (mode)
+ {
+ case lbp_Normal:
+ for (int i = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep*(ME_CAST_TO_IPLIMAGE(cvImg)->height-2)-1; i >= ME_CAST_TO_IPLIMAGE(cvImg)->widthStep+1; --i)
+ {
+ TempImgData[i] =
+ (ImageData[i] <= ImageData[i-ME_CAST_TO_IPLIMAGE(cvImg)->widthStep-1])+
+ ((ImageData[i] <= ImageData[i-ME_CAST_TO_IPLIMAGE(cvImg)->widthStep])*2)+
+ ((ImageData[i] <= ImageData[i-ME_CAST_TO_IPLIMAGE(cvImg)->widthStep+1])*4)+
+ ((ImageData[i] <= ImageData[i-1])*8)+
+ ((ImageData[i] <= ImageData[i+1])*16)+
+ ((ImageData[i] <= ImageData[i+ME_CAST_TO_IPLIMAGE(cvImg)->widthStep-1])*32)+
+ ((ImageData[i] <= ImageData[i+ME_CAST_TO_IPLIMAGE(cvImg)->widthStep])*64)+
+ ((ImageData[i] <= ImageData[i+ME_CAST_TO_IPLIMAGE(cvImg)->widthStep+1])*128);
+ }
+ break;
+
+ case lbp_Special:
+ for (int i = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep*(ME_CAST_TO_IPLIMAGE(cvImg)->height-3)-2; i >= ME_CAST_TO_IPLIMAGE(cvImg)->widthStep*2+2; --i)
+ {
+ int CenterPixel = (ImageData[i+1]+ImageData[i-1]+
+ ImageData[i-WidthStep]+ImageData[i+WidthStep]) / 4;
+ TempImgData[i] = ((CenterPixel <= (ImageData[i-(WidthStep_2)-2]+
+ ImageData[i-(WidthStep_2)-1]+
+ ImageData[i-WidthStep-2]+
+ ImageData[i-WidthStep-1]) / 4))+
+ ((CenterPixel <= (ImageData[i-WidthStep]+
+ ImageData[i-(WidthStep_2)]) / 2)*2)+
+ ((CenterPixel <= ((ImageData[i-(WidthStep_2)+2]+
+ ImageData[i-(WidthStep_2)+1]+
+ ImageData[i-WidthStep+2]+
+ ImageData[i-WidthStep+1]) / 4))*4)+
+ ((CenterPixel <= (ImageData[i-1]+
+ ImageData[i-2]) / 2)*8)+
+ ((CenterPixel <= (ImageData[i+1]+
+ ImageData[i+2]) / 2)*16)+
+ ((CenterPixel <= ((ImageData[i+(WidthStep_2)-2]+
+ ImageData[i+(WidthStep_2)-1]+
+ ImageData[i+WidthStep-2]+
+ ImageData[i+WidthStep-1]) / 4))*32)+
+ ((CenterPixel <= (ImageData[i+WidthStep]+
+ ImageData[i-WidthStep_2]) / 2)*64)+
+ ((CenterPixel <= ((ImageData[i+(WidthStep_2)+2]+
+ ImageData[i+(WidthStep_2)+1]+
+ ImageData[i+WidthStep+2]+
+ ImageData[i+WidthStep+1]) / 4))*128);
+ }
+ break;
+
+ default:
+ break;
+ }
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+}
+
+
+void MEImage::Binarize(int threshold)
+{
+ unsigned char* ImageData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+
+ for (int i = ME_CAST_TO_IPLIMAGE(cvImg)->height*ME_CAST_TO_IPLIMAGE(cvImg)->widthStep-1; i >= 0; --i)
+ {
+ if (ImageData[i] >= threshold)
+ {
+ ImageData[i] = 255;
+ } else {
+ ImageData[i] = 0;
+ }
+ }
+}
+
+
+void MEImage::Subtract(MEImage& source, SubtractModeType mode)
+{
+ if (source.GetWidth() != ME_CAST_TO_IPLIMAGE(cvImg)->width ||
+ source.GetHeight() != ME_CAST_TO_IPLIMAGE(cvImg)->height ||
+ source.GetLayers() != ME_CAST_TO_IPLIMAGE(cvImg)->nChannels)
+ {
+ printf("Image properties are different.\n");
+ return;
+ }
+ unsigned char* ImageData = NULL;
+ unsigned char* DstData = NULL;
+ int WidthStep = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep;
+ int RowStart = 0;
+
+ switch (mode)
+ {
+ case sub_Normal:
+ ImageData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+ DstData = source.GetImageData();
+ RowStart = 0;
+
+ for (int y = ME_CAST_TO_IPLIMAGE(cvImg)->height-1; y >= 0; --y)
+ {
+ for (int x = ME_CAST_TO_IPLIMAGE(cvImg)->width*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels-1; x >= 0; --x)
+ {
+ ImageData[RowStart+x] =
+ ImageData[RowStart+x]-DstData[RowStart+x] < 0 ? 0 :
+ ImageData[RowStart+x]-DstData[RowStart+x];
+ }
+ RowStart += WidthStep;
+ }
+ break;
+
+ case sub_Absolut:
+ ImageData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+ DstData = source.GetImageData();
+ RowStart = 0;
+
+ for (int y = ME_CAST_TO_IPLIMAGE(cvImg)->height-1; y >= 0; --y)
+ {
+ for (int x = ME_CAST_TO_IPLIMAGE(cvImg)->width*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels-1; x >= 0; --x)
+ {
+ ImageData[RowStart+x] = ImageData[RowStart+x]-
+ DstData[RowStart+x] < 0 ? -ImageData[RowStart+x]+
+ DstData[RowStart+x] : ImageData[RowStart+x]-DstData[RowStart+x];
+ }
+ RowStart += WidthStep;
+ }
+ break;
+
+ default:
+ break;
+ }
+}
+
+
+void MEImage::Multiple(MEImage& source, MultiplicationType mode)
+{
+ if (source.GetWidth() != ME_CAST_TO_IPLIMAGE(cvImg)->width ||
+ source.GetHeight() != ME_CAST_TO_IPLIMAGE(cvImg)->height ||
+ source.GetLayers() != ME_CAST_TO_IPLIMAGE(cvImg)->nChannels)
+ {
+ printf("Image properties are different.\n");
+ return;
+ }
+ float Result = 0.0;
+ IplImage* TempImg = NULL;
+ unsigned char* ImageData = NULL;
+ unsigned char* ImageData2 = NULL;
+ unsigned char* ImageData3 = NULL;
+ unsigned char* DstData = NULL;
+
+ switch (mode)
+ {
+ case m_Normal:
+ Result = 0;
+ ImageData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+ DstData = source.GetImageData();
+
+ for (int i = ME_CAST_TO_IPLIMAGE(cvImg)->height*ME_CAST_TO_IPLIMAGE(cvImg)->widthStep-1; i >= 0; --i)
+ {
+ if ((ImageData[i] >= 128) && (DstData[i] >= 128))
+ {
+ Result = (float)ImageData[i]/128*(float)DstData[i]/128;
+
+ if (Result >= 1)
+ {
+ ImageData[i] = 255;
+ } else {
+ ImageData[i] = 0;
+ }
+ } else {
+ ImageData[i] = 0;
+ }
+ }
+ break;
+
+ case m_Neighbourhood:
+ TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height), 8,
+ ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+ ImageData2 = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+ DstData = source.GetImageData();
+ ImageData3 = (unsigned char*)TempImg->imageData;
+
+ for (int y = ME_CAST_TO_IPLIMAGE(cvImg)->height-1; y >= 0; --y)
+ for (int x = ME_CAST_TO_IPLIMAGE(cvImg)->width-1; x >= 0; --x)
+ for (int l = ME_CAST_TO_IPLIMAGE(cvImg)->nChannels-1; l >= 0; --l)
+ {
+ if (((DstData[y*ME_CAST_TO_IPLIMAGE(cvImg)->width*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+
+ x*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+l] == 255) ||
+ (ImageData2[y*ME_CAST_TO_IPLIMAGE(cvImg)->width*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+
+ x*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+l] == 255)) &&
+ (NeighbourhoodCounter(x-2, y-2, n_5x5) > 3) &&
+ (source.NeighbourhoodCounter(x-2, y-2, n_5x5) > 3))
+ {
+ ImageData3[y*ME_CAST_TO_IPLIMAGE(cvImg)->width*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+
+ x*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+l] = 255;
+ }
+ }
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+ break;
+
+ default:
+ break;
+ }
+}
+
+
+void MEImage::Addition(MEImage& source, AdditionType mode)
+{
+ if (source.GetWidth() != ME_CAST_TO_IPLIMAGE(cvImg)->width ||
+ source.GetHeight() != ME_CAST_TO_IPLIMAGE(cvImg)->height ||
+ source.GetLayers() != ME_CAST_TO_IPLIMAGE(cvImg)->nChannels)
+ {
+ printf("Image properties are different.\n");
+ return;
+ }
+ unsigned char* ImageData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+ unsigned char* DstData = source.GetImageData();
+
+ switch (mode)
+ {
+ case a_Average:
+ for (int i = ME_CAST_TO_IPLIMAGE(cvImg)->height*ME_CAST_TO_IPLIMAGE(cvImg)->widthStep-1; i >= 0; --i)
+ {
+ ImageData[i] = (ImageData[i]+DstData[i]) / 2;
+ }
+ break;
+
+ case a_Union:
+ for (int i = ME_CAST_TO_IPLIMAGE(cvImg)->height*ME_CAST_TO_IPLIMAGE(cvImg)->widthStep-1; i >= 0; --i)
+ {
+ if (DstData[i] > ImageData[i])
+ {
+ ImageData[i] = DstData[i];
+ }
+ }
+ break;
+
+ default:
+ break;
+ }
+}
+
+
+void MEImage::EliminateSinglePixels()
+{
+ IplImage* TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height), 8,
+ ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+ unsigned char* ImageData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+ unsigned char* DstData = (unsigned char*)TempImg->imageData;
+ int sum = 0;
+ int xy = 0;
+ int ywidth = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep;
+
+ for (int y = ME_CAST_TO_IPLIMAGE(cvImg)->height-1; y >= 0; --y)
+ for (int x = ME_CAST_TO_IPLIMAGE(cvImg)->width-1; x >= 0; --x)
+ {
+ xy = y*ywidth+x*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels;
+
+ for (int l = ME_CAST_TO_IPLIMAGE(cvImg)->nChannels-1; l >= 0; --l)
+ {
+ if ((ImageData[xy+l] > 0) && (x > 0) && (y > 0) && (x < ME_CAST_TO_IPLIMAGE(cvImg)->width-1) && (y < ME_CAST_TO_IPLIMAGE(cvImg)->height-1))
+ {
+ sum = (ImageData[xy-ywidth-ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+l] > 0)+
+ (ImageData[xy-ywidth+l] > 0)+
+ (ImageData[xy-ywidth+ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+l] > 0)+
+ (ImageData[xy-ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+l] > 0)+
+ (ImageData[xy+ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+l] > 0)+
+ (ImageData[xy+ywidth-ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+l] > 0)+
+ (ImageData[xy+ywidth+l] > 0)+
+ (ImageData[xy+ywidth+ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+l] > 0);
+
+ if (sum > 3)
+ {
+ DstData[xy+l] = 255;
+ } else {
+ DstData[xy+l] = 0;
+ }
+ } else {
+ DstData[xy+l] = 0;
+ }
+ }
+ }
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+}
+
+
+float MEImage::DifferenceAreas(MEImage& reference, int difference) const
+{
+ if (reference.GetWidth() != GetWidth() ||
+ reference.GetHeight() != GetHeight() ||
+ reference.GetLayers() != GetLayers())
+ {
+ printf("Image dimensions or channels are different\n");
+ return -1.0;
+ }
+ float PixelDiff = 0.0;
+ int Pixels = 0;
+ unsigned char* OrigImgData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+ unsigned char* RefImgData = reference.GetImageData();
+ int WidthStep = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep;
+ int RowStart = 0;
+
+ for (int y = ME_CAST_TO_IPLIMAGE(cvImg)->height-1; y >= 0; --y)
+ {
+ for (int x = ME_CAST_TO_IPLIMAGE(cvImg)->width*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels-1; x >= 0; --x)
+ {
+ if (abs(OrigImgData[RowStart+x]-RefImgData[RowStart+x]) > difference)
+ Pixels++;
+ }
+ RowStart += WidthStep;
+ }
+ PixelDiff = (float)Pixels / (ME_CAST_TO_IPLIMAGE(cvImg)->height*ME_CAST_TO_IPLIMAGE(cvImg)->widthStep)*100;
+ return PixelDiff;
+}
+
+
+int MEImage::AverageDifference(MEImage& reference) const
+{
+ if (reference.GetWidth() != GetWidth() ||
+ reference.GetHeight() != GetHeight() ||
+ reference.GetLayers() != GetLayers())
+ {
+ printf("Image dimensions or channels are different\n");
+ return -1;
+ }
+ int Difference = 0;
+ unsigned char* OrigImgData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+ unsigned char* RefImgData = reference.GetImageData();
+ int WidthStep = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep;
+ int RowStart = 0;
+
+ for (int y = ME_CAST_TO_IPLIMAGE(cvImg)->height-1; y >= 0; --y)
+ {
+ for (int x = ME_CAST_TO_IPLIMAGE(cvImg)->width*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels-1; x >= 0; --x)
+ {
+ Difference += abs(OrigImgData[RowStart+x]-RefImgData[RowStart+x]);
+ }
+ RowStart += WidthStep;
+ }
+ Difference = Difference / (ME_CAST_TO_IPLIMAGE(cvImg)->height*ME_CAST_TO_IPLIMAGE(cvImg)->widthStep);
+ return Difference;
+}
+
+
+void MEImage::Minimum(MEImage& image)
+{
+ if (image.GetWidth() != ME_CAST_TO_IPLIMAGE(cvImg)->width ||
+ image.GetHeight() != ME_CAST_TO_IPLIMAGE(cvImg)->height ||
+ image.GetLayers() != ME_CAST_TO_IPLIMAGE(cvImg)->nChannels)
+ {
+ printf("Image properties are different\n");
+ return;
+ }
+ unsigned char* ImageData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+ unsigned char* SecData = image.GetImageData();
+ int WidthStep = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep;
+ int RowStart = 0;
+
+ for (int y = ME_CAST_TO_IPLIMAGE(cvImg)->height-1; y >= 0; --y)
+ {
+ for (int x = ME_CAST_TO_IPLIMAGE(cvImg)->width*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels-1; x >= 0; --x)
+ {
+ ImageData[RowStart+x] = ImageData[RowStart+x] > SecData[RowStart+x] ?
+ SecData[RowStart+x] : ImageData[RowStart+x];
+ }
+ RowStart += WidthStep;
+ }
+}
+
+
+float MEImage::AverageBrightnessLevel() const
+{
+ unsigned char* ImageData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+ int WidthStep = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep;
+ int RowStart = 0;
+ int BrightnessLevel = 0;
+
+ for (int y = ME_CAST_TO_IPLIMAGE(cvImg)->height-1; y >= 0; --y)
+ {
+ for (int x = ME_CAST_TO_IPLIMAGE(cvImg)->width*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels-1; x >= 0; --x)
+ {
+ BrightnessLevel += (int)ImageData[RowStart+x];
+ }
+ RowStart += WidthStep;
+ }
+ return BrightnessLevel / (GetWidth()*GetHeight()*GetLayers());
+}
+
+
+bool MEImage::Equal(const MEImage& reference) const
+{
+ return Equal(reference, 1);
+}
+
+
+bool MEImage::Equal(const MEImage& reference, int maxabsdiff) const
+{
+ bool Ret = true;
+
+ if (reference.GetWidth() != ME_CAST_TO_IPLIMAGE(cvImg)->width ||
+ reference.GetHeight() != ME_CAST_TO_IPLIMAGE(cvImg)->height ||
+ reference.GetLayers() != ME_CAST_TO_IPLIMAGE(cvImg)->nChannels)
+ {
+ printf("Image properties are different\n");
+ return false;
+ }
+ unsigned char* ImageData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+ unsigned char* RefData = reference.GetImageData();
+ int WidthStep = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep;
+ int RowStart = 0;
+
+ for (int y = ME_CAST_TO_IPLIMAGE(cvImg)->height-1; y >= 0; --y)
+ {
+ for (int x = ME_CAST_TO_IPLIMAGE(cvImg)->width*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels-1; x >= 0; --x)
+ {
+ if (abs(ImageData[RowStart+x]-RefData[RowStart+x]) >= maxabsdiff)
+ {
+ Ret = false;
+ return Ret;
+ }
+ }
+ RowStart += WidthStep;
+ }
+ return Ret;
+}
+
+
+unsigned char MEImage::GrayscalePixel(int x, int y) const
+{
+ int NewX = x;
+ int NewY = y;
+
+ NewX = NewX < 0 ? 0 : NewX;
+ NewX = NewX > ME_CAST_TO_IPLIMAGE(cvImg)->width-1 ? ME_CAST_TO_IPLIMAGE(cvImg)->width-1 : NewX;
+ NewY = NewY < 0 ? 0 : NewY;
+ NewY = NewY > ME_CAST_TO_IPLIMAGE(cvImg)->height-1 ? ME_CAST_TO_IPLIMAGE(cvImg)->height-1 : NewY;
+
+ float Sum = 0;
+ unsigned char* ImageData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+
+ for (int l = 0; l < ME_CAST_TO_IPLIMAGE(cvImg)->nChannels; l++)
+ {
+ Sum = Sum + (int)ImageData[NewY*ME_CAST_TO_IPLIMAGE(cvImg)->width*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+NewX*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+l];
+ }
+ Sum = Sum / ME_CAST_TO_IPLIMAGE(cvImg)->nChannels;
+ return (unsigned char)(Sum);
+}
+
+
+int MEImage::NeighbourhoodCounter(int startx, int starty,
+ NeighbourhoodType neighbourhood) const
+{
+ int IterX = 0;
+ int IterY = 0;
+ int Counter = 0;
+
+ // Determine the iteration numbers
+ switch (neighbourhood)
+ {
+ case n_2x2:
+ IterX = 2;
+ IterY = 2;
+ break;
+
+ case n_3x3:
+ IterX = 3;
+ IterY = 3;
+ break;
+
+ case n_3x2:
+ IterX = 2;
+ IterY = 3;
+ break;
+
+ case n_5x5:
+ IterX = 5;
+ IterY = 5;
+ break;
+
+ case n_7x7:
+ IterX = 7;
+ IterY = 7;
+ break;
+
+ default:
+ IterX = 3;
+ IterY = 3;
+ break;
+ }
+
+ int NewStartX = startx ;
+ int NewStartY = starty;
+
+ NewStartX = startx < 0 ? 0 : startx;
+ NewStartX = startx >= ME_CAST_TO_IPLIMAGE(cvImg)->width-IterX ? ME_CAST_TO_IPLIMAGE(cvImg)->width-IterX-1 : startx;
+ NewStartY = starty < 0 ? 0 : starty;
+ NewStartY = starty >= ME_CAST_TO_IPLIMAGE(cvImg)->height-IterY ? ME_CAST_TO_IPLIMAGE(cvImg)->height-IterY-1 : starty;
+
+ int Value = 0;
+ unsigned char* ImageData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+
+ for (int x = NewStartX; x < NewStartX+IterX; x++)
+ for (int y = NewStartY; y < NewStartY+IterY; y++)
+ {
+ Value = ((int)ImageData[y*ME_CAST_TO_IPLIMAGE(cvImg)->width*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+x*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels]+
+ (int)ImageData[y*ME_CAST_TO_IPLIMAGE(cvImg)->width*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+x*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+1]+
+ (int)ImageData[y*ME_CAST_TO_IPLIMAGE(cvImg)->width*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+x*ME_CAST_TO_IPLIMAGE(cvImg)->nChannels+2]) / 3;
+
+ if (Value == 255)
+ {
+ Counter++;
+ }
+ }
+ return Counter;
+}
+
+
+void MEImage::GradientVector(bool smooth, int x, int y, int mask_size, int& result_x, int& result_y)
+{
+ int Results[8];
+ int DiagonalMaskSize = (int)((float)mask_size / sqrt(2));
+
+ if (ME_CAST_TO_IPLIMAGE(cvImg)->nChannels > 1)
+ {
+ ConvertToGrayscale(g_OpenCV);
+ }
+ if (smooth)
+ {
+ SmoothAdvanced(s_Gaussian, mask_size*3-(mask_size*3-1) % 2);
+ }
+
+ Results[0] = (int)GrayscalePixel(x,y)-(int)GrayscalePixel(x,y-mask_size);
+ Results[1] = (int)GrayscalePixel(x,y)-(int)GrayscalePixel(x+DiagonalMaskSize,y-DiagonalMaskSize);
+ Results[2] = (int)GrayscalePixel(x,y)-(int)GrayscalePixel(x+mask_size,y);
+ Results[3] = (int)GrayscalePixel(x,y)-(int)GrayscalePixel(x+DiagonalMaskSize,y+DiagonalMaskSize);
+ Results[4] = (int)GrayscalePixel(x,y)-(int)GrayscalePixel(x,y+mask_size);
+ Results[5] = (int)GrayscalePixel(x,y)-(int)GrayscalePixel(x-DiagonalMaskSize,y+DiagonalMaskSize);
+ Results[6] = (int)GrayscalePixel(x,y)-(int)GrayscalePixel(x-mask_size,y);
+ Results[7] = (int)GrayscalePixel(x,y)-(int)GrayscalePixel(x+DiagonalMaskSize,y-DiagonalMaskSize);
+
+ result_x = (DiagonalMaskSize*Results[1]+mask_size*Results[2]+
+ DiagonalMaskSize*Results[3]-DiagonalMaskSize*Results[5]-
+ mask_size*Results[6]+DiagonalMaskSize*Results[7]) / 256;
+ result_y = (-mask_size*Results[0]-DiagonalMaskSize*Results[1]+
+ DiagonalMaskSize*Results[3]+mask_size*Results[4]+
+ DiagonalMaskSize*Results[5]-DiagonalMaskSize*Results[7]) / 256;
+}
+
+
+void MEImage::GradientVisualize(int vector_x, int vector_y)
+{
+ if (vector_x <= 0)
+ {
+ printf("vectorx: wrong parameter (%d <= 0)\n", vector_x);
+ return;
+ }
+ if (vector_y <= 0)
+ {
+ printf("vectory: wrong parameter (%d <= 0)\n", vector_y);
+ return;
+ }
+ if (ME_CAST_TO_IPLIMAGE(cvImg)->nChannels > 1)
+ {
+ ConvertToGrayscale(g_OpenCV);
+ }
+
+ int masksize = (ME_CAST_TO_IPLIMAGE(cvImg)->width < ME_CAST_TO_IPLIMAGE(cvImg)->height) ?
+ ME_CAST_TO_IPLIMAGE(cvImg)->width / (vector_x+1) :
+ ME_CAST_TO_IPLIMAGE(cvImg)->height / (vector_y+1);
+
+ SmoothAdvanced(s_Gaussian, masksize*2-1);
+ for (int i = 1; i < vector_x; i++)
+ for (int i1 = 1; i1 < vector_y; i1++)
+ {
+ int Resultx = 0, Resulty = 0;
+ int x = (int)(((float)ME_CAST_TO_IPLIMAGE(cvImg)->width*i / (vector_x)));
+ int y = (int)(((float)ME_CAST_TO_IPLIMAGE(cvImg)->height*i1 / (vector_y)));
+
+ GradientVector(false, x, y, (int)(0.707*masksize), Resultx, Resulty);
+
+ CvPoint Point1;
+ CvPoint Point2;
+
+ Point1.x = x-Resultx / 2;
+ Point1.y = y-Resulty / 2;
+ Point2.x = x+Resultx / 2;
+ Point2.y = y+Resulty / 2;
+ cvLine(ME_CAST_TO_IPLIMAGE(cvImg), Point1, Point2, CV_RGB(255, 255, 255), 1, 8);
+ }
+}
+
+
+bool MEImage::_Copy(const MEImage& other_image)
+{
+ if (&other_image == this)
+ return true;
+
+ if (ME_CAST_TO_IPLIMAGE(cvImg))
+ {
+ ME_RELEASE_IPLIMAGE(cvImg);
+ }
+ cvImg = cvCloneImage((IplImage*)other_image.GetIplImage());
+ return true;
+}
+
+
+void MEImage::_Init(int width, int height, int layers)
+{
+ if (width < 1)
+ {
+ printf("Given width for the new image is too small (%d <= 0)\n", width);
+ return;
+ }
+ if (height < 1)
+ {
+ printf("Given height for the new image is (%d <= 0)\n", height);
+ return;
+ }
+ if ((layers != 1) && (layers != 3))
+ {
+ printf("Only one or three (%d != 1 or 3) layer allowed\n", layers);
+ return;
+ }
+
+ if (ME_CAST_TO_IPLIMAGE(cvImg))
+ {
+ ME_RELEASE_IPLIMAGE(cvImg);
+ }
+ cvImg = cvCreateImage(cvSize(width, height), 8, layers);
+}
+
+
+void MEImage::ComputeColorSpace(ColorSpaceConvertType mode)
+{
+ if (ME_CAST_TO_IPLIMAGE(cvImg)->nChannels != 3)
+ {
+ printf("Image has to have three color channels (%d != 3)\n", ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+ return;
+ }
+ IplImage* TempImg = cvCreateImage(cvSize(ME_CAST_TO_IPLIMAGE(cvImg)->width, ME_CAST_TO_IPLIMAGE(cvImg)->height), 8,
+ ME_CAST_TO_IPLIMAGE(cvImg)->nChannels);
+
+ for (int i = 0; i < 3; i++)
+ for (int i1 = 0; i1 < 3; i1++)
+ {
+ if (mode == csc_RGBtoYUV)
+ TransformMatrix[i][i1] = RGBtoYUVMatrix[i][i1];
+ if (mode == csc_RGBtoYIQ)
+ TransformMatrix[i][i1] = RGBtoYIQMatrix[i][i1];
+ }
+ float x = 0.0;
+ float y = 0.0;
+ float z = 0.0;
+ float xmin = 0.0;
+ float xmax = 0.0;
+ float ymin = 0.0;
+ float ymax = 0.0;
+ float zmin = 0.0;
+ float zmax = 0.0;
+
+ if (mode == csc_RGBtoYUV)
+ {
+ xmin = 0.0;
+ xmax = 255.0;
+ ymin = -111.18;
+ ymax = 111.18;
+ zmin = -156.825;
+ zmax = 156.825;
+ }
+ if (mode == csc_RGBtoYIQ)
+ {
+ xmin = 0.0;
+ xmax = 255.0;
+ ymin = -151.98;
+ ymax = 151.98;
+ zmin = -133.365;
+ zmax = 133.365;
+ }
+ unsigned char* SrcData = (unsigned char*)ME_CAST_TO_IPLIMAGE(cvImg)->imageData;
+ unsigned char* DstData = (unsigned char*)TempImg->imageData;
+
+ for (int i = ME_CAST_TO_IPLIMAGE(cvImg)->widthStep*ME_CAST_TO_IPLIMAGE(cvImg)->height-1; i >= 0; i-=3)
+ {
+ x = (float)SrcData[i]*TransformMatrix[0][0]+
+ (float)SrcData[i+1]*TransformMatrix[0][1]+
+ (float)SrcData[i+2]*TransformMatrix[0][2];
+ y = (float)SrcData[i]*TransformMatrix[1][0]+
+ (float)SrcData[i+1]*TransformMatrix[1][1]+
+ (float)SrcData[i+2]*TransformMatrix[1][2];
+ z = (float)SrcData[i]*TransformMatrix[2][0]+
+ (float)SrcData[i+1]*TransformMatrix[2][1]+
+ (float)SrcData[i+2]*TransformMatrix[2][2];
+
+ x = xmax-xmin != 0.0 ? 255.0 : (x-xmin) / (xmax-xmin)*255.0;
+ y = ymax-ymin != 0.0 ? 255.0 : (y-xmin) / (ymax-ymin)*255.0;
+ z = zmax-zmin != 0.0 ? 255.0 : (z-xmin) / (zmax-zmin)*255.0;
+
+ DstData[i] = (unsigned char)MEBound(0, (int)x, 255);
+ DstData[i+1] = (unsigned char)MEBound(0, (int)y, 255);
+ DstData[i+2] = (unsigned char)MEBound(0, (int)z, 255);
+ }
+ ME_RELEASE_IPLIMAGE(cvImg);
+ cvImg = TempImg;
+}
diff --git a/package_bgs/ck/MEImage.hpp b/package_bgs/ck/MEImage.hpp
new file mode 100644
index 0000000..41ada3b
--- /dev/null
+++ b/package_bgs/ck/MEImage.hpp
@@ -0,0 +1,999 @@
+/*
+ * This file is part of the AiBO+ project
+ *
+ * Copyright (C) 2005-2013 Csaba Kertész (csaba.kertesz@gmail.com)
+ *
+ * AiBO+ is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * AiBO+ 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
+ *
+ */
+
+#ifndef MEImage_H
+#define MEImage_H
+
+/**
+ * @addtogroup mindeye
+ * @{
+ */
+
+/**
+ * MEImage
+ * @brief Basic image functions
+ */
+class MEImage
+{
+public:
+ /// Types of LBP operator
+ typedef enum {
+ lbp_Min = 0, /*!< Minimum value */
+ lbp_Normal = lbp_Min, /*!< Normal LBP pattern */
+ lbp_Special, /*!< Special LBP pattern */
+ lbp_Max = lbp_Special /*!< Maximum value */
+ } LBPType;
+
+ /// Types of image subtraction
+ typedef enum {
+ sub_Min = 0, /*!< Minimum value */
+ sub_Normal = sub_Min, /*!< Normal */
+ sub_Absolut, /*!< Absolut */
+ sub_Max = sub_Absolut /*!< Maximum value */
+ } SubtractModeType;
+
+ /// Types of image addition
+ typedef enum {
+ a_Min = 0, /*!< Minimum value */
+ a_Average = a_Min, /*!< Average */
+ a_Union, /*!< Union */
+ a_Max = a_Union /*!< Maximum value */
+ } AdditionType;
+
+ /// Types of image multiplication
+ typedef enum {
+ m_Min = 0, /*!< Minimum value */
+ m_Normal = m_Min, /*!< Normal */
+ m_Neighbourhood, /*!< Neighbourhood */
+ m_Max = m_Neighbourhood /*!< Maximum value */
+ } MultiplicationType;
+
+ /// Types of grayscale conversation
+ typedef enum {
+ g_Min = 0, /*!< Minimum value */
+ g_Average = g_Min, /*!< Average */
+ g_OpenCV, /*!< OpenCV */
+ g_Max = g_OpenCV /*!< Maximum value */
+ } GrayscaleType;
+
+ /// Types of pixel neighbourhoods
+ typedef enum {
+ n_Min = 0, /*!< Minimum value */
+ n_2x2 = n_Min, /*!< 2x2 */
+ n_3x2, /*!< 3x2 */
+ n_3x3, /*!< 3x3 */
+ n_5x5, /*!< 5x5 */
+ n_7x7, /*!< 7x7 */
+ n_Max = n_7x7 /*!< Maximum value */
+ } NeighbourhoodType;
+
+ /// Types of special pixels
+ typedef enum {
+ p_Min = 0, /*!< Minimum value */
+ p_Minimum = p_Min, /*!< Minimum */
+ p_Maximum, /*!< Maximum */
+ p_Counter, /*!< Counter */
+ p_Max = p_Counter /*!< Maximum value */
+ } PixelType;
+
+ /// Types of smooth operation
+ typedef enum {
+ s_Min = 0, /*!< Minimum value */
+ s_Blur = s_Min, /*!< Blur */
+ s_Gaussian, /*!< Gaussian */
+ s_Median, /*!< Medium */
+ s_Max = s_Median /*!< Maximum value */
+ } SmoothType;
+
+ /// Types of color space conversions
+ typedef enum {
+ csc_Min = 0, /*!< Minimum value */
+ csc_RGBtoXYZCIED65 = csc_Min, /*!< RGB to XYZCIED65 */
+ csc_XYZCIED65toRGB, /*!< XYZCIED65 to RGB */
+ csc_RGBtoHSV, /*!< RGB to HSV */
+ csc_HSVtoRGB, /*!< HSV to RGB */
+ csc_RGBtoHLS, /*!< RGB to HLS */
+ csc_HLStoRGB, /*!< HLS to RGB */
+ csc_RGBtoCIELab, /*!< RGB to CIELab */
+ csc_CIELabtoRGB, /*!< CIELab to RGB */
+ csc_RGBtoCIELuv, /*!< RGB to CIELuv */
+ csc_CIELuvtoRGB, /*!< CIELuv to RGB */
+ csc_RGBtoYUV, /*!< RGB to YUV */
+ csc_RGBtoYIQ, /*!< RGB to YIQ */
+ csc_RGBtorgI, /*!< RGB to rgI */
+ csc_Max = csc_RGBtorgI /*!< Maximum value */
+ } ColorSpaceConvertType;
+
+ /*!
+ * @brief Class constructor
+ *
+ * @param width Image width
+ * @param height Image height
+ * @param layers Layers
+ *
+ * Class constructor with the possibility to specify the image width,
+ * height and the layers. The default options are 16x16x1.
+ *
+ */
+
+ MEImage(int width = 16, int height = 16, int layers = 1);
+
+ /*!
+ * @brief Class constructor
+ *
+ * @param other Other image
+ *
+ * Class constructor with the possibility to specify the image width,
+ * height and the layers. The default options are 16x16x1.
+ *
+ */
+
+ MEImage(const MEImage& other);
+ /// Destructor of class
+ ~MEImage();
+
+ /*
+ -------------------------------------------------------------------
+ Basic functions
+ -------------------------------------------------------------------
+ */
+
+ /*!
+ * @brief Clear image
+ *
+ * This function clears image by filling all image data with zero
+ * value.
+ *
+ */
+
+ void Clear();
+
+ /*!
+ * @brief Get an color layer of image
+ *
+ * @param new_layer new image of layer
+ * @param layernumber number of layer which will be copied
+ *
+ * Copy an image layer (R, G or B) to @a new_layer image. @a new_layer has to
+ * have only one color layer (greyscale). If @a new_layer is not
+ * greyscale or it has got different width or height like source image
+ * than function reallocates it with appropriate features before
+ * copying image data.
+ *
+ */
+
+ void GetLayer(MEImage& new_layer, int layernumber) const;
+
+ /*!
+ * @brief Copy a new color layer to image
+ *
+ * @param new_layer image data of new color layer
+ * @param layernumber number of layer where image data will copy
+ *
+ * Copy a new image layer from @a new_layer image. @a new_layer has to
+ * have only one color layer (greyscale). If @a new_layer is not
+ * greyscale or it has got different width or height like source image
+ * than function halts with an error message.
+ *
+ */
+
+ void SetLayer(MEImage& new_layer, int layernumber);
+
+ /*!
+ * @brief Copy image data to a pointer
+ *
+ * @param data pointer where image data will be copied
+ *
+ * Function in order to acquire image data to an external
+ * (unsigned char*) pointer.
+ *
+ */
+
+ void CopyImageData(unsigned char* data);
+
+ /*!
+ * @brief Get a pointer to the internal IplImage
+ *
+ * @return Pointer to the IplImage
+ *
+ * This function returns the internal IplImage of the class. The
+ * image data can not be modified.
+ *
+ */
+
+ void* GetIplImage() const;
+
+ /*!
+ * @brief Set the internal IplImage
+ *
+ * @param image Pointer to the IplImage
+ *
+ * This function sets the internal IplImage of the class.
+ *
+ */
+
+ void SetIplImage(void* image);
+
+ /*!
+ * @brief Handle operator == for MEImage
+ *
+ * @param image image to check
+ *
+ * @return true if the images are equal otherwise false.
+ *
+ * The operator checks the equality of two images.
+ *
+ */
+
+ bool operator==(const MEImage& image);
+
+ /*!
+ * @brief Handle operator != for MEImage
+ *
+ * @param image image to check
+ *
+ * @return true if the images are not equal otherwise false.
+ *
+ * The operator checks the non-equality of two images.
+ *
+ */
+
+ bool operator!=(const MEImage& image);
+
+ /*!
+ * @brief Handle operator = for MEImage
+ *
+ * @param other_image image to copy operation
+ *
+ * @return Reference to the actual instance.
+ *
+ * Copy image data to @a other_image image. Function calls only
+ * _Copy() directly.
+ *
+ */
+
+ MEImage& operator=(const MEImage& other_image);
+
+ /*!
+ * @brief Get the width of the image
+ *
+ * @return Width of the image
+ *
+ * Get the width of the image.
+ *
+ */
+
+ int GetWidth() const;
+
+ /*!
+ * @brief Get the height of the image
+ *
+ * @return Height of the image
+ *
+ * Get the height of the image.
+ */
+
+ int GetHeight() const;
+
+ /*!
+ * @brief Get the length of a pixel row of the image
+ *
+ * @return Length of a pixel row
+ *
+ * Get the row width of the image.
+ *
+ */
+
+ int GetRowWidth() const;
+
+ /*!
+ * @brief Get the number of color layers of the image
+ *
+ * @return Number of color layer of the image
+ *
+ * Get the number of color layer of the image.
+ *
+ */
+
+ int GetLayers() const;
+
+ /*!
+ * @brief Get the number of the image pixel data
+ *
+ * @return Number of the image pixel data
+ *
+ * Get the number of the image pixel data.
+ *
+ */
+
+ int GetPixelDataNumber() const;
+
+ /*!
+ * @brief Get the image data
+ *
+ * @return Pointer to the image data
+ *
+ * Get a pointer to the image.
+ *
+ */
+
+ unsigned char* GetImageData() const;
+
+ /*!
+ * @brief Set the image data
+ *
+ * @param image_data New image data
+ * @param width New image width
+ * @param height New image height
+ * @param channels New image color channels
+ *
+ * Get a pointer to the image.
+ *
+ */
+
+ void SetData(unsigned char* image_data, int width, int height, int channels);
+
+ /*!
+ * @brief Get ratio of image width and height
+ *
+ * @return float ratio of image dimensions
+ *
+ * Function calculates ratio of image width and height with
+ * following equation: ratio = height / width.
+ */
+
+ float GetRatio() const;
+
+ /*
+ -------------------------------------------------------------------
+ Basic image manipulation
+ -------------------------------------------------------------------
+ */
+
+ /*!
+ * @brief Reallocate image data
+ *
+ * @param width New width of the image
+ * @param height New height of the image
+ *
+ * Image data will be reallocated with new dimensions @a width
+ * and @a height. Number of color channels is not changed.
+ *
+ */
+
+ void Realloc(int width, int height);
+
+ /*!
+ * @brief Reallocate image data
+ *
+ * @param width New width of the image
+ * @param height New height of the image
+ * @param layers Number of color channels of the image
+ *
+ * Image data will be reallocated with new dimensions @a width,
+ * @a height and new number of color channels @a layers.
+ *
+ */
+
+ void Realloc(int width, int height, int layers);
+
+ /*!
+ * @brief Resize image
+ *
+ * @param newwidth new width of image
+ * @param newheight new height of image
+ *
+ * Resize image to @a newwidth width and @a newheight
+ * height dimensions.
+ *
+ */
+
+ void Resize(int newwidth, int newheight);
+
+ /*!
+ * @brief Resize image with new width
+ *
+ * @param newwidth new width of image
+ *
+ * Image is resized with only new width information therefore
+ * fit to original ratio.
+ *
+ */
+
+ void ResizeScaleX(int newwidth);
+
+ /*!
+ * @brief Resize image with new height
+ *
+ * @param newheight new height of image
+ *
+ * Image is resized with only new height information therefore
+ * fit to original ratio.
+ *
+ */
+
+ void ResizeScaleY(int newheight);
+
+ /*!
+ * @brief Reverse image in horizontal direction
+ *
+ * Function makes a mirror transformation on image in horizontal
+ * direction.
+ *
+ */
+
+ void MirrorHorizontal();
+
+ /*!
+ * @brief Reverse image in vertical direction
+ *
+ * Function makes a mirror transformation on image in vertical
+ * direction.
+ *
+ */
+
+ void MirrorVertical();
+
+ /*!
+ * @brief Crop image
+ *
+ * @param x1, y1 coordinates of top-left point of rectangle
+ * @param x2, y2 coordinates of bottom-right point of rectangle
+ *
+ * Crop the image in a smaller piece whose dimensions are
+ * specified as a rectangle. Top-left and bottom-right
+ * coordinates of rectangle are (x1, y1) and (x2, y2) wherefrom
+ * comes that the width of the new image is x2-x1 and height is
+ * y2-y1.
+ *
+ */
+
+ void Crop(int x1, int y1, int x2, int y2);
+
+ /*!
+ * @brief Copy all image data from an other picture
+ *
+ * @param x0 x coordinate to paste the new image data
+ * @param y0 y coordinate to paste the new image data
+ * @param source_image source image
+ *
+ * Function copies all image data from @a source_image
+ * to the given coordinate (x0,y0).
+ *
+ */
+
+ void CopyImageInside(int x0, int y0, MEImage& source_image);
+
+ /*
+ -------------------------------------------------------------------
+ Image processing functions
+ -------------------------------------------------------------------
+ */
+
+ /*!
+ * @brief Erode function
+ *
+ * @param iterations iterations of erode method
+ *
+ * Method makes an erode filter on an image @a iterations
+ * times with standard 3x3 matrix size.
+ *
+ */
+
+ void Erode(int iterations);
+
+ /*!
+ * @brief Dilate function
+ *
+ * @param iterations iterations of dilate method
+ *
+ * Method makes an dilate filter on an image
+ * @a iterations times with standard 3x3 matrix size.
+ *
+ */
+
+ void Dilate(int iterations);
+
+ /*!
+ * @brief Smooth function
+ *
+ * Method smooths with median filter and standard 3x3 matrix size.
+ * (Median filter works fine and fast.)
+ *
+ */
+
+ void Smooth();
+
+ /*!
+ * @brief Smooth function with defined parameters
+ *
+ * @param filtermode type of smooth method
+ * @param filtersize the size of the convolution matrix
+ *
+ * Method smooths with median filter and the given matrix
+ * size (@a filtersize x @a filtersize). There are more
+ * types of smooth function (@a filtermode):
+ *
+ * - s_Blur: Blur filter.
+ * - s_Gaussian: Gaussian filter.
+ * - s_Median: Median filter.
+ *
+ */
+
+ void SmoothAdvanced(SmoothType filtermode, int filtersize);
+
+ /*!
+ * @brief Canny function
+ *
+ * Canny operator is usable for edge detection. Function makes
+ * this operation with standard 3x3 matrix
+ * size. Canny has two threshold value which are set to zero
+ * in this function by default.
+ *
+ */
+
+ void Canny();
+
+ /*!
+ * @brief Laplace function
+ *
+ * Laplace operator is usable for edge detection like Canny.
+ * This function makes a laplace filter with
+ * standard 3x3 matrix size. After calculating destination image will
+ * be converted from 16 bit back to 8 bit.
+ *
+ */
+
+ void Laplace();
+
+ /*!
+ * @brief Image quantisation
+ *
+ * @param levels level of quantisation
+ *
+ * Quantize an image with @a levels level. It means by 16
+ * level color range 0-255 quantizes to 0-15, by 4 level to 0-63 etc.
+ *
+ */
+
+ void Quantize(int levels);
+
+ /*!
+ * @brief Threshold a picture
+ *
+ * @param threshold_limit limit for threshold
+ *
+ * Threshold an image with @a threshold_limit limit. Value range
+ * of @a threshold_limit is between 0-255. E.g. by value 160 functions
+ * will eliminate all color values under 160 with black color
+ * (color value zero).
+ *
+ */
+
+ void Threshold(int threshold_limit);
+
+ /*!
+ * @brief Adaptive threshold function
+ *
+ * This function does adaptive threshold function.
+ *
+ */
+
+ void AdaptiveThreshold();
+
+ /*!
+ * @brief Threshold a picture by a mask image
+ *
+ * @param mask_image mask image for thresholding
+ *
+ * Threshold an image with a mask image @a mask_image.
+ *
+ */
+
+ void ThresholdByMask(MEImage& mask_image);
+
+ /*!
+ * @brief Convert an image into a new color space
+ *
+ * @param transformation Definition of color transformation
+ *
+ * This function converts an image from a specified color space
+ * to an other.
+ * Current supported conversions (@a transformation):
+ * - csc_RGBtoXYZCIED65: RGB to XYZ (D65 reference light),
+ * - csc_XYZCIED65toRGB: XYZ to RGB (D65 reference light),
+ * - csc_RGBtoHSV: RGB to HSV,
+ * - csc_HSVtoRGB: HSV to RGB,
+ * - csc_RGBtoHLS: RGB to HSV,
+ * - csc_HLStoRGB: HSV to RGB,
+ * - csc_RGBtoCIELab: RGB to CIELab,
+ * - csc_CIELabtoRGB: CIELuv to RGB,
+ * - csc_RGBtoCIELuv: RGB to CIELuv,
+ * - csc_CIELuvtoRGB: CIELuv to RGB,
+ * - csc_RGBtoYUV: RGB to YUV color space,
+ * - csc_RGBtoYIQ: RGB to YIQ color space.
+ *
+ */
+
+ void ColorSpace(ColorSpaceConvertType transformation);
+
+ /*!
+ * @brief Convert an image to grayscale
+ *
+ * @param grayscale_mode mode of grayscale conversation
+ *
+ * The function converts the image to grayscale version
+ * (one color channel after the conversion). There is four
+ * different ways to convert the image to grayscale what we
+ * can define with @a grayscale_mode:
+ *
+ * - g_Average: It computes the average grayscale
+ * values of the pixels with arithmetical average.
+ * - g_OpenCV: It computes the average grayscale
+ * values by help of the values of the Y channel.
+ *
+ */
+
+ void ConvertToGrayscale(GrayscaleType grayscale_mode = g_OpenCV);
+
+ /*!
+ * @brief Convert a grayscale image to RGB
+ *
+ * The function converts the grayscale image to RGB version.
+ * (It copies the info from a single color channel to
+ * three color channel.)
+ *
+ */
+
+ void ConvertGrayscaleToRGB();
+
+ /*!
+ * @brief Change the red and blue components of every pixels
+ *
+ * Function changes the red component with the blue of
+ * every pixels. (Simple conversion from RGB->BGR.)
+ *
+ */
+
+ void ConvertBGRToRGB();
+
+ /*!
+ * @brief Compute an LBP filter on the image
+ *
+ * @param mode The LBP operator type
+ *
+ * The function converts the image to binary version over the
+ * threshold value.
+ *
+ */
+
+ void LBP(LBPType mode = lbp_Special);
+
+ /*!
+ * @brief Binarize an image
+ *
+ * @param threshold Threshold value
+ *
+ * The function converts the image to binary version over the
+ * threshold value.
+ *
+ */
+
+ void Binarize(int threshold);
+
+ /*!
+ * @brief Subtract an image from the internal picture
+ *
+ * @param source Source image for subtraction
+ * @param mode Calculation mode of difference feature
+ *
+ * Function generates a difference image between two image:
+ * the internal picture of this class and @a source_image.
+ * The calculation mode is determined by @a mode parameter.
+ * Function supports the following modes:
+ *
+ * - sub_Normal: Simple subtraction between each
+ * correspondent pixel (per color channels). The result values
+ * are converted to absolute value and normalized to
+ * range 0-255.
+ *
+ */
+
+ void Subtract(MEImage& source, SubtractModeType mode);
+
+ /*!
+ * @brief Multiple an image with the internal picture
+ *
+ * @param source Second source image for multiplication
+ * @param mode Multiplication mode
+ *
+ * Function multiples an image with the internal image of this class and
+ * the result is stored in the internal image. The implemented calculation
+ * modes:
+ *
+ * - m_Normal: It multiples the corresponding pixel values
+ * of the two images. The original pixel values are divided by 128 and
+ * multiplied together. If the result is at least 1 then the new pixel value
+ * is 255 otherwise 0.
+ * - m_Neighbourhood: It multiples all pixel values of its
+ * 3x3 neighbourhood separately (see the method at MULTIPLICATION_NORMAL)
+ * and the new pixel value is 255 if at least two pixel is active in the
+ * 3x3 neighbourhood otherwise 0.
+ *
+ */
+
+ void Multiple(MEImage& source, MultiplicationType mode);
+
+ /*!
+ * @brief Addition of an image and the internal picture
+ *
+ * @param source second source image for addition method
+ * @param mode the declaration of the used addition mode
+ *
+ * Function makes an addition operation between an image and the internal
+ * image of this class and the result is stored in the internal image.
+ * Supported modes:
+ *
+ * - a_Average: It sums the average of the corresponding pixels
+ * of each pictures.
+ * - a_Union: It sums the union of the corresponding pixels
+ * of each pictures.
+ *
+ */
+
+ void Addition(MEImage& source, AdditionType mode);
+
+ /*!
+ * @brief Eliminate the single pixels from a binary image
+ *
+ * Function eliminates such a pixels which do not have neighbour pixels with
+ * 255 value in a 3x3 neighbourhood. The image should be converted to binary
+ * version.
+ *
+ */
+
+ void EliminateSinglePixels();
+
+ /*!
+ * @brief Calculate an area difference feature between two images
+ *
+ * @param reference Reference image
+ * @param difference Difference
+ *
+ * @return The percentage of image areas representing the conditions
+ *
+ * Function calculates a similarity feature between two pictures.
+ * Counts the number of the pixels whose intensity difference is
+ * higher than @a difference. (Range: 0..100)
+ *
+ */
+
+ float DifferenceAreas(MEImage& reference, int difference) const;
+
+ /*!
+ * @brief Calculate an average difference between two images
+ *
+ * @param reference Reference image
+ *
+ * @return Average difference of the pixels
+ *
+ * Function calculates a similarity feature between
+ * two images. It returns a simple sum of the absolute difference
+ * of each pixel in the two images and averaged by the pixel number.
+ * (Range: 0..255)
+ *
+ */
+
+ int AverageDifference(MEImage& reference) const;
+
+ /*!
+ * @brief Calculate minimum of image data
+ *
+ * @param image Second image
+ *
+ * Function calculates the minimum of current and given image.
+ *
+ */
+
+ void Minimum(MEImage& image);
+
+ /*!
+ * @brief Calculate average brightness level
+ *
+ * @return Brightness level in range 0-255.
+ *
+ * Function calculates the average brightness level of the image.
+ *
+ */
+
+ float AverageBrightnessLevel() const;
+
+ /*!
+ * @brief Check the equalization with a reference image
+ *
+ * @param reference Reference image
+ *
+ * @return true in case of binary equalization, otherwise false.
+ *
+ * Function calculates the binary difference between
+ * the image and the reference image.
+ *
+ */
+
+ bool Equal(const MEImage& reference) const;
+
+ /*!
+ * @brief Check the equalization with a reference image
+ *
+ * @param reference Reference image
+ * @param maxabsdiff Maximal absolute difference
+ *
+ * @return true in case of equalization, otherwise false.
+ *
+ * Function checks the difference between the image and
+ * the reference image. Two pixels are equal in a range of
+ * a maximal absolute difference.
+ *
+ */
+
+ bool Equal(const MEImage& reference, int maxabsdiff) const;
+
+ /*!
+ * @brief Get the grayscale value of a pixel
+ *
+ * @param x X coordinate of the pixel
+ * @param y Y coordinate of the pixel
+ *
+ * @return grayscale value of the pixel
+ *
+ * The method gives the grayscale value of a pixel back. If
+ * the image has 3 color channels (e.g. RGB) then Y value of
+ * YIQ/YUV color space will be calculated otherwise normal
+ * averaged grayscale value.
+ *
+ */
+
+ unsigned char GrayscalePixel(int x, int y) const;
+
+ /*!
+ * @brief Count the number of neighbourhood pixels with maximum intensity
+ *
+ * @param startx X coordinate of the top-left pixel
+ * @param starty Y coordinate of the top-left pixel
+ * @param neighbourhood Specific subset of pixels
+ *
+ * @return number of the pixels with maximum intensity.
+ *
+ * The method counts the number of the pixels with maximum
+ * intensity (255) in a specified subset of pixels.
+ * The grayscale values of the pixels are used in the counter
+ * process. The following neighbourhood forms are allowed with
+ * the @a neighbourhood parameter:
+ *
+ * - n_2X2: Simple 2x2 matrix.
+ * - n_3X3: Simple 3x3 matrix.
+ * - n_3x2: Simple 3x2 matrix.
+ *
+ */
+
+ int NeighbourhoodCounter(int startx, int starty, NeighbourhoodType neighbourhood) const;
+
+ /*!
+ * @brief Calculate the gradient vector in a point
+ *
+ * @param smooth compute smooth filter
+ * @param x X coordinate of the point
+ * @param y Y coordinate of the point
+ * @param mask_size The mask size to calculate the gradient
+ *
+ * @param result_x X component of the calculated vector
+ * @param result_y Y component of the calculated vector
+ *
+ * The method calculates the gradient vector in a given point.
+ * The image is preprocessed with a Gauss filter to smooth the
+ * image content. The filter size of the Gauss filter depends on
+ * mask size of the gradient vector: filter size = mask size*3.
+ * Eight points are assigned to the initial point to compute
+ * a vector sum: (x, y-mask_size), (x+mask_size/√2, y-mask_size/√2),
+ * (x+mask_size, y), (x+mask_size/√2, y+mask_size/√2), (x, y+mask_size),
+ * (x-mask_size/√2, y+mask_size/√2), (x-mask_size, y), (x-mask_size/√2, y-mask_size/√2).
+ * The lengths of all vectors equalize with the mask size.
+ * After that each vector is multiplied with the gradient difference between
+ * its two end points. The results are summarized and normalized by
+ * the mask size.
+ *
+ */
+
+ void GradientVector(bool smooth, int x, int y, int mask_size, int& result_x, int& result_y);
+
+ /*!
+ * @brief Visualize gradient vectors
+ *
+ * @param vector_x Number of points horizontally
+ * @param vector_y Number of points vertically
+ *
+ * This function draws a wire (@a vector_x * @a vector_y) with
+ * gradient vectors.
+ *
+ */
+
+ void GradientVisualize(int vector_x, int vector_y);
+
+private:
+
+ /*
+ -------------------------------------------------------------------
+ Internal methods
+ -------------------------------------------------------------------
+ */
+
+ /*!
+ * @brief Copy image data
+ *
+ * @param other_image Input image with new image data
+ *
+ * @return true if it is successful, otherwise false.
+ *
+ * Copy image data from @a other_image to MEImage image data.
+ *
+ */
+
+ bool _Copy(const MEImage& other_image);
+
+ /*!
+ * @brief Inherent initialization function
+ *
+ * @param width Width of the image
+ * @param height Height of the image
+ * @param layer Number of color channels of the image
+ *
+ * Initialization function of MEImage class which allocates
+ * memory to internal MEImage image and sets its properties.
+ *
+ */
+
+ void _Init(int width, int height, int layer);
+
+ /*!
+ * @brief Compute an image to a different color space
+ *
+ * @param mode Mode of the conversion
+ *
+ * Currently, the internal function allows to use a few
+ * mode to convert an image between color spaces.
+ * Current supported conversions (@a mode):
+ * - RGBtoYUV: RGB to YUV color space,
+ * - RGBtoYIQ: RGB to YIQ color space.
+ *
+ */
+
+ void ComputeColorSpace(ColorSpaceConvertType mode);
+
+private:
+ /// This matrix stores the matrix of the actual color space transform
+ float TransformMatrix[3][3];
+ /// The OpenCV image which contains the image data
+ void* cvImg;
+};
+
+/** @} */
+
+#endif
diff --git a/package_bgs/ck/MotionDetection.cpp b/package_bgs/ck/MotionDetection.cpp
new file mode 100644
index 0000000..9cb8e79
--- /dev/null
+++ b/package_bgs/ck/MotionDetection.cpp
@@ -0,0 +1,1425 @@
+/*
+ * This file is part of the AiBO+ project
+ *
+ * Copyright (C) 2005-2013 Csaba Kertész (csaba.kertesz@gmail.com)
+ *
+ * AiBO+ is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * AiBO+ 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
+ *
+ * Paper: Csaba, Kertész: Texture-Based Foreground Detection, International Journal of Signal Processing,
+ * Image Processing and Pattern Recognition (IJSIP), Vol. 4, No. 4, 2011.
+ */
+
+#include "MotionDetection.hpp"
+
+#include "graph.h"
+
+#if defined(__MINGW32__) || defined(__MINGW64__)
+#include <cvaux.h>
+#else
+#include <opencv/cvaux.h>
+#endif
+
+#include "MEHistogram.hpp"
+#include "MEImage.hpp"
+
+// Pyramid picture for the tracking
+IplImage *HUOFPyramid;
+// Pyramid picture for the tracking
+IplImage *HUOFPrevPyramid;
+
+// Struct for histogram update data of a pixel
+struct MEPixelDataType
+{
+ float BackgroundRate;
+ int LifeCycle;
+ float *Weights;
+ bool *BackgroundHistogram;
+ float **Histograms;
+ float *PreviousHistogram;
+};
+
+MotionDetection::MotionDetection(DetectorType mode) :
+ MDMode(md_NotDefined), MDDataState(ps_Uninitialized), Frames(0), ReadyMask(false),
+ HUColorSpace(MEImage::csc_RGBtoCIELuv), HULBPMode(MEImage::lbp_Special),
+ HUHistogramsPerPixel(3), HUHistogramArea(5), HUHistogramBins(8),
+ HUImageWidth(-1), HUImageHeight(-1), HULBPPixelData(NULL),
+ HUPrThres(0.75), HUBackgrThres(0.95), HUHistLRate(0.01), HUWeightsLRate(0.01),
+ HUSamplePixels(-1), HUDesiredSamplePixels(-1), HUMinCutWeight(8.0),
+ HUOFDataState(ps_Uninitialized), HUOFPointsNumber(-1),
+ HUOFCamMovementX(0), MaxTrackedPoints(0), HUOFFrames(-1),
+ HUOFCamMovement(false)
+{
+ HUOFPyramid = NULL;
+ HUOFPrevPyramid = NULL;
+ HUOFPoints[0] = NULL;
+ HUOFPoints[1] = NULL;
+ SetMode(mode);
+}
+
+
+MotionDetection::~MotionDetection()
+{
+ if (MDMode != md_NotDefined)
+ {
+ ReleaseData();
+ }
+}
+
+
+void MotionDetection::SetMode(DetectorType newmode)
+{
+ if (MDMode != md_NotDefined && MDMode != newmode)
+ {
+ ReleaseData();
+ Frames = 0;
+ HUOFFrames = -1;
+ HUOFCamMovement = false;
+ HUOFCamMovementX = 0;
+ ReadyMask = false;
+ }
+
+ switch (newmode)
+ {
+ case md_LBPHistograms:
+ MDMode = md_LBPHistograms;
+ break;
+
+ case md_DLBPHistograms:
+ MDMode = md_DLBPHistograms;
+ break;
+
+ default:
+ MDMode = md_LBPHistograms;
+ break;
+ }
+}
+
+
+float MotionDetection::GetParameter(ParametersType param) const
+{
+ float ret = 0.0;
+
+ switch (param)
+ {
+ case mdp_HUProximityThreshold:
+ ret = (float)HUPrThres;
+ break;
+
+ case mdp_HUBackgroundThreshold:
+ ret = (float)HUBackgrThres;
+ break;
+
+ case mdp_HUHistogramLearningRate:
+ ret = (float)HUHistLRate;
+ break;
+
+ case mdp_HUWeightsLearningRate:
+ ret = (float)HUWeightsLRate;
+ break;
+
+ case mdp_HUMinCutWeight:
+ ret = (float)HUMinCutWeight;
+ break;
+
+ case mdp_HUDesiredSamplePixels:
+ ret = (float)HUDesiredSamplePixels;
+ break;
+
+ case mdp_HUHistogramsPerPixel:
+ ret = (float)HUHistogramsPerPixel;
+ break;
+
+ case mdp_HUHistogramArea:
+ ret = (float)HUHistogramArea;
+ break;
+
+ case mdp_HUHistogramBins:
+ ret = (float)HUHistogramBins;
+ break;
+
+ case mdp_HUColorSpace:
+ ret = (float)HUColorSpace;
+ break;
+
+ case mdp_HULBPMode:
+ ret = (float)HULBPMode;
+ break;
+
+ default:
+ break;
+ }
+ return ret;
+}
+
+
+void MotionDetection::SetParameter(ParametersType param, float value)
+{
+ switch (param)
+ {
+ case mdp_HUProximityThreshold:
+ HUPrThres = (float)value;
+ break;
+
+ case mdp_HUBackgroundThreshold:
+ HUBackgrThres = (float)value;
+ break;
+
+ case mdp_HUHistogramLearningRate:
+ HUHistLRate = (float)value;
+ break;
+
+ case mdp_HUWeightsLearningRate:
+ HUWeightsLRate = (float)value;
+ break;
+
+ case mdp_HUMinCutWeight:
+ HUMinCutWeight = (float)value;
+ break;
+
+ case mdp_HUDesiredSamplePixels:
+ HUDesiredSamplePixels = (int)value;
+ break;
+
+ case mdp_HUHistogramsPerPixel:
+ HUHistogramsPerPixel = (MDDataState == ps_Uninitialized) ? (int)value : HUHistogramsPerPixel;
+ break;
+
+ case mdp_HUHistogramArea:
+ HUHistogramArea = (MDDataState == ps_Uninitialized) ? (int)value : HUHistogramArea;
+ break;
+
+ case mdp_HUHistogramBins:
+ HUHistogramBins = (MDDataState == ps_Uninitialized) ? (int)value : HUHistogramBins;
+ break;
+
+ case mdp_HUColorSpace:
+ HUColorSpace = (MDDataState == ps_Uninitialized) ? (int)value : HUColorSpace;
+ break;
+
+ case mdp_HULBPMode:
+ HULBPMode = (MDDataState == ps_Uninitialized) ? (int)value : HULBPMode;
+ break;
+
+ default:
+ break;
+ }
+}
+
+
+void MotionDetection::DetectMotions(MEImage& image)
+{
+ switch (MDMode)
+ {
+ case md_LBPHistograms:
+ case md_DLBPHistograms:
+ DetectMotionsHU(image);
+ break;
+
+ default:
+ break;
+ }
+}
+
+
+void MotionDetection::GetMotionsMask(MEImage& mask_image)
+{
+ if (ReadyMask)
+ {
+ mask_image = MaskImage;
+ }
+
+ switch (MDMode)
+ {
+ case md_LBPHistograms:
+ case md_DLBPHistograms:
+ GetMotionsMaskHU(MaskImage);
+ break;
+
+ default:
+ break;
+ }
+
+ ReadyMask = true;
+ mask_image = MaskImage;
+}
+
+
+void MotionDetection::CalculateResults(MEImage& referenceimage, int& tnegatives, int& tpositives,
+ int& ttnegatives, int& ttpositives)
+{
+ if (MDDataState != ps_Successful)
+ {
+ printf("No data for calculation.\n");
+ return;
+ }
+
+ if (referenceimage.GetLayers() != 1)
+ referenceimage.ConvertToGrayscale(MEImage::g_OpenCV);
+
+ referenceimage.Binarize(1);
+
+ MEImage mask_image;
+
+ GetMotionsMask(mask_image);
+
+ if ((mask_image.GetWidth() != referenceimage.GetWidth()) ||
+ (mask_image.GetHeight() != referenceimage.GetHeight()))
+ {
+ printf("Different resolutions of mask<->reference image.\n");
+ return;
+ }
+
+ unsigned char* RefMaskImgData = referenceimage.GetImageData();
+ unsigned char* MaskImgData = mask_image.GetImageData();
+ int RowStart = 0;
+ int RowWidth = referenceimage.GetRowWidth();
+
+ int TrueNegatives = 0;
+ int TruePositives = 0;
+ int TotalTrueNegatives = 0;
+ int TotalTruePositives = 0;
+
+ int ImageFrame = 0;
+
+ if (MDMode == md_LBPHistograms || md_DLBPHistograms)
+ {
+ ImageFrame = HUHistogramArea / 2;
+ }
+
+ for (int y = referenceimage.GetHeight()-ImageFrame-1; y >= ImageFrame; --y)
+ {
+ for (int x = referenceimage.GetWidth()-ImageFrame-1; x >= ImageFrame; --x)
+ {
+ TrueNegatives +=
+ (RefMaskImgData[RowStart+x] == 0) &&
+ (MaskImgData[RowStart+x] == 0);
+ TotalTrueNegatives += (RefMaskImgData[RowStart+x] == 0);
+ TruePositives +=
+ (RefMaskImgData[RowStart+x] == 255) &&
+ (MaskImgData[RowStart+x] == 255);
+ TotalTruePositives += (RefMaskImgData[RowStart+x] == 255);
+ }
+ RowStart += RowWidth;
+ }
+
+ tnegatives = TrueNegatives;
+ ttnegatives = TotalTrueNegatives;
+ tpositives = TruePositives;
+ ttpositives = TotalTruePositives;
+}
+
+
+void MotionDetection::ReleaseData()
+{
+ if (MDMode == md_LBPHistograms || MDMode == md_DLBPHistograms)
+ {
+ ReleaseHUData();
+ }
+}
+
+
+void MotionDetection::InitHUData(int imagewidth, int imageheight)
+{
+ if ((HUImageWidth != imagewidth-HUHistogramArea+1) ||
+ (HUImageHeight != imageheight-HUHistogramArea+1) ||
+ (MDDataState == ps_Uninitialized))
+ {
+ if (MDDataState != ps_Uninitialized)
+ {
+ ReleaseHUData();
+ }
+
+ MDDataState = ps_Initialized;
+
+ HUImageWidth = imagewidth-HUHistogramArea+1;
+ HUImageHeight = imageheight-HUHistogramArea+1;
+
+ HULBPPixelData = new MEPixelDataType**[HUImageWidth / 2];
+
+ for (int i = 0; i < HUImageWidth / 2; ++i)
+ {
+ HULBPPixelData[i] = new MEPixelDataType*[HUImageHeight];
+ }
+
+ for (int i = 0; i < HUImageWidth / 2; ++i)
+ for (int i1 = 0; i1 < HUImageHeight; ++i1)
+ {
+ HULBPPixelData[i][i1] = new MEPixelDataType;
+ HULBPPixelData[i][i1]->Weights = new float[HUHistogramsPerPixel];
+ HULBPPixelData[i][i1]->BackgroundHistogram = new bool[HUHistogramsPerPixel];
+ HULBPPixelData[i][i1]->Histograms = new float*[HUHistogramsPerPixel];
+ for (int i2 = 0; i2 < HUHistogramsPerPixel; ++i2)
+ HULBPPixelData[i][i1]->Histograms[i2] = new float[HUHistogramBins];
+ HULBPPixelData[i][i1]->PreviousHistogram = new float[HUHistogramBins];
+ }
+
+ // Allocate auxiliary variables
+ HUMaskColumnAddDel = new int*[HUHistogramArea];
+ for (int i = 0; i < HUHistogramArea; ++i)
+ HUMaskColumnAddDel[i] = new int[2];
+
+ HUMaskRowAddDel = new int*[HUHistogramArea];
+ for (int i = 0; i < HUHistogramArea; ++i)
+ HUMaskRowAddDel[i] = new int[2];
+
+ // Generate sample mask
+ SetSampleMaskHU(sm_Circle, HUDesiredSamplePixels);
+
+ // Init HU optical flow data
+ if (MDMode == md_DLBPHistograms)
+ InitHUOFData(imagewidth, imageheight);
+
+ ClearHUData();
+ }
+}
+
+
+void MotionDetection::InitHUOFData(int imagewidth, int imageheight)
+{
+ if (HUOFDataState != ps_Uninitialized)
+ {
+ ReleaseHUOFData();
+ }
+
+ if (HUOFDataState == ps_Uninitialized)
+ {
+ HUOFPointsNumber = imagewidth*imageheight / 1000;
+ HUOFPyramid = cvCreateImage(cvSize(imagewidth, imageheight), 8, 1);
+ HUOFPrevPyramid = cvCreateImage(cvSize(imagewidth, imageheight), 8, 1);
+ HUOFPoints[0] = (CvPoint2D32f*)cvAlloc(HUOFPointsNumber*sizeof(HUOFPoints[0][0]));
+ HUOFPoints[1] = (CvPoint2D32f*)cvAlloc(HUOFPointsNumber*sizeof(HUOFPoints[1][0]));
+ }
+}
+
+
+void MotionDetection::ReleaseHUData()
+{
+ if (MDDataState != ps_Uninitialized)
+ {
+ for (int i = 0; i < HUImageWidth / 2; i++)
+ for (int i1 = 0; i1 < HUImageHeight; i1++)
+ {
+ delete[] HULBPPixelData[i][i1]->PreviousHistogram;
+ for (int i2 = 0; i2 < HUHistogramsPerPixel; ++i2)
+ delete[] HULBPPixelData[i][i1]->Histograms[i2];
+ delete[] HULBPPixelData[i][i1]->Histograms;
+ delete[] HULBPPixelData[i][i1]->BackgroundHistogram;
+ delete[] HULBPPixelData[i][i1]->Weights;
+ delete HULBPPixelData[i][i1];
+ }
+
+ for (int i = 0; i < HUImageWidth / 2; i++)
+ {
+ delete[] HULBPPixelData[i];
+ }
+ delete[] HULBPPixelData;
+
+ if (MDMode == md_DLBPHistograms)
+ ReleaseHUOFData();
+
+ HUImageWidth = -1;
+ HUImageHeight = -1;
+ HULBPPixelData = NULL;
+ MDDataState = ps_Uninitialized;
+
+ // Release auxiliary variables
+ for (int i = 0; i < HUHistogramArea; ++i)
+ delete[] HUMaskColumnAddDel[i];
+ delete[] HUMaskColumnAddDel;
+
+ for (int i = 0; i < HUHistogramArea; ++i)
+ delete[] HUMaskRowAddDel[i];
+ delete[] HUMaskRowAddDel;
+
+ HUMaskColumnAddDel = NULL;
+ HUMaskRowAddDel = NULL;
+ }
+}
+
+
+void MotionDetection::ReleaseHUOFData()
+{
+ if (MDDataState != ps_Uninitialized)
+ {
+ if (HUOFPyramid)
+ {
+ cvReleaseImage(&HUOFPyramid);
+ HUOFPyramid = NULL;
+ }
+ if (HUOFPrevPyramid)
+ {
+ cvReleaseImage(&HUOFPrevPyramid);
+ HUOFPrevPyramid = NULL;
+ }
+ if (HUOFPoints[0])
+ {
+ cvFree(&HUOFPoints[0]);
+ HUOFPoints[0] = NULL;
+ }
+ if (HUOFPoints[1])
+ {
+ cvFree(&HUOFPoints[1]);
+ HUOFPoints[1] = NULL;
+ }
+ HUOFDataState = ps_Uninitialized;
+ }
+}
+
+
+void MotionDetection::ClearHUData()
+{
+ if (MDDataState != ps_Uninitialized)
+ {
+ for (int i = (HUImageWidth / 2)-1; i >= 0; --i)
+ for (int i1 = HUImageHeight-1; i1 >= 0; --i1)
+ {
+ for (int i2 = HUHistogramsPerPixel-1; i2 >= 0; --i2)
+ {
+ memset(HULBPPixelData[i][i1]->Histograms[i2], 0,
+ HUHistogramBins*sizeof(float));
+ HULBPPixelData[i][i1]->Weights[i2] = 1.0 / HUHistogramsPerPixel;
+ HULBPPixelData[i][i1]->BackgroundHistogram[i2] = true;
+ }
+ HULBPPixelData[i][i1]->BackgroundRate = 1.0;
+ HULBPPixelData[i][i1]->LifeCycle = 0;
+ }
+ MDDataState = ps_Initialized;
+ }
+}
+
+
+void MotionDetection::DetectMotionsHU(MEImage& image)
+{
+ unsigned char *ImgData = NULL;
+ MEImage newimage = image;
+ float DiffAreas = 0;
+
+ // Init the histogram update data structures if needs be
+ if ((MDDataState == ps_Uninitialized) ||
+ (HUImageWidth != newimage.GetWidth()-HUHistogramArea+1) ||
+ (HUImageHeight != newimage.GetHeight()-HUHistogramArea+1))
+ {
+ InitHUData(newimage.GetWidth(), newimage.GetHeight());
+ }
+
+ if (newimage.GetLayers() == 1)
+ {
+ newimage.ConvertGrayscaleToRGB();
+ }
+
+ MEImage blueimage = newimage;
+ blueimage.ColorSpace(MEImage::csc_RGBtoCIELuv);
+
+ if (HUColorSpace != -1)
+ {
+ newimage.ColorSpace((MEImage::ColorSpaceConvertType)HUColorSpace);
+ }
+
+ if (Frames == 0)
+ {
+ MEImage BlueLayer;
+ blueimage.GetLayer(BlueLayer, 1);
+ BlueLayer.Resize(32, 24);
+ PreviousBlueLayer = BlueLayer;
+ }
+
+ Frames++;
+
+ // Detect the fast, big changes in the scene
+ MEImage BlueLayer;
+ blueimage.GetLayer(BlueLayer, 1);
+ BlueLayer.Resize(32, 24);
+ DiffAreas = BlueLayer.DifferenceAreas(PreviousBlueLayer, 12);
+
+ if (DiffAreas > 80)
+ {
+ MDDataState = ps_Initialized;
+ if (MDMode == md_DLBPHistograms)
+ HUOFDataState = ps_Initialized;
+ printf("Frame: %d - big changes in the scene (%f)", Frames, DiffAreas);
+ Frames = 1;
+ HUOFFrames = -1;
+ }
+ PreviousBlueLayer = BlueLayer;
+
+ if (Frames == 1)
+ {
+ CurrentImage = image;
+ PreviousImage = CurrentImage;
+ } else
+ if (Frames > 1)
+ {
+ PreviousImage = CurrentImage;
+ CurrentImage = image;
+ // Optical flow correction of the camera movements
+ if (MDMode == md_DLBPHistograms)
+ {
+ OpticalFlowCorrection();
+ }
+ }
+
+ newimage.ConvertToGrayscale(MEImage::g_OpenCV);
+
+ if (HULBPMode != -1)
+ {
+ newimage.LBP((MEImage::LBPType)HULBPMode);
+ }
+
+ // Set some auxiliary variables
+ ImgData = newimage.GetImageData();
+ int DivisionOperator = (int)(log(256 / HUHistogramBins) / log(2))+1;
+
+ // Downscale the image
+ for (int i = newimage.GetRowWidth()*newimage.GetHeight()-1; i >= 0; --i)
+ {
+ ImgData[i] >>= DivisionOperator;
+ }
+
+ UpdateModelHU(newimage, HULBPPixelData);
+
+ // Change the state of the HU data structures
+ if (MDDataState == ps_Initialized)
+ {
+ MDDataState = ps_Successful;
+ }
+ HUOFCamMovement = false;
+ ReadyMask = false;
+}
+
+
+void MotionDetection::UpdateModelHU(MEImage& image, MEPixelDataType*** model)
+{
+ float CurrentHistogram[HUHistogramBins], CurrentHistogram2[HUHistogramBins];
+ unsigned char *ImgData = image.GetImageData();
+ int RowWidth = image.GetRowWidth();
+ int RowStart = (HUImageHeight-1)*RowWidth;
+
+ memset(CurrentHistogram, 0, sizeof(CurrentHistogram));
+ // Calculate the first histogram
+ for (int y = HUHistogramArea-1; y >= 0; --y)
+ {
+ for (int x = HUHistogramArea-1; x >= 0; --x)
+ {
+ if ((HUMaskRowAddDel[y][1] > x) && (HUMaskRowAddDel[y][0] <= x) &&
+ (HUMaskColumnAddDel[x][1] > y) && (HUMaskColumnAddDel[x][0] <= y))
+ {
+ CurrentHistogram[ImgData[RowStart+HUImageWidth-1+x]]++;
+ }
+ }
+ RowStart += RowWidth;
+ }
+
+ // This cycle generates the last row of histograms
+ for (int y = HUImageHeight-1; y >= 0; --y)
+ {
+ if (HUImageHeight-1 > y)
+ {
+ // Delete and add a pixel column from the histogram data
+ for (int i = HUHistogramArea-1; i >= 0; --i)
+ {
+ if (HUMaskColumnAddDel[i][0] != -1)
+ CurrentHistogram[ImgData[RowWidth*(y+HUMaskColumnAddDel[i][0])+HUImageWidth-1+i]]++;
+ if (HUMaskColumnAddDel[i][1] != -1)
+ CurrentHistogram[ImgData[RowWidth*(y+HUMaskColumnAddDel[i][1])+HUImageWidth-1+i]]--;
+ }
+ }
+
+ if (y % 2 == HUImageWidth % 2)
+ {
+ MEPixelDataType* PixelData = model[(HUImageWidth-1) / 2][y];
+
+ // Allocate and initialize the pixel data if needs be
+ if (!PixelData)
+ {
+ // Memory allocation
+ PixelData = new MEPixelDataType;
+ PixelData->Weights = new float[HUHistogramsPerPixel];
+ PixelData->BackgroundHistogram = new bool[HUHistogramsPerPixel];
+ PixelData->Histograms = new float*[HUHistogramsPerPixel];
+ for (int i2 = 0; i2 < HUHistogramsPerPixel; ++i2)
+ PixelData->Histograms[i2] = new float[HUHistogramBins];
+ PixelData->PreviousHistogram = new float[HUHistogramBins];
+
+ for (int i = HUHistogramsPerPixel-1; i >= 0; --i)
+ {
+ memcpy(PixelData->Histograms[i], CurrentHistogram, sizeof(CurrentHistogram));
+ PixelData->Weights[i] = 1.0 / HUHistogramsPerPixel;
+ PixelData->BackgroundHistogram[i] = true;
+ }
+ PixelData->BackgroundRate = 1.0;
+ PixelData->LifeCycle = 0;
+ memcpy(PixelData->PreviousHistogram, CurrentHistogram, sizeof(CurrentHistogram));
+
+ model[(HUImageWidth-1) / 2][y] = PixelData;
+ } else {
+ bool InitHistograms = (MDDataState == ps_Initialized);
+
+ if (MDDataState != ps_Initialized && HUOFCamMovement)
+ {
+ // Histogram intersection between the previous and the current histogram
+ float Difference = 0.0;
+ for (int i1 = HUHistogramBins-1; i1 >= 0; --i1)
+ {
+ Difference += (float)(CurrentHistogram[i1] < PixelData->PreviousHistogram[i1] ?
+ CurrentHistogram[i1] : PixelData->PreviousHistogram[i1]);
+ }
+ Difference /= HUSamplePixels;
+
+ if (Difference < HUBackgrThres)
+ InitHistograms = true;
+ }
+ if (InitHistograms)
+ {
+ // Copy the histogram data to the HU data structures
+ for (int i = HUHistogramsPerPixel-1; i >= 0; --i)
+ {
+ memcpy(PixelData->Histograms[i], CurrentHistogram, sizeof(CurrentHistogram));
+ PixelData->Weights[i] = 1.0 / HUHistogramsPerPixel;
+ PixelData->BackgroundHistogram[i] = true;
+ }
+ memcpy(PixelData->PreviousHistogram, CurrentHistogram, sizeof(CurrentHistogram));
+ PixelData->BackgroundRate = 1.0;
+ PixelData->LifeCycle = 0;
+ } else {
+ // Update the HU data structures
+ UpdateHUPixelData(PixelData, CurrentHistogram);
+
+ if (MDMode == md_DLBPHistograms)
+ {
+ memcpy(PixelData->PreviousHistogram, CurrentHistogram, sizeof(CurrentHistogram));
+ }
+ }
+ }
+ }
+
+ // Copy the histogram
+ memcpy(CurrentHistogram2, CurrentHistogram, sizeof(CurrentHistogram));
+
+ // This cycle generates a column of histograms
+ for (int x = HUImageWidth-2; x >= 0; --x)
+ {
+ RowStart = RowWidth*y;
+
+ // Delete and add a pixel column from the histogram data
+ for (int i = HUHistogramArea-1; i >= 0; --i)
+ {
+ if (HUMaskRowAddDel[i][0] != -1)
+ CurrentHistogram2[ImgData[RowStart+x+HUMaskRowAddDel[i][0]]]++;
+ if (HUMaskRowAddDel[i][1] != -1)
+ CurrentHistogram2[ImgData[RowStart+x+HUMaskRowAddDel[i][1]]]--;
+
+ RowStart += RowWidth;
+ }
+ if (x % 2 == 0)
+ {
+ MEPixelDataType* PixelData = model[x / 2][y];
+
+ // Allocate and initialize the pixel data if needs be
+ if (!PixelData)
+ {
+ // Memory allocation
+ PixelData = new MEPixelDataType;
+ PixelData->Weights = new float[HUHistogramsPerPixel];
+ PixelData->BackgroundHistogram = new bool[HUHistogramsPerPixel];
+ PixelData->Histograms = new float*[HUHistogramsPerPixel];
+ for (int i2 = 0; i2 < HUHistogramsPerPixel; ++i2)
+ PixelData->Histograms[i2] = new float[HUHistogramBins];
+ PixelData->PreviousHistogram = new float[HUHistogramBins];
+
+ for (int i = HUHistogramsPerPixel-1; i >= 0; --i)
+ {
+ memcpy(PixelData->Histograms[i], CurrentHistogram2, sizeof(CurrentHistogram2));
+ PixelData->Weights[i] = 1.0 / HUHistogramsPerPixel;
+ PixelData->BackgroundHistogram[i] = true;
+ }
+ PixelData->BackgroundRate = 1.0;
+ PixelData->LifeCycle = 0;
+ model[x / 2][y] = PixelData;
+ memcpy(PixelData->PreviousHistogram, CurrentHistogram2, sizeof(CurrentHistogram2));
+ } else {
+ bool InitHistograms = (MDDataState == ps_Initialized);
+
+ if (MDDataState != ps_Initialized && HUOFCamMovement)
+ {
+ // Histogram intersection between the previous and the current histogram
+ float Difference = 0.0;
+ for (int i1 = HUHistogramBins-1; i1 >= 0; --i1)
+ {
+ Difference += (float)(CurrentHistogram2[i1] < PixelData->PreviousHistogram[i1] ?
+ CurrentHistogram2[i1] : PixelData->PreviousHistogram[i1]);
+ }
+ Difference /= HUSamplePixels;
+
+ if (Difference < HUBackgrThres)
+ InitHistograms = true;
+ }
+ if (InitHistograms)
+ {
+ // Copy the histogram data to the HU data structures
+ for (int i = HUHistogramsPerPixel-1; i >= 0; --i)
+ {
+ memcpy(PixelData->Histograms[i], CurrentHistogram2, sizeof(CurrentHistogram2));
+ PixelData->Weights[i] = 1.0 / HUHistogramsPerPixel;
+ PixelData->BackgroundHistogram[i] = true;
+ }
+ memcpy(PixelData->PreviousHistogram, CurrentHistogram2, sizeof(CurrentHistogram2));
+ PixelData->BackgroundRate = 1.0;
+ PixelData->LifeCycle = 0;
+ } else {
+ // Update the HU data structures
+ UpdateHUPixelData(PixelData, CurrentHistogram2);
+
+ if (MDMode == md_DLBPHistograms)
+ {
+ memcpy(PixelData->PreviousHistogram, CurrentHistogram2, sizeof(CurrentHistogram2));
+ }
+ }
+ }
+ }
+
+ }
+ }
+}
+
+
+void MotionDetection::UpdateHUPixelData(MEPixelDataType* PixelData, const float *histogram)
+{
+ int MaxIndex = 0;
+ float MaxValue = -1;
+ bool Replace = true;
+ float IntersectionResults[HUHistogramsPerPixel];
+
+ PixelData->LifeCycle++;
+ PixelData->BackgroundRate = 0.0;
+
+ // Compute intersection between the currect and older histograms
+ for (int i = HUHistogramsPerPixel-1; i >= 0; --i)
+ {
+ // Histogram intersection
+ float Difference = 0.0;
+ for (int i1 = HUHistogramBins-1; i1 >= 0; --i1)
+ {
+ Difference += (float)histogram[i1] < PixelData->Histograms[i][i1] ?
+ (float)histogram[i1] : PixelData->Histograms[i][i1];
+ }
+
+ IntersectionResults[i] = (float)Difference / (float)(HUSamplePixels);
+
+ if (PixelData->BackgroundHistogram[i] &&
+ IntersectionResults[i] > PixelData->BackgroundRate)
+ {
+ PixelData->BackgroundRate = IntersectionResults[i];
+ }
+
+ if (MaxValue < IntersectionResults[i])
+ {
+ MaxValue = IntersectionResults[i];
+ MaxIndex = i;
+ }
+
+ Replace = Replace && (IntersectionResults[i] < HUPrThres);
+ }
+
+ // Replace the histogram with the lowest weight
+ if (Replace)
+ {
+ // Find the histogram with minimal weight
+ int MinIndex = 0;
+ float MinValue = PixelData->Weights[0];
+ for (int i1 = HUHistogramsPerPixel-1; i1 > 0; --i1)
+ {
+ if (MinValue > PixelData->Weights[i1])
+ {
+ MinValue = PixelData->Weights[i1];
+ MinIndex = i1;
+ }
+ }
+
+ PixelData->Weights[MinIndex] = 0.01;
+ for (int i1 = HUHistogramBins-1; i1 >= 0; --i1)
+ PixelData->Histograms[MinIndex][i1] = (float)histogram[i1];
+ PixelData->BackgroundHistogram[MinIndex] = 0;
+
+ // Normalize the weights
+ float sum = 0;
+ for (int i1 = HUHistogramsPerPixel-1; i1 >= 0; --i1)
+ sum += PixelData->Weights[i1];
+
+ for (int i1 = HUHistogramsPerPixel-1; i1 >= 0; --i1)
+ PixelData->Weights[i1] = PixelData->Weights[i1] / sum;
+
+ return;
+ }
+
+ float LearningRate = HUHistLRate;
+
+ if (PixelData->LifeCycle < 100)
+ LearningRate += (float)(100-PixelData->LifeCycle) / 100;
+ else
+ if (MDMode == md_DLBPHistograms && HUOFFrames != -1 && HUOFFrames < 40)
+ LearningRate += (HUOFFrames < 80 ? 0.05 : 0);
+
+ // Match was found -> Update the histogram of the best match
+ for (int i = HUHistogramBins-1; i >= 0; --i)
+ {
+ PixelData->Histograms[MaxIndex][i] *= (1.0-LearningRate);
+ PixelData->Histograms[MaxIndex][i] += LearningRate*(float)histogram[i];
+ }
+
+ LearningRate = HUWeightsLRate;
+ if (PixelData->LifeCycle < 100)
+ LearningRate += (float)(100-PixelData->LifeCycle) / 100;
+ else
+ if (MDMode == md_DLBPHistograms && HUOFFrames != -1 && HUOFFrames < 40)
+ LearningRate += (HUOFFrames < 80 ? 0.05 : 0);
+
+ // Update the weights of the histograms
+ for (int i = HUHistogramsPerPixel-1; i >= 0; --i)
+ {
+ PixelData->Weights[i] =
+ (LearningRate*(i == MaxIndex)+(1.0-LearningRate)*PixelData->Weights[i]);
+ }
+
+ // Order and select the background histograms
+ float Weights[HUHistogramsPerPixel][2];
+
+ for (int i = HUHistogramsPerPixel-1; i >= 0; --i)
+ {
+ Weights[i][0] = (float)i;
+ Weights[i][1] = PixelData->Weights[i];
+ }
+
+ for (int i1 = HUHistogramsPerPixel-1; i1 >= 2; --i1)
+ for (int i = i1; i >= 1; --i)
+ {
+ if (Weights[i][1] <= Weights[i-1][1])
+ {
+ float tmp = Weights[i][0];
+ float tmp2 = Weights[i][1];
+
+ Weights[i][0] = Weights[i-1][0];
+ Weights[i][1] = Weights[i-1][1];
+
+ Weights[i-1][0] = tmp;
+ Weights[i-1][1] = tmp2;
+ }
+ }
+
+ float Sum = 0;
+ int i = 0;
+
+ for (i = HUHistogramsPerPixel-1; i >= 0; --i)
+ {
+ Sum += Weights[i][1];
+ PixelData->BackgroundHistogram[(int)Weights[i][0]] = true;
+
+ if (Sum > HUBackgrThres)
+ break;
+ }
+ for (int i1 = i-1; i1 >= 0; --i1)
+ {
+ PixelData->BackgroundHistogram[(int)Weights[i1][0]] = false;
+ }
+}
+
+
+void MotionDetection::OpticalFlowCorrection()
+{
+ IplImage *PreviousGray = NULL, *CurrentGray = NULL;
+ char* PointsStatus = (char*)cvAlloc(HUOFPointsNumber);
+ int i = 0, i1 = 0;
+
+ if (HUOFFrames != -1)
+ HUOFFrames++;
+
+ // Convert the images into grayscale
+ if (CurrentImage.GetLayers() > 1)
+ {
+ CurrentGray = cvCreateImage(cvGetSize(CurrentImage.GetIplImage()), IPL_DEPTH_8U, 1);
+ cvCvtColor(CurrentImage.GetIplImage(), CurrentGray, CV_BGR2GRAY);
+ } else
+ CurrentGray = (IplImage*)CurrentImage.GetIplImage();
+ if (PreviousImage.GetLayers() > 1)
+ {
+ PreviousGray = cvCreateImage(cvGetSize(CurrentImage.GetIplImage()), IPL_DEPTH_8U, 1);
+ cvCvtColor(PreviousImage.GetIplImage(), PreviousGray, CV_BGR2GRAY);
+ } else
+ PreviousGray = (IplImage*)PreviousImage.GetIplImage();
+
+ if (HUOFDataState != ps_Successful)
+ {
+ printf("Search new corners\n");
+ IplImage* TempEig = cvCreateImage(cvGetSize(CurrentGray), 32, 1 );
+ IplImage* Temp = cvCreateImage(cvGetSize(CurrentGray), 32, 1 );
+ double MinDistance = (CurrentImage.GetWidth()+CurrentImage.GetHeight()) / 20;
+ HUOFPointsNumber = MaxTrackedPoints = CurrentImage.GetWidth()*CurrentImage.GetHeight() / 1000;
+
+ // Search good trackable points
+ cvGoodFeaturesToTrack(PreviousGray, TempEig, Temp,
+ HUOFPoints[0], &HUOFPointsNumber,
+ 0.01, MinDistance, NULL, 3);
+ MaxTrackedPoints = HUOFPointsNumber;
+ // Release temporary images
+ cvReleaseImage(&TempEig);
+ cvReleaseImage(&Temp);
+ // Realloc the point status array
+ if (PointsStatus)
+ {
+ cvFree(&PointsStatus);
+ PointsStatus = NULL;
+ }
+
+ if (MaxTrackedPoints < 2)
+ {
+ HUOFDataState = ps_Initialized;
+ HUOFPointsNumber = CurrentImage.GetWidth()*CurrentImage.GetHeight() / 1000;
+ return;
+ } else
+ HUOFDataState = ps_Successful;
+ PointsStatus = (char*)cvAlloc(HUOFPointsNumber);
+ }
+
+ cvCalcOpticalFlowPyrLK(PreviousGray, CurrentGray, HUOFPrevPyramid, HUOFPyramid,
+ HUOFPoints[0], HUOFPoints[1], HUOFPointsNumber,
+ cvSize(10, 10), 3, PointsStatus, NULL,
+ cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 5, 1), 0);
+
+ // Count the distances of the tracked points
+ int Distances[HUOFPointsNumber][3];
+ int DistanceMax = 0;
+ for (i = 0; i < HUOFPointsNumber; ++i)
+ {
+ int DiffX = (int)MERound(HUOFPoints[1][i].x-HUOFPoints[0][i].x);
+ int DiffY = (int)MERound(HUOFPoints[1][i].y-HUOFPoints[0][i].y);
+ if ((PointsStatus[i] == 1) && !((DiffX == 0) && (DiffY == 0)))
+ {
+ bool found = false;
+ // Create a list from the differences to count them
+ for (i1 = 0; i1 < DistanceMax; ++i1)
+ {
+ if ((Distances[i1][0] == DiffX) &&
+ (Distances[i1][1] == DiffY))
+ {
+ Distances[i1][2]++;
+ found = true;
+ break;
+ }
+ }
+ if ((!found) && !((DiffX == 0) && (DiffY == 0)))
+ {
+ Distances[DistanceMax][0] = (int)MERound(HUOFPoints[1][i].x-HUOFPoints[0][i].x);
+ Distances[DistanceMax][1] = (int)MERound(HUOFPoints[1][i].y-HUOFPoints[0][i].y);
+ Distances[DistanceMax][2] = 1;
+ DistanceMax++;
+ }
+ }
+ }
+
+ // Sort the results
+ for (int i1 = DistanceMax-1; i1 >= 2; --i1)
+ for (int i = i1; i >= 1; --i)
+ {
+ if ((Distances[i][2] > Distances[i-1][2]) ||
+ ((Distances[i][2] == Distances[i-1][2]) &&
+ (abs(Distances[i][0])+abs(Distances[i][1]) <
+ abs(Distances[i-1][0])+abs(Distances[i-1][1]))))
+ {
+ int tmp = Distances[i][0];
+ int tmp2 = Distances[i][1];
+ int tmp3 = Distances[i][2];
+
+ Distances[i][0] = Distances[i-1][0];
+ Distances[i][1] = Distances[i-1][1];
+ Distances[i][2] = Distances[i-1][2];
+
+ Distances[i-1][0] = tmp;
+ Distances[i-1][1] = tmp2;
+ Distances[i-1][2] = tmp3;
+ }
+ }
+
+ float MoveX = 0.0;
+ float MoveY = 0.0;
+ int SampleNums = 0;
+ float DistanceMeasure = 0.0;
+
+ // Calculate the final camera movement
+ for (i = 0; i < DistanceMax; ++i)
+ {
+ if ((Distances[i][2] <= MaxTrackedPoints / 10))
+ break;
+
+ if (i > 0)
+ {
+ DistanceMeasure += (Distances[i][0]-Distances[i-1][0])*(Distances[i][0]-Distances[i-1][0]);
+ DistanceMeasure += (Distances[i][1]-Distances[i-1][1])*(Distances[i][1]-Distances[i-1][1]);
+ }
+
+ MoveX += Distances[i][0]*Distances[i][2];
+ MoveY += Distances[i][1]*Distances[i][2];
+ SampleNums += Distances[i][2];
+ }
+
+ if (SampleNums > 0)
+ {
+ MoveX = MERound(MoveX / SampleNums);
+ MoveY = MERound(MoveY / SampleNums);
+ }
+
+ if (!((MoveX == 0) && (MoveY == 0)) &&
+ (SampleNums > MaxTrackedPoints / 2))
+ {
+ HUOFCamMovementX += (int)MoveX;
+ int HUOFCamMovementY = (int)MoveY;
+ int MaxX = (HUImageWidth / 2)-1;
+ int MaxY = HUImageHeight-1;
+/*
+ printf("-----------\n");
+
+ for (i = 0; i < DistanceMax; ++i)
+ printf("%d: %d,%d\n", Distances[i][2], Distances[i][0], Distances[i][1]);
+
+ printf("FINAL: %d,%d,%1.2f\n", (int)MoveX, (int)MoveY, DistanceMeasure);
+ printf("-----------\n");
+ printf("Camera movement: %d,%d,%d (max: %d, current: %d)\n",
+ SampleNums, HUOFCamMovementX, HUOFCamMovementY, MaxTrackedPoints, HUOFPointsNumber);
+*/
+ HUOFFrames = 0;
+ HUOFCamMovement = true;
+
+ if (!(HUOFCamMovementY == 0 && HUOFCamMovementX >= -1 && HUOFCamMovementX <= 1))
+ {
+ MEPixelDataType* PreviousData[MaxX+1][MaxY+1];
+
+ // Camera movement being happened
+ for (int y = MaxY; y >= 0; --y)
+ for (int x = MaxX; x >= 0; --x)
+ {
+ PreviousData[x][y] = NULL;
+ }
+
+ // Move the LBP data to new locations
+ for (int y = MaxY; y >= 0; --y)
+ for (int x = MaxX; x >= 0; --x)
+ {
+ int NewX = x+(HUOFCamMovementX / 2);
+ int NewY = y+HUOFCamMovementY;
+
+ if (NewX >= 0 && NewX <= MaxX &&
+ NewY >= 0 && NewY <= MaxY)
+ {
+ if (HULBPPixelData[NewX][NewY])
+ {
+ PreviousData[NewX][NewY] = HULBPPixelData[NewX][NewY];
+ HULBPPixelData[NewX][NewY] = NULL;
+ if (PreviousData[x][y])
+ {
+ HULBPPixelData[NewX][NewY] = PreviousData[x][y];
+ PreviousData[x][y] = NULL;
+ } else {
+ HULBPPixelData[NewX][NewY] = HULBPPixelData[x][y];
+ HULBPPixelData[x][y] = NULL;
+ }
+ } else {
+ if (PreviousData[x][y])
+ {
+ HULBPPixelData[NewX][NewY] = PreviousData[x][y];
+ PreviousData[x][y] = NULL;
+ } else {
+ HULBPPixelData[NewX][NewY] = HULBPPixelData[x][y];
+ HULBPPixelData[x][y] = NULL;
+ }
+ }
+ } else {
+ if (HULBPPixelData[x][y])
+ {
+ delete[] HULBPPixelData[x][y]->PreviousHistogram;
+ for (int i2 = 0; i2 < HUHistogramsPerPixel; ++i2)
+ delete[] HULBPPixelData[x][y]->Histograms[i2];
+ delete[] HULBPPixelData[x][y]->Histograms;
+ delete[] HULBPPixelData[x][y]->BackgroundHistogram;
+ delete[] HULBPPixelData[x][y]->Weights;
+ delete HULBPPixelData[x][y];
+ HULBPPixelData[x][y] = NULL;
+ }
+ }
+ }
+ // Release unused data
+ for (int y = MaxY; y >= 0; --y)
+ for (int x = MaxX; x >= 0; --x)
+ {
+ if (PreviousData[x][y])
+ {
+ delete[] PreviousData[x][y]->PreviousHistogram;
+ for (int i2 = 0; i2 < HUHistogramsPerPixel; ++i2)
+ delete[] PreviousData[x][y]->Histograms[i2];
+ delete[] PreviousData[x][y]->Histograms;
+ delete[] PreviousData[x][y]->BackgroundHistogram;
+ delete[] PreviousData[x][y]->Weights;
+ delete PreviousData[x][y];
+ PreviousData[x][y] = NULL;
+ }
+ }
+ HUOFCamMovementX = HUOFCamMovementX % 1;
+ }
+ }
+
+ i1 = 0;
+ // Throw the missed points away
+ for (i = 0; i < HUOFPointsNumber; ++i)
+ {
+ if (PointsStatus[i] == 1)
+ {
+ HUOFPoints[0][i1] = HUOFPoints[1][i];
+ i1++;
+ }
+ }
+ HUOFPointsNumber -= i+1-i1;
+
+ if (HUOFPointsNumber < MaxTrackedPoints / 2)
+ {
+ printf("Re-init the optical flow\n");
+ HUOFDataState = ps_Initialized;
+ HUOFPointsNumber = CurrentImage.GetWidth()*CurrentImage.GetHeight() / 1000;
+ }
+ // Free memory
+ if (PreviousGray != PreviousImage.GetIplImage())
+ cvReleaseImage(&PreviousGray);
+ if (CurrentGray != CurrentImage.GetIplImage())
+ cvReleaseImage(&CurrentGray);
+ cvFree(&PointsStatus);
+}
+
+
+void MotionDetection::GetMotionsMaskHU(MEImage& mask_image)
+{
+ if (MDDataState != ps_Successful)
+ {
+ mask_image.Clear();
+ return;
+ }
+
+ // Reallocate the mask image if needs be
+ if ((HUImageWidth+HUHistogramArea-1 != mask_image.GetWidth()) ||
+ (HUImageHeight+HUHistogramArea-1 != mask_image.GetHeight()) ||
+ (mask_image.GetLayers() != 1))
+ {
+ mask_image.Realloc(HUImageWidth+HUHistogramArea-1,
+ HUImageHeight+HUHistogramArea-1, 1);
+ }
+ mask_image.Clear();
+ // Generate the mask image
+ unsigned char* MaskImgData = mask_image.GetImageData();
+ int RowStart = (mask_image.GetHeight()-HUHistogramArea / 2)*mask_image.GetRowWidth();
+ int RowWidth = mask_image.GetRowWidth();
+
+ // Generate a graph about the histogram data
+ Graph::node_id Nodes[HUImageWidth / 2][HUImageHeight];
+ Graph *LBPGraph = new Graph();
+
+ for (int x = (HUImageWidth / 2)-1; x >= 0; --x)
+ for (int y = HUImageHeight-1; y >= 0; --y)
+ {
+ Nodes[x][y] = LBPGraph->add_node();
+ }
+
+ for (int x = (HUImageWidth / 2)-1; x >= 0; --x)
+ for (int y = HUImageHeight-1; y >= 0; --y)
+ {
+ LBPGraph->set_tweights(Nodes[x][y], 1,
+ (short int)(HUMinCutWeight*(1-HULBPPixelData[x][y]->BackgroundRate)));
+
+ if (x > 0 && y > 0)
+ {
+ LBPGraph->add_edge(Nodes[x][y], Nodes[x-1][y], 1, 1);
+ LBPGraph->add_edge(Nodes[x][y], Nodes[x][y-1], 1, 1);
+ }
+ }
+
+ LBPGraph->maxflow();
+
+ for (int x = (HUImageWidth / 2)-1; x >= 0; --x)
+ for (int y = HUImageHeight-1; y >= 0; --y)
+ {
+ if (LBPGraph->what_segment(Nodes[x][y]) == Graph::SINK)
+ HULBPPixelData[x][y]->BackgroundRate = 0.0;
+ else
+ HULBPPixelData[x][y]->BackgroundRate = 1.0;
+ }
+
+ delete LBPGraph;
+ LBPGraph = NULL;
+ for (int y = HUImageHeight-1; y >= 0; --y)
+ {
+ for (int x = HUImageWidth-1; x >= 0; --x)
+ {
+ if (y % 2 == (x+1) % 2)
+ MaskImgData[RowStart+x+(HUHistogramArea / 2)] =
+ (HULBPPixelData[x / 2][y]->BackgroundRate == 0.0) ? 255 : 0;
+ else {
+ MaskImgData[RowStart+x+(HUHistogramArea / 2)] =
+ ((int)(x > 1 && HULBPPixelData[(x / 2)-1][y]->BackgroundRate == 0.0)+
+ (int)(x < mask_image.GetWidth()-HUHistogramArea-1 &&
+ HULBPPixelData[(x / 2)+1][y]->BackgroundRate == 0.0)+
+ (int)(y > 0 && HULBPPixelData[x / 2][y-1]->BackgroundRate == 0.0)+
+ (int)(y < mask_image.GetHeight()-HUHistogramArea &&
+ HULBPPixelData[x / 2][y+1]->BackgroundRate == 0.0) > 1)
+ ? 255 : 0;
+ }
+ }
+ RowStart -= RowWidth;
+ }
+
+ cvFloodFill(mask_image.GetIplImage(), cvPoint(0, 0), cvScalar(128, 128, 128, 128),
+ cvScalar(0, 0, 0, 0), cvScalar(0, 0, 0, 0));
+ for (int i = ((IplImage*)mask_image.GetIplImage())->widthStep*((IplImage*)mask_image.GetIplImage())->height-1; i >= 0; --i)
+ {
+ if (MaskImgData[i] == 128)
+ {
+ MaskImgData[i] = 0;
+ } else
+ if (MaskImgData[i] == 0)
+ {
+ MaskImgData[i] = 255;
+ }
+ }
+ // Apply an erode operator
+ mask_image.Erode(1);
+}
+
+
+void MotionDetection::SetSampleMaskHU(SampleMaskType mask_type, int desiredarea)
+{
+ if (HUMaskColumnAddDel == NULL || HUMaskRowAddDel == NULL)
+ {
+ printf("Auxiliary variables are NULL\n");
+ return;
+ }
+
+ // Generate a mask for computing the histograms
+ IplImage *MaskImage = cvCreateImage(cvSize(HUHistogramArea, HUHistogramArea), 8, 1);
+ int DesiredArea = desiredarea <= 0 ? HUHistogramBins*2 : desiredarea;
+ int CalculationMask[HUHistogramArea][HUHistogramArea];
+ int SquareSide = (int)MERound(sqrt(DesiredArea));
+ int CircleRadius = (int)MERound(sqrt((float)DesiredArea / ME_PI_VALUE));
+ int EllipseA = (int)MERound(HUHistogramArea / 2+1);
+ int EllipseB = (int)MERound(DesiredArea / (EllipseA*1.2*ME_PI_VALUE));
+
+ cvSetZero(MaskImage);
+
+ switch (mask_type)
+ {
+ case sm_Circle:
+ cvCircle(MaskImage, cvPoint(HUHistogramArea / 2, HUHistogramArea / 2),
+ CircleRadius, CV_RGB(1, 1, 1), -1);
+ break;
+
+ case sm_Square:
+ cvRectangle(MaskImage,
+ cvPoint(HUHistogramArea / 2-SquareSide / 2, HUHistogramArea / 2-SquareSide / 2),
+ cvPoint(HUHistogramArea / 2+SquareSide / 2, HUHistogramArea / 2+SquareSide / 2),
+ CV_RGB(1, 1, 1), -1);
+ break;
+
+ case sm_Ellipse:
+ cvEllipse(MaskImage, cvPoint(HUHistogramArea / 2, HUHistogramArea / 2),
+ cvSize(EllipseA, EllipseB), 45, 0, 360,
+ CV_RGB(1, 1, 1), -1);
+ break;
+
+ case sm_RandomPixels:
+ HUSamplePixels = 0;
+ while (HUSamplePixels != DesiredArea)
+ {
+ int i = rand() % HUHistogramArea;
+ int j = rand() % HUHistogramArea;
+
+ if (MaskImage->imageData[i*MaskImage->widthStep+j] == 0)
+ {
+ MaskImage->imageData[i*MaskImage->widthStep+j] = 1;
+ HUSamplePixels++;
+ }
+ }
+ break;
+
+ default:
+ cvCircle(MaskImage, cvPoint(HUHistogramArea / 2, HUHistogramArea / 2),
+ (int)MERound(sqrt((float)DesiredArea / ME_PI_VALUE)), CV_RGB(1, 1, 1), -1);
+ break;
+ }
+
+ HUSamplePixels = 0;
+ memset(CalculationMask, 0, sizeof(CalculationMask));
+
+ for (int i = 0; i < HUHistogramArea; ++i)
+ for (int i1 = 0; i1 < HUHistogramArea; ++i1)
+ {
+ if (MaskImage->imageData[i*MaskImage->widthStep+i1] != 0)
+ {
+ HUSamplePixels++;
+ CalculationMask[i][i1] = 1;
+ } else {
+ CalculationMask[i][i1] = 0;
+ }
+ }
+
+ // Fill an auxiliary variable for fast computing with data
+ for (int i = 0; i < HUHistogramArea; ++i)
+ {
+ HUMaskColumnAddDel[i][0] = -1;
+ for (int i1 = 0; i1 < HUHistogramArea; ++i1)
+ {
+ if (CalculationMask[i][i1] != 0)
+ {
+ HUMaskColumnAddDel[i][0] = i1;
+ break;
+ }
+ }
+ HUMaskColumnAddDel[i][1] = -1;
+ for (int i1 = HUHistogramArea-1; i1 >= 0; --i1)
+ {
+ if (CalculationMask[i][i1] != 0)
+ {
+ HUMaskColumnAddDel[i][1] = i1+1;
+ break;
+ }
+ }
+ }
+ // Fill an auxiliary variable for fast computing with data
+ for (int i = 0; i < HUHistogramArea; ++i)
+ {
+ HUMaskRowAddDel[i][0] = -1;
+ for (int i1 = 0; i1 < HUHistogramArea; ++i1)
+ {
+ if (CalculationMask[i1][i] != 0)
+ {
+ HUMaskRowAddDel[i][0] = i1;
+ break;
+ }
+ }
+ HUMaskRowAddDel[i][1] = -1;
+ for (int i1 = HUHistogramArea-1; i1 >= 0; --i1)
+ {
+ if (CalculationMask[i1][i] != 0)
+ {
+ HUMaskRowAddDel[i][1] = i1+1;
+ break;
+ }
+ }
+ }
+ // Freeing memory
+ cvReleaseImage(&MaskImage);
+}
+
diff --git a/package_bgs/ck/MotionDetection.hpp b/package_bgs/ck/MotionDetection.hpp
new file mode 100644
index 0000000..6e11521
--- /dev/null
+++ b/package_bgs/ck/MotionDetection.hpp
@@ -0,0 +1,401 @@
+/*
+ * This file is part of the AiBO+ project
+ *
+ * Copyright (C) 2005-2013 Csaba Kertész (csaba.kertesz@gmail.com)
+ *
+ * AiBO+ is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * AiBO+ 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
+ *
+ */
+
+#ifndef MotionDetection_hpp
+#define MotionDetection_hpp
+
+/**
+ * @addtogroup mindeye
+ * @{
+ */
+
+#include "MEDefs.hpp"
+#include "MEImage.hpp"
+
+class CvBGStatModel;
+class CvPoint2D32f;
+
+// Struct for histogram update data of a pixel
+struct MEPixelDataType;
+
+/**
+ * MotionDetection
+ * @brief Extract moving objects from image sequence
+ */
+class MotionDetection
+{
+public:
+
+ /// Types of motion detection
+ typedef enum
+ {
+ md_Min = 0, /*!< Minimum value */
+ md_NotDefined = md_Min, /*!< Not defined */
+ md_DLBPHistograms, /*!< Dynamic LBP */
+ md_LBPHistograms, /*!< Normal LBP */
+ md_Max = md_LBPHistograms /*!< Maximum value */
+ } DetectorType;
+
+ /// Types of sample mask
+ typedef enum
+ {
+ sm_Min = 0, /*!< Minimum value */
+ sm_Circle = sm_Min, /*!< Circle */
+ sm_Square, /*!< Square */
+ sm_Ellipse, /*!< Ellipse */
+ sm_RandomPixels, /*!< Random pixels */
+ sm_Max = sm_RandomPixels /*!< Maximum value */
+ } SampleMaskType;
+
+ /// Types of motion detection parameters
+ typedef enum
+ {
+ mdp_Min = 0, /*!< Minimum value */
+ mdp_HUProximityThreshold = mdp_Min, /*!< Proximity threshold */
+ mdp_HUBackgroundThreshold, /*!< Background threshold */
+ mdp_HUHistogramLearningRate, /*!< Histogram learning rate */
+ mdp_HUWeightsLearningRate, /*!< Weights learning rate */
+ mdp_HUMinCutWeight, /*!< Minimum cut weight */
+ mdp_HUDesiredSamplePixels, /*!< Desired sample pixels */
+ mdp_HUHistogramsPerPixel, /*!< Histogram per pixel */
+ mdp_HUHistogramArea, /*!< Histogram area */
+ mdp_HUHistogramBins, /*!< Histogram bins */
+ mdp_HUColorSpace, /*!< Color space */
+ mdp_HULBPMode, /*!< LBP mode */
+ mdp_Max = mdp_HULBPMode /*!< Maximum value */
+ } ParametersType;
+
+ /*!
+ * @brief Class constructor
+ *
+ * @param mode Detection mode
+ *
+ * Class constructor with the possibility to specify the detection mode.
+ * The default is dynamic LBP.
+ *
+ */
+
+ MotionDetection(DetectorType mode = md_DLBPHistograms);
+ /// Destructor of class
+ ~MotionDetection();
+
+ /*
+ -------------------------------------------------------------------
+ Motion methods
+ -------------------------------------------------------------------
+ */
+
+ /*!
+ * @brief Set the mode of the motion detection
+ *
+ * @param newmode New mode of detection
+ *
+ * Set the mode of the motion detection.
+ *
+ */
+
+ void SetMode(DetectorType newmode);
+
+ /*!
+ * @brief Get a parameter value of the motion detection
+ *
+ * @param param Parameter of the detection
+ *
+ * @return Queried value
+ *
+ * Get the value of a parameter of the motion detection.
+ *
+ */
+
+ float GetParameter(ParametersType param) const;
+
+ /*!
+ * @brief Set a parameter of the motion detection
+ *
+ * @param param Parameter of the detection
+ * @param value New value
+ *
+ * Set a new value to a parameter of the motion detection.
+ *
+ */
+
+ void SetParameter(ParametersType param, float value);
+
+ /*!
+ * @brief Detect the motions on an image
+ *
+ * @param image Image to process
+ *
+ * The function designed to search motions in image streams
+ * thus it needs to process the image sequence frame by frame.
+ * It processes an image from this sequence and searches moving blobs
+ * on that.
+ *
+ */
+
+ void DetectMotions(MEImage& image);
+
+ /*!
+ * @brief Get mask image with detected motions
+ *
+ * @param mask_image Result mask image
+ *
+ * The function creates a mask image on which the objects are
+ * indicated by white blobs.
+ *
+ */
+
+ void GetMotionsMask(MEImage& mask_image);
+
+ /*!
+ * @brief Calculate results of the motion detection
+ *
+ * @param referenceimage Reference mask image
+ * @param tnegatives True negative pixels
+ * @param tpositives True positive pixels
+ * @param ttnegatives Total true negative pixels
+ * @param ttpositives Total true positive pixels
+ *
+ * The function calculates the results of the motion detection
+ * between the current motion mask and a given reference mask
+ * image.
+ *
+ */
+
+ void CalculateResults(MEImage& referenceimage, int& tnegatives, int& tpositives,
+ int& ttnegatives, int& ttpositives);
+
+private:
+
+ /*!
+ * @brief Release data structures
+ *
+ * Function releases the data structures.
+ *
+ */
+
+ void ReleaseData();
+
+ /*
+ -------------------------------------------------------------------
+ Histogram update methods
+ -------------------------------------------------------------------
+ */
+
+ /*!
+ * @brief Init HU data structures
+ *
+ * @param imagewidth Image width for HU to process
+ * @param imageheight Image height for HU to process
+ *
+ * Function allocates/re-allocates the HU data structures and they
+ * are cleared if needs be.
+ *
+ */
+
+ void InitHUData(int imagewidth, int imageheight);
+
+ /*!
+ * @brief Init HU optical flow data structures
+ *
+ * @param imagewidth Image width for HU to process
+ * @param imageheight Image height for HU to process
+ *
+ * Function allocates/re-allocates the HU optical flow
+ * data structures.
+ *
+ */
+
+ void InitHUOFData(int imagewidth, int imageheight);
+
+ /*!
+ * @brief Release HU data structures
+ *
+ * Function releases the HU data structures.
+ *
+ */
+
+ void ReleaseHUData();
+
+ /*!
+ * @brief Release HU optical flow data structures
+ *
+ * Function releases the HU optical flow data structures.
+ *
+ */
+
+ void ReleaseHUOFData();
+
+ /*!
+ * @brief Clear HU data structures
+ *
+ * Function clears the HU data structures.
+ *
+ */
+
+ void ClearHUData();
+
+ /*!
+ * @brief Get mask image with detected motions by histogram update
+ *
+ * @param mask_image Result mask image
+ *
+ * The function creates a mask image on which the objects are
+ * indicated by white blobs.
+ *
+ */
+
+ void GetMotionsMaskHU(MEImage& mask_image);
+
+ /*!
+ * @brief Set the sample mask
+ *
+ * @param mask_type Type of the mask
+ * @param desiredarea The desired area size of the mask
+ *
+ * The function creates a sample mask with a desired form
+ * (square, circle, ellipse, random pixels) and size.
+ *
+ */
+
+ void SetSampleMaskHU(SampleMaskType mask_type, int desiredarea);
+
+ /*!
+ * @brief Detect the motions on an image with histogram update
+ *
+ * @param image Image to process
+ *
+ * The function designed to search motions in image streams
+ * thus it needs to process the image sequence frame by frame.
+ * It processes an image from this sequence and searches moving blobs
+ * on that. It uses histogram update method.
+ *
+ */
+
+ void DetectMotionsHU(MEImage& image);
+
+ /*!
+ * @brief Update a model
+ *
+ * @param image Image to process
+ * @param model Model to update
+ *
+ * The function updates a histogram model of the image.
+ *
+ */
+
+ void UpdateModelHU(MEImage& image, MEPixelDataType*** model);
+
+ /*!
+ * @brief Update the HU data structure for one pixel
+ *
+ * @param pixeldata Pixel data
+ * @param histogram Current histogram
+ *
+ * This method updates the HU data for one pixel.
+ *
+ */
+
+ void UpdateHUPixelData(MEPixelDataType* pixeldata, const float *histogram);
+
+ /*!
+ * @brief Optical flow correction of the camera movements
+ *
+ * The function trackes some points on the scene if a camera movement is
+ * detected, then the LBP pixel data is corrected.
+ *
+ */
+
+ void OpticalFlowCorrection();
+
+private:
+ // GENERAL VARIABLES
+ /// Motion detection type
+ DetectorType MDMode;
+ /// State of the data structures
+ MEProcessStateType MDDataState;
+ /// Processed number in the image sequence
+ int Frames;
+ /// Store the current image
+ MEImage CurrentImage;
+ /// Store the previous image
+ MEImage PreviousImage;
+ /// Store the current mask image
+ MEImage MaskImage;
+ /// Store the current mask image
+ bool ReadyMask;
+ // HISTOGRAM UPDATE VARIABLES
+ /// Color space (-1 = no conversion)
+ int HUColorSpace;
+ /// LBP calculation mode (-1 = no conversion)
+ int HULBPMode;
+ /// Histograms per pixel
+ int HUHistogramsPerPixel;
+ /// Histogram area
+ int HUHistogramArea;
+ /// Histogram bins
+ int HUHistogramBins;
+ /// Image width for histogram update
+ int HUImageWidth;
+ /// Image height for histogram update
+ int HUImageHeight;
+ /// Data of the LBP histograms
+ MEPixelDataType ***HULBPPixelData;
+ /// Store the previous blue layer
+ MEImage PreviousBlueLayer;
+ /// Histogram proximity threshold
+ float HUPrThres;
+ /// Background selection threshold
+ float HUBackgrThres;
+ /// Histogram learning rate
+ float HUHistLRate;
+ /// Weights learning rate
+ float HUWeightsLRate;
+ /// Pixel number used to calculate the histograms
+ int HUSamplePixels;
+ /// The desired pixel number used to calculate the histograms (-1 = Auto)
+ int HUDesiredSamplePixels;
+ /// Min cut weight
+ float HUMinCutWeight;
+ /// Auxiliary variable for computing the histograms in a column
+ int **HUMaskColumnAddDel;
+ /// Auxiliary variable for computing the histograms in a row
+ int **HUMaskRowAddDel;
+ // OPTICAL FLOW VARIABLES
+ /// State of the optical flow
+ MEProcessStateType HUOFDataState;
+ /// Number of the tracked points with optical flow
+ int HUOFPointsNumber;
+ /// Tracked points
+ CvPoint2D32f* HUOFPoints[2];
+ /// The rest x component of previous camera movement
+ int HUOFCamMovementX;
+ /// Maximum tracked points detected in one cycle
+ int MaxTrackedPoints;
+ /// Processed frame number with optical flow in the image sequence
+ int HUOFFrames;
+ /// Indicator of a new camera movement
+ bool HUOFCamMovement;
+};
+
+/** @} */
+
+#endif
diff --git a/package_bgs/ck/README.TXT b/package_bgs/ck/README.TXT
new file mode 100644
index 0000000..d76c6a3
--- /dev/null
+++ b/package_bgs/ck/README.TXT
@@ -0,0 +1,135 @@
+###################################################################
+# #
+# MAXFLOW - software for computing mincut/maxflow in a graph #
+# Version 2.2 #
+# http://www.cs.cornell.edu/People/vnk/software.html #
+# #
+# Yuri Boykov (yuri@csd.uwo.ca) #
+# Vladimir Kolmogorov (vnk@cs.cornell.edu) #
+# 2001 #
+# #
+###################################################################
+
+1. Introduction.
+
+This software library implements the maxflow algorithm
+described in
+
+ An Experimental Comparison of Min-Cut/Max-Flow Algorithms
+ for Energy Minimization in Vision.
+ Yuri Boykov and Vladimir Kolmogorov.
+ In IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI),
+ September 2004
+
+This algorithm was developed by Yuri Boykov and Vladimir Kolmogorov
+at Siemens Corporate Research. To make it available for public use,
+it was later reimplemented by Vladimir Kolmogorov based on open publications.
+
+If you use this software for research purposes, you should cite
+the aforementioned paper in any resulting publication.
+
+Tested under windows, Visual C++ 6.0 compiler and unix (SunOS 5.8
+and RedHat Linux 7.0, GNU c++ compiler).
+
+##################################################################
+
+2. License.
+
+ Copyright 2001 Vladimir Kolmogorov (vnk@cs.cornell.edu), Yuri Boykov (yuri@csd.uwo.ca).
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program 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 General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+
+##################################################################
+
+3. Graph representation.
+
+There are two versions of the algorithm using different
+graph representations (adjacency list and forward star).
+The former one uses more than twice as much memory as the
+latter one but is 10-20% faster.
+
+Memory allocation (assuming that all capacities are 'short' - 2 bytes):
+
+ | Nodes | Arcs
+------------------------------------------
+Adjacency list | *24 bytes | *14 bytes
+Forward star | *28 bytes | 6 bytes
+
+(* means that often it should be rounded up to be a multiple of 4
+- some compilers (e.g. Visual C++) seem to round up elements
+of arrays unless the are structures containing only char[].)
+
+Note that arcs are always added in pairs - in forward and reverse directions.
+Arcs between nodes and terminals (the source and the sink) are
+not stored as arcs, but rather as a part of nodes.
+
+The assumption for the forward star representation is that
+the maximum number of arcs per node (except the source
+and the sink) is much less than ARC_BLOCK_SIZE (1024 by default).
+
+Both versions have the same interface.
+
+##################################################################
+
+4. Example usage.
+
+This section shows how to use the library to compute
+a minimum cut on the following graph:
+
+ SOURCE
+ / \
+ 1/ \2
+ / 3 \
+ node0 -----> node1
+ | <----- |
+ | 4 |
+ \ /
+ 5\ /6
+ \ /
+ SINK
+
+///////////////////////////////////////////////////
+
+#include <stdio.h>
+#include "graph.h"
+
+void main()
+{
+ Graph::node_id nodes[2];
+ Graph *g = new Graph();
+
+ nodes[0] = g -> add_node();
+ nodes[1] = g -> add_node();
+ g -> set_tweights(nodes[0], 1, 5);
+ g -> set_tweights(nodes[1], 2, 6);
+ g -> add_edge(nodes[0], nodes[1], 3, 4);
+
+ Graph::flowtype flow = g -> maxflow();
+
+ printf("Flow = %d\n", flow);
+ printf("Minimum cut:\n");
+ if (g->what_segment(nodes[0]) == Graph::SOURCE)
+ printf("node0 is in the SOURCE set\n");
+ else
+ printf("node0 is in the SINK set\n");
+ if (g->what_segment(nodes[1]) == Graph::SOURCE)
+ printf("node1 is in the SOURCE set\n");
+ else
+ printf("node1 is in the SINK set\n");
+
+ delete g;
+}
+
+///////////////////////////////////////////////////
diff --git a/package_bgs/ck/block.h b/package_bgs/ck/block.h
new file mode 100644
index 0000000..a243ed1
--- /dev/null
+++ b/package_bgs/ck/block.h
@@ -0,0 +1,286 @@
+/* block.h */
+/*
+ Copyright 2001 Vladimir Kolmogorov (vnk@cs.cornell.edu), Yuri Boykov (yuri@csd.uwo.ca).
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program 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 General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+
+/*
+ Template classes Block and DBlock
+ Implement adding and deleting items of the same type in blocks.
+
+ If there there are many items then using Block or DBlock
+ is more efficient than using 'new' and 'delete' both in terms
+ of memory and time since
+ (1) On some systems there is some minimum amount of memory
+ that 'new' can allocate (e.g., 64), so if items are
+ small that a lot of memory is wasted.
+ (2) 'new' and 'delete' are designed for items of varying size.
+ If all items has the same size, then an algorithm for
+ adding and deleting can be made more efficient.
+ (3) All Block and DBlock functions are inline, so there are
+ no extra function calls.
+
+ Differences between Block and DBlock:
+ (1) DBlock allows both adding and deleting items,
+ whereas Block allows only adding items.
+ (2) Block has an additional operation of scanning
+ items added so far (in the order in which they were added).
+ (3) Block allows to allocate several consecutive
+ items at a time, whereas DBlock can add only a single item.
+
+ Note that no constructors or destructors are called for items.
+
+ Example usage for items of type 'MyType':
+
+ ///////////////////////////////////////////////////
+ #include "block.h"
+ #define BLOCK_SIZE 1024
+ typedef struct { int a, b; } MyType;
+ MyType *ptr, *array[10000];
+
+ ...
+
+ Block<MyType> *block = new Block<MyType>(BLOCK_SIZE);
+
+ // adding items
+ for (int i=0; i<sizeof(array); i++)
+ {
+ ptr = block -> New();
+ ptr -> a = ptr -> b = rand();
+ }
+
+ // reading items
+ for (ptr=block->ScanFirst(); ptr; ptr=block->ScanNext())
+ {
+ printf("%d %d\n", ptr->a, ptr->b);
+ }
+
+ delete block;
+
+ ...
+
+ DBlock<MyType> *dblock = new DBlock<MyType>(BLOCK_SIZE);
+
+ // adding items
+ for (int i=0; i<sizeof(array); i++)
+ {
+ array[i] = dblock -> New();
+ }
+
+ // deleting items
+ for (int i=0; i<sizeof(array); i+=2)
+ {
+ dblock -> Delete(array[i]);
+ }
+
+ // adding items
+ for (int i=0; i<sizeof(array); i++)
+ {
+ array[i] = dblock -> New();
+ }
+
+ delete dblock;
+
+ ///////////////////////////////////////////////////
+
+ Note that DBlock deletes items by marking them as
+ empty (i.e., by adding them to the list of free items),
+ so that this memory could be used for subsequently
+ added items. Thus, at each moment the memory allocated
+ is determined by the maximum number of items allocated
+ simultaneously at earlier moments. All memory is
+ deallocated only when the destructor is called.
+*/
+
+#ifndef __BLOCK_H__
+#define __BLOCK_H__
+
+#include <stdlib.h>
+#include <stdio.h>
+
+/***********************************************************************/
+/***********************************************************************/
+/***********************************************************************/
+
+template <class Type> class Block
+{
+public:
+ /* Constructor. Arguments are the block size and
+ (optionally) the pointer to the function which
+ will be called if allocation failed; the message
+ passed to this function is "Not enough memory!" */
+ Block(int size, void (*err_function)(char *) = NULL) { first = last = NULL; block_size = size; error_function = err_function; }
+
+ /* Destructor. Deallocates all items added so far */
+ ~Block() { while (first) { block *next = first -> next; delete first; first = next; } }
+
+ /* Allocates 'num' consecutive items; returns pointer
+ to the first item. 'num' cannot be greater than the
+ block size since items must fit in one block */
+ Type *New(int num = 1)
+ {
+ Type *t;
+
+ if (!last || last->current + num > last->last)
+ {
+ if (last && last->next) last = last -> next;
+ else
+ {
+ block *next = (block *) new char [sizeof(block) + (block_size-1)*sizeof(Type)];
+ if (!next) { fprintf(stderr, "Not enough memory!"); exit(1); }
+ if (last) last -> next = next;
+ else first = next;
+ last = next;
+ last -> current = & ( last -> data[0] );
+ last -> last = last -> current + block_size;
+ last -> next = NULL;
+ }
+ }
+
+ t = last -> current;
+ last -> current += num;
+ return t;
+ }
+
+ /* Returns the first item (or NULL, if no items were added) */
+ Type *ScanFirst()
+ {
+ scan_current_block = first;
+ if (!scan_current_block) return NULL;
+ scan_current_data = & ( scan_current_block -> data[0] );
+ return scan_current_data ++;
+ }
+
+ /* Returns the next item (or NULL, if all items have been read)
+ Can be called only if previous ScanFirst() or ScanNext()
+ call returned not NULL. */
+ Type *ScanNext()
+ {
+ if (scan_current_data >= scan_current_block -> current)
+ {
+ scan_current_block = scan_current_block -> next;
+ if (!scan_current_block) return NULL;
+ scan_current_data = & ( scan_current_block -> data[0] );
+ }
+ return scan_current_data ++;
+ }
+
+ /* Marks all elements as empty */
+ void Reset()
+ {
+ block *b;
+ if (!first) return;
+ for (b=first; ; b=b->next)
+ {
+ b -> current = & ( b -> data[0] );
+ if (b == last) break;
+ }
+ last = first;
+ }
+
+/***********************************************************************/
+
+private:
+
+ typedef struct block_st
+ {
+ Type *current, *last;
+ struct block_st *next;
+ Type data[1];
+ } block;
+
+ int block_size;
+ block *first;
+ block *last;
+
+ block *scan_current_block;
+ Type *scan_current_data;
+
+ void (*error_function)(char *);
+};
+
+/***********************************************************************/
+/***********************************************************************/
+/***********************************************************************/
+
+template <class Type> class DBlock
+{
+public:
+ /* Constructor. Arguments are the block size and
+ (optionally) the pointer to the function which
+ will be called if allocation failed; the message
+ passed to this function is "Not enough memory!" */
+ DBlock(int size, void (*err_function)(char *) = NULL) { first = NULL; first_free = NULL; block_size = size; error_function = err_function; }
+
+ /* Destructor. Deallocates all items added so far */
+ ~DBlock() { while (first) { block *next = first -> next; delete first; first = next; } }
+
+ /* Allocates one item */
+ Type *New()
+ {
+ block_item *item;
+
+ if (!first_free)
+ {
+ block *next = first;
+ first = (block *) new char [sizeof(block) + (block_size-1)*sizeof(block_item)];
+ if (!first) { fprintf(stderr, "Not enough memory!"); exit(1); }
+ first_free = & (first -> data[0] );
+ for (item=first_free; item<first_free+block_size-1; item++)
+ item -> next_free = item + 1;
+ item -> next_free = NULL;
+ first -> next = next;
+ }
+
+ item = first_free;
+ first_free = item -> next_free;
+ return (Type *) item;
+ }
+
+ /* Deletes an item allocated previously */
+ void Delete(Type *t)
+ {
+ ((block_item *) t) -> next_free = first_free;
+ first_free = (block_item *) t;
+ }
+
+/***********************************************************************/
+
+private:
+
+ typedef union block_item_st
+ {
+ Type t;
+ block_item_st *next_free;
+ } block_item;
+
+ typedef struct block_st
+ {
+ struct block_st *next;
+ block_item data[1];
+ } block;
+
+ int block_size;
+ block *first;
+ block_item *first_free;
+
+ void (*error_function)(char *);
+};
+
+
+#endif
+
diff --git a/package_bgs/ck/graph.cpp b/package_bgs/ck/graph.cpp
new file mode 100644
index 0000000..fb4cf9f
--- /dev/null
+++ b/package_bgs/ck/graph.cpp
@@ -0,0 +1,80 @@
+/* graph.cpp */
+/*
+ Copyright 2001 Vladimir Kolmogorov (vnk@cs.cornell.edu), Yuri Boykov (yuri@csd.uwo.ca).
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program 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 General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+
+#include <stdio.h>
+#include "graph.h"
+
+Graph::Graph(void (*err_function)(char *))
+{
+ error_function = err_function;
+ node_block = new Block<node>(NODE_BLOCK_SIZE, error_function);
+ arc_block = new Block<arc>(NODE_BLOCK_SIZE, error_function);
+ flow = 0;
+}
+
+Graph::~Graph()
+{
+ delete node_block;
+ delete arc_block;
+}
+
+Graph::node_id Graph::add_node()
+{
+ node *i = node_block -> New();
+
+ i -> first = NULL;
+ i -> tr_cap = 0;
+
+ return (node_id) i;
+}
+
+void Graph::add_edge(node_id from, node_id to, captype cap, captype rev_cap)
+{
+ arc *a, *a_rev;
+
+ a = arc_block -> New(2);
+ a_rev = a + 1;
+
+ a -> sister = a_rev;
+ a_rev -> sister = a;
+ a -> next = ((node*)from) -> first;
+ ((node*)from) -> first = a;
+ a_rev -> next = ((node*)to) -> first;
+ ((node*)to) -> first = a_rev;
+ a -> head = (node*)to;
+ a_rev -> head = (node*)from;
+ a -> r_cap = cap;
+ a_rev -> r_cap = rev_cap;
+}
+
+void Graph::set_tweights(node_id i, captype cap_source, captype cap_sink)
+{
+ flow += (cap_source < cap_sink) ? cap_source : cap_sink;
+ ((node*)i) -> tr_cap = cap_source - cap_sink;
+}
+
+void Graph::add_tweights(node_id i, captype cap_source, captype cap_sink)
+{
+ register captype delta = ((node*)i) -> tr_cap;
+ if (delta > 0) cap_source += delta;
+ else cap_sink -= delta;
+ flow += (cap_source < cap_sink) ? cap_source : cap_sink;
+ ((node*)i) -> tr_cap = cap_source - cap_sink;
+}
diff --git a/package_bgs/ck/graph.h b/package_bgs/ck/graph.h
new file mode 100644
index 0000000..fdae566
--- /dev/null
+++ b/package_bgs/ck/graph.h
@@ -0,0 +1,180 @@
+/* graph.h */
+/*
+ This software library implements the maxflow algorithm
+ described in
+
+ An Experimental Comparison of Min-Cut/Max-Flow Algorithms
+ for Energy Minimization in Vision.
+ Yuri Boykov and Vladimir Kolmogorov.
+ In IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI),
+ September 2004
+
+ This algorithm was developed by Yuri Boykov and Vladimir Kolmogorov
+ at Siemens Corporate Research. To make it available for public use,
+ it was later reimplemented by Vladimir Kolmogorov based on open publications.
+
+ If you use this software for research purposes, you should cite
+ the aforementioned paper in any resulting publication.
+*/
+
+/*
+ Copyright 2001 Vladimir Kolmogorov (vnk@cs.cornell.edu), Yuri Boykov (yuri@csd.uwo.ca).
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program 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 General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+
+/*
+ For description, example usage, discussion of graph representation
+ and memory usage see README.TXT.
+*/
+
+#ifndef __GRAPH_H__
+#define __GRAPH_H__
+
+#include "block.h"
+
+/*
+ Nodes, arcs and pointers to nodes are
+ added in blocks for memory and time efficiency.
+ Below are numbers of items in blocks
+*/
+#define NODE_BLOCK_SIZE 512
+#define ARC_BLOCK_SIZE 1024
+#define NODEPTR_BLOCK_SIZE 128
+
+class Graph
+{
+public:
+ typedef enum
+ {
+ SOURCE = 0,
+ SINK = 1
+ } termtype; /* terminals */
+
+ /* Type of edge weights.
+ Can be changed to char, int, float, double, ... */
+ typedef short captype;
+ /* Type of total flow */
+ typedef int flowtype;
+
+ typedef void * node_id;
+
+ /* interface functions */
+
+ /* Constructor. Optional argument is the pointer to the
+ function which will be called if an error occurs;
+ an error message is passed to this function. If this
+ argument is omitted, exit(1) will be called. */
+ Graph(void (*err_function)(char *) = NULL);
+
+ /* Destructor */
+ ~Graph();
+
+ /* Adds a node to the graph */
+ node_id add_node();
+
+ /* Adds a bidirectional edge between 'from' and 'to'
+ with the weights 'cap' and 'rev_cap' */
+ void add_edge(node_id from, node_id to, captype cap, captype rev_cap);
+
+ /* Sets the weights of the edges 'SOURCE->i' and 'i->SINK'
+ Can be called at most once for each node before any call to 'add_tweights'.
+ Weights can be negative */
+ void set_tweights(node_id i, captype cap_source, captype cap_sink);
+
+ /* Adds new edges 'SOURCE->i' and 'i->SINK' with corresponding weights
+ Can be called multiple times for each node.
+ Weights can be negative */
+ void add_tweights(node_id i, captype cap_source, captype cap_sink);
+
+ /* After the maxflow is computed, this function returns to which
+ segment the node 'i' belongs (Graph::SOURCE or Graph::SINK) */
+ termtype what_segment(node_id i);
+
+ /* Computes the maxflow. Can be called only once. */
+ flowtype maxflow();
+
+/***********************************************************************/
+/***********************************************************************/
+/***********************************************************************/
+
+private:
+ /* internal variables and functions */
+
+ struct arc_st;
+
+ /* node structure */
+ typedef struct node_st
+ {
+ arc_st *first; /* first outcoming arc */
+
+ arc_st *parent; /* node's parent */
+ node_st *next; /* pointer to the next active node
+ (or to itself if it is the last node in the list) */
+ int TS; /* timestamp showing when DIST was computed */
+ int DIST; /* distance to the terminal */
+ short is_sink; /* flag showing whether the node is in the source or in the sink tree */
+
+ captype tr_cap; /* if tr_cap > 0 then tr_cap is residual capacity of the arc SOURCE->node
+ otherwise -tr_cap is residual capacity of the arc node->SINK */
+ } node;
+
+ /* arc structure */
+ typedef struct arc_st
+ {
+ node_st *head; /* node the arc points to */
+ arc_st *next; /* next arc with the same originating node */
+ arc_st *sister; /* reverse arc */
+
+ captype r_cap; /* residual capacity */
+ } arc;
+
+ /* 'pointer to node' structure */
+ typedef struct nodeptr_st
+ {
+ node_st *ptr;
+ nodeptr_st *next;
+ } nodeptr;
+
+ Block<node> *node_block;
+ Block<arc> *arc_block;
+ DBlock<nodeptr> *nodeptr_block;
+
+ void (*error_function)(char *); /* this function is called if a error occurs,
+ with a corresponding error message
+ (or exit(1) is called if it's NULL) */
+
+ flowtype flow; /* total flow */
+
+/***********************************************************************/
+
+ node *queue_first[2], *queue_last[2]; /* list of active nodes */
+ nodeptr *orphan_first, *orphan_last; /* list of pointers to orphans */
+ int TIME; /* monotonically increasing global counter */
+
+/***********************************************************************/
+
+ /* functions for processing active list */
+ void set_active(node *i);
+ node *next_active();
+
+ void maxflow_init();
+ void augment(arc *middle_arc);
+ void process_source_orphan(node *i);
+ void process_sink_orphan(node *i);
+};
+
+#endif
diff --git a/package_bgs/ck/maxflow.cpp b/package_bgs/ck/maxflow.cpp
new file mode 100644
index 0000000..8812a4a
--- /dev/null
+++ b/package_bgs/ck/maxflow.cpp
@@ -0,0 +1,514 @@
+/* maxflow.cpp */
+/*
+ Copyright 2001 Vladimir Kolmogorov (vnk@cs.cornell.edu), Yuri Boykov (yuri@csd.uwo.ca).
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program 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 General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+
+#include <stdio.h>
+#include "graph.h"
+
+/*
+ special constants for node->parent
+*/
+#define TERMINAL ( (arc *) 1 ) /* to terminal */
+#define ORPHAN ( (arc *) 2 ) /* orphan */
+
+#define INFINITE_D 1000000000 /* infinite distance to the terminal */
+
+/***********************************************************************/
+
+/*
+ Functions for processing active list.
+ i->next points to the next node in the list
+ (or to i, if i is the last node in the list).
+ If i->next is NULL iff i is not in the list.
+
+ There are two queues. Active nodes are added
+ to the end of the second queue and read from
+ the front of the first queue. If the first queue
+ is empty, it is replaced by the second queue
+ (and the second queue becomes empty).
+*/
+
+inline void Graph::set_active(node *i)
+{
+ if (!i->next)
+ {
+ /* it's not in the list yet */
+ if (queue_last[1]) queue_last[1] -> next = i;
+ else queue_first[1] = i;
+ queue_last[1] = i;
+ i -> next = i;
+ }
+}
+
+/*
+ Returns the next active node.
+ If it is connected to the sink, it stays in the list,
+ otherwise it is removed from the list
+*/
+inline Graph::node * Graph::next_active()
+{
+ node *i;
+
+ while ( 1 )
+ {
+ if (!(i=queue_first[0]))
+ {
+ queue_first[0] = i = queue_first[1];
+ queue_last[0] = queue_last[1];
+ queue_first[1] = NULL;
+ queue_last[1] = NULL;
+ if (!i) return NULL;
+ }
+
+ /* remove it from the active list */
+ if (i->next == i) queue_first[0] = queue_last[0] = NULL;
+ else queue_first[0] = i -> next;
+ i -> next = NULL;
+
+ /* a node in the list is active iff it has a parent */
+ if (i->parent) return i;
+ }
+}
+
+/***********************************************************************/
+
+void Graph::maxflow_init()
+{
+ node *i;
+
+ queue_first[0] = queue_last[0] = NULL;
+ queue_first[1] = queue_last[1] = NULL;
+ orphan_first = NULL;
+
+ for (i=node_block->ScanFirst(); i; i=node_block->ScanNext())
+ {
+ i -> next = NULL;
+ i -> TS = 0;
+ if (i->tr_cap > 0)
+ {
+ /* i is connected to the source */
+ i -> is_sink = 0;
+ i -> parent = TERMINAL;
+ set_active(i);
+ i -> TS = 0;
+ i -> DIST = 1;
+ }
+ else if (i->tr_cap < 0)
+ {
+ /* i is connected to the sink */
+ i -> is_sink = 1;
+ i -> parent = TERMINAL;
+ set_active(i);
+ i -> TS = 0;
+ i -> DIST = 1;
+ }
+ else
+ {
+ i -> parent = NULL;
+ }
+ }
+ TIME = 0;
+}
+
+/***********************************************************************/
+
+void Graph::augment(arc *middle_arc)
+{
+ node *i;
+ arc *a;
+ captype bottleneck;
+ nodeptr *np;
+
+
+ /* 1. Finding bottleneck capacity */
+ /* 1a - the source tree */
+ bottleneck = middle_arc -> r_cap;
+ for (i=middle_arc->sister->head; ; i=a->head)
+ {
+ a = i -> parent;
+ if (a == TERMINAL) break;
+ if (bottleneck > a->sister->r_cap) bottleneck = a -> sister -> r_cap;
+ }
+ if (bottleneck > i->tr_cap) bottleneck = i -> tr_cap;
+ /* 1b - the sink tree */
+ for (i=middle_arc->head; ; i=a->head)
+ {
+ a = i -> parent;
+ if (a == TERMINAL) break;
+ if (bottleneck > a->r_cap) bottleneck = a -> r_cap;
+ }
+ if (bottleneck > - i->tr_cap) bottleneck = - i -> tr_cap;
+
+
+ /* 2. Augmenting */
+ /* 2a - the source tree */
+ middle_arc -> sister -> r_cap += bottleneck;
+ middle_arc -> r_cap -= bottleneck;
+ for (i=middle_arc->sister->head; ; i=a->head)
+ {
+ a = i -> parent;
+ if (a == TERMINAL) break;
+ a -> r_cap += bottleneck;
+ a -> sister -> r_cap -= bottleneck;
+ if (!a->sister->r_cap)
+ {
+ /* add i to the adoption list */
+ i -> parent = ORPHAN;
+ np = nodeptr_block -> New();
+ np -> ptr = i;
+ np -> next = orphan_first;
+ orphan_first = np;
+ }
+ }
+ i -> tr_cap -= bottleneck;
+ if (!i->tr_cap)
+ {
+ /* add i to the adoption list */
+ i -> parent = ORPHAN;
+ np = nodeptr_block -> New();
+ np -> ptr = i;
+ np -> next = orphan_first;
+ orphan_first = np;
+ }
+ /* 2b - the sink tree */
+ for (i=middle_arc->head; ; i=a->head)
+ {
+ a = i -> parent;
+ if (a == TERMINAL) break;
+ a -> sister -> r_cap += bottleneck;
+ a -> r_cap -= bottleneck;
+ if (!a->r_cap)
+ {
+ /* add i to the adoption list */
+ i -> parent = ORPHAN;
+ np = nodeptr_block -> New();
+ np -> ptr = i;
+ np -> next = orphan_first;
+ orphan_first = np;
+ }
+ }
+ i -> tr_cap += bottleneck;
+ if (!i->tr_cap)
+ {
+ /* add i to the adoption list */
+ i -> parent = ORPHAN;
+ np = nodeptr_block -> New();
+ np -> ptr = i;
+ np -> next = orphan_first;
+ orphan_first = np;
+ }
+
+
+ flow += bottleneck;
+}
+
+/***********************************************************************/
+
+void Graph::process_source_orphan(node *i)
+{
+ node *j;
+ arc *a0, *a0_min = NULL, *a;
+ nodeptr *np;
+ int d, d_min = INFINITE_D;
+
+ /* trying to find a new parent */
+ for (a0=i->first; a0; a0=a0->next)
+ if (a0->sister->r_cap)
+ {
+ j = a0 -> head;
+ if (!j->is_sink && (a=j->parent))
+ {
+ /* checking the origin of j */
+ d = 0;
+ while ( 1 )
+ {
+ if (j->TS == TIME)
+ {
+ d += j -> DIST;
+ break;
+ }
+ a = j -> parent;
+ d ++;
+ if (a==TERMINAL)
+ {
+ j -> TS = TIME;
+ j -> DIST = 1;
+ break;
+ }
+ if (a==ORPHAN) { d = INFINITE_D; break; }
+ j = a -> head;
+ }
+ if (d<INFINITE_D) /* j originates from the source - done */
+ {
+ if (d<d_min)
+ {
+ a0_min = a0;
+ d_min = d;
+ }
+ /* set marks along the path */
+ for (j=a0->head; j->TS!=TIME; j=j->parent->head)
+ {
+ j -> TS = TIME;
+ j -> DIST = d --;
+ }
+ }
+ }
+ }
+
+ if ((i->parent = a0_min))
+ {
+ i -> TS = TIME;
+ i -> DIST = d_min + 1;
+ }
+ else
+ {
+ /* no parent is found */
+ i -> TS = 0;
+
+ /* process neighbors */
+ for (a0=i->first; a0; a0=a0->next)
+ {
+ j = a0 -> head;
+ if (!j->is_sink && (a=j->parent))
+ {
+ if (a0->sister->r_cap) set_active(j);
+ if (a!=TERMINAL && a!=ORPHAN && a->head==i)
+ {
+ /* add j to the adoption list */
+ j -> parent = ORPHAN;
+ np = nodeptr_block -> New();
+ np -> ptr = j;
+ if (orphan_last) orphan_last -> next = np;
+ else orphan_first = np;
+ orphan_last = np;
+ np -> next = NULL;
+ }
+ }
+ }
+ }
+}
+
+void Graph::process_sink_orphan(node *i)
+{
+ node *j;
+ arc *a0, *a0_min = NULL, *a;
+ nodeptr *np;
+ int d, d_min = INFINITE_D;
+
+ /* trying to find a new parent */
+ for (a0=i->first; a0; a0=a0->next)
+ if (a0->r_cap)
+ {
+ j = a0 -> head;
+ if (j->is_sink && (a=j->parent))
+ {
+ /* checking the origin of j */
+ d = 0;
+ while ( 1 )
+ {
+ if (j->TS == TIME)
+ {
+ d += j -> DIST;
+ break;
+ }
+ a = j -> parent;
+ d ++;
+ if (a==TERMINAL)
+ {
+ j -> TS = TIME;
+ j -> DIST = 1;
+ break;
+ }
+ if (a==ORPHAN) { d = INFINITE_D; break; }
+ j = a -> head;
+ }
+ if (d<INFINITE_D) /* j originates from the sink - done */
+ {
+ if (d<d_min)
+ {
+ a0_min = a0;
+ d_min = d;
+ }
+ /* set marks along the path */
+ for (j=a0->head; j->TS!=TIME; j=j->parent->head)
+ {
+ j -> TS = TIME;
+ j -> DIST = d --;
+ }
+ }
+ }
+ }
+
+ if ((i->parent = a0_min))
+ {
+ i -> TS = TIME;
+ i -> DIST = d_min + 1;
+ }
+ else
+ {
+ /* no parent is found */
+ i -> TS = 0;
+
+ /* process neighbors */
+ for (a0=i->first; a0; a0=a0->next)
+ {
+ j = a0 -> head;
+ if (j->is_sink && (a=j->parent))
+ {
+ if (a0->r_cap) set_active(j);
+ if (a!=TERMINAL && a!=ORPHAN && a->head==i)
+ {
+ /* add j to the adoption list */
+ j -> parent = ORPHAN;
+ np = nodeptr_block -> New();
+ np -> ptr = j;
+ if (orphan_last) orphan_last -> next = np;
+ else orphan_first = np;
+ orphan_last = np;
+ np -> next = NULL;
+ }
+ }
+ }
+ }
+}
+
+/***********************************************************************/
+
+Graph::flowtype Graph::maxflow()
+{
+ node *i, *j, *current_node = NULL;
+ arc *a;
+ nodeptr *np, *np_next;
+
+ maxflow_init();
+ nodeptr_block = new DBlock<nodeptr>(NODEPTR_BLOCK_SIZE, error_function);
+
+ while ( 1 )
+ {
+ if ((i=current_node))
+ {
+ i -> next = NULL; /* remove active flag */
+ if (!i->parent) i = NULL;
+ }
+ if (!i)
+ {
+ if (!(i = next_active())) break;
+ }
+
+ /* growth */
+ if (!i->is_sink)
+ {
+ /* grow source tree */
+ for (a=i->first; a; a=a->next)
+ if (a->r_cap)
+ {
+ j = a -> head;
+ if (!j->parent)
+ {
+ j -> is_sink = 0;
+ j -> parent = a -> sister;
+ j -> TS = i -> TS;
+ j -> DIST = i -> DIST + 1;
+ set_active(j);
+ }
+ else if (j->is_sink) break;
+ else if (j->TS <= i->TS &&
+ j->DIST > i->DIST)
+ {
+ /* heuristic - trying to make the distance from j to the source shorter */
+ j -> parent = a -> sister;
+ j -> TS = i -> TS;
+ j -> DIST = i -> DIST + 1;
+ }
+ }
+ }
+ else
+ {
+ /* grow sink tree */
+ for (a=i->first; a; a=a->next)
+ if (a->sister->r_cap)
+ {
+ j = a -> head;
+ if (!j->parent)
+ {
+ j -> is_sink = 1;
+ j -> parent = a -> sister;
+ j -> TS = i -> TS;
+ j -> DIST = i -> DIST + 1;
+ set_active(j);
+ }
+ else if (!j->is_sink) { a = a -> sister; break; }
+ else if (j->TS <= i->TS &&
+ j->DIST > i->DIST)
+ {
+ /* heuristic - trying to make the distance from j to the sink shorter */
+ j -> parent = a -> sister;
+ j -> TS = i -> TS;
+ j -> DIST = i -> DIST + 1;
+ }
+ }
+ }
+
+ TIME ++;
+
+ if (a)
+ {
+ i -> next = i; /* set active flag */
+ current_node = i;
+
+ /* augmentation */
+ augment(a);
+ /* augmentation end */
+
+ /* adoption */
+ while ((np=orphan_first))
+ {
+ np_next = np -> next;
+ np -> next = NULL;
+
+ while ((np=orphan_first))
+ {
+ orphan_first = np -> next;
+ i = np -> ptr;
+ nodeptr_block -> Delete(np);
+ if (!orphan_first) orphan_last = NULL;
+ if (i->is_sink) process_sink_orphan(i);
+ else process_source_orphan(i);
+ }
+
+ orphan_first = np_next;
+ }
+ /* adoption end */
+ }
+ else current_node = NULL;
+ }
+
+ delete nodeptr_block;
+
+ return flow;
+}
+
+/***********************************************************************/
+
+Graph::termtype Graph::what_segment(node_id i)
+{
+ if (((node*)i)->parent && !((node*)i)->is_sink) return SOURCE;
+ return SINK;
+}
+
diff --git a/package_bgs/db/IndependentMultimodalBGS.cpp b/package_bgs/db/IndependentMultimodalBGS.cpp
new file mode 100644
index 0000000..c05ee5c
--- /dev/null
+++ b/package_bgs/db/IndependentMultimodalBGS.cpp
@@ -0,0 +1,54 @@
+#include "IndependentMultimodalBGS.h"
+
+IndependentMultimodalBGS::IndependentMultimodalBGS() : firstTime(true), fps(10), showOutput(true){
+ pIMBS = new BackgroundSubtractorIMBS(fps);
+}
+IndependentMultimodalBGS::~IndependentMultimodalBGS(){
+ delete pIMBS;
+}
+
+void IndependentMultimodalBGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if (firstTime)
+ saveConfig();
+
+ //get the fgmask and update the background model
+ pIMBS->apply(img_input, img_foreground);
+
+ //get background image
+ pIMBS->getBackgroundImage(img_background);
+
+ img_foreground.copyTo(img_output);
+ img_background.copyTo(img_bgmodel);
+
+ if (showOutput)
+ {
+ cv::imshow("IMBS FG", img_foreground);
+ cv::imshow("IMBS BG", img_background);
+ }
+
+ firstTime = false;
+}
+
+void IndependentMultimodalBGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/IndependentMultimodalBGS.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void IndependentMultimodalBGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/IndependentMultimodalBGS.xml", 0, CV_STORAGE_READ);
+
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
diff --git a/package_bgs/db/IndependentMultimodalBGS.h b/package_bgs/db/IndependentMultimodalBGS.h
new file mode 100644
index 0000000..b6f9a5d
--- /dev/null
+++ b/package_bgs/db/IndependentMultimodalBGS.h
@@ -0,0 +1,29 @@
+#pragma once
+
+#include <cv.h>
+#include <highgui.h>
+
+#include "imbs.hpp"
+
+#include "../IBGS.h"
+
+class IndependentMultimodalBGS : public IBGS
+{
+private:
+ BackgroundSubtractorIMBS* pIMBS;
+ int fps;
+ bool firstTime;
+ cv::Mat img_foreground;
+ cv::Mat img_background;
+ bool showOutput;
+
+public:
+ IndependentMultimodalBGS();
+ ~IndependentMultimodalBGS();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
\ No newline at end of file
diff --git a/package_bgs/db/imbs.cpp b/package_bgs/db/imbs.cpp
new file mode 100644
index 0000000..715d699
--- /dev/null
+++ b/package_bgs/db/imbs.cpp
@@ -0,0 +1,748 @@
+/*
+* IMBS Background Subtraction Library
+*
+* This file imbs.hpp contains the C++ OpenCV based implementation for
+* IMBS algorithm described in
+* D. D. Bloisi and L. Iocchi
+* "Independent Multimodal Background Subtraction"
+* In Proc. of the Third Int. Conf. on Computational Modeling of Objects
+* Presented in Images: Fundamentals, Methods and Applications, pp. 39-44, 2012.
+* Please, cite the above paper if you use IMBS.
+*
+* This software is provided without any warranty about its usability.
+* It is for educational purposes and should be regarded as such.
+*
+* Written by Domenico D. Bloisi
+*
+* Please, report suggestions/comments/bugs to
+* domenico.bloisi@gmail.com
+*
+*/
+
+#include "imbs.hpp"
+
+using namespace std;
+using namespace cv;
+
+BackgroundSubtractorIMBS::BackgroundSubtractorIMBS()
+{
+ fps = 0.;
+ fgThreshold = 15;
+ associationThreshold = 5;
+ samplingPeriod = 250.;//500.ms
+ minBinHeight = 2;
+ numSamples = 10; //30
+ alpha = 0.65;
+ beta = 1.15;
+ tau_s = 60.;
+ tau_h = 40.;
+ minArea = 30.;
+ persistencePeriod = samplingPeriod*numSamples/3.;//ms
+
+ initial_tick_count = (double)getTickCount();
+
+ //morphological Opening and closing
+ morphologicalFiltering = false;
+}
+
+BackgroundSubtractorIMBS::BackgroundSubtractorIMBS(
+ double fps,
+ unsigned int fgThreshold,
+ unsigned int associationThreshold,
+ double samplingPeriod,
+ unsigned int minBinHeight,
+ unsigned int numSamples,
+ double alpha,
+ double beta,
+ double tau_s,
+ double tau_h,
+ double minArea,
+ double persistencePeriod,
+ bool morphologicalFiltering)
+{
+ this->fps = fps;
+ this->fgThreshold = fgThreshold;
+ this->persistencePeriod = persistencePeriod;
+ if(minBinHeight <= 1){
+ this->minBinHeight = 1;
+ }
+ else {
+ this->minBinHeight = minBinHeight;
+ }
+ this->associationThreshold = associationThreshold;
+ this->samplingPeriod = samplingPeriod;//ms
+ this->minBinHeight = minBinHeight;
+ this->numSamples = numSamples;
+ this->alpha = alpha;
+ this->beta = beta;
+ this->tau_s = tau_s;
+ this->tau_h = tau_h;
+ this->minArea = minArea;
+
+ if(fps == 0.)
+ initial_tick_count = (double)getTickCount();
+ else
+ initial_tick_count = 0;
+
+ //morphological Opening and closing
+ this->morphologicalFiltering = morphologicalFiltering;
+}
+
+BackgroundSubtractorIMBS::~BackgroundSubtractorIMBS()
+{
+ delete[] bgBins;
+ delete[] bgModel;
+ delete[] persistenceMap;
+}
+
+void BackgroundSubtractorIMBS::initialize(Size frameSize, int frameType)
+{
+ /*cout << "INPUT: WIDTH " << frameSize.width << " HEIGHT " << frameSize.height <<
+ " FPS " << fps << endl;
+ cout << endl;*/
+
+ this->frameSize = frameSize;
+ this->frameType = frameType;
+ this->numPixels = frameSize.width*frameSize.height;
+
+ persistenceMap = new unsigned int[numPixels];
+ for(int i = 0; i < numPixels; i++) {
+ persistenceMap[i] = 0;
+ }
+
+ bgBins = new Bins[numPixels];
+ bgModel = new BgModel[numPixels];
+ maxBgBins = numSamples / minBinHeight;
+
+ timestamp = 0.;//ms
+ prev_timestamp = 0.;//ms
+ prev_bg_frame_time = 0;
+ bg_frame_counter = 0;
+ bg_reset = false;
+ prev_area = 0;
+ sudden_change = false;
+
+ SHADOW_LABEL = 80;
+ PERSISTENCE_LABEL = 180;
+ FOREGROUND_LABEL = 255;
+
+ fgmask.create(frameSize, CV_8UC1);
+ fgfiltered.create(frameSize, CV_8UC1);
+ persistenceImage = Mat::zeros(frameSize, CV_8UC1);
+ bgSample.create(frameSize, CV_8UC3);
+ bgImage = Mat::zeros(frameSize, CV_8UC3);
+
+ //initial message to be shown until the first fg mask is computed
+ initialMsgGray = Mat::zeros(frameSize, CV_8UC1);
+ putText(initialMsgGray, "Creating", Point(10,20), FONT_HERSHEY_SIMPLEX, 0.4, CV_RGB(255, 255, 255));
+ putText(initialMsgGray, "initial", Point(10,40), FONT_HERSHEY_SIMPLEX, 0.4, CV_RGB(255, 255, 255));
+ putText(initialMsgGray, "background...", Point(10,60), FONT_HERSHEY_SIMPLEX, 0.4, CV_RGB(255, 255, 255));
+
+ initialMsgRGB = Mat::zeros(frameSize, CV_8UC3);
+ putText(initialMsgRGB, "Creating", Point(10,20), FONT_HERSHEY_SIMPLEX, 0.4, CV_RGB(255, 255, 255));
+ putText(initialMsgRGB, "initial", Point(10,40), FONT_HERSHEY_SIMPLEX, 0.4, CV_RGB(255, 255, 255));
+ putText(initialMsgRGB, "background...", Point(10,60), FONT_HERSHEY_SIMPLEX, 0.4, CV_RGB(255, 255, 255));
+
+ if(minBinHeight <= 1){
+ minBinHeight = 1;
+ }
+
+ for(unsigned int p = 0; p < numPixels; ++p)
+ {
+ bgBins[p].binValues = new Vec3b[numSamples];
+ bgBins[p].binHeights = new uchar[numSamples];
+ bgBins[p].isFg = new bool[numSamples];
+
+ bgModel[p].values = new Vec3b[maxBgBins];
+ bgModel[p].isValid = new bool[maxBgBins];
+ bgModel[p].isValid[0] = false;
+ bgModel[p].isFg = new bool[maxBgBins];
+ bgModel[p].counter = new uchar[maxBgBins];
+ }
+}
+
+void BackgroundSubtractorIMBS::apply(InputArray _frame, OutputArray _fgmask, double learningRate)
+{
+ frame = _frame.getMat();
+
+ CV_Assert(frame.depth() == CV_8U);
+ CV_Assert(frame.channels() == 3);
+
+ bool needToInitialize = nframes == 0 || frame.type() != frameType;
+ if( needToInitialize ) {
+ initialize(frame.size(), frame.type());
+ }
+
+ _fgmask.create(frameSize, CV_8UC1);
+ fgmask = _fgmask.getMat();
+ fgmask = Scalar(0);
+
+ //get current time
+ prev_timestamp = timestamp;
+ if(fps == 0.) {
+ timestamp = getTimestamp();//ms
+ }
+ else {
+ timestamp += 1000./fps;//ms
+ }
+
+ //check for global changes
+ if(sudden_change) {
+ changeBg();
+ }
+
+ //wait for the first model to be generated
+ if(bgModel[0].isValid[0]) {
+ getFg();
+ hsvSuppression();
+ filterFg();
+ }
+ //update the bg model
+ updateBg();
+
+ //show an initial message if the first bg is not yet ready
+ if(!bgModel[0].isValid[0]) {
+ initialMsgGray.copyTo(fgmask);
+ initialMsgRGB.copyTo(bgImage);
+ }
+ ++nframes;
+}
+
+void BackgroundSubtractorIMBS::updateBg() {
+ if(bg_reset) {
+ if(bg_frame_counter > numSamples - 1) {
+ bg_frame_counter = numSamples - 1;
+ }
+ }
+
+ if(prev_bg_frame_time > timestamp) {
+ prev_bg_frame_time = timestamp;
+ }
+
+ if(bg_frame_counter == numSamples - 1) {
+ createBg(bg_frame_counter);
+ bg_frame_counter = 0;
+ }
+ else { //bg_frame_counter < (numSamples - 1)
+
+ if((timestamp - prev_bg_frame_time) >= samplingPeriod)
+ {
+ //get a new sample for creating the bg model
+ prev_bg_frame_time = timestamp;
+ frame.copyTo(bgSample);
+ createBg(bg_frame_counter);
+ bg_frame_counter++;
+ }
+ }
+}
+
+double BackgroundSubtractorIMBS::getTimestamp() {
+ return ((double)getTickCount() - initial_tick_count)*1000./getTickFrequency();
+}
+
+void BackgroundSubtractorIMBS::hsvSuppression() {
+
+ uchar h_i, s_i, v_i;
+ uchar h_b, s_b, v_b;
+ float h_diff, s_diff, v_ratio;
+
+ Mat bgrPixel(cv::Size(1, 1), CV_8UC3);
+
+ vector<Mat> imHSV;
+ cv::split(convertImageRGBtoHSV(frame), imHSV);
+
+ for(unsigned int p = 0; p < numPixels; ++p) {
+ if(fgmask.data[p]) {
+
+ h_i = imHSV[0].data[p];
+ s_i = imHSV[1].data[p];
+ v_i = imHSV[2].data[p];
+
+ for(unsigned int n = 0; n < maxBgBins; ++n) {
+ if(!bgModel[p].isValid[n]) {
+ break;
+ }
+
+ if(bgModel[p].isFg[n]) {
+ continue;
+ }
+
+ bgrPixel.at<cv::Vec3b>(0,0) = bgModel[p].values[n];
+
+ cv::Mat hsvPixel = convertImageRGBtoHSV(bgrPixel);
+
+ h_b = hsvPixel.at<cv::Vec3b>(0,0)[0];
+ s_b = hsvPixel.at<cv::Vec3b>(0,0)[1];
+ v_b = hsvPixel.at<cv::Vec3b>(0,0)[2];
+
+ v_ratio = (float)v_i / (float)v_b;
+ s_diff = std::abs(s_i - s_b);
+ h_diff = std::min( std::abs(h_i - h_b), 255 - std::abs(h_i - h_b));
+
+ if( h_diff <= tau_h &&
+ s_diff <= tau_s &&
+ v_ratio >= alpha &&
+ v_ratio < beta)
+ {
+ fgmask.data[p] = SHADOW_LABEL;
+ break;
+ }
+ }//for
+ }//if
+ }//numPixels
+}
+
+void BackgroundSubtractorIMBS::createBg(unsigned int bg_sample_number) {
+ if(!bgSample.data) {
+ //cerr << "createBg -- an error occurred: " <<
+ // " unable to retrieve frame no. " << bg_sample_number << endl;
+
+ //TODO vedere gestione errori
+ abort();
+ }
+ //aux variable
+ Vec3b currentPixel;
+ //split bgSample in channels
+ cv::split(bgSample, bgSampleBGR);
+ //create a statistical model for each pixel (a set of bins of variable size)
+ for(unsigned int p = 0; p < numPixels; ++p) {
+ //create an initial bin for each pixel from the first sample (bg_sample_number = 0)
+ if(bg_sample_number == 0) {
+ for(int k = 0; k < 3; ++k) {
+ bgBins[p].binValues[0][k] = bgSampleBGR[k].data[p];
+ }
+ bgBins[p].binHeights[0] = 1;
+ for(unsigned int s = 1; s < numSamples; ++s) {
+ bgBins[p].binHeights[s] = 0;
+ }
+ //if the sample pixel is from foreground keep track of that situation
+ if(fgmask.data[p] == FOREGROUND_LABEL) {
+ bgBins[p].isFg[0] = true;
+ }
+ else {
+ bgBins[p].isFg[0] = false;
+ }
+ }//if(bg_sample_number == 0)
+ else { //bg_sample_number > 0
+ for(int k = 0; k < 3; ++k) {
+ currentPixel[k] = bgSampleBGR[k].data[p];
+ }
+ int den = 0;
+ for(unsigned int s = 0; s < bg_sample_number; ++s) {
+ //try to associate the current pixel values to an existing bin
+ if( std::abs(currentPixel[2] - bgBins[p].binValues[s][2]) <= associationThreshold &&
+ std::abs(currentPixel[1] - bgBins[p].binValues[s][1]) <= associationThreshold &&
+ std::abs(currentPixel[0] - bgBins[p].binValues[s][0]) <= associationThreshold )
+ {
+ den = (bgBins[p].binHeights[s] + 1);
+ for(int k = 0; k < 3; ++k) {
+ bgBins[p].binValues[s][k] =
+ (bgBins[p].binValues[s][k] * bgBins[p].binHeights[s] + currentPixel[k]) / den;
+ }
+ bgBins[p].binHeights[s]++; //increment the height of the bin
+ if(fgmask.data[p] == FOREGROUND_LABEL) {
+ bgBins[p].isFg[s] = true;
+ }
+ break;
+ }
+ //if the association is not possible, create a new bin
+ else if(bgBins[p].binHeights[s] == 0) {
+ bgBins[p].binValues[s] = currentPixel;
+ bgBins[p].binHeights[s]++;
+ if(fgmask.data[p] == FOREGROUND_LABEL) {
+ bgBins[p].isFg[s] = true;
+ }
+ else {
+ bgBins[p].isFg[s] = false;
+ }
+ break;
+ }
+ else continue;
+ }//for(unsigned int s = 0; s <= bg_sample_number; ++s)
+
+ //if all samples have been processed
+ //it is time to compute the fg mask
+ if(bg_sample_number == (numSamples - 1)) {
+ unsigned int index = 0;
+ int max_height = -1;
+ for(unsigned int s = 0; s < numSamples; ++s){
+ if(bgBins[p].binHeights[s] == 0) {
+ bgModel[p].isValid[index] = false;
+ break;
+ }
+ if(index == maxBgBins) {
+ break;
+ }
+ else if(bgBins[p].binHeights[s] >= minBinHeight) {
+ if(fgmask.data[p] == PERSISTENCE_LABEL) {
+ for(unsigned int n = 0; n < maxBgBins; n++) {
+ if(!bgModel[p].isValid[n]) {
+ break;
+ }
+ unsigned int d = std::max((int)std::abs(bgModel[p].values[n][0] - bgBins[p].binValues[s][0]),
+ std::abs(bgModel[p].values[n][1] - bgBins[p].binValues[s][1]) );
+ d = std::max((int)d, std::abs(bgModel[p].values[n][2] - bgBins[p].binValues[s][2]) );
+ if(d < fgThreshold){
+ bgModel[p].isFg[n] = false;
+ bgBins[p].isFg[s] = false;
+ }
+ }
+ }
+
+ if(bgBins[p].binHeights[s] > max_height) {
+ max_height = bgBins[p].binHeights[s];
+
+ for(int k = 0; k < 3; ++k) {
+ bgModel[p].values[index][k] = bgModel[p].values[0][k];
+ }
+ bgModel[p].isValid[index] = true;
+ bgModel[p].isFg[index] = bgModel[p].isFg[0];
+ bgModel[p].counter[index] = bgModel[p].counter[0];
+
+ for(int k = 0; k < 3; ++k) {
+ bgModel[p].values[0][k] = bgBins[p].binValues[s][k];
+ }
+ bgModel[p].isValid[0] = true;
+ bgModel[p].isFg[0] = bgBins[p].isFg[s];
+ bgModel[p].counter[0] = bgBins[p].binHeights[s];
+ }
+ else {
+ for(int k = 0; k < 3; ++k) {
+ bgModel[p].values[index][k] = bgBins[p].binValues[s][k];
+ }
+ bgModel[p].isValid[index] = true;
+ bgModel[p].isFg[index] = bgBins[p].isFg[s];
+ bgModel[p].counter[index] = bgBins[p].binHeights[s];
+ }
+ ++index;
+ }
+ } //for all numSamples
+ }//bg_sample_number == (numSamples - 1)
+ }//else --> if(frame_number == 0)
+ }//numPixels
+
+ if(bg_sample_number == (numSamples - 1)) {
+ //std::cout << "new bg created" << std::endl;
+ persistenceImage = Scalar(0);
+
+ bg_reset = false;
+ if(sudden_change) {
+ numSamples *= 3.;
+ samplingPeriod *= 2.;
+ sudden_change = false;
+ }
+
+ for(int i = 0; i < numPixels; i++) {
+ persistenceMap[i] = 0;
+ }
+
+ unsigned int p = 0;
+ for(int i = 0; i < bgImage.rows; ++i) {
+ for(int j = 0; j < bgImage.cols; ++j, ++p) {
+ bgImage.at<cv::Vec3b>(i,j) = bgModel[p].values[0];
+ }
+ }
+ }
+}
+
+void BackgroundSubtractorIMBS::getFg() {
+ fgmask = Scalar(0);
+ cv::split(frame, frameBGR);
+
+ bool isFg = true;
+ bool conditionalUpdated = false;
+ unsigned int d = 0;
+ for(unsigned int p = 0; p < numPixels; ++p) {
+ isFg = true;
+ conditionalUpdated = false;
+ d = 0;
+ for(unsigned int n = 0; n < maxBgBins; ++n) {
+ if(!bgModel[p].isValid[n]) {
+ if(n == 0) {
+ isFg = false;
+ }
+ break;
+ }
+ else { //the model is valid
+ d = std::max(
+ (int)std::abs(bgModel[p].values[n][0] - frameBGR[0].data[p]),
+ std::abs(bgModel[p].values[n][1] - frameBGR[1].data[p]) );
+ d = std::max(
+ (int)d, std::abs(bgModel[p].values[n][2] - frameBGR[2].data[p]) );
+ if(d < fgThreshold){
+ //check if it is a potential background pixel
+ //from stationary object
+ if(bgModel[p].isFg[n]) {
+ conditionalUpdated = true;
+ break;
+ }
+ else {
+ isFg = false;
+ persistenceMap[p] = 0;
+ }
+ }
+ }
+ }
+ if(isFg) {
+ if(conditionalUpdated) {
+ fgmask.data[p] = PERSISTENCE_LABEL;
+ persistenceMap[p] += (timestamp - prev_timestamp);
+ if(persistenceMap[p] > persistencePeriod) {
+ for(unsigned int n = 0; n < maxBgBins; ++n) {
+ if(!bgModel[p].isValid[n]) {
+ break;
+ }
+ bgModel[p].isFg[n] = false;
+ }
+ }
+ }
+ else {
+ fgmask.data[p] = FOREGROUND_LABEL;
+ persistenceMap[p] = 0;
+ }
+ }
+ }
+}
+
+void BackgroundSubtractorIMBS::areaThresholding()
+{
+ double maxArea = 0.6 * numPixels;
+
+ std::vector < std::vector<Point> > contours;
+ Mat tmpBinaryImage = fgfiltered.clone();
+ findContours(tmpBinaryImage, contours, RETR_LIST, CHAIN_APPROX_NONE);
+
+ tmpBinaryImage = Scalar(0);
+
+ for (size_t contourIdx = 0; contourIdx < contours.size(); ++contourIdx)
+ {
+ Moments moms = moments(Mat(contours[contourIdx]));
+ double area = moms.m00;
+ if (area < minArea || area >= maxArea)
+ continue;
+ else {
+ drawContours( tmpBinaryImage, contours, contourIdx, Scalar(255), CV_FILLED );
+ }
+ }
+ for(int i = 0; i < fgfiltered.rows; ++i) {
+ for(int j = 0; j < fgfiltered.cols; ++j) {
+ if(!tmpBinaryImage.at<uchar>(i,j)) {
+ fgfiltered.at<uchar>(i,j) = 0;
+ }
+ }
+ }
+}
+
+// Create a HSV image from the RGB image using the full 8-bits, since OpenCV only allows Hues up to 180 instead of 255.
+// ref: "http://cs.haifa.ac.il/hagit/courses/ist/Lectures/Demos/ColorApplet2/t_convert.html"
+// Remember to free the generated HSV image.
+Mat BackgroundSubtractorIMBS::convertImageRGBtoHSV(const Mat& imageRGB)
+{
+ float fR, fG, fB;
+ float fH, fS, fV;
+ const float FLOAT_TO_BYTE = 255.0f;
+ const float BYTE_TO_FLOAT = 1.0f / FLOAT_TO_BYTE;
+
+ // Create a blank HSV image
+ Mat imageHSV(imageRGB.size(), CV_8UC3);
+ //if (!imageHSV || imageRGB->depth != 8 || imageRGB->nChannels != 3) {
+ //printf("ERROR in convertImageRGBtoHSV()! Bad input image.\n");
+ //exit(1);
+ //}
+
+ int h = imageRGB.rows; // Pixel height.
+ int w = imageRGB.cols; // Pixel width.
+ //int rowSizeRGB = imageRGB->widthStep; // Size of row in bytes, including extra padding.
+ //char *imRGB = imageRGB->imageData; // Pointer to the start of the image pixels.
+ //int rowSizeHSV = imageHSV->widthStep; // Size of row in bytes, including extra padding.
+ //char *imHSV = imageHSV->imageData; // Pointer to the start of the image pixels.
+ for (int y = 0; y < h; ++y) {
+ for (int x = 0; x < w; ++x) {
+ // Get the RGB pixel components. NOTE that OpenCV stores RGB pixels in B,G,R order.
+ //uchar *pRGB = (uchar*)(imRGB + y*rowSizeRGB + x*3);
+ int bB = imageRGB.at<Vec3b>(y,x)[0]; //*(uchar*)(pRGB+0); // Blue component
+ int bG = imageRGB.at<Vec3b>(y,x)[1]; //*(uchar*)(pRGB+1); // Green component
+ int bR = imageRGB.at<Vec3b>(y,x)[2]; //*(uchar*)(pRGB+2); // Red component
+
+ // Convert from 8-bit integers to floats.
+ fR = bR * BYTE_TO_FLOAT;
+ fG = bG * BYTE_TO_FLOAT;
+ fB = bB * BYTE_TO_FLOAT;
+
+ // Convert from RGB to HSV, using float ranges 0.0 to 1.0.
+ float fDelta;
+ float fMin, fMax;
+ int iMax;
+ // Get the min and max, but use integer comparisons for slight speedup.
+ if (bB < bG) {
+ if (bB < bR) {
+ fMin = fB;
+ if (bR > bG) {
+ iMax = bR;
+ fMax = fR;
+ }
+ else {
+ iMax = bG;
+ fMax = fG;
+ }
+ }
+ else {
+ fMin = fR;
+ fMax = fG;
+ iMax = bG;
+ }
+ }
+ else {
+ if (bG < bR) {
+ fMin = fG;
+ if (bB > bR) {
+ fMax = fB;
+ iMax = bB;
+ }
+ else {
+ fMax = fR;
+ iMax = bR;
+ }
+ }
+ else {
+ fMin = fR;
+ fMax = fB;
+ iMax = bB;
+ }
+ }
+ fDelta = fMax - fMin;
+ fV = fMax; // Value (Brightness).
+ if (iMax != 0) { // Make sure its not pure black.
+ fS = fDelta / fMax; // Saturation.
+ float ANGLE_TO_UNIT = 1.0f / (6.0f * fDelta); // Make the Hues between 0.0 to 1.0 instead of 6.0
+ if (iMax == bR) { // between yellow and magenta.
+ fH = (fG - fB) * ANGLE_TO_UNIT;
+ }
+ else if (iMax == bG) { // between cyan and yellow.
+ fH = (2.0f/6.0f) + ( fB - fR ) * ANGLE_TO_UNIT;
+ }
+ else { // between magenta and cyan.
+ fH = (4.0f/6.0f) + ( fR - fG ) * ANGLE_TO_UNIT;
+ }
+ // Wrap outlier Hues around the circle.
+ if (fH < 0.0f)
+ fH += 1.0f;
+ if (fH >= 1.0f)
+ fH -= 1.0f;
+ }
+ else {
+ // color is pure Black.
+ fS = 0;
+ fH = 0; // undefined hue
+ }
+
+ // Convert from floats to 8-bit integers.
+ int bH = (int)(0.5f + fH * 255.0f);
+ int bS = (int)(0.5f + fS * 255.0f);
+ int bV = (int)(0.5f + fV * 255.0f);
+
+ // Clip the values to make sure it fits within the 8bits.
+ if (bH > 255)
+ bH = 255;
+ if (bH < 0)
+ bH = 0;
+ if (bS > 255)
+ bS = 255;
+ if (bS < 0)
+ bS = 0;
+ if (bV > 255)
+ bV = 255;
+ if (bV < 0)
+ bV = 0;
+
+ // Set the HSV pixel components.
+ imageHSV.at<Vec3b>(y, x)[0] = bH; // H component
+ imageHSV.at<Vec3b>(y, x)[1] = bS; // S component
+ imageHSV.at<Vec3b>(y, x)[2] = bV; // V component
+ }
+ }
+ return imageHSV;
+}
+
+void BackgroundSubtractorIMBS::getBackgroundImage(OutputArray backgroundImage) const
+{
+ bgImage.copyTo(backgroundImage);
+}
+
+void BackgroundSubtractorIMBS::filterFg() {
+
+ unsigned int cnt = 0;
+ for(unsigned int p = 0; p < numPixels; ++p) {
+ if(fgmask.data[p] == (uchar)255) {
+ fgfiltered.data[p] = 255;
+ cnt++;
+ }
+ else {
+ fgfiltered.data[p] = 0;
+ }
+ }
+
+ if(cnt > numPixels*0.5) {
+ sudden_change = true;
+ }
+
+ if(morphologicalFiltering) {
+ cv::Mat element3(3,3,CV_8U,cv::Scalar(1));
+ cv::morphologyEx(fgfiltered, fgfiltered, cv::MORPH_OPEN, element3);
+ cv::morphologyEx(fgfiltered, fgfiltered, cv::MORPH_CLOSE, element3);
+ }
+
+ areaThresholding();
+
+ for(unsigned int p = 0; p < numPixels; ++p) {
+ if(fgmask.data[p] == PERSISTENCE_LABEL) {
+ fgfiltered.data[p] = PERSISTENCE_LABEL;
+ }
+ else if(fgmask.data[p] == SHADOW_LABEL) {
+ fgfiltered.data[p] = SHADOW_LABEL;
+ }
+ }
+
+ fgfiltered.copyTo(fgmask);
+}
+
+void BackgroundSubtractorIMBS::changeBg() {
+
+ std::cout << "\n\n\n\nWARNING: changeBg\n\n\n\n\n" << std::endl;
+
+ //samplingPeriod /= 2.;
+ //numSamples /= 2.;
+ //bg_reset = true;
+ //cout << "qua" << endl;
+
+ if(!bg_reset) {
+ numSamples /= 3.;
+ samplingPeriod /= 2.;
+ bg_frame_counter = 0;
+ bg_reset = true;
+ }
+}
+
+void BackgroundSubtractorIMBS::getBgModel(BgModel bgModel_copy[], int size) {
+ if(size != numPixels) {
+ return;
+ }
+ for(int i = 0; i < numPixels; ++i){
+ bgModel_copy[i].values = new Vec3b[maxBgBins];
+ bgModel_copy[i].isValid = new bool[maxBgBins];
+ bgModel_copy[i].isValid[0] = false;
+ bgModel_copy[i].isFg = new bool[maxBgBins];
+ bgModel_copy[i].counter = new uchar[maxBgBins];
+ }
+ for(unsigned int p = 0; p < numPixels; ++p) {
+ for(unsigned int n = 0; n < maxBgBins; ++n) {
+ if(!bgModel[p].isValid[n]) {
+ break;
+ }
+ bgModel_copy[p].values[n] = bgModel[p].values[n];
+ bgModel_copy[p].isValid[n] = bgModel[p].isValid[n];
+ bgModel_copy[p].isFg[n] = bgModel[p].isFg[n];
+ bgModel_copy[p].counter[n] = bgModel[p].counter[n];
+ }
+ }
+}
diff --git a/package_bgs/db/imbs.hpp b/package_bgs/db/imbs.hpp
new file mode 100644
index 0000000..fd7faf1
--- /dev/null
+++ b/package_bgs/db/imbs.hpp
@@ -0,0 +1,178 @@
+/*
+* IMBS Background Subtraction Library
+*
+* This file imbs.hpp contains the C++ OpenCV based implementation for
+* IMBS algorithm described in
+* D. D. Bloisi and L. Iocchi
+* "Independent Multimodal Background Subtraction"
+* In Proc. of the Third Int. Conf. on Computational Modeling of Objects
+* Presented in Images: Fundamentals, Methods and Applications, pp. 39-44, 2012.
+* Please, cite the above paper if you use IMBS.
+*
+* This software is provided without any warranty about its usability.
+* It is for educational purposes and should be regarded as such.
+*
+* Written by Domenico D. Bloisi
+*
+* Please, report suggestions/comments/bugs to
+* domenico.bloisi@gmail.com
+*
+*/
+
+#ifndef __IMBS_HPP__
+#define __IMBS_HPP__
+
+//OPENCV
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/features2d/features2d.hpp>
+//C++
+#include <iostream>
+#include <vector>
+
+using namespace cv;
+using namespace std;
+
+class BackgroundSubtractorIMBS
+{
+public:
+ //! the default constructor
+ BackgroundSubtractorIMBS();
+ //! the full constructor
+ BackgroundSubtractorIMBS(double fps,
+ unsigned int fgThreshold=15,
+ unsigned int associationThreshold=5,
+ double samplingPeriod=500.,
+ unsigned int minBinHeight=2,
+ unsigned int numSamples=30,
+ double alpha=0.65,
+ double beta=1.15,
+ double tau_s=60.,
+ double tau_h=40.,
+ double minArea=30.,
+ double persistencePeriod=10000.,
+ bool morphologicalFiltering=false
+ );
+ //! the destructor
+ ~BackgroundSubtractorIMBS();
+ //! the update operator
+ void apply(InputArray image, OutputArray fgmask, double learningRate=-1.);
+
+ //! computes a background image which shows only the highest bin for each pixel
+ void getBackgroundImage(OutputArray backgroundImage) const;
+
+ //! re-initiaization method
+ void initialize(Size frameSize, int frameType);
+
+private:
+ //method for creating the background model
+ void createBg(unsigned int bg_sample_number);
+ //method for updating the background model
+ void updateBg();
+ //method for computing the foreground mask
+ void getFg();
+ //method for suppressing shadows and highlights
+ void hsvSuppression();
+ //method for refining foreground mask
+ void filterFg();
+ //method for filtering out blobs smaller than a given area
+ void areaThresholding();
+ //method for getting the current time
+ double getTimestamp();
+ //method for converting from RGB to HSV
+ Mat convertImageRGBtoHSV(const Mat& imageRGB);
+ //method for changing the bg in case of sudden changes
+ void changeBg();
+
+ //current input RGB frame
+ Mat frame;
+ vector<Mat> frameBGR;
+ //frame size
+ Size frameSize;
+ //frame type
+ int frameType;
+ //total number of pixels in frame
+ unsigned int numPixels;
+ //current background sample
+ Mat bgSample;
+ vector<Mat> bgSampleBGR;
+ //current background image which shows only the highest bin for each pixel
+ //(just for displaying purposes)
+ Mat bgImage;
+ //current foreground mask
+ Mat fgmask;
+
+ Mat fgfiltered;
+
+ //number of fps
+ double fps;
+ //time stamp in milliseconds (ms)
+ double timestamp;
+ //previous time stamp in milliseconds (ms)
+ double prev_timestamp;
+ double initial_tick_count;
+ //initial message to be shown until the first bg model is ready
+ Mat initialMsgGray;
+ Mat initialMsgRGB;
+
+ //struct for modeling the background values for a single pixel
+ typedef struct {
+ Vec3b* binValues;
+ uchar* binHeights;
+ bool* isFg;
+ } Bins;
+
+ Bins* bgBins;
+public:
+ //struct for modeling the background values for the entire frame
+ typedef struct {
+ Vec3b* values;
+ bool* isValid;
+ bool* isFg;
+ uchar* counter;
+ } BgModel;
+private:
+ BgModel* bgModel;
+
+ //SHADOW SUPPRESSION PARAMETERS
+ float alpha;
+ float beta;
+ uchar tau_s;
+ uchar tau_h;
+
+ unsigned int minBinHeight;
+ unsigned int numSamples;
+ unsigned int samplingPeriod;
+ unsigned long prev_bg_frame_time;
+ unsigned int bg_frame_counter;
+ unsigned int associationThreshold;
+ unsigned int maxBgBins;
+ unsigned int nframes;
+
+ double minArea;
+ bool bg_reset;
+ unsigned int persistencePeriod;
+ bool prev_area;
+ bool sudden_change;
+ unsigned int fgThreshold;
+ uchar SHADOW_LABEL;
+ uchar PERSISTENCE_LABEL;
+ uchar FOREGROUND_LABEL;
+ //persistence map
+ unsigned int* persistenceMap;
+ Mat persistenceImage;
+
+ bool morphologicalFiltering;
+
+public:
+ unsigned int getMaxBgBins() {
+ return maxBgBins;
+ }
+ unsigned int getFgThreshold() {
+ return fgThreshold;
+ }
+ void getBgModel(BgModel bgModel_copy[], int size);
+};
+
+#endif //__IMBS_HPP__
diff --git a/package_bgs/dp/AdaptiveMedianBGS.cpp b/package_bgs/dp/AdaptiveMedianBGS.cpp
new file mode 100644
index 0000000..16b3988
--- /dev/null
+++ b/package_bgs/dp/AdaptiveMedianBGS.cpp
@@ -0,0 +1,140 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* AdaptiveMedianBGS.cpp
+*
+* Purpose: Implementation of the simple adaptive median background
+* subtraction algorithm described in:
+* "Segmentation and tracking of piglets in images"
+* by McFarlane and Schofield
+*
+* Author: Donovan Parks, September 2007
+*
+******************************************************************************/
+
+#include <iostream>
+#include <stdlib.h>
+#include <cmath>
+
+#include "AdaptiveMedianBGS.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+void AdaptiveMedianBGS::Initalize(const BgsParams& param)
+{
+ m_params = (AdaptiveMedianParams&)param;
+
+ m_median = cvCreateImage(cvSize(m_params.Width(), m_params.Height()), IPL_DEPTH_8U, 3);
+ cvSet(m_median.Ptr(), CV_RGB(BACKGROUND,BACKGROUND,BACKGROUND));
+}
+
+RgbImage* AdaptiveMedianBGS::Background()
+{
+ return &m_median;
+}
+
+void AdaptiveMedianBGS::InitModel(const RgbImage& data)
+{
+ // initialize the background model
+ for (unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ m_median(r,c) = data(r,c);
+ }
+ }
+}
+
+void AdaptiveMedianBGS::Update(int frame_num, const RgbImage& data, const BwImage& update_mask)
+{
+ if(frame_num % m_params.SamplingRate() == 1)
+ {
+ // update background model
+ for (unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ // perform conditional updating only if we are passed the learning phase
+ if(update_mask(r,c) == BACKGROUND || frame_num < m_params.LearningFrames())
+ {
+ for(int ch = 0; ch < NUM_CHANNELS; ++ch)
+ {
+ if(data(r,c,ch) > m_median(r,c,ch))
+ {
+ m_median(r,c,ch)++;
+ }
+ else if(data(r,c,ch) < m_median(r,c,ch))
+ {
+ m_median(r,c,ch)--;
+ }
+ }
+ }
+ }
+ }
+ }
+}
+
+void AdaptiveMedianBGS::SubtractPixel(int r, int c, const RgbPixel& pixel,
+ unsigned char& low_threshold, unsigned char& high_threshold)
+{
+ // perform background subtraction
+ low_threshold = high_threshold = FOREGROUND;
+
+ int diffR = abs(pixel(0) - m_median(r,c,0));
+ int diffG = abs(pixel(1) - m_median(r,c,1));
+ int diffB = abs(pixel(2) - m_median(r,c,2));
+
+ if(diffR <= m_params.LowThreshold() && diffG <= m_params.LowThreshold() && diffB <= m_params.LowThreshold())
+ {
+ low_threshold = BACKGROUND;
+ }
+
+ if(diffR <= m_params.HighThreshold() && diffG <= m_params.HighThreshold() && diffB <= m_params.HighThreshold())
+ {
+ high_threshold = BACKGROUND;
+ }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+//Input:
+// data - a pointer to the image data
+//Output:
+// output - a pointer to the data of a gray value image
+// (the memory should already be reserved)
+// values: 255-foreground, 0-background
+///////////////////////////////////////////////////////////////////////////////
+void AdaptiveMedianBGS::Subtract(int frame_num, const RgbImage& data,
+ BwImage& low_threshold_mask, BwImage& high_threshold_mask)
+{
+ unsigned char low_threshold, high_threshold;
+
+ // update each pixel of the image
+ for(unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ // perform background subtraction
+ SubtractPixel(r, c, data(r,c), low_threshold, high_threshold);
+
+ // setup silhouette mask
+ low_threshold_mask(r,c) = low_threshold;
+ high_threshold_mask(r,c) = high_threshold;
+ }
+ }
+}
+
diff --git a/package_bgs/dp/AdaptiveMedianBGS.h b/package_bgs/dp/AdaptiveMedianBGS.h
new file mode 100644
index 0000000..3ea25af
--- /dev/null
+++ b/package_bgs/dp/AdaptiveMedianBGS.h
@@ -0,0 +1,89 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* AdaptiveMedianBGS.hpp
+*
+* Purpose: Implementation of the simple adaptive median background
+* subtraction algorithm described in:
+* "Segmentation and tracking of piglets in images"
+* by McFarlane and Schofield
+*
+* Author: Donovan Parks, September 2007
+
+Example:
+ Algorithms::BackgroundSubtraction::AdaptiveMedianParams params;
+ params.SetFrameSize(width, height);
+ params.LowThreshold() = 40;
+ params.HighThreshold() = 2*params.LowThreshold();
+ params.SamplingRate() = 7;
+ params.LearningFrames() = 30;
+
+ Algorithms::BackgroundSubtraction::AdaptiveMedianBGS bgs;
+ bgs.Initalize(params);
+******************************************************************************/
+
+#include "Bgs.h"
+
+namespace Algorithms
+{
+ namespace BackgroundSubtraction
+ {
+ // --- Parameters used by the Adaptive Median BGS algorithm ---
+ class AdaptiveMedianParams : public BgsParams
+ {
+ public:
+ unsigned char &LowThreshold() { return m_low_threshold; }
+ unsigned char &HighThreshold() { return m_high_threshold; }
+
+ int &SamplingRate() { return m_samplingRate; }
+ int &LearningFrames() { return m_learning_frames; }
+
+ private:
+ unsigned char m_low_threshold;
+ unsigned char m_high_threshold;
+
+ int m_samplingRate;
+ int m_learning_frames;
+ };
+
+
+ // --- Adaptive Median BGS algorithm ---
+ class AdaptiveMedianBGS : public Bgs
+ {
+ public:
+ virtual ~AdaptiveMedianBGS() {}
+
+ void Initalize(const BgsParams& param);
+
+ void InitModel(const RgbImage& data);
+ void Subtract(int frame_num, const RgbImage& data,
+ BwImage& low_threshold_mask, BwImage& high_threshold_mask);
+ void Update(int frame_num, const RgbImage& data, const BwImage& update_mask);
+
+ RgbImage* Background();
+
+ private:
+ void SubtractPixel(int r, int c, const RgbPixel& pixel,
+ unsigned char& low_threshold, unsigned char& high_threshold);
+
+ AdaptiveMedianParams m_params;
+
+ RgbImage m_median;
+ };
+ };
+};
diff --git a/package_bgs/dp/Bgs.h b/package_bgs/dp/Bgs.h
new file mode 100644
index 0000000..c1ae23c
--- /dev/null
+++ b/package_bgs/dp/Bgs.h
@@ -0,0 +1,67 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* Bgs.hpp
+*
+* Purpose: Base class for BGS algorithms.
+*
+* Author: Donovan Parks, October 2007
+*
+******************************************************************************/
+
+#ifndef BGS_H_
+#define BGS_H_
+
+#include "Image.h"
+#include "BgsParams.h"
+
+namespace Algorithms
+{
+ namespace BackgroundSubtraction
+ {
+ class Bgs
+ {
+ public:
+ static const int BACKGROUND = 0;
+ static const int FOREGROUND = 255;
+
+ virtual ~Bgs() {}
+
+ // Initialize any data required by the BGS algorithm. Should be called once before calling
+ // any of the following functions.
+ virtual void Initalize(const BgsParams& param) = 0;
+
+ // Initialize the background model. Typically, the background model is initialized using the first
+ // frame of the incoming video stream, but alternatives are possible.
+ virtual void InitModel(const RgbImage& data) = 0;
+
+ // Subtract the current frame from the background model and produce a binary foreground mask using
+ // both a low and high threshold value.
+ virtual void Subtract(int frame_num, const RgbImage& data,
+ BwImage& low_threshold_mask, BwImage& high_threshold_mask) = 0;
+
+ // Update the background model. Only pixels set to background in update_mask are updated.
+ virtual void Update(int frame_num, const RgbImage& data, const BwImage& update_mask) = 0;
+
+ // Return the current background model.
+ virtual RgbImage *Background() = 0;
+ };
+ };
+};
+
+#endif
\ No newline at end of file
diff --git a/package_bgs/dp/BgsParams.h b/package_bgs/dp/BgsParams.h
new file mode 100644
index 0000000..c3bad83
--- /dev/null
+++ b/package_bgs/dp/BgsParams.h
@@ -0,0 +1,59 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* BgsParams.hpp
+*
+* Purpose: Base class for BGS parameters. Any parameters common to all BGS
+* algorithms should be specified directly in this class.
+*
+* Author: Donovan Parks, May 2008
+*
+******************************************************************************/
+
+#ifndef BGS_PARAMS_H_
+#define BGS_PARAMS_H_
+
+namespace Algorithms
+{
+ namespace BackgroundSubtraction
+ {
+ class BgsParams
+ {
+ public:
+ virtual ~BgsParams() {}
+
+ virtual void SetFrameSize(unsigned int width, unsigned int height)
+ {
+ m_width = width;
+ m_height = height;
+ m_size = width*height;
+ }
+
+ unsigned int &Width() { return m_width; }
+ unsigned int &Height() { return m_height; }
+ unsigned int &Size() { return m_size; }
+
+ protected:
+ unsigned int m_width;
+ unsigned int m_height;
+ unsigned int m_size;
+ };
+ };
+};
+
+#endif
\ No newline at end of file
diff --git a/package_bgs/dp/DPAdaptiveMedianBGS.cpp b/package_bgs/dp/DPAdaptiveMedianBGS.cpp
new file mode 100644
index 0000000..d7ebcd1
--- /dev/null
+++ b/package_bgs/dp/DPAdaptiveMedianBGS.cpp
@@ -0,0 +1,104 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "DPAdaptiveMedianBGS.h"
+
+DPAdaptiveMedianBGS::DPAdaptiveMedianBGS() : firstTime(true), frameNumber(0), showOutput(true), threshold(40), samplingRate(7), learningFrames(30)
+{
+ std::cout << "DPAdaptiveMedianBGS()" << std::endl;
+}
+
+DPAdaptiveMedianBGS::~DPAdaptiveMedianBGS()
+{
+ std::cout << "~DPAdaptiveMedianBGS()" << std::endl;
+}
+
+void DPAdaptiveMedianBGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ frame = new IplImage(img_input);
+
+ if(firstTime)
+ frame_data.ReleaseMemory(false);
+ frame_data = frame;
+
+ if(firstTime)
+ {
+ int width = img_input.size().width;
+ int height = img_input.size().height;
+
+ lowThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ lowThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ highThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ highThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ params.SetFrameSize(width, height);
+ params.LowThreshold() = threshold;
+ params.HighThreshold() = 2*params.LowThreshold(); // Note: high threshold is used by post-processing
+ params.SamplingRate() = samplingRate;
+ params.LearningFrames() = learningFrames;
+
+ bgs.Initalize(params);
+ bgs.InitModel(frame_data);
+ }
+
+ bgs.Subtract(frameNumber, frame_data, lowThresholdMask, highThresholdMask);
+ lowThresholdMask.Clear();
+ bgs.Update(frameNumber, frame_data, lowThresholdMask);
+
+ cv::Mat foreground(highThresholdMask.Ptr());
+
+ if(showOutput)
+ cv::imshow("Adaptive Median (McFarlane&Schofield)", foreground);
+
+ foreground.copyTo(img_output);
+
+ delete frame;
+ firstTime = false;
+ frameNumber++;
+}
+
+void DPAdaptiveMedianBGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/DPAdaptiveMedianBGS.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "threshold", threshold);
+ cvWriteInt(fs, "samplingRate", samplingRate);
+ cvWriteInt(fs, "learningFrames", learningFrames);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void DPAdaptiveMedianBGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/DPAdaptiveMedianBGS.xml", 0, CV_STORAGE_READ);
+
+ threshold = cvReadIntByName(fs, 0, "threshold", 40);
+ samplingRate = cvReadIntByName(fs, 0, "samplingRate", 7);
+ learningFrames = cvReadIntByName(fs, 0, "learningFrames", 30);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/dp/DPAdaptiveMedianBGS.h b/package_bgs/dp/DPAdaptiveMedianBGS.h
new file mode 100644
index 0000000..05ac9c3
--- /dev/null
+++ b/package_bgs/dp/DPAdaptiveMedianBGS.h
@@ -0,0 +1,56 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+#include "AdaptiveMedianBGS.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+class DPAdaptiveMedianBGS : public IBGS
+{
+private:
+ bool firstTime;
+ long frameNumber;
+ IplImage* frame;
+ RgbImage frame_data;
+
+ AdaptiveMedianParams params;
+ AdaptiveMedianBGS bgs;
+ BwImage lowThresholdMask;
+ BwImage highThresholdMask;
+
+ int threshold;
+ int samplingRate;
+ int learningFrames;
+ bool showOutput;
+
+public:
+ DPAdaptiveMedianBGS();
+ ~DPAdaptiveMedianBGS();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/dp/DPEigenbackgroundBGS.cpp b/package_bgs/dp/DPEigenbackgroundBGS.cpp
new file mode 100644
index 0000000..6d2c6ba
--- /dev/null
+++ b/package_bgs/dp/DPEigenbackgroundBGS.cpp
@@ -0,0 +1,106 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "DPEigenbackgroundBGS.h"
+
+DPEigenbackgroundBGS::DPEigenbackgroundBGS() : firstTime(true), frameNumber(0), showOutput(true), threshold(225), historySize(20), embeddedDim(10)
+{
+ std::cout << "DPEigenbackgroundBGS()" << std::endl;
+}
+
+DPEigenbackgroundBGS::~DPEigenbackgroundBGS()
+{
+ std::cout << "~DPEigenbackgroundBGS()" << std::endl;
+}
+
+void DPEigenbackgroundBGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ frame = new IplImage(img_input);
+
+ if(firstTime)
+ frame_data.ReleaseMemory(false);
+ frame_data = frame;
+
+ if(firstTime)
+ {
+ int width = img_input.size().width;
+ int height = img_input.size().height;
+
+ lowThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ lowThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ highThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ highThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ params.SetFrameSize(width, height);
+ params.LowThreshold() = threshold; //15*15;
+ params.HighThreshold() = 2*params.LowThreshold(); // Note: high threshold is used by post-processing
+ //params.HistorySize() = 100;
+ params.HistorySize() = historySize;
+ //params.EmbeddedDim() = 20;
+ params.EmbeddedDim() = embeddedDim;
+
+ bgs.Initalize(params);
+ bgs.InitModel(frame_data);
+ }
+
+ bgs.Subtract(frameNumber, frame_data, lowThresholdMask, highThresholdMask);
+ lowThresholdMask.Clear();
+ bgs.Update(frameNumber, frame_data, lowThresholdMask);
+
+ cv::Mat foreground(highThresholdMask.Ptr());
+
+ if(showOutput)
+ cv::imshow("Eigenbackground (Oliver)", foreground);
+
+ foreground.copyTo(img_output);
+
+ delete frame;
+ firstTime = false;
+ frameNumber++;
+}
+
+void DPEigenbackgroundBGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/DPEigenbackgroundBGS.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "threshold", threshold);
+ cvWriteInt(fs, "historySize", historySize);
+ cvWriteInt(fs, "embeddedDim", embeddedDim);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void DPEigenbackgroundBGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/DPEigenbackgroundBGS.xml", 0, CV_STORAGE_READ);
+
+ threshold = cvReadIntByName(fs, 0, "threshold", 225);
+ historySize = cvReadIntByName(fs, 0, "historySize", 20);
+ embeddedDim = cvReadIntByName(fs, 0, "embeddedDim", 10);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/dp/DPEigenbackgroundBGS.h b/package_bgs/dp/DPEigenbackgroundBGS.h
new file mode 100644
index 0000000..df558fe
--- /dev/null
+++ b/package_bgs/dp/DPEigenbackgroundBGS.h
@@ -0,0 +1,56 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+#include "Eigenbackground.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+class DPEigenbackgroundBGS : public IBGS
+{
+private:
+ bool firstTime;
+ long frameNumber;
+ IplImage* frame;
+ RgbImage frame_data;
+
+ EigenbackgroundParams params;
+ Eigenbackground bgs;
+ BwImage lowThresholdMask;
+ BwImage highThresholdMask;
+
+ int threshold;
+ int historySize;
+ int embeddedDim;
+ bool showOutput;
+
+public:
+ DPEigenbackgroundBGS();
+ ~DPEigenbackgroundBGS();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/dp/DPGrimsonGMMBGS.cpp b/package_bgs/dp/DPGrimsonGMMBGS.cpp
new file mode 100644
index 0000000..0d6ad42
--- /dev/null
+++ b/package_bgs/dp/DPGrimsonGMMBGS.cpp
@@ -0,0 +1,105 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "DPGrimsonGMMBGS.h"
+
+DPGrimsonGMMBGS::DPGrimsonGMMBGS() : firstTime(true), frameNumber(0), showOutput(true), threshold(9.0), alpha(0.01), gaussians(3)
+{
+ std::cout << "DPGrimsonGMMBGS()" << std::endl;
+}
+
+DPGrimsonGMMBGS::~DPGrimsonGMMBGS()
+{
+ std::cout << "~DPGrimsonGMMBGS()" << std::endl;
+}
+
+void DPGrimsonGMMBGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ frame = new IplImage(img_input);
+
+ if(firstTime)
+ frame_data.ReleaseMemory(false);
+ frame_data = frame;
+
+ if(firstTime)
+ {
+ int width = img_input.size().width;
+ int height = img_input.size().height;
+
+ lowThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ lowThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ highThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ highThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ params.SetFrameSize(width, height);
+ params.LowThreshold() = threshold; //3.0f*3.0f;
+ params.HighThreshold() = 2*params.LowThreshold(); // Note: high threshold is used by post-processing
+ //params.Alpha() = 0.001f;
+ params.Alpha() = alpha; //0.01f;
+ params.MaxModes() = gaussians; //3;
+
+ bgs.Initalize(params);
+ bgs.InitModel(frame_data);
+ }
+
+ bgs.Subtract(frameNumber, frame_data, lowThresholdMask, highThresholdMask);
+ lowThresholdMask.Clear();
+ bgs.Update(frameNumber, frame_data, lowThresholdMask);
+
+ cv::Mat foreground(highThresholdMask.Ptr());
+
+ if(showOutput)
+ cv::imshow("GMM (Grimson)", foreground);
+
+ foreground.copyTo(img_output);
+
+ delete frame;
+ firstTime = false;
+ frameNumber++;
+}
+
+void DPGrimsonGMMBGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/DPGrimsonGMMBGS.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteReal(fs, "threshold", threshold);
+ cvWriteReal(fs, "alpha", alpha);
+ cvWriteInt(fs, "gaussians", gaussians);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void DPGrimsonGMMBGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/DPGrimsonGMMBGS.xml", 0, CV_STORAGE_READ);
+
+ threshold = cvReadRealByName(fs, 0, "threshold", 9.0);
+ alpha = cvReadRealByName(fs, 0, "alpha", 0.01);
+ gaussians = cvReadIntByName(fs, 0, "gaussians", 3);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/dp/DPGrimsonGMMBGS.h b/package_bgs/dp/DPGrimsonGMMBGS.h
new file mode 100644
index 0000000..37e2a33
--- /dev/null
+++ b/package_bgs/dp/DPGrimsonGMMBGS.h
@@ -0,0 +1,56 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+#include "GrimsonGMM.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+class DPGrimsonGMMBGS : public IBGS
+{
+private:
+ bool firstTime;
+ long frameNumber;
+ IplImage* frame;
+ RgbImage frame_data;
+
+ GrimsonParams params;
+ GrimsonGMM bgs;
+ BwImage lowThresholdMask;
+ BwImage highThresholdMask;
+
+ double threshold;
+ double alpha;
+ int gaussians;
+ bool showOutput;
+
+public:
+ DPGrimsonGMMBGS();
+ ~DPGrimsonGMMBGS();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/dp/DPMeanBGS.cpp b/package_bgs/dp/DPMeanBGS.cpp
new file mode 100644
index 0000000..13260b4
--- /dev/null
+++ b/package_bgs/dp/DPMeanBGS.cpp
@@ -0,0 +1,105 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "DPMeanBGS.h"
+
+DPMeanBGS::DPMeanBGS() : firstTime(true), frameNumber(0), threshold(2700), alpha(1e-6f), learningFrames(30), showOutput(true)
+{
+ std::cout << "DPMeanBGS()" << std::endl;
+}
+
+DPMeanBGS::~DPMeanBGS()
+{
+ std::cout << "~DPMeanBGS()" << std::endl;
+}
+
+void DPMeanBGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ frame = new IplImage(img_input);
+
+ if(firstTime)
+ frame_data.ReleaseMemory(false);
+ frame_data = frame;
+
+ if(firstTime)
+ {
+ int width = img_input.size().width;
+ int height = img_input.size().height;
+
+ lowThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ lowThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ highThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ highThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ params.SetFrameSize(width, height);
+ params.LowThreshold() = threshold; //3*30*30; // 2700
+ params.HighThreshold() = 2*params.LowThreshold(); // Note: high threshold is used by post-processing
+ //params.Alpha() = 1e-6f;
+ params.Alpha() = alpha;
+ params.LearningFrames() = learningFrames;//30;
+
+ bgs.Initalize(params);
+ bgs.InitModel(frame_data);
+ }
+
+ bgs.Subtract(frameNumber, frame_data, lowThresholdMask, highThresholdMask);
+ lowThresholdMask.Clear();
+ bgs.Update(frameNumber, frame_data, lowThresholdMask);
+
+ cv::Mat foreground(highThresholdMask.Ptr());
+
+ if(showOutput)
+ cv::imshow("Temporal Mean (Donovan Parks)", foreground);
+
+ foreground.copyTo(img_output);
+
+ delete frame;
+ firstTime = false;
+ frameNumber++;
+}
+
+void DPMeanBGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/DPMeanBGS.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "threshold", threshold);
+ cvWriteReal(fs, "alpha", alpha);
+ cvWriteInt(fs, "learningFrames", learningFrames);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void DPMeanBGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/DPMeanBGS.xml", 0, CV_STORAGE_READ);
+
+ threshold = cvReadIntByName(fs, 0, "threshold", 2700);
+ alpha = cvReadRealByName(fs, 0, "alpha", 1e-6f);
+ learningFrames = cvReadIntByName(fs, 0, "learningFrames", 30);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
diff --git a/package_bgs/dp/DPMeanBGS.h b/package_bgs/dp/DPMeanBGS.h
new file mode 100644
index 0000000..b119ac4
--- /dev/null
+++ b/package_bgs/dp/DPMeanBGS.h
@@ -0,0 +1,56 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+#include "MeanBGS.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+class DPMeanBGS : public IBGS
+{
+private:
+ bool firstTime;
+ long frameNumber;
+ IplImage* frame;
+ RgbImage frame_data;
+
+ MeanParams params;
+ MeanBGS bgs;
+ BwImage lowThresholdMask;
+ BwImage highThresholdMask;
+
+ int threshold;
+ double alpha;
+ int learningFrames;
+ bool showOutput;
+
+public:
+ DPMeanBGS();
+ ~DPMeanBGS();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/dp/DPPratiMediodBGS.cpp b/package_bgs/dp/DPPratiMediodBGS.cpp
new file mode 100644
index 0000000..65c3ef3
--- /dev/null
+++ b/package_bgs/dp/DPPratiMediodBGS.cpp
@@ -0,0 +1,107 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "DPPratiMediodBGS.h"
+
+DPPratiMediodBGS::DPPratiMediodBGS() : firstTime(true), frameNumber(0), threshold(30), samplingRate(5), historySize(16), weight(5), showOutput(true)
+{
+ std::cout << "DPPratiMediodBGS()" << std::endl;
+}
+
+DPPratiMediodBGS::~DPPratiMediodBGS()
+{
+ std::cout << "~DPPratiMediodBGS()" << std::endl;
+}
+
+void DPPratiMediodBGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ frame = new IplImage(img_input);
+
+ if(firstTime)
+ frame_data.ReleaseMemory(false);
+ frame_data = frame;
+
+ if(firstTime)
+ {
+ int width = img_input.size().width;
+ int height = img_input.size().height;
+
+ lowThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ lowThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ highThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ highThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ params.SetFrameSize(width, height);
+ params.LowThreshold() = threshold;
+ params.HighThreshold() = 2*params.LowThreshold(); // Note: high threshold is used by post-processing
+ params.SamplingRate() = samplingRate;
+ params.HistorySize() = historySize;
+ params.Weight() = weight;
+
+ bgs.Initalize(params);
+ bgs.InitModel(frame_data);
+ }
+
+ bgs.Subtract(frameNumber, frame_data, lowThresholdMask, highThresholdMask);
+ lowThresholdMask.Clear();
+ bgs.Update(frameNumber, frame_data, lowThresholdMask);
+
+ cv::Mat foreground(highThresholdMask.Ptr());
+
+ if(showOutput)
+ cv::imshow("Temporal Median (Cucchiara&Calderara)", foreground);
+
+ foreground.copyTo(img_output);
+
+ delete frame;
+ firstTime = false;
+ frameNumber++;
+}
+
+void DPPratiMediodBGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/DPPratiMediodBGS.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "threshold", threshold);
+ cvWriteInt(fs, "samplingRate", samplingRate);
+ cvWriteInt(fs, "historySize", historySize);
+ cvWriteInt(fs, "weight", weight);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void DPPratiMediodBGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/DPPratiMediodBGS.xml", 0, CV_STORAGE_READ);
+
+ threshold = cvReadIntByName(fs, 0, "threshold", 30);
+ samplingRate = cvReadIntByName(fs, 0, "samplingRate", 5);
+ historySize = cvReadIntByName(fs, 0, "historySize", 16);
+ weight = cvReadIntByName(fs, 0, "weight", 5);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/dp/DPPratiMediodBGS.h b/package_bgs/dp/DPPratiMediodBGS.h
new file mode 100644
index 0000000..657dc1b
--- /dev/null
+++ b/package_bgs/dp/DPPratiMediodBGS.h
@@ -0,0 +1,57 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+#include "PratiMediodBGS.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+class DPPratiMediodBGS : public IBGS
+{
+private:
+ bool firstTime;
+ long frameNumber;
+ IplImage* frame;
+ RgbImage frame_data;
+
+ PratiParams params;
+ PratiMediodBGS bgs;
+ BwImage lowThresholdMask;
+ BwImage highThresholdMask;
+
+ int threshold;
+ int samplingRate;
+ int historySize;
+ int weight;
+ bool showOutput;
+
+public:
+ DPPratiMediodBGS();
+ ~DPPratiMediodBGS();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/dp/DPTextureBGS.cpp b/package_bgs/dp/DPTextureBGS.cpp
new file mode 100644
index 0000000..2d34342
--- /dev/null
+++ b/package_bgs/dp/DPTextureBGS.cpp
@@ -0,0 +1,156 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "DPTextureBGS.h"
+
+DPTextureBGS::DPTextureBGS() : firstTime(true), showOutput(true)
+ //, enableFiltering(true)
+{
+ std::cout << "DPTextureBGS()" << std::endl;
+}
+
+DPTextureBGS::~DPTextureBGS()
+{
+ delete[] bgModel; // ~10Kb (25.708-15.968)
+ delete[] modeArray;
+ delete[] curTextureHist; // ~10Kb (16-6.396)
+ //cvReleaseStructuringElement(&dilateElement);
+ //cvReleaseStructuringElement(&erodeElement);
+ image.ReleaseImage();
+ fgMask.ReleaseImage();
+ tempMask.ReleaseImage();
+ texture.ReleaseImage();
+ std::cout << "~DPTextureBGS()" << std::endl;
+}
+
+void DPTextureBGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ frame = new IplImage(img_input);
+
+ if(firstTime)
+ {
+ width = img_input.size().width;
+ height = img_input.size().height;
+ size = width * height;
+
+ // input image
+ image = cvCreateImage(cvSize(width, height), 8, 3);
+ cvCopy(frame, image.Ptr());
+
+ // foreground masks
+ fgMask = cvCreateImage(cvSize(width, height), 8, 1);
+ tempMask = cvCreateImage(cvSize(width, height), 8, 1);
+ cvZero(fgMask.Ptr());
+ cvZero(tempMask.Ptr());
+
+ // create background model
+ bgModel = new TextureArray[size];
+ texture = cvCreateImage(cvSize(width, height), 8, 3);
+ cvZero(texture.Ptr());
+ modeArray = new unsigned char[size];
+ curTextureHist = new TextureHistogram[size];
+
+ // initialize background model
+ bgs.LBP(image, texture);
+ bgs.Histogram(texture, curTextureHist);
+ for(int y = REGION_R+TEXTURE_R; y < height-REGION_R-TEXTURE_R; ++y)
+ {
+ for(int x = REGION_R+TEXTURE_R; x < width-REGION_R-TEXTURE_R; ++x)
+ {
+ int index = x+y*width;
+
+ for(int m = 0; m < NUM_MODES; ++m)
+ {
+ for(int i = 0; i < NUM_BINS; ++i)
+ {
+ bgModel[index].mode[m].r[i] = curTextureHist[index].r[i];
+ bgModel[index].mode[m].g[i] = curTextureHist[index].g[i];
+ bgModel[index].mode[m].b[i] = curTextureHist[index].b[i];
+ }
+ }
+ }
+ }
+
+ //dilateElement = cvCreateStructuringElementEx(7, 7, 3, 3, CV_SHAPE_RECT);
+ //erodeElement = cvCreateStructuringElementEx(3, 3, 1, 1, CV_SHAPE_RECT);
+
+ saveConfig();
+ firstTime = false;
+ }
+
+ cvCopy(frame, image.Ptr());
+
+ // perform background subtraction
+ bgs.LBP(image, texture);
+ bgs.Histogram(texture, curTextureHist);
+ bgs.BgsCompare(bgModel, curTextureHist, modeArray, THRESHOLD, fgMask);
+
+ //if(enableFiltering)
+ //{
+ // // size filtering
+ // ConnectedComponents cc;
+ // CBlobResult largeBlobs;
+ // cc.SetImage(&fgMask);
+ // cc.Find(127);
+ // cc.FilterMinArea(size/30, largeBlobs);
+ // fgMask.Clear();
+ // cc.ColorBlobs(fgMask.Ptr(), largeBlobs, CV_RGB(255,255,255));
+ // largeBlobs.ClearBlobs();
+
+ // // morphological operators
+ // cvDilate(fgMask.Ptr(), fgMask.Ptr(), dilateElement, 1);
+ // cvErode(fgMask.Ptr(), fgMask.Ptr(), erodeElement, 1);
+ //}
+
+ cv::Mat foreground(fgMask.Ptr());
+ if(!foreground.empty())
+ foreground.copyTo(img_output);
+
+ if(showOutput)
+ cv::imshow("Texture BGS (Donovan Parks)", foreground);
+
+ // update background subtraction
+ bgs.UpdateModel(fgMask, bgModel, curTextureHist, modeArray);
+
+ delete frame;
+}
+
+void DPTextureBGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/DPTextureBGS.xml", 0, CV_STORAGE_WRITE);
+
+ //cvWriteReal(fs, "alpha", alpha);
+ //cvWriteInt(fs, "enableFiltering", enableFiltering);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void DPTextureBGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/DPTextureBGS.xml", 0, CV_STORAGE_READ);
+
+ //alpha = cvReadRealByName(fs, 0, "alpha", 1e-6f);
+ //enableFiltering = cvReadIntByName(fs, 0, "enableFiltering", true);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
diff --git a/package_bgs/dp/DPTextureBGS.h b/package_bgs/dp/DPTextureBGS.h
new file mode 100644
index 0000000..daa6a55
--- /dev/null
+++ b/package_bgs/dp/DPTextureBGS.h
@@ -0,0 +1,60 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+#include "TextureBGS.h"
+//#include "ConnectedComponents.h"
+
+class DPTextureBGS : public IBGS
+{
+private:
+ bool firstTime;
+ bool showOutput;
+
+ int width;
+ int height;
+ int size;
+ TextureBGS bgs;
+ IplImage* frame;
+ RgbImage image;
+ BwImage fgMask;
+ BwImage tempMask;
+ TextureArray* bgModel;
+ RgbImage texture;
+ unsigned char* modeArray;
+ TextureHistogram* curTextureHist;
+ //ConnectedComponents cc;
+ //CBlobResult largeBlobs;
+ //IplConvKernel* dilateElement;
+ //IplConvKernel* erodeElement;
+ //bool enableFiltering;
+
+public:
+ DPTextureBGS();
+ ~DPTextureBGS();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
diff --git a/package_bgs/dp/DPWrenGABGS.cpp b/package_bgs/dp/DPWrenGABGS.cpp
new file mode 100644
index 0000000..d7241b1
--- /dev/null
+++ b/package_bgs/dp/DPWrenGABGS.cpp
@@ -0,0 +1,105 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "DPWrenGABGS.h"
+
+DPWrenGABGS::DPWrenGABGS() : firstTime(true), frameNumber(0), threshold(12.25f), alpha(0.005f), learningFrames(30), showOutput(true)
+{
+ std::cout << "DPWrenGABGS()" << std::endl;
+}
+
+DPWrenGABGS::~DPWrenGABGS()
+{
+ std::cout << "~DPWrenGABGS()" << std::endl;
+}
+
+void DPWrenGABGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ frame = new IplImage(img_input);
+
+ if(firstTime)
+ frame_data.ReleaseMemory(false);
+ frame_data = frame;
+
+ if(firstTime)
+ {
+ int width = img_input.size().width;
+ int height = img_input.size().height;
+
+ lowThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ lowThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ highThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ highThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ params.SetFrameSize(width, height);
+ params.LowThreshold() = threshold; //3.5f*3.5f;
+ params.HighThreshold() = 2*params.LowThreshold(); // Note: high threshold is used by post-processing
+ params.Alpha() = alpha; //0.005f;
+ params.LearningFrames() = learningFrames; //30;
+
+ bgs.Initalize(params);
+ bgs.InitModel(frame_data);
+ }
+
+ bgs.Subtract(frameNumber, frame_data, lowThresholdMask, highThresholdMask);
+ lowThresholdMask.Clear();
+ bgs.Update(frameNumber, frame_data, lowThresholdMask);
+
+ cv::Mat foreground(highThresholdMask.Ptr());
+
+ if(showOutput)
+ cv::imshow("Gaussian Average (Wren)", foreground);
+
+ foreground.copyTo(img_output);
+
+ delete frame;
+ firstTime = false;
+ frameNumber++;
+}
+
+void DPWrenGABGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/DPWrenGABGS.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteReal(fs, "threshold", threshold);
+ cvWriteReal(fs, "alpha", alpha);
+ cvWriteInt(fs, "learningFrames", learningFrames);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void DPWrenGABGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/DPWrenGABGS.xml", 0, CV_STORAGE_READ);
+
+ threshold = cvReadRealByName(fs, 0, "threshold", 12.25f);
+ alpha = cvReadRealByName(fs, 0, "alpha", 0.005f);
+ learningFrames = cvReadIntByName(fs, 0, "learningFrames", 30);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
+
diff --git a/package_bgs/dp/DPWrenGABGS.h b/package_bgs/dp/DPWrenGABGS.h
new file mode 100644
index 0000000..7e545c5
--- /dev/null
+++ b/package_bgs/dp/DPWrenGABGS.h
@@ -0,0 +1,56 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+#include "WrenGA.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+class DPWrenGABGS : public IBGS
+{
+private:
+ bool firstTime;
+ long frameNumber;
+ IplImage* frame;
+ RgbImage frame_data;
+
+ WrenParams params;
+ WrenGA bgs;
+ BwImage lowThresholdMask;
+ BwImage highThresholdMask;
+
+ double threshold;
+ double alpha;
+ int learningFrames;
+ bool showOutput;
+
+public:
+ DPWrenGABGS();
+ ~DPWrenGABGS();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/dp/DPZivkovicAGMMBGS.cpp b/package_bgs/dp/DPZivkovicAGMMBGS.cpp
new file mode 100644
index 0000000..16f991c
--- /dev/null
+++ b/package_bgs/dp/DPZivkovicAGMMBGS.cpp
@@ -0,0 +1,104 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "DPZivkovicAGMMBGS.h"
+
+DPZivkovicAGMMBGS::DPZivkovicAGMMBGS() : firstTime(true), frameNumber(0), showOutput(true), threshold(25.0f), alpha(0.001f), gaussians(3)
+{
+ std::cout << "DPZivkovicAGMMBGS()" << std::endl;
+}
+
+DPZivkovicAGMMBGS::~DPZivkovicAGMMBGS()
+{
+ std::cout << "~DPZivkovicAGMMBGS()" << std::endl;
+}
+
+void DPZivkovicAGMMBGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ frame = new IplImage(img_input);
+
+ if(firstTime)
+ frame_data.ReleaseMemory(false);
+ frame_data = frame;
+
+ if(firstTime)
+ {
+ int width = img_input.size().width;
+ int height = img_input.size().height;
+
+ lowThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ lowThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ highThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ highThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ params.SetFrameSize(width, height);
+ params.LowThreshold() = threshold; //5.0f*5.0f;
+ params.HighThreshold() = 2*params.LowThreshold(); // Note: high threshold is used by post-processing
+ params.Alpha() = alpha; //0.001f;
+ params.MaxModes() = gaussians; //3;
+
+ bgs.Initalize(params);
+ bgs.InitModel(frame_data);
+ }
+
+ bgs.Subtract(frameNumber, frame_data, lowThresholdMask, highThresholdMask);
+ lowThresholdMask.Clear();
+ bgs.Update(frameNumber, frame_data, lowThresholdMask);
+
+ cv::Mat foreground(highThresholdMask.Ptr());
+
+ if(showOutput)
+ cv::imshow("Gaussian Mixture Model (Zivkovic)", foreground);
+
+ foreground.copyTo(img_output);
+
+ delete frame;
+ firstTime = false;
+ frameNumber++;
+}
+
+void DPZivkovicAGMMBGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/DPZivkovicAGMMBGS.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteReal(fs, "threshold", threshold);
+ cvWriteReal(fs, "alpha", alpha);
+ cvWriteInt(fs, "gaussians", gaussians);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void DPZivkovicAGMMBGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/DPZivkovicAGMMBGS.xml", 0, CV_STORAGE_READ);
+
+ threshold = cvReadRealByName(fs, 0, "threshold", 25.0f);
+ alpha = cvReadRealByName(fs, 0, "alpha", 0.001f);
+ gaussians = cvReadIntByName(fs, 0, "gaussians", 3);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/dp/DPZivkovicAGMMBGS.h b/package_bgs/dp/DPZivkovicAGMMBGS.h
new file mode 100644
index 0000000..d213341
--- /dev/null
+++ b/package_bgs/dp/DPZivkovicAGMMBGS.h
@@ -0,0 +1,56 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+#include "ZivkovicAGMM.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+class DPZivkovicAGMMBGS : public IBGS
+{
+private:
+ bool firstTime;
+ long frameNumber;
+ IplImage* frame;
+ RgbImage frame_data;
+
+ ZivkovicParams params;
+ ZivkovicAGMM bgs;
+ BwImage lowThresholdMask;
+ BwImage highThresholdMask;
+
+ double threshold;
+ double alpha;
+ int gaussians;
+ bool showOutput;
+
+public:
+ DPZivkovicAGMMBGS();
+ ~DPZivkovicAGMMBGS();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/dp/Eigenbackground.cpp b/package_bgs/dp/Eigenbackground.cpp
new file mode 100644
index 0000000..2d2c3ef
--- /dev/null
+++ b/package_bgs/dp/Eigenbackground.cpp
@@ -0,0 +1,190 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* Eigenbackground.cpp
+*
+* Purpose: Implementation of the Eigenbackground background subtraction
+* algorithm developed by Oliver et al.
+*
+* Author: Donovan Parks, September 2007
+*
+* "A Bayesian Computer Vision System for Modeling Human Interactions"
+* Nuria Oliver, Barbara Rosario, Alex P. Pentland 2000
+*
+******************************************************************************/
+
+#include "Eigenbackground.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+Eigenbackground::Eigenbackground()
+{
+ m_pcaData = NULL;
+ m_pcaAvg = NULL;
+ m_eigenValues = NULL;
+ m_eigenVectors = NULL;
+}
+
+Eigenbackground::~Eigenbackground()
+{
+ if(m_pcaData != NULL) cvReleaseMat(&m_pcaData);
+ if(m_pcaAvg != NULL) cvReleaseMat(&m_pcaAvg);
+ if(m_eigenValues != NULL) cvReleaseMat(&m_eigenValues);
+ if(m_eigenVectors != NULL) cvReleaseMat(&m_eigenVectors);
+}
+
+void Eigenbackground::Initalize(const BgsParams& param)
+{
+ m_params = (EigenbackgroundParams&)param;
+
+ m_background = cvCreateImage(cvSize(m_params.Width(), m_params.Height()), IPL_DEPTH_8U, 3);
+ m_background.Clear();
+}
+
+void Eigenbackground::InitModel(const RgbImage& data)
+{
+ if(m_pcaData != NULL) cvReleaseMat(&m_pcaData);
+ if(m_pcaAvg != NULL) cvReleaseMat(&m_pcaAvg);
+ if(m_eigenValues != NULL) cvReleaseMat(&m_eigenValues);
+ if(m_eigenVectors != NULL) cvReleaseMat(&m_eigenVectors);
+
+ m_pcaData = cvCreateMat(m_params.HistorySize(), m_params.Size()*3, CV_8UC1);
+
+ m_background.Clear();
+}
+
+void Eigenbackground::Update(int frame_num, const RgbImage& data, const BwImage& update_mask)
+{
+ // the eigenbackground model is not updated (serious limitation!)
+}
+
+void Eigenbackground::Subtract(int frame_num, const RgbImage& data,
+ BwImage& low_threshold_mask, BwImage& high_threshold_mask)
+{
+ // create eigenbackground
+ if(frame_num == m_params.HistorySize())
+ {
+ // create the eigenspace
+ m_pcaAvg = cvCreateMat( 1, m_pcaData->cols, CV_32F );
+ m_eigenValues = cvCreateMat( m_pcaData->rows, 1, CV_32F );
+ m_eigenVectors = cvCreateMat( m_pcaData->rows, m_pcaData->cols, CV_32F );
+ cvCalcPCA(m_pcaData, m_pcaAvg, m_eigenValues, m_eigenVectors, CV_PCA_DATA_AS_ROW);
+
+ int index = 0;
+ for(unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ for(int ch = 0; ch < m_background.Ptr()->nChannels; ++ch)
+ {
+ m_background(r,c,0) = static_cast<unsigned char>(cvmGet(m_pcaAvg,0,index)+0.5);
+ index++;
+ }
+ }
+ }
+ }
+
+ if(frame_num >= m_params.HistorySize())
+ {
+ // project new image into the eigenspace
+ int w = data.Ptr()->width;
+ int h = data.Ptr()->height;
+ int ch = data.Ptr()->nChannels;
+ CvMat* dataPt = cvCreateMat(1, w*h*ch, CV_8UC1);
+ CvMat data_row;
+ cvGetRow(dataPt, &data_row, 0);
+ cvReshape(&data_row, &data_row, 3, data.Ptr()->height);
+ cvCopy(data.Ptr(), &data_row);
+
+ CvMat* proj = cvCreateMat(1, m_params.EmbeddedDim(), CV_32F);
+ cvProjectPCA(dataPt, m_pcaAvg, m_eigenVectors, proj);
+
+ // reconstruct point
+ CvMat* result = cvCreateMat(1, m_pcaData->cols, CV_32F);
+ cvBackProjectPCA(proj, m_pcaAvg, m_eigenVectors, result);
+
+ // calculate Euclidean distance between new image and its eigenspace projection
+ int index = 0;
+ for(unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ double dist = 0;
+ bool bgLow = true;
+ bool bgHigh = true;
+ for(int ch = 0; ch < 3; ++ch)
+ {
+ dist = (data(r,c,ch) - cvmGet(result,0,index))*(data(r,c,ch) - cvmGet(result,0,index));
+ if(dist > m_params.LowThreshold())
+ bgLow = false;
+ if(dist > m_params.HighThreshold())
+ bgHigh = false;
+ index++;
+ }
+
+ if(!bgLow)
+ {
+ low_threshold_mask(r,c) = FOREGROUND;
+ }
+ else
+ {
+ low_threshold_mask(r,c) = BACKGROUND;
+ }
+
+ if(!bgHigh)
+ {
+ high_threshold_mask(r,c) = FOREGROUND;
+ }
+ else
+ {
+ high_threshold_mask(r,c) = BACKGROUND;
+ }
+ }
+ }
+
+ cvReleaseMat(&result);
+ cvReleaseMat(&proj);
+ cvReleaseMat(&dataPt);
+ }
+ else
+ {
+ // set entire image to background since there is not enough information yet
+ // to start performing background subtraction
+ for(unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ low_threshold_mask(r,c) = BACKGROUND;
+ high_threshold_mask(r,c) = BACKGROUND;
+ }
+ }
+ }
+
+ UpdateHistory(frame_num, data);
+}
+
+void Eigenbackground::UpdateHistory(int frame_num, const RgbImage& new_frame)
+{
+ if(frame_num < m_params.HistorySize())
+ {
+ CvMat src_row;
+ cvGetRow(m_pcaData, &src_row, frame_num);
+ cvReshape(&src_row, &src_row, 3, new_frame.Ptr()->height);
+ cvCopy(new_frame.Ptr(), &src_row);
+ }
+}
diff --git a/package_bgs/dp/Eigenbackground.h b/package_bgs/dp/Eigenbackground.h
new file mode 100644
index 0000000..b86ac92
--- /dev/null
+++ b/package_bgs/dp/Eigenbackground.h
@@ -0,0 +1,101 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* Eigenbackground.hpp
+*
+* Purpose: Implementation of the Eigenbackground background subtraction
+* algorithm developed by Oliver et al.
+*
+* Author: Donovan Parks, September 2007
+*
+* "A Bayesian Computer Vision System for Modeling Human Interactions"
+* Nuria Oliver, Barbara Rosario, Alex P. Pentland 2000
+
+Example:
+Algorithms::BackgroundSubtraction::EigenbackgroundParams params;
+params.SetFrameSize(width, height);
+params.LowThreshold() = 15*15;
+params.HighThreshold() = 2*params.LowThreshold(); // Note: high threshold is used by post-processing
+params.HistorySize() = 100;
+params.EmbeddedDim() = 20;
+
+Algorithms::BackgroundSubtraction::Eigenbackground bgs;
+bgs.Initalize(params);
+******************************************************************************/
+
+#ifndef _ELGAMMAL_H_
+#define _ELGAMMAL_H_
+
+#include "Bgs.h"
+
+namespace Algorithms
+{
+ namespace BackgroundSubtraction
+ {
+ // --- Parameters used by the Mean BGS algorithm ---
+ class EigenbackgroundParams : public BgsParams
+ {
+ public:
+ float &LowThreshold() { return m_low_threshold; }
+ float &HighThreshold() { return m_high_threshold; }
+
+ int &HistorySize() { return m_history_size; }
+ int &EmbeddedDim() { return m_dim; }
+
+ private:
+ // A pixel will be classified as foreground if the squared distance of any
+ // color channel is greater than the specified threshold
+ float m_low_threshold;
+ float m_high_threshold;
+
+ int m_history_size; // number frames used to create eigenspace
+ int m_dim; // eigenspace dimensionality
+ };
+
+ // --- Eigenbackground BGS algorithm ---
+ class Eigenbackground : public Bgs
+ {
+ public:
+ Eigenbackground();
+ ~Eigenbackground();
+
+ void Initalize(const BgsParams& param);
+
+ void InitModel(const RgbImage& data);
+ void Subtract(int frame_num, const RgbImage& data,
+ BwImage& low_threshold_mask, BwImage& high_threshold_mask);
+ void Update(int frame_num, const RgbImage& data, const BwImage& update_mask);
+
+ RgbImage* Background() { return &m_background; }
+
+ private:
+ void UpdateHistory(int frameNum, const RgbImage& newFrame);
+
+ EigenbackgroundParams m_params;
+
+ CvMat* m_pcaData;
+ CvMat* m_pcaAvg;
+ CvMat* m_eigenValues;
+ CvMat* m_eigenVectors;
+
+ RgbImage m_background;
+ };
+ };
+};
+
+#endif
\ No newline at end of file
diff --git a/package_bgs/dp/Error.cpp b/package_bgs/dp/Error.cpp
new file mode 100644
index 0000000..1bd87db
--- /dev/null
+++ b/package_bgs/dp/Error.cpp
@@ -0,0 +1,57 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* Error.cpp
+*
+* Purpose: Error checking routines.
+*
+* Author: Donovan Parks, July 2007
+*
+******************************************************************************/
+
+#include <iostream>
+#include <fstream>
+
+#include "Error.h"
+
+using namespace std;
+
+ofstream traceFile;
+
+bool Error(const char* msg, const char* code, int data)
+{
+ cerr << code << ": " << msg << endl;
+
+ return false;
+}
+
+bool TraceInit(const char* filename)
+{
+ traceFile.open(filename);
+ return traceFile.is_open();
+}
+
+void Trace(const char* msg)
+{
+ traceFile << msg << endl;
+}
+
+void TraceClose()
+{
+ traceFile.close();
+}
diff --git a/package_bgs/dp/Error.h b/package_bgs/dp/Error.h
new file mode 100644
index 0000000..cdbb222
--- /dev/null
+++ b/package_bgs/dp/Error.h
@@ -0,0 +1,36 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* Error.h
+*
+* Purpose: Error checking routines.
+*
+* Author: Donovan Parks, July 2007
+*
+******************************************************************************/
+
+#ifndef ERROR_H
+#define ERROR_H
+
+bool Error(const char* msg, const char* code, int data);
+
+bool TraceInit(const char* filename);
+void Trace(const char* msg);
+void TraceClose();
+
+#endif
diff --git a/package_bgs/dp/GrimsonGMM.cpp b/package_bgs/dp/GrimsonGMM.cpp
new file mode 100644
index 0000000..5788dc9
--- /dev/null
+++ b/package_bgs/dp/GrimsonGMM.cpp
@@ -0,0 +1,332 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* GrimsonGMM.cpp
+*
+* Purpose: Implementation of the Gaussian mixture model (GMM) background
+* subtraction described in:
+* "Adaptive background mixture models for real-time tracking"
+* by Chris Stauffer and W.E.L Grimson
+*
+* Author: Donovan Parks, September 2007
+*
+* This code is based on code by Z. Zivkovic's written for his enhanced GMM
+* background subtraction algorithm:
+*
+* "Improved adaptive Gausian mixture model for background subtraction"
+* Z.Zivkovic
+* International Conference Pattern Recognition, UK, August, 2004
+*
+*
+* "Efficient Adaptive Density Estimapion per Image Pixel for the
+* Task of Background Subtraction"
+* Z.Zivkovic, F. van der Heijden
+* Pattern Recognition Letters, vol. 27, no. 7, pages 773-780, 2006.
+*
+* Zivkovic's code can be obtained at: www.zoranz.net
+******************************************************************************/
+
+#include "GrimsonGMM.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+int compareGMM(const void* _gmm1, const void* _gmm2)
+{
+ GMM gmm1 = *(GMM*)_gmm1;
+ GMM gmm2 = *(GMM*)_gmm2;
+
+ if(gmm1.significants < gmm2.significants)
+ return 1;
+ else if(gmm1.significants == gmm2.significants)
+ return 0;
+ else
+ return -1;
+}
+
+GrimsonGMM::GrimsonGMM()
+{
+ m_modes = NULL;
+}
+
+GrimsonGMM::~GrimsonGMM()
+{
+ if(m_modes != NULL)
+ delete[] m_modes;
+}
+
+void GrimsonGMM::Initalize(const BgsParams& param)
+{
+ m_params = (GrimsonParams&)param;
+
+ // Tbf - the threshold
+ m_bg_threshold = 0.75f; // 1-cf from the paper
+
+ // Tgenerate - the threshold
+ m_variance = 36.0f; // sigma for the new mode
+
+ // GMM for each pixel
+ m_modes = new GMM[m_params.Size()*m_params.MaxModes()];
+
+ // used modes per pixel
+ m_modes_per_pixel = cvCreateImage(cvSize(m_params.Width(), m_params.Height()), IPL_DEPTH_8U, 1);
+
+ m_background = cvCreateImage(cvSize(m_params.Width(), m_params.Height()), IPL_DEPTH_8U, 3);
+}
+
+RgbImage* GrimsonGMM::Background()
+{
+ return &m_background;
+}
+
+void GrimsonGMM::InitModel(const RgbImage& data)
+{
+ m_modes_per_pixel.Clear();
+
+ for(unsigned int i = 0; i < m_params.Size()*m_params.MaxModes(); ++i)
+ {
+ m_modes[i].weight = 0;
+ m_modes[i].variance = 0;
+ m_modes[i].muR = 0;
+ m_modes[i].muG = 0;
+ m_modes[i].muB = 0;
+ m_modes[i].significants = 0;
+ }
+}
+
+void GrimsonGMM::Update(int frame_num, const RgbImage& data, const BwImage& update_mask)
+{
+ // it doesn't make sense to have conditional updates in the GMM framework
+}
+
+void GrimsonGMM::SubtractPixel(long posPixel, const RgbPixel& pixel, unsigned char& numModes,
+ unsigned char& low_threshold, unsigned char& high_threshold)
+{
+ // calculate distances to the modes (+ sort???)
+ // here we need to go in descending order!!!
+ long pos;
+ bool bFitsPDF=false;
+ bool bBackgroundLow=false;
+ bool bBackgroundHigh=false;
+
+ float fOneMinAlpha = 1-m_params.Alpha();
+
+ float totalWeight = 0.0f;
+
+ // calculate number of Gaussians to include in the background model
+ int backgroundGaussians = 0;
+ double sum = 0.0;
+ for(int i = 0; i < numModes; ++i)
+ {
+ if(sum < m_bg_threshold)
+ {
+ backgroundGaussians++;
+ sum += m_modes[posPixel+i].weight;
+ }
+ else
+ {
+ break;
+ }
+ }
+
+ // update all distributions and check for match with current pixel
+ for (int iModes=0; iModes < numModes; iModes++)
+ {
+ pos=posPixel+iModes;
+ float weight = m_modes[pos].weight;
+
+ // fit not found yet
+ if (!bFitsPDF)
+ {
+ //check if it belongs to some of the modes
+ //calculate distance
+ float var = m_modes[pos].variance;
+ float muR = m_modes[pos].muR;
+ float muG = m_modes[pos].muG;
+ float muB = m_modes[pos].muB;
+
+ float dR=muR - pixel(0);
+ float dG=muG - pixel(1);
+ float dB=muB - pixel(2);
+
+ // calculate the squared distance
+ float dist = (dR*dR + dG*dG + dB*dB);
+
+ if(dist < m_params.HighThreshold()*var && iModes < backgroundGaussians)
+ bBackgroundHigh = true;
+
+ // a match occurs when the pixel is within sqrt(fTg) standard deviations of the distribution
+ if(dist < m_params.LowThreshold()*var)
+ {
+ bFitsPDF=true;
+
+ // check if this Gaussian is part of the background model
+ if(iModes < backgroundGaussians)
+ bBackgroundLow = true;
+
+ //update distribution
+ float k = m_params.Alpha()/weight;
+ weight = fOneMinAlpha*weight + m_params.Alpha();
+ m_modes[pos].weight = weight;
+ m_modes[pos].muR = muR - k*(dR);
+ m_modes[pos].muG = muG - k*(dG);
+ m_modes[pos].muB = muB - k*(dB);
+
+ //limit the variance
+ float sigmanew = var + k*(dist-var);
+ m_modes[pos].variance = sigmanew < 4 ? 4 : sigmanew > 5*m_variance ? 5*m_variance : sigmanew;
+ m_modes[pos].significants = m_modes[pos].weight / sqrt(m_modes[pos].variance);
+ }
+ else
+ {
+ weight = fOneMinAlpha*weight;
+ if (weight < 0.0)
+ {
+ weight=0.0;
+ numModes--;
+ }
+
+ m_modes[pos].weight = weight;
+ m_modes[pos].significants = m_modes[pos].weight / sqrt(m_modes[pos].variance);
+ }
+ }
+ else
+ {
+ weight = fOneMinAlpha*weight;
+ if (weight < 0.0)
+ {
+ weight=0.0;
+ numModes--;
+ }
+ m_modes[pos].weight = weight;
+ m_modes[pos].significants = m_modes[pos].weight / sqrt(m_modes[pos].variance);
+ }
+
+ totalWeight += weight;
+ }
+
+ // renormalize weights so they add to one
+ double invTotalWeight = 1.0 / totalWeight;
+ for (int iLocal = 0; iLocal < numModes; iLocal++)
+ {
+ m_modes[posPixel + iLocal].weight *= (float)invTotalWeight;
+ m_modes[posPixel + iLocal].significants = m_modes[posPixel + iLocal].weight
+ / sqrt(m_modes[posPixel + iLocal].variance);
+ }
+
+ // Sort significance values so they are in desending order.
+ qsort(&m_modes[posPixel], numModes, sizeof(GMM), compareGMM);
+
+ // make new mode if needed and exit
+ if (!bFitsPDF)
+ {
+ if (numModes < m_params.MaxModes())
+ {
+ numModes++;
+ }
+ else
+ {
+ // the weakest mode will be replaced
+ }
+
+ pos = posPixel + numModes-1;
+
+ m_modes[pos].muR = pixel.ch[0];
+ m_modes[pos].muG = pixel.ch[1];
+ m_modes[pos].muB = pixel.ch[2];
+ m_modes[pos].variance = m_variance;
+ m_modes[pos].significants = 0; // will be set below
+
+ if (numModes==1)
+ m_modes[pos].weight = 1;
+ else
+ m_modes[pos].weight = m_params.Alpha();
+
+ //renormalize weights
+ int iLocal;
+ float sum = 0.0;
+ for (iLocal = 0; iLocal < numModes; iLocal++)
+ {
+ sum += m_modes[posPixel+ iLocal].weight;
+ }
+
+ double invSum = 1.0/sum;
+ for (iLocal = 0; iLocal < numModes; iLocal++)
+ {
+ m_modes[posPixel + iLocal].weight *= (float)invSum;
+ m_modes[posPixel + iLocal].significants = m_modes[posPixel + iLocal].weight
+ / sqrt(m_modes[posPixel + iLocal].variance);
+
+ }
+ }
+
+ // Sort significance values so they are in desending order.
+ qsort(&(m_modes[posPixel]), numModes, sizeof(GMM), compareGMM);
+
+ if(bBackgroundLow)
+ {
+ low_threshold = BACKGROUND;
+ }
+ else
+ {
+ low_threshold = FOREGROUND;
+ }
+
+ if(bBackgroundHigh)
+ {
+ high_threshold = BACKGROUND;
+ }
+ else
+ {
+ high_threshold = FOREGROUND;
+ }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+//Input:
+// data - a pointer to the data of a RGB image of the same size
+//Output:
+// output - a pointer to the data of a gray value image of the same size
+// (the memory should already be reserved)
+// values: 255-foreground, 125-shadow, 0-background
+///////////////////////////////////////////////////////////////////////////////
+void GrimsonGMM::Subtract(int frame_num, const RgbImage& data,
+ BwImage& low_threshold_mask, BwImage& high_threshold_mask)
+{
+ unsigned char low_threshold, high_threshold;
+ long posPixel;
+
+ // update each pixel of the image
+ for(unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ // update model + background subtract
+ posPixel=(r*m_params.Width()+c)*m_params.MaxModes();
+
+ SubtractPixel(posPixel, data(r,c), m_modes_per_pixel(r,c), low_threshold, high_threshold);
+
+ low_threshold_mask(r,c) = low_threshold;
+ high_threshold_mask(r,c) = high_threshold;
+
+ m_background(r,c,0) = (unsigned char)m_modes[posPixel].muR;
+ m_background(r,c,1) = (unsigned char)m_modes[posPixel].muG;
+ m_background(r,c,2) = (unsigned char)m_modes[posPixel].muB;
+ }
+ }
+}
+
diff --git a/package_bgs/dp/GrimsonGMM.h b/package_bgs/dp/GrimsonGMM.h
new file mode 100644
index 0000000..2d11a28
--- /dev/null
+++ b/package_bgs/dp/GrimsonGMM.h
@@ -0,0 +1,150 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* GrimsonGMM.cpp
+*
+* Purpose: Implementation of the Gaussian mixture model (GMM) background
+* subtraction described in:
+* "Adaptive background mixture models for real-time tracking"
+* by Chris Stauffer and W.E.L Grimson
+*
+* Author: Donovan Parks, September 2007
+*
+* This code is based on code by Z. Zivkovic's written for his enhanced GMM
+* background subtraction algorithm:
+*
+* "Improved adaptive Gausian mixture model for background subtraction"
+* Z.Zivkovic
+* International Conference Pattern Recognition, UK, August, 2004
+*
+*
+* "Efficient Adaptive Density Estimapion per Image Pixel for the
+* Task of Background Subtraction"
+* Z.Zivkovic, F. van der Heijden
+* Pattern Recognition Letters, vol. 27, no. 7, pages 773-780, 2006.
+*
+* Zivkovic's code can be obtained at: www.zoranz.net
+
+Example:
+ Algorithms::BackgroundSubtraction::GrimsonParams params;
+ params.SetFrameSize(width, height);
+ params.LowThreshold() = 3.0f*3.0f;
+ params.HighThreshold() = 2*params.LowThreshold(); // Note: high threshold is used by post-processing
+ params.Alpha() = 0.001f;
+ params.MaxModes() = 3;
+
+ Algorithms::BackgroundSubtraction::GrimsonGMM bgs;
+ bgs.Initalize(params);
+******************************************************************************/
+
+#ifndef GRIMSON_GMM_
+#define GRIMSON_GMM_
+
+#include "Bgs.h"
+
+namespace Algorithms
+{
+ namespace BackgroundSubtraction
+ {
+ typedef struct GMMGaussian
+ {
+ float variance;
+ float muR;
+ float muG;
+ float muB;
+ float weight;
+ float significants; // this is equal to weight / standard deviation and is used to
+ // determine which Gaussians should be part of the background model
+ } GMM;
+
+ // --- User adjustable parameters used by the Grimson GMM BGS algorithm ---
+ class GrimsonParams : public BgsParams
+ {
+ public:
+ float &LowThreshold() { return m_low_threshold; }
+ float &HighThreshold() { return m_high_threshold; }
+
+ float &Alpha() { return m_alpha; }
+ int &MaxModes() { return m_max_modes; }
+
+ private:
+ // Threshold on the squared dist. to decide when a sample is close to an existing
+ // components. If it is not close to any a new component will be generated.
+ // Smaller threshold values lead to more generated components and higher threshold values
+ // lead to a small number of components but they can grow too large.
+ //
+ // It is usual easiest to think of these thresholds as being the number of variances away
+ // from the mean of a pixel before it is considered to be from the foreground.
+ float m_low_threshold;
+ float m_high_threshold;
+
+ // alpha - speed of update - if the time interval you want to average over is T
+ // set alpha=1/T.
+ float m_alpha;
+
+ // Maximum number of modes (Gaussian components) that will be used per pixel
+ int m_max_modes;
+ };
+
+ // --- Grimson GMM BGS algorithm ---
+ class GrimsonGMM : public Bgs
+ {
+ public:
+ GrimsonGMM();
+ ~GrimsonGMM();
+
+ void Initalize(const BgsParams& param);
+
+ void InitModel(const RgbImage& data);
+ void Subtract(int frame_num, const RgbImage& data,
+ BwImage& low_threshold_mask, BwImage& high_threshold_mask);
+ void Update(int frame_num, const RgbImage& data, const BwImage& update_mask);
+
+ RgbImage* Background();
+
+ private:
+ void SubtractPixel(long posPixel, const RgbPixel& pixel, unsigned char& numModes,
+ unsigned char& lowThreshold, unsigned char& highThreshold);
+
+ // User adjustable parameters
+ GrimsonParams m_params;
+
+ // Threshold when the component becomes significant enough to be included into
+ // the background model. It is the TB = 1-cf from the paper. So I use cf=0.1 => TB=0.9
+ // For alpha=0.001 it means that the mode should exist for approximately 105 frames before
+ // it is considered foreground
+ float m_bg_threshold; //1-cf from the paper
+
+ // Initial variance for the newly generated components.
+ // It will will influence the speed of adaptation. A good guess should be made.
+ // A simple way is to estimate the typical standard deviation from the images.
+ float m_variance;
+
+ // Dynamic array for the mixture of Gaussians
+ GMM* m_modes;
+
+ // Number of Gaussian components per pixel
+ BwImage m_modes_per_pixel;
+
+ // Current background model
+ RgbImage m_background;
+ };
+ };
+};
+
+#endif
diff --git a/package_bgs/dp/Image.cpp b/package_bgs/dp/Image.cpp
new file mode 100644
index 0000000..f00febd
--- /dev/null
+++ b/package_bgs/dp/Image.cpp
@@ -0,0 +1,76 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* Image.hpp
+*
+* Purpose: C++ wrapper for OpenCV IplImage which supports simple and
+* efficient access to the image data
+*
+* Author: Donovan Parks, September 2007
+*
+* Based on code from:
+* http://www.cs.iit.edu/~agam/cs512/lect-notes/opencv-intro/opencv-intro.hpptml
+******************************************************************************/
+
+#include "Image.h"
+
+ImageBase::~ImageBase()
+{
+ if(imgp != NULL && m_bReleaseMemory)
+ cvReleaseImage(&imgp);
+ imgp = NULL;
+}
+
+void DensityFilter(BwImage& image, BwImage& filtered, int minDensity, unsigned char fgValue)
+{
+ for(int r = 1; r < image.Ptr()->height-1; ++r)
+ {
+ for(int c = 1; c < image.Ptr()->width-1; ++c)
+ {
+ int count = 0;
+ if(image(r,c) == fgValue)
+ {
+ if(image(r-1,c-1) == fgValue)
+ count++;
+ if(image(r-1,c) == fgValue)
+ count++;
+ if(image(r-1,c+1) == fgValue)
+ count++;
+ if(image(r,c-1) == fgValue)
+ count++;
+ if(image(r,c+1) == fgValue)
+ count++;
+ if(image(r+1,c-1) == fgValue)
+ count++;
+ if(image(r+1,c) == fgValue)
+ count++;
+ if(image(r+1,c+1) == fgValue)
+ count++;
+
+ if(count < minDensity)
+ filtered(r,c) = 0;
+ else
+ filtered(r,c) = fgValue;
+ }
+ else
+ {
+ filtered(r,c) = 0;
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/package_bgs/dp/Image.h b/package_bgs/dp/Image.h
new file mode 100644
index 0000000..40d327b
--- /dev/null
+++ b/package_bgs/dp/Image.h
@@ -0,0 +1,364 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* Image.h
+*
+* Purpose: C++ wrapper for OpenCV IplImage which supports simple and
+* efficient access to the image data
+*
+* Author: Donovan Parks, September 2007
+*
+* Based on code from:
+* http://www.cs.iit.edu/~agam/cs512/lect-notes/opencv-intro/opencv-intro.html
+******************************************************************************/
+
+#ifndef _IMAGE_H_
+#define _IMAGE_H_
+
+#include <cv.h>
+#include <cxcore.h>
+
+// --- Image Iterator ---------------------------------------------------------
+
+template <class T>
+class ImageIterator
+{
+public:
+ ImageIterator(IplImage* image, int x=0, int y=0, int dx= 0, int dy=0) :
+ i(x), j(y), i0(0)
+ {
+ data = reinterpret_cast<T*>(image->imageData);
+ step = image->widthStep / sizeof(T);
+
+ nl= image->height;
+ if ((y+dy)>0 && (y+dy) < nl)
+ nl= y+dy;
+
+ if (y<0)
+ j=0;
+
+ data += step*j;
+
+ nc = image->width;
+ if ((x+dx) > 0 && (x+dx) < nc)
+ nc = x+dx;
+
+ nc *= image->nChannels;
+ if (x>0)
+ i0 = x*image->nChannels;
+ i = i0;
+
+ nch = image->nChannels;
+ }
+
+
+ /* has next ? */
+ bool operator!() const { return j < nl; }
+
+ /* next pixel */
+ ImageIterator& operator++()
+ {
+ i++;
+ if (i >= nc)
+ {
+ i=i0;
+ j++;
+ data += step;
+ }
+ return *this;
+ }
+
+ ImageIterator& operator+=(int s)
+ {
+ i+=s;
+ if (i >= nc)
+ {
+ i=i0;
+ j++;
+ data += step;
+ }
+ return *this;
+ }
+
+ /* pixel access */
+ T& operator*() { return data[i]; }
+
+ const T operator*() const { return data[i]; }
+
+ const T neighbor(int dx, int dy) const
+ {
+ return *(data+dy*step+i+dx);
+ }
+
+ T* operator&() const { return data+i; }
+
+ /* current pixel coordinates */
+ int column() const { return i/nch; }
+ int line() const { return j; }
+
+private:
+ int i, i0,j;
+ T* data;
+ int step;
+ int nl, nc;
+ int nch;
+};
+
+// --- Constants --------------------------------------------------------------
+
+const unsigned char NUM_CHANNELS = 3;
+
+// --- Pixel Types ------------------------------------------------------------
+
+class RgbPixel
+{
+public:
+ RgbPixel() {;}
+ RgbPixel(unsigned char _r, unsigned char _g, unsigned char _b)
+ {
+ ch[0] = _r; ch[1] = _g; ch[2] = _b;
+ }
+
+ RgbPixel& operator=(const RgbPixel& rhs)
+ {
+ ch[0] = rhs.ch[0]; ch[1] = rhs.ch[1]; ch[2] = rhs.ch[2];
+ return *this;
+ }
+
+ inline unsigned char& operator()(const int _ch)
+ {
+ return ch[_ch];
+ }
+
+ inline unsigned char operator()(const int _ch) const
+ {
+ return ch[_ch];
+ }
+
+ unsigned char ch[3];
+};
+
+class RgbPixelFloat
+{
+public:
+ RgbPixelFloat() {;}
+ RgbPixelFloat(float _r, float _g, float _b)
+ {
+ ch[0] = _r; ch[1] = _g; ch[2] = _b;
+ }
+
+ RgbPixelFloat& operator=(const RgbPixelFloat& rhs)
+ {
+ ch[0] = rhs.ch[0]; ch[1] = rhs.ch[1]; ch[2] = rhs.ch[2];
+ return *this;
+ }
+
+ inline float& operator()(const int _ch)
+ {
+ return ch[_ch];
+ }
+
+ inline float operator()(const int _ch) const
+ {
+ return ch[_ch];
+ }
+
+ float ch[3];
+};
+
+// --- Image Types ------------------------------------------------------------
+
+class ImageBase
+{
+public:
+ ImageBase(IplImage* img = NULL) { imgp = img; m_bReleaseMemory = true; }
+ ~ImageBase();
+
+ void ReleaseMemory(bool b) { m_bReleaseMemory = b; }
+
+ IplImage* Ptr() { return imgp; }
+ const IplImage* Ptr() const { return imgp; }
+
+ void ReleaseImage()
+ {
+ cvReleaseImage(&imgp);
+ }
+
+ void operator=(IplImage* img)
+ {
+ imgp = img;
+ }
+
+ // copy-constructor
+ ImageBase(const ImageBase& rhs)
+ {
+ // it is very inefficent if this copy-constructor is called
+ assert(false);
+ }
+
+ // assignment operator
+ ImageBase& operator=(const ImageBase& rhs)
+ {
+ // it is very inefficent if operator= is called
+ assert(false);
+
+ return *this;
+ }
+
+ virtual void Clear() = 0;
+
+protected:
+ IplImage* imgp;
+ bool m_bReleaseMemory;
+};
+
+class RgbImage : public ImageBase
+{
+public:
+ RgbImage(IplImage* img = NULL) : ImageBase(img) { ; }
+
+ virtual void Clear()
+ {
+ cvZero(imgp);
+ }
+
+ void operator=(IplImage* img)
+ {
+ imgp = img;
+ }
+
+ // channel-level access using image(row, col, channel)
+ inline unsigned char& operator()(const int r, const int c, const int ch)
+ {
+ return (unsigned char &)imgp->imageData[r*imgp->widthStep+c*imgp->nChannels+ch];
+ }
+
+ inline const unsigned char& operator()(const int r, const int c, const int ch) const
+ {
+ return (unsigned char &)imgp->imageData[r*imgp->widthStep+c*imgp->nChannels+ch];
+ }
+
+ // RGB pixel-level access using image(row, col)
+ inline RgbPixel& operator()(const int r, const int c)
+ {
+ return (RgbPixel &)imgp->imageData[r*imgp->widthStep+c*imgp->nChannels];
+ }
+
+ inline const RgbPixel& operator()(const int r, const int c) const
+ {
+ return (RgbPixel &)imgp->imageData[r*imgp->widthStep+c*imgp->nChannels];
+ }
+};
+
+class RgbImageFloat : public ImageBase
+{
+public:
+ RgbImageFloat(IplImage* img = NULL) : ImageBase(img) { ; }
+
+ virtual void Clear()
+ {
+ cvZero(imgp);
+ }
+
+ void operator=(IplImage* img)
+ {
+ imgp = img;
+ }
+
+ // channel-level access using image(row, col, channel)
+ inline float& operator()(const int r, const int c, const int ch)
+ {
+ return (float &)imgp->imageData[r*imgp->widthStep+(c*imgp->nChannels+ch)*sizeof(float)];
+ }
+
+ inline float operator()(const int r, const int c, const int ch) const
+ {
+ return (float)imgp->imageData[r*imgp->widthStep+(c*imgp->nChannels+ch)*sizeof(float)];
+ }
+
+ // RGB pixel-level access using image(row, col)
+ inline RgbPixelFloat& operator()(const int r, const int c)
+ {
+ return (RgbPixelFloat &)imgp->imageData[r*imgp->widthStep+c*imgp->nChannels*sizeof(float)];
+ }
+
+ inline const RgbPixelFloat& operator()(const int r, const int c) const
+ {
+ return (RgbPixelFloat &)imgp->imageData[r*imgp->widthStep+c*imgp->nChannels*sizeof(float)];
+ }
+};
+
+class BwImage : public ImageBase
+{
+public:
+ BwImage(IplImage* img = NULL) : ImageBase(img) { ; }
+
+ virtual void Clear()
+ {
+ cvZero(imgp);
+ }
+
+ void operator=(IplImage* img)
+ {
+ imgp = img;
+ }
+
+ // pixel-level access using image(row, col)
+ inline unsigned char& operator()(const int r, const int c)
+ {
+ return (unsigned char &)imgp->imageData[r*imgp->widthStep+c];
+ }
+
+ inline unsigned char operator()(const int r, const int c) const
+ {
+ return (unsigned char)imgp->imageData[r*imgp->widthStep+c];
+ }
+};
+
+class BwImageFloat : public ImageBase
+{
+public:
+ BwImageFloat(IplImage* img = NULL) : ImageBase(img) { ; }
+
+ virtual void Clear()
+ {
+ cvZero(imgp);
+ }
+
+ void operator=(IplImage* img)
+ {
+ imgp = img;
+ }
+
+ // pixel-level access using image(row, col)
+ inline float& operator()(const int r, const int c)
+ {
+ return (float &)imgp->imageData[r*imgp->widthStep+c*sizeof(float)];
+ }
+
+ inline float operator()(const int r, const int c) const
+ {
+ return (float)imgp->imageData[r*imgp->widthStep+c*sizeof(float)];
+ }
+};
+
+// --- Image Functions --------------------------------------------------------
+
+void DensityFilter(BwImage& image, BwImage& filtered, int minDensity, unsigned char fgValue);
+
+#endif
\ No newline at end of file
diff --git a/package_bgs/dp/MeanBGS.cpp b/package_bgs/dp/MeanBGS.cpp
new file mode 100644
index 0000000..b8df895
--- /dev/null
+++ b/package_bgs/dp/MeanBGS.cpp
@@ -0,0 +1,131 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* MeanBGS.h
+*
+* Purpose: Implementation of a simple temporal mean background
+* subtraction algorithm.
+*
+* Author: Donovan Parks, September 2007
+*
+******************************************************************************/
+
+#include "MeanBGS.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+void MeanBGS::Initalize(const BgsParams& param)
+{
+ m_params = (MeanParams&)param;
+
+ m_mean = cvCreateImage(cvSize(m_params.Width(), m_params.Height()), IPL_DEPTH_32F, 3);
+ m_background = cvCreateImage(cvSize(m_params.Width(), m_params.Height()), IPL_DEPTH_8U, 3);
+}
+
+void MeanBGS::InitModel(const RgbImage& data)
+{
+ for (unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ for(int ch = 0; ch < NUM_CHANNELS; ++ch)
+ {
+ m_mean(r,c,ch) = (float)data(r,c,ch);
+ }
+ }
+ }
+}
+
+void MeanBGS::Update(int frame_num, const RgbImage& data, const BwImage& update_mask)
+{
+ // update background model
+ for (unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ // perform conditional updating only if we are passed the learning phase
+ if(update_mask(r,c) == BACKGROUND || frame_num < m_params.LearningFrames())
+ {
+ // update B/G model
+ float mean;
+ for(int ch = 0; ch < NUM_CHANNELS; ++ch)
+ {
+ mean = m_params.Alpha() * m_mean(r,c,ch) + (1.0f-m_params.Alpha()) * data(r,c,ch);
+ m_mean(r,c,ch) = mean;
+ m_background(r,c,ch) = (unsigned char)(mean + 0.5);
+ }
+ }
+ }
+ }
+}
+
+void MeanBGS::SubtractPixel(int r, int c, const RgbPixel& pixel,
+ unsigned char& low_threshold,
+ unsigned char& high_threshold)
+{
+ // calculate distance to sample point
+ float dist = 0;
+ for(int ch = 0; ch < NUM_CHANNELS; ++ch)
+ {
+ dist += (pixel(ch)-m_mean(r,c,ch))*(pixel(ch)-m_mean(r,c,ch));
+ }
+
+ // determine if sample point is F/G or B/G pixel
+ low_threshold = BACKGROUND;
+ if(dist > m_params.LowThreshold())
+ {
+ low_threshold = FOREGROUND;
+ }
+
+ high_threshold = BACKGROUND;
+ if(dist > m_params.HighThreshold())
+ {
+ high_threshold = FOREGROUND;
+ }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+//Input:
+// data - a pointer to the data of a RGB image of the same size
+//Output:
+// output - a pointer to the data of a gray value image of the same size
+// values: 255-foreground, 0-background
+///////////////////////////////////////////////////////////////////////////////
+void MeanBGS::Subtract(int frame_num, const RgbImage& data,
+ BwImage& low_threshold_mask, BwImage& high_threshold_mask)
+{
+ unsigned char low_threshold, high_threshold;
+
+ // update each pixel of the image
+ for(unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ // perform background subtraction + update background model
+ SubtractPixel(r, c, data(r,c), low_threshold, high_threshold);
+
+ // setup silhouette mask
+ low_threshold_mask(r,c) = low_threshold;
+ high_threshold_mask(r,c) = high_threshold;
+ }
+ }
+}
+
+
+
+
diff --git a/package_bgs/dp/MeanBGS.h b/package_bgs/dp/MeanBGS.h
new file mode 100644
index 0000000..881beb7
--- /dev/null
+++ b/package_bgs/dp/MeanBGS.h
@@ -0,0 +1,98 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* MeanBGS.hpp
+*
+* Purpose: Implementation of a simple temporal mean background
+* subtraction algorithm.
+*
+* Author: Donovan Parks, September 2007
+*
+
+Example:
+Algorithms::BackgroundSubtraction::MeanParams params;
+params.SetFrameSize(width, height);
+params.LowThreshold() = 3*30*30;
+params.HighThreshold() = 2*params.LowThreshold(); // Note: high threshold is used by post-processing
+params.Alpha() = 1e-6f;
+params.LearningFrames() = 30;
+
+Algorithms::BackgroundSubtraction::MeanBGS bgs;
+bgs.Initalize(params);
+******************************************************************************/
+
+#include "Bgs.h"
+
+namespace Algorithms
+{
+ namespace BackgroundSubtraction
+ {
+
+ // --- Parameters used by the Mean BGS algorithm ---
+ class MeanParams : public BgsParams
+ {
+ public:
+ unsigned int &LowThreshold() { return m_low_threshold; }
+ unsigned int &HighThreshold() { return m_high_threshold; }
+
+ float &Alpha() { return m_alpha; }
+ int &LearningFrames() { return m_learning_frames; }
+
+ private:
+ // A pixel is considered to be from the background if the squared distance between
+ // it and the background model is less than the threshold.
+ unsigned int m_low_threshold;
+ unsigned int m_high_threshold;
+
+ float m_alpha;
+ int m_learning_frames;
+ };
+
+
+ // --- Mean BGS algorithm ---
+ class MeanBGS : public Bgs
+ {
+ public:
+ virtual ~MeanBGS() {}
+
+ void Initalize(const BgsParams& param);
+
+ void InitModel(const RgbImage& data);
+ void Subtract(int frame_num, const RgbImage& data,
+ BwImage& low_threshold_mask, BwImage& high_threshold_mask);
+ void Update(int frame_num, const RgbImage& data, const BwImage& update_mask);
+
+ RgbImage* Background() { return &m_background; }
+
+ private:
+ void SubtractPixel(int r, int c, const RgbPixel& pixel,
+ unsigned char& lowThreshold, unsigned char& highThreshold);
+
+ MeanParams m_params;
+
+ RgbImageFloat m_mean;
+ RgbImage m_background;
+ };
+
+ };
+};
+
+
+
+
+
diff --git a/package_bgs/dp/PratiMediodBGS.cpp b/package_bgs/dp/PratiMediodBGS.cpp
new file mode 100644
index 0000000..2ef44c0
--- /dev/null
+++ b/package_bgs/dp/PratiMediodBGS.cpp
@@ -0,0 +1,276 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* PratiMediodBGS.h
+*
+* Purpose: Implementation of the temporal median background
+* subtraction algorithm described in:
+*
+* [1] "Detecting Moving Objects, Shosts, and Shadows in Video Stream"
+* by R. Cucchiara et al (2003)
+*
+* [2] "Reliable Background Suppression for Complex Scenes"
+* by S. Calderara et al (2006)
+*
+* Author: Donovan Parks, September 2007
+*
+* Please note that this is not an implementation of the complete system
+* given in the above papers. It simply implements the temporal media background
+* subtraction algorithm.
+******************************************************************************/
+
+#include "PratiMediodBGS.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+PratiMediodBGS::PratiMediodBGS()
+{
+ m_median_buffer = NULL;
+}
+
+PratiMediodBGS::~PratiMediodBGS()
+{
+ if(m_median_buffer != NULL)
+ delete[] m_median_buffer;
+}
+
+void PratiMediodBGS::Initalize(const BgsParams& param)
+{
+ m_params = (PratiParams&)param;
+
+ m_mask_low_threshold = cvCreateImage(cvSize(m_params.Width(), m_params.Height()), IPL_DEPTH_8U, 1);
+ m_mask_high_threshold = cvCreateImage(cvSize(m_params.Width(), m_params.Height()), IPL_DEPTH_8U, 1);
+
+ m_background = cvCreateImage(cvSize(m_params.Width(), m_params.Height()), IPL_DEPTH_8U, 3);
+
+ m_median_buffer = new MEDIAN_BUFFER[m_params.Size()];
+}
+
+void PratiMediodBGS::InitModel(const RgbImage& data)
+{
+ // there is no need to initialize the mode since it needs a buffer of frames
+ // before it can performing background subtraction
+}
+
+void PratiMediodBGS::Update(int frame_num, const RgbImage& data, const BwImage& update_mask)
+{
+ // update the image buffer with the new frame and calculate new median values
+ if(frame_num % m_params.SamplingRate() == 0)
+ {
+ if(m_median_buffer[0].dist.size() == m_params.HistorySize())
+ {
+ // subtract distance to sample being removed from all distances
+ for(unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ int i = r*m_params.Width()+c;
+
+ if(update_mask(r,c) == BACKGROUND)
+ {
+ int oldPos = m_median_buffer[i].pos;
+ for(unsigned int s = 0; s < m_median_buffer[i].pixels.size(); ++s)
+ {
+ int maxDist = 0;
+ for(int ch = 0; ch < NUM_CHANNELS; ++ch)
+ {
+ int tempDist = abs(m_median_buffer[i].pixels.at(oldPos)(ch)
+ - m_median_buffer[i].pixels.at(s)(ch));
+ if(tempDist > maxDist)
+ maxDist = tempDist;
+ }
+
+ m_median_buffer[i].dist.at(s) -= maxDist;
+ }
+
+ int dist;
+ UpdateMediod(r, c, data, dist);
+ m_median_buffer[i].dist.at(oldPos) = dist;
+ m_median_buffer[i].pixels.at(oldPos) = data(r,c);
+ m_median_buffer[i].pos++;
+ if(m_median_buffer[i].pos >= m_params.HistorySize())
+ m_median_buffer[i].pos = 0;
+ }
+ }
+ }
+ }
+ else
+ {
+ // calculate sum of L-inf distances for new point and
+ // add distance from each sample point to this point to their L-inf sum
+ int dist;
+ for(unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ int index = r*m_params.Width()+c;
+ UpdateMediod(r, c, data, dist);
+ m_median_buffer[index].dist.push_back(dist);
+ m_median_buffer[index].pos = 0;
+ m_median_buffer[index].pixels.push_back(data(r,c));
+ }
+ }
+ }
+ }
+}
+
+void PratiMediodBGS::UpdateMediod(int r, int c, const RgbImage& new_frame, int& dist)
+{
+ // calculate sum of L-inf distances for new point and
+ // add distance from each sample point to this point to their L-inf sum
+ unsigned int i = (r*m_params.Width()+c);
+
+ m_median_buffer[i].medianDist = INT_MAX;
+
+ int L_inf_dist = 0;
+ for(unsigned int s = 0; s < m_median_buffer[i].dist.size(); ++s)
+ {
+ int maxDist = 0;
+ for(int ch = 0; ch < NUM_CHANNELS; ++ch)
+ {
+ int tempDist = abs(m_median_buffer[i].pixels.at(s)(ch) - new_frame(r,c,ch));
+ if(tempDist > maxDist)
+ maxDist = tempDist;
+ }
+
+ // check if point from this frame in the image buffer is the median
+ m_median_buffer[i].dist.at(s) += maxDist;
+ if(m_median_buffer[i].dist.at(s) < m_median_buffer[i].medianDist)
+ {
+ m_median_buffer[i].medianDist = m_median_buffer[i].dist.at(s);
+ m_median_buffer[i].median = m_median_buffer[i].pixels.at(s);
+ }
+
+ L_inf_dist += maxDist;
+ }
+
+ dist = L_inf_dist;
+
+ // check if the new point is the median
+ if(L_inf_dist < m_median_buffer[i].medianDist)
+ {
+ m_median_buffer[i].medianDist = L_inf_dist;
+ m_median_buffer[i].median = new_frame(r,c);
+ }
+}
+
+void PratiMediodBGS::Combine(const BwImage& low_mask, const BwImage& high_mask, BwImage& output)
+{
+ for(unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ output(r,c) = BACKGROUND;
+
+ if(r == 0 || c == 0 || r == m_params.Height()-1 || c == m_params.Width()-1)
+ continue;
+
+ if(high_mask(r,c) == FOREGROUND)
+ {
+ output(r,c) = FOREGROUND;
+ }
+ else if(low_mask(r,c) == FOREGROUND)
+ {
+ // consider the pixel to be a F/G pixel if it is 8-connected to
+ // a F/G pixel in the high mask
+ // check if there is an 8-connected foreground pixel
+ if(high_mask(r-1,c-1))
+ output(r,c) = FOREGROUND;
+ else if(high_mask(r-1,c))
+ output(r,c) = FOREGROUND;
+ else if(high_mask(r-1,c+1))
+ output(r,c) = FOREGROUND;
+ else if(high_mask(r,c-1))
+ output(r,c) = FOREGROUND;
+ else if(high_mask(r,c+1))
+ output(r,c) = FOREGROUND;
+ else if(high_mask(r+1,c-1))
+ output(r,c) = FOREGROUND;
+ else if(high_mask(r+1,c))
+ output(r,c) = FOREGROUND;
+ else if(high_mask(r+1,c+1))
+ output(r,c) = FOREGROUND;
+ }
+ }
+ }
+}
+
+void PratiMediodBGS::CalculateMasks(int r, int c, const RgbPixel& pixel)
+{
+ int pos = r*m_params.Width()+c;
+
+ // calculate l-inf distance between current value and median value
+ unsigned char dist = 0;
+ for(int ch = 0; ch < NUM_CHANNELS; ++ch)
+ {
+ int tempDist = abs(pixel(ch) - m_median_buffer[pos].median(ch));
+ if(tempDist > dist)
+ dist = tempDist;
+ }
+ m_background(r,c) = m_median_buffer[pos].median;
+
+ // check if pixel is a B/G or F/G pixel according to the low threshold B/G model
+ m_mask_low_threshold(r,c) = BACKGROUND;
+ if(dist > m_params.LowThreshold())
+ {
+ m_mask_low_threshold(r,c) = FOREGROUND;
+ }
+
+ // check if pixel is a B/G or F/G pixel according to the high threshold B/G model
+ m_mask_high_threshold(r,c)= BACKGROUND;
+ if(dist > m_params.HighThreshold())
+ {
+ m_mask_high_threshold(r,c) = FOREGROUND;
+ }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+//Input:
+// data - a pointer to the data of a RGB image of the same size
+//Output:
+// output - a pointer to the data of a gray value image of the same size
+// values: 255-foreground, 0-background
+///////////////////////////////////////////////////////////////////////////////
+void PratiMediodBGS::Subtract(int frame_num, const RgbImage& data,
+ BwImage& low_threshold_mark, BwImage& high_threshold_mark)
+{
+ if(frame_num < m_params.HistorySize())
+ {
+ low_threshold_mark.Clear();
+ high_threshold_mark.Clear();
+ return;
+ }
+
+ // update each pixel of the image
+ for(unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ // need at least one frame of data before we can start calculating the masks
+ CalculateMasks(r, c, data(r,c));
+ }
+ }
+
+ // combine low and high threshold masks
+ Combine(m_mask_low_threshold, m_mask_high_threshold, low_threshold_mark);
+ Combine(m_mask_low_threshold, m_mask_high_threshold, high_threshold_mark);
+}
+
+
+
+
diff --git a/package_bgs/dp/PratiMediodBGS.h b/package_bgs/dp/PratiMediodBGS.h
new file mode 100644
index 0000000..0b373d7
--- /dev/null
+++ b/package_bgs/dp/PratiMediodBGS.h
@@ -0,0 +1,142 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* PratiMediodBGS.hpp
+*
+* Purpose: Implementation of the temporal median background
+* subtraction algorithm described in:
+*
+* [1] "Detecting Moving Objects, Shosts, and Shadows in Video Stream"
+* by R. Cucchiara et al (2003)
+*
+* [2] "Reliable Background Suppression for Complex Scenes"
+* by S. Calderara et al (2006)
+*
+* Author: Donovan Parks, September 2007
+*
+* Please note that this is not an implementation of the complete system
+* given in the above papers. It simply implements the temporal media background
+* subtraction algorithm.
+
+Example:
+Algorithms::BackgroundSubtraction::PratiParams params;
+params.SetFrameSize(width, height);
+params.LowThreshold() = 30;
+params.HighThreshold() = 2*params.LowThreshold(); // Note: high threshold is used by post-processing
+params.SamplingRate() = 5;
+params.HistorySize() = 16;
+params.Weight() = 5;
+
+Algorithms::BackgroundSubtraction::PratiMediodBGS bgs;
+bgs.Initalize(params);
+******************************************************************************/
+
+#ifndef PRATI_MEDIA_BGS_H
+#define PRATI_MEDIA_BGS_H
+
+#include <vector>
+#include "Bgs.h"
+
+namespace Algorithms
+{
+ namespace BackgroundSubtraction
+ {
+ // --- Parameters used by the Prati Mediod BGS algorithm ---
+ class PratiParams : public BgsParams
+ {
+ public:
+ unsigned int &LowThreshold() { return m_low_threshold; }
+ unsigned int &HighThreshold() { return m_high_threshold; }
+
+ int &Weight() { return m_weight; }
+ int &SamplingRate() { return m_sampling_rate; }
+ int &HistorySize() { return m_history_size; }
+
+ private:
+ // The low threshold is used to supress noise. The high thresohld is used
+ // to find pixels highly likely to be foreground. This implementation uses an L-inf
+ // distance measure and a pixel p is considered F/G if D(I(p), B(p)) > threshold.
+ // The two threshold maps are combined as in [2].
+ unsigned int m_low_threshold;
+ unsigned int m_high_threshold;
+
+ // The weight parameter controls the amount of influence given to previous background samples
+ // see w_b in equation (2) of [1]
+ // in [2] this value is set to 1
+ int m_weight;
+
+ // Number of samples to consider when calculating temporal mediod value
+ int m_history_size;
+
+ // Rate at which to obtain new samples
+ int m_sampling_rate;
+ };
+
+ // --- Prati Mediod BGS algorithm ---
+ class PratiMediodBGS : public Bgs
+ {
+ private:
+ // sum of L-inf distances from a sample point to all other sample points
+ struct MEDIAN_BUFFER
+ {
+ std::vector<RgbPixel> pixels; // vector of pixels at give location in image
+ std::vector<int> dist; // distance from pixel to all other pixels
+ int pos; // current position in circular buffer
+
+ RgbPixel median; // median at this pixel location
+ int medianDist; // distance from median pixel to all other pixels
+ };
+
+ public:
+ PratiMediodBGS();
+ ~PratiMediodBGS();
+
+ void Initalize(const BgsParams& param);
+
+ void InitModel(const RgbImage& data);
+ void Subtract(int frame_num, const RgbImage& data,
+ BwImage& low_threshold_mask, BwImage& high_threshold_mask);
+ void Update(int frame_num, const RgbImage& data, const BwImage& update_mask);
+
+ RgbImage* Background() { return &m_background; }
+
+ private:
+ MEDIAN_BUFFER* m_median_buffer;
+
+ void CalculateMasks(int r, int c, const RgbPixel& pixel);
+ void Combine(const BwImage& low_mask, const BwImage& high_mask, BwImage& output);
+ void UpdateMediod(int r, int c, const RgbImage& new_frame, int& dist);
+
+ PratiParams m_params;
+
+ RgbImage m_background;
+
+ BwImage m_mask_low_threshold;
+ BwImage m_mask_high_threshold;
+ };
+
+ };
+};
+
+#endif
+
+
+
+
+
+
diff --git a/package_bgs/dp/TextureBGS.cpp b/package_bgs/dp/TextureBGS.cpp
new file mode 100644
index 0000000..7ccac37
--- /dev/null
+++ b/package_bgs/dp/TextureBGS.cpp
@@ -0,0 +1,153 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "TextureBGS.h"
+
+TextureBGS::TextureBGS(){}
+TextureBGS::~TextureBGS(){}
+
+void TextureBGS::LBP(RgbImage& image, RgbImage& texture)
+{
+ for(int y = TEXTURE_R; y < image.Ptr()->height-TEXTURE_R; ++y)
+ {
+ for(int x = TEXTURE_R; x < image.Ptr()->width-TEXTURE_R; ++x)
+ {
+ for(int ch = 0; ch < NUM_CHANNELS; ++ch)
+ {
+ unsigned char textureCode = 0;
+ int centerValue = (int)image(y, x, ch);
+
+ // this only works for a texture radius of 2
+ if(centerValue - (int)image(y-2, x, ch) + HYSTERSIS >= 0)
+ textureCode += 1;
+
+ if(centerValue - (int)image(y-1, x-2, ch) + HYSTERSIS >= 0)
+ textureCode += 2;
+
+ if(centerValue - (int)image(y-1, x+2, ch) + HYSTERSIS >= 0)
+ textureCode += 4;
+
+ if(centerValue - (int)image(y+1, x-2, ch) + HYSTERSIS >= 0)
+ textureCode += 8;
+
+ if(centerValue - (int)image(y+1, x+2, ch) + HYSTERSIS >= 0)
+ textureCode += 16;
+
+ if(centerValue - (int)image(y+2, x, ch) + HYSTERSIS >= 0)
+ textureCode += 32;
+
+ texture(y,x,ch) = textureCode;
+ }
+ }
+ }
+}
+
+void TextureBGS::Histogram(RgbImage& texture, TextureHistogram* curTextureHist)
+{
+ // calculate histogram within a 2*REGION_R square
+ for(int y = REGION_R+TEXTURE_R; y < texture.Ptr()->height-REGION_R-TEXTURE_R; ++y)
+ {
+ for(int x = REGION_R+TEXTURE_R; x < texture.Ptr()->width-REGION_R-TEXTURE_R; ++x)
+ {
+ int index = x+y*(texture.Ptr()->width);
+
+ // clear histogram
+ for(int i = 0; i < NUM_BINS; ++i)
+ {
+ curTextureHist[index].r[i] = 0;
+ curTextureHist[index].g[i] = 0;
+ curTextureHist[index].b[i] = 0;
+ }
+
+ // calculate histogram
+ for(int j = -REGION_R; j <= REGION_R; ++j)
+ {
+ for(int i = -REGION_R; i <= REGION_R; ++i)
+ {
+ curTextureHist[index].r[texture(y+j,x+i,2)]++;
+ curTextureHist[index].g[texture(y+j,x+i,1)]++;
+ curTextureHist[index].b[texture(y+j,x+i,0)]++;
+ }
+ }
+ }
+ }
+}
+
+int TextureBGS::ProximityMeasure(TextureHistogram& bgTexture, TextureHistogram& curTextureHist)
+{
+ int proximity = 0;
+ for(int i = 0; i < NUM_BINS; ++i)
+ {
+ proximity += std::min(bgTexture.r[i], curTextureHist.r[i]);
+ proximity += std::min(bgTexture.g[i], curTextureHist.g[i]);
+ proximity += std::min(bgTexture.b[i], curTextureHist.b[i]);
+ }
+
+ return proximity;
+}
+
+void TextureBGS::BgsCompare(TextureArray* bgModel, TextureHistogram* curTextureHist,
+ unsigned char* modeArray, float threshold, BwImage& fgMask)
+{
+ cvZero(fgMask.Ptr());
+
+ for(int y = REGION_R+TEXTURE_R; y < fgMask.Ptr()->height-REGION_R-TEXTURE_R; ++y)
+ {
+ for(int x = REGION_R+TEXTURE_R; x < fgMask.Ptr()->width-REGION_R-TEXTURE_R; ++x)
+ {
+ int index = x+y*(fgMask.Ptr()->width);
+
+ // find closest matching texture in background model
+ int maxProximity = -1;
+
+ for(int m = 0; m < NUM_MODES; ++m)
+ {
+ int proximity = ProximityMeasure(bgModel[index].mode[m], curTextureHist[index]);
+
+ if(proximity > maxProximity)
+ {
+ maxProximity = proximity;
+ modeArray[index] = m;
+ }
+ }
+
+ if(maxProximity < threshold)
+ fgMask(y,x) = 255;
+ }
+ }
+}
+
+void TextureBGS::UpdateModel(BwImage& fgMask, TextureArray* bgModel,
+ TextureHistogram* curTextureHist, unsigned char* modeArray)
+{
+ for(int y = REGION_R+TEXTURE_R; y < fgMask.Ptr()->height-REGION_R-TEXTURE_R; ++y)
+ {
+ for(int x = REGION_R+TEXTURE_R; x < fgMask.Ptr()->width-REGION_R-TEXTURE_R; ++x)
+ {
+ int index = x+y*(fgMask.Ptr()->width);
+
+ if(fgMask(x,y) == 0)
+ {
+ for(int i = 0; i < NUM_BINS; ++i)
+ {
+ bgModel[index].mode[modeArray[index]].r[i]
+ = (unsigned char)(ALPHA*curTextureHist[index].r[i]
+ + (1-ALPHA)*bgModel[index].mode[modeArray[index]].r[i] + 0.5);
+ }
+ }
+ }
+ }
+}
diff --git a/package_bgs/dp/TextureBGS.h b/package_bgs/dp/TextureBGS.h
new file mode 100644
index 0000000..573e6f9
--- /dev/null
+++ b/package_bgs/dp/TextureBGS.h
@@ -0,0 +1,55 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include <math.h>
+#include "Image.h"
+
+const int REGION_R = 5; // Note: the code currently assumes this value is <= 7
+const int TEXTURE_POINTS = 6; // Note: the code currently assumes this value is 6
+const int TEXTURE_R = 2; // Note: the code currently assumes this value is 2
+const int NUM_BINS = 64; // 2^TEXTURE_POINTS
+const int HYSTERSIS = 3;
+const double ALPHA = 0.05f;
+const double THRESHOLD = 0.5*(REGION_R+REGION_R+1)*(REGION_R+REGION_R+1)*NUM_CHANNELS;
+const int NUM_MODES = 1; // The paper describes how multiple modes can be maintained,
+// but this implementation does not fully support more than one
+
+struct TextureHistogram
+{
+ unsigned char r[NUM_BINS]; // histogram for red channel
+ unsigned char g[NUM_BINS]; // histogram for green channel
+ unsigned char b[NUM_BINS]; // histogram for blue channel
+};
+
+struct TextureArray
+{
+ TextureHistogram mode[NUM_MODES];
+};
+
+class TextureBGS
+{
+public:
+ TextureBGS();
+ ~TextureBGS();
+
+ void LBP(RgbImage& image, RgbImage& texture);
+ void Histogram(RgbImage& texture, TextureHistogram* curTextureHist);
+ int ProximityMeasure(TextureHistogram& bgTexture, TextureHistogram& curTextureHist);
+ void BgsCompare(TextureArray* bgModel, TextureHistogram* curTextureHist,
+ unsigned char* modeArray, float threshold, BwImage& fgMask);
+ void UpdateModel(BwImage& fgMask, TextureArray* bgModel,
+ TextureHistogram* curTextureHist, unsigned char* modeArray);
+};
diff --git a/package_bgs/dp/WrenGA.cpp b/package_bgs/dp/WrenGA.cpp
new file mode 100644
index 0000000..8ae10dd
--- /dev/null
+++ b/package_bgs/dp/WrenGA.cpp
@@ -0,0 +1,174 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* WrenGA.h
+*
+* Purpose: Implementation of the running Gaussian average background
+* subtraction algorithm described in:
+* "Pfinder: real-time tracking of the human body"
+* by C. Wren et al (1997)
+*
+* Author: Donovan Parks, September 2007
+*
+* Please note that this is not an implementation of Pfinder. It implements
+* a simple background subtraction algorithm where each pixel is represented
+* by a single Gaussian and update using a simple weighting function.
+******************************************************************************/
+
+#include "WrenGA.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+WrenGA::WrenGA()
+{
+ m_gaussian = NULL;
+}
+
+WrenGA::~WrenGA()
+{
+ if(m_gaussian != NULL)
+ delete[] m_gaussian;
+}
+
+void WrenGA::Initalize(const BgsParams& param)
+{
+ m_params = (WrenParams&)param;
+
+ m_variance = 36.0f;
+
+ // GMM for each pixel
+ m_gaussian = new GAUSSIAN[m_params.Size()];
+ for(unsigned int i = 0; i < m_params.Size(); ++i)
+ {
+ for(int ch = 0; ch < NUM_CHANNELS; ++ch)
+ {
+ m_gaussian[i].mu[ch] = 0;
+ m_gaussian[i].var[ch] = 0;
+ }
+ }
+
+ m_background = cvCreateImage(cvSize(m_params.Width(), m_params.Height()), IPL_DEPTH_8U, 3);
+}
+
+void WrenGA::InitModel(const RgbImage& data)
+{
+ int pos = 0;
+
+ for(unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ for(int ch = 0; ch < NUM_CHANNELS; ++ch)
+ {
+ m_gaussian[pos].mu[ch] = data(r,c,ch);
+ m_gaussian[pos].var[ch] = m_variance;
+ }
+
+ pos++;
+ }
+ }
+}
+
+void WrenGA::Update(int frame_num, const RgbImage& data, const BwImage& update_mask)
+{
+ int pos = 0;
+
+ for(unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ // perform conditional updating only if we are passed the learning phase
+ if(update_mask(r,c) == BACKGROUND || frame_num < m_params.LearningFrames())
+ {
+ float dR = m_gaussian[pos].mu[0] - data(r,c,0);
+ float dG = m_gaussian[pos].mu[1] - data(r,c,1);
+ float dB = m_gaussian[pos].mu[2] - data(r,c,2);
+
+ float dist = (dR*dR + dG*dG + dB*dB);
+
+ m_gaussian[pos].mu[0] -= m_params.Alpha()*(dR);
+ m_gaussian[pos].mu[1] -= m_params.Alpha()*(dG);
+ m_gaussian[pos].mu[2] -= m_params.Alpha()*(dB);
+
+ float sigmanew = m_gaussian[pos].var[0] + m_params.Alpha()*(dist-m_gaussian[pos].var[0]);
+ m_gaussian[pos].var[0] = sigmanew < 4 ? 4 : sigmanew > 5*m_variance ? 5*m_variance : sigmanew;
+
+ m_background(r, c, 0) = (unsigned char)(m_gaussian[pos].mu[0] + 0.5);
+ m_background(r, c, 1) = (unsigned char)(m_gaussian[pos].mu[1] + 0.5);
+ m_background(r, c, 2) = (unsigned char)(m_gaussian[pos].mu[2] + 0.5);
+ }
+
+ pos++;
+ }
+ }
+}
+
+void WrenGA::SubtractPixel(int r, int c, const RgbPixel& pixel,
+ unsigned char& low_threshold,
+ unsigned char& high_threshold)
+{
+ unsigned int pos = r*m_params.Width()+c;
+
+ // calculate distance between model and pixel
+ float mu[NUM_CHANNELS];
+ float var[1];
+ float delta[NUM_CHANNELS];
+ float dist = 0;
+ for(int ch = 0; ch < NUM_CHANNELS; ++ch)
+ {
+ mu[ch] = m_gaussian[pos].mu[ch];
+ var[0] = m_gaussian[pos].var[0];
+ delta[ch] = mu[ch] - pixel(ch);
+ dist += delta[ch]*delta[ch];
+ }
+
+ // calculate the squared distance and see if pixel fits the B/G model
+ low_threshold = BACKGROUND;
+ high_threshold = BACKGROUND;
+
+ if(dist > m_params.LowThreshold()*var[0])
+ low_threshold = FOREGROUND;
+ if(dist > m_params.HighThreshold()*var[0])
+ high_threshold = FOREGROUND;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+//Input:
+// data - a pointer to the data of a RGB image of the same size
+//Output:
+// output - a pointer to the data of a gray value image of the same size
+// (the memory should already be reserved)
+// values: 255-foreground, 125-shadow, 0-background
+///////////////////////////////////////////////////////////////////////////////
+void WrenGA::Subtract(int frame_num, const RgbImage& data,
+ BwImage& low_threshold_mask, BwImage& high_threshold_mask)
+{
+ unsigned char low_threshold, high_threshold;
+
+ // update each pixel of the image
+ for(unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ SubtractPixel(r, c, data(r,c), low_threshold, high_threshold);
+ low_threshold_mask(r,c) = low_threshold;
+ high_threshold_mask(r,c) = high_threshold;
+ }
+ }
+}
+
diff --git a/package_bgs/dp/WrenGA.h b/package_bgs/dp/WrenGA.h
new file mode 100644
index 0000000..d623e20
--- /dev/null
+++ b/package_bgs/dp/WrenGA.h
@@ -0,0 +1,120 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* WrenGA.hpp
+*
+* Purpose: Implementation of the running Gaussian average background
+* subtraction algorithm described in:
+* "Pfinder: real-time tracking of the human body"
+* by C. Wren et al (1997)
+*
+* Author: Donovan Parks, September 2007
+*
+* Please note that this is not an implementation of Pfinder. It implements
+* a simple background subtraction algorithm where each pixel is represented
+* by a single Gaussian and update using a simple weighting function.
+
+Example:
+Algorithms::BackgroundSubtraction::WrenParams params;
+params.SetFrameSize(width, height);
+params.LowThreshold() = 3.5f*3.5f;
+params.HighThreshold() = 2*params.LowThreshold(); // Note: high threshold is used by post-processing
+params.Alpha() = 0.005f;
+params.LearningFrames() = 30;
+
+Algorithms::BackgroundSubtraction::WrenGA bgs;
+bgs.Initalize(params);
+******************************************************************************/
+
+#ifndef WREN_GA_H
+#define WREN_GA_H
+
+#include "Bgs.h"
+
+namespace Algorithms
+{
+ namespace BackgroundSubtraction
+ {
+ // --- Parameters used by the Mean BGS algorithm ---
+ class WrenParams : public BgsParams
+ {
+ public:
+ float &LowThreshold() { return m_low_threshold; }
+ float &HighThreshold() { return m_high_threshold; }
+
+ float &Alpha() { return m_alpha; }
+ int &LearningFrames() { return m_learning_frames; }
+
+ private:
+ // The threshold indicates the number of variances (not standard deviations) away
+ // from the mean before a pixel is considered to be from the foreground.
+ float m_low_threshold;
+ float m_high_threshold;
+
+ float m_alpha;
+ int m_learning_frames;
+ };
+
+
+ // --- Mean BGS algorithm ---
+ class WrenGA : public Bgs
+ {
+ private:
+ struct GAUSSIAN
+ {
+ float mu[NUM_CHANNELS];
+ float var[NUM_CHANNELS];
+ };
+
+ public:
+ WrenGA();
+ ~WrenGA();
+
+ void Initalize(const BgsParams& param);
+
+ void InitModel(const RgbImage& data);
+ void Subtract(int frame_num, const RgbImage& data,
+ BwImage& low_threshold_mask, BwImage& high_threshold_mask);
+ void Update(int frame_num, const RgbImage& data, const BwImage& update_mask);
+
+ RgbImage* Background() { return &m_background; }
+
+ private:
+ void SubtractPixel(int r, int c, const RgbPixel& pixel,
+ unsigned char& lowThreshold, unsigned char& highThreshold);
+
+ WrenParams m_params;
+
+ // Initial variance for the newly generated components.
+ float m_variance;
+
+ // dynamic array for the mixture of Gaussians
+ GAUSSIAN* m_gaussian;
+
+ RgbImage m_background;
+ };
+ };
+};
+
+#endif
+
+
+
+
+
+
diff --git a/package_bgs/dp/ZivkovicAGMM.cpp b/package_bgs/dp/ZivkovicAGMM.cpp
new file mode 100644
index 0000000..c260132
--- /dev/null
+++ b/package_bgs/dp/ZivkovicAGMM.cpp
@@ -0,0 +1,411 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* ZivkovicAGMM.cpp
+*
+* Purpose: Implementation of the Gaussian mixture model (GMM) background
+* subtraction algorithm developed by Z. Zivkovic.
+*
+* Author: Donovan Parks, September 2007
+*
+* This code is based on code by Z. Zivkovic's. I have changed it from a pure
+* C implementation to a cleaner (IMHO) C++ implementation. It is based on the
+* following papers:
+*
+* "Improved adaptive Gausian mixture model for background subtraction"
+* Z.Zivkovic
+* International Conference Pattern Recognition, UK, August, 2004
+*
+*
+* "Efficient Adaptive Density Estimapion per Image Pixel for the
+* Task of Background Subtraction"
+* Z.Zivkovic, F. van der Heijden
+* Pattern Recognition Letters, vol. 27, no. 7, pages 773-780, 2006.
+*
+* Zivkovic's code can be obtained at: www.zoranz.net
+******************************************************************************/
+
+#include "ZivkovicAGMM.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+ZivkovicAGMM::ZivkovicAGMM()
+{
+ m_modes = NULL;
+ m_modes_per_pixel = NULL;
+}
+
+ZivkovicAGMM::~ZivkovicAGMM()
+{
+ if(m_modes != NULL)
+ delete[] m_modes;
+
+ if(m_modes_per_pixel != NULL)
+ delete[] m_modes_per_pixel;
+}
+
+void ZivkovicAGMM::Initalize(const BgsParams& param)
+{
+ m_params = (ZivkovicParams&)param;
+
+ m_num_bands = 3; //always 3 - not implemented for other values!
+ m_bg_threshold = 0.75f; //1-cf from the paper
+ m_variance = 36.0f; // variance for the new mode
+ m_complexity_prior = 0.05f; // complexity reduction prior constant
+
+ // GMM for each pixel
+ m_modes = new GMM[m_params.Size()*m_params.MaxModes()];
+
+ // used modes per pixel
+ m_modes_per_pixel = new unsigned char[m_params.Size()];
+
+ m_background = cvCreateImage(cvSize(m_params.Width(), m_params.Height()), IPL_DEPTH_8U, 3);
+}
+
+void ZivkovicAGMM::InitModel(const RgbImage& data)
+{
+ for(unsigned int i = 0; i < m_params.Size(); ++i)
+ {
+ m_modes_per_pixel[i] = 0;
+ }
+
+ for(unsigned int i = 0; i < m_params.Size()*m_params.MaxModes(); ++i)
+ {
+ m_modes[i].weight = 0;
+ m_modes[i].sigma = 0;
+ m_modes[i].muR = 0;
+ m_modes[i].muG = 0;
+ m_modes[i].muB = 0;
+ }
+}
+
+void ZivkovicAGMM::Update(int frame_num, const RgbImage& data, const BwImage& update_mask)
+{
+ // it doesn't make sense to have conditional updates in the GMM framework
+}
+
+void ZivkovicAGMM::SubtractPixel(long posPixel, const RgbPixel& pixel, unsigned char* pModesUsed,
+ unsigned char& low_threshold, unsigned char& high_threshold)
+{
+ //calculate distances to the modes (+ sort???)
+ //here we need to go in descending order!!!
+ long pos;
+ bool bFitsPDF=0;
+ bool bBackgroundLow=false;
+ bool bBackgroundHigh=false;
+
+ float fOneMinAlpha = 1-m_params.Alpha();
+
+ float prune = -m_params.Alpha()*m_complexity_prior;
+
+ int nModes =* pModesUsed;
+ float totalWeight = 0.0f;
+
+ // calculate number of Gaussians to include in the background model
+ int backgroundGaussians = 0;
+ double sum = 0.0;
+ for(int i = 0; i < nModes; ++i)
+ {
+ if(sum < m_bg_threshold)
+ {
+ backgroundGaussians++;
+ sum += m_modes[posPixel+i].weight;
+ }
+ else
+ {
+ break;
+ }
+ }
+
+ // update all distributions and check for match with current pixel
+ for (int iModes = 0; iModes < nModes; iModes++)
+ {
+ pos=posPixel+iModes;
+ float weight = m_modes[pos].weight;
+
+ //fit not found yet
+ if (!bFitsPDF)
+ {
+ //check if it belongs to some of the modes
+ //calculate distance
+ float var = m_modes[pos].sigma;
+ float muR = m_modes[pos].muR;
+ float muG = m_modes[pos].muG;
+ float muB = m_modes[pos].muB;
+
+ float dR=muR - pixel(0);
+ float dG=muG - pixel(1);
+ float dB=muB - pixel(2);
+
+ // calculate the squared distance
+ float dist = (dR*dR + dG*dG + dB*dB);
+
+ if(dist < m_params.HighThreshold()*var && iModes < backgroundGaussians)
+ bBackgroundHigh = true;
+
+ //check fit
+ if (dist < m_params.LowThreshold()*var)
+ {
+ /////
+ //belongs to the mode
+ bFitsPDF = true;
+
+ // check if this Gaussian is part of the background model
+ if(iModes < backgroundGaussians)
+ bBackgroundLow = true;
+
+ //update distribution
+ float k = m_params.Alpha()/weight;
+ weight = fOneMinAlpha*weight+prune;
+ weight += m_params.Alpha();
+ m_modes[pos].weight = weight;
+ m_modes[pos].muR = muR - k*(dR);
+ m_modes[pos].muG = muG - k*(dG);
+ m_modes[pos].muB = muB - k*(dB);
+
+ //limit update speed for cov matrice
+ //not needed
+ //k=k>20*m_m_params.Alpha()?20*m_m_params.Alpha():k;
+ //float sigmanew = var + k*((0.33*(dR*dR+dG*dG+dB*dB))-var);
+ //float sigmanew = var + k*((dR*dR+dG*dG+dB*dB)-var);
+ //float sigmanew = var + k*((0.33*dist)-var);
+ float sigmanew = var + k*(dist-var);
+
+ //limit the variance
+ m_modes[pos].sigma = sigmanew < 4 ? 4 : sigmanew > 5*m_variance ? 5*m_variance : sigmanew;
+
+ // Sort weights so they are in desending order. Note that only the weight for this
+ // mode will increase and that the weight for all modes that were previously larger than
+ // this one have already been modified and will not be modified again. Thus, we just need to
+ // the correct position of this mode in the already sorted list.
+
+ // Zivkovic implementation has been modified for clarity, but the results are equivalent
+ /*
+ for (int iLocal = iModes;iLocal>0;iLocal--)
+ {
+ long posLocal=posPixel + iLocal;
+ if (weight < (m_modes[posLocal-1].weight))
+ {
+ break;
+ }
+ else
+ {
+ //swap
+ GMM temp = m_modes[posLocal];
+ m_modes[posLocal] = m_modes[posLocal-1];
+ m_modes[posLocal-1] = temp;
+ }
+ }
+ */
+
+ for (int iLocal = iModes; iLocal > 0; iLocal--)
+ {
+ long posLocal = posPixel + iLocal;
+ if (m_modes[posLocal].weight > m_modes[posLocal-1].weight)
+ {
+ //swap
+ GMM temp = m_modes[posLocal];
+ m_modes[posLocal] = m_modes[posLocal-1];
+ m_modes[posLocal-1] = temp;
+ }
+ else
+ {
+ break;
+ }
+ }
+ }
+ else
+ {
+ weight = fOneMinAlpha*weight+prune;
+ //check prune
+ if (weight < -prune)
+ {
+ weight=0.0;
+ nModes--;
+ }
+ m_modes[pos].weight = weight;
+ }
+ //check if it fits the current mode (2.5 sigma)
+ ///////
+ }
+ //fit not found yet
+ /////
+ else
+ {
+ weight = fOneMinAlpha*weight + prune;
+ //check prune
+ if (weight < -prune)
+ {
+ weight=0.0;
+ nModes--;
+ }
+ m_modes[pos].weight = weight;
+ }
+ totalWeight += weight;
+ }
+
+ //renormalize weights so they sum to 1
+ for (int iLocal = 0; iLocal < nModes; iLocal++)
+ {
+ m_modes[posPixel+ iLocal].weight = m_modes[posPixel+ iLocal].weight/totalWeight;
+ }
+
+ //make new mode if needed and exit
+ if (!bFitsPDF)
+ {
+ if (nModes == m_params.MaxModes())
+ {
+ //replace the weakest
+ }
+ else
+ {
+ nModes++;
+ }
+ pos = posPixel + nModes-1;
+
+ if (nModes==1)
+ m_modes[pos].weight=1;
+ else
+ m_modes[pos].weight=m_params.Alpha();
+
+ // Zivkovic implementation changes as this will not result in the
+ // weights adding to 1
+ /*
+ int iLocal;
+ for (iLocal = 0; iLocal < m_params.MaxModes()odes-1; iLocal++)
+ {
+ m_modes[posPixel+ iLocal].weight *= fOneMinAlpha;
+ }
+ */
+
+ // Revised implementation:
+ //renormalize weights
+ int iLocal;
+ float sum = 0.0;
+ for (iLocal = 0; iLocal < nModes; iLocal++)
+ {
+ sum += m_modes[posPixel+ iLocal].weight;
+ }
+
+ float invSum = 1.0f/sum;
+ for (iLocal = 0; iLocal < nModes; iLocal++)
+ {
+ m_modes[posPixel+ iLocal].weight *= invSum;
+ }
+
+ m_modes[pos].muR=pixel(0);
+ m_modes[pos].muG=pixel(1);
+ m_modes[pos].muB=pixel(2);
+ m_modes[pos].sigma=m_variance;
+
+ // Zivkovic implementation to sort GMM so they are sorted in descending order according to their weight.
+ // It has been revised for clarity, but the results are equivalent
+ /*
+ for (iLocal = m_params.MaxModes()odes-1; iLocal > 0; iLocal--)
+ {
+ long posLocal = posPixel + iLocal;
+ if (m_params.Alpha() < (m_modes[posLocal-1].weight))
+ {
+ break;
+ }
+ else
+ {
+ //swap
+ GMM temp = m_modes[posLocal];
+ m_modes[posLocal] = m_modes[posLocal-1];
+ m_modes[posLocal-1] = temp;
+ }
+ }
+ */
+
+ // sort GMM so they are sorted in descending order according to their weight
+ for (iLocal = nModes-1; iLocal > 0; iLocal--)
+ {
+ long posLocal = posPixel + iLocal;
+ if (m_modes[posLocal].weight > m_modes[posLocal-1].weight)
+ {
+ //swap
+ GMM temp = m_modes[posLocal];
+ m_modes[posLocal] = m_modes[posLocal-1];
+ m_modes[posLocal-1] = temp;
+ }
+ else
+ {
+ break;
+ }
+ }
+ }
+
+ //set the number of modes
+ *pModesUsed=nModes;
+
+ if(bBackgroundLow)
+ {
+ low_threshold = BACKGROUND;
+ }
+ else
+ {
+ low_threshold = FOREGROUND;
+ }
+
+ if(bBackgroundHigh)
+ {
+ high_threshold = BACKGROUND;
+ }
+ else
+ {
+ high_threshold = FOREGROUND;
+ }
+}
+
+
+///////////////////////////////////////////////////////////////////////////////
+//Input:
+// data - a pointer to the data of a RGB image of the same size
+//Output:
+// output - a pointer to the data of a gray value image of the same size
+// (the memory should already be reserved)
+// values: 255-foreground, 125-shadow, 0-background
+///////////////////////////////////////////////////////////////////////////////
+void ZivkovicAGMM::Subtract(int frame_num, const RgbImage& data,
+ BwImage& low_threshold_mask, BwImage& high_threshold_mask)
+{
+ unsigned char low_threshold, high_threshold;
+
+ // update each pixel of the image
+ long posPixel;
+ unsigned char* pUsedModes=m_modes_per_pixel;
+ for(unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ //update model+ background subtract
+ posPixel=(r*m_params.Width()+c)*m_params.MaxModes();
+ SubtractPixel(posPixel, data(r,c), pUsedModes, low_threshold, high_threshold);
+ low_threshold_mask(r,c) = low_threshold;
+ high_threshold_mask(r,c) = high_threshold;
+
+ m_background(r,c,0) = (unsigned char)m_modes[posPixel].muR;
+ m_background(r,c,1) = (unsigned char)m_modes[posPixel].muG;
+ m_background(r,c,2) = (unsigned char)m_modes[posPixel].muB;
+
+ pUsedModes++;
+ }
+ }
+}
+
diff --git a/package_bgs/dp/ZivkovicAGMM.h b/package_bgs/dp/ZivkovicAGMM.h
new file mode 100644
index 0000000..c58fac4
--- /dev/null
+++ b/package_bgs/dp/ZivkovicAGMM.h
@@ -0,0 +1,160 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* ZivkovicAGMM.hpp
+*
+* Purpose: Implementation of the Gaussian mixture model (GMM) background
+* subtraction algorithm developed by Z. Zivkovic.
+*
+* Author: Donovan Parks, September 2007
+*
+* This code is based on code by Z. Zivkovic's. I have changed it from a pure
+* C implementation to a cleaner (IMHO) C++ implementation. It is based on the
+* following papers:
+*
+* "Improved adaptive Gausian mixture model for background subtraction"
+* Z.Zivkovic
+* International Conference Pattern Recognition, UK, August, 2004
+*
+*
+* "Efficient Adaptive Density Estimapion per Image Pixel for the
+* Task of Background Subtraction"
+* Z.Zivkovic, F. van der Heijden
+* Pattern Recognition Letters, vol. 27, no. 7, pages 773-780, 2006.
+*
+* Zivkovic's code can be obtained at: www.zoranz.net
+
+Example:
+Algorithms::BackgroundSubtraction::ZivkovicParams params;
+params.SetFrameSize(width, height);
+params.LowThreshold() = 5.0f*5.0f;
+params.HighThreshold() = 2*params.LowThreshold(); // Note: high threshold is used by post-processing
+params.Alpha() = 0.001f;
+params.MaxModes() = 3;
+
+Algorithms::BackgroundSubtraction::ZivkovicAGMM bgs;
+bgs.Initalize(params);
+******************************************************************************/
+
+#ifndef ZIVKOVIC_AGMM_H
+#define ZIVKOVIC_AGMM_H
+
+#include "Bgs.h"
+
+namespace Algorithms
+{
+ namespace BackgroundSubtraction
+ {
+ // --- User adjustable parameters used by the Grimson GMM BGS algorithm ---
+ class ZivkovicParams : public BgsParams
+ {
+ public:
+ float &LowThreshold() { return m_low_threshold; }
+ float &HighThreshold() { return m_high_threshold; }
+
+ float &Alpha() { return m_alpha; }
+ int &MaxModes() { return m_max_modes; }
+
+ private:
+ // Threshold on the squared dist. to decide when a sample is close to an existing
+ // components. If it is not close to any a new component will be generated.
+ // Smaller threshold values lead to more generated components and higher threshold values
+ // lead to a small number of components but they can grow too large.
+ //
+ // It is usual easiest to think of these thresholds as being the number of variances (not standard deviations)
+ // away from the mean of a pixel before it is considered to be from the foreground.
+ float m_low_threshold;
+ float m_high_threshold;
+
+ // alpha - speed of update - if the time interval you want to average over is T
+ // set alpha=1/T.
+ float m_alpha;
+
+ // Maximum number of modes (Gaussian components) that will be used per pixel
+ int m_max_modes;
+ };
+
+ // --- Zivkovic AGMM BGS algorithm ---
+ class ZivkovicAGMM : public Bgs
+ {
+ private:
+ struct GMM
+ {
+ float sigma;
+ float muR;
+ float muG;
+ float muB;
+ float weight;
+ };
+
+ public:
+ ZivkovicAGMM();
+ ~ZivkovicAGMM();
+
+ void Initalize(const BgsParams& param);
+
+ void InitModel(const RgbImage& data);
+ void Subtract(int frame_num, const RgbImage& data,
+ BwImage& low_threshold_mask, BwImage& high_threshold_mask);
+ void Update(int frame_num, const RgbImage& data, const BwImage& update_mask);
+
+ RgbImage* Background() { return &m_background; }
+
+ private:
+ void SubtractPixel(long posPixel, const RgbPixel& pixel, unsigned char* pModesUsed,
+ unsigned char& lowThreshold, unsigned char& highThreshold);
+
+ // User adjustable parameters
+ ZivkovicParams m_params;
+
+ // Threshold when the component becomes significant enough to be included into
+ // the background model. It is the TB = 1-cf from the paper. So I use cf=0.1 => TB=0.9
+ // For alpha=0.001 it means that the mode should exist for approximately 105 frames before
+ // it is considered foreground
+ float m_bg_threshold; //1-cf from the paper
+
+ // Initial variance for the newly generated components.
+ // It will will influence the speed of adaptation. A good guess should be made.
+ // A simple way is to estimate the typical standard deviation from the images.
+ float m_variance;
+
+ // This is related to the number of samples needed to accept that a component
+ // actually exists.
+ float m_complexity_prior;
+
+ //data
+ int m_num_bands; //only RGB now ==3
+
+ // dynamic array for the mixture of Gaussians
+ GMM* m_modes;
+
+ RgbImage m_background;
+
+ //number of Gaussian components per pixel
+ unsigned char* m_modes_per_pixel;
+ };
+ };
+};
+
+#endif
+
+
+
+
+
+
diff --git a/package_bgs/jmo/BGS.h b/package_bgs/jmo/BGS.h
new file mode 100644
index 0000000..1fc0e44
--- /dev/null
+++ b/package_bgs/jmo/BGS.h
@@ -0,0 +1,216 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* --- --- ---
+* Copyright (C) 2008--2010 Idiap Research Institute (.....@idiap.ch)
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+* 1. Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* 2. Redistributions 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.
+* 3. The name of the author may not be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+*/
+#if !defined(_BGS_H_)
+#define _BGS_H_
+
+#include <cv.h>
+
+
+// TODO check these defines are not used (or not redundant with real params)
+#define MAX_LBP_MODE_NUM 5
+
+#define ROBUST_COLOR_OFFSET 6.0f
+
+#define LOW_INITIAL_MODE_WEIGHT 0.01f
+
+#define MODE_UPDATING_LEARN_RATE 0.01f
+#define WEIGHT_UPDATING_LEARN_RATE 0.01f
+
+#define COLOR_MAX_MIN_OFFSET 5
+
+#define BACKGROUND_MODEL_PERCENT 0.6f
+
+#define PATTERN_COLOR_DIST_BACKGROUND_THRESHOLD 0.2f
+
+#define PATTERN_DIST_SMOOTH_NEIG_HALF_SIZE 6
+#define PATTERN_DIST_CONV_GAUSSIAN_SIGMA 2.5f
+
+#define ROBUST_SHADOW_RATE 0.6f
+#define ROBUST_HIGHLIGHT_RATE 1.20f
+
+#define BINARY_PATTERM_ELEM(c1, c2, offset) \
+ ((float)(c2)-(float)(c1)+offset>0)
+
+/*
+#define BINARY_PATTERM_ELEM(c1, c2, offset) \
+( fabsf((float)(c2)-(float)(c1)) <= offset ? 1 : (float)(c2)-(float)(c1) >=0 )
+*/
+
+#ifndef PI
+#define PI 3.141592653589793f
+#endif
+
+/************************************************************************/
+/* some data structures for multi-level LBP (local binary pattern) */
+/* texture feature for background subtraction */
+/************************************************************************/
+typedef struct _LBP
+{
+ float* bg_pattern; /* the average local binary pattern of background mode */
+ float* bg_intensity; /* the average color intensity of background mode */
+ float* max_intensity; /* the maximal color intensity of background mode */
+ float* min_intensity; /* the minimal color intensity of background mode */
+ float weight; /* the weight of background mode, i.e. probability that the background mode belongs to background */
+ float max_weight; /* the maximal weight of background mode */
+ int bg_layer_num; /* the background layer number of background mode */
+ unsigned long first_time; /* the first time of background mode appearing */
+ unsigned long last_time; /* the last time of background model appearing */
+ int freq; /* the appearing frequency */
+ //long mnrl; /* maximum negative run-length */
+ unsigned long layer_time; /* the first time of background mode becoming a background layer */
+}
+LBPStruct;
+
+typedef struct _PixelLBP
+{
+ LBPStruct* LBPs; /* the background modes */
+ unsigned short* lbp_idxes; /* the indices of background modes */
+ unsigned int cur_bg_layer_no;
+ unsigned int num; /* the total number of background modes */
+ unsigned int bg_num; /* the number of the first background modes for foreground detection */
+ unsigned char* cur_intensity; /* the color intensity of current pixel */
+ float* cur_pattern; /* the local binary pattern of current pixel */
+ float matched_mode_first_time; /* the index of currently matched pixel mode */
+}
+PixelLBPStruct;
+
+/*********************************************************************************/
+/* should replace the above structure using class in the future (not finished) */
+/*********************************************************************************/
+
+class BG_PIXEL_MODE
+{
+public:
+ float* bg_lbp_pattern; /* the average local binary pattern of background mode */
+ float* bg_intensity; /* the average color intensity of background mode */
+ float* max_intensity; /* the maximal color intensity of background mode */
+ float* min_intensity; /* the minimal color intensity of background mode */
+ float weight; /* the weight of background mode, i.e. probability that the background mode belongs to background */
+ float max_weight; /* the maximal weight of background mode */
+ int bg_layer_num; /* the background layer number of background mode */
+
+ int lbp_pattern_length;
+ int color_channel;
+
+ BG_PIXEL_MODE(int _lbp_pattern_length, int _color_channel=3) {
+ lbp_pattern_length = _lbp_pattern_length;
+ color_channel = _color_channel;
+
+ bg_lbp_pattern = new float[lbp_pattern_length];
+ bg_intensity = new float[color_channel];
+ max_intensity = new float[color_channel];
+ min_intensity = new float[color_channel];
+ };
+
+ virtual ~BG_PIXEL_MODE() {
+ delete [] bg_lbp_pattern;
+ delete [] bg_intensity;
+ delete [] max_intensity;
+ delete [] min_intensity;
+ };
+};
+
+class BG_PIXEL_PATTERN
+{
+public:
+ BG_PIXEL_MODE** pixel_MODEs; /* the background modes */
+ unsigned short* lbp_pattern_idxes; /* the indices of background modes */
+ unsigned int cur_bg_layer_no;
+ unsigned int num; /* the total number of background modes */
+ unsigned int bg_num; /* the number of the first background modes for foreground detection */
+ unsigned char* cur_intensity; /* the color intensity of current pixel */
+ float* cur_lbp_pattern; /* the local binary pattern of current pixel */
+
+ int lbp_pattern_length;
+ int color_channel;
+ int pixel_mode_num;
+
+ BG_PIXEL_PATTERN(int _pixel_mode_num, int _lbp_pattern_length, int _color_channel=3) {
+ pixel_mode_num = _pixel_mode_num;
+ lbp_pattern_length = _lbp_pattern_length;
+ color_channel = _color_channel;
+
+ pixel_MODEs = new BG_PIXEL_MODE*[pixel_mode_num];
+
+ for ( int i = 0 ; i < pixel_mode_num ; i++ ) {
+ pixel_MODEs[i] = new BG_PIXEL_MODE(_lbp_pattern_length, _color_channel);
+ }
+
+ lbp_pattern_idxes = new unsigned short[pixel_mode_num];
+ cur_intensity = new unsigned char[color_channel];
+ cur_lbp_pattern = new float[lbp_pattern_length];
+ };
+
+ virtual ~BG_PIXEL_PATTERN() {
+ delete [] lbp_pattern_idxes;
+ delete [] cur_intensity;
+ delete [] cur_lbp_pattern;
+
+ for ( int i = 0 ; i < pixel_mode_num ; i++ )
+ delete pixel_MODEs[i];
+ delete [] pixel_MODEs;
+ };
+};
+
+class IMAGE_BG_MODEL
+{
+ int pixel_length;
+
+ BG_PIXEL_PATTERN** pixel_PATTERNs;
+
+ IMAGE_BG_MODEL(int _pixel_length, int _pixel_mode_num, int _lbp_pattern_length, int _color_channel=3) {
+ pixel_length = _pixel_length;
+
+ pixel_PATTERNs = new BG_PIXEL_PATTERN*[pixel_length];
+ for ( int i = 0 ; i < pixel_length ; i++ )
+ pixel_PATTERNs[i] = new BG_PIXEL_PATTERN(_pixel_mode_num, _lbp_pattern_length, _color_channel);
+ }
+ virtual ~IMAGE_BG_MODEL() {
+ for ( int i = 0 ; i < pixel_length ; i++ )
+ delete pixel_PATTERNs[i];
+ delete [] pixel_PATTERNs;
+ }
+};
+
+
+#endif // !defined(_BGS_H_)
diff --git a/package_bgs/jmo/BackgroundSubtractionAPI.h b/package_bgs/jmo/BackgroundSubtractionAPI.h
new file mode 100644
index 0000000..7d01d69
--- /dev/null
+++ b/package_bgs/jmo/BackgroundSubtractionAPI.h
@@ -0,0 +1,158 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* --- --- ---
+* Copyright (C) 2008--2010 Idiap Research Institute (.....@idiap.ch)
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+* 1. Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* 2. Redistributions 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.
+* 3. The name of the author may not be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+*/
+//////////////////////////////////////////////////////////////////////
+//
+// BackgroundSubtractionAPI.h:
+// interface for the BackgroundSubtractionAPI class.
+//
+// A background subtraction algorithm takes as input
+// an RGB image and provide as ouput a Binary mask
+// with a value of 0 for points belonging to the
+// background, and non zero for points belonging
+// to the foreground.
+//
+//
+//
+// To add:
+// - a function indicating the valid input and ouput
+// images
+// e.g. RGB image (default) or greylevel image for the input
+// char image for the output
+//
+//////////////////////////////////////////////////////////////////////
+
+
+#if !defined(_BACKGROUND_SUBTRACTION_API_H_)
+#define _BACKGROUND_SUBTRACTION_API_H_
+
+#include "cv.h"
+
+class CBackgroundSubtractionAPI
+{
+public:
+ //CBackgroundSubtractionAPI(){};
+ //virtual ~CBackgroundSubtractionAPI(){};
+
+ //-------------------------------------------------------------
+ // TO CALL AT INITIALISATION: DEFINES THE SIZE OF THE INPUT IMAGES
+ // NORMALLY, UNNECESSARY IF A CONFIGURATION FILE IS LOADED
+ void Init(int width,int height);
+
+ //-------------------------------------------------------------
+ // PROVIDE A MASK TO DEFINE THE SET OF POINTS WHERE BACKGROUND
+ // SUBTRACTION DOES NOT NEED TO BE PERFORMED
+ //
+ // mode is useful to specify if the points to remove from
+ // processing are in addition to the ones potentially
+ // removed according to the configuration file,
+ // or if they are the only ones to be removed
+ //
+ // mode=0 : provided points need to be removed
+ // in addition to those already removed
+ // mode=1 : the provided points are the only one to remove
+ // from processing
+ // Note: maskImage(li,co)=0 indicate the points to remove
+ // from background processing
+ void SetValidPointMask(IplImage* maskImage, int mode);
+
+ //-------------------------------------------------------------
+ //
+ // set the frame rate, to adjust the update parameters
+ // to the actual frame rate.
+ // Can be called only once at initialisation,
+ // but in online cases, can be used to indicate
+ // the time interval during the last processed frame
+ //
+ // frameDuration is in millisecond
+ void SetFrameRate(float frameDuration);
+
+ //-------------------------------------------------------------
+ // PROVIDE A POINTER TO THE INPUT IMAGE
+ // -> INDICATE WHERE THE NEW IMAGE TO PROCESS IS STORED
+ //
+ // Here assumes that the input image will contain RGB images.
+ // The memory of this image is handled by the caller.
+ //
+ // The return value indicate whether the actual Background
+ // Subtraction algorithm handles RGB images (1) or not (0).
+ //
+ int SetRGBInputImage(IplImage * inputImage);
+
+ //-------------------------------------------------------------
+ // PROVIDE A POINTER TO THE RESULT IMAGE
+ // INDICATE WHERE THE BACKGROUND RESULT NEED TO BE STORED
+ //
+ // The return value is 1 if correct image format is provided,
+ // otherwise the return value is 0.
+ // e.g. fg_mask_img = cvCreateImage(imgSize, IPL_DEPTH_8U, 1);
+ int SetForegroundMaskImage(IplImage *fg_mask_img);
+
+ // The return value is 1 if the function is implemented
+ // with correct format, otherwise the return value is 0
+ // e.g. fg_prob_img = cvCreateImage(imgSize, IPL_DEPTH_32F, 1);
+ int SetForegroundProbImage(IplImage *fg_prob_img);
+
+ //-------------------------------------------------------------
+ // This function should be called each time a new image is
+ // available in the input image.
+ //
+ // The return value is 1 if everything goes well,
+ // otherwise the return value is 0.
+ //
+ int Process();
+
+ //-------------------------------------------------------------
+ // this function should save parameters and information of the model
+ // (e.g. after a training of the model, or in such a way
+ // that the model can be reload to process the next frame
+ // type of save:
+ void Save(char *bg_model_fn);
+
+ //-------------------------------------------------------------
+ // this function should load the parameters necessary
+ // for the processing of the background subtraction or
+ // load background model information
+ void Load(char *bg_model_fn);
+};
+
+#endif // !defined(_BACKGROUND_SUBTRACTION_API_H_)
diff --git a/package_bgs/jmo/BlobExtraction.cpp b/package_bgs/jmo/BlobExtraction.cpp
new file mode 100644
index 0000000..04560b9
--- /dev/null
+++ b/package_bgs/jmo/BlobExtraction.cpp
@@ -0,0 +1,1490 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* --- --- ---
+* Copyright (C) 2008--2010 Idiap Research Institute (.....@idiap.ch)
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+* 1. Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* 2. Redistributions 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.
+* 3. The name of the author may not be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+*/
+//***********************************************************//
+//* Blob analysis package 8 August 2003 *//
+//* Version 1.0 *//
+//* Input: IplImage* binary image *//
+//* Output: attributes of each connected region *//
+//* Author: Dave Grossman *//
+//* Modifications: Francesc Pinyol and Ricard Borras *//
+//* Email: dgrossman@cdr.stanford.edu *//
+//* Email: fpinyol@cvc.uab.es rborras@cvc.uab.es *//
+//* Acknowledgement: the algorithm has been around > 20 yrs *//
+//***********************************************************//
+
+//! Indica si la connectivitat es a 8 (si es desactiva es a 4)
+#define B_CONNECTIVITAT_8
+
+//! si la imatge �s c�clica verticalment (els blobs que toquen
+//! les vores superior i inferior no es consideren externs)
+#define IMATGE_CICLICA_VERTICAL 1
+//! si la imatge �s c�clica horitzontalment (els blobs que toquen
+//! les vores dreta i esquerra no es consideren externs)
+#define IMATGE_CICLICA_HORITZONTAL 0
+
+#define PERIMETRE_DIAGONAL (1.41421356237310 - 2)
+#define SQRT2 1.41421356237310
+// color dels p�xels de la m�scara per ser exteriors
+#define PIXEL_EXTERIOR 0
+
+
+#include "BlobResult.h"
+#include "BlobExtraction.h"
+
+namespace Blob
+{
+
+/**
+- FUNCI�: BlobAnalysis
+- FUNCIONALITAT: Extreu els blobs d'una imatge d'un sol canal
+- PAR�METRES:
+- inputImage: Imatge d'entrada. Ha de ser d'un sol canal
+- threshold: Nivell de gris per considerar un pixel blanc o negre
+- maskImage: Imatge de m�scara fora de la cual no es calculen els blobs. A m�s,
+els blobs que toquen els pixels de la m�scara a 0, s�n considerats
+externs
+- borderColor: Color del marc de la imatge (0=black or 1=white)
+- findmoments: calcula els moments dels blobs o no
+- RegionData: on es desar� el resultat
+- RESULTAT:
+- retorna true si tot ha anat b�, false si no. Deixa el resultat a blobs.
+- RESTRICCIONS:
+- La imatge d'entrada ha de ser d'un sol canal
+- AUTOR: dgrossman@cdr.stanford.edu
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+- fpinyol@cvc.uab.es, rborras@cvc.uab.es: adaptaci� a les OpenCV
+*/
+bool BlobAnalysis( IplImage* inputImage,
+ uchar threshold,
+ IplImage* maskImage,
+ bool borderColor,
+ bool findmoments,
+ blob_vector &RegionData )
+{
+ // dimensions of input image taking in account the ROI
+ int Cols, Rows, startCol, startRow;
+
+ if( inputImage->roi )
+ {
+ CvRect imageRoi = cvGetImageROI( inputImage );
+ startCol = imageRoi.x;
+ startRow = imageRoi.y;
+ Cols = imageRoi.width;
+ Rows = imageRoi.height;
+ }
+ else
+ {
+ startCol = 0;
+ startRow = 0;
+ Cols = inputImage->width;
+ Rows = inputImage->height;
+ }
+
+ int Trans = Cols; // MAX trans in any row
+ char* pMask = NULL;
+ char* pImage;
+
+ // Convert image array into transition array. In each row
+ // the transition array tells which columns have a color change
+ int iCol,iRow,iTran, Tran; // Data for a given run
+ bool ThisCell, LastCell; // Contents (colors (0 or 1)) within this row
+ int TransitionOffset = 0; // Performance booster to avoid multiplication
+
+ // row 0 and row Rows+1 represent the border
+ int i;
+ int *Transition; // Transition Matrix
+
+ int nombre_pixels_mascara = 0;
+ //! Imatge amb el perimetre extern de cada pixel
+ IplImage *imatgePerimetreExtern;
+
+ // input images must have only 1-channel and be an image
+ if( !CV_IS_IMAGE( inputImage ) || (inputImage->nChannels != 1) )
+ {
+ return false;
+ }
+ if( maskImage != NULL )
+ {
+ // input image and mask are a valid image?
+ if( !CV_IS_IMAGE( inputImage ) || !CV_IS_IMAGE( maskImage ))
+ return false;
+
+ // comprova que la m�scara tingui les mateixes dimensions que la imatge
+ if( inputImage->width != maskImage->width || inputImage->height != maskImage->height )
+ {
+ return false;
+ }
+
+ // comprova que la m�scara sigui una imatge d'un sol canal (grayscale)
+ if( maskImage->nChannels != 1 )
+ {
+ return false;
+ }
+
+ }
+
+ // Initialize Transition array
+ Transition=new int[(Rows + 2)*(Cols + 2)];
+ memset(Transition,0,(Rows + 2) * (Cols + 2)*sizeof(int));
+ Transition[0] = Transition[(Rows + 1) * (Cols + 2)] = Cols + 2;
+
+ // Start at the beginning of the image (startCol, startRow)
+ pImage = inputImage->imageData + startCol - 1 + startRow * inputImage->widthStep;
+
+ /*
+ Paral�lelitzaci� del c�lcul de la matriu de transicions
+ Fem que cada iteraci� del for el faci un thread o l'altre ( tenim 2 possibles threads )
+ */
+ if(maskImage == NULL)
+ {
+ imatgePerimetreExtern = NULL;
+
+ //Fill Transition array
+ for(iRow = 1; iRow < Rows + 1; iRow++) // Choose a row of Bordered image
+ {
+ TransitionOffset = iRow*(Cols + 2); //per a que sigui paral�litzable
+ iTran = 0; // Index into Transition array
+ Tran = 0; // No transitions at row start
+ LastCell = borderColor;
+
+ for(iCol = 0; iCol < Cols + 2; iCol++) // Scan that row of Bordered image
+ {
+ if(iCol == 0 || iCol == Cols+1)
+ ThisCell = borderColor;
+ else
+ ThisCell = ((unsigned char) *(pImage)) > threshold;
+
+ if(ThisCell != LastCell)
+ {
+ Transition[TransitionOffset + iTran] = Tran; // Save completed Tran
+ iTran++; // Prepare new index
+ LastCell = ThisCell; // With this color
+ }
+
+ Tran++; // Tran continues
+ pImage++;
+ }
+
+ Transition[TransitionOffset + iTran] = Tran; // Save completed run
+ if ( (TransitionOffset + iTran + 1) < (Rows + 1)*(Cols + 2) )
+ {
+ Transition[TransitionOffset + iTran + 1] = -1;
+ }
+ //jump to next row (beginning from (startCol, startRow))
+ pImage = inputImage->imageData - 1 + startCol + (iRow+startRow)*inputImage->widthStep;
+ }
+ }
+ else
+ {
+ //maskImage not NULL: Cal rec�rrer la m�scara tamb� per calcular la matriu de transicions
+
+ char perimeter;
+ char *pPerimetre;
+
+ // creem la imatge que contindr� el perimetre extern de cada pixel
+ imatgePerimetreExtern = cvCreateImage( cvSize(maskImage->width, maskImage->height), IPL_DEPTH_8U, 1);
+ cvSetZero( imatgePerimetreExtern );
+
+ pMask = maskImage->imageData - 1;
+
+ //Fill Transition array
+ for(iRow = 1; iRow < Rows + 1; iRow++) // Choose a row of Bordered image
+ {
+ TransitionOffset = iRow*(Cols + 2);
+ iTran = 0; // Index into Transition array
+ Tran = 0; // No transitions at row start
+ LastCell = borderColor;
+
+ pPerimetre = imatgePerimetreExtern->imageData + (iRow - 1) * imatgePerimetreExtern->widthStep;
+ //pMask = maskImage->imageData + (iRow-1) * maskImage->widthStep;
+
+ for(iCol = 0; iCol < Cols + 2; iCol++) // Scan that row of Bordered image
+ {
+ if(iCol == 0 || iCol == Cols+1 || ((unsigned char) *pMask) == PIXEL_EXTERIOR)
+ ThisCell = borderColor;
+ else
+ ThisCell = ((unsigned char) *(pImage)) > threshold;
+
+ if(ThisCell != LastCell)
+ {
+ Transition[TransitionOffset + iTran] = Tran; // Save completed Tran
+ iTran++; // Prepare new index
+ LastCell = ThisCell; // With this color
+ }
+
+ /*////////////////////////////////////////////////////////////////////////
+ Calcul de la imatge amb els pixels externs
+ ////////////////////////////////////////////////////////////////////////*/
+ // pels pixels externs no cal calcular res pq no hi accedir-hem
+ if( (iCol > 0) && (iCol < Cols) )
+ {
+ if( *pMask == PIXEL_EXTERIOR )
+ {
+ *pPerimetre = 0;
+ }
+ else
+ {
+ perimeter = 0;
+
+ // pixels al nord de l'actual
+ if(iRow>1)
+ {
+ if( *(pMask - maskImage->widthStep ) == PIXEL_EXTERIOR) perimeter++;
+ }
+
+ // pixels a l'est i oest de l'actual
+ if( iRow < imatgePerimetreExtern->height )
+ {
+ if( (iCol>0) && (*(pMask-1) == PIXEL_EXTERIOR) ) perimeter++;
+
+ if( ( iCol < imatgePerimetreExtern->width - 1) && (*(pMask+1) == PIXEL_EXTERIOR) ) perimeter++;
+ }
+
+ // pixels al sud de l'actual
+ if( iRow < imatgePerimetreExtern->height - 1)
+ {
+ if( (*(pMask+maskImage->widthStep) == PIXEL_EXTERIOR) ) perimeter++;
+ }
+
+ *pPerimetre = perimeter;
+ }
+ }
+
+ Tran++; // Tran continues
+ pImage++;
+ pMask++;
+ pPerimetre++;
+ }
+ Transition[TransitionOffset + iTran] = Tran; // Save completed run
+
+ if ( (TransitionOffset + iTran + 1) < (Rows + 1)*(Cols + 2) )
+ {
+ Transition[TransitionOffset + iTran + 1] = -1;
+ }
+
+
+ //jump to next row (beginning from (startCol, startRow))
+ pImage = inputImage->imageData - 1 + startCol + (iRow+startRow)*inputImage->widthStep;
+ //the mask should be the same size as image Roi, so don't take into account the offset
+ pMask = maskImage->imageData - 1 + iRow*maskImage->widthStep;
+ }
+ }
+
+ // Process transition code depending on Last row and This row
+ //
+ // Last ---++++++--+++++++++++++++-----+++++++++++++++++++-----++++++-------+++---
+ // This -----+++-----++++----+++++++++----+++++++---++------------------++++++++--
+ //
+ // There are various possibilities:
+ //
+ // Case 1 2 3 4 5 6 7 8
+ // Last |xxx |xxxxoo |xxxxxxx|xxxxxxx|ooxxxxx|ooxxx |ooxxxxx| xxx|
+ // This | yyy| yyy| yyyy | yyyyy|yyyyyyy|yyyyyyy|yyyy |yyyy |
+ // Here o is optional
+ //
+ // Here are the primitive tests to distinguish these 6 cases:
+ // A) Last end < This start - 1 OR NOT Note: -1
+ // B) This end < Last start OR NOT
+ // C) Last start < This start OR NOT
+ // D) This end < Last end OR NOT
+ // E) This end = Last end OR NOT
+ //
+ // Here is how to use these tests to determine the case:
+ // Case 1 = A [=> NOT B AND C AND NOT D AND NOT E]
+ // Case 2 = C AND NOT D AND NOT E [AND NOT A AND NOT B]
+ // Case 3 = C AND D [=> NOT E] [AND NOT A AND NOT B]
+ // Case 4 = C AND NOT D AND E [AND NOT A AND NOT B]
+ // Case 5 = NOT C AND E [=> NOT D] [AND NOT A AND NOT B]
+ // Case 6 = NOT C AND NOT D AND NOT E [AND NOT A AND NOT B]
+ // Case 7 = NOT C AND D [=> NOT E] [AND NOT A AND NOT B]
+ // Case 8 = B [=> NOT A AND NOT C AND D AND NOT E]
+ //
+ // In cases 2,3,4,5,6,7 the following additional test is needed:
+ // Match) This color = Last color OR NOT
+ //
+ // In cases 5,6,7 the following additional test is needed:
+ // Known) This region was already matched OR NOT
+ //
+ // Here are the main tests and actions:
+ // Case 1: LastIndex++;
+ // Case 2: if(Match) {y = x;}
+ // LastIndex++;
+ // Case 3: if(Match) {y = x;}
+ // else {y = new}
+ // ThisIndex++;
+ // Case 4: if(Match) {y = x;}
+ // else {y = new}
+ // LastIndex++;
+ // ThisIndex++;
+ // Case 5: if(Match AND NOT Known) {y = x}
+ // else if(Match AND Known) {Subsume(x,y)}
+ // LastIndex++;ThisIndex++
+ // Case 6: if(Match AND NOT Known) {y = x}
+ // else if(Match AND Known) {Subsume(x,y)}
+ // LastIndex++;
+ // Case 7: if(Match AND NOT Known) {y = x}
+ // else if(Match AND Known) {Subsume(x,y)}
+ // ThisIndex++;
+ // Case 8: ThisIndex++;
+
+ int *SubsumedRegion = NULL;
+
+ double ThisParent; // These data can change when the line is current
+ double ThisArea;
+ double ThisPerimeter;
+ double ThisSumX = 0;
+ double ThisSumY = 0;
+ double ThisSumXX = 0;
+ double ThisSumYY = 0;
+ double ThisSumXY = 0;
+ double ThisMinX;
+ double ThisMaxX;
+ double ThisMinY;
+ double ThisMaxY;
+ double LastPerimeter; // This is the only data for retroactive change
+ double ThisExternPerimeter;
+
+ int HighRegionNum = 0;
+ //int RegionNum = 0;
+ int ErrorFlag = 0;
+
+ int LastRow, ThisRow; // Row number
+ int LastStart, ThisStart; // Starting column of run
+ int LastEnd, ThisEnd; // Ending column of run
+ int LastColor, ThisColor; // Color of run
+
+ int LastIndex, ThisIndex; // Which run are we up to
+ int LastIndexCount, ThisIndexCount; // Out of these runs
+ int LastRegionNum, ThisRegionNum; // Which assignment
+ int *LastRegion; // Row assignment of region number
+ int *ThisRegion; // Row assignment of region number
+
+ int LastOffset = -(Trans + 2); // For performance to avoid multiplication
+ int ThisOffset = 0; // For performance to avoid multiplication
+ int ComputeData;
+
+ CvPoint actualedge;
+ uchar imagevalue;
+ bool CandidatExterior = false;
+
+ // apuntadors als blobs de la regi� actual i last
+ CBlob *regionDataThisRegion, *regionDataLastRegion;
+
+ LastRegion=new int[Cols+2];
+ ThisRegion=new int[Cols+2];
+
+ for(i = 0; i < Cols + 2; i++) // Initialize result arrays
+ {
+ LastRegion[i] = -1;
+ ThisRegion[i] = -1;
+ }
+
+ //create the external blob
+ RegionData.push_back( new CBlob() );
+ SubsumedRegion = NewSubsume(SubsumedRegion,0);
+ RegionData[0]->parent = -1;
+ RegionData[0]->area = (double) Transition[0];
+ RegionData[0]->perimeter = (double) (2 + 2 * Transition[0]);
+
+ ThisIndexCount = 1;
+ ThisRegion[0] = 0; // Border region
+
+ // beginning of the image
+ // en cada linia, pimage apunta al primer pixel de la fila
+ pImage = inputImage->imageData - 1 + startCol + startRow * inputImage->widthStep;
+ //the mask should be the same size as image Roi, so don't take into account the offset
+ if(maskImage!=NULL) pMask = maskImage->imageData - 1;
+
+ char *pImageAux, *pMaskAux = NULL;
+
+ // Loop over all rows
+ for(ThisRow = 1; ThisRow < Rows + 2; ThisRow++)
+ {
+ //cout << "========= THIS ROW = " << ThisRow << endl; // for debugging
+ ThisOffset += Trans + 2;
+ ThisIndex = 0;
+ LastOffset += Trans + 2;;
+ LastRow = ThisRow - 1;
+ LastIndexCount = ThisIndexCount;
+ LastIndex = 0;
+
+ int EndLast = 0;
+ int EndThis = 0;
+
+ for(int j = 0; j < Trans + 2; j++)
+ {
+ int Index = ThisOffset + j;
+ int TranVal = Transition[Index];
+ if(TranVal > 0) ThisIndexCount = j + 1; // stop at highest
+
+ if(ThisRegion[j] == -1) { EndLast = 1; }
+ if(TranVal < 0) { EndThis = 1; }
+
+ if(EndLast > 0 && EndThis > 0) { break; }
+
+ LastRegion[j] = ThisRegion[j];
+ ThisRegion[j] = -1; // Flag indicates region is not initialized
+ }
+
+ int MaxIndexCount = LastIndexCount;
+ if(ThisIndexCount > MaxIndexCount) MaxIndexCount = ThisIndexCount;
+
+ // Main loop over runs within Last and This rows
+ while (LastIndex < LastIndexCount && ThisIndex < ThisIndexCount)
+ {
+ ComputeData = 0;
+
+ if(LastIndex == 0) LastStart = 0;
+ else LastStart = Transition[LastOffset + LastIndex - 1];
+ LastEnd = Transition[LastOffset + LastIndex] - 1;
+ LastColor = LastIndex - 2 * (LastIndex / 2);
+ LastRegionNum = LastRegion[LastIndex];
+
+ regionDataLastRegion = RegionData[LastRegionNum];
+
+
+ if(ThisIndex == 0) ThisStart = 0;
+ else ThisStart = Transition[ThisOffset + ThisIndex - 1];
+ ThisEnd = Transition[ThisOffset + ThisIndex] - 1;
+ ThisColor = ThisIndex - 2 * (ThisIndex / 2);
+ ThisRegionNum = ThisRegion[ThisIndex];
+
+ if( ThisRegionNum >= 0 )
+ regionDataThisRegion = RegionData[ThisRegionNum];
+ else
+ regionDataThisRegion = NULL;
+
+
+ // blobs externs
+ CandidatExterior = false;
+ if(
+#if !IMATGE_CICLICA_VERTICAL
+ ThisRow == 1 || ThisRow == Rows ||
+#endif
+#if !IMATGE_CICLICA_HORITZONTAL
+ ThisStart <= 1 || ThisEnd >= Cols ||
+#endif
+ GetExternPerimeter( ThisStart, ThisEnd, ThisRow, inputImage->width, inputImage->height, imatgePerimetreExtern )
+ )
+ {
+ CandidatExterior = true;
+ }
+
+ int TestA = (LastEnd < ThisStart - 1); // initially false
+ int TestB = (ThisEnd < LastStart); // initially false
+ int TestC = (LastStart < ThisStart); // initially false
+ int TestD = (ThisEnd < LastEnd);
+ int TestE = (ThisEnd == LastEnd);
+
+ int TestMatch = (ThisColor == LastColor); // initially true
+ int TestKnown = (ThisRegion[ThisIndex] >= 0); // initially false
+
+ int Case = 0;
+ if(TestA) Case = 1;
+ else if(TestB) Case = 8;
+ else if(TestC)
+ {
+ if(TestD) Case = 3;
+ else if(!TestE) Case = 2;
+ else Case = 4;
+ }
+ else
+ {
+ if(TestE) Case = 5;
+ else if(TestD) Case = 7;
+ else Case = 6;
+ }
+
+ // Initialize common variables
+ ThisArea = (float) 0.0;
+
+ if(findmoments)
+ {
+ ThisSumX = ThisSumY = (float) 0.0;
+ ThisSumXX = ThisSumYY = ThisSumXY = (float) 0.0;
+ }
+ ThisMinX = ThisMinY = (float) 1000000.0;
+ ThisMaxX = ThisMaxY = (float) -1.0;
+
+ LastPerimeter = ThisPerimeter = (float) 0.0;
+ ThisParent = (float) -1;
+ ThisExternPerimeter = 0.0;
+
+ // Determine necessary action and take it
+ switch (Case)
+ {
+ case 1: //|xxx |
+ //| yyy|
+
+ ThisRegion[ThisIndex] = ThisRegionNum;
+ LastRegion[LastIndex] = LastRegionNum;
+ LastIndex++;
+
+ //afegim la cantonada a LastRegion
+ actualedge.x = ThisEnd;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataLastRegion->edges,&actualedge);
+
+ //afegim la cantonada a ThisRegion
+ actualedge.x = ThisStart - 1;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataThisRegion->edges,&actualedge);
+
+ break;
+
+
+ case 2: //|xxxxoo |
+ //| yyy|
+
+ if(TestMatch) // Same color
+ {
+ ThisRegionNum = LastRegionNum;
+ regionDataThisRegion = regionDataLastRegion;
+
+ ThisArea = ThisEnd - ThisStart + 1;
+ LastPerimeter = LastEnd - ThisStart + 1; // to subtract
+ ThisPerimeter = 2 + 2 * ThisArea - LastPerimeter +
+ PERIMETRE_DIAGONAL*2;
+
+ if( CandidatExterior )
+ {
+ ThisExternPerimeter = GetExternPerimeter( ThisStart, ThisEnd, ThisRow,
+ inputImage->width, inputImage->height,
+ imatgePerimetreExtern );
+ ThisExternPerimeter += PERIMETRE_DIAGONAL*2;
+ }
+ ComputeData = 1;
+ }
+
+ //afegim la cantonada a ThisRegion
+ if(ThisRegionNum!=-1)
+ {
+ // afegim dos vertexs si s�n diferents, nom�s
+ if(ThisStart - 1 != ThisEnd)
+ {
+ actualedge.x = ThisStart - 1;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataThisRegion->edges,&actualedge);
+ }
+ actualedge.x = ThisEnd;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataThisRegion->edges,&actualedge);
+ }
+ //afegim la cantonada a ThisRegion
+ if(LastRegionNum!=-1 && LastRegionNum != ThisRegionNum )
+ {
+ // afegim dos vertexs si s�n diferents, nom�s
+ if(ThisStart - 1 != ThisEnd)
+ {
+ actualedge.x = ThisStart - 1;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataLastRegion->edges,&actualedge);
+ }
+ }
+
+ ThisRegion[ThisIndex] = ThisRegionNum;
+ LastRegion[LastIndex] = LastRegionNum;
+ LastIndex++;
+ break;
+
+
+ case 3: //|xxxxxxx|
+ //| yyyy |
+
+ if(TestMatch) // Same color
+ {
+ ThisRegionNum = LastRegionNum;
+ regionDataThisRegion = regionDataLastRegion;
+
+ ThisArea = ThisEnd - ThisStart + 1;
+ LastPerimeter = ThisArea; // to subtract
+ ThisPerimeter = 2 + ThisArea + PERIMETRE_DIAGONAL*2;
+ if( CandidatExterior )
+ {
+ ThisExternPerimeter = GetExternPerimeter( ThisStart, ThisEnd, ThisRow,
+ inputImage->width, inputImage->height,
+ imatgePerimetreExtern );
+
+ ThisExternPerimeter += PERIMETRE_DIAGONAL * 2;
+ }
+ }
+ else // Different color => New region
+ {
+ ThisParent = LastRegionNum;
+ ThisRegionNum = ++HighRegionNum;
+ ThisArea = ThisEnd - ThisStart + 1;
+ ThisPerimeter = 2 + 2 * ThisArea;
+ RegionData.push_back( new CBlob() );
+ regionDataThisRegion = RegionData.back();
+
+ SubsumedRegion = NewSubsume(SubsumedRegion,HighRegionNum);
+ if( CandidatExterior )
+ ThisExternPerimeter = GetExternPerimeter( ThisStart, ThisEnd, ThisRow,
+ inputImage->width, inputImage->height,
+ imatgePerimetreExtern );
+
+ }
+
+ if(ThisRegionNum!=-1)
+ {
+ //afegim la cantonada a la regio
+ actualedge.x = ThisStart - 1;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataThisRegion->edges,&actualedge);
+ //afegim la cantonada a la regio
+ actualedge.x = ThisEnd;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataThisRegion->edges,&actualedge);
+ }
+ // si hem creat un nou blob, afegim tb a l'anterior
+ if(!TestMatch && LastRegionNum!=-1 && LastRegionNum != ThisRegionNum )
+ {
+ //afegim la cantonada a la regio
+ actualedge.x = ThisStart - 1;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataLastRegion->edges,&actualedge);
+ //afegim la cantonada a la regio
+ actualedge.x = ThisEnd;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataLastRegion->edges,&actualedge);
+ }
+
+ ThisRegion[ThisIndex] = ThisRegionNum;
+ LastRegion[LastIndex] = LastRegionNum;
+ ComputeData = 1;
+ ThisIndex++;
+ break;
+
+
+ case 4: //|xxxxxxx|
+ //| yyyyy|
+
+ if(TestMatch) // Same color
+ {
+ ThisRegionNum = LastRegionNum;
+ regionDataThisRegion = regionDataLastRegion;
+ ThisArea = ThisEnd - ThisStart + 1;
+ LastPerimeter = ThisArea; // to subtract
+ ThisPerimeter = 2 + ThisArea + PERIMETRE_DIAGONAL;
+ if( CandidatExterior )
+ {
+ ThisExternPerimeter = GetExternPerimeter( ThisStart, ThisEnd, ThisRow,
+ inputImage->width, inputImage->height,
+ imatgePerimetreExtern );
+
+ ThisExternPerimeter += PERIMETRE_DIAGONAL;
+ }
+ }
+ else // Different color => New region
+ {
+ ThisParent = LastRegionNum;
+ ThisRegionNum = ++HighRegionNum;
+ ThisArea = ThisEnd - ThisStart + 1;
+ ThisPerimeter = 2 + 2 * ThisArea;
+ RegionData.push_back( new CBlob() );
+ regionDataThisRegion = RegionData.back();
+ SubsumedRegion = NewSubsume(SubsumedRegion,HighRegionNum);
+ if( CandidatExterior )
+ ThisExternPerimeter = GetExternPerimeter( ThisStart, ThisEnd, ThisRow,
+ inputImage->width, inputImage->height,
+ imatgePerimetreExtern );
+
+ }
+
+ if(ThisRegionNum!=-1)
+ {
+ //afegim la cantonada a la regio
+ actualedge.x = ThisStart - 1;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataThisRegion->edges,&actualedge);
+ actualedge.x = ThisEnd;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataThisRegion->edges,&actualedge);
+ }
+ // si hem creat un nou blob, afegim tb a l'anterior
+ if(!TestMatch && LastRegionNum!=-1 && LastRegionNum != ThisRegionNum )
+ {
+ actualedge.x = ThisStart - 1;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataLastRegion->edges,&actualedge);
+ actualedge.x = ThisEnd;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataLastRegion->edges,&actualedge);
+ }
+
+ ThisRegion[ThisIndex] = ThisRegionNum;
+ LastRegion[LastIndex] = LastRegionNum;
+ ComputeData = 1;
+
+#ifdef B_CONNECTIVITAT_8
+ if( TestMatch )
+ {
+ LastIndex++;
+ ThisIndex++;
+ }
+ else
+ {
+ LastIndex++;
+ }
+#else
+ LastIndex++;
+ ThisIndex++;
+#endif
+ break;
+
+
+ case 5: //|ooxxxxx|
+ //|yyyyyyy|
+
+ if(!TestMatch && !TestKnown) // Different color and unknown => new region
+ {
+ ThisParent = LastRegionNum;
+ ThisRegionNum = ++HighRegionNum;
+ ThisArea = ThisEnd - ThisStart + 1;
+ ThisPerimeter = 2 + 2 * ThisArea;
+ RegionData.push_back( new CBlob() );
+ regionDataThisRegion = RegionData.back();
+ SubsumedRegion = NewSubsume(SubsumedRegion,HighRegionNum);
+ if( CandidatExterior )
+ ThisExternPerimeter = GetExternPerimeter( ThisStart, ThisEnd, ThisRow,
+ inputImage->width, inputImage->height,
+ imatgePerimetreExtern );
+
+ }
+ else if(TestMatch && !TestKnown) // Same color and unknown
+ {
+ ThisRegionNum = LastRegionNum;
+ regionDataThisRegion = regionDataLastRegion;
+ ThisArea = ThisEnd - ThisStart + 1;
+ LastPerimeter = LastEnd - LastStart + 1; // to subtract
+ ThisPerimeter = 2 + 2 * ThisArea - LastPerimeter
+ + PERIMETRE_DIAGONAL * (LastStart != ThisStart);
+ if( CandidatExterior )
+ {
+ ThisExternPerimeter = GetExternPerimeter( ThisStart, ThisEnd, ThisRow,
+ inputImage->width, inputImage->height,
+ imatgePerimetreExtern );
+
+
+ ThisExternPerimeter += PERIMETRE_DIAGONAL * (LastStart != ThisStart);
+ }
+ ComputeData = 1;
+ }
+ else if(TestMatch && TestKnown) // Same color and known
+ {
+ LastPerimeter = LastEnd - LastStart + 1; // to subtract
+ //ThisPerimeter = - LastPerimeter;
+ ThisPerimeter = - 2 * LastPerimeter
+ + PERIMETRE_DIAGONAL * (LastStart != ThisStart);
+
+ if(ThisRegionNum > LastRegionNum)
+ {
+ Subsume(RegionData, HighRegionNum, SubsumedRegion, regionDataThisRegion, regionDataLastRegion,
+ findmoments, ThisRegionNum, LastRegionNum );
+ for(int iOld = 0; iOld < MaxIndexCount; iOld++)
+ {
+ if(ThisRegion[iOld] == ThisRegionNum) ThisRegion[iOld] = LastRegionNum;
+ if(LastRegion[iOld] == ThisRegionNum) LastRegion[iOld] = LastRegionNum;
+ }
+ ThisRegionNum = LastRegionNum;
+ }
+ else if(ThisRegionNum < LastRegionNum)
+ {
+ Subsume(RegionData, HighRegionNum, SubsumedRegion, regionDataLastRegion, regionDataThisRegion,
+ findmoments, LastRegionNum, ThisRegionNum );
+
+ for(int iOld = 0; iOld < MaxIndexCount; iOld++)
+ {
+ if(ThisRegion[iOld] == LastRegionNum) ThisRegion[iOld] = ThisRegionNum;
+ if(LastRegion[iOld] == LastRegionNum) LastRegion[iOld] = ThisRegionNum;
+ }
+ LastRegionNum = ThisRegionNum;
+ }
+ }
+
+
+ if(ThisRegionNum!=-1)
+ {
+ actualedge.x = ThisEnd;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataThisRegion->edges,&actualedge);
+
+ if( ThisStart - 1 != LastEnd )
+ {
+ //afegim la cantonada a la regio
+ actualedge.x = ThisStart - 1;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataThisRegion->edges,&actualedge);
+ }
+ }
+ // si hem creat un nou blob, afegim tb a l'anterior
+ if(!TestMatch && LastRegionNum!=-1 && LastRegionNum != ThisRegionNum )
+ {
+ actualedge.x = ThisEnd;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataLastRegion->edges,&actualedge);
+ }
+
+ ThisRegion[ThisIndex] = ThisRegionNum;
+ LastRegion[LastIndex] = LastRegionNum;
+
+#ifdef B_CONNECTIVITAT_8
+ if( TestMatch )
+ {
+ LastIndex++;
+ ThisIndex++;
+ }
+ else
+ {
+ LastIndex++;
+ }
+#else
+ LastIndex++;
+ ThisIndex++;
+#endif
+ break;
+
+
+ case 6: //|ooxxx |
+ //|yyyyyyy|
+
+ if(TestMatch && !TestKnown)
+ {
+ ThisRegionNum = LastRegionNum;
+ regionDataThisRegion = regionDataLastRegion;
+ ThisArea = ThisEnd - ThisStart + 1;
+ LastPerimeter = LastEnd - LastStart + 1; // to subtract
+ ThisPerimeter = 2 + 2 * ThisArea - LastPerimeter
+ + PERIMETRE_DIAGONAL + PERIMETRE_DIAGONAL * (ThisStart!=LastStart);
+ if( CandidatExterior )
+ {
+ ThisExternPerimeter = GetExternPerimeter( ThisStart, ThisEnd, ThisRow,
+ inputImage->width, inputImage->height,
+ imatgePerimetreExtern );
+
+
+ ThisExternPerimeter += PERIMETRE_DIAGONAL + PERIMETRE_DIAGONAL * (ThisStart!=LastStart);
+ }
+ ComputeData = 1;
+ }
+ else if(TestMatch && TestKnown)
+ {
+ LastPerimeter = LastEnd - LastStart + 1; // to subtract
+ //ThisPerimeter = - LastPerimeter;
+ ThisPerimeter = - 2 * LastPerimeter
+ + PERIMETRE_DIAGONAL + PERIMETRE_DIAGONAL * (ThisStart!=LastStart);
+
+ if(ThisRegionNum > LastRegionNum)
+ {
+ Subsume(RegionData, HighRegionNum, SubsumedRegion, regionDataThisRegion, regionDataLastRegion,
+ findmoments, ThisRegionNum, LastRegionNum );
+ for(int iOld = 0; iOld < MaxIndexCount; iOld++)
+ {
+ if(ThisRegion[iOld] == ThisRegionNum) ThisRegion[iOld] = LastRegionNum;
+ if(LastRegion[iOld] == ThisRegionNum) LastRegion[iOld] = LastRegionNum;
+ }
+ ThisRegionNum = LastRegionNum;
+ }
+ else if(ThisRegionNum < LastRegionNum)
+ {
+ Subsume(RegionData, HighRegionNum, SubsumedRegion, regionDataLastRegion, regionDataThisRegion,
+ findmoments, LastRegionNum, ThisRegionNum );
+ for(int iOld = 0; iOld < MaxIndexCount; iOld++)
+ {
+ if(ThisRegion[iOld] == LastRegionNum) ThisRegion[iOld] = ThisRegionNum;
+ if(LastRegion[iOld] == LastRegionNum) LastRegion[iOld] = ThisRegionNum;
+ }
+ LastRegionNum = ThisRegionNum;
+ }
+ }
+
+
+ if(ThisRegionNum!=-1)
+ {
+ //afegim la cantonada a la regio
+ actualedge.x = ThisEnd;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataThisRegion->edges,&actualedge);
+ if( ThisStart - 1 != LastEnd )
+ {
+ actualedge.x = ThisStart - 1;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataThisRegion->edges,&actualedge);
+ }
+ }
+ // si hem creat un nou blob, afegim tb a l'anterior
+ if(!TestMatch && LastRegionNum!=-1 && LastRegionNum != ThisRegionNum )
+ {
+ //afegim la cantonada a la regio
+ if( ThisStart - 1 != LastEnd )
+ {
+ actualedge.x = ThisStart - 1;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataThisRegion->edges,&actualedge);
+ }
+ }
+
+ ThisRegion[ThisIndex] = ThisRegionNum;
+ LastRegion[LastIndex] = LastRegionNum;
+ LastIndex++;
+ break;
+
+
+ case 7: //|ooxxxxx|
+ //|yyyy |
+
+ if(!TestMatch && !TestKnown) // Different color and unknown => new region
+ {
+ ThisParent = LastRegionNum;
+ ThisRegionNum = ++HighRegionNum;
+ ThisArea = ThisEnd - ThisStart + 1;
+ ThisPerimeter = 2 + 2 * ThisArea;
+ RegionData.push_back( new CBlob() );
+ regionDataThisRegion = RegionData.back();
+ SubsumedRegion = NewSubsume(SubsumedRegion,HighRegionNum);
+ if( CandidatExterior )
+ ThisExternPerimeter = GetExternPerimeter( ThisStart, ThisEnd, ThisRow,
+ inputImage->width, inputImage->height,
+ imatgePerimetreExtern );
+
+ }
+ else if(TestMatch && !TestKnown)
+ {
+ ThisRegionNum = LastRegionNum;
+ regionDataThisRegion = regionDataLastRegion;
+ ThisArea = ThisEnd - ThisStart + 1;
+ ThisPerimeter = 2 + ThisArea;
+ LastPerimeter = ThisEnd - LastStart + 1;
+ ThisPerimeter = 2 + 2 * ThisArea - LastPerimeter
+ + PERIMETRE_DIAGONAL + PERIMETRE_DIAGONAL * (ThisStart!=LastStart);
+ if( CandidatExterior )
+ {
+ ThisExternPerimeter = GetExternPerimeter( ThisStart, ThisEnd, ThisRow,
+ inputImage->width, inputImage->height,
+ imatgePerimetreExtern );
+
+ ThisExternPerimeter += PERIMETRE_DIAGONAL + PERIMETRE_DIAGONAL * (ThisStart!=LastStart);
+ }
+ ComputeData = 1;
+ }
+ else if(TestMatch && TestKnown)
+ {
+ LastPerimeter = ThisEnd - LastStart + 1; // to subtract
+ //ThisPerimeter = - LastPerimeter;
+ ThisPerimeter = - 2 * LastPerimeter
+ + PERIMETRE_DIAGONAL + PERIMETRE_DIAGONAL * (ThisStart!=LastStart);
+
+ if(ThisRegionNum > LastRegionNum)
+ {
+ Subsume(RegionData, HighRegionNum, SubsumedRegion, regionDataThisRegion, regionDataLastRegion,
+ findmoments, ThisRegionNum, LastRegionNum );
+ for(int iOld = 0; iOld < MaxIndexCount; iOld++)
+ {
+ if(ThisRegion[iOld] == ThisRegionNum) ThisRegion[iOld] = LastRegionNum;
+ if(LastRegion[iOld] == ThisRegionNum) LastRegion[iOld] = LastRegionNum;
+ }
+ ThisRegionNum = LastRegionNum;
+ }
+ else if(ThisRegionNum < LastRegionNum)
+ {
+ Subsume(RegionData, HighRegionNum, SubsumedRegion, regionDataLastRegion, regionDataThisRegion,
+ findmoments, LastRegionNum, ThisRegionNum );
+ for(int iOld = 0; iOld < MaxIndexCount; iOld++)
+ {
+ if(ThisRegion[iOld] == LastRegionNum) ThisRegion[iOld] = ThisRegionNum;
+ if(LastRegion[iOld] == LastRegionNum) LastRegion[iOld] = ThisRegionNum;
+ }
+ LastRegionNum = ThisRegionNum;
+ }
+ }
+
+ if(ThisRegionNum!=-1)
+ {
+ //afegim la cantonada a la regio
+ actualedge.x = ThisEnd;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataThisRegion->edges,&actualedge);
+ if( ThisStart - 1 != LastEnd )
+ {
+ actualedge.x = ThisStart - 1;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataThisRegion->edges,&actualedge);
+ }
+ }
+ // si hem creat un nou blob, afegim tb a l'anterior
+ if(!TestMatch && LastRegionNum!=-1 && LastRegionNum != ThisRegionNum )
+ {
+ //afegim la cantonada a la regio
+ actualedge.x = ThisEnd;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataLastRegion->edges,&actualedge);
+ if( ThisStart - 1 != LastEnd )
+ {
+ actualedge.x = ThisStart - 1;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataThisRegion->edges,&actualedge);
+ }
+ }
+
+ ThisRegion[ThisIndex] = ThisRegionNum;
+ LastRegion[LastIndex] = LastRegionNum;
+ ThisIndex++;
+ break;
+
+ case 8: //| xxx|
+ //|yyyy |
+
+#ifdef B_CONNECTIVITAT_8
+ // fusionem blobs
+ if( TestMatch )
+ {
+ if(ThisRegionNum > LastRegionNum)
+ {
+ Subsume(RegionData, HighRegionNum, SubsumedRegion, regionDataThisRegion, regionDataLastRegion,
+ findmoments, ThisRegionNum, LastRegionNum );
+ for(int iOld = 0; iOld < MaxIndexCount; iOld++)
+ {
+ if(ThisRegion[iOld] == ThisRegionNum) ThisRegion[iOld] = LastRegionNum;
+ if(LastRegion[iOld] == ThisRegionNum) LastRegion[iOld] = LastRegionNum;
+ }
+ ThisRegionNum = LastRegionNum;
+ }
+ else if(ThisRegionNum < LastRegionNum)
+ {
+ Subsume(RegionData, HighRegionNum, SubsumedRegion, regionDataLastRegion, regionDataThisRegion,
+ findmoments, LastRegionNum, ThisRegionNum );
+ for(int iOld = 0; iOld < MaxIndexCount; iOld++)
+ {
+ if(ThisRegion[iOld] == LastRegionNum) ThisRegion[iOld] = ThisRegionNum;
+ if(LastRegion[iOld] == LastRegionNum) LastRegion[iOld] = ThisRegionNum;
+ }
+ LastRegionNum = ThisRegionNum;
+ }
+
+ regionDataThisRegion->perimeter = regionDataThisRegion->perimeter + PERIMETRE_DIAGONAL*2;
+ }
+#endif
+
+ if(ThisRegionNum!=-1)
+ {
+ //afegim la cantonada a la regio
+ actualedge.x = ThisStart - 1;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataThisRegion->edges,&actualedge);
+ }
+#ifdef B_CONNECTIVITAT_8
+ // si hem creat un nou blob, afegim tb a l'anterior
+ if(!TestMatch && LastRegionNum!=-1 && LastRegionNum != ThisRegionNum )
+ {
+#endif
+ //afegim la cantonada a la regio
+ actualedge.x = ThisStart - 1;
+ actualedge.y = ThisRow - 1;
+ cvSeqPush(regionDataLastRegion->edges,&actualedge);
+#ifdef B_CONNECTIVITAT_8
+ }
+#endif
+
+ ThisRegion[ThisIndex] = ThisRegionNum;
+ LastRegion[LastIndex] = LastRegionNum;
+ ThisIndex++;
+#ifdef B_CONNECTIVITAT_8
+ LastIndex--;
+#endif
+ break;
+
+ default:
+ ErrorFlag = -1;
+ } // end switch case
+
+ // calculate the blob moments and mean gray level of the current blob (ThisRegionNum)
+ if(ComputeData > 0)
+ {
+ // compute blob moments if necessary
+ if(findmoments)
+ {
+ float ImageRow = (float) (ThisRow - 1);
+
+ for(int k = ThisStart; k <= ThisEnd; k++)
+ {
+ ThisSumX += (float) (k - 1);
+ ThisSumXX += (float) (k - 1) * (k - 1);
+ }
+
+ ThisSumXY = ThisSumX * ImageRow;
+ ThisSumY = ThisArea * ImageRow;
+ ThisSumYY = ThisSumY * ImageRow;
+
+ }
+
+ // compute the mean gray level and its std deviation
+ if(ThisRow <= Rows )
+ {
+ pImageAux = pImage + ThisStart;
+ if(maskImage!=NULL) pMaskAux = pMask + ThisStart;
+ for(int k = ThisStart; k <= ThisEnd; k++)
+ {
+ if((k>0) && (k <= Cols))
+ {
+ if( maskImage!= NULL)
+ {
+ // nom�s es t� en compte el valor del p�xel de la
+ // imatge que queda dins de la m�scara
+ // (de pas, comptem el nombre de p�xels de la m�scara)
+ if( ((unsigned char) *pMaskAux) != PIXEL_EXTERIOR )
+ {
+ imagevalue = (unsigned char) (*pImageAux);
+ regionDataThisRegion->mean+=imagevalue;
+ regionDataThisRegion->stddev+=imagevalue*imagevalue;
+ }
+ else
+ {
+ nombre_pixels_mascara++;
+ }
+ }
+ else
+ {
+ imagevalue = (unsigned char) (*pImageAux);
+ regionDataThisRegion->mean+=imagevalue;
+ regionDataThisRegion->stddev+=imagevalue*imagevalue;
+
+ }
+ }
+ pImageAux++;
+ if(maskImage!=NULL) pMaskAux++;
+ }
+ }
+
+ // compute the min and max values of X and Y
+ if(ThisStart - 1 < (int) ThisMinX) ThisMinX = (float) (ThisStart - 1);
+ if(ThisMinX < (float) 0.0) ThisMinX = (float) 0.0;
+ if(ThisEnd > (int) ThisMaxX) ThisMaxX = (float) ThisEnd;
+
+ if(ThisRow - 1 < ThisMinY) ThisMinY = ThisRow - 1;
+ if(ThisMinY < (float) 0.0) ThisMinY = (float) 0.0;
+ if(ThisRow > ThisMaxY) ThisMaxY = ThisRow;
+ }
+
+ // put the current results into RegionData
+ if(ThisRegionNum >= 0)
+ {
+ if(ThisParent >= 0) { regionDataThisRegion->parent = (int) ThisParent; }
+ regionDataThisRegion->etiqueta = ThisRegionNum;
+ regionDataThisRegion->area += ThisArea;
+ regionDataThisRegion->perimeter += ThisPerimeter;
+ regionDataThisRegion->externPerimeter += ThisExternPerimeter;
+
+ if(ComputeData > 0)
+ {
+ if(findmoments)
+ {
+ regionDataThisRegion->sumx += ThisSumX;
+ regionDataThisRegion->sumy += ThisSumY;
+ regionDataThisRegion->sumxx += ThisSumXX;
+ regionDataThisRegion->sumyy += ThisSumYY;
+ regionDataThisRegion->sumxy += ThisSumXY;
+ }
+ regionDataThisRegion->perimeter -= LastPerimeter;
+ regionDataThisRegion->minx=MIN(regionDataThisRegion->minx,ThisMinX);
+ regionDataThisRegion->maxx=MAX(regionDataThisRegion->maxx,ThisMaxX);
+ regionDataThisRegion->miny=MIN(regionDataThisRegion->miny,ThisMinY);
+ regionDataThisRegion->maxy=MAX(regionDataThisRegion->maxy,ThisMaxY);
+ }
+ // blobs externs
+ if( CandidatExterior )
+ {
+ regionDataThisRegion->exterior = true;
+ }
+
+ }
+ } // end Main loop
+
+ if(ErrorFlag != 0) return false;
+ // ens situem al primer pixel de la seguent fila
+ pImage = inputImage->imageData - 1 + startCol + (ThisRow+startRow) * inputImage->widthStep;
+
+ if(maskImage!=NULL)
+ pMask = maskImage->imageData - 1 + ThisRow * maskImage->widthStep;
+ } // end Loop over all rows
+
+ // eliminem l'�rea del marc
+ // i tamb� els p�xels de la m�scara
+ // ATENCIO: PERFER: el fet de restar el nombre_pixels_mascara del
+ // blob 0 nom�s ser� cert si la m�scara t� contacte amb el marc.
+ // Si no, s'haur� de trobar quin �s el blob que cont� m�s p�xels del
+ // compte.
+ RegionData[0]->area -= ( Rows + 1 + Cols + 1 )*2 + nombre_pixels_mascara;
+
+ // eliminem el per�metre de m�s:
+ // - sense marc: 2m+2n (per�metre extern)
+ // - amb marc: 2(m+2)+2(n+2) = 2m+2n + 8
+ // (segurament no �s del tot acurat)
+ // (i amb les m�scares encara menys...)
+ RegionData[0]->perimeter -= 8.0;
+
+ // Condense the list
+ blob_vector::iterator itNew, itOld, iti;
+ CBlob *blobActual;
+
+ itNew = RegionData.begin();
+ itOld = RegionData.begin();
+ int iNew = 0;
+ for(int iOld = 0; iOld <= HighRegionNum; iOld++, itOld++)
+ {
+ if(SubsumedRegion[iOld] < 1) // This number not subsumed
+ {
+ // Move data from old region number to new region number
+ //*RegionData[iNew] = *RegionData[iOld];
+ **itNew = **itOld;
+
+ // Update and parent pointer if necessary
+ iti = RegionData.begin();
+ for(int i = 0; i <= HighRegionNum; i++)
+ {
+ //if(RegionData[i]->parent == iOld) { RegionData[i]->parent = iNew; }
+ if((*iti)->parent == iOld) { (*iti)->parent = iNew; }
+
+ iti++;
+ }
+ iNew++;
+ itNew++;
+ }
+ }
+
+
+ HighRegionNum = iNew - 1; // Update where the data ends
+ RegionData[HighRegionNum]->parent = -1; // and set end of array flag
+
+
+ if(findmoments)
+ {
+ iti = RegionData.begin();
+ // Normalize summation fields into moments
+ for(ThisRegionNum = 0; ThisRegionNum <= HighRegionNum; ThisRegionNum++, iti++)
+ {
+ blobActual = *iti;
+
+ // Get averages
+ blobActual->sumx /= blobActual->area;
+ blobActual->sumy /= blobActual->area;
+ blobActual->sumxx /= blobActual->area;
+ blobActual->sumyy /= blobActual->area;
+ blobActual->sumxy /= blobActual->area;
+
+ // Create moments
+ blobActual->sumxx -= blobActual->sumx * blobActual->sumx;
+ blobActual->sumyy -= blobActual->sumy * blobActual->sumy;
+ blobActual->sumxy -= blobActual->sumx * blobActual->sumy;
+ if(blobActual->sumxy > -1.0E-14 && blobActual->sumxy < 1.0E-14)
+ {
+ blobActual->sumxy = (float) 0.0; // Eliminate roundoff error
+ }
+
+ }
+ }
+
+ //Get the real mean and std deviation
+ iti = RegionData.begin();
+ for(ThisRegionNum = 0; ThisRegionNum <= HighRegionNum; ThisRegionNum++, iti++)
+ {
+ blobActual = *iti;
+ if(blobActual->area > 1)
+ {
+ blobActual->stddev =
+ sqrt(
+ (
+ blobActual->stddev * blobActual->area -
+ blobActual->mean * blobActual->mean
+ )/
+ (blobActual->area*(blobActual->area-1))
+ );
+ }
+ else
+ blobActual->stddev=0;
+
+ if(blobActual->area > 0)
+ blobActual->mean/=blobActual->area;
+ else
+ blobActual->mean = 0;
+
+ }
+ // eliminem els blobs subsumats
+ blob_vector::iterator itBlobs = RegionData.begin() + HighRegionNum + 1;
+ while( itBlobs != RegionData.end() )
+ {
+ delete *itBlobs;
+ //RegionData.erase( itBlobs );
+ itBlobs++;
+ }
+ RegionData.erase( RegionData.begin() + HighRegionNum + 1, RegionData.end() );
+
+ //free(RegionData);
+ free(SubsumedRegion);
+ delete Transition;
+ delete ThisRegion;
+ delete LastRegion;
+
+ if( imatgePerimetreExtern ) cvReleaseImage(&imatgePerimetreExtern);
+
+ return true;
+}
+
+
+int *NewSubsume(int *subsumed, int index_subsume)
+{
+ if( index_subsume == 0 )
+ {
+ subsumed = (int*)malloc(sizeof(int));
+ }
+ else
+ {
+ subsumed = (int*)realloc(subsumed,(index_subsume+1)*sizeof(int));
+ }
+ subsumed[index_subsume]=0;
+ return subsumed;
+}
+
+/**
+Fusiona dos blobs i afegeix el blob les caracter�stiques del blob RegionData[HiNum]
+al blob RegionData[LoNum]. Al final allibera el blob de RegionData[HiNum]
+*/
+void Subsume(blob_vector &RegionData,
+ int HighRegionNum,
+ int* SubsumedRegion,
+ CBlob* blobHi,
+ CBlob* blobLo,
+ bool findmoments,
+ int HiNum,
+ int LoNum)
+{
+ // cout << "\nSubsuming " << HiNum << " into " << LoNum << endl; // for debugging
+
+ int i;
+
+ blobLo->minx=MIN(blobHi->minx,blobLo->minx);
+ blobLo->miny=MIN(blobHi->miny,blobLo->miny);
+ blobLo->maxx=MAX(blobHi->maxx,blobLo->maxx);
+ blobLo->maxy=MAX(blobHi->maxy,blobLo->maxy);
+ blobLo->area+=blobHi->area;
+ blobLo->perimeter+=blobHi->perimeter;
+ blobLo->externPerimeter += blobHi->externPerimeter;
+ blobLo->exterior = blobLo->exterior || blobHi->exterior;
+ blobLo->mean += blobHi->mean;
+ blobLo->stddev += blobHi->stddev;
+
+ if( findmoments )
+ {
+ blobLo->sumx+=blobHi->sumx;
+ blobLo->sumy+=blobHi->sumy;
+ blobLo->sumxx+=blobHi->sumxx;
+ blobLo->sumyy+=blobHi->sumyy;
+ blobLo->sumxy+=blobHi->sumxy;
+ }
+ // Make sure no region still has subsumed region as parent
+ blob_vector::iterator it = (RegionData.begin() + HiNum + 1);
+
+ for(i = HiNum + 1; i <= HighRegionNum; i++, it++)
+ {
+ if((*it)->parent == (float) HiNum) { (*it)->parent = LoNum; }
+ }
+
+ // Mark dead region number for future compression
+ SubsumedRegion[HiNum] = 1;
+ // marquem el blob com a lliure
+ blobHi->etiqueta=-1;
+
+ // Atenci�!!!! abans d'eliminar els edges
+ // s'han de traspassar del blob HiNum al blob LoNum
+ blobHi->CopyEdges( *blobLo );
+ blobHi->ClearEdges();
+}
+
+/**
+- FUNCI�: GetExternPerimeter
+- FUNCIONALITAT: Retorna el perimetre extern d'una run lenght
+- PAR�METRES:
+- start: columna d'inici del run
+- end: columna final del run
+- row: fila del run
+- maskImage: m�scara pels pixels externs
+- RESULTAT:
+- quantitat de perimetre extern d'un run, suposant que �s un blob
+d'una �nica fila d'al�ada
+- RESTRICCIONS:
+- AUTOR:
+- DATA DE CREACI�: 2006/02/27
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+double GetExternPerimeter( int start, int end, int row, int width, int height, IplImage *imatgePerimetreExtern )
+{
+ double perimeter = 0.0f;
+ char *pPerimetre;
+
+
+ // comprovem les dimensions de la imatge
+ perimeter += ( start <= 0 ) + ( end >= width - 1 );
+ if(row <= 1 ) perimeter+= start - end;
+ if(row >= height - 1 ) perimeter+= start - end;
+
+
+ // comprovem els pixels que toquen a la m�scara (si s'escau)
+ if( imatgePerimetreExtern != NULL )
+ {
+ if( row <= 0 || row >= height ) return perimeter;
+
+ if( start < 0 ) start = 1;
+ if( end >= width ) end = width - 2;
+
+ pPerimetre = imatgePerimetreExtern->imageData + (row - 1) * imatgePerimetreExtern->widthStep + start;
+ for (int x = start - 1; x <= end; x++ )
+ {
+ perimeter += *pPerimetre;
+ pPerimetre++;
+ }
+ }
+
+ return perimeter;
+}
+
+}
diff --git a/package_bgs/jmo/BlobExtraction.h b/package_bgs/jmo/BlobExtraction.h
new file mode 100644
index 0000000..157ee58
--- /dev/null
+++ b/package_bgs/jmo/BlobExtraction.h
@@ -0,0 +1,76 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* --- --- ---
+* Copyright (C) 2008--2010 Idiap Research Institute (.....@idiap.ch)
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+* 1. Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* 2. Redistributions 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.
+* 3. The name of the author may not be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+*/
+//***********************************************************//
+//* Blob analysis package 8 August 2003 *//
+//* Version 1.0 *//
+//* Input: IplImage* binary image *//
+//* Output: attributes of each connected region *//
+//* Author: Dave Grossman *//
+//* Email: dgrossman@cdr.stanford.edu *//
+//* Acknowledgement: the algorithm has been around > 20 yrs *//
+//***********************************************************//
+
+
+#if !defined(_CLASSE_BLOBEXTRACTION_INCLUDED)
+#define _CLASSE_BLOBEXTRACTION_INCLUDED
+
+namespace Blob
+{
+
+//! Extreu els blobs d'una imatge
+bool BlobAnalysis(IplImage* inputImage, uchar threshold, IplImage* maskImage,
+ bool borderColor, bool findmoments, blob_vector &RegionData );
+
+
+// FUNCIONS AUXILIARS
+
+//! Fusiona dos blobs
+void Subsume(blob_vector &RegionData, int, int*, CBlob*, CBlob*, bool, int, int );
+//! Reallocata el vector auxiliar de blobs subsumats
+int *NewSubsume(int *SubSumedRegion, int elems_inbuffer);
+//! Retorna el perimetre extern d'una run lenght
+double GetExternPerimeter( int start, int end, int row, int width, int height, IplImage *maskImage );
+}
+
+#endif //_CLASSE_BLOBEXTRACTION_INCLUDED
+
diff --git a/package_bgs/jmo/BlobLibraryConfiguration.h b/package_bgs/jmo/BlobLibraryConfiguration.h
new file mode 100644
index 0000000..48119f7
--- /dev/null
+++ b/package_bgs/jmo/BlobLibraryConfiguration.h
@@ -0,0 +1,62 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* --- --- ---
+* Copyright (C) 2008--2010 Idiap Research Institute (.....@idiap.ch)
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+* 1. Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* 2. Redistributions 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.
+* 3. The name of the author may not be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+*/
+/************************************************************************
+BlobLibraryConfiguration.h
+
+FUNCIONALITAT: Configuraci� del comportament global de la llibreria
+AUTOR: Inspecta S.L.
+MODIFICACIONS (Modificaci�, Autor, Data):
+
+FUNCTIONALITY: Global configuration of the library
+AUTHOR: Inspecta S.L.
+MODIFICATIONS (Modification, Author, Date):
+
+**************************************************************************/
+
+//! Indica si es volen fer servir les MatrixCV o no
+//! Use/Not use the MatrixCV class
+//#define MATRIXCV_ACTIU
+
+// Uses/not use the blob object factory
+//#define BLOB_OBJECT_FACTORY
+
diff --git a/package_bgs/jmo/BlobResult.cpp b/package_bgs/jmo/BlobResult.cpp
new file mode 100644
index 0000000..fbd312a
--- /dev/null
+++ b/package_bgs/jmo/BlobResult.cpp
@@ -0,0 +1,920 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* --- --- ---
+* Copyright (C) 2008--2010 Idiap Research Institute (.....@idiap.ch)
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+* 1. Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* 2. Redistributions 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.
+* 3. The name of the author may not be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+*/
+/************************************************************************
+BlobResult.cpp
+
+FUNCIONALITAT: Implementaci� de la classe CBlobResult
+AUTOR: Inspecta S.L.
+MODIFICACIONS (Modificaci�, Autor, Data):
+
+**************************************************************************/
+
+#include <limits.h>
+#include <stdio.h>
+#include <functional>
+#include <algorithm>
+#include "BlobResult.h"
+#include "BlobExtraction.h"
+#ifdef _DEBUG
+#include <afx.h> //suport per a CStrings
+#include <afxwin.h> //suport per a AfxMessageBox
+#endif
+
+/**************************************************************************
+Constructors / Destructors
+**************************************************************************/
+
+namespace Blob
+{
+
+/**
+- FUNCI�: CBlobResult
+- FUNCIONALITAT: Constructor estandard.
+- PAR�METRES:
+- RESULTAT:
+- Crea un CBlobResult sense cap blob
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 20-07-2004.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: CBlobResult
+- FUNCTIONALITY: Standard constructor
+- PARAMETERS:
+- RESULT:
+- creates an empty set of blobs
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+CBlobResult::CBlobResult()
+{
+ m_blobs = blob_vector();
+}
+
+/**
+- FUNCI�: CBlobResult
+- FUNCIONALITAT: Constructor a partir d'una imatge. Inicialitza la seq��ncia de blobs
+amb els blobs resultants de l'an�lisi de blobs de la imatge.
+- PAR�METRES:
+- source: imatge d'on s'extreuran els blobs
+- mask: m�scara a aplicar. Nom�s es calcularan els blobs on la m�scara sigui
+diferent de 0. Els blobs que toquin a un pixel 0 de la m�scara seran
+considerats exteriors.
+- threshold: llindar que s'aplicar� a la imatge source abans de calcular els blobs
+- findmoments: indica si s'han de calcular els moments de cada blob
+- RESULTAT:
+- objecte CBlobResult amb els blobs de la imatge source
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: CBlob
+- FUNCTIONALITY: Constructor from an image. Fills an object with all the blobs in
+the image
+- PARAMETERS:
+- source: image to extract the blobs from
+- mask: optional mask to apply. The blobs will be extracted where the mask is
+not 0. All the neighbouring blobs where the mask is 0 will be extern blobs
+- threshold: threshold level to apply to the image before computing blobs
+- findmoments: true to calculate the blob moments (slower)
+- RESULT:
+- object with all the blobs in the image. It throws an EXCEPCIO_CALCUL_BLOBS
+if some error appears in the BlobAnalysis function
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+CBlobResult::CBlobResult(IplImage *source, IplImage *mask, int threshold, bool findmoments)
+{
+ bool success;
+
+ try
+ {
+ // cridem la funci� amb el marc a true=1=blanc (aix� no unir� els blobs externs)
+ success = BlobAnalysis(source,(uchar)threshold,mask,true,findmoments, m_blobs );
+ }
+ catch(...)
+ {
+ success = false;
+ }
+
+ if( !success ) throw EXCEPCIO_CALCUL_BLOBS;
+}
+
+/**
+- FUNCI�: CBlobResult
+- FUNCIONALITAT: Constructor de c�pia. Inicialitza la seq��ncia de blobs
+amb els blobs del par�metre.
+- PAR�METRES:
+- source: objecte que es copiar�
+- RESULTAT:
+- objecte CBlobResult amb els blobs de l'objecte source
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: CBlobResult
+- FUNCTIONALITY: Copy constructor
+- PARAMETERS:
+- source: object to copy
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+CBlobResult::CBlobResult( const CBlobResult &source )
+{
+ m_blobs = blob_vector( source.GetNumBlobs() );
+
+ // creem el nou a partir del passat com a par�metre
+ m_blobs = blob_vector( source.GetNumBlobs() );
+ // copiem els blobs de l'origen a l'actual
+ blob_vector::const_iterator pBlobsSrc = source.m_blobs.begin();
+ blob_vector::iterator pBlobsDst = m_blobs.begin();
+
+ while( pBlobsSrc != source.m_blobs.end() )
+ {
+ // no podem cridar a l'operador = ja que blob_vector �s un
+ // vector de CBlob*. Per tant, creem un blob nou a partir del
+ // blob original
+ *pBlobsDst = new CBlob(**pBlobsSrc);
+ pBlobsSrc++;
+ pBlobsDst++;
+ }
+}
+
+
+
+/**
+- FUNCI�: ~CBlobResult
+- FUNCIONALITAT: Destructor estandard.
+- PAR�METRES:
+- RESULTAT:
+- Allibera la mem�ria reservada de cadascun dels blobs de la classe
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: ~CBlobResult
+- FUNCTIONALITY: Destructor
+- PARAMETERS:
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+CBlobResult::~CBlobResult()
+{
+ ClearBlobs();
+}
+
+/**************************************************************************
+Operadors / Operators
+**************************************************************************/
+
+
+/**
+- FUNCI�: operador =
+- FUNCIONALITAT: Assigna un objecte source a l'actual
+- PAR�METRES:
+- source: objecte a assignar
+- RESULTAT:
+- Substitueix els blobs actuals per els de l'objecte source
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: Assigment operator
+- FUNCTIONALITY:
+- PARAMETERS:
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+CBlobResult& CBlobResult::operator=(const CBlobResult& source)
+{
+ // si ja s�n el mateix, no cal fer res
+ if (this != &source)
+ {
+ // alliberem el conjunt de blobs antic
+ for( int i = 0; i < GetNumBlobs(); i++ )
+ {
+ delete m_blobs[i];
+ }
+ m_blobs.clear();
+ // creem el nou a partir del passat com a par�metre
+ m_blobs = blob_vector( source.GetNumBlobs() );
+ // copiem els blobs de l'origen a l'actual
+ blob_vector::const_iterator pBlobsSrc = source.m_blobs.begin();
+ blob_vector::iterator pBlobsDst = m_blobs.begin();
+
+ while( pBlobsSrc != source.m_blobs.end() )
+ {
+ // no podem cridar a l'operador = ja que blob_vector �s un
+ // vector de CBlob*. Per tant, creem un blob nou a partir del
+ // blob original
+ *pBlobsDst = new CBlob(**pBlobsSrc);
+ pBlobsSrc++;
+ pBlobsDst++;
+ }
+ }
+ return *this;
+}
+
+
+/**
+- FUNCI�: operador +
+- FUNCIONALITAT: Concatena els blobs de dos CBlobResult
+- PAR�METRES:
+- source: d'on s'agafaran els blobs afegits a l'actual
+- RESULTAT:
+- retorna un nou CBlobResult amb els dos CBlobResult concatenats
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- NOTA: per la implementaci�, els blobs del par�metre es posen en ordre invers
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: + operator
+- FUNCTIONALITY: Joins the blobs in source with the current ones
+- PARAMETERS:
+- source: object to copy the blobs
+- RESULT:
+- object with the actual blobs and the source blobs
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+CBlobResult CBlobResult::operator+( const CBlobResult& source )
+{
+ //creem el resultat a partir dels blobs actuals
+ CBlobResult resultat( *this );
+
+ // reservem mem�ria per als nous blobs
+ resultat.m_blobs.resize( resultat.GetNumBlobs() + source.GetNumBlobs() );
+
+ // declarem els iterador per rec�rrer els blobs d'origen i desti
+ blob_vector::const_iterator pBlobsSrc = source.m_blobs.begin();
+ blob_vector::iterator pBlobsDst = resultat.m_blobs.end();
+
+ // insertem els blobs de l'origen a l'actual
+ while( pBlobsSrc != source.m_blobs.end() )
+ {
+ pBlobsDst--;
+ *pBlobsDst = new CBlob(**pBlobsSrc);
+ pBlobsSrc++;
+ }
+
+ return resultat;
+}
+
+/**************************************************************************
+Operacions / Operations
+**************************************************************************/
+
+/**
+- FUNCI�: AddBlob
+- FUNCIONALITAT: Afegeix un blob al conjunt
+- PAR�METRES:
+- blob: blob a afegir
+- RESULTAT:
+- modifica el conjunt de blobs actual
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 2006/03/01
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+void CBlobResult::AddBlob( CBlob *blob )
+{
+ if( blob != NULL )
+ m_blobs.push_back( new CBlob( blob ) );
+}
+
+
+#ifdef MATRIXCV_ACTIU
+
+/**
+- FUNCI�: GetResult
+- FUNCIONALITAT: Calcula el resultat especificat sobre tots els blobs de la classe
+- PAR�METRES:
+- evaluador: Qualsevol objecte derivat de COperadorBlob
+- RESULTAT:
+- Retorna un array de double's amb el resultat per cada blob
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: GetResult
+- FUNCTIONALITY: Computes the function evaluador on all the blobs of the class
+and returns a vector with the result
+- PARAMETERS:
+- evaluador: function to apply to each blob (any object derived from the
+COperadorBlob class )
+- RESULT:
+- vector with all the results in the same order as the blobs
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+double_vector CBlobResult::GetResult( funcio_calculBlob *evaluador ) const
+{
+ if( GetNumBlobs() <= 0 )
+ {
+ return double_vector();
+ }
+
+ // definim el resultat
+ double_vector result = double_vector( GetNumBlobs() );
+ // i iteradors sobre els blobs i el resultat
+ double_vector::iterator itResult = result.GetIterator();
+ blob_vector::const_iterator itBlobs = m_blobs.begin();
+
+ // avaluem la funci� en tots els blobs
+ while( itBlobs != m_blobs.end() )
+ {
+ *itResult = (*evaluador)(**itBlobs);
+ itBlobs++;
+ itResult++;
+ }
+ return result;
+}
+#endif
+
+/**
+- FUNCI�: GetSTLResult
+- FUNCIONALITAT: Calcula el resultat especificat sobre tots els blobs de la classe
+- PAR�METRES:
+- evaluador: Qualsevol objecte derivat de COperadorBlob
+- RESULTAT:
+- Retorna un array de double's STL amb el resultat per cada blob
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: GetResult
+- FUNCTIONALITY: Computes the function evaluador on all the blobs of the class
+and returns a vector with the result
+- PARAMETERS:
+- evaluador: function to apply to each blob (any object derived from the
+COperadorBlob class )
+- RESULT:
+- vector with all the results in the same order as the blobs
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+double_stl_vector CBlobResult::GetSTLResult( funcio_calculBlob *evaluador ) const
+{
+ if( GetNumBlobs() <= 0 )
+ {
+ return double_stl_vector();
+ }
+
+ // definim el resultat
+ double_stl_vector result = double_stl_vector( GetNumBlobs() );
+ // i iteradors sobre els blobs i el resultat
+ double_stl_vector::iterator itResult = result.begin();
+ blob_vector::const_iterator itBlobs = m_blobs.begin();
+
+ // avaluem la funci� en tots els blobs
+ while( itBlobs != m_blobs.end() )
+ {
+ *itResult = (*evaluador)(**itBlobs);
+ itBlobs++;
+ itResult++;
+ }
+ return result;
+}
+
+/**
+- FUNCI�: GetNumber
+- FUNCIONALITAT: Calcula el resultat especificat sobre un �nic blob de la classe
+- PAR�METRES:
+- evaluador: Qualsevol objecte derivat de COperadorBlob
+- indexblob: n�mero de blob del que volem calcular el resultat.
+- RESULTAT:
+- Retorna un double amb el resultat
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: GetNumber
+- FUNCTIONALITY: Computes the function evaluador on a blob of the class
+- PARAMETERS:
+- indexBlob: index of the blob to compute the function
+- evaluador: function to apply to each blob (any object derived from the
+COperadorBlob class )
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+double CBlobResult::GetNumber( int indexBlob, funcio_calculBlob *evaluador ) const
+{
+ if( indexBlob < 0 || indexBlob >= GetNumBlobs() )
+ RaiseError( EXCEPTION_BLOB_OUT_OF_BOUNDS );
+ return (*evaluador)( *m_blobs[indexBlob] );
+}
+
+/////////////////////////// FILTRAT DE BLOBS ////////////////////////////////////
+
+/**
+- FUNCI�: Filter
+- FUNCIONALITAT: Filtra els blobs de la classe i deixa el resultat amb nom�s
+els blobs que han passat el filtre.
+El filtrat es basa en especificar condicions sobre un resultat dels blobs
+i seleccionar (o excloure) aquells blobs que no compleixen una determinada
+condicio
+- PAR�METRES:
+- dst: variable per deixar els blobs filtrats
+- filterAction: acci� de filtrat. Incloure els blobs trobats (B_INCLUDE),
+o excloure els blobs trobats (B_EXCLUDE)
+- evaluador: Funci� per evaluar els blobs (qualsevol objecte derivat de COperadorBlob
+- Condition: tipus de condici� que ha de superar la mesura (FilterType)
+sobre cada blob per a ser considerat.
+B_EQUAL,B_NOT_EQUAL,B_GREATER,B_LESS,B_GREATER_OR_EQUAL,
+B_LESS_OR_EQUAL,B_INSIDE,B_OUTSIDE
+- LowLimit: valor num�ric per a la comparaci� (Condition) de la mesura (FilterType)
+- HighLimit: valor num�ric per a la comparaci� (Condition) de la mesura (FilterType)
+(nom�s t� sentit per a aquelles condicions que tenen dos valors
+(B_INSIDE, per exemple).
+- RESULTAT:
+- Deixa els blobs resultants del filtrat a destination
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: Filter
+- FUNCTIONALITY: Get some blobs from the class based on conditions on measures
+of the blobs.
+- PARAMETERS:
+- dst: where to store the selected blobs
+- filterAction: B_INCLUDE: include the blobs which pass the filter in the result
+B_EXCLUDE: exclude the blobs which pass the filter in the result
+- evaluador: Object to evaluate the blob
+- Condition: How to decide if the result returned by evaluador on each blob
+is included or not. It can be:
+B_EQUAL,B_NOT_EQUAL,B_GREATER,B_LESS,B_GREATER_OR_EQUAL,
+B_LESS_OR_EQUAL,B_INSIDE,B_OUTSIDE
+- LowLimit: numerical value to evaluate the Condition on evaluador(blob)
+- HighLimit: numerical value to evaluate the Condition on evaluador(blob).
+Only useful for B_INSIDE and B_OUTSIDE
+- RESULT:
+- It returns on dst the blobs that accomplish (B_INCLUDE) or discards (B_EXCLUDE)
+the Condition on the result returned by evaluador on each blob
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+void CBlobResult::Filter(CBlobResult &dst,
+ int filterAction,
+ funcio_calculBlob *evaluador,
+ int condition,
+ double lowLimit, double highLimit /*=0*/)
+
+{
+ int i, numBlobs;
+ bool resultavaluacio;
+ double_stl_vector avaluacioBlobs;
+ double_stl_vector::iterator itavaluacioBlobs;
+
+ if( GetNumBlobs() <= 0 ) return;
+ if( !evaluador ) return;
+ //avaluem els blobs amb la funci� pertinent
+ avaluacioBlobs = GetSTLResult(evaluador);
+ itavaluacioBlobs = avaluacioBlobs.begin();
+ numBlobs = GetNumBlobs();
+ switch(condition)
+ {
+ case B_EQUAL:
+ for(i=0;i<numBlobs;i++, itavaluacioBlobs++)
+ {
+ resultavaluacio= *itavaluacioBlobs == lowLimit;
+ if( ( resultavaluacio && filterAction == B_INCLUDE ) ||
+ ( !resultavaluacio && filterAction == B_EXCLUDE ))
+ {
+ dst.m_blobs.push_back( new CBlob( GetBlob( i ) ));
+ }
+ }
+ break;
+ case B_NOT_EQUAL:
+ for(i=0;i<numBlobs;i++, itavaluacioBlobs++)
+ {
+ resultavaluacio = *itavaluacioBlobs != lowLimit;
+ if( ( resultavaluacio && filterAction == B_INCLUDE ) ||
+ ( !resultavaluacio && filterAction == B_EXCLUDE ))
+ {
+ dst.m_blobs.push_back( new CBlob( GetBlob( i ) ));
+ }
+ }
+ break;
+ case B_GREATER:
+ for(i=0;i<numBlobs;i++, itavaluacioBlobs++)
+ {
+ resultavaluacio= *itavaluacioBlobs > lowLimit;
+ if( ( resultavaluacio && filterAction == B_INCLUDE ) ||
+ ( !resultavaluacio && filterAction == B_EXCLUDE ))
+ {
+ dst.m_blobs.push_back( new CBlob( GetBlob( i ) ));
+ }
+ }
+ break;
+ case B_LESS:
+ for(i=0;i<numBlobs;i++, itavaluacioBlobs++)
+ {
+ resultavaluacio= *itavaluacioBlobs < lowLimit;
+ if( ( resultavaluacio && filterAction == B_INCLUDE ) ||
+ ( !resultavaluacio && filterAction == B_EXCLUDE ))
+ {
+ dst.m_blobs.push_back( new CBlob( GetBlob( i ) ));
+ }
+ }
+ break;
+ case B_GREATER_OR_EQUAL:
+ for(i=0;i<numBlobs;i++, itavaluacioBlobs++)
+ {
+ resultavaluacio= *itavaluacioBlobs>= lowLimit;
+ if( ( resultavaluacio && filterAction == B_INCLUDE ) ||
+ ( !resultavaluacio && filterAction == B_EXCLUDE ))
+ {
+ dst.m_blobs.push_back( new CBlob( GetBlob( i ) ));
+ }
+ }
+ break;
+ case B_LESS_OR_EQUAL:
+ for(i=0;i<numBlobs;i++, itavaluacioBlobs++)
+ {
+ resultavaluacio= *itavaluacioBlobs <= lowLimit;
+ if( ( resultavaluacio && filterAction == B_INCLUDE ) ||
+ ( !resultavaluacio && filterAction == B_EXCLUDE ))
+ {
+ dst.m_blobs.push_back( new CBlob( GetBlob( i ) ));
+ }
+ }
+ break;
+ case B_INSIDE:
+ for(i=0;i<numBlobs;i++, itavaluacioBlobs++)
+ {
+ resultavaluacio=( *itavaluacioBlobs >= lowLimit) && ( *itavaluacioBlobs <= highLimit);
+ if( ( resultavaluacio && filterAction == B_INCLUDE ) ||
+ ( !resultavaluacio && filterAction == B_EXCLUDE ))
+ {
+ dst.m_blobs.push_back( new CBlob( GetBlob( i ) ));
+ }
+ }
+ break;
+ case B_OUTSIDE:
+ for(i=0;i<numBlobs;i++, itavaluacioBlobs++)
+ {
+ resultavaluacio=( *itavaluacioBlobs < lowLimit) || ( *itavaluacioBlobs > highLimit);
+ if( ( resultavaluacio && filterAction == B_INCLUDE ) ||
+ ( !resultavaluacio && filterAction == B_EXCLUDE ))
+ {
+ dst.m_blobs.push_back( new CBlob( GetBlob( i ) ));
+ }
+ }
+ break;
+ }
+
+
+ // en cas de voler filtrar un CBlobResult i deixar-ho en el mateix CBlobResult
+ // ( operacio inline )
+ if( &dst == this )
+ {
+ // esborrem els primers blobs ( que s�n els originals )
+ // ja que els tindrem replicats al final si passen el filtre
+ blob_vector::iterator itBlobs = m_blobs.begin();
+ for( int i = 0; i < numBlobs; i++ )
+ {
+ delete *itBlobs;
+ itBlobs++;
+ }
+ m_blobs.erase( m_blobs.begin(), itBlobs );
+ }
+}
+
+
+/**
+- FUNCI�: GetBlob
+- FUNCIONALITAT: Retorna un blob si aquest existeix (index != -1)
+- PAR�METRES:
+- indexblob: index del blob a retornar
+- RESULTAT:
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/*
+- FUNCTION: GetBlob
+- FUNCTIONALITY: Gets the n-th blob (without ordering the blobs)
+- PARAMETERS:
+- indexblob: index in the blob array
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+CBlob CBlobResult::GetBlob(int indexblob) const
+{
+ if( indexblob < 0 || indexblob >= GetNumBlobs() )
+ RaiseError( EXCEPTION_BLOB_OUT_OF_BOUNDS );
+
+ return *m_blobs[indexblob];
+}
+CBlob *CBlobResult::GetBlob(int indexblob)
+{
+ if( indexblob < 0 || indexblob >= GetNumBlobs() )
+ RaiseError( EXCEPTION_BLOB_OUT_OF_BOUNDS );
+
+ return m_blobs[indexblob];
+}
+
+/**
+- FUNCI�: GetNthBlob
+- FUNCIONALITAT: Retorna l'en�ssim blob segons un determinat criteri
+- PAR�METRES:
+- criteri: criteri per ordenar els blobs (objectes derivats de COperadorBlob)
+- nBlob: index del blob a retornar
+- dst: on es retorna el resultat
+- RESULTAT:
+- retorna el blob nBlob a dst ordenant els blobs de la classe segons el criteri
+en ordre DESCENDENT. Per exemple, per obtenir el blob major:
+GetNthBlob( CBlobGetArea(), 0, blobMajor );
+GetNthBlob( CBlobGetArea(), 1, blobMajor ); (segon blob m�s gran)
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/*
+- FUNCTION: GetNthBlob
+- FUNCTIONALITY: Gets the n-th blob ordering first the blobs with some criteria
+- PARAMETERS:
+- criteri: criteria to order the blob array
+- nBlob: index of the returned blob in the ordered blob array
+- dst: where to store the result
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+void CBlobResult::GetNthBlob( funcio_calculBlob *criteri, int nBlob, CBlob &dst ) const
+{
+ // verifiquem que no estem accedint fora el vector de blobs
+ if( nBlob < 0 || nBlob >= GetNumBlobs() )
+ {
+ //RaiseError( EXCEPTION_BLOB_OUT_OF_BOUNDS );
+ dst = CBlob();
+ return;
+ }
+
+ double_stl_vector avaluacioBlobs, avaluacioBlobsOrdenat;
+ double valorEnessim;
+
+ //avaluem els blobs amb la funci� pertinent
+ avaluacioBlobs = GetSTLResult(criteri);
+
+ avaluacioBlobsOrdenat = double_stl_vector( GetNumBlobs() );
+
+ // obtenim els nBlob primers resultats (en ordre descendent)
+ std::partial_sort_copy( avaluacioBlobs.begin(),
+ avaluacioBlobs.end(),
+ avaluacioBlobsOrdenat.begin(),
+ avaluacioBlobsOrdenat.end(),
+ std::greater<double>() );
+
+ valorEnessim = avaluacioBlobsOrdenat[nBlob];
+
+ // busquem el primer blob que t� el valor n-ssim
+ double_stl_vector::const_iterator itAvaluacio = avaluacioBlobs.begin();
+
+ bool trobatBlob = false;
+ int indexBlob = 0;
+ while( itAvaluacio != avaluacioBlobs.end() && !trobatBlob )
+ {
+ if( *itAvaluacio == valorEnessim )
+ {
+ trobatBlob = true;
+ dst = CBlob( GetBlob(indexBlob));
+ }
+ itAvaluacio++;
+ indexBlob++;
+ }
+}
+
+/**
+- FUNCI�: ClearBlobs
+- FUNCIONALITAT: Elimina tots els blobs de l'objecte
+- PAR�METRES:
+- RESULTAT:
+- Allibera tota la mem�ria dels blobs
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s Navarra
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/*
+- FUNCTION: ClearBlobs
+- FUNCTIONALITY: Clears all the blobs from the object and releases all its memory
+- PARAMETERS:
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+void CBlobResult::ClearBlobs()
+{
+ /*for( int i = 0; i < GetNumBlobs(); i++ )
+ {
+ delete m_blobs[i];
+ }*/
+ blob_vector::iterator itBlobs = m_blobs.begin();
+ while( itBlobs != m_blobs.end() )
+ {
+ delete *itBlobs;
+ itBlobs++;
+ }
+
+ m_blobs.clear();
+}
+
+/**
+- FUNCI�: RaiseError
+- FUNCIONALITAT: Funci� per a notificar errors al l'usuari (en debug) i llen�a
+les excepcions
+- PAR�METRES:
+- errorCode: codi d'error
+- RESULTAT:
+- Ensenya un missatge a l'usuari (en debug) i llen�a una excepci�
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s Navarra
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/*
+- FUNCTION: RaiseError
+- FUNCTIONALITY: Error handling function
+- PARAMETERS:
+- errorCode: reason of the error
+- RESULT:
+- in _DEBUG version, shows a message box with the error. In release is silent.
+In both cases throws an exception with the error.
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+void CBlobResult::RaiseError(const int errorCode) const
+{
+ // estem en mode debug?
+#ifdef _DEBUG
+ CString msg, format = "Error en CBlobResult: %s";
+
+ switch (errorCode)
+ {
+ case EXCEPTION_BLOB_OUT_OF_BOUNDS:
+ msg.Format(format, "Intentant accedir a un blob no existent");
+ break;
+ default:
+ msg.Format(format, "Codi d'error desconegut");
+ break;
+ }
+
+ AfxMessageBox(msg);
+
+#endif
+ throw errorCode;
+}
+
+
+
+/**************************************************************************
+Auxiliars / Auxiliary functions
+**************************************************************************/
+
+
+/**
+- FUNCI�: PrintBlobs
+- FUNCIONALITAT: Escriu els par�metres (�rea, per�metre, exterior, mitjana)
+de tots els blobs a un fitxer.
+- PAR�METRES:
+- nom_fitxer: path complet del fitxer amb el resultat
+- RESULTAT:
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/*
+- FUNCTION: PrintBlobs
+- FUNCTIONALITY: Prints some blob features in an ASCII file
+- PARAMETERS:
+- nom_fitxer: full path + filename to generate
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+void CBlobResult::PrintBlobs( char *nom_fitxer ) const
+{
+ double_stl_vector area, /*perimetre,*/ exterior, mitjana, compacitat, longitud,
+ externPerimeter, perimetreConvex, perimetre;
+ int i;
+ FILE *fitxer_sortida;
+
+ area = GetSTLResult( CBlobGetArea());
+ perimetre = GetSTLResult( CBlobGetPerimeter());
+ exterior = GetSTLResult( CBlobGetExterior());
+ mitjana = GetSTLResult( CBlobGetMean());
+ compacitat = GetSTLResult(CBlobGetCompactness());
+ longitud = GetSTLResult( CBlobGetLength());
+ externPerimeter = GetSTLResult( CBlobGetExternPerimeter());
+ perimetreConvex = GetSTLResult( CBlobGetHullPerimeter());
+
+ fitxer_sortida = fopen( nom_fitxer, "w" );
+
+ for(i=0; i<GetNumBlobs(); i++)
+ {
+ fprintf( fitxer_sortida, "blob %d ->\t a=%7.0f\t p=%8.2f (%8.2f extern)\t pconvex=%8.2f\t ext=%.0f\t m=%7.2f\t c=%3.2f\t l=%8.2f\n",
+ i, area[i], perimetre[i], externPerimeter[i], perimetreConvex[i], exterior[i], mitjana[i], compacitat[i], longitud[i] );
+ }
+ fclose( fitxer_sortida );
+
+}
+
+}
diff --git a/package_bgs/jmo/BlobResult.h b/package_bgs/jmo/BlobResult.h
new file mode 100644
index 0000000..ef1fd40
--- /dev/null
+++ b/package_bgs/jmo/BlobResult.h
@@ -0,0 +1,213 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* --- --- ---
+ * Copyright (C) 2008--2010 Idiap Research Institute (.....@idiap.ch)
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ * 3. The name of the author may not be used to endorse or promote products
+ * derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+*/
+/************************************************************************
+ BlobResult.h
+
+FUNCIONALITAT: Definici� de la classe CBlobResult
+AUTOR: Inspecta S.L.
+MODIFICACIONS (Modificaci�, Autor, Data):
+
+FUNCTIONALITY: Definition of the CBlobResult class
+AUTHOR: Inspecta S.L.
+MODIFICATIONS (Modification, Author, Date):
+
+**************************************************************************/
+
+
+#if !defined(_CLASSE_BLOBRESULT_INCLUDED)
+#define _CLASSE_BLOBRESULT_INCLUDED
+
+#if _MSC_VER > 1000
+#pragma once
+#endif // _MSC_VER > 1000
+
+#include "BlobLibraryConfiguration.h"
+#include <math.h>
+#include "cxcore.h"
+
+#ifdef MATRIXCV_ACTIU
+ #include "matrixCV.h"
+#else
+ // llibreria STL
+ #include "vector"
+ //! Vector de doubles
+ typedef std::vector<double> double_stl_vector;
+#endif
+
+#include <vector> // vectors de la STL
+#include <functional>
+#include "blob.h"
+
+/**************************************************************************
+ Filtres / Filters
+**************************************************************************/
+
+//! accions que es poden fer amb els filtres
+//! Actions performed by a filter (include or exclude blobs)
+#define B_INCLUDE 1L
+#define B_EXCLUDE 2L
+
+//! condicions sobre els filtres
+//! Conditions to apply the filters
+#define B_EQUAL 3L
+#define B_NOT_EQUAL 4L
+#define B_GREATER 5L
+#define B_LESS 6L
+#define B_GREATER_OR_EQUAL 7L
+#define B_LESS_OR_EQUAL 8L
+#define B_INSIDE 9L
+#define B_OUTSIDE 10L
+
+
+/**************************************************************************
+ Excepcions / Exceptions
+**************************************************************************/
+
+//! Excepcions llen�ades per les funcions:
+#define EXCEPTION_BLOB_OUT_OF_BOUNDS 1000
+#define EXCEPCIO_CALCUL_BLOBS 1001
+
+namespace Blob
+{
+
+//! definici� de que es un vector de blobs
+typedef std::vector<CBlob*> blob_vector;
+
+/**
+ Classe que cont� un conjunt de blobs i permet extreure'n propietats
+ o filtrar-los segons determinats criteris.
+ Class to calculate the blobs of an image and calculate some properties
+ on them. Also, the class provides functions to filter the blobs using
+ some criteria.
+*/
+class CBlobResult
+{
+public:
+
+ //! constructor estandard, crea un conjunt buit de blobs
+ //! Standard constructor, it creates an empty set of blobs
+ CBlobResult();
+ //! constructor a partir d'una imatge
+ //! Image constructor, it creates an object with the blobs of the image
+ CBlobResult(IplImage *source, IplImage *mask, int threshold, bool findmoments);
+ //! constructor de c�pia
+ //! Copy constructor
+ CBlobResult( const CBlobResult &source );
+ //! Destructor
+ virtual ~CBlobResult();
+
+ //! operador = per a fer assignacions entre CBlobResult
+ //! Assigment operator
+ CBlobResult& operator=(const CBlobResult& source);
+ //! operador + per concatenar dos CBlobResult
+ //! Addition operator to concatenate two sets of blobs
+ CBlobResult operator+( const CBlobResult& source );
+
+ //! Afegeix un blob al conjunt
+ //! Adds a blob to the set of blobs
+ void AddBlob( CBlob *blob );
+
+#ifdef MATRIXCV_ACTIU
+ //! Calcula un valor sobre tots els blobs de la classe retornant una MatrixCV
+ //! Computes some property on all the blobs of the class
+ double_vector GetResult( funcio_calculBlob *evaluador ) const;
+#endif
+ //! Calcula un valor sobre tots els blobs de la classe retornant un std::vector<double>
+ //! Computes some property on all the blobs of the class
+ double_stl_vector GetSTLResult( funcio_calculBlob *evaluador ) const;
+
+ //! Calcula un valor sobre un blob de la classe
+ //! Computes some property on one blob of the class
+ double GetNumber( int indexblob, funcio_calculBlob *evaluador ) const;
+
+ //! Retorna aquells blobs que compleixen les condicions del filtre en el destination
+ //! Filters the blobs of the class using some property
+ void Filter(CBlobResult &dst,
+ int filterAction, funcio_calculBlob *evaluador,
+ int condition, double lowLimit, double highLimit = 0 );
+
+ //! Retorna l'en�ssim blob segons un determinat criteri
+ //! Sorts the blobs of the class acording to some criteria and returns the n-th blob
+ void GetNthBlob( funcio_calculBlob *criteri, int nBlob, CBlob &dst ) const;
+
+ //! Retorna el blob en�ssim
+ //! Gets the n-th blob of the class ( without sorting )
+ CBlob GetBlob(int indexblob) const;
+ CBlob *GetBlob(int indexblob);
+
+ //! Elimina tots els blobs de l'objecte
+ //! Clears all the blobs of the class
+ void ClearBlobs();
+
+ //! Escriu els blobs a un fitxer
+ //! Prints some features of all the blobs in a file
+ void PrintBlobs( char *nom_fitxer ) const;
+
+
+//Metodes GET/SET
+
+ //! Retorna el total de blobs
+ //! Gets the total number of blobs
+ int GetNumBlobs() const
+ {
+ return(m_blobs.size());
+ }
+
+
+private:
+
+ //! Funci� per gestionar els errors
+ //! Function to manage the errors
+ void RaiseError(const int errorCode) const;
+
+protected:
+
+ //! Vector amb els blobs
+ //! Vector with all the blobs
+ blob_vector m_blobs;
+};
+
+}
+
+#endif // !defined(_CLASSE_BLOBRESULT_INCLUDED)
+
diff --git a/package_bgs/jmo/CMultiLayerBGS.cpp b/package_bgs/jmo/CMultiLayerBGS.cpp
new file mode 100644
index 0000000..134a24c
--- /dev/null
+++ b/package_bgs/jmo/CMultiLayerBGS.cpp
@@ -0,0 +1,2128 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* --- --- ---
+* Copyright (C) 2008--2010 Idiap Research Institute (.....@idiap.ch)
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+* 1. Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* 2. Redistributions 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.
+* 3. The name of the author may not be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+*/
+// BackgroundSubtraction.cpp: implementation of the CMultiLayerBGS class.
+//
+//////////////////////////////////////////////////////////////////////
+
+#include "CMultiLayerBGS.h"
+
+#include <ctime> // clock
+#include <cstdlib> // C standard library
+#include <cstdio> // C I/O (for sscanf)
+#include <cstring> // string manipulation
+#include <fstream> // file I/O
+#include <cmath> // math includes
+#include <iostream> // I/O streams
+
+using namespace Blob;
+
+//////////////////////////////////////////////////////////////////////
+// Construction/Destruction
+//////////////////////////////////////////////////////////////////////
+
+CMultiLayerBGS::CMultiLayerBGS() {
+ m_nMaxLBPModeNum = MAX_LBP_MODE_NUM;
+
+ m_fModeUpdatingLearnRate = MODE_UPDATING_LEARN_RATE;
+ m_f1_ModeUpdatingLearnRate = 1.0f - m_fModeUpdatingLearnRate;
+
+ m_fWeightUpdatingLearnRate = WEIGHT_UPDATING_LEARN_RATE;
+ m_f1_WeightUpdatingLearnRate = 1.0f - m_fWeightUpdatingLearnRate;
+
+ m_fRobustColorOffset = ROBUST_COLOR_OFFSET;
+
+ m_fLowInitialModeWeight = LOW_INITIAL_MODE_WEIGHT;
+
+ m_fPatternColorDistBgThreshold = PATTERN_COLOR_DIST_BACKGROUND_THRESHOLD;
+ m_fPatternColorDistBgUpdatedThreshold = PATTERN_COLOR_DIST_BACKGROUND_THRESHOLD;
+
+ m_fBackgroundModelPercent = BACKGROUND_MODEL_PERCENT;
+
+ m_nPatternDistSmoothNeigHalfSize = PATTERN_DIST_SMOOTH_NEIG_HALF_SIZE;
+ m_fPatternDistConvGaussianSigma = PATTERN_DIST_CONV_GAUSSIAN_SIGMA;
+
+ m_fRobustShadowRate = ROBUST_SHADOW_RATE;
+ m_fRobustHighlightRate = ROBUST_HIGHLIGHT_RATE;
+
+ m_nCurImgFrameIdx = 0;
+
+ m_pBkMaskImg = NULL;
+
+ m_bUsedColorLBP = false;
+ m_bUsedGradImage = false;
+
+ m_fMinLBPBinaryProb = 0.1f;
+ m_f1_MinLBPBinaryProb = 1.0f - m_fMinLBPBinaryProb;
+
+ m_pOrgImg = m_pFgImg = m_pBgImg = m_pFgMaskImg = m_pBgDistImg = m_pEdgeImg = NULL;
+ m_ppOrgLBPImgs = NULL;
+
+ m_disableLearning = false;
+ m_fSigmaS = 3.0f;
+ m_fSigmaR = 0.1f;
+
+ m_fTextureWeight = 0.5f;
+ m_fColorWeight = 1.0f - m_fTextureWeight;
+
+ m_fWeightUpdatingConstant = 5.0f;
+
+ m_fReliableBackgroundModeWeight = 0.9f;
+
+ //m_fMinBgLayerWeight = m_fLowInitialModeWeight/50.0f;
+ m_fMinBgLayerWeight = 0.0001f;
+ //m_fMinBgLayerWeight = 0.88f;
+
+ m_fMinNoisedAngle = 3.0f / 180.0f * PI;
+ m_fMinNoisedAngleSine = sinf(m_fMinNoisedAngle);
+
+ m_fFrameDuration = 1.0f / 25.0f; /* 25 frames per second */
+
+ m_fModeUpdatingLearnRatePerSecond = 0.2f;
+ m_fWeightUpdatingLearnRatePerSecond = 0.2f;
+
+ m_pROI = NULL;
+}
+
+CMultiLayerBGS::~CMultiLayerBGS() {
+ int img_length = m_cvImgSize.height * m_cvImgSize.width;
+ PixelLBPStruct* PLBP = m_pPixelLBPs;
+ for (int yx = 0; yx < img_length; yx++) {
+ delete (*PLBP).cur_intensity;
+ delete (*PLBP).cur_pattern;
+ delete (*PLBP).lbp_idxes;
+ for (int a = 0; a < m_nMaxLBPModeNum; a++) {
+ delete (*PLBP).LBPs[a].bg_intensity;
+ delete (*PLBP).LBPs[a].max_intensity;
+ delete (*PLBP).LBPs[a].min_intensity;
+ delete (*PLBP).LBPs[a].bg_pattern;
+ }
+ delete (*PLBP).LBPs;
+ PLBP++;
+ }
+ delete m_pPixelLBPs;
+
+ /* release memories */
+ if (m_pFgImg != NULL)
+ cvReleaseImage(&m_pFgImg);
+ if (m_pBgImg != NULL)
+ cvReleaseImage(&m_pBgImg);
+ if (m_pBgDistImg != NULL)
+ cvReleaseImage(&m_pBgDistImg);
+ if (m_ppOrgLBPImgs != NULL) {
+ int a;
+ for (a = 0; a < m_nLBPImgNum; a++)
+ cvReleaseImage(&m_ppOrgLBPImgs[a]);
+ delete [] m_ppOrgLBPImgs;
+ }
+ if (m_pEdgeImg)
+ cvReleaseImage(&m_pEdgeImg);
+}
+
+void CMultiLayerBGS::ResetAllParameters() {
+ m_f1_ModeUpdatingLearnRate = 1.0f - m_fModeUpdatingLearnRate;
+ m_f1_WeightUpdatingLearnRate = 1.0f - m_fWeightUpdatingLearnRate;
+ m_f1_MinLBPBinaryProb = 1.0f - m_fMinLBPBinaryProb;
+
+ m_fColorWeight = 1.0f - m_fTextureWeight;
+
+ m_fMinNoisedAngleSine = sinf(m_fMinNoisedAngle);
+
+ //m_fMinBgLayerWeight = m_fLowInitialModeWeight/50.0f;
+ m_fMinBgLayerWeight = 0.0001f;
+
+ m_cLBP.m_fRobustWhiteNoise = m_fRobustColorOffset;
+}
+
+void CMultiLayerBGS::MergeImages(int num, ...) {
+ if (num < 1 || num > 9) {
+ printf("Error: the number %d of merging images.\n", num);
+ exit(0);
+ }
+
+ int nCols = 0, nRows = 0;
+ switch (num) {
+ case 1: nCols = nRows = 1;
+ break;
+ case 2: nCols = 1;
+ nRows = 2;
+ break;
+ case 3:
+ case 4: nCols = 2;
+ nRows = 2;
+ break;
+ case 5:
+ case 6: nCols = 3;
+ nRows = 2;
+ break;
+ case 7:
+ case 8:
+ case 9: nCols = 3;
+ nRows = 3;
+ break;
+ }
+
+ int a, b;
+
+ IplImage** ppIplImg = new IplImage*[num + 1];
+
+ va_list arg_ptr;
+ va_start(arg_ptr, num);
+ for (a = 0; a < num + 1; a++)
+ ppIplImg[a] = va_arg(arg_ptr, IplImage*);
+ va_end(arg_ptr);
+
+ CvRect imgROIRect;
+ CvSize imgSize = cvGetSize(ppIplImg[0]);
+ if (ppIplImg[num] == NULL) { // for the output video
+ ppIplImg[num] = cvCreateImage(cvSize(imgSize.width*nCols, imgSize.height * nRows), IPL_DEPTH_8U, ppIplImg[0]->nChannels);
+ }
+
+ int img_idx = 0;
+ for (a = 0; a < nRows; a++)
+ for (b = 0; b < nCols; b++) {
+ if (img_idx >= num)
+ break;
+
+ imgROIRect = cvRect(b * imgSize.width, a * imgSize.height, imgSize.width, imgSize.height);
+
+ cvSetImageROI(ppIplImg[num], imgROIRect);
+ cvCopyImage(ppIplImg[img_idx++], ppIplImg[num]);
+ cvResetImageROI(ppIplImg[num]);
+ }
+
+ delete [] ppIplImg;
+}
+
+void CMultiLayerBGS::Update_MAX_MIN_Intensity(unsigned char *cur_intensity, float *max_intensity, float *min_intensity) {
+ int a;
+ float curI;
+ for (a = 0; a < m_nChannel; a++) {
+ curI = (float) cur_intensity[a];
+
+ min_intensity[a] = MIN(curI, min_intensity[a]);
+ max_intensity[a] = MAX(curI, max_intensity[a]);
+ }
+}
+
+void CMultiLayerBGS::UpdateBgPixelColor(unsigned char *cur_intensity, float* bg_intensity) {
+ int a;
+ for (a = 0; a < m_nChannel; a++)
+ bg_intensity[a] = m_f1_ModeUpdatingLearnRate * bg_intensity[a] + m_fModeUpdatingLearnRate * (float) cur_intensity[a];
+}
+
+void CMultiLayerBGS::UpdateBgPixelPattern(float *cur_pattern, float *bg_pattern) {
+ int a;
+ for (a = 0; a < m_nLBPLength; a++)
+ bg_pattern[a] = m_f1_ModeUpdatingLearnRate * bg_pattern[a] + m_fModeUpdatingLearnRate * cur_pattern[a];
+}
+
+/* sort everything inbetween `low' <-> `high' */
+void CMultiLayerBGS::QuickSort(float *pData, unsigned short *pIdxes, long low, long high, bool bAscent) {
+ long i = low;
+ long j = high;
+ float y = 0;
+ int idx = 0;
+
+ /* compare value */
+ float z = pData[(low + high) / 2];
+
+ /* partition */
+ do {
+ if (bAscent) {
+ /* find member above ... */
+ while (pData[i] < z) i++;
+
+ /* find element below ... */
+ while (pData[j] > z) j--;
+ } else {
+ /* find member below ... */
+ while (pData[i] > z) i++;
+
+ /* find element above ... */
+ while (pData[j] < z) j--;
+ }
+
+ if (i <= j) {
+ /* swap two elements */
+ y = pData[i];
+ pData[i] = pData[j];
+ pData[j] = y;
+
+ idx = pIdxes[i];
+ pIdxes[i] = pIdxes[j];
+ pIdxes[j] = idx;
+
+ i++;
+ j--;
+ }
+ } while (i <= j);
+
+ /* recurse */
+ if (low < j)
+ QuickSort(pData, pIdxes, low, j, bAscent);
+
+ if (i < high)
+ QuickSort(pData, pIdxes, i, high, bAscent);
+}
+
+float CMultiLayerBGS::DistLBP(LBPStruct *LBP1, LBPStruct *LBP2) {
+ int a;
+
+ float pattern_dist = 0;
+ for (a = 0; a < m_nLBPLength; a++) {
+ pattern_dist = fabsf(LBP1->bg_pattern[a] - LBP1->bg_pattern[a]);
+ }
+ pattern_dist /= (float) m_nLBPLength;
+
+ float color_dist = 0;
+ for (a = 0; a < m_nChannel; a++) {
+ color_dist += fabsf((float) LBP1->bg_intensity[a]-(float) LBP2->bg_intensity[a]);
+ }
+ color_dist /= 3.0f * 125.0f;
+
+ //return MAX(pattern_dist, color_dist);
+ return color_dist;
+}
+
+void CMultiLayerBGS::SetNewImage(IplImage *new_img, CvRect *roi) {
+ m_pOrgImg = new_img;
+ m_pROI = roi;
+ if (roi && (roi->width <= 0 || roi->height <= 0))
+ return;
+
+ if (roi) {
+ cvSetImageROI(m_pOrgImg, *roi);
+ for (int a = 0; a < m_nLBPImgNum; a++)
+ cvSetImageROI(m_ppOrgLBPImgs[a], *roi);
+ }
+
+ switch (m_nLBPImgNum) {
+ case 1:
+ cvCvtColor(m_pOrgImg, m_ppOrgLBPImgs[0], CV_BGR2GRAY);
+ break;
+ case 2:
+ cvCvtColor(m_pOrgImg, m_ppOrgLBPImgs[0], CV_BGR2GRAY);
+ ComputeGradientImage(m_ppOrgLBPImgs[0], m_ppOrgLBPImgs[1], false);
+ break;
+ case 3:
+ cvSplit(m_pOrgImg, m_ppOrgLBPImgs[0], m_ppOrgLBPImgs[1], m_ppOrgLBPImgs[2], NULL);
+ break;
+ case 4:
+ cvSplit(m_pOrgImg, m_ppOrgLBPImgs[0], m_ppOrgLBPImgs[1], m_ppOrgLBPImgs[2], NULL);
+ ComputeGradientImage(m_ppOrgLBPImgs[0], m_ppOrgLBPImgs[3], false);
+ break;
+ }
+
+ if (roi) {
+ cvResetImageROI(m_pOrgImg);
+ for (int a = 0; a < m_nLBPImgNum; a++)
+ cvResetImageROI(m_ppOrgLBPImgs[a]);
+ }
+ m_cLBP.SetNewImages(m_ppOrgLBPImgs);
+
+ m_nCurImgFrameIdx++;
+}
+
+void CMultiLayerBGS::SetBkMaskImage(IplImage *mask_img) {
+ if (m_pBkMaskImg == NULL) {
+ m_pBkMaskImg = cvCreateImage(cvGetSize(mask_img), mask_img->depth, mask_img->nChannels);
+ }
+ cvCopyImage(mask_img, m_pBkMaskImg);
+}
+
+void CMultiLayerBGS::BackgroundSubtractionProcess() {
+ CvRect *roi = m_pROI;
+
+ if (roi && (roi->width <= 0 || roi->height <= 0))
+ return;
+ LBPStruct* LBPs;
+ unsigned int bg_num;
+ float* cur_pattern;
+ unsigned char* cur_intensity;
+ int a, b;
+ unsigned int lbp_num;
+ unsigned short* lbp_idxes;
+ unsigned short cur_lbp_idx;
+ bool bBackgroundUpdating;
+
+ PixelLBPStruct *PLBP = m_pPixelLBPs;
+
+ bool bFirstFrame = (PLBP[0].num == 0);
+ float best_match_bg_dist, bg_pattern_dist, bg_color_dist, bg_pattern_color_dist;
+
+ // compute the local binary pattern
+ if (m_fTextureWeight > 0)
+ m_cLBP.ComputeLBP(PLBP, roi);
+
+ LBPStruct* curLBP;
+
+ int data_length;
+
+ if (roi)
+ data_length = roi->width * roi->height;
+ else
+ data_length = m_cvImgSize.width * m_cvImgSize.height;
+
+ int best_match_idx;
+
+ COpencvDataConversion<uchar, uchar> ODC1;
+ if (roi) {
+ cvSetImageROI(m_pBkMaskImg, *roi);
+ cvSetImageROI(m_pOrgImg, *roi);
+ }
+ uchar *_mask = ODC1.GetImageData(m_pBkMaskImg);
+ uchar *_org_intensity = ODC1.GetImageData(m_pOrgImg);
+
+ if (roi) {
+ cvResetImageROI(m_pBkMaskImg);
+ cvResetImageROI(m_pOrgImg);
+ }
+
+ COpencvDataConversion<float, float> ODC2;
+ float *_bg_dist = new float[data_length];
+
+ uchar *mask = _mask;
+ uchar *org_intensity = _org_intensity;
+ float *bg_dist = _bg_dist;
+
+ bool removed_modes[10];
+
+ // scanning the point via first x-axis and then y-axis
+ int x, y;
+
+ for (y = 0; y < (roi ? roi->height : m_cvImgSize.height); y++) {
+ if (roi)
+ PLBP = m_pPixelLBPs + (roi->y + y) * m_cvImgSize.width + roi->x;
+ else
+ PLBP = m_pPixelLBPs + y * m_cvImgSize.width;
+
+ for (x = 0; x < (roi ? roi->width : m_cvImgSize.width); x++) {
+ // check whether the current pixel is the pixel to be modeled
+ if (*mask++ == 0) {
+ PLBP++;
+ *bg_dist++ = 0.0f; //m_fPatternColorDistBgThreshold*1.01f;
+ org_intensity += m_nChannel;
+ continue;
+ }
+
+ // removing the background layers
+ if (!m_disableLearning) {
+ RemoveBackgroundLayers(PLBP);
+ }
+
+ // check whether the current image is the first image
+ bFirstFrame = ((*PLBP).num == 0);
+
+ // get lbp information
+ lbp_num = (*PLBP).num;
+ LBPs = (*PLBP).LBPs;
+ lbp_idxes = (*PLBP).lbp_idxes;
+
+ (*PLBP).cur_bg_layer_no = 0;
+
+ // set the current pixel's intensity
+ cur_intensity = (*PLBP).cur_intensity;
+ for (a = 0; a < m_nChannel; a++)
+ cur_intensity[a] = *org_intensity++;
+
+ // get the current lbp pattern
+ cur_pattern = (*PLBP).cur_pattern;
+
+ // first check whether the pixel is background or foreground and then update the background pattern model
+ if (lbp_num == 0) { // empty pattern list
+ curLBP = (&(LBPs[0]));
+ for (a = 0; a < m_nLBPLength; a++) {
+ curLBP->bg_pattern[a] = (float) cur_pattern[a];
+ }
+
+ curLBP->bg_layer_num = 0;
+ curLBP->weight = m_fLowInitialModeWeight;
+ curLBP->max_weight = m_fLowInitialModeWeight;
+
+ curLBP->first_time = m_nCurImgFrameIdx;
+ curLBP->last_time = m_nCurImgFrameIdx;
+ curLBP->freq = 1;
+
+ (*PLBP).matched_mode_first_time = (float) m_nCurImgFrameIdx;
+
+ for (a = 0; a < m_nChannel; a++) {
+ curLBP->bg_intensity[a] = (float) cur_intensity[a];
+ curLBP->min_intensity[a] = (float) cur_intensity[a];
+ curLBP->max_intensity[a] = (float) cur_intensity[a];
+ }
+
+ lbp_idxes[0] = 0;
+
+ lbp_num++;
+ (*PLBP).num = 1;
+ (*PLBP).bg_num = 1;
+
+ PLBP++;
+ *bg_dist++ = 0.0f;
+ continue;
+ } else { // not empty pattern list
+ /*
+ // remove the background layers
+ // end of removing the background layer
+ */
+
+ best_match_idx = -1;
+ best_match_bg_dist = 999.0f;
+
+ // find the best match
+ for (a = 0; a < (int) lbp_num; a++) {
+ // get the current index for lbp pattern
+ cur_lbp_idx = lbp_idxes[a];
+
+ // get the current LBP pointer
+ curLBP = &(LBPs[cur_lbp_idx]);
+
+ // compute the background probability based on lbp pattern
+ bg_pattern_dist = 0.0f;
+ if (m_fTextureWeight > 0)
+ bg_pattern_dist = CalPatternBgDist(cur_pattern, curLBP->bg_pattern);
+
+ // compute the color invariant probability based on RGB color
+ bg_color_dist = 0.0f;
+ if (m_fColorWeight > 0)
+ bg_color_dist = CalColorBgDist(cur_intensity, curLBP->bg_intensity, curLBP->max_intensity, curLBP->min_intensity);
+
+ // compute the joint background probability
+ //bg_pattern_color_dist = sqrtf(bg_color_dist*bg_pattern_dist);
+
+ //UpdatePatternColorDistWeights(cur_pattern, curLBP->bg_pattern);
+
+ bg_pattern_color_dist = m_fColorWeight * bg_color_dist + m_fTextureWeight*bg_pattern_dist;
+ //bg_pattern_color_dist = MAX(bg_color_dist, bg_pattern_dist);
+
+ //bg_pattern_color_dist = 1.0f - (1.0f-bg_color_dist)*(1.0-bg_pattern_dist);
+ //bg_pattern_color_dist = bg_pattern_dist;
+
+ //bg_pattern_color_dist = bg_color_dist;
+
+ if (bg_pattern_color_dist < best_match_bg_dist) {
+ best_match_bg_dist = bg_pattern_color_dist;
+ best_match_idx = a;
+ }
+ }
+
+ bg_num = (*PLBP).bg_num;
+
+ // check
+ bBackgroundUpdating = ((best_match_bg_dist < m_fPatternColorDistBgUpdatedThreshold));
+
+ // reset the weight of the mode
+ if (best_match_idx >= (int) bg_num && LBPs[lbp_idxes[best_match_idx]].max_weight < m_fReliableBackgroundModeWeight) // found not in the background models
+ best_match_bg_dist = MAX(best_match_bg_dist, m_fPatternColorDistBgThreshold * 2.5f);
+
+ *bg_dist = best_match_bg_dist;
+ }
+ if (m_disableLearning) {
+ // no creation or update when learning is disabled
+ } else if (!bBackgroundUpdating) { // no match
+
+ for (a = 0; a < (int) lbp_num; a++) { // decrease the weights
+ curLBP = &(LBPs[lbp_idxes[a]]);
+ curLBP->weight *= (1.0f - m_fWeightUpdatingLearnRate / (1.0f + m_fWeightUpdatingConstant * curLBP->max_weight));
+ }
+
+ if ((int) lbp_num < m_nMaxLBPModeNum) { // add a new pattern
+ // find the pattern index for addition
+ int add_lbp_idx = 0;
+ bool bFound;
+ for (a = 0; a < m_nMaxLBPModeNum; a++) {
+ bFound = true;
+ for (b = 0; b < (int) lbp_num; b++)
+ bFound &= (a != lbp_idxes[b]);
+ if (bFound) {
+ add_lbp_idx = a;
+ break;
+ }
+ }
+ curLBP = &(LBPs[add_lbp_idx]);
+
+ curLBP->first_time = m_nCurImgFrameIdx;
+ curLBP->last_time = m_nCurImgFrameIdx;
+ curLBP->freq = 1;
+ curLBP->layer_time = -1;
+
+ (*PLBP).matched_mode_first_time = (float) m_nCurImgFrameIdx;
+
+ for (a = 0; a < m_nLBPLength; a++) {
+ curLBP->bg_pattern[a] = (float) cur_pattern[a];
+ }
+
+ curLBP->bg_layer_num = 0;
+ curLBP->weight = m_fLowInitialModeWeight;
+ curLBP->max_weight = m_fLowInitialModeWeight;
+
+ for (a = 0; a < m_nChannel; a++) {
+ curLBP->bg_intensity[a] = (float) cur_intensity[a];
+ curLBP->min_intensity[a] = (float) cur_intensity[a];
+ curLBP->max_intensity[a] = (float) cur_intensity[a];
+ }
+
+ lbp_idxes[lbp_num] = add_lbp_idx;
+
+ lbp_num++;
+ (*PLBP).num = lbp_num;
+ } else { // replacing the pattern with the minimal weight
+ // find the replaced pattern index
+ /*
+ int rep_pattern_idx = -1;
+ for ( a = m_nLBPLength-1 ; a >= 0 ; a-- ) {
+ if ( LBPs[lbp_idxes[a]].bg_layer_num == 0 )
+ rep_pattern_idx = lbp_idxes[a];
+ }
+ if ( rep_pattern_idx < 0 ) {
+ rep_pattern_idx = lbp_idxes[m_nMaxLBPModeNum-1];
+ for ( a = 0 ; a < m_nLBPLength ; a++ ) {
+ if ( LBPs[lbp_idxes[a]].bg_layer_num > LBPs[rep_pattern_idx].bg_layer_num )
+ LBPs[lbp_idxes[a]].bg_layer_num--;
+ }
+ }
+ */
+ int rep_pattern_idx = lbp_idxes[m_nMaxLBPModeNum - 1];
+
+ curLBP = &(LBPs[rep_pattern_idx]);
+
+ curLBP->first_time = m_nCurImgFrameIdx;
+ curLBP->last_time = m_nCurImgFrameIdx;
+ curLBP->freq = 1;
+ curLBP->layer_time = -1;
+
+ (*PLBP).matched_mode_first_time = (float) m_nCurImgFrameIdx;
+
+ for (a = 0; a < m_nLBPLength; a++) {
+ curLBP->bg_pattern[a] = (float) cur_pattern[a];
+ }
+
+ curLBP->bg_layer_num = 0;
+ curLBP->weight = m_fLowInitialModeWeight;
+ curLBP->max_weight = m_fLowInitialModeWeight;
+
+ for (a = 0; a < m_nChannel; a++) {
+ curLBP->bg_intensity[a] = (float) cur_intensity[a];
+ curLBP->min_intensity[a] = (float) cur_intensity[a];
+ curLBP->max_intensity[a] = (float) cur_intensity[a];
+ }
+ }
+ } else { // find match
+ // updating the background pattern model
+ cur_lbp_idx = lbp_idxes[best_match_idx];
+ curLBP = &(LBPs[cur_lbp_idx]);
+
+ curLBP->first_time = MAX(MIN(curLBP->first_time, m_nCurImgFrameIdx), 0);
+ (*PLBP).matched_mode_first_time = curLBP->first_time;
+
+ curLBP->last_time = m_nCurImgFrameIdx;
+ curLBP->freq++;
+
+ if (m_fColorWeight > 0) {
+ // update the color information
+ UpdateBgPixelColor(cur_intensity, curLBP->bg_intensity);
+ // update the MAX and MIN color intensity
+ Update_MAX_MIN_Intensity(cur_intensity, curLBP->max_intensity, curLBP->min_intensity);
+ }
+
+ // update the texture information
+ if (m_fTextureWeight > 0)
+ UpdateBgPixelPattern(cur_pattern, curLBP->bg_pattern);
+
+
+ // increase the weight of the best matched mode
+ float increasing_weight_factor = m_fWeightUpdatingLearnRate * (1.0f + m_fWeightUpdatingConstant * curLBP->max_weight);
+ curLBP->weight = (1.0f - increasing_weight_factor) * curLBP->weight + increasing_weight_factor; //*expf(-best_match_dist/m_fPatternColorDistBgThreshold);
+
+ // update the maximal weight for the best matched mode
+ curLBP->max_weight = MAX(curLBP->weight, curLBP->max_weight);
+
+ // calculate the number of background layer
+ if (curLBP->bg_layer_num > 0) {
+ bool removed_bg_layers = false;
+ if (curLBP->weight > curLBP->max_weight * 0.2f) {
+ for (a = 0; a < (int) lbp_num; a++) {
+ removed_modes[a] = false;
+ if (LBPs[lbp_idxes[a]].bg_layer_num > curLBP->bg_layer_num &&
+ LBPs[lbp_idxes[a]].weight < LBPs[lbp_idxes[a]].max_weight * 0.9f) { /* remove layers */
+ //LBPs[lbp_idxes[a]].bg_layer_num = 0;
+ removed_modes[a] = true;
+ removed_bg_layers = true;
+ }
+ }
+ }
+
+ if (removed_bg_layers) {
+ RemoveBackgroundLayers(PLBP, removed_modes);
+ lbp_num = (*PLBP).num;
+ }
+ } else if (curLBP->max_weight > m_fReliableBackgroundModeWeight && curLBP->bg_layer_num == 0) {
+ int max_bg_layer_num = LBPs[lbp_idxes[0]].bg_layer_num;
+ for (a = 1; a < (int) lbp_num; a++)
+ max_bg_layer_num = MAX(max_bg_layer_num, LBPs[lbp_idxes[a]].bg_layer_num);
+ curLBP->bg_layer_num = max_bg_layer_num + 1;
+ curLBP->layer_time = m_nCurImgFrameIdx;
+ }
+
+ (*PLBP).cur_bg_layer_no = curLBP->bg_layer_num;
+
+ // decrease the weights of non-best matched modes
+ for (a = 0; a < (int) lbp_num; a++) {
+ if (a != best_match_idx) {
+ curLBP = &(LBPs[lbp_idxes[a]]);
+ curLBP->weight *= (1.0f - m_fWeightUpdatingLearnRate / (1.0f + m_fWeightUpdatingConstant * curLBP->max_weight));
+ }
+ }
+ }
+
+ // sort the list of modes based on the weights of modes
+ if ((int) lbp_num > 1 && !m_disableLearning) {
+ float weights[100], tot_weights = 0;
+ for (a = 0; a < (int) lbp_num; a++) {
+ weights[a] = LBPs[lbp_idxes[a]].weight;
+ tot_weights += weights[a];
+ }
+
+ // sort weights in the descent order
+ QuickSort(weights, lbp_idxes, 0, (int) lbp_num - 1, false);
+
+ // calculate the first potential background modes number, bg_num
+ float threshold_weight = m_fBackgroundModelPercent*tot_weights;
+ tot_weights = 0;
+ for (a = 0; a < (int) lbp_num; a++) {
+ tot_weights += LBPs[lbp_idxes[a]].weight;
+ if (tot_weights > threshold_weight) {
+ bg_num = a + 1;
+ break;
+ }
+ }
+ (*PLBP).bg_num = bg_num;
+ }
+
+ PLBP++;
+ bg_dist++;
+ }
+ }
+
+ if (bFirstFrame) { // check whether it is the first frame for background modeling
+ if (m_pFgMaskImg)
+ cvSetZero(m_pFgMaskImg);
+ cvSetZero(m_pBgDistImg);
+ } else {
+ // set the image data
+ if (roi) {
+ cvSetZero(m_pBgDistImg);
+ cvSetImageROI(m_pBgDistImg, *roi);
+ }
+ ODC2.SetImageData(m_pBgDistImg, _bg_dist);
+
+ // do gaussian smooth
+ if (m_nPatternDistSmoothNeigHalfSize >= 0)
+ cvSmooth(m_pBgDistImg, m_pBgDistImg, CV_GAUSSIAN, (2 * m_nPatternDistSmoothNeigHalfSize + 1), (2 * m_nPatternDistSmoothNeigHalfSize + 1), m_fPatternDistConvGaussianSigma);
+
+ if (roi)
+ cvResetImageROI(m_pBgDistImg);
+#ifdef LINUX_BILATERAL_FILTER
+ // do cross bilateral filter
+ fprintf(stderr, "%f %f\n", m_fSigmaS, m_fSigmaR);
+ if (m_fSigmaS > 0 && m_fSigmaR > 0) {
+ GetFloatEdgeImage(m_ppOrgLBPImgs[0], m_pEdgeImg);
+ //ComputeGradientImage(m_ppOrgLBPImgs[0], m_pEdgeImg, true);
+ m_cCrossBF.SetNewImages(m_pBgDistImg, m_pEdgeImg);
+ m_cCrossBF.FastCrossBF();
+ m_cCrossBF.GetFilteredImage(m_pBgDistImg);
+ }
+#endif
+
+ // get the foreground mask by thresholding
+ if (m_pFgMaskImg)
+ cvThreshold(m_pBgDistImg, m_pFgMaskImg, m_fPatternColorDistBgThreshold, 255, CV_THRESH_BINARY);
+
+ // get the foreground probability image (uchar)
+ if (m_pFgProbImg)
+ GetForegroundProbabilityImage(m_pFgProbImg);
+
+ // do post-processing
+ //Postprocessing();
+ }
+
+ // release memories
+ delete [] _mask;
+ delete [] _bg_dist;
+ delete [] _org_intensity;
+}
+
+void CMultiLayerBGS::GetBackgroundImage(IplImage *bk_img) {
+ IplImage *bg_img = m_pBgImg;
+ uchar *c1;
+ float *c2;
+ int bg_img_idx;
+ int channel;
+ int img_length = m_cvImgSize.height * m_cvImgSize.width;
+ int yx;
+
+ COpencvDataConversion<uchar, uchar> ODC;
+ uchar *org_data = ODC.GetImageData(bg_img);
+ c1 = org_data;
+
+ //c1 = (uchar*)(bg_img->imageData);
+
+ PixelLBPStruct* PLBP = m_pPixelLBPs;
+
+ for (yx = 0; yx < img_length; yx++) {
+ // the newest background image
+ bg_img_idx = (*PLBP).lbp_idxes[0];
+ if ((*PLBP).num == 0) {
+ for (channel = 0; channel < m_nChannel; channel++)
+ *c1++ = 0;
+ } else {
+ c2 = (*PLBP).LBPs[bg_img_idx].bg_intensity;
+ for (channel = 0; channel < m_nChannel; channel++)
+ *c1++ = cvRound(*c2++);
+ }
+ PLBP++;
+ }
+
+ ODC.SetImageData(bg_img, org_data);
+ delete [] org_data;
+
+ cvCopyImage(m_pBgImg, bk_img);
+}
+
+void CMultiLayerBGS::GetForegroundImage(IplImage *fg_img, CvScalar bg_color) {
+ if (m_pROI && (m_pROI->width <= 0 || m_pROI->height <= 0))
+ return;
+ IplImage* org_img;
+ IplImage* fg_mask_img; // the Mat pointer of the foreground mask matrices at different levels
+
+ org_img = m_pOrgImg;
+ fg_mask_img = m_pFgMaskImg;
+
+ cvSet(fg_img, bg_color);
+ if (m_pROI) {
+ cvSetImageROI(org_img, *m_pROI);
+ cvSetImageROI(fg_img, *m_pROI);
+ cvSetImageROI(fg_mask_img, *m_pROI);
+ cvCopy(org_img, fg_img, fg_mask_img);
+ cvResetImageROI(org_img);
+ cvResetImageROI(fg_img);
+ cvResetImageROI(fg_mask_img);
+ } else
+ cvCopy(org_img, fg_img, fg_mask_img);
+}
+
+void CMultiLayerBGS::GetForegroundMaskImage(IplImage *fg_mask_img) {
+ if (m_pROI && (m_pROI->width <= 0 || m_pROI->height <= 0))
+ return;
+
+ //cvCopyImage(m_pFgMaskImg, fg_mask_img);
+ if (m_pROI) {
+ cvSetImageROI(m_pFgMaskImg, *m_pROI);
+ cvSetImageROI(fg_mask_img, *m_pROI);
+ cvThreshold(m_pFgMaskImg, fg_mask_img, 0, 255, CV_THRESH_BINARY);
+ cvResetImageROI(m_pFgMaskImg);
+ cvResetImageROI(fg_mask_img);
+ } else
+ cvThreshold(m_pFgMaskImg, fg_mask_img, 0, 255, CV_THRESH_BINARY);
+}
+
+void CMultiLayerBGS::GetForegroundMaskMap(CvMat *fg_mask_mat) {
+ COpencvDataConversion<uchar, uchar> ODC;
+ ODC.ConvertData(m_pFgMaskImg, fg_mask_mat);
+}
+
+void CMultiLayerBGS::GetCurrentBackgroundDistMap(CvMat *bk_dist_map) {
+ cvCopy(m_pBgDistImg, bk_dist_map);
+}
+
+void CMultiLayerBGS::Initialization(IplImage *first_img, int lbp_level_num, float *radiuses, int *neig_pt_nums) {
+ int a;
+
+ m_nLBPLength = 0;
+ m_nLBPLevelNum = lbp_level_num;
+ for (a = 0; a < lbp_level_num; a++) {
+ m_nLBPLength += neig_pt_nums[a];
+ m_pLBPRadiuses[a] = radiuses[a];
+ m_pLBPMeigPointNums[a] = neig_pt_nums[a];
+ }
+
+ m_pFgImg = NULL;
+ m_pFgMaskImg = NULL;
+ m_pBgDistImg = NULL;
+ m_pOrgImg = NULL;
+ m_pBgImg = NULL;
+ m_ppOrgLBPImgs = NULL;
+ m_pFgProbImg = NULL;
+
+ m_cvImgSize = cvGetSize(first_img);
+
+ m_nChannel = first_img->nChannels;
+
+ m_pOrgImg = first_img;
+
+ if (m_bUsedColorLBP && m_bUsedGradImage)
+ m_nLBPImgNum = 4;
+ else if (m_bUsedColorLBP && !m_bUsedGradImage)
+ m_nLBPImgNum = 3;
+ else if (!m_bUsedColorLBP && m_bUsedGradImage)
+ m_nLBPImgNum = 2;
+ else
+ m_nLBPImgNum = 1;
+
+ m_nLBPLength *= m_nLBPImgNum;
+
+ m_ppOrgLBPImgs = new IplImage*[m_nLBPImgNum];
+ for (a = 0; a < m_nLBPImgNum; a++)
+ m_ppOrgLBPImgs[a] = cvCreateImage(m_cvImgSize, IPL_DEPTH_8U, 1);
+
+ m_pBgImg = cvCreateImage(m_cvImgSize, IPL_DEPTH_8U, m_nChannel);
+ m_pFgImg = cvCreateImage(m_cvImgSize, IPL_DEPTH_8U, m_nChannel);
+ m_pEdgeImg = cvCreateImage(m_cvImgSize, IPL_DEPTH_32F, 1);
+ m_pBgDistImg = cvCreateImage(m_cvImgSize, IPL_DEPTH_32F, 1);
+
+ ResetAllParameters();
+
+ int img_length = m_cvImgSize.height * m_cvImgSize.width;
+ m_pPixelLBPs = new PixelLBPStruct[img_length];
+ PixelLBPStruct* PLBP = m_pPixelLBPs;
+ int yx;
+ for (yx = 0; yx < img_length; yx++) {
+ (*PLBP).cur_intensity = new unsigned char[m_nChannel];
+ (*PLBP).cur_pattern = new float[m_nLBPLength];
+ (*PLBP).LBPs = new LBPStruct[m_nMaxLBPModeNum];
+ (*PLBP).lbp_idxes = new unsigned short[m_nMaxLBPModeNum];
+ (*PLBP).lbp_idxes[0] = 0;
+ (*PLBP).num = 0;
+ (*PLBP).cur_bg_layer_no = 0;
+ (*PLBP).matched_mode_first_time = 0;
+ for (a = 0; a < m_nMaxLBPModeNum; a++) {
+ (*PLBP).LBPs[a].bg_intensity = new float[m_nChannel];
+ (*PLBP).LBPs[a].max_intensity = new float[m_nChannel];
+ (*PLBP).LBPs[a].min_intensity = new float[m_nChannel];
+ (*PLBP).LBPs[a].bg_pattern = new float[m_nLBPLength];
+ (*PLBP).LBPs[a].first_time = -1;
+ (*PLBP).LBPs[a].last_time = -1;
+ (*PLBP).LBPs[a].freq = -1;
+ (*PLBP).LBPs[a].layer_time = -1;
+ }
+ PLBP++;
+ }
+
+ m_pBkMaskImg = cvCreateImage(m_cvImgSize, IPL_DEPTH_8U, 1);
+ cvSet(m_pBkMaskImg, cvScalar(1));
+
+ m_cLBP.Initialization(m_ppOrgLBPImgs, m_nLBPImgNum, lbp_level_num, radiuses, neig_pt_nums, m_fRobustColorOffset);
+
+#ifdef LINUX_BILATERAL_FILTER
+ if (m_fSigmaS > 0 && m_fSigmaR > 0)
+ m_cCrossBF.Initialization(m_pBgDistImg, m_pBgDistImg, m_fSigmaS, m_fSigmaR);
+#endif
+}
+
+float CMultiLayerBGS::CalPatternBgDist(float *cur_pattern, float *bg_pattern) {
+ float bg_hamming_dist = 0;
+ int a;
+ for (a = 0; a < m_nLBPLength; a++)
+ bg_hamming_dist += fabsf(cur_pattern[a] - bg_pattern[a]) > m_f1_MinLBPBinaryProb;
+
+ bg_hamming_dist /= (float) m_nLBPLength;
+
+ return bg_hamming_dist;
+}
+
+float CMultiLayerBGS::CalColorBgDist(uchar *cur_intensity, float *bg_intensity, float *max_intensity, float *min_intensity) {
+ float noised_angle, range_dist, bg_color_dist;
+
+ range_dist = CalColorRangeDist(cur_intensity, bg_intensity, max_intensity, min_intensity, m_fRobustShadowRate, m_fRobustHighlightRate);
+
+ if (range_dist == 1.0f)
+ bg_color_dist = range_dist;
+ else {
+ noised_angle = CalVectorsNoisedAngle(bg_intensity, cur_intensity, MAX(m_fRobustColorOffset, 5.0f), m_nChannel);
+ bg_color_dist = (1.0f - expf(-100.0f * noised_angle * noised_angle));
+ }
+
+ //float bg_color_dist = (expf(-100.0f*noised_angle*noised_angle)*(1.0f-range_dist);
+
+ //float bg_color_dist = 0.5f*(1.0f-expf(-noised_angle*noised_angle/0.005f)) + 0.5f*range_dist;
+ //float bg_color_dist = MAX((float)(noised_angle>0.08f), range_dist);
+
+ return bg_color_dist;
+}
+
+void CMultiLayerBGS::ComputeGradientImage(IplImage *src, IplImage *dst, bool bIsFloat) {
+ if (src->nChannels != 1 || dst->nChannels != 1) {
+ printf("Input images error for computing gradient images!");
+ exit(1);
+ }
+
+ int a;
+
+ IplImage* _dX = cvCreateImage(cvGetSize(dst), IPL_DEPTH_16S, 1);
+ IplImage* _dY = cvCreateImage(cvGetSize(dst), IPL_DEPTH_16S, 1);
+
+ int aperture_size = 3;
+
+ cvSobel(src, _dX, 1, 0, aperture_size);
+ cvSobel(src, _dY, 0, 1, aperture_size);
+
+ COpencvDataConversion<short, short> ODC1;
+ COpencvDataConversion<uchar, uchar> ODC2;
+ COpencvDataConversion<float, float> ODC3;
+
+ short* dX_data = ODC1.GetImageData(_dX);
+ short* dY_data = ODC1.GetImageData(_dY);
+
+ uchar* dst_u_data = NULL;
+ float* dst_f_data = NULL;
+
+ if (bIsFloat)
+ dst_f_data = ODC3.GetImageData(dst);
+ else
+ dst_u_data = ODC2.GetImageData(dst);
+
+ short* dX = dX_data;
+ short* dY = dY_data;
+ uchar *uSrc = dst_u_data;
+ float *fSrc = dst_f_data;
+
+ /*
+ short* dX = (short*)(_dX->imageData);
+ short* dY = (short*)(_dY->imageData);
+ uchar *dSrc = (uchar*)(dst->imageData);
+ */
+
+ int length;
+ if (src->roi)
+ length = dst->width * dst->height;
+ else
+ length = dst->roi->width * dst->roi->height;
+ /*
+ int x, y;
+ uchar *x_u_data;
+ float *x_f_data;
+ */
+
+ if (bIsFloat) {
+ for (a = 0; a < length; a++) {
+ *fSrc = cvSqrt((float) ((*dX)*(*dX)+(*dY)*(*dY)) / (32.0f * 255.0f));
+ fSrc++;
+ dX++;
+ dY++;
+ }
+ ODC3.SetImageData(dst, dst_f_data);
+ delete [] dst_f_data;
+ } else {
+ for (a = 0; a < length; a++) {
+ *uSrc = cvRound(cvSqrt((float) ((*dX)*(*dX)+(*dY)*(*dY)) / 32.0f));
+ uSrc++;
+ dX++;
+ dY++;
+ }
+ ODC2.SetImageData(dst, dst_u_data);
+ delete [] dst_u_data;
+ }
+
+ delete [] dX_data;
+ delete [] dY_data;
+
+ cvReleaseImage(&_dX);
+ cvReleaseImage(&_dY);
+}
+
+float CMultiLayerBGS::CalVectorsNoisedAngle(float *bg_color, unsigned char *noised_color, float offset, int length) {
+ float org_angle = CalVectorsAngle(bg_color, noised_color, length);
+ float norm_color = 0, elem, noised_angle;
+ int a;
+ for (a = 0; a < length; a++) {
+ elem = bg_color[a];
+ norm_color += elem*elem;
+ }
+ norm_color = sqrtf(norm_color);
+ if (norm_color == 0)
+ noised_angle = PI;
+ else {
+ float sin_angle = offset / norm_color;
+ if (sin_angle < m_fMinNoisedAngleSine)
+ noised_angle = m_fMinNoisedAngle;
+ else
+ //noised_angle = ( sin_angle >= 1 ? PI : asinf(sin_angle));
+ noised_angle = (sin_angle >= 1 ? PI : sin_angle);
+ }
+
+ float angle = org_angle - noised_angle;
+ if (angle < 0)
+ angle = 0;
+ return angle;
+
+ /*
+ float org_angle = CalVectorsAngle(bg_color, noised_color, length);
+ float max_norm_color, bg_norm_color = 0, noised_norm_color = 0, elem, noised_angle;
+ int a;
+ for ( a = 0 ; a < length ; a++ ) {
+ elem = bg_color[a];
+ bg_norm_color += elem*elem;
+ elem = (float)noised_color[a];
+ noised_norm_color += elem*elem;
+ }
+ max_norm_color = MIN(bg_norm_color, noised_norm_color);
+ max_norm_color = sqrtf(max_norm_color);
+ if ( max_norm_color == 0 )
+ noised_angle = PI;
+ else {
+ float sin_angle = offset/max_norm_color;
+ noised_angle = ( sin_angle >= 1 ? PI : asinf(sin_angle));
+ }
+
+ float angle = org_angle-noised_angle;
+ if ( angle < 0 )
+ angle = 0;
+ return angle;
+ */
+}
+
+float CMultiLayerBGS::CalVectorsAngle(float *c1, unsigned char *c2, int length) {
+ float angle;
+ float dot2, norm1, norm2, elem1, elem2;
+
+ dot2 = norm1 = norm2 = 0;
+
+ int a;
+ for (a = 0; a < length; a++) {
+ elem1 = (float) (c1[a]);
+ elem2 = (float) (c2[a]);
+ dot2 += elem1*elem2;
+ norm1 += elem1*elem1;
+ norm2 += elem2*elem2;
+ }
+
+ //angle = (norm1*norm2==0 ? 0 : acosf(dot2/sqrtf(norm1*norm2)));
+ //angle = (norm1 * norm2 == 0 ? 0 : sqrtf(fmax(1.0f - dot2 * dot2 / (norm1 * norm2), 0.f)));
+ angle = (norm1 * norm2 == 0 ? 0 : sqrtf(std::max(1.0f - dot2 * dot2 / (norm1 * norm2), 0.f)));
+
+ return angle;
+}
+
+float CMultiLayerBGS::CalColorRangeDist(unsigned char *cur_intensity, float *bg_intensity, float *max_intensity, float *min_intensity, float shadow_rate, float highlight_rate) {
+ float dist = 0.0f, minI, maxI, bgI, curI;
+ int channel;
+ //float cdist;
+
+
+ for (channel = 0; channel < m_nChannel; channel++) {
+ bgI = bg_intensity[channel];
+
+ /*
+ minI = MIN(MIN(min_intensity[channel], bgI*shadow_rate), min_intensity[channel]-15.0f);
+ maxI = MAX(MAX(max_intensity[channel], bgI*highlight_rate), max_intensity[channel]+15.0f);
+ */
+
+ minI = MIN(min_intensity[channel], bgI * shadow_rate - 5.0f);
+ maxI = MAX(max_intensity[channel], bgI * highlight_rate + 5.0f);
+
+ /*
+ if ( rand()/((double)RAND_MAX+1) > 0.999 ) {
+ char msg[200];
+ sprintf(msg, "%d\t%d\n", min_intensity[channel]<bgI*shadow_rate-5.0f ? 1 : 0, max_intensity[channel]>bgI*highlight_rate+5.0f ? 1 : 0);
+ ExportLogMessage(msg);
+ }
+ */
+
+ /*
+ minI = max_intensity[channel]*shadow_rate;
+ maxI = MAX(bg_intensity[channel]+m_fRobustColorOffset, MIN(max_intensity[channel]*highlight_rate,min_intensity[channel]/shadow_rate));
+ */
+
+ curI = (float) (cur_intensity[channel]);
+
+ /*
+ //cdist = fabsf(bgI-curI)/512.0f;
+ if ( curI > bgI )
+ cdist = fabsf(bgI-curI)/256.0f;
+ else
+ cdist = fabsf(bgI-curI)/512.0f;
+
+ if ( curI > maxI )
+ //cdist += (curI-maxI)/(2.0f*(255.0f-maxI))*0.5f;
+ cdist += (1.0f-expf(10.0f*(maxI-curI)/MAX(255.0f-maxI,10.0f)))*0.5f;
+ else if ( curI < minI )
+ //cdist += (minI-curI)/(2.0f*minI)*0.5f;
+ cdist += (1.0f-expf(10.0f*(curI-minI)/MAX(minI,10.0f)))*0.5f;
+ //dist += cdist;
+ if ( cdist > dist )
+ dist = cdist;
+ */
+
+ if (curI > maxI || curI < minI) {
+ dist = 1.0f;
+ break;
+ }
+ }
+ //dist = powf(dist, 1.0f/(float)m_nChannel);
+ //dist /= (float)m_nChannel;
+
+ return dist;
+}
+
+void CMultiLayerBGS::GetLayeredBackgroundImage(int layered_no, IplImage *layered_bg_img, CvScalar empty_color) {
+ PixelLBPStruct *PLBP = m_pPixelLBPs;
+ LBPStruct* LBPs;
+ unsigned short* lbp_idxes;
+
+ int a, b, c;
+ int img_length = m_pOrgImg->width * m_pOrgImg->height;
+
+ cvSet(layered_bg_img, empty_color);
+
+ COpencvDataConversion<uchar, uchar> ODC;
+
+ uchar *bg_img_data = ODC.GetImageData(layered_bg_img);
+ uchar *_bg_img_data = bg_img_data;
+ float *cur_bg_intensity;
+ int lbp_num;
+
+ for (a = 0; a < img_length; a++) {
+ // get lbp information
+ LBPs = (*PLBP).LBPs;
+ lbp_idxes = (*PLBP).lbp_idxes;
+ lbp_num = (int) ((*PLBP).num);
+ bool found = false;
+ for (b = 0; b < lbp_num; b++) {
+ if (LBPs[lbp_idxes[b]].bg_layer_num == layered_no) {
+ cur_bg_intensity = LBPs[lbp_idxes[b]].bg_intensity;
+ for (c = 0; c < m_pOrgImg->nChannels; c++)
+ *_bg_img_data++ = (uchar) * cur_bg_intensity++;
+ found = true;
+ break;
+ }
+ }
+ if (!found)
+ _bg_img_data += m_pOrgImg->nChannels;
+
+ PLBP++;
+ }
+
+ ODC.SetImageData(layered_bg_img, bg_img_data);
+
+ delete [] bg_img_data;
+}
+
+void CMultiLayerBGS::GetBgLayerNoImage(IplImage *bg_layer_no_img, CvScalar *layer_colors, int layer_num) {
+ if (layer_num != 0 && layer_num != m_nMaxLBPModeNum) {
+ printf("Must be set in %d layers in function GetBgLayerNoImage!\n", m_nMaxLBPModeNum);
+ exit(1);
+ }
+
+ CvScalar *bg_layer_colors;
+ int bg_layer_color_num = layer_num;
+ if (bg_layer_color_num == 0)
+ bg_layer_color_num = m_nMaxLBPModeNum;
+ bg_layer_colors = new CvScalar[bg_layer_color_num];
+ if (layer_colors) {
+ for (int l = 0; l < layer_num; l++)
+ bg_layer_colors[l] = layer_colors[l];
+ } else {
+ int rgb[3];
+ rgb[0] = rgb[1] = rgb[2] = 0;
+ int rgb_idx = 0;
+ for (int l = 0; l < bg_layer_color_num; l++) {
+ bg_layer_colors[l] = CV_RGB(rgb[0], rgb[1], rgb[2]);
+ rgb[rgb_idx] += 200;
+ rgb[rgb_idx] %= 255;
+ rgb_idx++;
+ rgb_idx %= 3;
+ }
+ }
+
+ int img_length = m_pOrgImg->width * m_pOrgImg->height;
+ uchar *bg_layer_data = new uchar[img_length * bg_layer_no_img->nChannels];
+ uchar *_bg_layer_data = bg_layer_data;
+
+ PixelLBPStruct *PLBP = m_pPixelLBPs;
+ unsigned int cur_bg_layer_no;
+
+ for (int a = 0; a < img_length; a++) {
+ cur_bg_layer_no = (*PLBP).cur_bg_layer_no;
+ for (int b = 0; b < bg_layer_no_img->nChannels; b++) {
+ *_bg_layer_data++ = (uchar) (bg_layer_colors[cur_bg_layer_no].val[b]);
+ }
+ PLBP++;
+ }
+
+ COpencvDataConversion<uchar, uchar> ODC;
+ ODC.SetImageData(bg_layer_no_img, bg_layer_data);
+
+ delete [] bg_layer_data;
+ delete [] bg_layer_colors;
+}
+
+void CMultiLayerBGS::GetCurrentLayeredBackgroundImage(int layered_no, IplImage *layered_bg_img, IplImage *layered_fg_img, CvScalar layered_bg_bk_color, CvScalar layered_fg_color,
+ int smooth_win, float smooth_sigma, float below_layer_noise, float above_layer_noise, int min_blob_size) {
+ PixelLBPStruct *PLBP = m_pPixelLBPs;
+ LBPStruct* LBPs;
+ unsigned short* lbp_idxes;
+
+ int a;
+ int img_length = m_pOrgImg->width * m_pOrgImg->height;
+
+ float *bg_layer_mask = new float[img_length];
+ float *_bg_layer_mask = bg_layer_mask;
+
+ for (a = 0; a < img_length; a++) {
+ // get lbp information
+ LBPs = (*PLBP).LBPs;
+ lbp_idxes = (*PLBP).lbp_idxes;
+ *_bg_layer_mask++ = (float) (*PLBP).cur_bg_layer_no;
+ PLBP++;
+ }
+
+ COpencvDataConversion<float, float> ODC;
+ IplImage* bg_layer_float_mask_img = cvCreateImage(cvGetSize(m_pOrgImg), IPL_DEPTH_32F, 1);
+ IplImage* bg_layer_low_mask_img = cvCreateImage(cvGetSize(m_pOrgImg), IPL_DEPTH_8U, 1);
+ IplImage* bg_layer_high_mask_img = cvCreateImage(cvGetSize(m_pOrgImg), IPL_DEPTH_8U, 1);
+ IplImage* bg_layer_mask_img = cvCreateImage(cvGetSize(m_pOrgImg), IPL_DEPTH_8U, 1);
+
+ ODC.SetImageData(bg_layer_float_mask_img, bg_layer_mask);
+
+ /* method 1 using smooth */
+ /*
+ cvSmooth(bg_layer_float_mask_img, bg_layer_float_mask_img, CV_GAUSSIAN, smooth_win, smooth_win, smooth_sigma);
+
+ cvThreshold(bg_layer_float_mask_img, bg_layer_low_mask_img, (float)layered_no-below_layer_noise, 1, CV_THRESH_BINARY);
+ cvThreshold(bg_layer_float_mask_img, bg_layer_high_mask_img, (float)layered_no+above_layer_noise, 1, CV_THRESH_BINARY_INV);
+
+ cvAnd(bg_layer_low_mask_img, bg_layer_high_mask_img, bg_layer_mask_img);
+ */
+
+ /* method 2 using dilate, erode, blob removing */
+ cvSmooth(bg_layer_float_mask_img, bg_layer_float_mask_img, CV_GAUSSIAN, smooth_win, smooth_win, smooth_sigma);
+
+ cvThreshold(bg_layer_float_mask_img, bg_layer_low_mask_img, (float) layered_no - below_layer_noise, 1, CV_THRESH_BINARY);
+ cvThreshold(bg_layer_float_mask_img, bg_layer_high_mask_img, (float) layered_no + above_layer_noise, 1, CV_THRESH_BINARY_INV);
+ cvAnd(bg_layer_low_mask_img, bg_layer_high_mask_img, bg_layer_mask_img);
+
+ cvDilate(bg_layer_mask_img, bg_layer_mask_img, 0, 2);
+ cvErode(bg_layer_mask_img, bg_layer_mask_img, 0, 2);
+
+ //cvMorphologyEx(bg_layer_mask_img, bg_layer_mask_img, NULL, 0, CV_MOP_OPEN|CV_MOP_CLOSE, 1);
+
+ // Extract the blobs using a threshold of 100 in the image
+ CBlobResult blobs = CBlobResult(bg_layer_mask_img, NULL, 0, true);
+ // discard the blobs with less area than 100 pixels
+ // ( the criteria to filter can be any class derived from COperadorBlob )
+ blobs.Filter(blobs, B_INCLUDE, CBlobGetArea(), B_GREATER, min_blob_size);
+
+ CBlob filtered_blob;
+ cvSetZero(bg_layer_mask_img);
+ for (a = 0; a < blobs.GetNumBlobs(); a++) {
+ filtered_blob = blobs.GetBlob(a);
+ filtered_blob.FillBlob(bg_layer_mask_img, cvScalar(1));
+ }
+ blobs.GetNthBlob(CBlobGetArea(), 0, filtered_blob);
+ filtered_blob.FillBlob(bg_layer_mask_img, cvScalar(0));
+
+
+ cvSet(layered_bg_img, layered_bg_bk_color);
+ cvCopy(m_pBgImg, layered_bg_img, bg_layer_mask_img);
+
+ if (layered_fg_img) {
+ cvCopy(m_pOrgImg, layered_fg_img);
+ cvSet(layered_fg_img, layered_fg_color, bg_layer_mask_img);
+ }
+
+ cvReleaseImage(&bg_layer_float_mask_img);
+ cvReleaseImage(&bg_layer_low_mask_img);
+ cvReleaseImage(&bg_layer_high_mask_img);
+ cvReleaseImage(&bg_layer_mask_img);
+ delete [] bg_layer_mask;
+}
+
+void CMultiLayerBGS::GetColoredBgMultiLayeredImage(IplImage *bg_multi_layer_img, CvScalar *layer_colors) {
+ cvCopyImage(m_pOrgImg, bg_multi_layer_img);
+
+ COpencvDataConversion<uchar, uchar> ODC;
+
+ uchar *bg_ml_imgD = ODC.GetImageData(bg_multi_layer_img);
+ uchar *fg_maskD = ODC.GetImageData(m_pFgMaskImg);
+
+ uchar *_bg_ml_imgD = bg_ml_imgD;
+ uchar *_fg_maskD = fg_maskD;
+
+ PixelLBPStruct *PLBP = m_pPixelLBPs;
+ LBPStruct* LBPs;
+ unsigned short* lbp_idxes;
+ unsigned int lbp_num;
+ int bg_layer_num;
+
+ int a, c;
+ int img_length = m_pOrgImg->width * m_pOrgImg->height;
+ int channels = m_pOrgImg->nChannels;
+ bool bLayeredBg;
+
+ for (a = 0; a < img_length; a++) {
+ // get lbp information
+ lbp_num = (*PLBP).num;
+ LBPs = (*PLBP).LBPs;
+ lbp_idxes = (*PLBP).lbp_idxes;
+ bLayeredBg = false;
+
+ if ((*_fg_maskD == 0)) {
+ bg_layer_num = LBPs[lbp_idxes[0]].bg_layer_num;
+ int first_layer_idx = 0;
+ for (c = 0; c < (int) lbp_num; c++) {
+ if (LBPs[lbp_idxes[c]].bg_layer_num == 1) {
+ first_layer_idx = c;
+ break;
+ }
+ }
+ if (bg_layer_num > 1 && DistLBP(&(LBPs[lbp_idxes[0]]), &(LBPs[first_layer_idx])) > 0.1f) {
+ for (c = 0; c < channels; c++)
+ *_bg_ml_imgD++ = (uchar) (layer_colors[bg_layer_num].val[c]);
+ bLayeredBg = true;
+ }
+
+ if (!bLayeredBg)
+ _bg_ml_imgD += channels;
+ } else {
+ _bg_ml_imgD += channels;
+ }
+
+ PLBP++;
+ _fg_maskD++;
+ }
+
+ ODC.SetImageData(bg_multi_layer_img, bg_ml_imgD);
+
+ delete [] fg_maskD;
+ delete [] bg_ml_imgD;
+}
+
+void CMultiLayerBGS::GetForegroundProbabilityImage(IplImage *fg_dist_img) {
+ COpencvDataConversion<float, float> ODC1;
+ COpencvDataConversion<uchar, uchar> ODC2;
+
+ float *_fg_distD = ODC1.GetImageData(m_pBgDistImg);
+ uchar *_fg_progI = ODC2.GetImageData(fg_dist_img);
+ float *fg_distD = _fg_distD;
+ uchar *fg_progI = _fg_progI;
+
+ /*
+ float *fg_distD = (float*)(m_pBgDistImg->imageData);
+ uchar *fg_progI = (uchar*)(fg_dist_img->imageData);
+ */
+
+ int channels = fg_dist_img->nChannels;
+
+ int a, b;
+ int img_length = fg_dist_img->width * fg_dist_img->height;
+ uchar temp;
+ for (a = 0; a < img_length; a++) {
+ temp = cvRound(255.0f * ((*fg_distD++)));
+ for (b = 0; b < channels; b++)
+ *fg_progI++ = temp;
+ }
+
+ ODC2.SetImageData(fg_dist_img, _fg_progI);
+
+ delete [] _fg_distD;
+ delete [] _fg_progI;
+}
+
+void CMultiLayerBGS::RemoveBackgroundLayers(PixelLBPStruct *PLBP, bool *removed_modes) {
+ int a, b;
+ int lbp_num = PLBP->num;
+
+ /*
+ if ( lbp_num < m_nMaxLBPModeNum )
+ return;
+ */
+
+ /* testing */
+
+ unsigned short* lbp_idxes = PLBP->lbp_idxes;
+ if (!removed_modes) {
+ int removed_bg_layer_num = 0;
+ for (a = 0; a < lbp_num; a++) {
+ if (PLBP->LBPs[lbp_idxes[a]].bg_layer_num && PLBP->LBPs[lbp_idxes[a]].weight < m_fMinBgLayerWeight) { // should be removed
+ removed_bg_layer_num = PLBP->LBPs[lbp_idxes[a]].bg_layer_num;
+ lbp_num--;
+ for (b = a; b < lbp_num; b++)
+ lbp_idxes[b] = lbp_idxes[b + 1];
+ break;
+ }
+ }
+ if (removed_bg_layer_num) {
+ for (a = 0; a < lbp_num; a++) {
+ if (PLBP->LBPs[lbp_idxes[a]].bg_layer_num > removed_bg_layer_num)
+ PLBP->LBPs[lbp_idxes[a]].bg_layer_num--;
+ }
+ }
+ } else {
+ int removed_bg_layer_nums[10];
+ int removed_layer_num = 0;
+ for (a = 0; a < lbp_num; a++) {
+ if (removed_modes[a] && PLBP->LBPs[lbp_idxes[a]].bg_layer_num) { // should be removed
+ removed_bg_layer_nums[removed_layer_num++] = PLBP->LBPs[lbp_idxes[a]].bg_layer_num;
+ }
+ }
+
+ for (a = 0; a < lbp_num; a++) {
+ if (removed_modes[a]) { // should be removed
+ lbp_num--;
+ for (b = a; b < lbp_num; b++)
+ lbp_idxes[b] = lbp_idxes[b + 1];
+ }
+ }
+
+ for (a = 0; a < lbp_num; a++) {
+ for (b = 0; b < removed_layer_num; b++) {
+ if (PLBP->LBPs[lbp_idxes[a]].bg_layer_num > removed_bg_layer_nums[b])
+ PLBP->LBPs[lbp_idxes[a]].bg_layer_num--;
+ }
+ }
+ }
+
+ // sort the list of modes based on the weights of modes
+ if (lbp_num != (int) PLBP->num) {
+ float weights[100], tot_weights = 0;
+ for (a = 0; a < (int) lbp_num; a++) {
+ weights[a] = PLBP->LBPs[lbp_idxes[a]].weight;
+ tot_weights += weights[a];
+ }
+
+ // sort weights in the descent order
+ QuickSort(weights, lbp_idxes, 0, (int) lbp_num - 1, false);
+
+ // calculate the first potential background modes number, bg_num
+ float threshold_weight = m_fBackgroundModelPercent*tot_weights;
+ int bg_num = 0;
+ tot_weights = 0;
+ for (a = 0; a < (int) lbp_num; a++) {
+ tot_weights += PLBP->LBPs[lbp_idxes[a]].weight;
+ if (tot_weights > threshold_weight) {
+ bg_num = a + 1;
+ break;
+ }
+ }
+ (*PLBP).bg_num = bg_num;
+
+ }
+
+ PLBP->num = lbp_num;
+
+ float bg_layer_data[10];
+ unsigned short bg_layer_idxes[10];
+ int bg_layer_num;
+ int tot_bg_layer_num = 0;
+ for (a = 0; a < lbp_num; a++) {
+ bg_layer_num = PLBP->LBPs[lbp_idxes[a]].bg_layer_num;
+ if (bg_layer_num) {
+ bg_layer_data[tot_bg_layer_num] = (float) bg_layer_num;
+ bg_layer_idxes[tot_bg_layer_num++] = lbp_idxes[a];
+ }
+ }
+ if (tot_bg_layer_num == 1) {
+ PLBP->LBPs[bg_layer_idxes[0]].bg_layer_num = 1;
+ } else if (tot_bg_layer_num) {
+ // sort weights in the descent order
+ QuickSort(bg_layer_data, bg_layer_idxes, 0, tot_bg_layer_num - 1, true);
+ for (a = 0; a < tot_bg_layer_num; a++)
+ PLBP->LBPs[bg_layer_idxes[a]].bg_layer_num = a + 1;
+ }
+
+ /*
+ int max_bg_layer_num = 0;
+ for ( a = 0 ; a < lbp_num ; a++ )
+ max_bg_layer_num = MAX(max_bg_layer_num, PLBP->LBPs[lbp_idxes[a]].bg_layer_num);
+ if ( max_bg_layer_num >= 2 ) {
+ bool find_first_layer = false;
+ for ( a = 0 ; a < lbp_num ; a++ ) {
+ max_bg_layer_num = MAX(max_bg_layer_num, PLBP->LBPs[lbp_idxes[a]].bg_layer_num);
+ if ( PLBP->LBPs[lbp_idxes[a]].bg_layer_num == 1 ) {
+ find_first_layer = true;
+ break;
+ }
+ }
+ if ( !find_first_layer ) {
+ printf("\n===============================================\n");
+ printf(" have second layer, no first layer \n");
+ printf("\n===============================================\n");
+ exit(1);
+ }
+ }
+ */
+}
+
+void CMultiLayerBGS::Postprocessing() {
+ // post-processing for background subtraction results
+ cvDilate(m_pFgMaskImg, m_pFgMaskImg, 0, 2);
+ cvErode(m_pFgMaskImg, m_pFgMaskImg, 0, 2);
+
+ /** Example of extracting and filtering the blobs of an image */
+
+ // object that will contain blobs of inputImage
+ CBlobResult blobs;
+
+ IplImage *inputImage = m_pFgMaskImg;
+
+ // Extract the blobs using a threshold of 100 in the image
+ blobs = CBlobResult(inputImage, NULL, 0, true);
+
+ // create a file with some of the extracted features
+ //blobs.PrintBlobs( ".\\blobs.txt" );
+
+ // discard the blobs with less area than 100 pixels
+ // ( the criteria to filter can be any class derived from COperadorBlob )
+ blobs.Filter(blobs, B_INCLUDE, CBlobGetArea(), B_GREATER, 100);
+
+ // create a file with filtered results
+ //blobs.PrintBlobs( ".\\filteredBlobs.txt" );
+
+ // build an output image equal to the input but with 3 channels (to draw the coloured blobs)
+ IplImage *outputImage;
+ outputImage = cvCreateImage(cvSize(inputImage->width, inputImage->height), IPL_DEPTH_8U, 1);
+ cvSet(outputImage, cvScalar(0));
+
+ // plot the selected blobs in a output image
+ CBlob filtered_blob;
+ //cvSet(outputImage, CV_RGB(0,0,255));
+ int a;
+ for (a = 0; a < blobs.GetNumBlobs(); a++) {
+ filtered_blob = blobs.GetBlob(a);
+ filtered_blob.FillBlob(outputImage, cvScalar(255));
+ }
+ blobs.GetNthBlob(CBlobGetArea(), 0, filtered_blob);
+ filtered_blob.FillBlob(outputImage, cvScalar(0));
+
+ /*
+ char *win_name = "blob filtered image";
+ cvNamedWindow(win_name);
+ cvShowImage(win_name, outputImage);
+ cvWaitKey(3);
+ */
+
+ cvReleaseImage(&outputImage);
+}
+
+void CMultiLayerBGS::GetFloatEdgeImage(IplImage *src, IplImage *dst) {
+ if (src->nChannels > 1) {
+ printf("Error: the input source image must be single-channel image!\n");
+ exit(1);
+ }
+ if (dst->depth != IPL_DEPTH_32F) {
+ printf("Error: the output edge image must be float image ranging in [0,1]!\n");
+ exit(1);
+ }
+
+ uchar *src_x_data;
+ float *dst_x_data;
+
+ int x, y;
+ for (y = 0; y < dst->height; y++) {
+ src_x_data = (uchar*) (src->imageData + src->widthStep * y);
+ dst_x_data = (float*) (dst->imageData + dst->widthStep * y);
+ for (x = 0; x < dst->width; x++) {
+ *dst_x_data++ = (float) (*src_x_data++) / 255.0f;
+ }
+ }
+}
+
+void CMultiLayerBGS::ExportLogMessage(char *msg) {
+ const char *log_fn = "log_message.txt";
+ ofstream fout(log_fn, ios::app);
+ if (fout.fail()) {
+ printf("Error opening log output file %s.\n", log_fn);
+ fout.close();
+ exit(0);
+ }
+
+ fout << msg;
+ fout.close();
+}
+
+void CMultiLayerBGS::UpdatePatternColorDistWeights(float *cur_pattern, float *bg_pattern) {
+ return;
+
+ int cur_true_num = 0, cur_false_num = 0, bg_true_num = 0, bg_false_num = 0;
+ int a;
+
+ for (a = 0; a < m_nLBPLength; a++) {
+ cur_true_num += (cur_pattern[a] > 0.5f ? 1 : 0);
+ cur_false_num += (cur_pattern[a] < 0.5f ? 0 : 1);
+ bg_true_num += (bg_pattern[a] > 0.5f);
+ bg_false_num += (bg_pattern[a] < 0.5f);
+ }
+ m_fTextureWeight = expf(-(fabsf(cur_true_num - cur_false_num) + fabsf(bg_true_num - bg_false_num) + 0.8f) / (float) m_nLBPLength);
+ m_fTextureWeight = MAX(MIN(m_fTextureWeight, 0.5f), 0.1f);
+ m_fColorWeight = 1.0f - m_fTextureWeight;
+}
+
+void CMultiLayerBGS::Save(const char *bg_model_fn) {
+ Save(bg_model_fn, 2);
+}
+
+void CMultiLayerBGS::Save(const char *bg_model_fn, int save_type) {
+ FILE * fout = fopen(bg_model_fn, "w");
+ if (!fout) {
+ printf("Error opening background model output file %s.\n", bg_model_fn);
+ fclose(fout);
+ //exit(0);
+ return;
+ }
+
+ int i, j;
+ if (save_type == 0) { /* save the background model information */
+ fprintf(fout, "FILE_TYPE: MODEL_INFO\n\n");
+
+ fprintf(fout, "MAX_MODEL_NUM: %5d\n", m_nMaxLBPModeNum);
+ fprintf(fout, "LBP_LENGTH: %5d\n", m_nLBPLength);
+ fprintf(fout, "CHANNELS_NUM: %5d\n", m_nChannel);
+ fprintf(fout, "IMAGE_SIZE: %5d %5d\n\n", m_cvImgSize.width, m_cvImgSize.height);
+
+ fprintf(fout, "MODEL_INFO_PIXEL_BY_PIXEL:\n");
+
+ int img_length = m_cvImgSize.height * m_cvImgSize.width;
+ PixelLBPStruct* PLBP = m_pPixelLBPs;
+
+ for (int yx = 0; yx < img_length; yx++) {
+ fprintf(fout, "%3d %3d %3d", (*PLBP).num, (*PLBP).bg_num, (*PLBP).cur_bg_layer_no);
+ for (i = 0; i < (int) (*PLBP).num; i++)
+ fprintf(fout, " %3d", (*PLBP).lbp_idxes[i]);
+ for (i = 0; i < (int) (*PLBP).num; i++) {
+ int li = (*PLBP).lbp_idxes[i];
+ for (j = 0; j < m_nChannel; j++) {
+ fprintf(fout, " %7.1f %7.1f %7.1f", (*PLBP).LBPs[li].bg_intensity[j],
+ (*PLBP).LBPs[li].max_intensity[j], (*PLBP).LBPs[li].min_intensity[j]);
+ }
+ for (j = 0; j < m_nLBPLength; j++)
+ fprintf(fout, " %7.3f", (*PLBP).LBPs[li].bg_pattern[j]);
+ fprintf(fout, " %10.5f", (*PLBP).LBPs[li].weight);
+ fprintf(fout, " %10.5f", (*PLBP).LBPs[li].max_weight);
+ fprintf(fout, " %3d", (*PLBP).LBPs[li].bg_layer_num);
+ fprintf(fout, " %20lu", (*PLBP).LBPs[li].first_time);
+ fprintf(fout, " %20lu", (*PLBP).LBPs[li].last_time);
+ fprintf(fout, " %8d", (*PLBP).LBPs[li].freq);
+ }
+ fprintf(fout, "\n");
+ PLBP++;
+ }
+ } else if (save_type == 1) { /* save current parameters for background subtraction */
+ fprintf(fout, "FILE_TYPE: MODEL_PARAS\n\n");
+
+ fprintf(fout, "MAX_MODEL_NUM: %5d\n", m_nMaxLBPModeNum);
+ fprintf(fout, "FRAME_DURATION: %f\n", m_fFrameDuration);
+ fprintf(fout, "MODEL_UPDATING_LEARN_RATE: %f\n", m_fModeUpdatingLearnRate);
+ fprintf(fout, "WEIGHT_UPDATING_LEARN_RATE: %f\n", m_fWeightUpdatingLearnRate);
+ fprintf(fout, "WEIGHT_UPDATING_CONSTANT: %f\n", m_fWeightUpdatingConstant);
+ fprintf(fout, "LOW_INITIAL_MODE_WEIGHT: %f\n", m_fLowInitialModeWeight);
+ fprintf(fout, "RELIABLE_BACKGROUND_MODE_WEIGHT: %f\n", m_fReliableBackgroundModeWeight);
+ fprintf(fout, "ROBUST_COLOR_OFFSET: %f\n", m_fRobustColorOffset);
+ fprintf(fout, "BACKGROUND_MODEL_PERCENT: %f\n", m_fBackgroundModelPercent);
+ fprintf(fout, "ROBUST_SHADOW_RATE: %f\n", m_fRobustShadowRate);
+ fprintf(fout, "ROBUST_HIGHLIGHT_RATE: %f\n", m_fRobustHighlightRate);
+ fprintf(fout, "PATTERN_COLOR_DIST_BACKGROUND_THRESHOLD: %f\n", m_fPatternColorDistBgThreshold);
+ fprintf(fout, "PATTERN_COLOR_DIST_BACKGROUND_UPDATED_THRESHOLD: %f\n", m_fPatternColorDistBgUpdatedThreshold);
+ fprintf(fout, "MIN_BACKGROUND_LAYER_WEIGHT: %f\n", m_fMinBgLayerWeight);
+ fprintf(fout, "PATTERN_DIST_SMOOTH_NEIG_HALF_SIZE: %d\n", m_nPatternDistSmoothNeigHalfSize);
+ fprintf(fout, "PATTERN_DIST_CONV_GAUSSIAN_SIGMA: %f\n", m_fPatternDistConvGaussianSigma);
+ fprintf(fout, "TEXTURE_WEIGHT: %f\n", m_fTextureWeight);
+ fprintf(fout, "MIN_NOISED_ANGLE: %f\n", m_fMinNoisedAngle);
+ fprintf(fout, "MIN_NOISED_ANGLE_SINE: %f\n", m_fMinNoisedAngleSine);
+ fprintf(fout, "BILATERAL_SIGMA_S: %f\n", m_fSigmaS);
+ fprintf(fout, "BILATERAL_SIGMA_R: %f\n", m_fSigmaR);
+ fprintf(fout, "LBP_LENGTH: %5d\n", m_nLBPLength);
+ fprintf(fout, "LBP_LEVEL_NUM: %5d\n", m_nLBPLevelNum);
+ fprintf(fout, "LBP_RADIUSES: ");
+ for (i = 0; i < m_nLBPLevelNum; i++)
+ fprintf(fout, "%10.5f", m_pLBPRadiuses[i]);
+ fprintf(fout, "\nLBP_NEIG_POINT_NUMS: ");
+ for (i = 0; i < m_nLBPLevelNum; i++)
+ fprintf(fout, "%6d", m_pLBPMeigPointNums[i]);
+ } else if (save_type == 2) { /* save the background model information and parameters */
+ fprintf(fout, "FILE_TYPE: MODEL_PARAS_INFO\n\n");
+
+ fprintf(fout, "MAX_MODEL_NUM: %5d\n", m_nMaxLBPModeNum);
+ fprintf(fout, "FRAME_DURATION: %f\n", m_fFrameDuration);
+ fprintf(fout, "MODEL_UPDATING_LEARN_RATE: %f\n", m_fModeUpdatingLearnRate);
+ fprintf(fout, "WEIGHT_UPDATING_LEARN_RATE: %f\n", m_fWeightUpdatingLearnRate);
+ fprintf(fout, "WEIGHT_UPDATING_CONSTANT: %f\n", m_fWeightUpdatingConstant);
+ fprintf(fout, "LOW_INITIAL_MODE_WEIGHT: %f\n", m_fLowInitialModeWeight);
+ fprintf(fout, "RELIABLE_BACKGROUND_MODE_WEIGHT: %f\n", m_fReliableBackgroundModeWeight);
+ fprintf(fout, "ROBUST_COLOR_OFFSET: %f\n", m_fRobustColorOffset);
+ fprintf(fout, "BACKGROUND_MODEL_PERCENT: %f\n", m_fBackgroundModelPercent);
+ fprintf(fout, "ROBUST_SHADOW_RATE: %f\n", m_fRobustShadowRate);
+ fprintf(fout, "ROBUST_HIGHLIGHT_RATE: %f\n", m_fRobustHighlightRate);
+ fprintf(fout, "PATTERN_COLOR_DIST_BACKGROUND_THRESHOLD: %f\n", m_fPatternColorDistBgThreshold);
+ fprintf(fout, "PATTERN_COLOR_DIST_BACKGROUND_UPDATED_THRESHOLD: %f\n", m_fPatternColorDistBgUpdatedThreshold);
+ fprintf(fout, "MIN_BACKGROUND_LAYER_WEIGHT: %f\n", m_fMinBgLayerWeight);
+ fprintf(fout, "PATTERN_DIST_SMOOTH_NEIG_HALF_SIZE: %d\n", m_nPatternDistSmoothNeigHalfSize);
+ fprintf(fout, "PATTERN_DIST_CONV_GAUSSIAN_SIGMA: %f\n", m_fPatternDistConvGaussianSigma);
+ fprintf(fout, "TEXTURE_WEIGHT: %f\n", m_fTextureWeight);
+ fprintf(fout, "MIN_NOISED_ANGLE: %f\n", m_fMinNoisedAngle);
+ fprintf(fout, "MIN_NOISED_ANGLE_SINE: %f\n", m_fMinNoisedAngleSine);
+ fprintf(fout, "BILATERAL_SIGMA_S: %f\n", m_fSigmaS);
+ fprintf(fout, "BILATERAL_SIGMA_R: %f\n", m_fSigmaR);
+ fprintf(fout, "LBP_LENGTH: %5d\n", m_nLBPLength);
+ fprintf(fout, "LBP_LEVEL_NUM: %5d\n", m_nLBPLevelNum);
+ fprintf(fout, "LBP_RADIUSES: ");
+ for (i = 0; i < m_nLBPLevelNum; i++)
+ fprintf(fout, "%10.5f", m_pLBPRadiuses[i]);
+ fprintf(fout, "\nLBP_NEIG_POINT_NUMS: ");
+ for (i = 0; i < m_nLBPLevelNum; i++)
+ fprintf(fout, "%6d", m_pLBPMeigPointNums[i]);
+
+ fprintf(fout, "\nMAX_MODEL_NUM: %5d\n", m_nMaxLBPModeNum);
+ fprintf(fout, "LBP_LENGTH: %5d\n", m_nLBPLength);
+ fprintf(fout, "CHANNELS_NUM: %5d\n", m_nChannel);
+ fprintf(fout, "IMAGE_SIZE: %5d %5d\n\n", m_cvImgSize.width, m_cvImgSize.height);
+
+ fprintf(fout, "MODEL_INFO_PIXEL_BY_PIXEL:\n");
+
+ int img_length = m_cvImgSize.height * m_cvImgSize.width;
+ PixelLBPStruct* PLBP = m_pPixelLBPs;
+
+ for (int yx = 0; yx < img_length; yx++) {
+ fprintf(fout, "%3d %3d %3d", (*PLBP).num, (*PLBP).bg_num, (*PLBP).cur_bg_layer_no);
+ for (i = 0; i < (int) (*PLBP).num; i++)
+ fprintf(fout, " %3d", (*PLBP).lbp_idxes[i]);
+ for (i = 0; i < (int) (*PLBP).num; i++) {
+ int li = (*PLBP).lbp_idxes[i];
+ for (j = 0; j < m_nChannel; j++) {
+ fprintf(fout, " %7.1f %7.1f %7.1f", (*PLBP).LBPs[li].bg_intensity[j],
+ (*PLBP).LBPs[li].max_intensity[j], (*PLBP).LBPs[li].min_intensity[j]);
+ }
+ for (j = 0; j < m_nLBPLength; j++)
+ fprintf(fout, " %7.3f", (*PLBP).LBPs[li].bg_pattern[j]);
+ fprintf(fout, " %10.5f", (*PLBP).LBPs[li].weight);
+ fprintf(fout, " %10.5f", (*PLBP).LBPs[li].max_weight);
+ fprintf(fout, " %3d", (*PLBP).LBPs[li].bg_layer_num);
+ fprintf(fout, " %20lu", (*PLBP).LBPs[li].first_time);
+ fprintf(fout, " %20lu", (*PLBP).LBPs[li].last_time);
+ fprintf(fout, " %8d", (*PLBP).LBPs[li].freq);
+ }
+ fprintf(fout, "\n");
+ PLBP++;
+ }
+ } else { /* wrong save type */
+ printf("Please input correct save type: 0 - model_info 1 - model_paras 2 - model_paras_info\n");
+ fclose(fout);
+ exit(0);
+ }
+
+ fclose(fout);
+}
+
+bool CMultiLayerBGS::Load(const char *bg_model_fn) {
+ ifstream fin(bg_model_fn, ios::in);
+ if (fin.fail()) {
+ printf("Error opening background model file %s.\n", bg_model_fn);
+ fin.close();
+ return false;
+ }
+
+ char para_name[1024], model_type[1024];
+
+ fin >> para_name >> model_type;
+
+ int i, j;
+ CvSize img_size;
+ int img_length = m_cvImgSize.width * m_cvImgSize.height;
+ int max_lbp_mode_num = m_nMaxLBPModeNum;
+
+ if (!strcmp(model_type, "MODEL_INFO")) {
+ fin >> para_name >> m_nMaxLBPModeNum;
+ fin >> para_name >> m_nLBPLength;
+ fin >> para_name >> m_nChannel;
+ fin >> para_name >> img_size.width >> img_size.height;
+
+ if (m_cvImgSize.width != img_size.width || m_cvImgSize.height != img_size.height) {
+ printf("Image size is not matched!\n");
+ return false;
+ }
+
+ if (max_lbp_mode_num != m_nMaxLBPModeNum) {
+ PixelLBPStruct* PLBP = m_pPixelLBPs;
+ for (int yx = 0; yx < img_length; yx++) {
+ delete [] (*PLBP).LBPs;
+ delete [] (*PLBP).lbp_idxes;
+ (*PLBP).LBPs = new LBPStruct[m_nMaxLBPModeNum];
+ (*PLBP).lbp_idxes = new unsigned short[m_nMaxLBPModeNum];
+ }
+ }
+
+ fin >> para_name;
+
+ int img_length = m_cvImgSize.height * m_cvImgSize.width;
+ PixelLBPStruct* PLBP = m_pPixelLBPs;
+
+ for (int yx = 0; yx < img_length; yx++) {
+ fin >> (*PLBP).num >> (*PLBP).bg_num >> (*PLBP).cur_bg_layer_no;
+ for (i = 0; i < (int) (*PLBP).num; i++)
+ fin >> (*PLBP).lbp_idxes[i];
+ for (i = 0; i < (int) (*PLBP).num; i++) {
+ int li = (*PLBP).lbp_idxes[i];
+ for (j = 0; j < m_nChannel; j++) {
+ fin >> (*PLBP).LBPs[li].bg_intensity[j] >>
+ (*PLBP).LBPs[li].max_intensity[j] >> (*PLBP).LBPs[li].min_intensity[j];
+ }
+ for (j = 0; j < m_nLBPLength; j++)
+ fin >> (*PLBP).LBPs[li].bg_pattern[j];
+ fin >> (*PLBP).LBPs[li].weight >> (*PLBP).LBPs[li].max_weight >> (*PLBP).LBPs[li].bg_layer_num
+ >> (*PLBP).LBPs[li].first_time >> (*PLBP).LBPs[li].last_time >> (*PLBP).LBPs[li].freq;
+ }
+ PLBP++;
+ }
+ } else if (!strcmp(model_type, "MODEL_PARAS")) {
+ fin >> para_name >> m_nMaxLBPModeNum;
+ fin >> para_name >> m_fFrameDuration;
+ fin >> para_name >> m_fModeUpdatingLearnRate;
+ fin >> para_name >> m_fWeightUpdatingLearnRate;
+ fin >> para_name >> m_fWeightUpdatingConstant;
+ fin >> para_name >> m_fLowInitialModeWeight;
+ fin >> para_name >> m_fReliableBackgroundModeWeight;
+ fin >> para_name >> m_fRobustColorOffset;
+ fin >> para_name >> m_fBackgroundModelPercent;
+ fin >> para_name >> m_fRobustShadowRate;
+ fin >> para_name >> m_fRobustHighlightRate;
+ fin >> para_name >> m_fPatternColorDistBgThreshold;
+ fin >> para_name >> m_fPatternColorDistBgUpdatedThreshold;
+ fin >> para_name >> m_fMinBgLayerWeight;
+ fin >> para_name >> m_nPatternDistSmoothNeigHalfSize;
+ fin >> para_name >> m_fPatternDistConvGaussianSigma;
+ fin >> para_name >> m_fTextureWeight;
+ fin >> para_name >> m_fMinNoisedAngle;
+ fin >> para_name >> m_fMinNoisedAngleSine;
+ fin >> para_name >> m_fSigmaS;
+ fin >> para_name >> m_fSigmaR;
+ fin >> para_name >> m_nLBPLength;
+ fin >> para_name >> m_nLBPLevelNum;
+ fin >> para_name;
+ for (i = 0; i < m_nLBPLevelNum; i++)
+ fin >> m_pLBPRadiuses[i];
+ fin >> para_name;
+ for (i = 0; i < m_nLBPLevelNum; i++)
+ fin >> m_pLBPMeigPointNums[i];
+ } else if (!strcmp(model_type, "MODEL_PARAS_INFO")) {
+ fin >> para_name >> m_nMaxLBPModeNum;
+ fin >> para_name >> m_fFrameDuration;
+ fin >> para_name >> m_fModeUpdatingLearnRate;
+ fin >> para_name >> m_fWeightUpdatingLearnRate;
+ fin >> para_name >> m_fWeightUpdatingConstant;
+ fin >> para_name >> m_fLowInitialModeWeight;
+ fin >> para_name >> m_fReliableBackgroundModeWeight;
+ fin >> para_name >> m_fRobustColorOffset;
+ fin >> para_name >> m_fBackgroundModelPercent;
+ fin >> para_name >> m_fRobustShadowRate;
+ fin >> para_name >> m_fRobustHighlightRate;
+ fin >> para_name >> m_fPatternColorDistBgThreshold;
+ fin >> para_name >> m_fPatternColorDistBgUpdatedThreshold;
+ fin >> para_name >> m_fMinBgLayerWeight;
+ fin >> para_name >> m_nPatternDistSmoothNeigHalfSize;
+ fin >> para_name >> m_fPatternDistConvGaussianSigma;
+ fin >> para_name >> m_fTextureWeight;
+ fin >> para_name >> m_fMinNoisedAngle;
+ fin >> para_name >> m_fMinNoisedAngleSine;
+ fin >> para_name >> m_fSigmaS;
+ fin >> para_name >> m_fSigmaR;
+ fin >> para_name >> m_nLBPLength;
+ fin >> para_name >> m_nLBPLevelNum;
+ fin >> para_name;
+ for (i = 0; i < m_nLBPLevelNum; i++)
+ fin >> m_pLBPRadiuses[i];
+ fin >> para_name;
+ for (i = 0; i < m_nLBPLevelNum; i++)
+ fin >> m_pLBPMeigPointNums[i];
+
+ fin >> para_name >> m_nMaxLBPModeNum;
+ fin >> para_name >> m_nLBPLength;
+ fin >> para_name >> m_nChannel;
+ fin >> para_name >> img_size.width >> img_size.height;
+
+ if (m_cvImgSize.width != img_size.width || m_cvImgSize.height != img_size.height) {
+ printf("Image size is not matched!\n");
+ return false;
+ }
+
+ if (max_lbp_mode_num != m_nMaxLBPModeNum) {
+ PixelLBPStruct* PLBP = m_pPixelLBPs;
+ for (int yx = 0; yx < img_length; yx++) {
+ delete [] (*PLBP).LBPs;
+ delete [] (*PLBP).lbp_idxes;
+ (*PLBP).LBPs = new LBPStruct[m_nMaxLBPModeNum];
+ (*PLBP).lbp_idxes = new unsigned short[m_nMaxLBPModeNum];
+ }
+ }
+
+ fin >> para_name;
+
+ int img_length = m_cvImgSize.height * m_cvImgSize.width;
+ PixelLBPStruct* PLBP = m_pPixelLBPs;
+
+ for (int yx = 0; yx < img_length; yx++) {
+ fin >> (*PLBP).num >> (*PLBP).bg_num >> (*PLBP).cur_bg_layer_no;
+ for (i = 0; i < (int) (*PLBP).num; i++)
+ fin >> (*PLBP).lbp_idxes[i];
+ for (i = 0; i < (int) (*PLBP).num; i++) {
+ int li = (*PLBP).lbp_idxes[i];
+ for (j = 0; j < m_nChannel; j++) {
+ fin >> (*PLBP).LBPs[li].bg_intensity[j] >>
+ (*PLBP).LBPs[li].max_intensity[j] >> (*PLBP).LBPs[li].min_intensity[j];
+ }
+ for (j = 0; j < m_nLBPLength; j++)
+ fin >> (*PLBP).LBPs[li].bg_pattern[j];
+ fin >> (*PLBP).LBPs[li].weight >> (*PLBP).LBPs[li].max_weight >> (*PLBP).LBPs[li].bg_layer_num
+ >> (*PLBP).LBPs[li].first_time >> (*PLBP).LBPs[li].last_time >> (*PLBP).LBPs[li].freq;
+ }
+ PLBP++;
+ }
+ } else {
+ printf("Not correct model save type!\n");
+ fin.close();
+ exit(0);
+ }
+
+ fin.close();
+
+ ResetAllParameters();
+
+ return true;
+}
+
+void CMultiLayerBGS::SetValidPointMask(IplImage *maskImage, int mode) {
+ if (mode == 1)
+ SetBkMaskImage(maskImage);
+ else
+ cvAnd(m_pBkMaskImg, maskImage, m_pBkMaskImg);
+}
+
+void CMultiLayerBGS::SetFrameRate(float frameDuration) {
+ m_fModeUpdatingLearnRate = m_fModeUpdatingLearnRatePerSecond*frameDuration;
+ m_fWeightUpdatingLearnRate = m_fWeightUpdatingLearnRatePerSecond*frameDuration;
+
+ m_fFrameDuration = frameDuration;
+
+ m_f1_ModeUpdatingLearnRate = 1.0f - m_fModeUpdatingLearnRate;
+ m_f1_WeightUpdatingLearnRate = 1.0f - m_fWeightUpdatingLearnRate;
+}
+
+void CMultiLayerBGS::Init(int width, int height) {
+ IplImage* first_img = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 3);
+ int lbp_level_num = 1;
+ float radiuses[] = {2.0f};
+ int neig_pt_nums[] = {6};
+ Initialization(first_img, lbp_level_num, radiuses, neig_pt_nums);
+ cvReleaseImage(&first_img);
+}
+
+int CMultiLayerBGS::SetRGBInputImage(IplImage *inputImage, CvRect *roi) {
+ if (!inputImage) {
+ printf("Please allocate the IplImage memory!\n");
+ return 0;
+ }
+ if (inputImage->width != m_cvImgSize.width ||
+ inputImage->height != m_cvImgSize.height ||
+ inputImage->depth != IPL_DEPTH_8U ||
+ inputImage->nChannels != 3) {
+ printf("Please provide the correct IplImage pointer, \ne.g. inputImage = cvCreateImage(imgSize, IPL_DEPTH_8U, 3);\n");
+ return 0;
+ }
+ SetNewImage(inputImage, roi);
+ return 1;
+}
+
+void CMultiLayerBGS::SetParameters(int max_lbp_mode_num, float mode_updating_learn_rate_per_second, float weight_updating_learn_rate_per_second, float low_init_mode_weight) {
+ m_nMaxLBPModeNum = max_lbp_mode_num;
+ m_fModeUpdatingLearnRate = mode_updating_learn_rate_per_second*m_fFrameDuration;
+ m_fWeightUpdatingLearnRate = weight_updating_learn_rate_per_second*m_fFrameDuration;
+ m_fLowInitialModeWeight = low_init_mode_weight;
+
+ m_fModeUpdatingLearnRatePerSecond = mode_updating_learn_rate_per_second;
+ m_fWeightUpdatingLearnRatePerSecond = weight_updating_learn_rate_per_second;
+
+ m_f1_ModeUpdatingLearnRate = 1.0f - m_fModeUpdatingLearnRate;
+ m_f1_WeightUpdatingLearnRate = 1.0f - m_fWeightUpdatingLearnRate;
+}
+
+int CMultiLayerBGS::Process() {
+ BackgroundSubtractionProcess();
+ return 1;
+}
+
+int CMultiLayerBGS::SetForegroundMaskImage(IplImage* fg_mask_img) {
+ if (!fg_mask_img) {
+ printf("Please allocate the IplImage memory!\n");
+ return 0;
+ }
+ if (fg_mask_img->width != m_cvImgSize.width ||
+ fg_mask_img->height != m_cvImgSize.height ||
+ fg_mask_img->depth != IPL_DEPTH_8U ||
+ fg_mask_img->nChannels != 1) {
+ printf("Please provide the correct IplImage pointer, \ne.g. fg_mask_img = cvCreateImage(imgSize, IPL_DEPTH_8U, 1);\n");
+ return 0;
+ }
+
+ m_pFgMaskImg = fg_mask_img;
+
+ return 1;
+}
+
+int CMultiLayerBGS::SetForegroundProbImage(IplImage* fg_prob_img) {
+ if (!fg_prob_img) {
+ printf("Please allocate the IplImage memory!\n");
+ return 0;
+ }
+ if (fg_prob_img->width != m_cvImgSize.width ||
+ fg_prob_img->height != m_cvImgSize.height ||
+ fg_prob_img->depth != IPL_DEPTH_8U) {
+ printf("Please provide the correct IplImage pointer, \ne.g. fg_prob_img = cvCreateImage(imgSize, IPL_DEPTH_8U, 1);\n");
+ return 0;
+ }
+
+ m_pFgProbImg = fg_prob_img;
+
+ return 1;
+}
+
+void CMultiLayerBGS::SetCurrentFrameNumber(unsigned long cur_frame_no) {
+ m_nCurImgFrameIdx = cur_frame_no;
+}
diff --git a/package_bgs/jmo/CMultiLayerBGS.h b/package_bgs/jmo/CMultiLayerBGS.h
new file mode 100644
index 0000000..1eda55b
--- /dev/null
+++ b/package_bgs/jmo/CMultiLayerBGS.h
@@ -0,0 +1,313 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* --- --- ---
+* Copyright (C) 2008--2010 Idiap Research Institute (.....@idiap.ch)
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+* 1. Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* 2. Redistributions 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.
+* 3. The name of the author may not be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+*/
+// BackgroundSubtraction.h: interface for the CBackgroundSubtraction class.
+//
+//////////////////////////////////////////////////////////////////////
+
+#if !defined(_MULTI_LAYER_BGS_H_)
+#define _MULTI_LAYER_BGS_H_
+
+/*
+Since the used fast cross bilateral filter codes can not be compiled under Windows,
+we don't use the bilateral filter to remove the noise in the foreground detection
+step. If you compile it under Linux, please uncomment it.
+*/
+//#define LINUX_BILATERAL_FILTER
+
+#include "LocalBinaryPattern.h"
+#include "BGS.h"
+#include <stdio.h>
+#include <stdarg.h>
+#include "BlobResult.h"
+#include "OpenCvDataConversion.h"
+
+#include "BackgroundSubtractionAPI.h"
+
+#ifdef LINUX_BILATERAL_FILTER
+#include "CrossBilateralFilter.h" // cross bilateral filter
+#endif
+
+#include <ctime> // clock
+#include <cstdlib> // C standard library
+#include <cstdio> // C I/O (for sscanf)
+#include <cstring> // string manipulation
+#include <fstream> // file I/O
+#include <cmath> // math includes
+#include <iostream> // I/O streams
+
+using namespace std; // make std:: accessible
+
+class CMultiLayerBGS : public CBackgroundSubtractionAPI
+{
+public:
+ //-------------------------------------------------------------
+ // TO CALL AT INITIALISATION: DEFINES THE SIZE OF THE INPUT IMAGES
+ // NORMALLY, UNNECESSARY IF A CONFIGURATION FILE IS LOADED
+ void Init(int width,int height);
+
+ //-------------------------------------------------------------
+ // PROVIDE A MASK TO DEFINE THE SET OF POINTS WHERE BACKGROUND
+ // SUBTRACTION DOES NOT NEED TO BE PERFORMED
+ //
+ // mode is useful to specify if the points to remove from
+ // processing are in addition to the ones potentially
+ // removed according to the configuration file,
+ // or if they are the only ones to be removed
+ //
+ // mode=0 : provided points need to be removed
+ // in addition to those already removed
+ // mode=1 : the provided points are the only one to remove
+ // from processing
+ // Note: maskImage(li,co)=0 indicate the points to remove
+ // from background processing
+ void SetValidPointMask(IplImage* maskImage, int mode);
+
+ //-------------------------------------------------------------
+ //
+ // set the frame rate, to adjust the update parameters
+ // to the actual frame rate.
+ // Can be called only once at initialisation,
+ // but in online cases, can be used to indicate
+ // the time interval during the last processed frame
+ //
+ // frameDuration is in millisecond
+ void SetFrameRate(float frameDuration);
+
+ //-------------------------------------------------------------
+ //
+ // set some main parameters for background model learning.
+ // in general, we can set large updating rates for background
+ // model learning and set small updating rates in foreground
+ // detection
+ void SetParameters(int max_lbp_mode_num, // maximal LBP mode number
+ float mode_updating_learn_rate_per_second, // background mode updating learning rate per second
+ float weight_updating_learn_rate_per_second, // mode's weight updating learning rate per second
+ float low_init_mode_weight); // the low initial mode weight
+
+ //-------------------------------------------------------------
+ // PROVIDE A POINTER TO THE INPUT IMAGE
+ // -> INDICATE WHERE THE NEW IMAGE TO PROCESS IS STORED
+ //
+ // Here assumes that the input image will contain RGB images.
+ // The memory of this image is handled by the caller.
+ //
+ // The return value indicate whether the actual Background
+ // Subtraction algorithm handles RGB images (1) or not (0).
+ //
+ int SetRGBInputImage(IplImage * inputImage, CvRect *roi=NULL);
+
+ //-------------------------------------------------------------
+ // PROVIDE A POINTER TO THE RESULT IMAGE
+ // INDICATE WHERE THE BACKGROUND RESULT NEED TO BE STORED
+ //
+ int SetForegroundMaskImage(IplImage* fg_mask_img);
+ int SetForegroundProbImage(IplImage* fg_prob_img);
+
+ //-------------------------------------------------------------
+ // This function should be called each time a new image is
+ // available in the input image.
+ //
+ // The return value is 0 if everything goes well, a non-zero value
+ // otherwise.
+ //
+ int Process();
+
+ //-------------------------------------------------------------
+ // this function should save parameters and information of the model
+ // (e.g. after a training of the model, or in such a way
+ // that the model can be reload to process the next frame
+ // type of save:
+ // 0 - background model information (pixel by pixel)
+ // 1 - background model parameters
+ // 2 - both background information (pixel by pixel) and parameters
+ void Save(const char *bg_model_fn, int save_type);
+ void Save(const char* bg_model_fn);
+
+ //-------------------------------------------------------------
+ // this function should load the parameters necessary
+ // for the processing of the background subtraction or
+ // load background model information
+ bool Load(const char *bg_model_fn);
+
+
+ void SetCurrentFrameNumber(unsigned long cur_frame_no);
+
+ void GetForegroundMaskImage(IplImage *fg_mask_img);
+ void GetForegroundImage(IplImage *fg_img, CvScalar bg_color=CV_RGB(0,255,0));
+ void GetBackgroundImage(IplImage *bk_img);
+ void GetForegroundProbabilityImage(IplImage* fg_prob_img);
+
+ void GetBgLayerNoImage(IplImage *bg_layer_no_img, CvScalar* layer_colors=NULL, int layer_num=0);
+ void GetLayeredBackgroundImage(int layered_no, IplImage *layered_bg_img, CvScalar empty_color=CV_RGB(0,0,0));
+ void GetCurrentLayeredBackgroundImage(int layered_no, IplImage *layered_bg_img, IplImage *layered_fg_img=NULL,
+ CvScalar layered_bg_bk_color=CV_RGB(0,0,0), CvScalar layered_fg_color=CV_RGB(255,0,0),
+ int smooth_win=13, float smooth_sigma=3.0f, float below_layer_noise=0.5f, float above_layer_noise=0.3f, int min_blob_size=50);
+ float DistLBP(LBPStruct *LBP1, LBPStruct *LBP2);
+ void GetColoredBgMultiLayeredImage(IplImage *bg_multi_layer_img, CvScalar *layer_colors);
+ void UpdatePatternColorDistWeights(float *cur_pattern, float *bg_pattern);
+ void ExportLogMessage(char* msg);
+ void Postprocessing();
+ void GetFloatEdgeImage(IplImage *src, IplImage *dst);
+ void RemoveBackgroundLayers(PixelLBPStruct *PLBP, bool *removed_modes=NULL);
+ float CalColorRangeDist(unsigned char *cur_intensity, float *bg_intensity, float *max_intensity,
+ float *min_intensity, float shadow_rate, float highlight_rate);
+ float CalVectorsAngle(float *c1, unsigned char *c2, int length);
+ float CalVectorsNoisedAngle(float *bg_color, unsigned char *noised_color, float offset, int length);
+ void ComputeGradientImage(IplImage *src, IplImage *dst, bool bIsFloat);
+ float CalColorBgDist(uchar *cur_intensity, float *bg_intensity, float *max_intensity, float *min_intensity);
+ float CalPatternBgDist(float *cur_pattern, float *bg_pattern);
+
+ void GetForegroundMaskMap(CvMat *fg_mask_mat);
+ void Initialization(IplImage *first_img, int lbp_level_num, float *radiuses, int *neig_pt_nums);
+ void GetCurrentBackgroundDistMap(CvMat *bk_dist_map);
+ void BackgroundSubtractionProcess();
+ void SetBkMaskImage(IplImage *mask_img);
+ void SetNewImage(IplImage *new_img, CvRect *roi=NULL);
+
+ void ResetAllParameters();
+ void QuickSort(float *pData, unsigned short *pIdxes, long low, long high, bool bAscent);
+ void UpdateBgPixelPattern(float *cur_pattern, float *bg_bg_pattern);
+ void UpdateBgPixelColor(unsigned char* cur_intensity, float* bg_intensity);
+ void Update_MAX_MIN_Intensity(unsigned char *cur_intensity, float *max_intensity, float *min_intensity);
+ void MergeImages(int num, ...);
+
+ int m_nChannel; /* most of opencv functions support 1,2,3 or 4 channels, for the input images */
+
+ PixelLBPStruct* m_pPixelLBPs; /* the LBP texture patterns for each image */
+ int m_nMaxLBPModeNum; /* the maximal number for the used LBP pattern models */
+ float m_fModeUpdatingLearnRate; /* the background mode learning rate */
+ float m_fWeightUpdatingLearnRate; /* the background mode weight updating rate */
+ float m_f1_ModeUpdatingLearnRate; /* 1 - background_mode_learning_rate */
+ float m_f1_WeightUpdatingLearnRate; /* 1 - background_mode_weight_updating_rate */
+ float m_fRobustColorOffset; /* the intensity offset robust to noise */
+ float m_fLowInitialModeWeight; /* the lowest weight of initial background mode */
+ int m_nLBPLength; /* the length of texture LBP operator */
+ float m_fPatternColorDistBgThreshold; /* the threshold value used to classify background and foreground */
+ float m_fPatternColorDistBgUpdatedThreshold; /* the threshold value used to update the background modeling */
+ float m_fMinBgLayerWeight; /* the minimal weight to remove background layers */
+
+ int m_nPatternDistSmoothNeigHalfSize; /* the neighboring half size of gaussian window to remove the noise
+ on the distance map */
+ float m_fPatternDistConvGaussianSigma; /* the gaussian sigma used to remove the noise on the distance map */
+
+ float m_fBackgroundModelPercent; /* the background mode percent, the first several background modes
+ with high mode weights should be regarded as reliable background modes */
+
+ float m_fRobustShadowRate; /* the minimal shadow rate, [0.4, 0.7] */
+ float m_fRobustHighlightRate; /* the maximal highlight rate, [1.1, 1.4] */
+
+ int m_nLBPImgNum; /* the number of images used for texture LBP feature */
+
+ float m_fMinLBPBinaryProb; /* the minimal LBP binary probability */
+ float m_f1_MinLBPBinaryProb; /* 1 - minimal_LBP_binary_probability */
+
+ CvSize m_cvImgSize; /* the image size (width, height) */
+
+ unsigned long m_nCurImgFrameIdx; /* the frame index of current image */
+
+ bool m_bUsedGradImage; /* the boolean variable signaling whether the gradient image is used
+ or not for computing LBP operator */
+
+ bool m_bUsedColorLBP; /* true - multi-channel color image for LBP operator,
+ false - gray-scale image for LBP operator */
+
+ CLocalBinaryPattern m_cLBP; /* the class instant for computing LBP (local binary pattern) texture feature */
+
+ IplImage* m_pBkMaskImg; /* the mask image corresponding to the input image,
+ i.e. all the masked pixels should be processed */
+
+ IplImage* m_pOrgImg; /* the original image */
+ IplImage** m_ppOrgLBPImgs; /* the multi-layer images used for LBP feature extraction */
+ IplImage* m_pFgImg; /* the foreground image */
+ IplImage* m_pBgImg; /* the background image */
+ IplImage* m_pFgMaskImg; /* the foreground mask image */
+ IplImage* m_pBgDistImg; /* the background distance image (float) */
+ IplImage* m_pEdgeImg; /* the edge image used for cross bilateral filter */
+ IplImage* m_pFgProbImg; /* the foreground probability image (uchar) */
+
+ IplImage* m_pFirstAppearingTimeMap;
+
+#ifdef LINUX_BILATERAL_FILTER
+ CCrossBilateralFilter m_cCrossBF; /* the class instant for cross bilateral filter
+ which should be used to remove noise on the distance map */
+#endif
+
+ bool m_disableLearning;
+ float m_fSigmaS; /* sigma in the spatial domain for cross bilateral filter */
+ float m_fSigmaR; /* sigma in the normalized intensity domain for cross bilateral filter */
+
+ float m_fTextureWeight; /* the weight value of texture LBP feature
+ for background modeling & foreground detection */
+
+ float m_fColorWeight; /* the weight value of color invariant feature
+ for background modeling & foreground detection */
+
+ float m_fWeightUpdatingConstant; /* the constant ( >= 1 ) for 'hysteries' weight updating scheme
+ (increase when matched, decrease when un-matched */
+
+ float m_fReliableBackgroundModeWeight; /* the weight value for background mode
+ which should be regarded as a reliable background mode,
+ which is useful for multi-layer scheme */
+
+ float m_fMinNoisedAngle; /* the minimal angle value between the background color
+ and the noised observed color */
+
+ float m_fMinNoisedAngleSine; /* the minimal angle sine value between the background color
+ and the noised observed color */
+
+ float m_fFrameDuration; /* frame duration */
+
+ float m_fModeUpdatingLearnRatePerSecond;
+ float m_fWeightUpdatingLearnRatePerSecond;
+
+ int m_nLBPLevelNum;
+ float m_pLBPRadiuses[10];
+ int m_pLBPMeigPointNums[10];
+
+ CvRect* m_pROI;
+ CMultiLayerBGS();
+ virtual ~CMultiLayerBGS();
+};
+
+#endif // !defined(_MULTI_LAYER_BGS_H_)
+
diff --git a/package_bgs/jmo/LocalBinaryPattern.cpp b/package_bgs/jmo/LocalBinaryPattern.cpp
new file mode 100644
index 0000000..45528aa
--- /dev/null
+++ b/package_bgs/jmo/LocalBinaryPattern.cpp
@@ -0,0 +1,314 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* --- --- ---
+* Copyright (C) 2008--2010 Idiap Research Institute (.....@idiap.ch)
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+* 1. Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* 2. Redistributions 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.
+* 3. The name of the author may not be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+*/
+// LocalBinaryPattern.cpp: implementation of the CLocalBinaryPattern class.
+//
+//////////////////////////////////////////////////////////////////////
+
+#include "LocalBinaryPattern.h"
+
+//////////////////////////////////////////////////////////////////////
+// Construction/Destruction
+//////////////////////////////////////////////////////////////////////
+
+CLocalBinaryPattern::CLocalBinaryPattern()
+{
+ m_ppOrgImgs = NULL;
+ m_pRadiuses = NULL;
+ m_fRobustWhiteNoise = 3.0f;
+ m_pNeigPointsNums = NULL;
+ m_pXYShifts = NULL;
+ m_pShiftedImg = NULL;
+}
+
+CLocalBinaryPattern::~CLocalBinaryPattern()
+{
+ FreeMemories();
+}
+
+void CLocalBinaryPattern::Initialization(IplImage **first_imgs, int imgs_num, int level_num, float *radius, int *neig_pt_num, float robust_white_noise, int type)
+{
+
+ m_nImgsNum = imgs_num;
+
+ m_nLBPLevelNum = level_num;
+
+ m_pRadiuses = new float[m_nLBPLevelNum];
+ m_pNeigPointsNums= new int[m_nLBPLevelNum];
+ m_ppOrgImgs = first_imgs;
+
+ int a, b;
+ for ( a = 0 ; a < m_nImgsNum ; a++ ) {
+ m_cvImgSize = cvGetSize(first_imgs[a]);
+
+ if ( first_imgs[a]->nChannels > 1 ) {
+ printf("Input image channel must be 1!");
+ exit(1);
+ }
+ }
+
+ int tot_neig_pts_num = 0;
+ for ( a = 0 ; a < m_nLBPLevelNum ; a++ ) {
+ m_pRadiuses[a] = radius[a];
+ m_pNeigPointsNums[a] = neig_pt_num[a];
+ tot_neig_pts_num += neig_pt_num[a];
+ if ( m_pNeigPointsNums[a] % 2 != 0 ) {
+ printf("Even number must be given for points number for LBP!\n");
+ exit(1);
+ }
+ }
+
+ m_pShiftedImg = cvCloneImage(m_ppOrgImgs[0]);
+
+ m_pXYShifts = new CvPoint[tot_neig_pts_num];
+
+ m_nMaxShift.x = 0;
+ m_nMaxShift.y = 0;
+ int shift_idx = 0;
+ for ( a = 0 ; a < m_nLBPLevelNum ; a++ )
+ for ( b = 0 ; b < m_pNeigPointsNums[a] ; b++ ) {
+ // compute the offset of neig point
+ CalNeigPixelOffset(m_pRadiuses[a], m_pNeigPointsNums[a], b, m_pXYShifts[shift_idx].x, m_pXYShifts[shift_idx].y);
+ m_nMaxShift.x = MAX(m_nMaxShift.x, m_pXYShifts[shift_idx].x);
+ m_nMaxShift.y = MAX(m_nMaxShift.y, m_pXYShifts[shift_idx].y);
+ shift_idx++;
+ }
+
+ m_fRobustWhiteNoise = robust_white_noise;
+}
+
+void CLocalBinaryPattern::SetNewImages(IplImage **new_imgs)
+{
+ m_ppOrgImgs = new_imgs;
+}
+
+void CLocalBinaryPattern::ComputeLBP(PixelLBPStruct *PLBP, CvRect *roi)
+{
+ float *dif_pattern;
+ float *_dif_pattern;
+ PixelLBPStruct *_PLBP;
+ int data_length;
+ float *cur_pattern;
+
+ // allocate memories
+ if ( roi )
+ data_length = roi->height*roi->width;
+ else
+ data_length = m_cvImgSize.width*m_cvImgSize.height;
+
+ dif_pattern = new float[data_length];
+
+ int img_idx, pt_idx, yx, level;
+ int pattern_idx = 0;
+ for ( img_idx = 0 ; img_idx < m_nImgsNum ; img_idx++ ) {
+ for ( level = 0 ; level < m_nLBPLevelNum ; level++ ) {
+ for ( pt_idx = 0 ; pt_idx < m_pNeigPointsNums[level] ; pt_idx++ ) {
+
+ // computing the shifted image
+ CalShiftedImage(m_ppOrgImgs[img_idx], m_pXYShifts[pattern_idx].x, m_pXYShifts[pattern_idx].y, m_pShiftedImg, roi);
+
+ // computing the different binary images
+ CalImageDifferenceMap(m_ppOrgImgs[img_idx], m_pShiftedImg, dif_pattern, roi);
+
+ // set the binary values
+ _PLBP = PLBP;
+ _dif_pattern = dif_pattern;
+
+ if ( roi ) {
+ int x, y;
+ for ( y = 0 ; y < roi->height ; y++ ) {
+ _PLBP = PLBP + (y+roi->y)*m_cvImgSize.width + roi->x;
+ for ( x = 0 ; x < roi->width ; x++ ) {
+ cur_pattern = (*_PLBP++).cur_pattern;
+ cur_pattern[pattern_idx] = *_dif_pattern++;
+ }
+ }
+ }
+ else {
+ for ( yx = 0 ; yx < data_length ; yx++ ) {
+ cur_pattern = (*_PLBP++).cur_pattern;
+ cur_pattern[pattern_idx] = *_dif_pattern++;
+ }
+ }
+
+ pattern_idx++;
+
+ }
+ }
+ }
+
+ // release memories
+ delete [] dif_pattern;
+
+ //delete [] shifted_dif_pattern;
+ //cvReleaseImage(&shifted_img);
+ //cvReleaseImage(&pattern_img);
+}
+
+void CLocalBinaryPattern::FreeMemories()
+{
+ if ( m_pRadiuses != NULL )
+ delete [] m_pRadiuses;
+ if ( m_pNeigPointsNums != NULL )
+ delete [] m_pNeigPointsNums;
+ if ( m_pXYShifts )
+ delete [] m_pXYShifts;
+ if ( m_pShiftedImg )
+ cvReleaseImage(&m_pShiftedImg);
+
+ m_pXYShifts = NULL;
+ m_pRadiuses = NULL;
+ m_pNeigPointsNums = NULL;
+ m_pShiftedImg = NULL;
+}
+
+void CLocalBinaryPattern::SetShiftedMeshGrid(CvSize img_size, float offset_x, float offset_y, CvMat *grid_map_x, CvMat *grid_map_y)
+{
+ float *gX = (float*)(grid_map_x->data.ptr);
+ float *gY = (float*)(grid_map_y->data.ptr);
+
+ int x, y;
+ for ( y = 0 ; y < img_size.height ; y++ ) {
+ for ( x = 0 ; x < img_size.width ; x++ ) {
+ *gX++ = (float)x + offset_x;
+ *gY++ = (float)y + offset_y;
+ }
+ }
+}
+
+void CLocalBinaryPattern::CalShiftedImage(IplImage *src, int offset_x, int offset_y, IplImage *dst, CvRect *roi)
+{
+ CvRect src_roi, dst_roi;
+ int roi_width, roi_height;
+
+ if ( roi ) {
+ src_roi.x = MAX(offset_x+roi->x, 0);
+ src_roi.y = MAX(offset_y+roi->y, 0);
+
+ dst_roi.x = MAX(-(offset_x+roi->x), roi->x);
+ dst_roi.y = MAX(-(offset_y+roi->y), roi->y);
+
+ roi_width = MIN(MIN(roi->width+(int)fabsf((float)offset_x), src->width-src_roi.x), dst->width-dst_roi.x);
+ roi_height = MIN(MIN(roi->height+(int)fabsf((float)offset_y), src->height-src_roi.y), dst->height-dst_roi.y);
+
+ src_roi.width = roi_width;
+ src_roi.height = roi_height;
+
+ dst_roi.width = roi_width;
+ dst_roi.height = roi_height;
+ }
+ else {
+ roi_width = src->width-(int)fabsf((float)offset_x);
+ roi_height = src->height-(int)fabsf((float)offset_y);
+
+ src_roi.x = MAX(offset_x, 0);
+ src_roi.y = MAX(offset_y, 0);
+ src_roi.width = roi_width;
+ src_roi.height = roi_height;
+
+ dst_roi.x = MAX(-offset_x, 0);
+ dst_roi.y = MAX(-offset_y, 0);
+ dst_roi.width = roi_width;
+ dst_roi.height = roi_height;
+ }
+
+ cvSet(dst,cvScalar(0));
+
+ if ( roi_width <= 0 || roi_height <= 0 )
+ return;
+
+ cvSetImageROI(src, src_roi);
+ cvSetImageROI(dst, dst_roi);
+ cvCopy(src, dst);
+ cvResetImageROI(src);
+ cvResetImageROI(dst);
+}
+
+void CLocalBinaryPattern::CalNeigPixelOffset(float radius, int tot_neig_pts_num, int neig_pt_idx, int &offset_x, int &offset_y)
+{
+ float angle = (float)neig_pt_idx/(float)tot_neig_pts_num*2.0f*PI;
+ offset_x = cvRound(radius*cosf(angle));
+ offset_y = cvRound(-radius*sinf(angle));
+}
+
+void CLocalBinaryPattern::CalImageDifferenceMap(IplImage *cent_img, IplImage *neig_img, float *pattern, CvRect *roi)
+{
+ COpencvDataConversion<uchar, uchar> ODC;
+
+ if ( roi ) {
+ cvSetImageROI(cent_img, *roi);
+ cvSetImageROI(neig_img, *roi);
+ }
+
+ uchar *_centI = ODC.GetImageData(cent_img);
+ uchar *_neigI = ODC.GetImageData(neig_img);
+ uchar *centI = _centI;
+ uchar *neigI = _neigI;
+
+ float *tmp_pattern = pattern;
+
+ int xy;
+ int length;
+
+ if ( roi )
+ length = roi->height*roi->width;
+ else
+ length = cent_img->height*cent_img->width;
+
+ for ( xy = 0 ; xy < length ; xy++ ) {
+ *tmp_pattern = (float)BINARY_PATTERM_ELEM(*neigI, *centI, m_fRobustWhiteNoise);
+ tmp_pattern++;
+ centI++;
+ neigI++;
+ }
+
+ if ( roi ) {
+ cvResetImageROI(cent_img);
+ cvResetImageROI(neig_img);
+ }
+
+ // release memories
+ delete [] _centI;
+ delete [] _neigI;
+
+}
+
diff --git a/package_bgs/jmo/LocalBinaryPattern.h b/package_bgs/jmo/LocalBinaryPattern.h
new file mode 100644
index 0000000..307d94f
--- /dev/null
+++ b/package_bgs/jmo/LocalBinaryPattern.h
@@ -0,0 +1,103 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* --- --- ---
+* Copyright (C) 2008--2010 Idiap Research Institute (.....@idiap.ch)
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+* 1. Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* 2. Redistributions 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.
+* 3. The name of the author may not be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+*/
+// LocalBinaryPattern.h: interface for the CLocalBinaryPattern class.
+//
+//////////////////////////////////////////////////////////////////////
+
+#if !defined(_LOCAL_BINARY_PATTERN_H_)
+#define _LOCAL_BINARY_PATTERN_H_
+
+#include <cv.h>
+#include "BGS.h"
+
+
+/************************************************************************/
+/* two types of computing the LBP operators but currently GENERAL_LBP */
+/* has been implemented. */
+/************************************************************************/
+#define GENERAL_LBP 0
+#define SYMMETRIC_LBP 1
+
+#include <cstdio> // C I/O (for sscanf)
+#include "OpenCvDataConversion.h"
+
+
+class CLocalBinaryPattern
+{
+public:
+ void CalImageDifferenceMap(IplImage *cent_img, IplImage *neig_img, float *pattern, CvRect *roi=NULL);
+ void CalNeigPixelOffset(float radius, int tot_neig_pts_num, int neig_pt_idx, int &offset_x, int &offset_y);
+ void CalShiftedImage(IplImage *src, int offset_x, int offset_y, IplImage *dst, CvRect *roi=NULL);
+ void FreeMemories();
+ void ComputeLBP(PixelLBPStruct *PLBP, CvRect *roi=NULL);
+ void SetNewImages(IplImage **new_imgs);
+
+ IplImage** m_ppOrgImgs; /* the original images used for computing the LBP operators */
+
+ void Initialization(IplImage **first_imgs, int imgs_num,
+ int level_num, float *radius, int *neig_pt_num,
+ float robust_white_noise = 3.0f, int type = GENERAL_LBP);
+
+ CLocalBinaryPattern();
+ virtual ~CLocalBinaryPattern();
+
+ float m_fRobustWhiteNoise; /* the robust noise value for computing the LBP operator in each channel */
+
+private:
+ void SetShiftedMeshGrid(CvSize img_size, float offset_x, float offset_y, CvMat *grid_map_x, CvMat *grid_map_y);
+
+ float* m_pRadiuses; /* the circle radiuses for the LBP operator */
+ int m_nLBPType; /* the type of computing LBP operator */
+ int* m_pNeigPointsNums; /* the numbers of neighboring pixels on multi-level circles */
+ int m_nImgsNum; /* the number of multi-channel image */
+ int m_nLBPLevelNum; /* the number of multi-level LBP operator */
+ CvSize m_cvImgSize; /* the image size (width, height) */
+
+ CvPoint* m_pXYShifts;
+ CvPoint m_nMaxShift;
+
+ IplImage* m_pShiftedImg;
+};
+
+#endif // !defined(_LOCAL_BINARY_PATTERN_H_)
+
diff --git a/package_bgs/jmo/MultiLayerBGS.cpp b/package_bgs/jmo/MultiLayerBGS.cpp
new file mode 100644
index 0000000..dc0a6e8
--- /dev/null
+++ b/package_bgs/jmo/MultiLayerBGS.cpp
@@ -0,0 +1,332 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "MultiLayerBGS.h"
+
+MultiLayerBGS::MultiLayerBGS() : firstTime(true), showOutput(true),
+ bg_model_preload(""), saveModel(false), disableLearning(false), disableDetectMode(true), loadDefaultParams(true),
+ detectAfter(0), frameNumber(0)
+{
+ std::cout << "MultiLayerBGS()" << std::endl;
+}
+
+MultiLayerBGS::~MultiLayerBGS()
+{
+ finish();
+ std::cout << "~MultiLayerBGS()" << std::endl;
+}
+
+void MultiLayerBGS::setStatus(Status _status)
+{
+ status = _status;
+}
+
+void MultiLayerBGS::finish(void)
+{
+ if(bg_model_preload.empty())
+ {
+ bg_model_preload = "./models/MultiLayerBGSModel.yml";
+ saveConfig();
+ }
+
+ if(status == MLBGS_LEARN && saveModel == true)
+ {
+ std::cout << "MultiLayerBGS saving background model: " << bg_model_preload << std::endl;
+ BGS->Save(bg_model_preload.c_str());
+ }
+
+ cvReleaseImage(&fg_img);
+ cvReleaseImage(&bg_img);
+ cvReleaseImage(&fg_prob_img);
+ cvReleaseImage(&fg_mask_img);
+ cvReleaseImage(&fg_prob_img3);
+ cvReleaseImage(&merged_img);
+
+ delete BGS;
+}
+
+void MultiLayerBGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ CvSize img_size = cvSize(cvCeil((double) img_input.size().width), cvCeil((double) img_input.size().height));
+
+ if(firstTime)
+ {
+ if(disableDetectMode)
+ status = MLBGS_LEARN;
+
+ if(status == MLBGS_LEARN)
+ std::cout << "MultiLayerBGS in LEARN mode" << std::endl;
+
+ if(status == MLBGS_DETECT)
+ std::cout << "MultiLayerBGS in DETECT mode" << std::endl;
+
+ org_img = new IplImage(img_input);
+
+ fg_img = cvCreateImage(img_size, org_img->depth, org_img->nChannels);
+ bg_img = cvCreateImage(img_size, org_img->depth, org_img->nChannels);
+ fg_prob_img = cvCreateImage(img_size, org_img->depth, 1);
+ fg_mask_img = cvCreateImage(img_size, org_img->depth, 1);
+ fg_prob_img3 = cvCreateImage(img_size, org_img->depth, org_img->nChannels);
+ merged_img = cvCreateImage(cvSize(img_size.width * 2, img_size.height * 2), org_img->depth, org_img->nChannels);
+
+ BGS = new CMultiLayerBGS();
+ BGS->Init(img_size.width, img_size.height);
+ BGS->SetForegroundMaskImage(fg_mask_img);
+ BGS->SetForegroundProbImage(fg_prob_img);
+
+ if(bg_model_preload.empty() == false)
+ {
+ std::cout << "MultiLayerBGS loading background model: " << bg_model_preload << std::endl;
+ BGS->Load(bg_model_preload.c_str());
+ }
+
+ if(status == MLBGS_DETECT)
+ {
+ BGS->m_disableLearning = disableLearning;
+
+ if(disableLearning)
+ std::cout << "MultiLayerBGS disabled learning in DETECT mode" << std::endl;
+ else
+ std::cout << "MultiLayerBGS enabled learning in DETECT mode" << std::endl;
+ }
+
+ if(loadDefaultParams)
+ {
+ std::cout << "MultiLayerBGS loading default params" << std::endl;
+
+ max_mode_num = 5;
+ weight_updating_constant = 5.0;
+ texture_weight = 0.5;
+ bg_mode_percent = 0.6;
+ pattern_neig_half_size = 4;
+ pattern_neig_gaus_sigma = 3.0;
+ bg_prob_threshold = 0.2;
+ bg_prob_updating_threshold = 0.2;
+ robust_LBP_constant = 3;
+ min_noised_angle = 10.0 / 180.0 * PI; //0,01768
+ shadow_rate = 0.6;
+ highlight_rate = 1.2;
+ bilater_filter_sigma_s = 3.0;
+ bilater_filter_sigma_r = 0.1;
+ }
+ else
+ std::cout << "MultiLayerBGS loading config params" << std::endl;
+
+ BGS->m_nMaxLBPModeNum = max_mode_num;
+ BGS->m_fWeightUpdatingConstant = weight_updating_constant;
+ BGS->m_fTextureWeight = texture_weight;
+ BGS->m_fBackgroundModelPercent = bg_mode_percent;
+ BGS->m_nPatternDistSmoothNeigHalfSize = pattern_neig_half_size;
+ BGS->m_fPatternDistConvGaussianSigma = pattern_neig_gaus_sigma;
+ BGS->m_fPatternColorDistBgThreshold = bg_prob_threshold;
+ BGS->m_fPatternColorDistBgUpdatedThreshold = bg_prob_updating_threshold;
+ BGS->m_fRobustColorOffset = robust_LBP_constant;
+ BGS->m_fMinNoisedAngle = min_noised_angle;
+ BGS->m_fRobustShadowRate = shadow_rate;
+ BGS->m_fRobustHighlightRate = highlight_rate;
+ BGS->m_fSigmaS = bilater_filter_sigma_s;
+ BGS->m_fSigmaR = bilater_filter_sigma_r;
+
+ if(loadDefaultParams)
+ {
+ //frame_duration = 1.0 / 30.0;
+ //frame_duration = 1.0 / 25.0;
+ frame_duration = 1.0 / 10.0;
+ }
+
+ BGS->SetFrameRate(frame_duration);
+
+ if(status == MLBGS_LEARN)
+ {
+ if(loadDefaultParams)
+ {
+ mode_learn_rate_per_second = 0.5;
+ weight_learn_rate_per_second = 0.5;
+ init_mode_weight = 0.05;
+ }
+ else
+ {
+ mode_learn_rate_per_second = learn_mode_learn_rate_per_second;
+ weight_learn_rate_per_second = learn_weight_learn_rate_per_second;
+ init_mode_weight = learn_init_mode_weight;
+ }
+ }
+
+ if(status == MLBGS_DETECT)
+ {
+ if(loadDefaultParams)
+ {
+ mode_learn_rate_per_second = 0.01;
+ weight_learn_rate_per_second = 0.01;
+ init_mode_weight = 0.001;
+ }
+ else
+ {
+ mode_learn_rate_per_second = detect_mode_learn_rate_per_second;
+ weight_learn_rate_per_second = detect_weight_learn_rate_per_second;
+ init_mode_weight = detect_init_mode_weight;
+ }
+ }
+
+ BGS->SetParameters(max_mode_num, mode_learn_rate_per_second, weight_learn_rate_per_second, init_mode_weight);
+
+ saveConfig();
+
+ delete org_img;
+ }
+
+ //IplImage* inputImage = new IplImage(img_input);
+ //IplImage* img = cvCreateImage(img_size, IPL_DEPTH_8U, 3);
+ //cvCopy(inputImage, img);
+ //delete inputImage;
+
+ if(detectAfter > 0 && detectAfter == frameNumber)
+ {
+ std::cout << "MultiLayerBGS in DETECT mode" << std::endl;
+
+ status = MLBGS_DETECT;
+
+ mode_learn_rate_per_second = 0.01;
+ weight_learn_rate_per_second = 0.01;
+ init_mode_weight = 0.001;
+
+ BGS->SetParameters(max_mode_num, mode_learn_rate_per_second, weight_learn_rate_per_second, init_mode_weight);
+
+ BGS->m_disableLearning = disableLearning;
+
+ if(disableLearning)
+ std::cout << "MultiLayerBGS disabled learning in DETECT mode" << std::endl;
+ else
+ std::cout << "MultiLayerBGS enabled learning in DETECT mode" << std::endl;
+ }
+
+ IplImage* img = new IplImage(img_input);
+
+ BGS->SetRGBInputImage(img);
+ BGS->Process();
+
+ BGS->GetBackgroundImage(bg_img);
+ BGS->GetForegroundImage(fg_img);
+ BGS->GetForegroundProbabilityImage(fg_prob_img3);
+ BGS->GetForegroundMaskImage(fg_mask_img);
+ BGS->MergeImages(4, img, bg_img, fg_prob_img3, fg_img, merged_img);
+
+ img_merged = cv::Mat(merged_img);
+ img_foreground = cv::Mat(fg_mask_img);
+ img_background = cv::Mat(bg_img);
+
+ if(showOutput)
+ {
+ cv::imshow("MLBGS Layers", img_merged);
+ cv::imshow("MLBGS FG Mask", img_foreground);
+ }
+
+ img_foreground.copyTo(img_output);
+ img_background.copyTo(img_bgmodel);
+
+ delete img;
+ //cvReleaseImage(&img);
+
+ firstTime = false;
+ frameNumber++;
+}
+
+void MultiLayerBGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/MultiLayerBGS.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteString(fs, "preloadModel", bg_model_preload.c_str());
+ cvWriteInt(fs, "saveModel", saveModel);
+ cvWriteInt(fs, "detectAfter", detectAfter);
+ cvWriteInt(fs, "disableDetectMode", disableDetectMode);
+ cvWriteInt(fs, "disableLearningInDetecMode", disableLearning);
+ cvWriteInt(fs, "loadDefaultParams", loadDefaultParams);
+
+ cvWriteInt(fs, "max_mode_num", max_mode_num);
+ cvWriteReal(fs, "weight_updating_constant", weight_updating_constant);
+ cvWriteReal(fs, "texture_weight", texture_weight);
+ cvWriteReal(fs, "bg_mode_percent", bg_mode_percent);
+ cvWriteInt(fs, "pattern_neig_half_size", pattern_neig_half_size);
+ cvWriteReal(fs, "pattern_neig_gaus_sigma", pattern_neig_gaus_sigma);
+ cvWriteReal(fs, "bg_prob_threshold", bg_prob_threshold);
+ cvWriteReal(fs, "bg_prob_updating_threshold", bg_prob_updating_threshold);
+ cvWriteInt(fs, "robust_LBP_constant", robust_LBP_constant);
+ cvWriteReal(fs, "min_noised_angle", min_noised_angle);
+ cvWriteReal(fs, "shadow_rate", shadow_rate);
+ cvWriteReal(fs, "highlight_rate", highlight_rate);
+ cvWriteReal(fs, "bilater_filter_sigma_s", bilater_filter_sigma_s);
+ cvWriteReal(fs, "bilater_filter_sigma_r", bilater_filter_sigma_r);
+
+ cvWriteReal(fs, "frame_duration", frame_duration);
+
+ cvWriteReal(fs, "learn_mode_learn_rate_per_second", learn_mode_learn_rate_per_second);
+ cvWriteReal(fs, "learn_weight_learn_rate_per_second", learn_weight_learn_rate_per_second);
+ cvWriteReal(fs, "learn_init_mode_weight", learn_init_mode_weight);
+
+ cvWriteReal(fs, "detect_mode_learn_rate_per_second", detect_mode_learn_rate_per_second);
+ cvWriteReal(fs, "detect_weight_learn_rate_per_second", detect_weight_learn_rate_per_second);
+ cvWriteReal(fs, "detect_init_mode_weight", detect_init_mode_weight);
+
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void MultiLayerBGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/MultiLayerBGS.xml", 0, CV_STORAGE_READ);
+
+ bg_model_preload = cvReadStringByName(fs, 0, "preloadModel", "");
+ saveModel = cvReadIntByName(fs, 0, "saveModel", false);
+ detectAfter = cvReadIntByName(fs, 0, "detectAfter", 0);
+ disableDetectMode = cvReadIntByName(fs, 0, "disableDetectMode", true);
+ disableLearning = cvReadIntByName(fs, 0, "disableLearningInDetecMode", false);
+ loadDefaultParams = cvReadIntByName(fs, 0, "loadDefaultParams", true);
+
+ max_mode_num = cvReadIntByName(fs, 0, "max_mode_num", 5);
+ weight_updating_constant = cvReadRealByName(fs, 0, "weight_updating_constant", 5.0);
+ texture_weight = cvReadRealByName(fs, 0, "texture_weight", 0.5);
+ bg_mode_percent = cvReadRealByName(fs, 0, "bg_mode_percent", 0.6);
+ pattern_neig_half_size = cvReadIntByName(fs, 0, "pattern_neig_half_size", 4);
+ pattern_neig_gaus_sigma = cvReadRealByName(fs, 0, "pattern_neig_gaus_sigma", 3.0);
+ bg_prob_threshold = cvReadRealByName(fs, 0, "bg_prob_threshold", 0.2);
+ bg_prob_updating_threshold = cvReadRealByName(fs, 0, "bg_prob_updating_threshold", 0.2);
+ robust_LBP_constant = cvReadIntByName(fs, 0, "robust_LBP_constant", 3);
+ min_noised_angle = cvReadRealByName(fs, 0, "min_noised_angle", 0.01768);
+ shadow_rate = cvReadRealByName(fs, 0, "shadow_rate", 0.6);
+ highlight_rate = cvReadRealByName(fs, 0, "highlight_rate", 1.2);
+ bilater_filter_sigma_s = cvReadRealByName(fs, 0, "bilater_filter_sigma_s", 3.0);
+ bilater_filter_sigma_r = cvReadRealByName(fs, 0, "bilater_filter_sigma_r", 0.1);
+
+ frame_duration = cvReadRealByName(fs, 0, "frame_duration", 0.1);
+
+ learn_mode_learn_rate_per_second = cvReadRealByName(fs, 0, "learn_mode_learn_rate_per_second", 0.5);
+ learn_weight_learn_rate_per_second = cvReadRealByName(fs, 0, "learn_weight_learn_rate_per_second", 0.5);
+ learn_init_mode_weight = cvReadRealByName(fs, 0, "learn_init_mode_weight", 0.05);
+
+ detect_mode_learn_rate_per_second = cvReadRealByName(fs, 0, "detect_mode_learn_rate_per_second", 0.01);
+ detect_weight_learn_rate_per_second = cvReadRealByName(fs, 0, "detect_weight_learn_rate_per_second", 0.01);
+ detect_init_mode_weight = cvReadRealByName(fs, 0, "detect_init_mode_weight", 0.001);
+
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/jmo/MultiLayerBGS.h b/package_bgs/jmo/MultiLayerBGS.h
new file mode 100644
index 0000000..671a788
--- /dev/null
+++ b/package_bgs/jmo/MultiLayerBGS.h
@@ -0,0 +1,101 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+#include "CMultiLayerBGS.h"
+
+class MultiLayerBGS : public IBGS
+{
+public:
+ enum Status
+ {
+ MLBGS_NONE = -1,
+ MLBGS_LEARN = 0,
+ MLBGS_DETECT = 1
+ };
+
+private:
+ bool firstTime;
+ long long frameNumber;
+ cv::Mat img_foreground;
+ cv::Mat img_merged;
+ cv::Mat img_background;
+ bool showOutput;
+ bool saveModel;
+ bool disableDetectMode;
+ bool disableLearning;
+ int detectAfter;
+ CMultiLayerBGS* BGS;
+ Status status;
+ IplImage* img;
+ IplImage* org_img;
+ IplImage* fg_img;
+ IplImage* bg_img;
+ IplImage* fg_prob_img;
+ IplImage* fg_mask_img;
+ IplImage* fg_prob_img3;
+ IplImage* merged_img;
+ std::string bg_model_preload;
+
+ bool loadDefaultParams;
+
+ int max_mode_num;
+ float weight_updating_constant;
+ float texture_weight;
+ float bg_mode_percent;
+ int pattern_neig_half_size;
+ float pattern_neig_gaus_sigma;
+ float bg_prob_threshold;
+ float bg_prob_updating_threshold;
+ int robust_LBP_constant;
+ float min_noised_angle;
+ float shadow_rate;
+ float highlight_rate;
+ float bilater_filter_sigma_s;
+ float bilater_filter_sigma_r;
+
+ float frame_duration;
+
+ float mode_learn_rate_per_second;
+ float weight_learn_rate_per_second;
+ float init_mode_weight;
+
+ float learn_mode_learn_rate_per_second;
+ float learn_weight_learn_rate_per_second;
+ float learn_init_mode_weight;
+
+ float detect_mode_learn_rate_per_second;
+ float detect_weight_learn_rate_per_second;
+ float detect_init_mode_weight;
+
+public:
+ MultiLayerBGS();
+ ~MultiLayerBGS();
+
+ void setStatus(Status status);
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void finish(void);
+ void saveConfig();
+ void loadConfig();
+};
\ No newline at end of file
diff --git a/package_bgs/jmo/OpenCvDataConversion.h b/package_bgs/jmo/OpenCvDataConversion.h
new file mode 100644
index 0000000..22d6ec9
--- /dev/null
+++ b/package_bgs/jmo/OpenCvDataConversion.h
@@ -0,0 +1,224 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* --- --- ---
+* Copyright (C) 2008--2010 Idiap Research Institute (.....@idiap.ch)
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+* 1. Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* 2. Redistributions 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.
+* 3. The name of the author may not be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+*/
+// OpencvDataConversion.h: interface for the COpencvDataConversion class.
+//
+//////////////////////////////////////////////////////////////////////
+
+#if !defined(_OPENCV_DATA_CONVERSION_H_)
+#define _OPENCV_DATA_CONVERSION_H_
+
+#include <cv.h>
+#include <stdio.h>
+
+template <class TI, class TM> /* class TI - the type of image data, class TM - the type of matrix data */
+class COpencvDataConversion
+{
+public:
+
+ /* get the image data */
+ TI * GetImageData(IplImage *img)
+ {
+ if ( !img->roi ) { /* no ROI used, i.e. the whole image */
+ int y; //, x;
+ TI* img_data = new TI[img->width*img->height*img->nChannels];
+ TI* temp = img_data;
+ TI* x_data;
+
+ for ( y = 0 ; y < img->height ; y++ ) {
+ x_data = (TI*)(img->imageData + img->widthStep*y);
+ int row_length = img->width*img->nChannels;
+ memcpy(temp, x_data, sizeof(TI)*row_length);
+ temp += row_length;
+ /*
+ for ( x = 0 ; x < img->width*img->nChannels ; x++ )
+ *temp++ = *x_data++;
+ */
+ }
+
+ return img_data;
+ }
+ else { /* get image data only in ROI */
+ int y;//, x;
+ TI* img_data = new TI[img->roi->width*img->roi->height*img->nChannels];
+ TI* temp = img_data;
+ TI* x_data;
+ for ( y = img->roi->yOffset ; y < img->roi->yOffset+img->roi->height ; y++ ) {
+ x_data = (TI*)(img->imageData + img->widthStep*y + img->roi->xOffset*sizeof(TI)*img->nChannels);
+ int row_length = img->roi->width*img->nChannels;
+ memcpy(temp, x_data, sizeof(TI)*row_length);
+ temp += row_length;
+ /*
+ for ( x = 0 ; x < img->roi->width*img->nChannels ; x++ )
+ *temp++ = *x_data++;
+ */
+ }
+ return img_data;
+ }
+ };
+
+ /* set the image data */
+ void SetImageData(IplImage *img, TI *img_data)
+ {
+ if ( !img->roi ) { /* no ROI used, i.e. the whole image */
+ int y;//, x;
+ TI* temp = img_data;
+ TI* x_data;
+ for ( y = 0 ; y < img->height ; y++ ) {
+ x_data = (TI*)(img->imageData + img->widthStep*y);
+ int row_length = img->width*img->nChannels;
+ memcpy(x_data, temp, sizeof(TI)*row_length);
+ temp += row_length;
+ /*
+ for ( x = 0 ; x < img->width*img->nChannels ; x++ )
+ *x_data++ = *temp++;
+ */
+ }
+ }
+ else { /* set image data only in ROI */
+ int y;//, x;
+ TI* temp = img_data;
+ TI* x_data;
+ for ( y = img->roi->yOffset ; y < img->roi->yOffset+img->roi->height ; y++ ) {
+ x_data = (TI*)(img->imageData + img->widthStep*y + img->roi->xOffset*sizeof(TI)*img->nChannels);
+ int row_length = img->roi->width*img->nChannels;
+ memcpy(x_data, temp, sizeof(TI)*row_length);
+ temp += row_length;
+ /*
+ for ( x = 0 ; x < img->roi->width*img->nChannels ; x++ )
+ *x_data++ = *temp++;
+ */
+ }
+ }
+ }
+
+ /* get the matrix data */
+ TM * GetMatData(CvMat *mat)
+ {
+ TM* mat_data = new TM[mat->width*mat->height];
+ memcpy(mat_data, mat->data.ptr, sizeof(TM)*mat->width*mat->height);
+ return mat_data;
+
+ /*
+ int y, x;
+ TM* mat_data = new TM[mat->width*mat->height];
+ TM* temp = mat_data;
+ TM* x_data;
+ for ( y = 0 ; y < mat->height ; y++ ) {
+ x_data = (TM*)(mat->data.ptr + mat->step*y);
+ for ( x = 0 ; x < mat->width ; x++ )
+ *temp++ = *x_data++;
+ }
+ return mat_data;
+ */
+ };
+
+ /* set the matrix data */
+ void SetMatData(CvMat *mat, TM *mat_data)
+ {
+ memcpy(mat->data.ptr, mat_data, sizeof(TM)*mat->width*mat->height);
+
+ /*
+ int y, x;
+ TM* temp = mat_data;
+ TM* x_data;
+ for ( y = 0 ; y < mat->height ; y++ ) {
+ x_data = (TM*)(mat->data.ptr + mat->step*y);
+ for ( x = 0 ; x < mat->width ; x++ )
+ *x_data++ = *temp++;
+ }
+ */
+ }
+
+ /* convert the image data to the matrix data */
+ void ConvertData(IplImage *img_src, CvMat *mat_dst)
+ {
+ if ( img_src->nChannels > 1 ) {
+ printf("Must be one-channel image for ConvertImageData!\n");
+ exit(1);
+ }
+
+ TI* _img_data = GetImageData(img_src);
+ TM* _mat_data = new TM[img_src->width*img_src->height];
+
+ TI* img_data = _img_data;
+ TM* mat_data = _mat_data;
+ int i;
+ for ( i = 0 ; i < img_src->width*img_src->height ; i++ )
+ *mat_data++ = (TM)(*img_data++);
+
+ SetMatData(mat_dst, _mat_data);
+
+ delete [] _img_data;
+ delete [] _mat_data;
+ }
+
+ /* convert the matrix data to the image data */
+ void ConvertData(CvMat *mat_src, IplImage *img_dst)
+ {
+ if ( img_dst->nChannels > 1 ) {
+ printf("Must be one-channel image for ConvertImageData!\n");
+ exit(1);
+ }
+
+ TM* _mat_data = GetMatData(mat_src);
+ TI* _img_data = new TI[mat_src->width*mat_src->height];
+
+ TM* mat_data = _mat_data;
+ TI* img_data = _img_data;
+
+ int i;
+ for ( i = 0 ; i < mat_src->width*mat_src->height ; i++ )
+ *img_data++ = (TI)(*mat_data++);
+
+ SetImageData(img_dst, _img_data);
+
+ delete [] _img_data;
+ delete [] _mat_data;
+ }
+
+ COpencvDataConversion() {};
+ virtual ~COpencvDataConversion() {};
+};
+
+#endif // !defined(_OPENCV_DATA_CONVERSION_H_)
+
diff --git a/package_bgs/jmo/blob.cpp b/package_bgs/jmo/blob.cpp
new file mode 100644
index 0000000..2b99b2a
--- /dev/null
+++ b/package_bgs/jmo/blob.cpp
@@ -0,0 +1,1149 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* --- --- ---
+* Copyright (C) 2008--2010 Idiap Research Institute (.....@idiap.ch)
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+* 1. Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* 2. Redistributions 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.
+* 3. The name of the author may not be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+*/
+/************************************************************************
+Blob.cpp
+
+- FUNCIONALITAT: Implementaci� de la classe CBlob
+- AUTOR: Inspecta S.L.
+MODIFICACIONS (Modificaci�, Autor, Data):
+
+
+FUNCTIONALITY: Implementation of the CBlob class and some helper classes to perform
+some calculations on it
+AUTHOR: Inspecta S.L.
+MODIFICATIONS (Modification, Author, Date):
+
+**************************************************************************/
+
+
+#include <limits.h>
+#include "blob.h"
+#include "cv.h"
+
+namespace Blob
+{
+
+/**
+- FUNCI�: CBlob
+- FUNCIONALITAT: Constructor est�ndard
+- PAR�METRES:
+- RESULTAT:
+- inicialitzaci� de totes les variables internes i de l'storage i la sequencia
+per a les cantonades del blob
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: CBlob
+- FUNCTIONALITY: Standard constructor
+- PARAMETERS:
+- RESULT:
+- memory allocation for the blob edges and initialization of member variables
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+CBlob::CBlob()
+{
+ etiqueta = -1; // Flag indicates null region
+ exterior = 0;
+ area = 0.0f;
+ perimeter = 0.0f;
+ parent = -1;
+ minx = LONG_MAX;
+ maxx = 0;
+ miny = LONG_MAX;
+ maxy = 0;
+ sumx = 0;
+ sumy = 0;
+ sumxx = 0;
+ sumyy = 0;
+ sumxy = 0;
+ mean = 0;
+ stddev = 0;
+ externPerimeter = 0;
+
+ m_storage = cvCreateMemStorage(0);
+ edges = cvCreateSeq( CV_SEQ_KIND_GENERIC|CV_32SC2,
+ sizeof(CvContour),
+ sizeof(CvPoint),m_storage);
+}
+
+/**
+- FUNCI�: CBlob
+- FUNCIONALITAT: Constructor de c�pia
+- PAR�METRES:
+- RESULTAT:
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: CBlob
+- FUNCTIONALITY: Copy constructor
+- PARAMETERS:
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+CBlob::CBlob( const CBlob &src )
+{
+ // copiem les propietats del blob origen a l'actual
+ etiqueta = src.etiqueta;
+ exterior = src.exterior;
+ area = src.Area();
+ perimeter = src.Perimeter();
+ parent = src.parent;
+ minx = src.minx;
+ maxx = src.maxx;
+ miny = src.miny;
+ maxy = src.maxy;
+ sumx = src.sumx;
+ sumy = src.sumy;
+ sumxx = src.sumxx;
+ sumyy = src.sumyy;
+ sumxy = src.sumxy;
+ mean = src.mean;
+ stddev = src.stddev;
+ externPerimeter = src.externPerimeter;
+
+ // copiem els edges del blob origen a l'actual
+ CvSeqReader reader;
+ CvSeqWriter writer;
+ CvPoint edgeactual;
+
+ // creem una sequencia buida per als edges
+ m_storage = cvCreateMemStorage(0);
+ edges = cvCreateSeq( CV_SEQ_KIND_GENERIC|CV_32SC2,
+ sizeof(CvContour),
+ sizeof(CvPoint),m_storage);
+
+ cvStartReadSeq( src.Edges(), &reader);
+ cvStartAppendToSeq( edges, &writer );
+
+ for( int i=0; i< src.Edges()->total; i++)
+ {
+ CV_READ_SEQ_ELEM( edgeactual ,reader);
+ CV_WRITE_SEQ_ELEM( edgeactual , writer );
+ }
+
+ cvEndWriteSeq( &writer );
+}
+CBlob::CBlob( const CBlob *src )
+{
+ // copiem les propietats del blob origen a l'actual
+ etiqueta = src->etiqueta;
+ exterior = src->exterior;
+ area = src->Area();
+ perimeter = src->Perimeter();
+ parent = src->parent;
+ minx = src->minx;
+ maxx = src->maxx;
+ miny = src->miny;
+ maxy = src->maxy;
+ sumx = src->sumx;
+ sumy = src->sumy;
+ sumxx = src->sumxx;
+ sumyy = src->sumyy;
+ sumxy = src->sumxy;
+ mean = src->mean;
+ stddev = src->stddev;
+ externPerimeter = src->externPerimeter;
+
+ // copiem els edges del blob origen a l'actual
+ CvSeqReader reader;
+ CvSeqWriter writer;
+ CvPoint edgeactual;
+
+ // creem una sequencia buida per als edges
+ m_storage = cvCreateMemStorage(0);
+ edges = cvCreateSeq( CV_SEQ_KIND_GENERIC|CV_32SC2,
+ sizeof(CvContour),
+ sizeof(CvPoint),m_storage);
+
+ cvStartReadSeq( src->Edges(), &reader);
+ cvStartAppendToSeq( edges, &writer );
+
+ for( int i=0; i< src->Edges()->total; i++)
+ {
+ CV_READ_SEQ_ELEM( edgeactual ,reader);
+ CV_WRITE_SEQ_ELEM( edgeactual , writer );
+ }
+
+ cvEndWriteSeq( &writer );
+}
+
+/**
+- FUNCI�: ~CBlob
+- FUNCIONALITAT: Destructor est�ndard
+- PAR�METRES:
+- RESULTAT:
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: CBlob
+- FUNCTIONALITY: Standard destructor
+- PARAMETERS:
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+CBlob::~CBlob()
+{
+ // Eliminar v�rtexs del blob
+ cvClearSeq(edges);
+ // i la zona de mem�ria on s�n
+ cvReleaseMemStorage( &m_storage );
+}
+
+/**
+- FUNCI�: operator=
+- FUNCIONALITAT: Operador d'assignaci�
+- PAR�METRES:
+- src: blob a assignar a l'actual
+- RESULTAT:
+- Substitueix el blob actual per el src
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: Assigment operator
+- FUNCTIONALITY: Assigns a blob to the current
+- PARAMETERS:
+- src: blob to assign
+- RESULT:
+- the current blob is replaced by the src blob
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+CBlob& CBlob::operator=(const CBlob &src )
+{
+ // si ja s�n el mateix, no cal fer res
+ if (this != &src)
+ {
+ // Eliminar v�rtexs del blob
+ cvClearSeq(edges);
+ // i la zona de mem�ria on s�n
+ cvReleaseMemStorage( &m_storage );
+
+ // creem una sequencia buida per als edges
+ m_storage = cvCreateMemStorage(0);
+ edges = cvCreateSeq( CV_SEQ_KIND_GENERIC|CV_32SC2,
+ sizeof(CvContour),
+ sizeof(CvPoint),m_storage);
+
+ // copiem les propietats del blob origen a l'actual
+ etiqueta = src.etiqueta;
+ exterior = src.exterior;
+ area = src.Area();
+ perimeter = src.Perimeter();
+ parent = src.parent;
+ minx = src.minx;
+ maxx = src.maxx;
+ miny = src.miny;
+ maxy = src.maxy;
+ sumx = src.sumx;
+ sumy = src.sumy;
+ sumxx = src.sumxx;
+ sumyy = src.sumyy;
+ sumxy = src.sumxy;
+ mean = src.mean;
+ stddev = src.stddev;
+ externPerimeter = src.externPerimeter;
+
+ // copiem els edges del blob origen a l'actual
+ CvSeqReader reader;
+ CvSeqWriter writer;
+ CvPoint edgeactual;
+
+ cvStartReadSeq( src.Edges(), &reader);
+ cvStartAppendToSeq( edges, &writer );
+
+ for( int i=0; i< src.Edges()->total; i++)
+ {
+ CV_READ_SEQ_ELEM( edgeactual ,reader);
+ CV_WRITE_SEQ_ELEM( edgeactual , writer );
+ }
+
+ cvEndWriteSeq( &writer );
+ }
+ return *this;
+}
+
+/**
+- FUNCI�: FillBlob
+- FUNCIONALITAT: Pinta l'interior d'un blob amb el color especificat
+- PAR�METRES:
+- imatge: imatge on es vol pintar el el blob
+- color: color amb que es vol pintar el blob
+- RESULTAT:
+- retorna la imatge d'entrada amb el blob pintat
+- RESTRICCIONS:
+- AUTOR:
+- Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: FillBlob
+- FUNCTIONALITY:
+- Fills the blob with a specified colour
+- PARAMETERS:
+- imatge: where to paint
+- color: colour to paint the blob
+- RESULT:
+- modifies input image and returns the seed point used to fill the blob
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+void CBlob::FillBlob( IplImage *imatge, CvScalar color, int offsetX /*=0*/, int offsetY /*=0*/) const
+{
+
+ //verifiquem que existeixi el blob i que tingui cantonades
+ if( edges == NULL || edges->total == 0 ) return;
+
+ CvPoint edgeactual, pt1, pt2;
+ CvSeqReader reader;
+ vectorPunts vectorEdges = vectorPunts( edges->total );
+ vectorPunts::iterator itEdges, itEdgesSeguent;
+ bool dinsBlob;
+ int yActual;
+
+ // passem els punts del blob a un vector de punts de les STL
+ cvStartReadSeq( edges, &reader);
+ itEdges = vectorEdges.begin();
+ while( itEdges != vectorEdges.end() )
+ {
+ CV_READ_SEQ_ELEM( edgeactual ,reader);
+ *itEdges = edgeactual;
+ itEdges++;
+ }
+ // ordenem el vector per les Y's i les X's d'esquerra a dreta
+ std::sort( vectorEdges.begin(), vectorEdges.end(), comparaCvPoint() );
+
+ // recorrem el vector ordenat i fem linies entre punts consecutius
+ itEdges = vectorEdges.begin();
+ itEdgesSeguent = vectorEdges.begin() + 1;
+ dinsBlob = true;
+ while( itEdges != (vectorEdges.end() - 1))
+ {
+ yActual = (*itEdges).y;
+
+ if( ( (*itEdges).x != (*itEdgesSeguent).x ) &&
+ ( (*itEdgesSeguent).y == yActual )
+ )
+ {
+ if( dinsBlob )
+ {
+ pt1 = *itEdges;
+ pt1.x += offsetX;
+ pt1.y += offsetY;
+
+ pt2 = *itEdgesSeguent;
+ pt2.x += offsetX;
+ pt2.y += offsetY;
+
+ cvLine( imatge, pt1, pt2, color );
+ }
+ dinsBlob =! dinsBlob;
+ }
+ itEdges++;
+ itEdgesSeguent++;
+ if( (*itEdges).y != yActual ) dinsBlob = true;
+ }
+ vectorEdges.clear();
+}
+
+/**
+- FUNCI�: CopyEdges
+- FUNCIONALITAT: Afegeix els v�rtexs del blob al blob destination
+- PAR�METRES:
+- destination: blob al que volem afegir els v�rtexs
+- RESULTAT:
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: CopyEdges
+- FUNCTIONALITY: Adds the blob edges to destination
+- PARAMETERS:
+- destination: where to add the edges
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+void CBlob::CopyEdges( CBlob &destination ) const
+{
+ CvSeqReader reader;
+ CvSeqWriter writer;
+ CvPoint edgeactual;
+
+ cvStartReadSeq( edges, &reader);
+ cvStartAppendToSeq( destination.Edges(), &writer );
+
+ for( int i=0; i<edges->total; i++)
+ {
+ CV_READ_SEQ_ELEM( edgeactual ,reader);
+ CV_WRITE_SEQ_ELEM( edgeactual , writer );
+ }
+
+ cvEndWriteSeq( &writer );
+}
+
+/**
+- FUNCI�: ClearEdges
+- FUNCIONALITAT: Elimina els v�rtexs del blob
+- PAR�METRES:
+- RESULTAT:
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: ClearEdges
+- FUNCTIONALITY: Delete current blob edges
+- PARAMETERS:
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+void CBlob::ClearEdges()
+{
+ // Eliminar v�rtexs del blob eliminat
+ cvClearSeq( edges );
+}
+
+/**
+- FUNCI�: GetConvexHull
+- FUNCIONALITAT: Retorna el poligon convex del blob
+- PAR�METRES:
+- dst: sequencia on desarem el resultat (no ha d'estar inicialitzada)
+- RESULTAT:
+- true si tot ha anat b�
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: GetConvexHull
+- FUNCTIONALITY: Calculates the convex hull polygon of the blob
+- PARAMETERS:
+- dst: where to store the result
+- RESULT:
+- true if no error ocurred
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+bool CBlob::GetConvexHull( CvSeq **dst ) const
+{
+ if( edges != NULL && edges->total > 0)
+ {
+ *dst = cvConvexHull2( edges, 0, CV_CLOCKWISE, 0 );
+ return true;
+ }
+ return false;
+}
+
+/**
+- FUNCI�: GetEllipse
+- FUNCIONALITAT: Retorna l'ellipse que s'ajusta millor a les cantonades del blob
+- PAR�METRES:
+- RESULTAT:
+- estructura amb l'ellipse
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 25-05-2005.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: GetEllipse
+- FUNCTIONALITY: Calculates the ellipse that best fits the edges of the blob
+- PARAMETERS:
+- RESULT:
+- CvBox2D struct with the calculated ellipse
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+CvBox2D CBlob::GetEllipse() const
+{
+ CvBox2D elipse;
+ // necessitem 6 punts per calcular l'elipse
+ if( edges != NULL && edges->total > 6)
+ {
+ elipse = cvFitEllipse2( edges );
+ }
+ else
+ {
+ elipse.center.x = 0.0;
+ elipse.center.y = 0.0;
+ elipse.size.width = 0.0;
+ elipse.size.height = 0.0;
+ elipse.angle = 0.0;
+ }
+ return elipse;
+}
+
+
+
+/***************************************************************************
+Implementaci� de les classes per al c�lcul de caracter�stiques sobre el blob
+
+Implementation of the helper classes to perform operations on blobs
+**************************************************************************/
+
+/**
+- FUNCI�: Moment
+- FUNCIONALITAT: Calcula el moment pq del blob
+- RESULTAT:
+- retorna el moment pq especificat o 0 si el moment no est� implementat
+- RESTRICCIONS:
+- Implementats els moments pq: 00, 01, 10, 20, 02
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 20-07-2004.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: Moment
+- FUNCTIONALITY: Calculates the pq moment of the blob
+- PARAMETERS:
+- RESULT:
+- returns the pq moment or 0 if the moment it is not implemented
+- RESTRICTIONS:
+- Currently, only implemented the 00, 01, 10, 20, 02 pq moments
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 20-07-2004.
+- MODIFICATION: Date. Author. Description.
+*/
+double CBlobGetMoment::operator()(const CBlob &blob) const
+{
+ //Moment 00
+ if((m_p==0) && (m_q==0))
+ return blob.Area();
+
+ //Moment 10
+ if((m_p==1) && (m_q==0))
+ return blob.SumX();
+
+ //Moment 01
+ if((m_p==0) && (m_q==1))
+ return blob.SumY();
+
+ //Moment 20
+ if((m_p==2) && (m_q==0))
+ return blob.SumXX();
+
+ //Moment 02
+ if((m_p==0) && (m_q==2))
+ return blob.SumYY();
+
+ return 0;
+}
+
+/**
+- FUNCI�: HullPerimeter
+- FUNCIONALITAT: Calcula la longitud del perimetre convex del blob.
+Fa servir la funci� d'OpenCV cvConvexHull2 per a
+calcular el perimetre convex.
+
+- PAR�METRES:
+- RESULTAT:
+- retorna la longitud del per�metre convex del blob. Si el blob no t� coordenades
+associades retorna el per�metre normal del blob.
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 20-07-2004.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: CBlobGetHullPerimeter
+- FUNCTIONALITY: Calculates the convex hull perimeter of the blob
+- PARAMETERS:
+- RESULT:
+- returns the convex hull perimeter of the blob or the perimeter if the
+blob edges could not be retrieved
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+double CBlobGetHullPerimeter::operator()(const CBlob &blob) const
+{
+ if(blob.Edges() != NULL && blob.Edges()->total > 0)
+ {
+ CvSeq *hull = cvConvexHull2( blob.Edges(), 0, CV_CLOCKWISE, 1 );
+ return fabs(cvArcLength(hull,CV_WHOLE_SEQ,1));
+ }
+ return blob.Perimeter();
+}
+
+double CBlobGetHullArea::operator()(const CBlob &blob) const
+{
+ if(blob.Edges() != NULL && blob.Edges()->total > 0)
+ {
+ CvSeq *hull = cvConvexHull2( blob.Edges(), 0, CV_CLOCKWISE, 1 );
+ return fabs(cvContourArea(hull));
+ }
+ return blob.Perimeter();
+}
+
+/**
+- FUNCI�: MinX_at_MinY
+- FUNCIONALITAT: Calcula el valor MinX a MinY.
+- PAR�METRES:
+- blob: blob del que volem calcular el valor
+- RESULTAT:
+- retorna la X minima en la Y minima.
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 20-07-2004.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: CBlobGetMinXatMinY
+- FUNCTIONALITY: Calculates the minimum X on the minimum Y
+- PARAMETERS:
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+double CBlobGetMinXatMinY::operator()(const CBlob &blob) const
+{
+ double MinX_at_MinY = LONG_MAX;
+
+ CvSeqReader reader;
+ CvPoint edgeactual;
+
+ cvStartReadSeq(blob.Edges(),&reader);
+
+ for(int j=0;j<blob.Edges()->total;j++)
+ {
+ CV_READ_SEQ_ELEM(edgeactual,reader);
+ if( (edgeactual.y == blob.MinY()) && (edgeactual.x < MinX_at_MinY) )
+ {
+ MinX_at_MinY = edgeactual.x;
+ }
+ }
+
+ return MinX_at_MinY;
+}
+
+/**
+- FUNCI�: MinY_at_MaxX
+- FUNCIONALITAT: Calcula el valor MinX a MaxX.
+- PAR�METRES:
+- blob: blob del que volem calcular el valor
+- RESULTAT:
+- retorna la Y minima en la X maxima.
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 20-07-2004.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: CBlobGetMinXatMinY
+- FUNCTIONALITY: Calculates the minimum Y on the maximum X
+- PARAMETERS:
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+double CBlobGetMinYatMaxX::operator()(const CBlob &blob) const
+{
+ double MinY_at_MaxX = LONG_MAX;
+
+ CvSeqReader reader;
+ CvPoint edgeactual;
+
+ cvStartReadSeq(blob.Edges(),&reader);
+
+ for(int j=0;j<blob.Edges()->total;j++)
+ {
+ CV_READ_SEQ_ELEM(edgeactual,reader);
+ if( (edgeactual.x == blob.MaxX()) && (edgeactual.y < MinY_at_MaxX) )
+ {
+ MinY_at_MaxX = edgeactual.y;
+ }
+ }
+
+ return MinY_at_MaxX;
+}
+
+/**
+- FUNCI�: MaxX_at_MaxY
+- FUNCIONALITAT: Calcula el valor MaxX a MaxY.
+- PAR�METRES:
+- blob: blob del que volem calcular el valor
+- RESULTAT:
+- retorna la X maxima en la Y maxima.
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 20-07-2004.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: CBlobGetMaxXatMaxY
+- FUNCTIONALITY: Calculates the maximum X on the maximum Y
+- PARAMETERS:
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+double CBlobGetMaxXatMaxY::operator()(const CBlob &blob) const
+{
+ double MaxX_at_MaxY = LONG_MIN;
+
+ CvSeqReader reader;
+ CvPoint edgeactual;
+
+ cvStartReadSeq(blob.Edges(),&reader);
+
+ for(int j=0;j<blob.Edges()->total;j++)
+ {
+ CV_READ_SEQ_ELEM(edgeactual,reader);
+ if( (edgeactual.y == blob.MaxY()) && (edgeactual.x > MaxX_at_MaxY) )
+ {
+ MaxX_at_MaxY = edgeactual.x;
+ }
+ }
+
+ return MaxX_at_MaxY;
+}
+
+/**
+- FUNCI�: MaxY_at_MinX
+- FUNCIONALITAT: Calcula el valor MaxY a MinX.
+- PAR�METRES:
+- blob: blob del que volem calcular el valor
+- RESULTAT:
+- retorna la Y maxima en la X minima.
+- RESTRICCIONS:
+- AUTOR: Ricard Borr�s
+- DATA DE CREACI�: 20-07-2004.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: CBlobGetMaxYatMinX
+- FUNCTIONALITY: Calculates the maximum Y on the minimum X
+- PARAMETERS:
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+double CBlobGetMaxYatMinX::operator()(const CBlob &blob) const
+{
+ double MaxY_at_MinX = LONG_MIN;
+
+ CvSeqReader reader;
+ CvPoint edgeactual;
+
+ cvStartReadSeq(blob.Edges(),&reader);
+
+ for(int j=0;j<blob.Edges()->total;j++)
+ {
+ CV_READ_SEQ_ELEM(edgeactual,reader);
+ if( (edgeactual.x == blob.MinY()) && (edgeactual.y > MaxY_at_MinX) )
+ {
+ MaxY_at_MinX = edgeactual.y;
+ }
+ }
+
+ return MaxY_at_MinX;
+}
+
+/**
+Retorna l'elongaci� del blob (longitud/amplada)
+*/
+/**
+- FUNCTION: CBlobGetElongation
+- FUNCTIONALITY: Calculates the elongation of the blob ( length/breadth )
+- PARAMETERS:
+- RESULT:
+- RESTRICTIONS:
+- See below to see how the lenght and the breadth are aproximated
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+double CBlobGetElongation::operator()(const CBlob &blob) const
+{
+ double ampladaC,longitudC,amplada,longitud;
+
+ ampladaC=(double) (blob.Perimeter()+sqrt(pow(blob.Perimeter(),2)-16*blob.Area()))/4;
+ if(ampladaC<=0.0) return 0;
+ longitudC=(double) blob.Area()/ampladaC;
+
+ longitud=MAX( longitudC , ampladaC );
+ amplada=MIN( longitudC , ampladaC );
+
+ return (double) longitud/amplada;
+}
+
+/**
+Retorna la compacitat del blob
+*/
+/**
+- FUNCTION: CBlobGetCompactness
+- FUNCTIONALITY: Calculates the compactness of the blob
+( maximum for circle shaped blobs, minimum for the rest)
+- PARAMETERS:
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+double CBlobGetCompactness::operator()(const CBlob &blob) const
+{
+ if( blob.Area() != 0.0 )
+ return (double) pow(blob.Perimeter(),2)/(4*CV_PI*blob.Area());
+ else
+ return 0.0;
+}
+
+/**
+Retorna la rugositat del blob
+*/
+/**
+- FUNCTION: CBlobGetRoughness
+- FUNCTIONALITY: Calculates the roughness of the blob
+( ratio between perimeter and convex hull perimeter)
+- PARAMETERS:
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+double CBlobGetRoughness::operator()(const CBlob &blob) const
+{
+ CBlobGetHullPerimeter getHullPerimeter = CBlobGetHullPerimeter();
+
+ double hullPerimeter = getHullPerimeter(blob);
+
+ if( hullPerimeter != 0.0 )
+ return blob.Perimeter() / hullPerimeter;//HullPerimeter();
+
+ return 0.0;
+}
+
+/**
+Retorna la longitud del blob
+*/
+/**
+- FUNCTION: CBlobGetLength
+- FUNCTIONALITY: Calculates the lenght of the blob (the biggest axis of the blob)
+- PARAMETERS:
+- RESULT:
+- RESTRICTIONS:
+- The lenght is an aproximation to the real lenght
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+double CBlobGetLength::operator()(const CBlob &blob) const
+{
+ double ampladaC,longitudC;
+ double tmp;
+
+ tmp = blob.Perimeter()*blob.Perimeter() - 16*blob.Area();
+
+ if( tmp > 0.0 )
+ ampladaC = (double) (blob.Perimeter()+sqrt(tmp))/4;
+ // error intr�nsec en els c�lculs de l'�rea i el per�metre
+ else
+ ampladaC = (double) (blob.Perimeter())/4;
+
+ if(ampladaC<=0.0) return 0;
+ longitudC=(double) blob.Area()/ampladaC;
+
+ return MAX( longitudC , ampladaC );
+}
+
+/**
+Retorna l'amplada del blob
+*/
+/**
+- FUNCTION: CBlobGetBreadth
+- FUNCTIONALITY: Calculates the breadth of the blob (the smallest axis of the blob)
+- PARAMETERS:
+- RESULT:
+- RESTRICTIONS:
+- The breadth is an aproximation to the real breadth
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+double CBlobGetBreadth::operator()(const CBlob &blob) const
+{
+ double ampladaC,longitudC;
+ double tmp;
+
+ tmp = blob.Perimeter()*blob.Perimeter() - 16*blob.Area();
+
+ if( tmp > 0.0 )
+ ampladaC = (double) (blob.Perimeter()+sqrt(tmp))/4;
+ // error intr�nsec en els c�lculs de l'�rea i el per�metre
+ else
+ ampladaC = (double) (blob.Perimeter())/4;
+
+ if(ampladaC<=0.0) return 0;
+ longitudC = (double) blob.Area()/ampladaC;
+
+ return MIN( longitudC , ampladaC );
+}
+
+/**
+Calcula la dist�ncia entre un punt i el centre del blob
+*/
+/**
+- FUNCTION: CBlobGetDistanceFromPoint
+- FUNCTIONALITY: Calculates the euclidean distance between the blob center and
+the point specified in the constructor
+- PARAMETERS:
+- RESULT:
+- RESTRICTIONS:
+- AUTHOR: Ricard Borr�s
+- CREATION DATE: 25-05-2005.
+- MODIFICATION: Date. Author. Description.
+*/
+double CBlobGetDistanceFromPoint::operator()(const CBlob &blob) const
+{
+ double xmitjana, ymitjana;
+ CBlobGetXCenter getXCenter;
+ CBlobGetYCenter getYCenter;
+
+ xmitjana = m_x - getXCenter( blob );
+ ymitjana = m_y - getYCenter( blob );
+
+ return sqrt((xmitjana*xmitjana)+(ymitjana*ymitjana));
+}
+
+/**
+- FUNCI�: BlobGetXYInside
+- FUNCIONALITAT: Calcula si un punt cau dins de la capsa rectangular
+del blob
+- RESULTAT:
+- retorna 1 si hi est�; 0 si no
+- RESTRICCIONS:
+- AUTOR: Francesc Pinyol Margalef
+- DATA DE CREACI�: 16-01-2006.
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+/**
+- FUNCTION: BlobGetXYInside
+- FUNCTIONALITY: Calculates whether a point is inside the
+rectangular bounding box of a blob
+- PARAMETERS:
+- RESULT:
+- returns 1 if it is inside; o if not
+- RESTRICTIONS:
+- AUTHOR: Francesc Pinyol Margalef
+- CREATION DATE: 16-01-2006.
+- MODIFICATION: Date. Author. Description.
+*/
+double CBlobGetXYInside::operator()(const CBlob &blob) const
+{
+ if( blob.Edges() == NULL || blob.Edges()->total == 0 ) return 0.0;
+
+ // passem els punts del blob a un vector de punts de les STL
+ CvSeqReader reader;
+ CBlob::vectorPunts vectorEdges;
+ CBlob::vectorPunts::iterator itEdges, itEdgesSeguent;
+ CvPoint edgeactual;
+ bool dinsBlob;
+
+ // agafem tots els punts amb la mateixa y que l'actual
+ cvStartReadSeq( blob.Edges(), &reader);
+
+ for( int i=0; i< blob.Edges()->total; i++)
+ {
+ CV_READ_SEQ_ELEM( edgeactual ,reader );
+ if( edgeactual.y == m_p.y )
+ vectorEdges.push_back( edgeactual );
+ }
+
+ if( vectorEdges.size() == 0 ) return 0.0;
+
+ // ordenem el vector per les Y's i les X's d'esquerra a dreta
+ std::sort( vectorEdges.begin(), vectorEdges.end(), CBlob::comparaCvPoint() );
+
+ // recorrem el punts del blob de la mateixa fila que el punt d'entrada
+ // i mirem si la X del punt d'entrada est� entre dos coordenades "plenes"
+ // del blob
+ itEdges = vectorEdges.begin();
+ itEdgesSeguent = vectorEdges.begin() + 1;
+ dinsBlob = true;
+
+ while( itEdges != (vectorEdges.end() - 1) )
+ {
+ if( (*itEdges).x <= m_p.x && (*itEdgesSeguent).x >= m_p.x && dinsBlob )
+ {
+ vectorEdges.clear();
+ return 1.0;
+ }
+
+ itEdges++;
+ itEdgesSeguent++;
+ dinsBlob = !dinsBlob;
+ }
+
+ vectorEdges.clear();
+ return 0.0;
+}
+
+#ifdef BLOB_OBJECT_FACTORY
+
+/**
+- FUNCI�: RegistraTotsOperadors
+- FUNCIONALITAT: Registrar tots els operadors definits a blob.h
+- PAR�METRES:
+- fabricaOperadorsBlob: f�brica on es registraran els operadors
+- RESULTAT:
+- Modifica l'objecte fabricaOperadorsBlob
+- RESTRICCIONS:
+- Nom�s es registraran els operadors de blob.h. Si se'n volen afegir, cal afegir-los amb
+el m�tode Register de la f�brica.
+- AUTOR: rborras
+- DATA DE CREACI�: 2006/05/18
+- MODIFICACI�: Data. Autor. Descripci�.
+*/
+void RegistraTotsOperadors( t_OperadorBlobFactory &fabricaOperadorsBlob )
+{
+ // blob shape
+ fabricaOperadorsBlob.Register( CBlobGetArea().GetNom(), Type2Type<CBlobGetArea>());
+ fabricaOperadorsBlob.Register( CBlobGetBreadth().GetNom(), Type2Type<CBlobGetBreadth>());
+ fabricaOperadorsBlob.Register( CBlobGetCompactness().GetNom(), Type2Type<CBlobGetCompactness>());
+ fabricaOperadorsBlob.Register( CBlobGetElongation().GetNom(), Type2Type<CBlobGetElongation>());
+ fabricaOperadorsBlob.Register( CBlobGetExterior().GetNom(), Type2Type<CBlobGetExterior>());
+ fabricaOperadorsBlob.Register( CBlobGetLength().GetNom(), Type2Type<CBlobGetLength>());
+ fabricaOperadorsBlob.Register( CBlobGetPerimeter().GetNom(), Type2Type<CBlobGetPerimeter>());
+ fabricaOperadorsBlob.Register( CBlobGetRoughness().GetNom(), Type2Type<CBlobGetRoughness>());
+
+ // extern pixels
+ fabricaOperadorsBlob.Register( CBlobGetExternPerimeterRatio().GetNom(), Type2Type<CBlobGetExternPerimeterRatio>());
+ fabricaOperadorsBlob.Register( CBlobGetExternHullPerimeterRatio().GetNom(), Type2Type<CBlobGetExternHullPerimeterRatio>());
+ fabricaOperadorsBlob.Register( CBlobGetExternPerimeter().GetNom(), Type2Type<CBlobGetExternPerimeter>());
+
+
+ // hull
+ fabricaOperadorsBlob.Register( CBlobGetHullPerimeter().GetNom(), Type2Type<CBlobGetHullPerimeter>());
+ fabricaOperadorsBlob.Register( CBlobGetHullArea().GetNom(), Type2Type<CBlobGetHullArea>());
+
+
+ // elipse info
+ fabricaOperadorsBlob.Register( CBlobGetMajorAxisLength().GetNom(), Type2Type<CBlobGetMajorAxisLength>());
+ fabricaOperadorsBlob.Register( CBlobGetMinorAxisLength().GetNom(), Type2Type<CBlobGetMinorAxisLength>());
+ fabricaOperadorsBlob.Register( CBlobGetAxisRatio().GetNom(), Type2Type<CBlobGetAxisRatio>());
+ fabricaOperadorsBlob.Register( CBlobGetOrientation().GetNom(), Type2Type<CBlobGetOrientation>());
+ fabricaOperadorsBlob.Register( CBlobGetOrientationCos().GetNom(), Type2Type<CBlobGetOrientationCos>());
+ fabricaOperadorsBlob.Register( CBlobGetAreaElipseRatio().GetNom(), Type2Type<CBlobGetAreaElipseRatio>());
+
+ // min an max
+ fabricaOperadorsBlob.Register( CBlobGetMaxX().GetNom(), Type2Type<CBlobGetMaxX>());
+ fabricaOperadorsBlob.Register( CBlobGetMaxY().GetNom(), Type2Type<CBlobGetMaxY>());
+ fabricaOperadorsBlob.Register( CBlobGetMinX().GetNom(), Type2Type<CBlobGetMinX>());
+ fabricaOperadorsBlob.Register( CBlobGetMinY().GetNom(), Type2Type<CBlobGetMinY>());
+
+ fabricaOperadorsBlob.Register( CBlobGetMaxXatMaxY().GetNom(), Type2Type<CBlobGetMaxXatMaxY>());
+ fabricaOperadorsBlob.Register( CBlobGetMaxYatMinX().GetNom(), Type2Type<CBlobGetMaxYatMinX>());
+ fabricaOperadorsBlob.Register( CBlobGetMinXatMinY().GetNom(), Type2Type<CBlobGetMinXatMinY>());
+ fabricaOperadorsBlob.Register( CBlobGetMinYatMaxX().GetNom(), Type2Type<CBlobGetMinYatMaxX>());
+
+ // grey level stats
+ fabricaOperadorsBlob.Register( CBlobGetMean().GetNom(), Type2Type<CBlobGetMean>());
+ fabricaOperadorsBlob.Register( CBlobGetStdDev().GetNom(), Type2Type<CBlobGetStdDev>());
+
+ // coordinate info
+ fabricaOperadorsBlob.Register( CBlobGetXYInside().GetNom(), Type2Type<CBlobGetXYInside>());
+ fabricaOperadorsBlob.Register( CBlobGetDiffY().GetNom(), Type2Type<CBlobGetDiffY>());
+ fabricaOperadorsBlob.Register( CBlobGetDiffX().GetNom(), Type2Type<CBlobGetDiffX>());
+ fabricaOperadorsBlob.Register( CBlobGetXCenter().GetNom(), Type2Type<CBlobGetXCenter>());
+ fabricaOperadorsBlob.Register( CBlobGetYCenter().GetNom(), Type2Type<CBlobGetYCenter>());
+ fabricaOperadorsBlob.Register( CBlobGetDistanceFromPoint().GetNom(), Type2Type<CBlobGetDistanceFromPoint>());
+
+ // moments
+ fabricaOperadorsBlob.Register( CBlobGetMoment().GetNom(), Type2Type<CBlobGetMoment>());
+
+}
+
+#endif
+
+}
+
diff --git a/package_bgs/jmo/blob.h b/package_bgs/jmo/blob.h
new file mode 100644
index 0000000..463e81a
--- /dev/null
+++ b/package_bgs/jmo/blob.h
@@ -0,0 +1,853 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* --- --- ---
+* Copyright (C) 2008--2010 Idiap Research Institute (.....@idiap.ch)
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+* 1. Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* 2. Redistributions 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.
+* 3. The name of the author may not be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+*/
+/************************************************************************
+Blob.h
+
+FUNCIONALITAT: Definici� de la classe CBlob
+AUTOR: Inspecta S.L.
+MODIFICACIONS (Modificaci�, Autor, Data):
+
+FUNCTIONALITY: Definition of the CBlob class and some helper classes to perform
+some calculations on it
+AUTHOR: Inspecta S.L.
+MODIFICATIONS (Modification, Author, Date):
+
+**************************************************************************/
+
+//! Disable warnings referred to 255 character truncation for the std:map
+//#pragma warning( disable : 4786 )
+
+#ifndef CBLOB_INSPECTA_INCLUDED
+#define CBLOB_INSPECTA_INCLUDED
+
+#include "cxcore.h"
+#include "BlobLibraryConfiguration.h"
+#include <functional>
+#include <vector>
+#include <algorithm>
+
+
+#ifdef BLOB_OBJECT_FACTORY
+//! Object factory pattern implementation
+#include "..\inspecta\DesignPatterns\ObjectFactory.h"
+#endif
+
+
+//! Factor de conversi� de graus a radians
+#define DEGREE2RAD (CV_PI / 180.0)
+
+namespace Blob
+{
+
+/**
+Classe que representa un blob, ent�s com un conjunt de pixels del
+mateix color contigus en una imatge binaritzada.
+
+Class to represent a blob, a group of connected pixels in a binary image
+*/
+class CBlob
+{
+public:
+ //! Constructor est�ndard
+ //! Standard constructor
+ CBlob();
+ //! Constructor de c�pia
+ //! Copy constructor
+ CBlob( const CBlob &src );
+ CBlob( const CBlob *src );
+
+ //! Destructor est�ndard
+ //! Standard Destructor
+ ~CBlob();
+
+ //! Operador d'assignaci�
+ //! Assigment operator
+ CBlob& operator=(const CBlob &src );
+
+ //! Indica si el blob est� buit ( no t� cap info associada )
+ //! Shows if the blob has associated information
+ bool IsEmpty() const
+ {
+ return (area == 0.0 && perimeter == 0.0 );
+ };
+
+ //! Neteja les cantonades del blob
+ //! Clears the edges of the blob
+ void ClearEdges();
+ //! Copia les cantonades del blob a un altre (les afegeix al dest�)
+ //! Adds the blob edges to another blob
+ void CopyEdges( CBlob &destination ) const;
+ //! Retorna el poligon convex del blob
+ //! Calculates the convex hull of the blob
+ bool GetConvexHull( CvSeq **dst ) const;
+ //! Calcula l'elipse que s'adapta als v�rtexs del blob
+ //! Fits an ellipse to the blob edges
+ CvBox2D GetEllipse() const;
+
+ //! Pinta l'interior d'un blob d'un color determinat
+ //! Paints the blob in an image
+ void FillBlob( IplImage *imatge, CvScalar color, int offsetX = 0, int offsetY = 0 ) const;
+
+ //! Funcions GET sobre els valors dels blobs
+ //! Get functions
+
+ inline int Label() const { return etiqueta; }
+ inline int Parent() const { return parent; }
+ inline double Area() const { return area; }
+ inline double Perimeter() const { return perimeter; }
+ inline double ExternPerimeter() const { return externPerimeter; }
+ inline int Exterior() const { return exterior; }
+ inline double Mean() const { return mean; }
+ inline double StdDev() const { return stddev; }
+ inline double MinX() const { return minx; }
+ inline double MinY() const { return miny; }
+ inline double MaxX() const { return maxx; }
+ inline double MaxY() const { return maxy; }
+ inline CvSeq *Edges() const { return edges; }
+ inline double SumX() const { return sumx; }
+ inline double SumY() const { return sumy; }
+ inline double SumXX() const { return sumxx; }
+ inline double SumYY() const { return sumyy; }
+ inline double SumXY() const { return sumxy; }
+
+ //! etiqueta del blob
+ //! label of the blob
+ int etiqueta;
+ //! flag per indicar si es exterior o no
+ //! true for extern blobs
+ int exterior;
+ //! area del blob
+ //! Blob area
+ double area;
+ //! perimetre del blob
+ //! Blob perimeter
+ double perimeter;
+ //! quantitat de perimetre del blob extern
+ //! amount of blob perimeter which is exterior
+ double externPerimeter;
+ //! etiqueta del blob pare
+ //! label of the parent blob
+ int parent;
+ //! moments
+ double sumx;
+ double sumy;
+ double sumxx;
+ double sumyy;
+ double sumxy;
+ //! Bounding rect
+ double minx;
+ double maxx;
+ double miny;
+ double maxy;
+
+ //! mitjana
+ //! mean of the grey scale values of the blob pixels
+ double mean;
+ //! desviaci� standard
+ //! standard deviation of the grey scale values of the blob pixels
+ double stddev;
+
+ //! �rea de mem�ria on es desaran els punts de contorn del blob
+ //! storage which contains the edges of the blob
+ CvMemStorage *m_storage;
+ //! Sequ�ncia de punts del contorn del blob
+ //! Sequence with the edges of the blob
+ CvSeq *edges;
+
+
+ //! Point datatype for plotting (FillBlob)
+ typedef std::vector<CvPoint> vectorPunts;
+
+ //! Helper class to compare two CvPoints (for sorting in FillBlob)
+ struct comparaCvPoint : public std::binary_function<CvPoint, CvPoint, bool>
+ {
+ //! Definim que un punt �s menor com m�s amunt a la dreta estigui
+ bool operator()(CvPoint a, CvPoint b)
+ {
+ if( a.y == b.y )
+ return a.x < b.x;
+ else
+ return a.y < b.y;
+ }
+ };
+};
+
+
+
+/**************************************************************************
+Definici� de les classes per a fer operacions sobre els blobs
+
+Helper classes to perform operations on blobs
+**************************************************************************/
+
+
+//! Classe d'on derivarem totes les operacions sobre els blobs
+//! Interface to derive all blob operations
+class COperadorBlob
+{
+public:
+ virtual ~COperadorBlob(){};
+
+ //! Aplica l'operaci� al blob
+ virtual double operator()(const CBlob &blob) const = 0;
+ //! Obt� el nom de l'operador
+ virtual const char *GetNom() const = 0;
+
+ operator COperadorBlob*() const
+ {
+ return (COperadorBlob*)this;
+ }
+};
+
+typedef COperadorBlob funcio_calculBlob;
+
+#ifdef BLOB_OBJECT_FACTORY
+/**
+Funci� per comparar dos identificadors dins de la f�brica de COperadorBlobs
+*/
+struct functorComparacioIdOperador
+{
+ bool operator()(const char* s1, const char* s2) const
+ {
+ return strcmp(s1, s2) < 0;
+ }
+};
+
+//! Definition of Object factory type for COperadorBlob objects
+typedef ObjectFactory<COperadorBlob, const char *, functorComparacioIdOperador > t_OperadorBlobFactory;
+
+//! Funci� global per a registrar tots els operadors definits a blob.h
+void RegistraTotsOperadors( t_OperadorBlobFactory &fabricaOperadorsBlob );
+
+#endif
+
+//! Classe per calcular l'�rea d'un blob
+//! Class to get the area of a blob
+class CBlobGetArea : public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ return blob.Area();
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetArea";
+ }
+};
+
+//! Classe per calcular el perimetre d'un blob
+//! Class to get the perimeter of a blob
+class CBlobGetPerimeter: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ return blob.Perimeter();
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetPerimeter";
+ }
+};
+
+//! Classe que diu si un blob �s extern o no
+//! Class to get the extern flag of a blob
+class CBlobGetExterior: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ return blob.Exterior();
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetExterior";
+ }
+};
+
+//! Classe per calcular la mitjana de nivells de gris d'un blob
+//! Class to get the mean grey level of a blob
+class CBlobGetMean: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ return blob.Mean();
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetMean";
+ }
+};
+
+//! Classe per calcular la desviaci� est�ndard dels nivells de gris d'un blob
+//! Class to get the standard deviation of the grey level values of a blob
+class CBlobGetStdDev: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ return blob.StdDev();
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetStdDev";
+ }
+};
+
+//! Classe per calcular la compacitat d'un blob
+//! Class to calculate the compactness of a blob
+class CBlobGetCompactness: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const;
+ const char *GetNom() const
+ {
+ return "CBlobGetCompactness";
+ }
+};
+
+//! Classe per calcular la longitud d'un blob
+//! Class to calculate the length of a blob
+class CBlobGetLength: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const;
+ const char *GetNom() const
+ {
+ return "CBlobGetLength";
+ }
+};
+
+//! Classe per calcular l'amplada d'un blob
+//! Class to calculate the breadth of a blob
+class CBlobGetBreadth: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const;
+ const char *GetNom() const
+ {
+ return "CBlobGetBreadth";
+ }
+};
+
+//! Classe per calcular la difer�ncia en X del blob
+class CBlobGetDiffX: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ return blob.maxx - blob.minx;
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetDiffX";
+ }
+};
+
+//! Classe per calcular la difer�ncia en X del blob
+class CBlobGetDiffY: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ return blob.maxy - blob.miny;
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetDiffY";
+ }
+};
+
+//! Classe per calcular el moment PQ del blob
+//! Class to calculate the P,Q moment of a blob
+class CBlobGetMoment: public COperadorBlob
+{
+public:
+ //! Constructor est�ndard
+ //! Standard constructor (gets the 00 moment)
+ CBlobGetMoment()
+ {
+ m_p = m_q = 0;
+ }
+ //! Constructor: indiquem el moment p,q a calcular
+ //! Constructor: gets the PQ moment
+ CBlobGetMoment( int p, int q )
+ {
+ m_p = p;
+ m_q = q;
+ };
+ double operator()(const CBlob &blob) const;
+ const char *GetNom() const
+ {
+ return "CBlobGetMoment";
+ }
+
+private:
+ //! moment que volem calcular
+ int m_p, m_q;
+};
+
+//! Classe per calcular el perimetre del poligon convex d'un blob
+//! Class to calculate the convex hull perimeter of a blob
+class CBlobGetHullPerimeter: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const;
+ const char *GetNom() const
+ {
+ return "CBlobGetHullPerimeter";
+ }
+};
+
+//! Classe per calcular l'�rea del poligon convex d'un blob
+//! Class to calculate the convex hull area of a blob
+class CBlobGetHullArea: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const;
+ const char *GetNom() const
+ {
+ return "CBlobGetHullArea";
+ }
+};
+
+//! Classe per calcular la x minima en la y minima
+//! Class to calculate the minimum x on the minimum y
+class CBlobGetMinXatMinY: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const;
+ const char *GetNom() const
+ {
+ return "CBlobGetMinXatMinY";
+ }
+};
+
+//! Classe per calcular la y minima en la x maxima
+//! Class to calculate the minimum y on the maximum x
+class CBlobGetMinYatMaxX: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const;
+ const char *GetNom() const
+ {
+ return "CBlobGetMinYatMaxX";
+ }
+};
+
+//! Classe per calcular la x maxima en la y maxima
+//! Class to calculate the maximum x on the maximum y
+class CBlobGetMaxXatMaxY: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const;
+ const char *GetNom() const
+ {
+ return "CBlobGetMaxXatMaxY";
+ }
+};
+
+//! Classe per calcular la y maxima en la x minima
+//! Class to calculate the maximum y on the minimum y
+class CBlobGetMaxYatMinX: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const;
+ const char *GetNom() const
+ {
+ return "CBlobGetMaxYatMinX";
+ }
+};
+
+//! Classe per a calcular la x m�nima
+//! Class to get the minimum x
+class CBlobGetMinX: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ return blob.MinX();
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetMinX";
+ }
+};
+
+//! Classe per a calcular la x m�xima
+//! Class to get the maximum x
+class CBlobGetMaxX: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ return blob.MaxX();
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetMaxX";
+ }
+};
+
+//! Classe per a calcular la y m�nima
+//! Class to get the minimum y
+class CBlobGetMinY: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ return blob.MinY();
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetMinY";
+ }
+};
+
+//! Classe per a calcular la y m�xima
+//! Class to get the maximum y
+class CBlobGetMaxY: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ return blob.MaxY();
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetMax";
+ }
+};
+
+
+//! Classe per calcular l'elongacio d'un blob
+//! Class to calculate the elongation of the blob
+class CBlobGetElongation: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const;
+ const char *GetNom() const
+ {
+ return "CBlobGetElongation";
+ }
+};
+
+//! Classe per calcular la rugositat d'un blob
+//! Class to calculate the roughness of the blob
+class CBlobGetRoughness: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const;
+ const char *GetNom() const
+ {
+ return "CBlobGetRoughness";
+ }
+};
+
+//! Classe per calcular la dist�ncia entre el centre del blob i un punt donat
+//! Class to calculate the euclidean distance between the center of a blob and a given point
+class CBlobGetDistanceFromPoint: public COperadorBlob
+{
+public:
+ //! Standard constructor (distance to point 0,0)
+ CBlobGetDistanceFromPoint()
+ {
+ m_x = m_y = 0.0;
+ }
+ //! Constructor (distance to point x,y)
+ CBlobGetDistanceFromPoint( const double x, const double y )
+ {
+ m_x = x;
+ m_y = y;
+ }
+
+ double operator()(const CBlob &blob) const;
+ const char *GetNom() const
+ {
+ return "CBlobGetDistanceFromPoint";
+ }
+
+private:
+ // coordenades del punt on volem calcular la dist�ncia
+ double m_x, m_y;
+};
+
+//! Classe per calcular el nombre de pixels externs d'un blob
+//! Class to get the number of extern pixels of a blob
+class CBlobGetExternPerimeter: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ return blob.ExternPerimeter();
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetExternPerimeter";
+ }
+};
+
+//! Classe per calcular el ratio entre el perimetre i nombre pixels externs
+//! valors propers a 0 indiquen que la majoria del blob �s intern
+//! valors propers a 1 indiquen que la majoria del blob �s extern
+//! Class to calculate the ratio between the perimeter and the number of extern pixels
+class CBlobGetExternPerimeterRatio: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ if( blob.Perimeter() != 0 )
+ return blob.ExternPerimeter() / blob.Perimeter();
+ else
+ return blob.ExternPerimeter();
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetExternPerimeterRatio";
+ }
+};
+
+//! Classe per calcular el ratio entre el perimetre convex i nombre pixels externs
+//! valors propers a 0 indiquen que la majoria del blob �s intern
+//! valors propers a 1 indiquen que la majoria del blob �s extern
+//! Class to calculate the ratio between the perimeter and the number of extern pixels
+class CBlobGetExternHullPerimeterRatio: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ CBlobGetHullPerimeter getHullPerimeter;
+ double hullPerimeter;
+
+ if( (hullPerimeter = getHullPerimeter( blob ) ) != 0 )
+ return blob.ExternPerimeter() / hullPerimeter;
+ else
+ return blob.ExternPerimeter();
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetExternHullPerimeterRatio";
+ }
+};
+
+//! Classe per calcular el centre en el eix X d'un blob
+//! Class to calculate the center in the X direction
+class CBlobGetXCenter: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ return blob.MinX() + (( blob.MaxX() - blob.MinX() ) / 2.0);
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetXCenter";
+ }
+};
+
+//! Classe per calcular el centre en el eix Y d'un blob
+//! Class to calculate the center in the Y direction
+class CBlobGetYCenter: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ return blob.MinY() + (( blob.MaxY() - blob.MinY() ) / 2.0);
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetYCenter";
+ }
+};
+
+//! Classe per calcular la longitud de l'eix major d'un blob
+//! Class to calculate the length of the major axis of the ellipse that fits the blob edges
+class CBlobGetMajorAxisLength: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ CvBox2D elipse = blob.GetEllipse();
+
+ return elipse.size.width;
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetMajorAxisLength";
+ }
+};
+
+//! Classe per calcular el ratio entre l'area de la elipse i la de la taca
+//! Class
+class CBlobGetAreaElipseRatio: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ if( blob.Area()==0.0 ) return 0.0;
+
+ CvBox2D elipse = blob.GetEllipse();
+ double ratioAreaElipseAreaTaca = ( (elipse.size.width/2.0)
+ *
+ (elipse.size.height/2.0)
+ *CV_PI
+ )
+ /
+ blob.Area();
+
+ return ratioAreaElipseAreaTaca;
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetAreaElipseRatio";
+ }
+};
+
+//! Classe per calcular la longitud de l'eix menor d'un blob
+//! Class to calculate the length of the minor axis of the ellipse that fits the blob edges
+class CBlobGetMinorAxisLength: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ CvBox2D elipse = blob.GetEllipse();
+
+ return elipse.size.height;
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetMinorAxisLength";
+ }
+};
+
+//! Classe per calcular l'orientaci� de l'ellipse del blob en radians
+//! Class to calculate the orientation of the ellipse that fits the blob edges in radians
+class CBlobGetOrientation: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ CvBox2D elipse = blob.GetEllipse();
+
+ if( elipse.angle > 180.0 )
+ return (( elipse.angle - 180.0 )* DEGREE2RAD);
+ else
+ return ( elipse.angle * DEGREE2RAD);
+
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetOrientation";
+ }
+};
+
+//! Classe per calcular el cosinus de l'orientaci� de l'ellipse del blob
+//! Class to calculate the cosinus of the orientation of the ellipse that fits the blob edges
+class CBlobGetOrientationCos: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ CBlobGetOrientation getOrientation;
+ return fabs( cos( getOrientation(blob) ));
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetOrientationCos";
+ }
+};
+
+
+//! Classe per calcular el ratio entre l'eix major i menor de la el�lipse
+//! Class to calculate the ratio between both axes of the ellipse
+class CBlobGetAxisRatio: public COperadorBlob
+{
+public:
+ double operator()(const CBlob &blob) const
+ {
+ CvBox2D elipse = blob.GetEllipse();
+
+ return elipse.size.height / elipse.size.width;
+ }
+ const char *GetNom() const
+ {
+ return "CBlobGetAxisRatio";
+ }
+};
+
+
+//! Classe per calcular si un punt cau dins del blob
+//! Class to calculate whether a point is inside a blob
+class CBlobGetXYInside: public COperadorBlob
+{
+public:
+ //! Constructor est�ndard
+ //! Standard constructor
+ CBlobGetXYInside()
+ {
+ m_p = cvPoint(0,0);
+ }
+ //! Constructor: indiquem el punt
+ //! Constructor: sets the point
+ CBlobGetXYInside( CvPoint p )
+ {
+ m_p = p;
+ };
+ double operator()(const CBlob &blob) const;
+ const char *GetNom() const
+ {
+ return "CBlobGetXYInside";
+ }
+
+private:
+ //! punt que considerem
+ //! point to be considered
+ CvPoint m_p;
+};
+
+}
+
+#endif //CBLOB_INSPECTA_INCLUDED
+
diff --git a/package_bgs/lb/BGModel.cpp b/package_bgs/lb/BGModel.cpp
new file mode 100644
index 0000000..c42bec7
--- /dev/null
+++ b/package_bgs/lb/BGModel.cpp
@@ -0,0 +1,87 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* Scene 1.0.1 -- Background subtraction and object tracking for complex environments
+ BGModel.cpp
+
+ Copyright (C) 2011 Laurence Bender <lbender@untref.edu.ar>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program 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 General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#include "BGModel.h"
+
+namespace lb_library
+{
+ BGModel::BGModel(int width, int height): m_width(width), m_height(height)
+ {
+ m_SrcImage = cvCreateImage(cvSize(m_width,m_height), IPL_DEPTH_8U, 3);
+ m_BGImage = cvCreateImage(cvSize(m_width,m_height), IPL_DEPTH_8U, 3);
+ m_FGImage = cvCreateImage(cvSize(m_width,m_height), IPL_DEPTH_8U, 3);
+
+ cvZero(m_SrcImage);
+ cvZero(m_BGImage);
+ cvZero(m_FGImage);
+ }
+
+ BGModel::~BGModel()
+ {
+ if (m_SrcImage!=NULL) cvReleaseImage(&m_SrcImage);
+ if (m_BGImage!=NULL) cvReleaseImage(&m_BGImage);
+ if (m_FGImage!=NULL) cvReleaseImage(&m_FGImage);
+ }
+
+ IplImage* BGModel::GetSrc()
+ {
+ return m_SrcImage;
+ }
+
+ IplImage* BGModel::GetFG()
+ {
+ return m_FGImage;
+ }
+
+ IplImage* BGModel::GetBG()
+ {
+ return m_BGImage;
+ }
+
+ void BGModel::InitModel(IplImage* image)
+ {
+ cvCopy(image,m_SrcImage);
+ Init();
+ return;
+ }
+
+ void BGModel::UpdateModel(IplImage* image)
+ {
+ cvCopy(image,m_SrcImage);
+ Update();
+ return;
+ }
+}
\ No newline at end of file
diff --git a/package_bgs/lb/BGModel.h b/package_bgs/lb/BGModel.h
new file mode 100644
index 0000000..d53b52e
--- /dev/null
+++ b/package_bgs/lb/BGModel.h
@@ -0,0 +1,78 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* Scene 1.0.1 -- Background subtraction and object tracking for complex environments
+ BGModel.h
+
+ Copyright (C) 2011 Laurence Bender <lbender@untref.edu.ar>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program 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 General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#ifndef BGMODEL_H
+#define BGMODEL_H
+
+#include <cv.h>
+#include <math.h>
+#include <float.h>
+
+#include "Types.h"
+
+namespace lb_library
+{
+ class BGModel
+ {
+ public:
+
+ BGModel(int width, int height);
+ virtual ~BGModel();
+
+ void InitModel(IplImage* image);
+ void UpdateModel(IplImage* image);
+
+ virtual void setBGModelParameter(int id, int value) {};
+
+ virtual IplImage* GetSrc();
+ virtual IplImage* GetFG();
+ virtual IplImage* GetBG();
+
+ protected:
+
+ IplImage* m_SrcImage;
+ IplImage* m_BGImage;
+ IplImage* m_FGImage;
+
+ const int m_width;
+ const int m_height;
+
+ virtual void Init() = 0;
+ virtual void Update() = 0;
+ };
+}
+
+#endif
diff --git a/package_bgs/lb/BGModelFuzzyGauss.cpp b/package_bgs/lb/BGModelFuzzyGauss.cpp
new file mode 100644
index 0000000..8706b13
--- /dev/null
+++ b/package_bgs/lb/BGModelFuzzyGauss.cpp
@@ -0,0 +1,210 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* Scene 1.0.1 -- Background subtraction and object tracking for complex environments
+BGModelFuzzyGauss.cpp
+
+Copyright (C) 2011 Laurence Bender <lbender@untref.edu.ar>
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+This program 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#include "BGModelFuzzyGauss.h"
+
+namespace lb_library
+{
+ namespace FuzzyGaussian
+ {
+ BGModelFuzzyGauss::BGModelFuzzyGauss(int width, int height) : BGModel(width,height)
+ {
+ m_alphamax = ALPHAFUZZYGAUSS;
+ m_threshold = THRESHOLDFUZZYGAUSS * THRESHOLDFUZZYGAUSS;
+ m_threshBG = THRESHOLDBG;
+ m_noise = NOISEFUZZYGAUSS;
+
+ m_pMu = new DBLRGB[m_width * m_height];
+ m_pVar = new DBLRGB[m_width * m_height];
+
+ DBLRGB *pMu = m_pMu;
+ DBLRGB *pVar = m_pVar;
+
+ for(int k = 0; k < (m_width * m_height); k++)
+ {
+ pMu->Red = 0.0;
+ pMu->Green = 0.0;
+ pMu->Blue = 0.0;
+
+ pVar->Red = m_noise;
+ pVar->Green = m_noise;
+ pVar->Blue = m_noise;
+
+ pMu++;
+ pVar++;
+ }
+ }
+
+ BGModelFuzzyGauss::~BGModelFuzzyGauss()
+ {
+ delete [] m_pMu;
+ delete [] m_pVar;
+ }
+
+ void BGModelFuzzyGauss::setBGModelParameter(int id, int value)
+ {
+ double dvalue = (double)value/255.0;
+
+ switch(id)
+ {
+ case 0:
+ m_threshold = 100.0*dvalue*dvalue;
+ break;
+
+ case 1:
+ m_threshBG = dvalue;
+ break;
+
+ case 2:
+ m_alphamax = dvalue*dvalue*dvalue;
+ break;
+
+ case 3:
+ m_noise = 100.0*dvalue;
+ break;
+ }
+
+ return;
+ }
+
+ void BGModelFuzzyGauss::Init()
+ {
+ DBLRGB *pMu = m_pMu;
+ DBLRGB *pVar = m_pVar;
+
+ Image<BYTERGB> prgbSrc(m_SrcImage);
+
+ for(int i = 0; i < m_height; i++)
+ {
+ for(int j = 0; j < m_width; j++)
+ {
+ pMu->Red = prgbSrc[i][j].Red;
+ pMu->Green = prgbSrc[i][j].Green;
+ pMu->Blue = prgbSrc[i][j].Blue;
+
+ pVar->Red = m_noise;
+ pVar->Green = m_noise;
+ pVar->Blue = m_noise;
+
+ pMu++;
+ pVar++;
+ }
+ }
+
+ return;
+ }
+
+ void BGModelFuzzyGauss::Update()
+ {
+ DBLRGB *pMu = m_pMu;
+ DBLRGB *pVar = m_pVar;
+
+ Image<BYTERGB> prgbSrc(m_SrcImage);
+ Image<BYTERGB> prgbBG(m_BGImage);
+ Image<BYTERGB> prgbFG(m_FGImage);
+
+ for(int i = 0; i < m_height; i++)
+ {
+ for(int j = 0; j < m_width; j++)
+ {
+ double srcR = (double) prgbSrc[i][j].Red;
+ double srcG = (double) prgbSrc[i][j].Green;
+ double srcB = (double) prgbSrc[i][j].Blue;
+
+ // Fuzzy background subtraction (Mahalanobis distance)
+
+ double dr = srcR - pMu->Red;
+ double dg = srcG - pMu->Green;
+ double db = srcB - pMu->Blue;
+
+ double d2 = dr*dr/pVar->Red + dg*dg/pVar->Green + db*db/pVar->Blue;
+
+ double fuzzyBG = 1.0;
+
+ if(d2 < m_threshold)
+ fuzzyBG = d2/m_threshold;
+
+ // Fuzzy running average
+
+ double alpha = m_alphamax*exp(FUZZYEXP*fuzzyBG);
+
+ if(dr*dr > DBL_MIN)
+ pMu->Red += alpha*dr;
+
+ if(dg*dg > DBL_MIN)
+ pMu->Green += alpha*dg;
+
+ if(db*db > DBL_MIN)
+ pMu->Blue += alpha*db;
+
+ double d;
+
+ d = (srcR - pMu->Red)*(srcR - pMu->Red) - pVar->Red;
+ if(d*d > DBL_MIN)
+ pVar->Red += alpha*d;
+
+ d = (srcG - pMu->Green)*(srcG - pMu->Green) - pVar->Green;
+ if(d*d > DBL_MIN)
+ pVar->Green += alpha*d;
+
+ d = (srcB - pMu->Blue)*(srcB - pMu->Blue) - pVar->Blue;
+ if(d*d > DBL_MIN)
+ pVar->Blue += alpha*d;
+
+ pVar->Red = (std::max)(pVar->Red,m_noise);
+ pVar->Green = (std::max)(pVar->Green,m_noise);
+ pVar->Blue = (std::max)(pVar->Blue,m_noise);
+
+ // Set foreground and background
+
+ if(fuzzyBG >= m_threshBG)
+ prgbFG[i][j].Red = prgbFG[i][j].Green = prgbFG[i][j].Blue = 255;
+ else
+ prgbFG[i][j].Red = prgbFG[i][j].Green = prgbFG[i][j].Blue = 0;
+
+ prgbBG[i][j].Red = (unsigned char)pMu->Red;
+ prgbBG[i][j].Green = (unsigned char)pMu->Green;
+ prgbBG[i][j].Blue = (unsigned char)pMu->Blue;
+
+ pMu++;
+ pVar++;
+ }
+ }
+
+ return;
+ }
+ }
+}
\ No newline at end of file
diff --git a/package_bgs/lb/BGModelFuzzyGauss.h b/package_bgs/lb/BGModelFuzzyGauss.h
new file mode 100644
index 0000000..033eaf3
--- /dev/null
+++ b/package_bgs/lb/BGModelFuzzyGauss.h
@@ -0,0 +1,75 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* Scene 1.0.1 -- Background subtraction and object tracking for complex environments
+BGModelFuzzyGauss.h
+
+Copyright (C) 2011 Laurence Bender <lbender@untref.edu.ar>
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+This program 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#ifndef BGMODELFUZZYGAUSS_H
+#define BGMODELFUZZYGAUSS_H
+
+#include "BGModel.h"
+
+namespace lb_library
+{
+ namespace FuzzyGaussian
+ {
+ const float ALPHAFUZZYGAUSS = 0.02;
+ const float THRESHOLDFUZZYGAUSS = 3.5;
+ const float THRESHOLDBG = 0.5;
+ const float NOISEFUZZYGAUSS = 50.0;
+ const float FUZZYEXP = -5.0;
+
+ class BGModelFuzzyGauss : public BGModel
+ {
+ public:
+ BGModelFuzzyGauss(int width, int height);
+ ~BGModelFuzzyGauss();
+
+ void setBGModelParameter(int id, int value);
+
+ protected:
+ double m_alphamax;
+ double m_threshold;
+ double m_threshBG;
+ double m_noise;
+
+ DBLRGB* m_pMu;
+ DBLRGB* m_pVar;
+
+ void Init();
+ void Update();
+ };
+ }
+}
+
+#endif
diff --git a/package_bgs/lb/BGModelFuzzySom.cpp b/package_bgs/lb/BGModelFuzzySom.cpp
new file mode 100644
index 0000000..189cb1a
--- /dev/null
+++ b/package_bgs/lb/BGModelFuzzySom.cpp
@@ -0,0 +1,298 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* Scene 1.0.1 -- Background subtraction and object tracking for complex environments
+BGModelFuzzySom.cpp
+
+Copyright (C) 2011 Laurence Bender <lbender@untref.edu.ar>
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+This program 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#include "BGModelFuzzySom.h"
+
+namespace lb_library
+{
+ namespace FuzzyAdaptiveSOM
+ {
+ BGModelFuzzySom::BGModelFuzzySom(int width, int height) : BGModel(width,height)
+ {
+ m_offset = (KERNEL - 1)/2;
+
+ if(SPAN_NEIGHBORS)
+ m_pad = 0;
+ else
+ m_pad = m_offset;
+
+ // SOM models
+
+ m_widthSOM = m_width*M + 2*m_offset + (m_width-1)*m_pad;
+ m_heightSOM = m_height*N + 2*m_offset + (m_height-1)*m_pad;
+
+ m_ppSOM = new DBLRGB*[m_heightSOM];
+ for(int n = 0; n < m_heightSOM; n++)
+ m_ppSOM[n] = new DBLRGB[m_widthSOM];
+
+ for(int j = 0; j < m_heightSOM; j++)
+ {
+ for(int i = 0; i < m_widthSOM; i++)
+ {
+ m_ppSOM[j][i].Red = 0.0;
+ m_ppSOM[j][i].Green = 0.0;
+ m_ppSOM[j][i].Blue = 0.0;
+ }
+ }
+
+ // Create weights
+
+ m_ppW = new double*[KERNEL];
+ for(int n = 0; n < KERNEL; n++)
+ m_ppW[n] = new double[KERNEL];
+
+ // Construct Gaussian kernel using Pascal's triangle
+
+ int cM;
+ int cN;
+ m_Wmax = DBL_MIN;
+
+ cN = 1;
+ for(int j = 0; j < KERNEL; j++)
+ {
+ cM = 1;
+
+ for(int i = 0; i < KERNEL; i++)
+ {
+ m_ppW[j][i] = cN*cM;
+
+ if(m_ppW[j][i] > m_Wmax)
+ m_Wmax = m_ppW[j][i];
+
+ cM = cM * (KERNEL - 1 - i) / (i + 1);
+ }
+
+ cN = cN * (KERNEL - 1 - j) / (j + 1);
+ }
+
+ // Parameters
+
+ m_epsilon1 = EPS1*EPS1;
+ m_epsilon2 = EPS2*EPS2;
+
+ m_alpha1 = C1/m_Wmax;
+ m_alpha2 = C2/m_Wmax;
+
+ m_K = 0;
+ m_TSteps = TRAINING_STEPS;
+ }
+
+ BGModelFuzzySom::~BGModelFuzzySom()
+ {
+ for(int n = 0; n < m_heightSOM; n++)
+ delete [] m_ppSOM[n];
+
+ delete [] m_ppSOM;
+
+ for(int n = 0; n < KERNEL; n++)
+ delete [] m_ppW[n];
+
+ delete [] m_ppW;
+ }
+
+ void BGModelFuzzySom::setBGModelParameter(int id, int value)
+ {
+ double dvalue = (double)value/255.0;
+
+ switch(id)
+ {
+ case 0:
+ m_epsilon2 = 255.0*255.0*dvalue*dvalue*dvalue*dvalue;
+ break;
+
+ case 1:
+ m_epsilon1 = 255.0*255.0*dvalue*dvalue*dvalue*dvalue;
+ break;
+
+ case 2:
+ m_alpha2 = dvalue*dvalue*dvalue/m_Wmax;
+ break;
+
+ case 3:
+ m_alpha1 = dvalue*dvalue*dvalue/m_Wmax;
+ break;
+
+ case 5:
+ m_TSteps = (int)(255.0*dvalue);
+ break;
+ }
+
+ return;
+ }
+
+ void BGModelFuzzySom::Init()
+ {
+ Image<BYTERGB> prgbSrc(m_SrcImage);
+
+ for(int j = 0; j < m_height; j++)
+ {
+ int jj = m_offset + j*(N + m_pad);
+
+ for(int i = 0; i < m_width; i++)
+ {
+ int ii = m_offset + i*(M + m_pad);
+
+ for(int l = 0; l < N; l++)
+ {
+ for(int k = 0; k < M; k++)
+ {
+ m_ppSOM[jj+l][ii+k].Red = (double)prgbSrc[j][i].Red;
+ m_ppSOM[jj+l][ii+k].Green = (double)prgbSrc[j][i].Green;
+ m_ppSOM[jj+l][ii+k].Blue = (double)prgbSrc[j][i].Blue;
+ }
+ }
+ }
+ }
+
+ m_K = 0;
+
+ return;
+ }
+
+ void BGModelFuzzySom::Update()
+ {
+ double alpha,a;
+ double epsilon;
+
+ // calibration phase
+ if(m_K <= m_TSteps)
+ {
+ epsilon = m_epsilon1;
+ alpha = (m_alpha1 - m_K * (m_alpha1 - m_alpha2) / m_TSteps);
+ m_K++;
+ }
+ else // online phase
+ {
+ epsilon = m_epsilon2;
+ alpha = m_alpha2;
+ }
+
+ Image<BYTERGB> prgbSrc(m_SrcImage);
+ Image<BYTERGB> prgbBG(m_BGImage);
+ Image<BYTERGB> prgbFG(m_FGImage);
+
+ for(int j = 0; j < m_height; j++)
+ {
+ int jj = m_offset + j*(N + m_pad);
+
+ for(int i = 0; i < m_width; i++)
+ {
+ int ii = m_offset + i*(M + m_pad);
+
+ double srcR = (double)prgbSrc[j][i].Red;
+ double srcG = (double)prgbSrc[j][i].Green;
+ double srcB = (double)prgbSrc[j][i].Blue;
+
+ // Find BMU
+
+ double d2min = DBL_MAX;
+ int iiHit = ii;
+ int jjHit = jj;
+
+ for(int l = 0; l < N; l++)
+ {
+ for(int k = 0; k < M; k++)
+ {
+ double dr = srcR - m_ppSOM[jj+l][ii+k].Red;
+ double dg = srcG - m_ppSOM[jj+l][ii+k].Green;
+ double db = srcB - m_ppSOM[jj+l][ii+k].Blue;
+
+ double d2 = dr*dr + dg*dg + db*db;
+
+ if(d2 < d2min)
+ {
+ d2min = d2;
+ iiHit = ii + k;
+ jjHit = jj + l;
+ }
+ }
+ }
+
+ double fuzzyBG = 1.0;
+
+ if(d2min < epsilon)
+ fuzzyBG = d2min/epsilon;
+
+ // Update SOM
+
+ double alphamax = alpha*exp(FUZZYEXP*fuzzyBG);
+
+ for(int l = (jjHit - m_offset); l <= (jjHit + m_offset); l++)
+ {
+ for(int k = (iiHit - m_offset); k <= (iiHit + m_offset); k++)
+ {
+ a = alphamax * m_ppW[l - jjHit + m_offset][k - iiHit + m_offset];
+
+ // speed hack.. avoid very small increment values. abs() is sloooow.
+
+ double d;
+
+ d = srcR - m_ppSOM[l][k].Red;
+ if(d*d > DBL_MIN)
+ m_ppSOM[l][k].Red += a*d;
+
+ d = srcG - m_ppSOM[l][k].Green;
+ if(d*d > DBL_MIN)
+ m_ppSOM[l][k].Green += a*d;
+
+ d = srcB - m_ppSOM[l][k].Blue;
+ if(d*d > DBL_MIN)
+ m_ppSOM[l][k].Blue += a*d;
+ }
+ }
+
+ if(fuzzyBG >= FUZZYTHRESH)
+ {
+ // Set foreground image
+ prgbFG[j][i].Red = prgbFG[j][i].Green = prgbFG[j][i].Blue = 255;
+ }
+ else
+ {
+ // Set background image
+ prgbBG[j][i].Red = m_ppSOM[jjHit][iiHit].Red;
+ prgbBG[j][i].Green = m_ppSOM[jjHit][iiHit].Green;
+ prgbBG[j][i].Blue = m_ppSOM[jjHit][iiHit].Blue;
+
+ // Set foreground image
+ prgbFG[j][i].Red = prgbFG[j][i].Green = prgbFG[j][i].Blue = 0;
+ }
+ }
+ }
+
+ return;
+ }
+ }
+}
\ No newline at end of file
diff --git a/package_bgs/lb/BGModelFuzzySom.h b/package_bgs/lb/BGModelFuzzySom.h
new file mode 100644
index 0000000..2f21d3e
--- /dev/null
+++ b/package_bgs/lb/BGModelFuzzySom.h
@@ -0,0 +1,95 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* Scene 1.0.1 -- Background subtraction and object tracking for complex environments
+BGModelFuzzySom.h
+
+Copyright (C) 2011 Laurence Bender <lbender@untref.edu.ar>
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+This program 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#ifndef BGMODELFUZZYSOM_H
+#define BGMODELFUZZYSOM_H
+
+#include "BGModel.h"
+
+namespace lb_library
+{
+ namespace FuzzyAdaptiveSOM
+ {
+ // SOM parameters
+
+ const int M = 3; // width SOM (per pixel)
+ const int N = 3; // height SOM (per pixel)
+ const int KERNEL = 3; // size Gaussian kernel
+
+ const bool SPAN_NEIGHBORS = false; // true if update neighborhood spans different pixels //
+ const int TRAINING_STEPS = 100; // number of training steps
+
+ const double EPS1 = 100.0; // model match distance during training
+ const double EPS2 = 20.0; // model match distance
+ const double C1 = 1.0; // learning rate during training
+ const double C2 = 0.05; // learning rate
+
+ const double FUZZYEXP = -5.0;
+ const double FUZZYTHRESH = 0.8;
+
+ class BGModelFuzzySom : public BGModel
+ {
+ public:
+ BGModelFuzzySom(int width, int height);
+ ~BGModelFuzzySom();
+
+ void setBGModelParameter(int id, int value);
+
+ protected:
+ int m_widthSOM;
+ int m_heightSOM;
+ int m_offset;
+ int m_pad;
+ int m_K;
+ int m_TSteps;
+
+ double m_Wmax;
+
+ double m_epsilon1;
+ double m_epsilon2;
+ double m_alpha1;
+ double m_alpha2;
+
+ DBLRGB** m_ppSOM; // SOM grid
+ double** m_ppW; // Weights
+
+ void Init();
+ void Update();
+ };
+ }
+}
+
+#endif
diff --git a/package_bgs/lb/BGModelGauss.cpp b/package_bgs/lb/BGModelGauss.cpp
new file mode 100644
index 0000000..6892d13
--- /dev/null
+++ b/package_bgs/lb/BGModelGauss.cpp
@@ -0,0 +1,200 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* Scene 1.0.1 -- Background subtraction and object tracking for complex environments
+BGModelGauss.cpp
+
+Copyright (C) 2011 Laurence Bender <lbender@untref.edu.ar>
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+This program 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#include "BGModelGauss.h"
+
+namespace lb_library
+{
+ namespace SimpleGaussian
+ {
+ BGModelGauss::BGModelGauss(int width, int height) : BGModel(width,height)
+ {
+ m_alpha = ALPHAGAUSS;
+ m_threshold = THRESHGAUSS*THRESHGAUSS;
+ m_noise = NOISEGAUSS;
+
+ m_pMu = new DBLRGB[m_width * m_height];
+ m_pVar = new DBLRGB[m_width * m_height];
+
+ DBLRGB *pMu = m_pMu;
+ DBLRGB *pVar = m_pVar;
+
+ for(int k = 0; k < (m_width * m_height); k++)
+ {
+ pMu->Red = 0.0;
+ pMu->Green = 0.0;
+ pMu->Blue = 0.0;
+
+ pVar->Red = m_noise;
+ pVar->Green = m_noise;
+ pVar->Blue = m_noise;
+
+ pMu++;
+ pVar++;
+ }
+ }
+
+ BGModelGauss::~BGModelGauss()
+ {
+ delete [] m_pMu;
+ delete [] m_pVar;
+ }
+
+ void BGModelGauss::setBGModelParameter(int id, int value)
+ {
+ double dvalue = (double)value/255.0;
+
+ switch(id)
+ {
+ case 0:
+ m_threshold = 100.0*dvalue*dvalue;
+ break;
+
+ case 1:
+ m_noise = 100.0*dvalue;
+ break;
+
+ case 2:
+ m_alpha = dvalue*dvalue*dvalue;
+ break;
+ }
+
+ return;
+ }
+
+ void BGModelGauss::Init()
+ {
+ DBLRGB *pMu = m_pMu;
+ DBLRGB *pVar = m_pVar;
+
+ Image<BYTERGB> prgbSrc(m_SrcImage);
+
+ for(int i = 0; i < m_height; i++)
+ {
+ for(int j = 0; j < m_width; j++)
+ {
+ pMu->Red = prgbSrc[i][j].Red;
+ pMu->Green = prgbSrc[i][j].Green;
+ pMu->Blue = prgbSrc[i][j].Blue;
+
+ pVar->Red = m_noise;
+ pVar->Green = m_noise;
+ pVar->Blue = m_noise;
+
+ pMu++;
+ pVar++;
+ }
+ }
+
+ return;
+ }
+
+ void BGModelGauss::Update()
+ {
+ DBLRGB *pMu = m_pMu;
+ DBLRGB *pVar = m_pVar;
+
+ Image<BYTERGB> prgbSrc(m_SrcImage);
+ Image<BYTERGB> prgbBG(m_BGImage);
+ Image<BYTERGB> prgbFG(m_FGImage);
+
+ for(int i = 0; i < m_height; i++)
+ {
+ for(int j = 0; j < m_width; j++)
+ {
+ double srcR = (double) prgbSrc[i][j].Red;
+ double srcG = (double) prgbSrc[i][j].Green;
+ double srcB = (double) prgbSrc[i][j].Blue;
+
+ // Mahalanobis distance
+
+ double dr = srcR - pMu->Red;
+ double dg = srcG - pMu->Green;
+ double db = srcB - pMu->Blue;
+
+ double d2 = dr*dr/pVar->Red + dg*dg/pVar->Green + db*db/pVar->Blue;
+
+ // Classify
+
+ if(d2 < m_threshold)
+ prgbFG[i][j].Red = prgbFG[i][j].Green = prgbFG[i][j].Blue = 0;
+ else
+ prgbFG[i][j].Red = prgbFG[i][j].Green = prgbFG[i][j].Blue = 255;
+
+ // Update parameters
+
+ if(dr*dr > DBL_MIN)
+ pMu->Red += m_alpha*dr;
+
+ if(dg*dg > DBL_MIN)
+ pMu->Green += m_alpha*dg;
+
+ if(db*db > DBL_MIN)
+ pMu->Blue += m_alpha*db;
+
+ double d;
+
+ d = (srcR - pMu->Red)*(srcR - pMu->Red) - pVar->Red;
+ if(d*d > DBL_MIN)
+ pVar->Red += m_alpha*d;
+
+ d = (srcG - pMu->Green)*(srcG - pMu->Green) - pVar->Green;
+ if(d*d > DBL_MIN)
+ pVar->Green += m_alpha*d;
+
+ d = (srcB - pMu->Blue)*(srcB - pMu->Blue) - pVar->Blue;
+ if(d*d > DBL_MIN)
+ pVar->Blue += m_alpha*d;
+
+ pVar->Red = (std::min)(pVar->Red,m_noise);
+ pVar->Green = (std::min)(pVar->Green,m_noise);
+ pVar->Blue = (std::min)(pVar->Blue,m_noise);
+
+ // Set background
+
+ prgbBG[i][j].Red = (unsigned char)pMu->Red;
+ prgbBG[i][j].Green = (unsigned char)pMu->Green;
+ prgbBG[i][j].Blue = (unsigned char)pMu->Blue;
+
+ pMu++;
+ pVar++;
+ }
+ }
+
+ return;
+ }
+ }
+}
\ No newline at end of file
diff --git a/package_bgs/lb/BGModelGauss.h b/package_bgs/lb/BGModelGauss.h
new file mode 100644
index 0000000..d36a716
--- /dev/null
+++ b/package_bgs/lb/BGModelGauss.h
@@ -0,0 +1,73 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* Scene 1.0.1 -- Background subtraction and object tracking for complex environments
+BGModelGauss.h
+
+Copyright (C) 2011 Laurence Bender <lbender@untref.edu.ar>
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+This program 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#ifndef BGMODELGAUSS_H
+#define BGMODELGAUSS_H
+
+#include "BGModel.h"
+
+namespace lb_library
+{
+ namespace SimpleGaussian
+ {
+ // Parameters
+ const double THRESHGAUSS = 2.5; // Threshold
+ const double ALPHAGAUSS = 0.0001; // Learning rate
+ const double NOISEGAUSS = 50.0; // Minimum variance (noise)
+
+ class BGModelGauss : public BGModel
+ {
+ public:
+ BGModelGauss(int width, int height);
+ ~BGModelGauss();
+
+ void setBGModelParameter(int id, int value);
+
+ protected:
+ double m_alpha;
+ double m_threshold;
+ double m_noise;
+
+ DBLRGB* m_pMu;
+ DBLRGB* m_pVar;
+
+ void Init();
+ void Update();
+ };
+ }
+}
+
+#endif
diff --git a/package_bgs/lb/BGModelMog.cpp b/package_bgs/lb/BGModelMog.cpp
new file mode 100644
index 0000000..df6986c
--- /dev/null
+++ b/package_bgs/lb/BGModelMog.cpp
@@ -0,0 +1,309 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* Scene 1.0.1 -- Background subtraction and object tracking for complex environments
+BGModelMog.cpp
+
+Copyright (C) 2011 Laurence Bender <lbender@untref.edu.ar>
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+This program 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#include "BGModelMog.h"
+
+namespace lb_library
+{
+ namespace MixtureOfGaussians
+ {
+ BGModelMog::BGModelMog(int width, int height) : BGModel(width, height)
+ {
+ m_alpha = LEARNINGRATEMOG;
+ m_threshold = THRESHOLDMOG*THRESHOLDMOG;
+ m_noise = INITIALVARMOG;
+
+ m_T = BGTHRESHOLDMOG;
+
+ m_pMOG = new MOGDATA[NUMBERGAUSSIANS*m_width*m_height];
+ m_pK = new int[m_width*m_height];
+
+ MOGDATA *pMOG = m_pMOG;
+ int *pK = m_pK;
+
+ for(int i = 0; i < (m_width * m_height); i++)
+ {
+ for(int k = 0; k < NUMBERGAUSSIANS; k++)
+ {
+ pMOG->mu.Red = 0.0;
+ pMOG->mu.Green = 0.0;
+ pMOG->mu.Blue = 0.0;
+
+ pMOG->var.Red = 0.0;
+ pMOG->var.Green = 0.0;
+ pMOG->var.Blue = 0.0;
+
+ pMOG->w = 0.0;
+ pMOG->sortKey = 0.0;
+
+ pMOG++;
+ }
+
+ pK[i] = 0;
+ }
+ }
+
+ BGModelMog::~BGModelMog()
+ {
+ delete [] m_pMOG;
+ delete [] m_pK;
+ }
+
+ void BGModelMog::setBGModelParameter(int id, int value)
+ {
+ double dvalue = (double)value/255.0;
+
+ switch(id)
+ {
+ case 0:
+ m_threshold = 100.0*dvalue*dvalue;
+ break;
+
+ case 1:
+ m_T = dvalue;
+ break;
+
+ case 2:
+ m_alpha = dvalue*dvalue*dvalue;
+ break;
+
+ case 3:
+ m_noise = 100.0*dvalue;;
+ break;
+ }
+
+ return;
+ }
+
+ void BGModelMog::Init()
+ {
+ MOGDATA *pMOG = m_pMOG;
+ int *pK = m_pK;
+
+ Image<BYTERGB> prgbSrc(m_SrcImage);
+
+ int n = 0;
+ for(int i = 0; i < m_height; i++)
+ {
+ for(int j = 0; j < m_width; j++)
+ {
+ pMOG[0].mu.Red = prgbSrc[i][j].Red;
+ pMOG[0].mu.Green = prgbSrc[i][j].Green;
+ pMOG[0].mu.Blue = prgbSrc[i][j].Blue;
+
+ pMOG[0].var.Red = m_noise;
+ pMOG[0].var.Green = m_noise;
+ pMOG[0].var.Blue = m_noise;
+
+ pMOG[0].w = 1.0;
+ pMOG[0].sortKey = pMOG[0].w/sqrt(pMOG[0].var.Red+pMOG[0].var.Green+pMOG[0].var.Blue);
+
+ pK[n] = 1;
+ n++;
+
+ pMOG += NUMBERGAUSSIANS;
+ }
+ }
+
+ return;
+ }
+
+ void BGModelMog::Update()
+ {
+ int kBG;
+
+ MOGDATA *pMOG = m_pMOG;
+ int *pK = m_pK;
+
+ Image<BYTERGB> prgbSrc(m_SrcImage);
+ Image<BYTERGB> prgbBG(m_BGImage);
+ Image<BYTERGB> prgbFG(m_FGImage);
+
+ int n = 0;
+ for(int i = 0; i < m_height; i++)
+ {
+ for(int j = 0; j < m_width; j++)
+ {
+ double srcR = (double) prgbSrc[i][j].Red;
+ double srcG = (double) prgbSrc[i][j].Green;
+ double srcB = (double) prgbSrc[i][j].Blue;
+
+ // Find matching distribution
+
+ int kHit = -1;
+
+ for(int k = 0; k < pK[n]; k++)
+ {
+ // Mahalanobis distance
+ double dr = srcR - pMOG[k].mu.Red;
+ double dg = srcG - pMOG[k].mu.Green;
+ double db = srcB - pMOG[k].mu.Blue;
+ double d2 = dr*dr/pMOG[k].var.Red + dg*dg/pMOG[k].var.Green + db*db/pMOG[k].var.Blue;
+
+ if(d2 < m_threshold)
+ {
+ kHit = k;
+ break;
+ }
+ }
+
+ // Adjust parameters
+
+ // matching distribution found
+ if(kHit != -1)
+ {
+ for(int k = 0; k < pK[n]; k++)
+ {
+ if(k == kHit)
+ {
+ pMOG[k].w = pMOG[k].w + m_alpha*(1.0f - pMOG[k].w);
+
+ double d;
+
+ d = srcR - pMOG[k].mu.Red;
+ if(d*d > DBL_MIN)
+ pMOG[k].mu.Red += m_alpha*d;
+
+ d = srcG - pMOG[k].mu.Green;
+ if(d*d > DBL_MIN)
+ pMOG[k].mu.Green += m_alpha*d;
+
+ d = srcB - pMOG[k].mu.Blue;
+ if(d*d > DBL_MIN)
+ pMOG[k].mu.Blue += m_alpha*d;
+
+ d = (srcR - pMOG[k].mu.Red)*(srcR - pMOG[k].mu.Red) - pMOG[k].var.Red;
+ if(d*d > DBL_MIN)
+ pMOG[k].var.Red += m_alpha*d;
+
+ d = (srcG - pMOG[k].mu.Green)*(srcG - pMOG[k].mu.Green) - pMOG[k].var.Green;
+ if(d*d > DBL_MIN)
+ pMOG[k].var.Green += m_alpha*d;
+
+ d = (srcB - pMOG[k].mu.Blue)*(srcB - pMOG[k].mu.Blue) - pMOG[k].var.Blue;
+ if(d*d > DBL_MIN)
+ pMOG[k].var.Blue += m_alpha*d;
+
+ pMOG[k].var.Red = (std::max)(pMOG[k].var.Red,m_noise);
+ pMOG[k].var.Green = (std::max)(pMOG[k].var.Green,m_noise);
+ pMOG[k].var.Blue = (std::max)(pMOG[k].var.Blue,m_noise);
+ }
+ else
+ pMOG[k].w = (1.0 - m_alpha)*pMOG[k].w;
+ }
+ }
+ // no match found... create new one
+ else
+ {
+ if(pK[n] < NUMBERGAUSSIANS)
+ pK[n]++;
+
+ kHit = pK[n] - 1;
+
+ if(pK[n] == 1)
+ pMOG[kHit].w = 1.0;
+ else
+ pMOG[kHit].w = LEARNINGRATEMOG;
+
+ pMOG[kHit].mu.Red = srcR;
+ pMOG[kHit].mu.Green = srcG;
+ pMOG[kHit].mu.Blue = srcB;
+
+ pMOG[kHit].var.Red = m_noise;
+ pMOG[kHit].var.Green = m_noise;
+ pMOG[kHit].var.Blue = m_noise;
+ }
+
+ // Normalize weights
+
+ double wsum = 0.0;
+
+ for(int k = 0; k < pK[n]; k++)
+ wsum += pMOG[k].w;
+
+ double wfactor = 1.0/wsum;
+
+ for(int k = 0; k < pK[n]; k++)
+ {
+ pMOG[k].w *= wfactor;
+ pMOG[k].sortKey = pMOG[k].w/sqrt(pMOG[k].var.Red+pMOG[k].var.Green+pMOG[k].var.Blue);
+ }
+
+ // Sort distributions
+
+ for (int k = 0; k < kHit; k++)
+ {
+ if(pMOG[kHit].sortKey > pMOG[k].sortKey)
+ {
+ std::swap(pMOG[kHit],pMOG[k]);
+ break;
+ }
+ }
+
+ // Determine background distributions
+
+ wsum = 0.0;
+
+ for(int k = 0; k < pK[n]; k++)
+ {
+ wsum += pMOG[k].w;
+
+ if(wsum > m_T)
+ {
+ kBG = k;
+ break;
+ }
+ }
+
+ if(kHit > kBG)
+ prgbFG[i][j].Red = prgbFG[i][j].Green = prgbFG[i][j].Blue = 255;
+ else
+ prgbFG[i][j].Red = prgbFG[i][j].Green = prgbFG[i][j].Blue = 0;
+
+ prgbBG[i][j].Red = (unsigned char)pMOG[0].mu.Red;
+ prgbBG[i][j].Green = (unsigned char)pMOG[0].mu.Green;
+ prgbBG[i][j].Blue = (unsigned char)pMOG[0].mu.Blue;
+
+ pMOG += NUMBERGAUSSIANS;
+
+ n++;
+ }
+ }
+
+ return;
+ }
+ }
+}
\ No newline at end of file
diff --git a/package_bgs/lb/BGModelMog.h b/package_bgs/lb/BGModelMog.h
new file mode 100644
index 0000000..c4e51a4
--- /dev/null
+++ b/package_bgs/lb/BGModelMog.h
@@ -0,0 +1,83 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* Scene 1.0.1 -- Background subtraction and object tracking for complex environments
+BGModelMog.h
+
+Copyright (C) 2011 Laurence Bender <lbender@untref.edu.ar>
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+This program 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#ifndef BGMODELMOGRGB_H
+#define BGMODELMOGRGB_H
+
+#include "BGModel.h"
+
+namespace lb_library
+{
+ namespace MixtureOfGaussians
+ {
+ const unsigned int NUMBERGAUSSIANS = 3;
+ const float LEARNINGRATEMOG = 0.001f;
+ const float THRESHOLDMOG = 2.5f;
+ const float BGTHRESHOLDMOG = 0.5f;
+ const float INITIALVARMOG = 50.0f;
+
+ typedef struct tagMOGDATA
+ {
+ DBLRGB mu;
+ DBLRGB var;
+ double w;
+ double sortKey;
+ } MOGDATA;
+
+ class BGModelMog : public BGModel
+ {
+ public:
+ BGModelMog(int width, int height);
+ ~BGModelMog();
+
+ void setBGModelParameter(int id, int value);
+
+ protected:
+ double m_alpha;
+ double m_threshold;
+ double m_noise;
+ double m_T;
+
+ MOGDATA* m_pMOG;
+ int* m_pK; // number of distributions per pixel
+
+ void Init();
+ void Update();
+ };
+ }
+}
+
+#endif
diff --git a/package_bgs/lb/BGModelSom.cpp b/package_bgs/lb/BGModelSom.cpp
new file mode 100644
index 0000000..256d485
--- /dev/null
+++ b/package_bgs/lb/BGModelSom.cpp
@@ -0,0 +1,291 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* Scene 1.0.1 -- Background subtraction and object tracking for complex environments
+BGModelSom.cpp
+
+Copyright (C) 2011 Laurence Bender <lbender@untref.edu.ar>
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+This program 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#include "BGModelSom.h"
+
+namespace lb_library
+{
+ namespace AdaptiveSOM
+ {
+ BGModelSom::BGModelSom(int width, int height) : BGModel(width,height)
+ {
+ m_offset = (KERNEL - 1)/2;
+
+ if(SPAN_NEIGHBORS)
+ m_pad = 0;
+ else
+ m_pad = m_offset;
+
+ // SOM models
+
+ m_widthSOM = m_width*M + 2*m_offset + (m_width-1)*m_pad;
+ m_heightSOM = m_height*N + 2*m_offset + (m_height-1)*m_pad;
+
+ m_ppSOM = new DBLRGB*[m_heightSOM];
+ for(int n = 0; n < m_heightSOM; n++)
+ m_ppSOM[n] = new DBLRGB[m_widthSOM];
+
+ for(int j = 0; j < m_heightSOM; j++)
+ {
+ for(int i = 0; i < m_widthSOM; i++)
+ {
+ m_ppSOM[j][i].Red = 0.0;
+ m_ppSOM[j][i].Green = 0.0;
+ m_ppSOM[j][i].Blue = 0.0;
+ }
+ }
+
+ // Create weights
+
+ m_ppW = new double*[KERNEL];
+ for(int n = 0; n < KERNEL; n++)
+ m_ppW[n] = new double[KERNEL];
+
+ // Construct Gaussian kernel using Pascal's triangle
+
+ int cM;
+ int cN;
+ m_Wmax = DBL_MIN;
+
+ cN = 1;
+ for(int j = 0; j < KERNEL; j++)
+ {
+ cM = 1;
+
+ for(int i = 0; i < KERNEL; i++)
+ {
+ m_ppW[j][i] = cN*cM;
+
+ if(m_ppW[j][i] > m_Wmax)
+ m_Wmax = m_ppW[j][i];
+
+ cM = cM * (KERNEL - 1 - i) / (i + 1);
+ }
+
+ cN = cN * (KERNEL - 1 - j) / (j + 1);
+ }
+
+ // Parameters
+
+ m_epsilon1 = EPS1*EPS1;
+ m_epsilon2 = EPS2*EPS2;
+
+ m_alpha1 = C1/m_Wmax;
+ m_alpha2 = C2/m_Wmax;
+
+ m_K = 0;
+ m_TSteps = TRAINING_STEPS;
+ }
+
+ BGModelSom::~BGModelSom()
+ {
+ for(int n = 0; n < m_heightSOM; n++)
+ delete [] m_ppSOM[n];
+
+ delete [] m_ppSOM;
+
+ for(int n = 0; n < KERNEL; n++)
+ delete [] m_ppW[n];
+
+ delete [] m_ppW;
+ }
+
+ void BGModelSom::setBGModelParameter(int id, int value)
+ {
+ double dvalue = (double)value/255.0;
+
+ switch(id)
+ {
+ case 0:
+ m_epsilon2 = 255.0*255.0*dvalue*dvalue*dvalue*dvalue;
+ break;
+
+ case 1:
+ m_epsilon1 = 255.0*255.0*dvalue*dvalue*dvalue*dvalue;
+ break;
+
+ case 2:
+ m_alpha2 = dvalue*dvalue*dvalue/m_Wmax;
+ break;
+
+ case 3:
+ m_alpha1 = dvalue*dvalue*dvalue/m_Wmax;
+ break;
+
+ case 5:
+ m_TSteps = (int)(255.0*dvalue);
+ break;
+ }
+
+ return;
+ }
+
+ void BGModelSom::Init()
+ {
+ Image<BYTERGB> prgbSrc(m_SrcImage);
+
+ for(int j = 0; j < m_height; j++)
+ {
+ int jj = m_offset + j*(N + m_pad);
+
+ for(int i = 0; i < m_width; i++)
+ {
+ int ii = m_offset + i*(M + m_pad);
+
+ for(int l = 0; l < N; l++)
+ {
+ for(int k = 0; k < M; k++)
+ {
+ m_ppSOM[jj+l][ii+k].Red = (double)prgbSrc[j][i].Red;
+ m_ppSOM[jj+l][ii+k].Green = (double)prgbSrc[j][i].Green;
+ m_ppSOM[jj+l][ii+k].Blue = (double)prgbSrc[j][i].Blue;
+ }
+ }
+ }
+ }
+
+ m_K = 0;
+
+ return;
+ }
+
+ void BGModelSom::Update()
+ {
+ double alpha,a;
+ double epsilon;
+
+ // calibration phase
+ if(m_K <= m_TSteps)
+ {
+ epsilon = m_epsilon1;
+ alpha = (m_alpha1-m_K*(m_alpha1-m_alpha2)/m_TSteps);
+ m_K++;
+ }
+ else // online phase
+ {
+ epsilon = m_epsilon2;
+ alpha = m_alpha2;
+ }
+
+ Image<BYTERGB> prgbSrc(m_SrcImage);
+ Image<BYTERGB> prgbBG(m_BGImage);
+ Image<BYTERGB> prgbFG(m_FGImage);
+
+ for(int j = 0; j < m_height; j++)
+ {
+ int jj = m_offset + j*(N + m_pad);
+
+ for(int i = 0; i < m_width; i++)
+ {
+ int ii = m_offset + i*(M + m_pad);
+
+ double srcR = (double)prgbSrc[j][i].Red;
+ double srcG = (double)prgbSrc[j][i].Green;
+ double srcB = (double)prgbSrc[j][i].Blue;
+
+ // Find BMU
+
+ double d2min = DBL_MAX;
+ int iiHit = ii;
+ int jjHit = jj;
+
+ for(int l = 0; l < N; l++)
+ {
+ for(int k = 0; k < M; k++)
+ {
+ double dr = srcR - m_ppSOM[jj+l][ii+k].Red;
+ double dg = srcG - m_ppSOM[jj+l][ii+k].Green;
+ double db = srcB - m_ppSOM[jj+l][ii+k].Blue;
+
+ double d2 = dr*dr + dg*dg + db*db;
+
+ if(d2 < d2min)
+ {
+ d2min = d2;
+ iiHit = ii + k;
+ jjHit = jj + l;
+ }
+ }
+ }
+
+ // Update SOM
+
+ if(d2min <= epsilon) // matching model found
+ {
+ for(int l = (jjHit - m_offset); l <= (jjHit + m_offset); l++)
+ {
+ for(int k = (iiHit - m_offset); k <= (iiHit + m_offset); k++)
+ {
+ a = alpha*m_ppW[l-jjHit+m_offset][k-iiHit+m_offset];
+
+ // speed hack.. avoid very small increment values. abs() is sloooow.
+
+ double d;
+
+ d = srcR - m_ppSOM[l][k].Red;
+ if(d*d > DBL_MIN)
+ m_ppSOM[l][k].Red += a*d;
+
+ d = srcG - m_ppSOM[l][k].Green;
+ if(d*d > DBL_MIN)
+ m_ppSOM[l][k].Green += a*d;
+
+ d = srcB - m_ppSOM[l][k].Blue;
+ if(d*d > DBL_MIN)
+ m_ppSOM[l][k].Blue += a*d;
+ }
+ }
+
+ // Set background image
+ prgbBG[j][i].Red = m_ppSOM[jjHit][iiHit].Red;
+ prgbBG[j][i].Green = m_ppSOM[jjHit][iiHit].Green;
+ prgbBG[j][i].Blue = m_ppSOM[jjHit][iiHit].Blue;
+
+ // Set foreground image
+ prgbFG[j][i].Red = prgbFG[j][i].Green = prgbFG[j][i].Blue = 0;
+ }
+ else
+ {
+ // Set foreground image
+ prgbFG[j][i].Red = prgbFG[j][i].Green = prgbFG[j][i].Blue = 255;
+ }
+ }
+ }
+
+ return;
+ }
+ }
+}
\ No newline at end of file
diff --git a/package_bgs/lb/BGModelSom.h b/package_bgs/lb/BGModelSom.h
new file mode 100644
index 0000000..e95af11
--- /dev/null
+++ b/package_bgs/lb/BGModelSom.h
@@ -0,0 +1,92 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* Scene 1.0.1 -- Background subtraction and object tracking for complex environments
+BGModelSom.h
+
+Copyright (C) 2011 Laurence Bender <lbender@untref.edu.ar>
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+This program 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#ifndef BGMODELSOM_H
+#define BGMODELSOM_H
+
+#include "BGModel.h"
+
+namespace lb_library
+{
+ namespace AdaptiveSOM
+ {
+ // SOM parameters
+
+ const int M = 3; // width SOM (per pixel)
+ const int N = 3; // height SOM (per pixel)
+ const int KERNEL = 3; // size Gaussian kernel
+
+ const bool SPAN_NEIGHBORS = false; // true if update neighborhood spans different pixels //
+ const int TRAINING_STEPS = 100; // number of training steps
+
+ const float EPS1 = 100.0; // model match distance during training
+ const float EPS2 = 20.0; // model match distance
+ const float C1 = 1.0; // learning rate during training
+ const float C2 = 0.05; // learning rate
+
+ class BGModelSom : public BGModel
+ {
+ public:
+ BGModelSom(int width, int height);
+ ~BGModelSom();
+
+ void setBGModelParameter(int id, int value);
+
+ protected:
+ int m_widthSOM;
+ int m_heightSOM;
+ int m_offset;
+ int m_pad;
+ int m_K;
+ int m_TSteps;
+
+ double m_Wmax;
+
+ double m_epsilon1;
+ double m_epsilon2;
+ double m_alpha1;
+ double m_alpha2;
+
+ DBLRGB** m_ppSOM; // SOM grid
+ double** m_ppW; // Weights
+
+ void Init();
+ void Update();
+ };
+ }
+}
+
+#endif
diff --git a/package_bgs/lb/LBAdaptiveSOM.cpp b/package_bgs/lb/LBAdaptiveSOM.cpp
new file mode 100644
index 0000000..ce06433
--- /dev/null
+++ b/package_bgs/lb/LBAdaptiveSOM.cpp
@@ -0,0 +1,109 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "LBAdaptiveSOM.h"
+
+LBAdaptiveSOM::LBAdaptiveSOM() : firstTime(true), showOutput(true),
+ sensitivity(75), trainingSensitivity(245), learningRate(62), trainingLearningRate(255), trainingSteps(55)
+{
+ std::cout << "LBAdaptiveSOM()" << std::endl;
+}
+
+LBAdaptiveSOM::~LBAdaptiveSOM()
+{
+ delete m_pBGModel;
+ std::cout << "~LBAdaptiveSOM()" << std::endl;
+}
+
+void LBAdaptiveSOM::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ IplImage *frame = new IplImage(img_input);
+
+ if(firstTime)
+ {
+ saveConfig();
+
+ int w = cvGetSize(frame).width;
+ int h = cvGetSize(frame).height;
+
+ m_pBGModel = new BGModelSom(w,h);
+ m_pBGModel->InitModel(frame);
+ }
+
+ m_pBGModel->setBGModelParameter(0,sensitivity);
+ m_pBGModel->setBGModelParameter(1,trainingSensitivity);
+ m_pBGModel->setBGModelParameter(2,learningRate);
+ m_pBGModel->setBGModelParameter(3,trainingLearningRate);
+ m_pBGModel->setBGModelParameter(5,trainingSteps);
+
+ m_pBGModel->UpdateModel(frame);
+
+ img_foreground = cv::Mat(m_pBGModel->GetFG());
+ img_background = cv::Mat(m_pBGModel->GetBG());
+
+ if(showOutput)
+ {
+ cv::imshow("SOM Mask", img_foreground);
+ cv::imshow("SOM Model", img_background);
+ }
+
+ img_foreground.copyTo(img_output);
+ img_background.copyTo(img_bgmodel);
+
+ delete frame;
+
+ firstTime = false;
+}
+
+//void LBAdaptiveSOM::finish(void)
+//{
+// delete m_pBGModel;
+//}
+
+void LBAdaptiveSOM::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/LBAdaptiveSOM.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "sensitivity", sensitivity);
+ cvWriteInt(fs, "trainingSensitivity", trainingSensitivity);
+ cvWriteInt(fs, "learningRate", learningRate);
+ cvWriteInt(fs, "trainingLearningRate", trainingLearningRate);
+ cvWriteInt(fs, "trainingSteps", trainingSteps);
+
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void LBAdaptiveSOM::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/LBAdaptiveSOM.xml", 0, CV_STORAGE_READ);
+
+ sensitivity = cvReadIntByName(fs, 0, "sensitivity", 75);
+ trainingSensitivity = cvReadIntByName(fs, 0, "trainingSensitivity", 245);
+ learningRate = cvReadIntByName(fs, 0, "learningRate", 62);
+ trainingLearningRate = cvReadIntByName(fs, 0, "trainingLearningRate", 255);
+ trainingSteps = cvReadIntByName(fs, 0, "trainingSteps", 55);
+
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/lb/LBAdaptiveSOM.h b/package_bgs/lb/LBAdaptiveSOM.h
new file mode 100644
index 0000000..6e001df
--- /dev/null
+++ b/package_bgs/lb/LBAdaptiveSOM.h
@@ -0,0 +1,56 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "BGModelSom.h"
+
+#include "../IBGS.h"
+
+using namespace lb_library;
+using namespace lb_library::AdaptiveSOM;
+
+class LBAdaptiveSOM : public IBGS
+{
+private:
+ bool firstTime;
+ bool showOutput;
+
+ BGModel* m_pBGModel;
+ int sensitivity;
+ int trainingSensitivity;
+ int learningRate;
+ int trainingLearningRate;
+ int trainingSteps;
+
+ cv::Mat img_foreground;
+ cv::Mat img_background;
+
+public:
+ LBAdaptiveSOM();
+ ~LBAdaptiveSOM();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+ //void finish(void);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
\ No newline at end of file
diff --git a/package_bgs/lb/LBFuzzyAdaptiveSOM.cpp b/package_bgs/lb/LBFuzzyAdaptiveSOM.cpp
new file mode 100644
index 0000000..4ef8560
--- /dev/null
+++ b/package_bgs/lb/LBFuzzyAdaptiveSOM.cpp
@@ -0,0 +1,109 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "LBFuzzyAdaptiveSOM.h"
+
+LBFuzzyAdaptiveSOM::LBFuzzyAdaptiveSOM() : firstTime(true), showOutput(true),
+ sensitivity(90), trainingSensitivity(240), learningRate(38), trainingLearningRate(255), trainingSteps(81)
+{
+ std::cout << "LBFuzzyAdaptiveSOM()" << std::endl;
+}
+
+LBFuzzyAdaptiveSOM::~LBFuzzyAdaptiveSOM()
+{
+ delete m_pBGModel;
+ std::cout << "~LBFuzzyAdaptiveSOM()" << std::endl;
+}
+
+void LBFuzzyAdaptiveSOM::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ IplImage *frame = new IplImage(img_input);
+
+ if(firstTime)
+ {
+ saveConfig();
+
+ int w = cvGetSize(frame).width;
+ int h = cvGetSize(frame).height;
+
+ m_pBGModel = new BGModelFuzzySom(w,h);
+ m_pBGModel->InitModel(frame);
+ }
+
+ m_pBGModel->setBGModelParameter(0,sensitivity);
+ m_pBGModel->setBGModelParameter(1,trainingSensitivity);
+ m_pBGModel->setBGModelParameter(2,learningRate);
+ m_pBGModel->setBGModelParameter(3,trainingLearningRate);
+ m_pBGModel->setBGModelParameter(5,trainingSteps);
+
+ m_pBGModel->UpdateModel(frame);
+
+ img_foreground = cv::Mat(m_pBGModel->GetFG());
+ img_background = cv::Mat(m_pBGModel->GetBG());
+
+ if(showOutput)
+ {
+ cv::imshow("FSOM Mask", img_foreground);
+ cv::imshow("FSOM Model", img_background);
+ }
+
+ img_foreground.copyTo(img_output);
+ img_background.copyTo(img_bgmodel);
+
+ delete frame;
+
+ firstTime = false;
+}
+
+//void LBFuzzyAdaptiveSOM::finish(void)
+//{
+// //delete m_pBGModel;
+//}
+
+void LBFuzzyAdaptiveSOM::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/LBFuzzyAdaptiveSOM.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "sensitivity", sensitivity);
+ cvWriteInt(fs, "trainingSensitivity", trainingSensitivity);
+ cvWriteInt(fs, "learningRate", learningRate);
+ cvWriteInt(fs, "trainingLearningRate", trainingLearningRate);
+ cvWriteInt(fs, "trainingSteps", trainingSteps);
+
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void LBFuzzyAdaptiveSOM::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/LBFuzzyAdaptiveSOM.xml", 0, CV_STORAGE_READ);
+
+ sensitivity = cvReadIntByName(fs, 0, "sensitivity", 90);
+ trainingSensitivity = cvReadIntByName(fs, 0, "trainingSensitivity", 240);
+ learningRate = cvReadIntByName(fs, 0, "learningRate", 38);
+ trainingLearningRate = cvReadIntByName(fs, 0, "trainingLearningRate", 255);
+ trainingSteps = cvReadIntByName(fs, 0, "trainingSteps", 81);
+
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/lb/LBFuzzyAdaptiveSOM.h b/package_bgs/lb/LBFuzzyAdaptiveSOM.h
new file mode 100644
index 0000000..76dec2f
--- /dev/null
+++ b/package_bgs/lb/LBFuzzyAdaptiveSOM.h
@@ -0,0 +1,56 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "BGModelFuzzySom.h"
+
+#include "../IBGS.h"
+
+using namespace lb_library;
+using namespace lb_library::FuzzyAdaptiveSOM;
+
+class LBFuzzyAdaptiveSOM : public IBGS
+{
+private:
+ bool firstTime;
+ bool showOutput;
+
+ BGModel* m_pBGModel;
+ int sensitivity;
+ int trainingSensitivity;
+ int learningRate;
+ int trainingLearningRate;
+ int trainingSteps;
+
+ cv::Mat img_foreground;
+ cv::Mat img_background;
+
+public:
+ LBFuzzyAdaptiveSOM();
+ ~LBFuzzyAdaptiveSOM();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+ //void finish(void);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
\ No newline at end of file
diff --git a/package_bgs/lb/LBFuzzyGaussian.cpp b/package_bgs/lb/LBFuzzyGaussian.cpp
new file mode 100644
index 0000000..dc257bf
--- /dev/null
+++ b/package_bgs/lb/LBFuzzyGaussian.cpp
@@ -0,0 +1,105 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "LBFuzzyGaussian.h"
+
+LBFuzzyGaussian::LBFuzzyGaussian() : firstTime(true), showOutput(true), sensitivity(72), bgThreshold(162), learningRate(49), noiseVariance(195)
+{
+ std::cout << "LBFuzzyGaussian()" << std::endl;
+}
+
+LBFuzzyGaussian::~LBFuzzyGaussian()
+{
+ delete m_pBGModel;
+ std::cout << "~LBFuzzyGaussian()" << std::endl;
+}
+
+void LBFuzzyGaussian::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ IplImage *frame = new IplImage(img_input);
+
+ if(firstTime)
+ {
+ saveConfig();
+
+ int w = cvGetSize(frame).width;
+ int h = cvGetSize(frame).height;
+
+ m_pBGModel = new BGModelFuzzyGauss(w,h);
+ m_pBGModel->InitModel(frame);
+ }
+
+ m_pBGModel->setBGModelParameter(0,sensitivity);
+ m_pBGModel->setBGModelParameter(1,bgThreshold);
+ m_pBGModel->setBGModelParameter(2,learningRate);
+ m_pBGModel->setBGModelParameter(3,noiseVariance);
+
+ m_pBGModel->UpdateModel(frame);
+
+ img_foreground = cv::Mat(m_pBGModel->GetFG());
+ img_background = cv::Mat(m_pBGModel->GetBG());
+
+ if(showOutput)
+ {
+ cv::imshow("FG Mask", img_foreground);
+ cv::imshow("FG Model", img_background);
+ }
+
+ img_foreground.copyTo(img_output);
+ img_background.copyTo(img_bgmodel);
+
+ delete frame;
+
+ firstTime = false;
+}
+
+//void LBFuzzyGaussian::finish(void)
+//{
+// delete m_pBGModel;
+//}
+
+void LBFuzzyGaussian::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/LBFuzzyGaussian.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "sensitivity", sensitivity);
+ cvWriteInt(fs, "bgThreshold", bgThreshold);
+ cvWriteInt(fs, "learningRate", learningRate);
+ cvWriteInt(fs, "noiseVariance", noiseVariance);
+
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void LBFuzzyGaussian::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/LBFuzzyGaussian.xml", 0, CV_STORAGE_READ);
+
+ sensitivity = cvReadIntByName(fs, 0, "sensitivity", 72);
+ bgThreshold = cvReadIntByName(fs, 0, "bgThreshold", 162);
+ learningRate = cvReadIntByName(fs, 0, "learningRate", 49);
+ noiseVariance = cvReadIntByName(fs, 0, "noiseVariance", 195);
+
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
diff --git a/package_bgs/lb/LBFuzzyGaussian.h b/package_bgs/lb/LBFuzzyGaussian.h
new file mode 100644
index 0000000..408c4a5
--- /dev/null
+++ b/package_bgs/lb/LBFuzzyGaussian.h
@@ -0,0 +1,55 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "BGModelFuzzyGauss.h"
+
+#include "../IBGS.h"
+
+using namespace lb_library;
+using namespace lb_library::FuzzyGaussian;
+
+class LBFuzzyGaussian : public IBGS
+{
+private:
+ bool firstTime;
+ bool showOutput;
+
+ BGModel* m_pBGModel;
+ int sensitivity;
+ int bgThreshold;
+ int learningRate;
+ int noiseVariance;
+
+ cv::Mat img_foreground;
+ cv::Mat img_background;
+
+public:
+ LBFuzzyGaussian();
+ ~LBFuzzyGaussian();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+ //void finish(void);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
\ No newline at end of file
diff --git a/package_bgs/lb/LBMixtureOfGaussians.cpp b/package_bgs/lb/LBMixtureOfGaussians.cpp
new file mode 100644
index 0000000..8d235c5
--- /dev/null
+++ b/package_bgs/lb/LBMixtureOfGaussians.cpp
@@ -0,0 +1,105 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "LBMixtureOfGaussians.h"
+
+LBMixtureOfGaussians::LBMixtureOfGaussians() : firstTime(true), showOutput(true), sensitivity(81), bgThreshold(83), learningRate(59), noiseVariance(206)
+{
+ std::cout << "LBMixtureOfGaussians()" << std::endl;
+}
+
+LBMixtureOfGaussians::~LBMixtureOfGaussians()
+{
+ delete m_pBGModel;
+ std::cout << "~LBMixtureOfGaussians()" << std::endl;
+}
+
+void LBMixtureOfGaussians::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ IplImage *frame = new IplImage(img_input);
+
+ if(firstTime)
+ {
+ saveConfig();
+
+ int w = cvGetSize(frame).width;
+ int h = cvGetSize(frame).height;
+
+ m_pBGModel = new BGModelMog(w,h);
+ m_pBGModel->InitModel(frame);
+ }
+
+ m_pBGModel->setBGModelParameter(0,sensitivity);
+ m_pBGModel->setBGModelParameter(1,bgThreshold);
+ m_pBGModel->setBGModelParameter(2,learningRate);
+ m_pBGModel->setBGModelParameter(3,noiseVariance);
+
+ m_pBGModel->UpdateModel(frame);
+
+ img_foreground = cv::Mat(m_pBGModel->GetFG());
+ img_background = cv::Mat(m_pBGModel->GetBG());
+
+ if(showOutput)
+ {
+ cv::imshow("MOG Mask", img_foreground);
+ cv::imshow("MOG Model", img_background);
+ }
+
+ img_foreground.copyTo(img_output);
+ img_background.copyTo(img_bgmodel);
+
+ delete frame;
+
+ firstTime = false;
+}
+
+//void LBMixtureOfGaussians::finish(void)
+//{
+// delete m_pBGModel;
+//}
+
+void LBMixtureOfGaussians::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/LBMixtureOfGaussians.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "sensitivity", sensitivity);
+ cvWriteInt(fs, "bgThreshold", bgThreshold);
+ cvWriteInt(fs, "learningRate", learningRate);
+ cvWriteInt(fs, "noiseVariance", noiseVariance);
+
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void LBMixtureOfGaussians::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/LBMixtureOfGaussians.xml", 0, CV_STORAGE_READ);
+
+ sensitivity = cvReadIntByName(fs, 0, "sensitivity", 81);
+ bgThreshold = cvReadIntByName(fs, 0, "bgThreshold", 83);
+ learningRate = cvReadIntByName(fs, 0, "learningRate", 59);
+ noiseVariance = cvReadIntByName(fs, 0, "noiseVariance", 206);
+
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/lb/LBMixtureOfGaussians.h b/package_bgs/lb/LBMixtureOfGaussians.h
new file mode 100644
index 0000000..71ab5f0
--- /dev/null
+++ b/package_bgs/lb/LBMixtureOfGaussians.h
@@ -0,0 +1,55 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "BGModelMog.h"
+
+#include "../IBGS.h"
+
+using namespace lb_library;
+using namespace lb_library::MixtureOfGaussians;
+
+class LBMixtureOfGaussians : public IBGS
+{
+private:
+ bool firstTime;
+ bool showOutput;
+
+ BGModel* m_pBGModel;
+ int sensitivity;
+ int bgThreshold;
+ int learningRate;
+ int noiseVariance;
+
+ cv::Mat img_foreground;
+ cv::Mat img_background;
+
+public:
+ LBMixtureOfGaussians();
+ ~LBMixtureOfGaussians();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+ //void finish(void);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
\ No newline at end of file
diff --git a/package_bgs/lb/LBSimpleGaussian.cpp b/package_bgs/lb/LBSimpleGaussian.cpp
new file mode 100644
index 0000000..f0ce6fc
--- /dev/null
+++ b/package_bgs/lb/LBSimpleGaussian.cpp
@@ -0,0 +1,100 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "LBSimpleGaussian.h"
+
+LBSimpleGaussian::LBSimpleGaussian() : firstTime(true), showOutput(true), sensitivity(66), noiseVariance(162), learningRate(18)
+{
+ std::cout << "LBSimpleGaussian()" << std::endl;
+}
+
+LBSimpleGaussian::~LBSimpleGaussian()
+{
+ delete m_pBGModel;
+ std::cout << "~LBSimpleGaussian()" << std::endl;
+}
+
+void LBSimpleGaussian::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ IplImage *frame = new IplImage(img_input);
+
+ if(firstTime)
+ {
+ saveConfig();
+
+ int w = cvGetSize(frame).width;
+ int h = cvGetSize(frame).height;
+
+ m_pBGModel = new BGModelGauss(w,h);
+ m_pBGModel->InitModel(frame);
+ }
+
+ m_pBGModel->setBGModelParameter(0,sensitivity);
+ m_pBGModel->setBGModelParameter(1,noiseVariance);
+ m_pBGModel->setBGModelParameter(2,learningRate);
+
+ m_pBGModel->UpdateModel(frame);
+
+ img_foreground = cv::Mat(m_pBGModel->GetFG());
+ img_background = cv::Mat(m_pBGModel->GetBG());
+
+ if(showOutput)
+ {
+ cv::imshow("SG Mask", img_foreground);
+ cv::imshow("SG Model", img_background);
+ }
+
+ img_foreground.copyTo(img_output);
+ img_background.copyTo(img_bgmodel);
+
+ delete frame;
+
+ firstTime = false;
+}
+
+//void LBSimpleGaussian::finish(void)
+//{
+// delete m_pBGModel;
+//}
+
+void LBSimpleGaussian::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/LBSimpleGaussian.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "sensitivity", sensitivity);
+ cvWriteInt(fs, "noiseVariance", noiseVariance);
+ cvWriteInt(fs, "learningRate", learningRate);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void LBSimpleGaussian::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/LBSimpleGaussian.xml", 0, CV_STORAGE_READ);
+
+ sensitivity = cvReadIntByName(fs, 0, "sensitivity", 66);
+ noiseVariance = cvReadIntByName(fs, 0, "noiseVariance", 162);
+ learningRate = cvReadIntByName(fs, 0, "learningRate", 18);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/lb/LBSimpleGaussian.h b/package_bgs/lb/LBSimpleGaussian.h
new file mode 100644
index 0000000..ea8317c
--- /dev/null
+++ b/package_bgs/lb/LBSimpleGaussian.h
@@ -0,0 +1,54 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "BGModelGauss.h"
+
+#include "../IBGS.h"
+
+using namespace lb_library;
+using namespace lb_library::SimpleGaussian;
+
+class LBSimpleGaussian : public IBGS
+{
+private:
+ bool firstTime;
+ bool showOutput;
+
+ BGModel* m_pBGModel;
+ int sensitivity;
+ int noiseVariance;
+ int learningRate;
+
+ cv::Mat img_foreground;
+ cv::Mat img_background;
+
+public:
+ LBSimpleGaussian();
+ ~LBSimpleGaussian();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+ //void finish(void);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
\ No newline at end of file
diff --git a/package_bgs/lb/Types.h b/package_bgs/lb/Types.h
new file mode 100644
index 0000000..5b1fd5b
--- /dev/null
+++ b/package_bgs/lb/Types.h
@@ -0,0 +1,99 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/* Scene 1.0.1 -- Background subtraction and object tracking for complex environments
+Types.h
+
+Copyright (C) 2011 Laurence Bender <lbender@untref.edu.ar>
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+This program 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#ifndef TYPES_H
+#define TYPES_H
+
+#include <cv.h>
+
+namespace lb_library
+{
+ template<class T> class Image
+ {
+ private:
+ IplImage* imgp;
+
+ public:
+ Image(IplImage* img=0) {imgp=img;}
+ ~Image(){imgp=0;}
+
+ void operator=(IplImage* img) {imgp=img;}
+
+ inline T* operator[](const int rowIndx)
+ {
+ return ((T *)(imgp->imageData + rowIndx*imgp->widthStep));
+ }
+ };
+
+ typedef struct{
+ unsigned char b,g,r;
+ } RgbPixel;
+
+ typedef struct{
+ unsigned char Blue,Green,Red;
+ } BYTERGB;
+
+ typedef struct{
+ unsigned int Blue,Green,Red;
+ } INTRGB;
+
+ typedef struct{
+ float b,g,r;
+ }RgbPixelFloat;
+
+ typedef struct{
+ double Blue,Green,Red;
+ } DBLRGB;
+
+ typedef Image<RgbPixel> RgbImage;
+ typedef Image<RgbPixelFloat> RgbImageFloat;
+ typedef Image<unsigned char> BwImage;
+ typedef Image<float> BwImageFloat;
+
+ /*
+ IplImage* img = cvCreateImage(cvSize(640,480), IPL_DEPTH_32F, 3);
+ RgbImageFloat imgA(img);
+ for(int i = 0; i < m_height; i++)
+ for(int j = 0; j < m_width; j++)
+ imgA[i][j].b = 111;
+ imgA[i][j].g = 111;
+ imgA[i][j].r = 111;
+ */
+}
+
+//---------------------------------------------
+
+#endif
diff --git a/package_bgs/my/MyBGS.cpp b/package_bgs/my/MyBGS.cpp
new file mode 100644
index 0000000..07b51cd
--- /dev/null
+++ b/package_bgs/my/MyBGS.cpp
@@ -0,0 +1,26 @@
+#include "MyBGS.h"
+
+MyBGS::MyBGS(){}
+MyBGS::~MyBGS(){}
+
+void MyBGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ if(img_previous.empty())
+ img_input.copyTo(img_previous);
+
+ cv::Mat img_foreground;
+ cv::absdiff(img_previous, img_input, img_foreground);
+
+ if(img_foreground.channels() == 3)
+ cv::cvtColor(img_foreground, img_foreground, CV_BGR2GRAY);
+
+ cv::threshold(img_foreground, img_foreground, 15, 255, cv::THRESH_BINARY);
+
+ img_foreground.copyTo(img_output);
+ img_previous.copyTo(img_bgmodel);
+
+ img_input.copyTo(img_previous);
+}
diff --git a/package_bgs/my/MyBGS.h b/package_bgs/my/MyBGS.h
new file mode 100644
index 0000000..daba730
--- /dev/null
+++ b/package_bgs/my/MyBGS.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+
+class MyBGS : public IBGS
+{
+private:
+ cv::Mat img_previous;
+
+public:
+ MyBGS();
+ ~MyBGS();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig(){}
+ void loadConfig(){}
+};
\ No newline at end of file
diff --git a/package_bgs/pt/PBAS.cpp b/package_bgs/pt/PBAS.cpp
new file mode 100644
index 0000000..3f74b82
--- /dev/null
+++ b/package_bgs/pt/PBAS.cpp
@@ -0,0 +1,586 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "PBAS.h"
+
+PBAS::PBAS(void) : N(20), R_lower(18), Raute_min(2), T_lower(2), T_upper(200), R_scale(5), R_incdec(0.05), T_dec(0.05), T_inc(1)
+{
+ std::cout << "PBAS()" << std::endl;
+
+ //feature vector
+ alpha = 7.0;
+ beta = 1.0;
+ formerMeanNorm = 0;
+ width = 0;
+
+ //result image
+ foregroundValue = 255;
+ backgroundValue = 0;
+
+ //length of random array
+ countOfRandomNumb = 1000;
+
+ //the T(x_i) value needs initiation
+ T_init = R_lower;
+
+ //check if something is moving in the picture
+ isMove = false;
+
+ //for init, count number of runs
+ runs = 0;
+ newInitialization();
+}
+
+void PBAS::newInitialization()
+{
+ if(!randomN.empty())
+ randomN.clear();
+
+ if(!randomX.empty())
+ randomX.clear();
+
+ if(!randomY.empty())
+ randomY.clear();
+
+ if(!randomMinDist.empty())
+ randomMinDist.clear();
+
+ if(!randomT.empty())
+ randomT.clear();
+
+ if(!randomTN.empty())
+ randomTN.clear();
+
+ for(int l = 0; l < countOfRandomNumb; l++)
+ {
+ randomN.push_back((int)randomGenerator.uniform((int)0,(int)N));
+ randomX.push_back((int)randomGenerator.uniform(-1, +2));
+ randomY.push_back((int)randomGenerator.uniform(-1, +2));
+ randomMinDist.push_back((int)randomGenerator.uniform((int)0, (int)N));
+ randomT.push_back((int)randomGenerator.uniform((int)0, (int)T_upper));
+ randomTN.push_back((int)randomGenerator.uniform((int)0, (int)T_upper));
+ }
+}
+
+PBAS::~PBAS(void)
+{
+ std::cout << "~PBAS()" << std::endl;
+
+ randomN.clear();
+ randomX.clear();
+ randomY.clear();
+ randomMinDist.clear();
+ randomT.clear();
+ randomTN.clear();
+
+ for(int k = 0; k < backgroundModel.size(); ++k)
+ {
+ if(chans == 1)
+ {
+ backgroundModel.at(k).at(0).release();
+ backgroundModel.at(k).at(1).release();
+ }
+ else
+ {
+ backgroundModel.at(k).at(0).release();
+ backgroundModel.at(k).at(1).release();
+ backgroundModel.at(k).at(2).release();
+
+ backgroundModel.at(k).at(3).release();
+ backgroundModel.at(k).at(4).release();
+ backgroundModel.at(k).at(5).release();
+ }
+ }
+
+ backgroundModel.clear();
+ meanMinDist.release();
+
+ actualR.release();
+ actualT.release();
+
+ sobelX.release();
+ sobelY.release();
+}
+
+bool PBAS::process(cv::Mat* input, cv::Mat* output)
+{
+ if(width != input->cols)
+ {
+ width = input->cols;
+ chans = input->channels();
+ height = input->rows;
+
+ if(input->rows < 1 || input->cols < 1)
+ {
+ std::cout << "Error: Occurrence of to small (or empty?) image size in PBAS. STOPPING " << std::endl;
+ return false;
+ }
+ }
+
+ //iniate the background model
+ init(input);
+
+ resultMap = new cv::Mat(input->rows,input->cols,CV_8UC1);
+
+ //calculate features
+ calculateFeatures(¤tFeatures, input);
+
+ //set sumMagnitude to zero at beginning and then sum up in the loop
+ sumMagnitude = 0;
+ long glCounterFore = 0;
+ isMove = false;
+
+ //Here starts the whole processing of each pixel of the image
+ // for each pixel
+ for (int j=0; j< resultMap->rows; ++j)
+ {
+ resultMap_Pt = resultMap->ptr<uchar>(j);
+ currentFeaturesM_Pt.clear();
+ currentFeaturesC_Pt.clear();
+ std::vector<float*> fT;
+ std::vector<uchar*> uT;
+ B_Mag_Pts.clear();
+ B_Col_Pts.clear();
+
+ for(int z = 0; z < chans; ++z)
+ {
+ currentFeaturesM_Pt.push_back(currentFeatures.at(z).ptr<float>(j));
+ currentFeaturesC_Pt.push_back(currentFeatures.at(z + chans).ptr<uchar>(j));
+
+ B_Mag_Pts.push_back(fT);
+
+ B_Col_Pts.push_back(uT);
+ }
+
+ meanMinDist_Pt = meanMinDist.ptr<float>(j);
+ actualR_Pt = actualR.ptr<float>(j);
+ actualT_Pt = actualT.ptr<float>(j);
+
+ for(int k = 0; k < runs; ++k)
+ {
+ for(int z = 0; z < chans; ++z)
+ {
+ B_Mag_Pts.at(z).push_back(backgroundModel.at(k).at(z).ptr<float>(j));
+ B_Col_Pts.at(z).push_back(backgroundModel.at(k).at(z+chans).ptr<uchar>(j));
+ }
+ }
+
+ for(int i = 0; i < resultMap->cols; ++i)
+ {
+ //Compare each pixel to in the worst runtime-case each background model
+ int count = 0;
+ int index = 0;
+
+ double norm = 0.0;
+ double dist = 0.0;
+ double minDist = 1000.0;
+ int entry = randomGenerator.uniform(3, countOfRandomNumb-4);
+
+ do
+ {
+ if(chans == 3)
+ {
+ norm = sqrt(
+ (((double)B_Mag_Pts.at(0).at(index)[i] - ((double)*currentFeaturesM_Pt.at(0)))*((double)B_Mag_Pts.at(0).at(index)[i] - ((double)*currentFeaturesM_Pt.at(0))))+
+ (((double)B_Mag_Pts.at(1).at(index)[i] - ((double)*currentFeaturesM_Pt.at(1)))*((double)B_Mag_Pts.at(1).at(index)[i] - ((double)*currentFeaturesM_Pt.at(1))))+
+ (((double)B_Mag_Pts.at(2).at(index)[i] - ((double)*currentFeaturesM_Pt.at(2)))*((double)B_Mag_Pts.at(2).at(index)[i] - ((double)*currentFeaturesM_Pt.at(2))))
+ );
+
+ dist = sqrt(
+ (((double)B_Col_Pts.at(0).at(index)[i] - ((double)*currentFeaturesC_Pt.at(0)))*((double)B_Col_Pts.at(0).at(index)[i] - ((double)*currentFeaturesC_Pt.at(0))))+
+ (((double)B_Col_Pts.at(1).at(index)[i] - ((double)*currentFeaturesC_Pt.at(1)))*((double)B_Col_Pts.at(1).at(index)[i] - ((double)*currentFeaturesC_Pt.at(1))))+
+ (((double)B_Col_Pts.at(2).at(index)[i] - ((double)*currentFeaturesC_Pt.at(2)))*((double)B_Col_Pts.at(2).at(index)[i] - ((double)*currentFeaturesC_Pt.at(2))))
+ );
+ }
+ else
+ {
+ norm = abs((((double)B_Mag_Pts.at(0).at(index)[i] -
+ ((double)*currentFeaturesM_Pt.at(0)))*((double)B_Mag_Pts.at(0).at(index)[i] - ((double)*currentFeaturesM_Pt.at(0)))));
+
+ dist = abs((((double)B_Col_Pts.at(0).at(index)[i] -
+ ((double)*currentFeaturesC_Pt.at(0)))*((double)B_Col_Pts.at(0).at(index)[i] - ((double)*currentFeaturesC_Pt.at(0))))
+ );
+ }
+ dist = ((double)alpha*(norm/formerMeanMag) + beta*dist);
+
+ if((dist < *actualR_Pt))
+ {
+ ++count;
+ if(minDist > dist)
+ minDist = dist;
+ }
+ else
+ {
+ sumMagnitude += (double)(norm);
+ ++glCounterFore;
+ }
+ ++index;
+ }
+ while((count< Raute_min) && (index < runs));
+
+
+ //#############################################
+ //update backgroundmodel
+ // is BACKGROUND
+ if(count >= Raute_min)
+ {
+ *resultMap_Pt = 0;
+ double ratio = std::ceil((double)T_upper/(double)(*actualT_Pt));
+ //in the first run every distance is zero, because there is no background model
+ //in the secont run, we have already one image as background model, hence a
+ // reasonable minDist could be found -> because of the partly 1/run changing in the running average, we set in the first try meanMinDist to the actual minDist value
+ if(runs < N && runs > 2)
+ {
+ *meanMinDist_Pt = ((((float)(runs-1)) * (*meanMinDist_Pt)) + (float)minDist) / ((float)runs);
+ }
+ else if(runs < N && runs == 2)
+ {
+ *meanMinDist_Pt = (float)minDist;
+ }
+
+ //1. update model
+ if(runs == N)
+ {
+ //Update current pixel
+ //check if random numer is smaller than ratio
+ if(randomT.at(entry) < ratio)
+ {
+ // replace randomly chosen sample
+ int rand = randomN.at(entry+1); //randomGenerator.uniform((int)0,(int)N-1);
+ for(int z = 0; z < chans; ++z)
+ {
+ B_Mag_Pts.at(z).at(rand)[i] = (float)*currentFeaturesM_Pt.at(z);
+ B_Col_Pts.at(z).at(rand)[i] = (uchar)*currentFeaturesC_Pt.at(z);
+
+ }
+
+ *meanMinDist_Pt = ((((float)(N-1)) * (*meanMinDist_Pt)) + (float)minDist) / ((float)N);
+ }
+
+ //Update neighboring pixel model
+ if(randomTN.at(entry) < ratio)
+ {
+ //choose neighboring pixel randomly
+ int xNeigh = randomX.at(entry)+i;
+ int yNeigh = randomY.at(entry)+j;
+ checkValid(&xNeigh, &yNeigh);
+
+ // replace randomly chosen sample
+ int rand = randomN.at(entry-1);
+ for(int z = 0; z < chans; ++z)
+ {
+ (backgroundModel.at(rand)).at(z).at<float>(yNeigh,xNeigh) = currentFeatures.at(z).at<float>(yNeigh,xNeigh);
+ (backgroundModel.at(rand)).at(z + chans).at<uchar>(yNeigh,xNeigh) = currentFeatures.at(z+chans).at<uchar>(yNeigh,xNeigh);
+ }
+ }
+ }
+ }
+ else
+ {
+ // store pixel as foreground
+ *resultMap_Pt = 255;
+
+ //there is some movement
+ isMove = true;
+ }
+
+ //#######################//#######################//#######################//#######################
+ //control loops
+ //#######################//#######################//#######################//#######################
+ //update R
+ decisionThresholdRegulator(actualR_Pt,meanMinDist_Pt);
+
+ //update T
+ learningRateRegulator(actualT_Pt, meanMinDist_Pt,resultMap_Pt);
+
+ //#######################//#######################//#######################//#######################
+ //#######################//#######################//#######################//#######################
+
+ //jump to next pixel
+ ++resultMap_Pt;
+ for(int z = 0; z < chans; ++z)
+ {
+ ++currentFeaturesM_Pt.at(z);
+ ++currentFeaturesC_Pt.at(z);
+ }
+
+ ++meanMinDist_Pt;
+ ++actualR_Pt;
+ ++actualT_Pt;
+ }
+ }
+
+ resultMap->copyTo(*output);
+
+ //if there is no foreground -> no magnitudes fount
+ //-> initiate some low value to prevent diving through zero
+ double meanMag = sumMagnitude/(double)(glCounterFore + 1); //height*width);
+
+ if(meanMag > 20)
+ formerMeanMag = meanMag;
+ else
+ formerMeanMag = 20;
+
+ delete resultMap;
+
+ for(int z = 0; z < chans; ++z)
+ {
+ currentFeatures.at(z+chans).release();
+ currentFeatures.at(z).release();
+ }
+
+ return true;
+}
+
+void PBAS::decisionThresholdRegulator(float* pt, float* meanDist)
+{
+ //update R
+ double tempR = *pt;
+ double newThresh = (*meanDist)*R_scale;
+
+ if( tempR < newThresh)
+ {
+ tempR += tempR * R_incdec;
+ }
+ else
+ {
+ tempR -= tempR * R_incdec;
+ }
+
+ if(tempR >= R_lower)
+ *pt = (float)tempR;
+ else
+ *pt = (float)R_lower;
+}
+
+void PBAS::learningRateRegulator(float* pt, float* meanDist,uchar* isFore)
+{
+ //time update
+ double tempT = *pt;
+
+ if((int)*isFore < 128)
+ {
+ tempT -= T_inc/(*meanDist+1.0);
+ }
+ else
+ {
+ tempT += T_dec/(*meanDist+1.0);
+ }
+
+ if(tempT > T_lower && tempT < T_upper)
+ *pt = (float)tempT;
+}
+
+void PBAS::checkValid(int *x, int *y)
+{
+ if(*x < 0)
+ {
+ *x = 0;
+ }
+ else if(*x >= width)
+ {
+ *x = width -1;
+ }
+
+ if(*y < 0)
+ {
+ *y = 0;
+ }
+ else if(*y >= height)
+ {
+ *y = height - 1;
+ }
+}
+
+void PBAS::init(cv::Mat* input)
+{
+ if(runs < N)
+ {
+ std::vector<cv::Mat> init;
+ calculateFeatures(&init, input);
+ backgroundModel.push_back(init);
+
+ if(chans == 1)
+ {
+ init.at(0).release();
+ init.at(1).release();
+ }
+ else
+ {
+ init.at(0).release();
+ init.at(1).release();
+ init.at(2).release();
+ init.at(3).release();
+ init.at(4).release();
+ init.at(5).release();
+ }
+
+ init.clear();
+
+ if(runs == 0)
+ {
+ meanMinDist.create(input->size(), CV_32FC1);
+ meanMinDist.zeros(input->rows, input->cols, CV_32FC1);
+
+ actualR.create(input->rows, input->cols, CV_32FC1);
+ actualT.create(input->rows, input->cols, CV_32FC1);
+
+ float* ptRs, *ptTs; //, *ptM;
+ for(int rows = 0; rows < actualR.rows; ++rows)
+ {
+ ptRs = actualR.ptr<float>(rows);
+ ptTs = actualT.ptr<float>(rows);
+
+ for(int cols = 0; cols < actualR.cols; ++cols)
+ {
+ ptRs[cols] = (float)R_lower;
+ ptTs[cols] = (float)T_init;
+ }
+ }
+ }
+
+ ++runs;
+ }
+}
+
+void PBAS::calculateFeatures(std::vector<cv::Mat>* feature, cv::Mat* inputImage)
+{
+ if(!feature->empty())
+ feature->clear();
+
+ cv::Mat mag[3], dir;
+
+ if(inputImage->channels() == 3)
+ {
+ std::vector<cv::Mat> rgbChannels(3);
+ cv::split(*inputImage, rgbChannels);
+
+ for(int l = 0; l < 3; ++l)
+ {
+ cv::Sobel(rgbChannels.at(l),sobelX,CV_32F,1,0, 3, 1, 0.0);
+ cv::Sobel(rgbChannels.at(l),sobelY,CV_32F,0,1, 3, 1, 0.0);
+
+ // Compute the L2 norm and direction of the gradient
+ cv::cartToPolar(sobelX,sobelY,mag[l],dir, true);
+ feature->push_back(mag[l]);
+ sobelX.release();
+ sobelY.release();
+ }
+
+ feature->push_back(rgbChannels.at(0));
+ feature->push_back(rgbChannels.at(1));
+ feature->push_back(rgbChannels.at(2));
+ rgbChannels.at(0).release();
+ rgbChannels.at(1).release();
+ rgbChannels.at(2).release();
+ }
+ else
+ {
+ cv::Sobel(*inputImage,sobelX,CV_32F,1,0, 3, 1, 0.0);
+ cv::Sobel(*inputImage,sobelY,CV_32F,0,1, 3, 1, 0.0);
+
+ // Compute the L2 norm and direction of the gradient
+ cv::cartToPolar(sobelX,sobelY,mag[0],dir, true);
+ feature->push_back(mag[0]);
+
+ cv::Mat temp;
+ inputImage->copyTo(temp);
+ feature->push_back(temp);
+ temp.release();
+ }
+
+ mag[0].release();
+ mag[1].release();
+ mag[2].release();
+ dir.release();
+}
+
+void PBAS::setN(int temp)
+{
+ N = temp;
+ newInitialization();
+}
+
+void PBAS::setRaute_min(int temp)
+{
+ Raute_min = temp;
+}
+
+void PBAS::setR_lower(double temp)
+{
+ R_lower = temp;
+}
+
+void PBAS::setR_incdec(double temp)
+{
+ R_incdec = temp;
+}
+
+void PBAS::setR_scale(double temp)
+{
+ R_scale = temp;
+}
+
+void PBAS::setT_init(double temp)
+{
+ T_init = temp;
+}
+
+void PBAS::setT_lower(double temp)
+{
+ T_lower = temp;
+}
+
+void PBAS::setT_upper(double temp)
+{
+ T_upper = temp;
+ newInitialization();
+}
+
+void PBAS::setT_dec(double temp)
+{
+ T_dec = temp;
+}
+
+void PBAS::setT_inc(double temp)
+{
+ T_inc = temp;
+}
+
+void PBAS::setAlpha(double temp)
+{
+ alpha = temp;
+}
+
+void PBAS::setBeta(double temp)
+{
+ beta = temp;
+}
+
+bool PBAS::isMovement()
+{
+ return isMove;
+}
+
+//cv::Mat* PBAS::getR1_xi()
+//{
+// return &actualR;
+//}
+//
+//cv::Mat* PBAS::getT_xi()
+//{
+// return &actualT;
+//}
diff --git a/package_bgs/pt/PBAS.h b/package_bgs/pt/PBAS.h
new file mode 100644
index 0000000..917c525
--- /dev/null
+++ b/package_bgs/pt/PBAS.h
@@ -0,0 +1,207 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+//Implementation of the PBAS from:
+//
+//M. Hofmann, P. Tiefenbacher, G. Rigoll
+//"Background Segmentation with Feedback: The Pixel-Based Adaptive Segmenter",
+//in proc of IEEE Workshop on Change Detection, 2012
+//
+//Note: some changes, to improve the speed and memory requirements, were achieved in comparison to the
+//described PBAS algorithm in the paper above.
+//
+//Example usage:
+// //Somewhere during initalization:
+// #include "PBAS.h"
+// #include <opencv2/opencv.hpp>
+// PBAS pbas;
+//
+// //you might want to change some parameters of the PBAS here...
+// ....
+//
+// //repeat for each frame
+// //make gaussian blur for reducing image noise
+//cv::Mat bluredImage;
+//cv::Mat pbastResult;
+//cv::GaussianBlur(singleFrame, bluredImage, cv::Size(5,5), 1.5);
+//
+// //process image and receive segmentation in pbasResult
+//pbas.process(&bluredImage, &pbasResult);
+//
+// //make medianBlur on the result to reduce "salt and pepper noise"
+// //of the per pixel wise segmentation
+//cv::medianBlur(pbasResult, pbasResult, 5);
+//
+//
+//
+//Author: P.Tiefenbacher, https://sites.google.com/site/pbassegmenter/
+//Technische Universit�t M�nchen, Germany
+//Date: 22-May-2012, Version:0.1
+///////////
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#pragma once
+class PBAS
+{
+public:
+ PBAS(void);
+ ~PBAS(void);
+ bool process(cv::Mat* input, cv::Mat* output);
+
+ void setN(int);
+ void setRaute_min(int);
+ void setR_lower(double);
+ void setR_incdec(double);
+ void setR_scale(double);
+ void setT_init(double);
+ void setT_lower(double);
+ void setT_upper(double);
+ void setT_dec(double);
+ void setT_inc(double);
+ void setAlpha(double);
+ void setBeta(double);
+
+ bool isMovement();
+
+
+private:
+ void calculateFeatures(std::vector<cv::Mat>* feature, cv::Mat* inputImage);
+ void checkValid(int *x, int *y);
+ void decisionThresholdRegulator(float* pt, float* meanDistArr);
+ void learningRateRegulator(float* pt, float* meanDist,uchar* isFore);
+ void init(cv::Mat*);
+ void newInitialization();
+
+ cv::Mat meanMinDist;
+ float* meanMinDist_Pt;
+
+
+
+ int width, height;
+ int chans;
+
+ //balance of feature pixel value to conture value
+ double alpha, beta;
+ //##################################################################################
+
+ double formerMeanNorm;
+
+ //define value of foreground/background pixels
+ int foregroundValue, backgroundValue;
+
+ //##################################################################################
+ //random number parameters
+
+ //random number generator
+ cv::RNG randomGenerator;
+
+ //length of random array initialization
+ long countOfRandomNumb;
+
+ //pre - initialize the randomNumbers for better performance
+ std::vector<int> randomN, randomMinDist, randomX, randomY, randomT, randomTN;
+
+ //###################################################################################
+
+ //check if something is moving
+ bool isMove;
+
+ //for init, count number of runs
+ int runs;
+
+
+ cv::Mat* resultMap;
+ std::vector<cv::Mat> currentFeatures;
+
+ std::vector<float*> currentFeaturesM_Pt;
+ std::vector<uchar*> currentFeaturesC_Pt;
+ uchar* resultMap_Pt;
+
+ std::vector<std::vector<float*>>B_Mag_Pts;
+ std::vector<std::vector<uchar*>>B_Col_Pts;
+
+ double sumMagnitude;
+ double formerMeanMag;
+ float formerDistanceBack;
+
+ //####################################################################################
+ //N - Number: Defining the size of the background-history-model
+ // number of samples per pixel
+ //size of background history B(x_i)
+ int N;
+ // background model
+ std::vector<std::vector<cv::Mat>> backgroundModel;
+ //####################################################################################
+ //####################################################################################
+ //R-Threshhold - Variables
+ //minimal Threshold for foreground and initial value of R(x_i)
+ // radius of the sphere -> lower border boundary
+ double R_lower;
+
+ //factor which defines new threshold of R(x_i) together with meanMinDist(x_i)
+ // scale for the sphere threshhold to define pixel-based Thresholds
+ double R_scale;
+
+ //decreasing / increasing factor of R(x_i)
+ // increasing/decreasing factor for the r-Threshold based on the result of rTreshScale * meanMinDistBackground
+ double R_incdec;
+
+ cv::Mat actualR;
+ float* actualR_Pt; //new pixel-based r-threshhold -> pointer to arrays
+ //#####################################################################################
+ //####################################################################################
+ //counter for minimal distance to background
+ // Defining the number of background-model-images, which have a lowerDIstance to the current Image than defined by the R-Thresholds, that are necessary
+ // to decide that this pixel is background
+ int Raute_min;
+ //#####################################################################################
+ //####################################################################################
+ //initial value of inverse update factor T(x_i)
+ // Initialize the background-model update rate
+ double T_init;
+
+ //increasing Factor of the update rate 1/T(x_i)
+ // scale that defines the increasing of the update rate of the background model, if the current pixel is background
+ //--> more frequently updates if pixel is background because, there shouln't be any change
+ double T_inc;
+
+ //upper boundary of T(x_i)
+ // defining an upper value, that nrSubsampling can achieve, thus it doesn't reach to an infinite value, where actually no update is possible
+ // at all
+ double T_upper;
+
+ //lower boundary of T(x_i)
+ // defining a minimum value for nrSubsampling --> base value 2.0
+ double T_lower;
+
+ //decreasing factor of the update rate 1/T(x_i)
+ // opposite scale to increasingRateScale, for decreasing the update rate of the background model, if the current pixel is foreground
+ //--> Thesis: Our Foreground is a real moving object -> thus the background-model is good, so don't update it
+ double T_dec;
+
+ //holds update rate of current pixel
+ cv::Mat actualT;
+ float* actualT_Pt;
+
+ //#####################################################################################
+
+
+ cv::Mat sobelX, sobelY;
+};
+
diff --git a/package_bgs/pt/PixelBasedAdaptiveSegmenter.cpp b/package_bgs/pt/PixelBasedAdaptiveSegmenter.cpp
new file mode 100644
index 0000000..10c8e8e
--- /dev/null
+++ b/package_bgs/pt/PixelBasedAdaptiveSegmenter.cpp
@@ -0,0 +1,124 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "PixelBasedAdaptiveSegmenter.h"
+
+PixelBasedAdaptiveSegmenter::PixelBasedAdaptiveSegmenter() : firstTime(true), showOutput(true), enableInputBlur(true), enableOutputBlur(true),
+alpha(7.0), beta(1.0), N(20), Raute_min(2), R_incdec(0.05), R_lower(18),
+R_scale(5), T_dec(0.05), T_inc(1), T_init(18), T_lower(2), T_upper(200)
+{
+ std::cout << "PixelBasedAdaptiveSegmenter()" << std::endl;
+}
+
+PixelBasedAdaptiveSegmenter::~PixelBasedAdaptiveSegmenter()
+{
+ std::cout << "~PixelBasedAdaptiveSegmenter()" << std::endl;
+}
+
+void PixelBasedAdaptiveSegmenter::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ {
+ pbas.setAlpha(alpha);
+ pbas.setBeta(beta);
+ pbas.setN(N);
+ pbas.setRaute_min(Raute_min);
+ pbas.setR_incdec(R_incdec);
+ pbas.setR_lower(R_lower);
+ pbas.setR_scale(R_scale);
+ pbas.setT_dec(T_dec);
+ pbas.setT_inc(T_inc);
+ pbas.setT_init(T_init);
+ pbas.setT_lower(T_lower);
+ pbas.setT_upper(T_upper);
+
+ saveConfig();
+ }
+
+ cv::Mat img_input_new;
+ if(enableInputBlur)
+ cv::GaussianBlur(img_input, img_input_new, cv::Size(5,5), 1.5);
+ else
+ img_input.copyTo(img_input_new);
+
+ cv::Mat img_foreground;
+ pbas.process(&img_input_new, &img_foreground);
+
+ if(enableOutputBlur)
+ cv::medianBlur(img_foreground, img_foreground, 5);
+
+ if(showOutput)
+ cv::imshow("PBAS", img_foreground);
+
+ img_foreground.copyTo(img_output);
+
+ firstTime = false;
+}
+
+void PixelBasedAdaptiveSegmenter::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/PixelBasedAdaptiveSegmenter.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "enableInputBlur", enableInputBlur);
+ cvWriteInt(fs, "enableOutputBlur", enableOutputBlur);
+
+ cvWriteReal(fs, "alpha", alpha);
+ cvWriteReal(fs, "beta", beta);
+ cvWriteInt(fs, "N", N);
+ cvWriteInt(fs, "Raute_min", Raute_min);
+ cvWriteReal(fs, "R_incdec", R_incdec);
+ cvWriteInt(fs, "R_lower", R_lower);
+ cvWriteInt(fs, "R_scale", R_scale);
+ cvWriteReal(fs, "T_dec", T_dec);
+ cvWriteInt(fs, "T_inc", T_inc);
+ cvWriteInt(fs, "T_init", T_init);
+ cvWriteInt(fs, "T_lower", T_lower);
+ cvWriteInt(fs, "T_upper", T_upper);
+
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void PixelBasedAdaptiveSegmenter::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/PixelBasedAdaptiveSegmenter.xml", 0, CV_STORAGE_READ);
+
+ enableInputBlur = cvReadIntByName(fs, 0, "enableInputBlur", true);
+ enableOutputBlur = cvReadIntByName(fs, 0, "enableOutputBlur", true);
+
+ alpha = cvReadRealByName(fs, 0, "alpha", 7.0);
+ beta = cvReadRealByName(fs, 0, "beta", 1.0);
+ N = cvReadIntByName(fs, 0, "N", 20);
+ Raute_min = cvReadIntByName(fs, 0, "Raute_min", 2);
+ R_incdec = cvReadRealByName(fs, 0, "R_incdec", 0.05);
+ R_lower = cvReadIntByName(fs, 0, "R_lower", 18);
+ R_scale = cvReadIntByName(fs, 0, "R_scale", 5);
+ T_dec = cvReadRealByName(fs, 0, "T_dec", 0.05);
+ T_inc = cvReadIntByName(fs, 0, "T_inc", 1);
+ T_init = cvReadIntByName(fs, 0, "T_init", 18);
+ T_lower = cvReadIntByName(fs, 0, "T_lower", 2);
+ T_upper = cvReadIntByName(fs, 0, "T_upper", 200);
+
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/pt/PixelBasedAdaptiveSegmenter.h b/package_bgs/pt/PixelBasedAdaptiveSegmenter.h
new file mode 100644
index 0000000..35409b5
--- /dev/null
+++ b/package_bgs/pt/PixelBasedAdaptiveSegmenter.h
@@ -0,0 +1,58 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "PBAS.h"
+#include "../IBGS.h"
+
+class PixelBasedAdaptiveSegmenter : public IBGS
+{
+private:
+ PBAS pbas;
+
+ bool firstTime;
+ bool showOutput;
+ bool enableInputBlur;
+ bool enableOutputBlur;
+
+ float alpha;
+ float beta;
+ int N;
+ int Raute_min;
+ float R_incdec;
+ int R_lower;
+ int R_scale;
+ float T_dec;
+ int T_inc;
+ int T_init;
+ int T_lower;
+ int T_upper;
+
+public:
+ PixelBasedAdaptiveSegmenter();
+ ~PixelBasedAdaptiveSegmenter();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
\ No newline at end of file
diff --git a/package_bgs/sjn/SJN_MultiCueBGS.cpp b/package_bgs/sjn/SJN_MultiCueBGS.cpp
new file mode 100644
index 0000000..55a7937
--- /dev/null
+++ b/package_bgs/sjn/SJN_MultiCueBGS.cpp
@@ -0,0 +1,2062 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+//------------------------------------------------------------------------------------------------------------------------------------//
+// A BGS Method Using Multiple Color, Texture, Appearance Cues in the Scene //
+// //
+// - Paper: A New Framework for Background Subtraction Using Multiple Cues (ACCV2012) //
+// - Code by: SeungJon Noh //
+//------------------------------------------------------------------------------------------------------------------------------------//
+//#include "StdAfx.h"
+#include "SJN_MultiCueBGS.h"
+SJN_MultiCueBGS::SJN_MultiCueBGS() : firstTime(true), showOutput(true)
+{
+ //----------------------------------
+ // User adjustable parameters
+ //----------------------------------
+ g_iTrainingPeriod = 20; //the training period (The parameter t in the paper)
+ g_iT_ModelThreshold = 1; //the threshold for texture-model based BGS. (The parameter tau_T in the paper)
+ g_iC_ModelThreshold = 10; //the threshold for appearance based verification. (The parameter tau_A in the paper)
+
+ g_fLearningRate = 0.05; //the learning rate for background models. (The parameter alpha in the paper)
+
+ g_nTextureTrainVolRange = 15; //the codebook size factor for texture models. (The parameter k in the paper)
+ g_nColorTrainVolRange = 20; //the codebook size factor for color models. (The parameter eta_1 in the paper)
+
+ g_bAbsorptionEnable = TRUE; //If TRUE, cache-book is also modeled for ghost region removal.
+ g_iAbsortionPeriod = 200; //the period to absorb static ghost regions
+
+ g_iRWidth = 160, g_iRHeight = 120; //Frames are precessed after reduced in this size .
+
+ //------------------------------------
+ // For codebook maintenance
+ //------------------------------------
+ g_iBackClearPeriod = 300; //the period to clear background models
+ g_iCacheClearPeriod = 30; //the period to clear cache-book models
+
+ //------------------------------------
+ // Initialization of other parameters
+ //------------------------------------
+ g_nNeighborNum = 6, g_nRadius = 2;
+ g_fConfidenceThre = g_iT_ModelThreshold/(float)g_nNeighborNum; //the final decision threshold
+
+ g_iFrameCount = 0;
+ g_bForegroundMapEnable = FALSE; //TRUE only when BGS is successful
+ g_bModelMemAllocated = FALSE; //To handle memory..
+ g_bNonModelMemAllocated = FALSE; //To handle memory..
+}
+
+SJN_MultiCueBGS::~SJN_MultiCueBGS(void){
+ Destroy();
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the main function to background modeling and subtraction // //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel){
+
+ if (img_input.empty())
+ return;
+
+ loadConfig();
+
+ if (firstTime)
+ saveConfig();
+
+ //--STep1: Background Modeling--//
+ IplImage* frame = &IplImage(img_input);
+ IplImage* result_image = cvCreateImage(cvGetSize(frame), IPL_DEPTH_8U, 3);
+ cvSetZero(result_image);
+
+ if(g_iFrameCount <= g_iTrainingPeriod){
+ BackgroundModeling_Par(frame);
+ g_iFrameCount++;
+ }
+
+ //--Step2: Background Subtraction--//
+ else{
+ g_bForegroundMapEnable = FALSE;
+
+ ForegroundExtraction(frame);
+ UpdateModel_Par();
+
+ //Get BGS Results
+ GetForegroundMap(result_image, NULL);
+ }
+
+ cv::Mat temp(result_image,TRUE);
+ temp.copyTo(img_output);
+
+ cvReleaseImage(&result_image);
+
+ if (showOutput)
+ {
+ cv::imshow("MultiCueBGS FG", img_output);
+ }
+
+ firstTime = false;
+}
+
+void SJN_MultiCueBGS::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/MultiCueBGS.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void SJN_MultiCueBGS::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/MultiCueBGS.xml", 0, CV_STORAGE_READ);
+
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the system initialization function //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::Initialize(IplImage* frame)
+{
+ int i,j;
+
+ g_iHeight = frame->height;
+ g_iWidth = frame->width;
+
+ Destroy();
+
+ //--------------------------------------------------------
+ // memory initialization
+ //--------------------------------------------------------
+ g_ResizedFrame = cvCreateImage(cvSize(g_iRWidth, g_iRHeight), IPL_DEPTH_8U, 3);
+
+ g_aGaussFilteredFrame = (uchar***)malloc(sizeof(uchar**)*g_iRHeight);
+ for(i=0;i<g_iRHeight;i++){
+ g_aGaussFilteredFrame[i] = (uchar**)malloc(sizeof(uchar*)*g_iRWidth);
+ for(j=0;j<g_iRWidth;j++) g_aGaussFilteredFrame[i][j] = (uchar*)malloc(sizeof(uchar)*3);
+ }
+
+ g_aXYZFrame = (uchar***)malloc(sizeof(uchar**)*g_iRHeight);
+ for(i=0;i<g_iRHeight;i++){
+ g_aXYZFrame[i] = (uchar**)malloc(sizeof(uchar*)*g_iRWidth);
+ for(j=0;j<g_iRWidth;j++) g_aXYZFrame[i][j] = (uchar*)malloc(sizeof(uchar)*3);
+ }
+
+ g_aLandmarkArray = (uchar**)malloc(sizeof(uchar*)*g_iRHeight);
+ for(i=0;i<g_iRHeight;i++) g_aLandmarkArray[i] = (uchar*)malloc(sizeof(uchar)*g_iRWidth);
+
+ g_aResizedForeMap = (uchar**)malloc(sizeof(uchar*)*g_iRHeight);
+ for(i=0;i<g_iRHeight;i++) g_aResizedForeMap[i] = (uchar*)malloc(sizeof(uchar)*g_iRWidth);
+
+ g_aForegroundMap = (uchar**)malloc(sizeof(uchar*)*g_iHeight);
+ for(i=0;i<g_iHeight;i++) g_aForegroundMap[i] = (uchar*)malloc(sizeof(uchar)*g_iWidth);
+
+ g_aUpdateMap = (BOOL**)malloc(sizeof(BOOL*)*g_iRHeight);
+ for(i=0;i<g_iRHeight;i++) g_aUpdateMap[i] = (BOOL*)malloc(sizeof(BOOL)*g_iRWidth);
+
+ //Bound Box Related..
+ int iElementNum = 300;
+ g_BoundBoxInfo = (BoundingBoxInfo*)malloc(sizeof(BoundingBoxInfo));
+ g_BoundBoxInfo->m_iArraySize = iElementNum;
+ g_BoundBoxInfo->m_iBoundBoxNum = iElementNum;
+
+ g_BoundBoxInfo->m_aLeft = (short*)malloc( sizeof(short) * iElementNum ); g_BoundBoxInfo->m_aRight = (short*)malloc( sizeof(short) * iElementNum );
+ g_BoundBoxInfo->m_aBottom = (short*)malloc( sizeof(short) * iElementNum ); g_BoundBoxInfo->m_aUpper = (short*)malloc( sizeof(short) * iElementNum );
+
+ g_BoundBoxInfo->m_aRLeft = (short*)malloc( sizeof(short) * iElementNum ); g_BoundBoxInfo->m_aRRight = (short*)malloc( sizeof(short) * iElementNum );
+ g_BoundBoxInfo->m_aRBottom = (short*)malloc( sizeof(short) * iElementNum ); g_BoundBoxInfo->m_aRUpper = (short*)malloc( sizeof(short) * iElementNum );
+
+ g_BoundBoxInfo->m_ValidBox = (BOOL*)malloc( sizeof(BOOL) * iElementNum );
+
+ //--------------------------------------------------------
+ // texture model related
+ //--------------------------------------------------------
+ T_AllocateTextureModelRelatedMemory();
+
+ //--------------------------------------------------------
+ // color moddel related
+ //--------------------------------------------------------
+ C_AllocateColorModelRelatedMemory();
+
+ g_bModelMemAllocated = TRUE;
+ g_bNonModelMemAllocated = TRUE;
+
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the function to release allocated memories //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::Destroy()
+{
+ if(g_bModelMemAllocated==FALSE && g_bNonModelMemAllocated==FALSE) return;
+
+ int i,j;
+ short nNeighborNum = g_nNeighborNum;
+
+ if(g_bModelMemAllocated==TRUE){
+ T_ReleaseTextureModelRelatedMemory();
+ C_ReleaseColorModelRelatedMemory();
+
+ g_bModelMemAllocated = FALSE;
+ }
+
+ if(g_bNonModelMemAllocated==TRUE){
+
+ cvReleaseImage(&g_ResizedFrame);
+
+ for(i=0;i<g_iRHeight;i++){
+ for(j=0;j<g_iRWidth;j++) free(g_aGaussFilteredFrame[i][j]);
+ free(g_aGaussFilteredFrame[i]);
+ }
+ free(g_aGaussFilteredFrame);
+
+ for(i=0;i<g_iRHeight;i++){
+ for(j=0;j<g_iRWidth;j++) free(g_aXYZFrame[i][j]);
+ free(g_aXYZFrame[i]);
+ }
+ free(g_aXYZFrame);
+
+ for(i=0;i<g_iRHeight;i++) free(g_aLandmarkArray[i]);
+ free(g_aLandmarkArray);
+
+ for(i=0;i<g_iRHeight;i++) free(g_aResizedForeMap[i]);
+ free(g_aResizedForeMap);
+
+ for(i=0;i<g_iHeight;i++) free(g_aForegroundMap[i]);
+ free(g_aForegroundMap);
+
+ for(i=0;i<g_iRHeight;i++) free(g_aUpdateMap[i]);
+ free(g_aUpdateMap);
+
+ free(g_BoundBoxInfo->m_aLeft); free(g_BoundBoxInfo->m_aRight); free(g_BoundBoxInfo->m_aBottom); free(g_BoundBoxInfo->m_aUpper);
+ free(g_BoundBoxInfo->m_aRLeft); free(g_BoundBoxInfo->m_aRRight); free(g_BoundBoxInfo->m_aRBottom); free(g_BoundBoxInfo->m_aRUpper);
+ free(g_BoundBoxInfo->m_ValidBox);
+ free(g_BoundBoxInfo);
+
+ g_bNonModelMemAllocated = FALSE;
+ }
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the preprocessing function //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::PreProcessing(IplImage* frame){
+
+ //image resize
+ ReduceImageSize(frame, g_ResizedFrame);
+
+ //Gaussian filtering
+ GaussianFiltering(g_ResizedFrame, g_aGaussFilteredFrame);
+
+ //color space conversion
+ BGR2HSVxyz_Par(g_aGaussFilteredFrame,g_aXYZFrame);
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the background modeling function //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::BackgroundModeling_Par(IplImage* frame){
+
+ //initialization
+ if(g_iFrameCount == 0) Initialize(frame);
+
+ //Step1: pre-processing
+ PreProcessing(frame);
+
+ int iH_Start = g_nRadius, iH_end = g_iRHeight-g_nRadius;
+ int iW_Start = g_nRadius, iW_end = g_iRWidth-g_nRadius;
+
+ float fLearningRate = g_fLearningRate * 4;
+
+ //Step2: background modeling
+ for(int i=iH_Start; i<iH_end; i++){
+ for(int j=iW_Start;j<iW_end;j++){
+ point center;
+ center.m_nX = j;
+ center.m_nY = i;
+
+ T_ModelConstruction(g_nTextureTrainVolRange,fLearningRate,g_aXYZFrame,center,g_aNeighborDirection[i][j],g_TextureModel[i][j]);
+ C_CodebookConstruction(g_aXYZFrame[i][j], j, i, g_nColorTrainVolRange, fLearningRate, g_ColorModel[i][j]);
+ }
+ }
+
+ //Step3: Clear non-essential codewords
+ if(g_iFrameCount==g_iTrainingPeriod){
+ for(int i=0; i<g_iRHeight; i++){
+ for(int j=0;j<g_iRWidth;j++){
+ T_ClearNonEssentialEntries(g_iTrainingPeriod,g_TextureModel[i][j]);
+
+ C_ClearNonEssentialEntries(g_iTrainingPeriod,g_ColorModel[i][j]);
+ }
+ }
+ g_iFrameCount++;
+ }
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the background subtraction function //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::ForegroundExtraction(IplImage* frame){
+
+ //Step1:pre-processing
+ PreProcessing(frame);
+
+ //Step3: texture-model based process
+ T_GetConfidenceMap_Par(g_aXYZFrame,g_aTextureConfMap,g_aNeighborDirection,g_TextureModel);
+
+ //Step2: color-model based verification
+ CreateLandmarkArray_Par(g_fConfidenceThre,g_nColorTrainVolRange,g_aTextureConfMap,g_nNeighborNum,g_aXYZFrame, g_aNeighborDirection,
+ g_TextureModel,g_ColorModel,g_aLandmarkArray);
+
+ //Step3: verification procedures
+ PostProcessing(frame);
+
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the post-processing function //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::PostProcessing(IplImage* frame){
+
+ //Step1: morphological operation
+ MorphologicalOpearions(g_aLandmarkArray,g_aResizedForeMap,0.5,5,g_iRWidth,g_iRHeight);
+ g_bForegroundMapEnable = TRUE;
+
+ //Step2: labeling
+ int** aLabelTable = (int**)malloc(sizeof(int*)*g_iRHeight);
+ for(int i=0;i<g_iRHeight;i++) aLabelTable[i] = (int*)malloc(sizeof(int)*g_iRWidth);
+
+ int iLabelCount;
+ Labeling(g_aResizedForeMap,&iLabelCount,aLabelTable);
+
+ //Step3: getting bounding boxes for each candidate fore-blob
+ SetBoundingBox(iLabelCount, aLabelTable);
+
+ //Step4: size and appearance based verification
+ BoundBoxVerification(frame,g_aResizedForeMap,g_BoundBoxInfo);
+
+ //Step5: ��ȿ�� Foreground Region�鸸�� ��� �������� ����
+ RemovingInvalidForeRegions(g_aResizedForeMap,g_BoundBoxInfo);
+
+ for(int i=0;i<g_iRHeight;i++) free(aLabelTable[i]);
+ free(aLabelTable);
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the background-model update function //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::UpdateModel_Par(){
+ short nNeighborNum = g_nNeighborNum;
+
+ //Step1: update map construction
+ for(int i=0;i<g_iRHeight;i++){
+ for(int j=0;j<g_iRWidth;j++){
+ g_aUpdateMap[i][j] = TRUE;
+ }
+ }
+
+ for(int k=0;k<g_BoundBoxInfo->m_iBoundBoxNum;k++){
+ if(g_BoundBoxInfo->m_ValidBox[k]==TRUE){
+ for(int i=g_BoundBoxInfo->m_aRUpper[k]; i<=g_BoundBoxInfo->m_aRBottom[k]; i++){
+ for(int j=g_BoundBoxInfo->m_aRLeft[k]; j<=g_BoundBoxInfo->m_aRRight[k]; j++){
+ g_aUpdateMap[i][j] = FALSE;
+ }
+ }
+ }
+ }
+
+ //Step2: update
+ int iH_Start = g_nRadius, iH_End = g_iRHeight-g_nRadius;
+ int iW_Start = g_nRadius, iW_End = g_iRWidth-g_nRadius;
+
+ float fLearningRate = (float)g_fLearningRate;
+
+ for(int i=iH_Start; i<iH_End; i++){
+ for(int j=iW_Start;j<iW_End;j++){
+
+ point center;
+
+ center.m_nX = j;
+ center.m_nY = i;
+
+ if(g_aUpdateMap[i][j]==TRUE){
+ //model update
+ T_ModelConstruction(g_nTextureTrainVolRange,fLearningRate,g_aXYZFrame,center,g_aNeighborDirection[i][j],g_TextureModel[i][j]);
+ C_CodebookConstruction(g_aXYZFrame[i][j],j,i,g_nColorTrainVolRange,fLearningRate,g_ColorModel[i][j]);
+
+ //clearing non-essential codewords
+ T_ClearNonEssentialEntries(g_iBackClearPeriod,g_TextureModel[i][j]);
+ C_ClearNonEssentialEntries(g_iBackClearPeriod,g_ColorModel[i][j]);
+
+ }
+ else {
+ if(g_bAbsorptionEnable==TRUE){
+ //model update
+ T_ModelConstruction(g_nTextureTrainVolRange,fLearningRate,g_aXYZFrame,center,g_aNeighborDirection[i][j],g_TCacheBook[i][j]);
+ C_CodebookConstruction(g_aXYZFrame[i][j],j,i,g_nColorTrainVolRange,fLearningRate,g_CCacheBook[i][j]);
+
+ //clearing non-essential codewords
+ T_Absorption(g_iAbsortionPeriod,center,g_aTContinuousCnt,g_aTReferredIndex,g_TextureModel[i][j],g_TCacheBook[i][j]);
+ C_Absorption(g_iAbsortionPeriod,center,g_aCContinuousCnt,g_aCReferredIndex,g_ColorModel[i][j],g_CCacheBook[i][j]);
+
+ }
+ }
+
+ //clearing non-essential codewords for cache-books
+ if(g_bAbsorptionEnable==TRUE){
+ T_ClearNonEssentialEntriesForCachebook(g_aLandmarkArray[i][j],g_aTReferredIndex[i][j],10,g_TCacheBook[i][j]);
+ C_ClearNonEssentialEntriesForCachebook(g_aLandmarkArray[i][j],g_aCReferredIndex[i][j],10,g_CCacheBook[i][j]);
+ }
+ }
+ }
+
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the color based verification function //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::CreateLandmarkArray_Par(float fConfThre, short nTrainVolRange, float**aConfMap, int iNehborNum, uchar*** aXYZ,
+ point*** aNeiDir, TextureModel**** TModel, ColorModel*** CModel, uchar**aLandmarkArr){
+
+ int iBound_w = g_iRWidth-g_nRadius;
+ int iBound_h = g_iRHeight-g_nRadius;
+
+ for(int i=0; i<g_iRHeight; i++){
+ for(int j=0;j<g_iRWidth;j++){
+
+ if(i<g_nRadius || i>=iBound_h || j<g_nRadius || j>=iBound_w) {
+ aLandmarkArr[i][j] = 0;
+ continue;
+ }
+
+ double tmp = aConfMap[i][j];
+
+ if(tmp > fConfThre) aLandmarkArr[i][j] = 255;
+ else{
+ aLandmarkArr[i][j] = 0;
+ //Calculating texture amount in the background
+ double dBackAmt, dCnt;
+ dBackAmt = dCnt = 0;
+
+ for(int m=0; m<iNehborNum; m++){
+ for(int n=0;n<TModel[i][j][m]->m_iNumEntries;n++){
+ dBackAmt += TModel[i][j][m]->m_Codewords[n]->m_fMean;
+ dCnt++;
+ }
+ }
+ dBackAmt /= dCnt;
+
+ //Calculating texture amount in the input image
+ double dTemp, dInputAmt = 0;
+ for(int m=0; m<iNehborNum; m++){
+ dTemp = aXYZ[i][j][2] - aXYZ[ aNeiDir[i][j][m].m_nY ][ aNeiDir[i][j][m].m_nX ][2];
+
+ if(dTemp>=0) dInputAmt += dTemp;
+ else dInputAmt -= dTemp;
+
+ }
+
+ //If there are only few textures in both background and input image
+ if(dBackAmt < 50 && dInputAmt <50){
+ //Conduct color codebook matching
+ BOOL bMatched = FALSE;
+ for(int m=0;m<CModel[i][j]->m_iNumEntries;m++){
+
+ int iMatchedCount = 0;
+ for(int n=0;n<3;n++){
+ double dLowThre = CModel[i][j]->m_Codewords[m]->m_dMean[n] - nTrainVolRange - 10;
+ double dHighThre = CModel[i][j]->m_Codewords[m]->m_dMean[n] + nTrainVolRange + 10;
+
+ if(dLowThre <= aXYZ[i][j][n] && aXYZ[i][j][n] <= dHighThre) iMatchedCount++;
+ }
+
+ if(iMatchedCount==3) {
+ bMatched = TRUE;
+ break;
+ }
+
+ }
+ if(bMatched==TRUE) aLandmarkArr[i][j] = 125;
+ else aLandmarkArr[i][j] = 255;
+
+ }
+
+ }
+ }
+ }
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the Gaussian filtering function //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::GaussianFiltering(IplImage* frame, uchar*** aFilteredFrame){
+
+ double dSigma = 0.7;
+
+ if(dSigma==0){
+ for(int i=0; i<g_iRHeight; i++){
+ for(int j=0; j<g_iRWidth; j++){
+ aFilteredFrame[i][j][0] = frame->imageData[i*frame->widthStep + j*3];
+ aFilteredFrame[i][j][1] = frame->imageData[i*frame->widthStep + j*3 + 1];
+ aFilteredFrame[i][j][2] = frame->imageData[i*frame->widthStep + j*3 + 2];
+ }
+ }
+ }
+
+ else{
+ cv::Mat temp_img(frame,TRUE);
+ cv::GaussianBlur(temp_img, temp_img, cv::Size(7,7), dSigma);
+
+ //Store results into aFilteredFrame[][][]
+ IplImage* img = &IplImage(temp_img);
+ int iWidthStep = img->widthStep;
+
+ for(int i=0; i<g_iRHeight; i++){
+ for(int j=0; j<g_iRWidth; j++){
+ aFilteredFrame[i][j][0] = img->imageData[i*img->widthStep + j*3];
+ aFilteredFrame[i][j][1] = img->imageData[i*img->widthStep + j*3 + 1];
+ aFilteredFrame[i][j][2] = img->imageData[i*img->widthStep + j*3 + 2];
+ }
+ }
+
+ }
+
+
+}
+
+//------------------------------------------------------------------------------------------------------------------------------------//
+// the image resize function //
+//------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::ReduceImageSize(IplImage* SrcImage, IplImage* DstImage){
+
+ int iChannel = 3;
+
+ double dResizeFactor_w = (double)g_iWidth/(double)g_iRWidth;
+ double dResizeFactor_h = (double)g_iHeight/(double)g_iRHeight;
+
+
+ for(int i=0;i<g_iRHeight;i++){
+ for(int j=0;j<g_iRWidth;j++){
+ int iSrcY = (int)(i*dResizeFactor_h);
+ int iSrcX = (int)(j*dResizeFactor_w);
+
+ for(int k=0;k<iChannel;k++) DstImage->imageData[i*DstImage->widthStep + j*3 +k]
+ = SrcImage->imageData[iSrcY*SrcImage->widthStep + iSrcX*3 + k];
+ }
+ }
+
+}
+
+//------------------------------------------------------------------------------------------------------------------------------------//
+// the color space conversion function //
+//------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::BGR2HSVxyz_Par(uchar*** aBGR, uchar*** aXYZ){
+
+ double dH_ratio = (2*PI)/360;
+
+ for(int i=0; i<g_iRHeight; i++){
+
+ double dR,dG,dB;
+ double dMax, dMin;
+
+ double dH,dS, dV;
+
+ for(int j=0;j<g_iRWidth;j++){
+
+ dB = (double)( aBGR[i][j][0] )/255;
+ dG = (double)( aBGR[i][j][1] )/255;
+ dR = (double)( aBGR[i][j][2] )/255;
+
+
+ //Find max, min
+ dMin = MIN3(dR,dG,dB);
+ dMax = MAX3(dR,dG,dB);
+
+
+ //Get V
+ dV = dMax;
+
+ //Get S, H
+ if(dV==0) dS = dH = 0;
+ else{
+
+ //S value
+ dS = (dMax-dMin)/dMax;
+
+ if(dS == 0) dH =0;
+ else{
+ //H value
+ if(dMax == dR) {
+ dH = 60*(dG - dB)/dS;
+ if(dH < 0) dH = 360 + dH;
+ }
+ else if(dMax == dG) dH = 120 + 60*(dB - dR)/dS;
+ else dH = 240 + 60*(dR - dG)/dS;
+ }
+ }
+ dH = dH * dH_ratio;
+
+ aXYZ[i][j][0] = (uchar)( (dV * dS * cos(dH) * 127.5) + 127.5 ); //X --> 0~255
+ aXYZ[i][j][1] = (uchar)( (dV * dS * sin(dH) * 127.5) + 127.5 ); //Y --> 0~255
+ aXYZ[i][j][2] = (uchar)( dV * 255 ); //Z --> 0~255
+
+ }
+ }
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the function to get enlarged confidence map //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::GetEnlargedMap(float** aOriginMap, float** aEnlargedMap){
+ int i,j;
+
+ short nSrcX;
+ short nSrcY;
+
+ double dEWweight,dNSweight;
+ double dEWtop, dEWbottom;
+
+ double dNW; //north-west
+ double dNE; //north-east
+ double dSW; //south-west
+ double dSE; //south-east
+
+ double dScaleFactor_w = ( (double)g_iWidth ) / ( (double)g_iRWidth );
+ double dScaleFactor_h = ( (double)g_iHeight ) / ( (double)g_iRHeight );
+
+ for(i=0;i<g_iHeight;i++){
+ for(j=0;j<g_iWidth;j++){
+ //backward mapping
+ nSrcY = (int)( i/dScaleFactor_h );
+ nSrcX = (int)( j/dScaleFactor_w );
+
+ if( nSrcY == (g_iRHeight-1) ) nSrcY -= 1;
+ if( nSrcX == (g_iRWidth-1) ) nSrcX -= 1;
+
+ dEWweight = i/dScaleFactor_h - nSrcY;
+ dNSweight = j/dScaleFactor_w - nSrcX;
+
+ dNW = (double)aOriginMap[nSrcY][nSrcX];
+ dNE = (double)aOriginMap[nSrcY][nSrcX+1];
+ dSW = (double)aOriginMap[nSrcY+1][nSrcX];
+ dSE = (double)aOriginMap[nSrcY+1][nSrcX+1];
+
+ // interpolation
+ dEWtop = dNW + dEWweight * (dNE - dNW);
+ dEWbottom = dSW + dEWweight * (dSE - dSW);
+
+ aEnlargedMap[i][j] = (float)( dEWtop + dNSweight * (dEWbottom - dEWtop) );
+ }
+ }
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the morphological operation function //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::MorphologicalOpearions(uchar** aInput, uchar** aOutput, double dThresholdRatio, int iMaskSize, int iWidth, int iHeight){
+
+ int iOffset = (int)(iMaskSize/2);
+
+ int iBound_w = iWidth-iOffset;
+ int iBound_h = iHeight-iOffset;
+
+ uchar** aTemp = (uchar**)malloc(sizeof(uchar*)*iHeight);
+ for(int i=0;i<iHeight;i++){
+ aTemp[i] = (uchar*)malloc(sizeof(uchar)*iWidth);
+ }
+
+ for(int i=0;i<iHeight;i++){
+ for(int j=0;j<iWidth;j++){
+ aTemp[i][j] = aInput[i][j];
+ }
+ }
+
+ int iThreshold = (int)(iMaskSize*iMaskSize*dThresholdRatio);
+ for(int i=0;i<iHeight;i++){
+ for(int j=0;j<iWidth;j++){
+
+ if(i<iOffset || i>=iBound_h || j<iOffset || j>=iBound_w){
+ aOutput[i][j] = 0;
+ continue;
+ }
+
+ int iCnt = 0;
+ for(int m=-iOffset;m<=iOffset;m++){
+ for(int n=-iOffset;n<=iOffset;n++){
+ if(aTemp[i+m][j+n]==255) iCnt++;
+ }
+ }
+
+ if(iCnt >= iThreshold) aOutput[i][j] = 255;
+ else aOutput[i][j] = 0;
+ }
+ }
+
+
+ for(int i=0;i<iHeight;i++){
+ free(aTemp[i]);
+ }
+ free(aTemp);
+
+}
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// 2-raster scan pass based labeling function //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::Labeling(uchar** aBinaryArray,int* pLabelCount, int** aLabelTable){
+ int x,y,i; // pass 1,2
+ int cnt=0; // pass 1
+ int label=0; // pass 2
+
+ int iSize = g_iRWidth * g_iRHeight;
+ int iTableSize = iSize/2;
+
+ // initialize , table1 table1
+ int* aPass1 = (int*)malloc(iSize * sizeof(int));
+ int* aTable1 = (int*)malloc(iSize/2 * sizeof(int));
+ int* aTable2 = (int*)malloc(iSize/2 * sizeof(int));
+
+ memset(aPass1, 0, (iSize)* sizeof(int));
+ for (y=1; y < (g_iRHeight); y++){
+ for (x = 1; x < (g_iRWidth); x++){
+ aLabelTable[y][x] = 0;
+ }
+ }
+
+ for(i=0; i < iTableSize; i++){
+ aTable1[i] = i;
+ }
+ memset(aTable2, 0, iTableSize * sizeof(int));
+
+ // pass 1
+ for (y=1; y < (g_iRHeight); y++){
+ for (x = 1; x < (g_iRWidth); x++){
+
+ if (aBinaryArray[y][x] == 255){ // fore ground??
+ int up, le;
+
+ up = aPass1[ (y-1)*(g_iRWidth) + (x ) ]; // up index
+ le = aPass1[ (y )*(g_iRWidth) + (x-1) ]; // left index
+
+ // case
+ if( up == 0 && le == 0){
+ ++cnt;
+ aPass1[ y * g_iRWidth + x ] = cnt;
+
+ }else if( up != 0 && le != 0){
+ if ( up > le){
+ aPass1[ y *g_iRWidth + x ] = le;
+ aTable1[up] = aTable1[le]; // update table1 table1
+ }else{
+ aPass1[ y * g_iRWidth + x ] = up;
+ aTable1[le] = aTable1[up]; // update table1 table1
+ }
+ }else{
+ aPass1[ y * g_iRWidth + x ] = up + le;
+ }
+
+ }
+
+ }
+ }
+
+ // pass 2
+ for (y=1; y < (g_iRHeight); y++){
+ for (x = 1; x < (g_iRWidth); x++){
+
+ if (aPass1[ y * g_iRWidth + x]){
+ int v = aTable1[aPass1[ y * g_iRWidth + x]];
+
+ if ( aTable2[v] == 0){
+ ++label;
+ aTable2[v] = label;
+ }
+
+ aLabelTable[y][x] = aTable2[v];
+ }
+ }
+ }
+
+ *pLabelCount = label;
+
+ free(aPass1);
+ free(aTable1);
+ free(aTable2);
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the function to set bounding boxes for each candidate foreground regions // //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::SetBoundingBox(int iLabelCount, int** aLabelTable){
+ int iBoundBoxIndex;
+
+ g_BoundBoxInfo->m_iBoundBoxNum = iLabelCount;
+
+ for (int i=0; i<g_BoundBoxInfo->m_iBoundBoxNum; i++ ){
+ g_BoundBoxInfo->m_aRLeft[i] = 9999; //left
+ g_BoundBoxInfo->m_aRUpper[i] = 9999; //top
+ g_BoundBoxInfo->m_aRRight[i] = 0; //right
+ g_BoundBoxInfo->m_aRBottom[i] = 0; //bottom
+ }
+
+ //Step1: Set tight bounding boxes
+ for(int i=1;i<g_iRHeight;i++){
+ for(int j=1;j<g_iRWidth;j++){
+
+ if( (aLabelTable[i][j]==0) ) continue;
+
+ iBoundBoxIndex = aLabelTable[i][j]-1;
+
+ if( g_BoundBoxInfo->m_aRLeft[ iBoundBoxIndex ] > j ) g_BoundBoxInfo->m_aRLeft[ iBoundBoxIndex ] = j; //left
+ if( g_BoundBoxInfo->m_aRUpper[ iBoundBoxIndex ] > i ) g_BoundBoxInfo->m_aRUpper[ iBoundBoxIndex ] = i; //top
+ if( g_BoundBoxInfo->m_aRRight[ iBoundBoxIndex ] < j ) g_BoundBoxInfo->m_aRRight[ iBoundBoxIndex ] = j; //right
+ if( g_BoundBoxInfo->m_aRBottom[ iBoundBoxIndex ] < i ) g_BoundBoxInfo->m_aRBottom[ iBoundBoxIndex ] = i; //bottom
+
+ }
+ }
+
+ //Step2: Add margins.
+ int iBoundary_w = (int)(g_iRWidth / 80), iBoundary_h = (int)(g_iRHeight / 60);
+
+ for( int i=0; i<g_BoundBoxInfo->m_iBoundBoxNum; i++ ){
+
+ g_BoundBoxInfo->m_aRLeft[i] -= iBoundary_w;
+ if(g_BoundBoxInfo->m_aRLeft[i] < g_nRadius) g_BoundBoxInfo->m_aRLeft[i] = g_nRadius; //left
+
+ g_BoundBoxInfo->m_aRRight[i] += iBoundary_w;
+ if(g_BoundBoxInfo->m_aRRight[i] >= g_iRWidth-g_nRadius) g_BoundBoxInfo->m_aRRight[i] = g_iRWidth-g_nRadius-1; //Right
+
+ g_BoundBoxInfo->m_aRUpper[i] -= iBoundary_h;
+ if(g_BoundBoxInfo->m_aRUpper[i] < g_nRadius) g_BoundBoxInfo->m_aRUpper[i] = g_nRadius; //Top
+
+ g_BoundBoxInfo->m_aRBottom[i] += iBoundary_h;
+ if(g_BoundBoxInfo->m_aRBottom[i] >= g_iRHeight-g_nRadius) g_BoundBoxInfo->m_aRBottom[i] =g_iRHeight-g_nRadius-1;
+ }
+
+ double dH_ratio = (double)g_iHeight/(double)g_iRHeight;
+ double dW_ratio = (double)g_iWidth/(double)g_iRWidth;
+
+ for(int i=0;i<g_BoundBoxInfo->m_iBoundBoxNum;i++){
+ g_BoundBoxInfo->m_aLeft[i] = (int)(g_BoundBoxInfo->m_aRLeft[i] * dW_ratio);
+ g_BoundBoxInfo->m_aUpper[i] = (int)(g_BoundBoxInfo->m_aRUpper[i] * dH_ratio);
+ g_BoundBoxInfo->m_aRight[i] = (int)(g_BoundBoxInfo->m_aRRight[i] * dW_ratio);
+ g_BoundBoxInfo->m_aBottom[i] = (int)(g_BoundBoxInfo->m_aRBottom[i] * dH_ratio);
+ }
+
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the box verification function // //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::BoundBoxVerification(IplImage* frame, uchar** aResForeMap, BoundingBoxInfo* BoundBoxInfo){
+
+ //Step1: Verification by the bounding box size
+ EvaluateBoxSize(BoundBoxInfo);
+
+ //Step2: Verification by checking whether the region is ghost
+ EvaluateGhostRegion(frame, aResForeMap, BoundBoxInfo);
+
+ //Step3: Counting the # of valid box
+ g_iForegroundNum = 0;
+ for( int i=0; i<BoundBoxInfo->m_iBoundBoxNum; i++ ){
+ if(BoundBoxInfo->m_ValidBox[i] == TRUE) g_iForegroundNum++;
+ }
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the size based verification // //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::EvaluateBoxSize(BoundingBoxInfo* BoundBoxInfo){
+
+ //Set thresholds
+ int iLowThreshold_w, iHighThreshold_w;
+ iLowThreshold_w = g_iRWidth / 32; if(iLowThreshold_w<5) iLowThreshold_w = 5;
+ iHighThreshold_w = g_iRWidth;
+
+ int iLowThreshold_h, iHighThreshold_h;
+ iLowThreshold_h = g_iRHeight / 24; if(iLowThreshold_h<5) iLowThreshold_h = 5;
+ iHighThreshold_h = g_iRHeight;
+
+ int iBoxWidth,iBoxHeight;
+
+ //Perform verification.
+ for( int i=0; i<BoundBoxInfo->m_iBoundBoxNum; i++ ){
+
+ iBoxWidth = BoundBoxInfo->m_aRRight[i] - BoundBoxInfo->m_aRLeft[i];
+ iBoxHeight = BoundBoxInfo->m_aRBottom[i] - BoundBoxInfo->m_aRUpper[i];
+
+ if(iLowThreshold_w<=iBoxWidth && iBoxWidth<=iHighThreshold_w && iLowThreshold_h<=iBoxHeight && iBoxHeight<= iHighThreshold_h) {
+ BoundBoxInfo->m_ValidBox[i] = TRUE;
+ }
+ else BoundBoxInfo->m_ValidBox[i] = FALSE;
+ }
+}
+
+//------------------------------------------------------------------------------------------------------------------------------------//
+// overlapped region removal //
+//------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::EvaluateOverlapRegionSize(BoundingBoxInfo* SrcBoxInfo){
+
+ BOOL *aValidBoxFlag = new BOOL[SrcBoxInfo->m_iBoundBoxNum];
+ for(int i=0;i<SrcBoxInfo->m_iBoundBoxNum;i++) aValidBoxFlag[i] = TRUE;
+
+ int size1, size2;
+ short *aLeft=SrcBoxInfo->m_aRLeft, *aRight=SrcBoxInfo->m_aRRight;
+ short *aTop=SrcBoxInfo->m_aRUpper, *aBottom=SrcBoxInfo->m_aRBottom;
+
+ int iThreshold,iCount, iSmall_Idx, iLarge_Idx;
+ double dThreRatio = 0.7;
+
+ for(int i=0;i<SrcBoxInfo->m_iBoundBoxNum;i++){
+
+ if(SrcBoxInfo->m_ValidBox[i]==FALSE) {
+ aValidBoxFlag[i] = FALSE;
+ continue;
+ }
+
+ size1 = (aRight[i] - aLeft[i]) * (aBottom[i] - aTop[i]);
+
+ for(int j=i;j<SrcBoxInfo->m_iBoundBoxNum;j++){
+ if( (i==j) || (SrcBoxInfo->m_ValidBox[j]==FALSE) ) continue;
+
+ //Setting threshold for checking overlapped region size
+ size2 = (aRight[j] - aLeft[j]) * (aBottom[j] - aTop[j]);
+
+ if(size1 >= size2) {
+ iThreshold = (int)( size2 * dThreRatio );
+ iSmall_Idx = j; iLarge_Idx = i;
+ }
+ else {
+ iThreshold = (int)( size1 * dThreRatio );
+ iSmall_Idx= i; iLarge_Idx = j;
+ }
+
+ //Calculating overlapped region size
+ iCount = 0;
+ for(int m=aLeft[iSmall_Idx]; m<aRight[iSmall_Idx]; m++){
+ for(int n=aTop[iSmall_Idx]; n<aBottom[iSmall_Idx]; n++){
+ if( aLeft[iLarge_Idx]<=m && m<=aRight[iLarge_Idx] && aTop[iLarge_Idx]<=n && n<=aBottom[iLarge_Idx]) iCount++;
+ }
+ }
+
+ //Evaluating overlapped region size
+ if(iCount > iThreshold) aValidBoxFlag[iSmall_Idx] = FALSE;
+ }
+ }
+
+ for(int i=0;i<SrcBoxInfo->m_iBoundBoxNum;i++) SrcBoxInfo->m_ValidBox[i] = aValidBoxFlag[i];
+ delete[] aValidBoxFlag;
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// appearance based verification // //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::EvaluateGhostRegion(IplImage* frame, uchar** aResForeMap, BoundingBoxInfo* BoundBoxInfo){
+
+ double dThreshold = 10;
+
+ BOOL** aUpdateMap = (BOOL**)malloc(sizeof(BOOL*)*g_iRHeight);
+ for(int i=0;i<g_iRHeight;i++){
+ aUpdateMap[i] = (BOOL*)malloc(sizeof(BOOL)*g_iRWidth);
+ for(int j=0;j<g_iRWidth;j++) aUpdateMap[i][j] = FALSE;
+ }
+
+ //Step1: Conduct fore-region evaluation to identify ghost regions
+
+ for(int i=0; i<BoundBoxInfo->m_iBoundBoxNum; i++){
+ if(BoundBoxInfo->m_ValidBox[i]==TRUE){
+ int iWin_w = BoundBoxInfo->m_aRRight[i] - BoundBoxInfo->m_aRLeft[i];
+ int iWin_h = BoundBoxInfo->m_aRBottom[i] - BoundBoxInfo->m_aRUpper[i];
+
+ //Generating edge image from bound-boxed frame region
+ IplImage* resized_frame = cvCreateImage(cvSize(g_iRWidth,g_iRHeight),IPL_DEPTH_8U,3);
+ cvResize(frame,resized_frame,CV_INTER_NN);
+
+ cvSetImageROI(resized_frame, cvRect(BoundBoxInfo->m_aRLeft[i], BoundBoxInfo->m_aRUpper[i], iWin_w, iWin_h));
+ IplImage* edge_frame = cvCreateImage(cvSize(iWin_w,iWin_h),IPL_DEPTH_8U,1);
+
+ cvCvtColor(resized_frame,edge_frame,CV_BGR2GRAY);
+ cvResetImageROI(resized_frame);
+
+ cvCanny(edge_frame,edge_frame,100,150);
+
+ //Generating edge image from aResForeMap
+ IplImage* edge_fore = cvCreateImage(cvSize(iWin_w,iWin_h),IPL_DEPTH_8U,1);
+ for(int m=BoundBoxInfo->m_aRUpper[i]; m<BoundBoxInfo->m_aRBottom[i]; m++){
+ for(int n=BoundBoxInfo->m_aRLeft[i]; n<BoundBoxInfo->m_aRRight[i]; n++){
+ edge_fore->imageData[(m-BoundBoxInfo->m_aRUpper[i])*edge_fore->widthStep + (n-BoundBoxInfo->m_aRLeft[i])] = (char)aResForeMap[m][n];
+ }
+ }
+ cvCanny(edge_fore,edge_fore,100,150);
+ //Calculating partial undirected Hausdorff distance
+ double distance = CalculateHausdorffDist(edge_frame,edge_fore);
+
+ //Recording evaluation result
+ if(distance > dThreshold) {
+
+ for(int m=BoundBoxInfo->m_aRUpper[i]; m<BoundBoxInfo->m_aRBottom[i]; m++){
+ for(int n=BoundBoxInfo->m_aRLeft[i]; n<BoundBoxInfo->m_aRRight[i]; n++){
+ aUpdateMap[m][n] = TRUE;
+ }
+ }
+
+ BoundBoxInfo->m_ValidBox[i]=FALSE;
+ }
+
+ cvReleaseImage(&resized_frame);
+ cvReleaseImage(&edge_frame);
+ cvReleaseImage(&edge_fore);
+ }
+ }
+
+ //Step2: Adding information fo ghost region pixels to background model
+ float fLearningRate = g_fLearningRate;
+
+ for(int i=0;i<g_iRHeight;i++){
+ for(int j=0;j<g_iRWidth;j++){
+ if(aUpdateMap[i][j]==TRUE){
+ point center;
+ center.m_nX=j; center.m_nY=i;
+
+ T_ModelConstruction(g_nTextureTrainVolRange,fLearningRate,g_aXYZFrame,center,g_aNeighborDirection[i][j],g_TextureModel[i][j]);
+ C_CodebookConstruction(g_aXYZFrame[i][j],j,i,g_nColorTrainVolRange,fLearningRate,g_ColorModel[i][j]);
+
+ T_ClearNonEssentialEntries(g_iBackClearPeriod,g_TextureModel[i][j]);
+ C_ClearNonEssentialEntries(g_iBackClearPeriod,g_ColorModel[i][j]);
+
+ }
+ }
+ }
+
+ for(int i=0;i<g_iRHeight;i++) free(aUpdateMap[i]);
+ free(aUpdateMap);
+}
+
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the function to calculate partial undirected Hausdorff distance(forward distance) // //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+double SJN_MultiCueBGS::CalculateHausdorffDist(IplImage* input_image, IplImage* model_image){
+
+ //Step1: Generating imag vectors
+ //For reduce errors, points at the image boundary are excluded
+ vector<point> vInput, vModel;
+ point temp;
+
+ //input image --> input vector
+ for(int i=0;i<input_image->height;i++){
+ for(int j=0;j<input_image->width;j++){
+
+ if( (uchar)input_image->imageData[i*input_image->widthStep + j]==0 ) continue;
+
+ temp.m_nX = j; temp.m_nY = i;
+ vInput.push_back(temp);
+ }
+ }
+ //model image --> model vector
+ for(int i=0; i<model_image->height; i++){
+ for(int j=0; j<model_image->width; j++){
+ if( (uchar)model_image->imageData[i*model_image->widthStep + j]==0 ) continue;
+
+ temp.m_nX = j; temp.m_nY = i;
+ vModel.push_back(temp);
+ }
+ }
+
+ if( vInput.size()==0 && vModel.size()!=0 ) return (double)vModel.size();
+ else if( vInput.size()!=0 && vModel.size()==0 ) return (double)vInput.size();
+ else if( vInput.size()==0 && vModel.size()==0) return 0.0;
+
+ //Step2: Calculating forward distance h(Model,Image)
+ double dDist, temp1, temp2, dMinDist;
+ vector<double> vTempDist;
+
+ for( auto iter_m=vModel.begin(); iter_m<vModel.end(); iter_m++ ){
+
+ dMinDist = 9999999;
+ for( auto iter_i=vInput.begin(); iter_i<vInput.end(); iter_i++){
+ temp1 = (*iter_m).m_nX - (*iter_i).m_nX;
+ temp2 = (*iter_m).m_nY - (*iter_i).m_nY;
+ dDist = temp1*temp1 + temp2*temp2;
+
+ if(dDist < dMinDist) dMinDist = dDist;
+ }
+ vTempDist.push_back(dMinDist);
+ }
+ sort(vTempDist.begin(), vTempDist.end()); //in ascending order
+
+ double dQuantileVal = 0.9, dForwardDistance;
+ int iDistIndex = (int)(dQuantileVal*vTempDist.size()); if(iDistIndex == vTempDist.size()) iDistIndex -= 1;
+
+ dForwardDistance = sqrt( vTempDist[ iDistIndex ] );
+ return dForwardDistance;
+
+}
+
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// function to remove non-valid bounding boxes fore fore-candidates //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::RemovingInvalidForeRegions(uchar** aResForeMap, BoundingBoxInfo* BoundBoxInfo){
+
+ int iBoxNum = BoundBoxInfo->m_iBoundBoxNum;
+
+ for(int k=0;k<iBoxNum; k++){
+
+ if(BoundBoxInfo->m_ValidBox[k]==FALSE){
+ for(int i=BoundBoxInfo->m_aRUpper[k]; i<BoundBoxInfo->m_aRBottom[k]; i++){
+ for(int j=BoundBoxInfo->m_aRLeft[k]; j<BoundBoxInfo->m_aRRight[k]; j++){
+ if(aResForeMap[i][j]==255) aResForeMap[i][j] = 0;
+ }
+ }
+ }
+
+ }
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the function returning a foreground binary-map //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::GetForegroundMap(IplImage* return_image, IplImage* input_frame){
+
+ if(g_bForegroundMapEnable == FALSE) return;
+
+ IplImage* temp_image = cvCreateImage(cvSize(g_iRWidth,g_iRHeight),IPL_DEPTH_8U,3);
+
+ if(input_frame==NULL){
+ for(int i=0;i<g_iRHeight;i++){
+ for(int j=0;j<g_iRWidth;j++){
+ temp_image->imageData[i*temp_image->widthStep + j*3] = (char)g_aResizedForeMap[i][j];
+ temp_image->imageData[i*temp_image->widthStep + j*3 + 1] = (char)g_aResizedForeMap[i][j];
+ temp_image->imageData[i*temp_image->widthStep + j*3 + 2] = (char)g_aResizedForeMap[i][j];
+ }
+ }
+ }
+
+ else{
+
+ cvResize(input_frame,temp_image);
+ CvScalar MixColor;
+ MixColor.val[0] = 255; //B
+ MixColor.val[1] = 0; //G
+ MixColor.val[2] = 255; //R
+
+ for(int i=0;i<g_iRHeight;i++){
+ for(int j=0;j<g_iRWidth;j++){
+
+ if(g_aResizedForeMap[i][j]==255) {
+
+ uchar B = (uchar)temp_image->imageData[i*temp_image->widthStep + j*3];
+ uchar G = (uchar)temp_image->imageData[i*temp_image->widthStep + j*3];
+ uchar R = (uchar)temp_image->imageData[i*temp_image->widthStep + j*3];
+
+ B = (uchar)(B*0.45 + MixColor.val[0]*0.55);
+ G = (uchar)(G*0.45 + MixColor.val[1]*0.55);
+ R = (uchar)(R*0.45 + MixColor.val[2]*0.55);
+
+ temp_image->imageData[i*temp_image->widthStep + j*3] = (char)B;
+ temp_image->imageData[i*temp_image->widthStep + j*3 + 1] = (char)G;
+ temp_image->imageData[i*temp_image->widthStep + j*3 + 2] = (char)R;
+ }
+ }
+ }
+ }
+
+ cvResize(temp_image,return_image);
+
+ cvReleaseImage(&temp_image);
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the initialization function for the texture-models //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::T_AllocateTextureModelRelatedMemory(){
+ int i,j,k;
+
+ //neighborhood system related
+ int iMaxNeighborArraySize = 8;
+ g_aNeighborDirection = (point***)malloc(sizeof(point**)*g_iRHeight);
+ for(i=0;i<g_iRHeight;i++){
+ g_aNeighborDirection[i] = (point**)malloc(sizeof(point*)*g_iRWidth);
+ for(j=0;j<g_iRWidth;j++){
+ g_aNeighborDirection[i][j] = (point*)malloc(sizeof(point)*iMaxNeighborArraySize);
+ }
+ }
+ T_SetNeighborDirection(g_aNeighborDirection);
+
+ //texture-model related
+ int iElementArraySize = 6;
+ g_TextureModel = (TextureModel****)malloc(sizeof(TextureModel***)*g_iRHeight);
+ for(i=0;i<g_iRHeight;i++){
+ g_TextureModel[i] = (TextureModel***)malloc(sizeof(TextureModel**)*g_iRWidth);
+ for(j=0;j<g_iRWidth;j++){
+ g_TextureModel[i][j] = (TextureModel**)malloc(sizeof(TextureModel*)*g_nNeighborNum);
+ for(k=0;k<g_nNeighborNum;k++){
+ g_TextureModel[i][j][k] = (TextureModel*)malloc(sizeof(TextureModel));
+ g_TextureModel[i][j][k]->m_Codewords = (TextureCodeword**)malloc(sizeof(TextureCodeword*)*iElementArraySize);
+ g_TextureModel[i][j][k]->m_iElementArraySize = iElementArraySize;
+ g_TextureModel[i][j][k]->m_iNumEntries = 0;
+ g_TextureModel[i][j][k]->m_iTotal = 0;
+ g_TextureModel[i][j][k]->m_bID = 1;
+ }
+ }
+ }
+
+ g_aTextureConfMap = (float**)malloc(sizeof(float*)*g_iRHeight);
+ for(i=0;i<g_iRHeight;i++) g_aTextureConfMap[i] = (float*)malloc(sizeof(float)*g_iRWidth);
+
+ //cache-book related
+ if(g_bAbsorptionEnable==TRUE){
+ iElementArraySize = iElementArraySize/2;
+ if(iElementArraySize<3)iElementArraySize = 3;
+
+ g_TCacheBook = (TextureModel****)malloc(sizeof(TextureModel***)*g_iRHeight);
+ for(i=0;i<g_iRHeight;i++){
+ g_TCacheBook[i] = (TextureModel***)malloc(sizeof(TextureModel**)*g_iRWidth);
+ for(j=0;j<g_iRWidth;j++){
+ g_TCacheBook[i][j] = (TextureModel**)malloc(sizeof(TextureModel*)*g_nNeighborNum);
+ for(k=0;k<g_nNeighborNum;k++){
+ g_TCacheBook[i][j][k] = (TextureModel*)malloc(sizeof(TextureModel));
+ g_TCacheBook[i][j][k]->m_Codewords = (TextureCodeword**)malloc(sizeof(TextureCodeword*)*iElementArraySize);
+ g_TCacheBook[i][j][k]->m_iElementArraySize = iElementArraySize;
+ g_TCacheBook[i][j][k]->m_iNumEntries = 0;
+ g_TCacheBook[i][j][k]->m_iTotal = 0;
+ g_TCacheBook[i][j][k]->m_bID = 0;
+ }
+ }
+ }
+
+ g_aTReferredIndex = (short***)malloc(sizeof(short**)*g_iRHeight);
+ g_aTContinuousCnt = (short***)malloc(sizeof(short**)*g_iRHeight);
+ for(i=0;i<g_iRHeight;i++){
+ g_aTReferredIndex[i] = (short**)malloc(sizeof(short*)*g_iRWidth);
+ g_aTContinuousCnt[i] = (short**)malloc(sizeof(short*)*g_iRWidth);
+ for(j=0;j<g_iRWidth;j++) {
+ g_aTReferredIndex[i][j] = (short*)malloc(sizeof(short)*g_nNeighborNum);
+ g_aTContinuousCnt[i][j] = (short*)malloc(sizeof(short)*g_nNeighborNum);
+ for(k=0;k<g_nNeighborNum;k++){
+ g_aTReferredIndex[i][j][k] = -1;
+ g_aTContinuousCnt[i][j][k] = 0;
+ }
+ }
+ }
+ }
+}
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the memory release function //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::T_ReleaseTextureModelRelatedMemory(){
+ int i,j,k,m;
+ short nNeighborNum = g_nNeighborNum;
+
+ for(i=0;i<g_iRHeight;i++){
+ for(j=0;j<g_iRWidth;j++){
+ for(k=0;k<nNeighborNum;k++){
+ for(m=0;m<g_TextureModel[i][j][k]->m_iNumEntries;m++) free(g_TextureModel[i][j][k]->m_Codewords[m]);
+ free(g_TextureModel[i][j][k]->m_Codewords);
+ free(g_TextureModel[i][j][k]);
+ }
+ free(g_TextureModel[i][j]);
+ }free(g_TextureModel[i]);
+ }
+ free(g_TextureModel);
+
+ for(i=0;i<g_iRHeight;i++){
+ for(j=0;j<g_iRWidth;j++) free(g_aNeighborDirection[i][j]);
+ free(g_aNeighborDirection[i]);
+ }
+ free(g_aNeighborDirection);
+
+ for(i=0;i<g_iRHeight;i++) free(g_aTextureConfMap[i]);
+ free(g_aTextureConfMap);
+
+ if(g_bAbsorptionEnable==TRUE){
+ for(i=0;i<g_iRHeight;i++){
+ for(j=0;j<g_iRWidth;j++){
+ for(k=0;k<nNeighborNum;k++){
+ for(m=0;m<g_TCacheBook[i][j][k]->m_iNumEntries;m++) free(g_TCacheBook[i][j][k]->m_Codewords[m]);
+ free(g_TCacheBook[i][j][k]->m_Codewords);
+ free(g_TCacheBook[i][j][k]);
+ }
+ free(g_TCacheBook[i][j]);
+ }free(g_TCacheBook[i]);
+ }
+ free(g_TCacheBook);
+
+ for(i=0;i<g_iRHeight;i++){
+ for(j=0;j<g_iRWidth;j++){
+ free(g_aTReferredIndex[i][j]);
+ free(g_aTContinuousCnt[i][j]);
+ }
+ free(g_aTReferredIndex[i]);
+ free(g_aTContinuousCnt[i]);
+ }
+ free(g_aTReferredIndex);
+ free(g_aTContinuousCnt);
+
+ }
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the codebook construction function //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::T_ModelConstruction(short nTrainVolRange,float fLearningRate, uchar*** aXYZ,point center, point* aNei, TextureModel** aModel){
+
+ int i,j;
+ int iMatchedIndex;
+
+ short nNeighborNum = g_nNeighborNum;
+
+ float fDifference;
+ float fDiffMean;
+
+ float fNegLearningRate = 1-fLearningRate;
+
+ //for all neighboring pairs
+ for(i=0;i<nNeighborNum;i++){
+
+ fDifference = (float)(aXYZ[center.m_nY][center.m_nX][2] - aXYZ[aNei[i].m_nY][aNei[i].m_nX][2]);
+
+ //Step1: matching
+ iMatchedIndex = -1;
+ for(j=0;j<aModel[i]->m_iNumEntries;j++){
+ if(aModel[i]->m_Codewords[j]->m_fLowThre <= fDifference && fDifference <= aModel[i]->m_Codewords[j]->m_fHighThre){
+ iMatchedIndex = j;
+ break;
+ }
+ }
+
+ aModel[i]->m_iTotal++;
+ //Step2: adding a new element
+ if(iMatchedIndex == -1){
+ //element array�� Ȯ���� �ʿ䰡 ������ Ȯ��
+ if(aModel[i]->m_iElementArraySize == aModel[i]->m_iNumEntries){
+ aModel[i]->m_iElementArraySize += 5;
+ TextureCodeword **temp = (TextureCodeword**)malloc(sizeof(TextureCodeword*)*aModel[i]->m_iElementArraySize);
+ for(j=0;j<aModel[i]->m_iNumEntries;j++){
+ temp[j] = aModel[i]->m_Codewords[j];
+ aModel[i]->m_Codewords[j] = NULL;
+ }
+ free(aModel[i]->m_Codewords);
+ aModel[i]->m_Codewords = temp;
+ }
+ aModel[i]->m_Codewords[aModel[i]->m_iNumEntries] = (TextureCodeword*)malloc(sizeof(TextureCodeword));
+
+ aModel[i]->m_Codewords[aModel[i]->m_iNumEntries]->m_fMean = fDifference;
+ aModel[i]->m_Codewords[aModel[i]->m_iNumEntries]->m_fLowThre = aModel[i]->m_Codewords[aModel[i]->m_iNumEntries]->m_fMean - nTrainVolRange;
+ aModel[i]->m_Codewords[aModel[i]->m_iNumEntries]->m_fHighThre = aModel[i]->m_Codewords[aModel[i]->m_iNumEntries]->m_fMean + nTrainVolRange;
+
+ aModel[i]->m_Codewords[aModel[i]->m_iNumEntries]->m_iT_first_time = aModel[i]->m_iTotal;
+ aModel[i]->m_Codewords[aModel[i]->m_iNumEntries]->m_iT_last_time = aModel[i]->m_iTotal;
+ aModel[i]->m_Codewords[aModel[i]->m_iNumEntries]->m_iMNRL = aModel[i]->m_iTotal-1;
+ aModel[i]->m_iNumEntries ++;
+ }
+
+ //Step3: update
+ else{
+ fDiffMean = aModel[i]->m_Codewords[iMatchedIndex]->m_fMean;
+ aModel[i]->m_Codewords[iMatchedIndex]->m_fMean = fLearningRate*fDifference + fNegLearningRate*fDiffMean;
+
+ aModel[i]->m_Codewords[iMatchedIndex]->m_fLowThre = aModel[i]->m_Codewords[iMatchedIndex]->m_fMean - nTrainVolRange;
+ aModel[i]->m_Codewords[iMatchedIndex]->m_fHighThre = aModel[i]->m_Codewords[iMatchedIndex]->m_fMean + nTrainVolRange;
+
+ aModel[i]->m_Codewords[iMatchedIndex]->m_iT_last_time = aModel[i]->m_iTotal;
+ }
+
+ //cache-book handling
+ if(aModel[i]->m_bID==1){
+ //1. m_iMNRL update
+ int negTime;
+ for(j=0;j<aModel[i]->m_iNumEntries;j++){
+ //m_iMNRL update
+ negTime = aModel[i]->m_iTotal - aModel[i]->m_Codewords[j]->m_iT_last_time + aModel[i]->m_Codewords[j]->m_iT_first_time - 1;
+ if(aModel[i]->m_Codewords[j]->m_iMNRL < negTime) aModel[i]->m_Codewords[j]->m_iMNRL = negTime;
+ }
+
+
+ //2. g_aTReferredIndex[center.m_nY][center.m_nX][i] update
+ if(g_bAbsorptionEnable == TRUE) g_aTReferredIndex[center.m_nY][center.m_nX][i] = -1;
+ }
+
+ else{
+ //1. m_iMNRL update
+ if(iMatchedIndex == -1) aModel[i]->m_Codewords[aModel[i]->m_iNumEntries-1]->m_iMNRL = 0;
+
+ //2. g_aTReferredIndex[center.m_nY][center.m_nX][i] update
+ if(iMatchedIndex==-1){
+ g_aTReferredIndex[center.m_nY][center.m_nX][i] = aModel[i]->m_iNumEntries-1;
+ g_aTContinuousCnt[center.m_nY][center.m_nX][i] = 1;
+ }
+ else{
+ if(iMatchedIndex == g_aTReferredIndex[center.m_nY][center.m_nX][i]) g_aTContinuousCnt[center.m_nY][center.m_nX][i]++;
+ else{
+ g_aTReferredIndex[center.m_nY][center.m_nX][i] = iMatchedIndex;
+ g_aTContinuousCnt[center.m_nY][center.m_nX][i] = 1;
+ }
+ }
+ }
+
+ }
+
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// Clear non-essential codewords of the given codebook // //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::T_ClearNonEssentialEntries(short nClearNum, TextureModel** aModel){
+ int i,n;
+ int iStaleThresh = (int)(nClearNum*0.5);
+ int iKeepCnt;
+ int* aKeep;
+
+ short nNeighborNum = g_nNeighborNum;
+
+ TextureModel* c;
+
+ for(n=0;n<nNeighborNum;n++){
+ c = aModel[n];
+
+ if(c->m_iTotal < nClearNum) continue; //(being operated only when c[w][h]->m_iTotal == nClearNum)
+
+ //Step1: initialization
+ aKeep = (int*)malloc(sizeof(int)*c->m_iNumEntries);
+
+ iKeepCnt = 0;
+
+ //Step2: Find non-essential code-words
+ for(i=0;i<c->m_iNumEntries;i++){
+ if(c->m_Codewords[i]->m_iMNRL > iStaleThresh) {
+ aKeep[i] = 0; //removal candidate
+ }
+ else {
+ aKeep[i] = 1;
+ iKeepCnt++;
+ }
+ }
+
+ //Step3: Perform removal
+ if(iKeepCnt==0 || iKeepCnt==c->m_iNumEntries){
+ for(i=0;i<c->m_iNumEntries;i++){
+ c->m_Codewords[i]->m_iT_first_time = 1;
+ c->m_Codewords[i]->m_iT_last_time = 1;
+ c->m_Codewords[i]->m_iMNRL = 0;
+ }
+ }
+
+ else{
+ iKeepCnt = 0;
+ TextureCodeword** temp = (TextureCodeword**)malloc(sizeof(TextureCodeword*)*c->m_iNumEntries);
+
+ for(i=0;i<c->m_iNumEntries;i++){
+ if(aKeep[i] == 1){
+ temp[iKeepCnt] = c->m_Codewords[i];
+ temp[iKeepCnt]->m_iT_first_time = 1;
+ temp[iKeepCnt]->m_iT_last_time = 1;
+ temp[iKeepCnt]->m_iMNRL = 0;
+ iKeepCnt++;
+ }
+ else free(c->m_Codewords[i]);
+ }
+
+ //ending..
+ free(c->m_Codewords);
+ c->m_Codewords = temp;
+ c->m_iElementArraySize = c->m_iNumEntries;
+ c->m_iNumEntries = iKeepCnt;
+ }
+ c->m_iTotal=0;
+ free(aKeep);
+
+ }
+
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// Clear non-essential codewords of the given codebook (only for the cache-book) //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::T_ClearNonEssentialEntriesForCachebook(uchar bLandmark, short* nReferredIdxArr, short nClearNum, TextureModel** pCachebook){
+ int i,n;
+ short nNeighborNum = g_nNeighborNum;
+
+ TextureModel* c;
+ short nReferredIdx;
+
+ for(n=0;n<nNeighborNum;n++){
+
+ c = pCachebook[n];
+ nReferredIdx = nReferredIdxArr[n];
+
+ //pCachebook->m_iTotal < nClearNum? --> MNRL update
+ if(c->m_iTotal<nClearNum) {
+ for(i=0;i<c->m_iNumEntries;i++){
+ if(bLandmark == 255 && i == nReferredIdx) c->m_Codewords[i]->m_iMNRL = 0;
+ else c->m_Codewords[i]->m_iMNRL++;
+ }
+
+ c->m_iTotal++;
+ }
+
+ //Perform clearing
+ else{
+ int iStaleThreshold = 5;
+
+ int* aKeep;
+ short nKeepCnt;
+
+ aKeep = (int*)malloc(sizeof(int)*c->m_iNumEntries);
+ nKeepCnt = 0;
+
+ for(i=0;i<c->m_iNumEntries;i++){
+ if(c->m_Codewords[i]->m_iMNRL<iStaleThreshold){
+ aKeep[i] = 1;
+ nKeepCnt++;
+ }
+ else aKeep[i] = 0;
+ }
+
+ c->m_iElementArraySize = nKeepCnt+2;
+ if(c->m_iElementArraySize<3) c->m_iElementArraySize = 3;
+
+ TextureCodeword** temp = (TextureCodeword**)malloc(sizeof(TextureCodeword*)*c->m_iElementArraySize);
+ nKeepCnt = 0;
+
+ for(i=0;i<c->m_iNumEntries;i++){
+ if(aKeep[i]==1){
+ temp[nKeepCnt] = c->m_Codewords[i];
+ temp[nKeepCnt]->m_iMNRL = 0;
+ nKeepCnt++;
+ }
+ else {
+ free(c->m_Codewords[i]);
+ }
+
+ }
+
+ //ending..
+ free(c->m_Codewords);
+ c->m_Codewords = temp;
+ c->m_iNumEntries = nKeepCnt;
+ c->m_iTotal = 0;
+
+ free(aKeep);
+ }
+ }
+
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the function to generate texture confidence maps //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::T_GetConfidenceMap_Par(uchar*** aXYZ, float** aTextureMap, point*** aNeiDirArr, TextureModel**** aModel){
+
+ int iBound_w = g_iRWidth-g_nRadius;
+ int iBound_h = g_iRHeight-g_nRadius;
+
+ short nNeighborNum = g_nNeighborNum;
+ float fPadding = 5;
+
+ for(int h=0; h<g_iRHeight; h++){
+ for(int w=0;w<g_iRWidth;w++){
+
+ if(h<g_nRadius || h>=iBound_h || w<g_nRadius || w>=iBound_w){
+ aTextureMap[h][w] = 0;
+ continue;
+ }
+
+ int nMatchedCount = 0;
+ float fDiffSum = 0;
+ float fDifference;
+ point nei;
+
+ for(int i=0;i<nNeighborNum;i++){
+
+ nei.m_nX = aNeiDirArr[h][w][i].m_nX;
+ nei.m_nY = aNeiDirArr[h][w][i].m_nY;
+
+ fDifference = (float)(aXYZ[h][w][2] - aXYZ[nei.m_nY][nei.m_nX][2]);
+ if(fDifference<0) fDiffSum -= fDifference;
+ else fDiffSum += fDifference;
+
+ for(int j=0;j<aModel[h][w][i]->m_iNumEntries;j++){
+ if(aModel[h][w][i]->m_Codewords[j]->m_fLowThre-fPadding <= fDifference && fDifference <= aModel[h][w][i]->m_Codewords[j]->m_fHighThre+fPadding){
+ nMatchedCount++;
+ break;
+ }
+ }
+
+ }
+ aTextureMap[h][w] = 1 - (float)nMatchedCount/nNeighborNum;
+ }
+ }
+}
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// Absorbing Ghost Non-background Region Update //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::T_Absorption(int iAbsorbCnt, point pos, short*** aContinuCnt, short*** aRefferedIndex, TextureModel** pModel, TextureModel** pCache){
+ int i,j,k;
+ int iLeavingIndex;
+
+ short g_nRadius = 2;
+ short nNeighborNum = g_nNeighborNum;
+
+ for(i=0;i<nNeighborNum;i++){
+ //set iLeavingIndex
+ if(aContinuCnt[pos.m_nY][pos.m_nX][i]<iAbsorbCnt) continue;
+
+ iLeavingIndex = aRefferedIndex[pos.m_nY][pos.m_nX][i];
+
+ //array expansion
+ if(pModel[i]->m_iElementArraySize==pModel[i]->m_iNumEntries){
+ pModel[i]->m_iElementArraySize = pModel[i]->m_iElementArraySize+5;
+ TextureCodeword** temp = (TextureCodeword**)malloc(sizeof(TextureCodeword*)*pModel[i]->m_iElementArraySize);
+ for(j=0;j<pModel[i]->m_iNumEntries;j++) temp[j] = pModel[i]->m_Codewords[j];
+ free(pModel[i]->m_Codewords);
+ pModel[i]->m_Codewords = temp;
+ }
+
+ //movement from the cache-book to the codebook
+ pModel[i]->m_Codewords[pModel[i]->m_iNumEntries] = pCache[i]->m_Codewords[iLeavingIndex];
+
+ pModel[i]->m_iTotal = pModel[i]->m_iTotal+1;
+
+ pModel[i]->m_Codewords[pModel[i]->m_iNumEntries]->m_iT_first_time = pModel[i]->m_iTotal;
+ pModel[i]->m_Codewords[pModel[i]->m_iNumEntries]->m_iT_last_time = pModel[i]->m_iTotal;
+ pModel[i]->m_Codewords[pModel[i]->m_iNumEntries]->m_iMNRL = pModel[i]->m_iTotal-1;
+ pModel[i]->m_iNumEntries = pModel[i]->m_iNumEntries + 1;
+
+ k=0;
+ TextureCodeword **temp_Cache = (TextureCodeword**)malloc(sizeof(TextureCodeword*)*pCache[i]->m_iElementArraySize);
+ for(j=0;j<pCache[i]->m_iNumEntries;j++){
+ if(j==iLeavingIndex) continue;
+ else{
+ temp_Cache[k] = pCache[i]->m_Codewords[j];
+ k++;
+ }
+ }
+ free(pCache[i]->m_Codewords);
+ pCache[i]->m_Codewords = temp_Cache;
+ pCache[i]->m_iNumEntries = k;
+ }
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the function to set neighborhood system //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::T_SetNeighborDirection(point*** aNeighborPos){
+ int i,j,k;
+ point* aSearchDirection = (point*)malloc(sizeof(point)*g_nNeighborNum);
+
+ aSearchDirection[0].m_nX = -2;//180 degree
+ aSearchDirection[0].m_nY = 0;
+
+ aSearchDirection[1].m_nX = -1;//123 degree
+ aSearchDirection[1].m_nY = -2;
+
+ aSearchDirection[2].m_nX = 1;//45 degree
+ aSearchDirection[2].m_nY = -2;
+
+ aSearchDirection[3].m_nX = 2;//0 degree
+ aSearchDirection[3].m_nY = 0;
+
+ aSearchDirection[4].m_nX = 1;//-45 degree
+ aSearchDirection[4].m_nY = 2;
+
+ aSearchDirection[5].m_nX = -1;//-135 degree
+ aSearchDirection[5].m_nY = 2;
+
+ point temp_pos;
+
+ for(i=0;i<g_iRHeight;i++){
+ for(j=0;j<g_iRWidth;j++){
+ for(k=0;k<g_nNeighborNum;k++){
+ temp_pos.m_nX = j+aSearchDirection[k].m_nX;
+ temp_pos.m_nY = i+aSearchDirection[k].m_nY;
+
+ if(temp_pos.m_nX<0 || temp_pos.m_nX>=g_iRWidth || temp_pos.m_nY<0 || temp_pos.m_nY>=g_iRHeight) {
+ aNeighborPos[i][j][k].m_nX = -1;
+ aNeighborPos[i][j][k].m_nY = -1;
+ }
+
+ else {
+ aNeighborPos[i][j][k].m_nX = temp_pos.m_nX;
+ aNeighborPos[i][j][k].m_nY = temp_pos.m_nY;
+ }
+ }
+ }
+ }
+ free(aSearchDirection);
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the color-model initialization function //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::C_AllocateColorModelRelatedMemory(){
+ int i,j;
+
+ int iElementArraySize = 10;
+
+ //codebook initialization
+ g_ColorModel = (ColorModel***)malloc(sizeof(ColorModel**)*g_iRHeight);
+ for(i=0;i<g_iRHeight;i++){
+ g_ColorModel[i] = (ColorModel**)malloc(sizeof(ColorModel*)*g_iRWidth);
+ for(j=0;j<g_iRWidth;j++){
+ //initialization of each CodeBookArray.
+ g_ColorModel[i][j] = (ColorModel*)malloc(sizeof(ColorModel));
+ g_ColorModel[i][j]->m_Codewords = (ColorCodeword**)malloc(sizeof(ColorCodeword*)*iElementArraySize);
+ g_ColorModel[i][j]->m_iNumEntries = 0;
+ g_ColorModel[i][j]->m_iElementArraySize = iElementArraySize;
+ g_ColorModel[i][j]->m_iTotal = 0;
+ g_ColorModel[i][j]->m_bID = 1;
+ }
+ }
+
+ //cache-book initialization
+ if(g_bAbsorptionEnable==TRUE){
+ iElementArraySize = 3;
+
+ g_CCacheBook = (ColorModel***)malloc(sizeof(ColorModel**)*g_iRHeight);
+ for(i=0;i<g_iRHeight;i++){
+ g_CCacheBook[i] = (ColorModel**)malloc(sizeof(ColorModel*)*g_iRWidth);
+ for(j=0;j<g_iRWidth;j++){
+ //initialization of each CodeBookArray.
+ g_CCacheBook[i][j] = (ColorModel*)malloc(sizeof(ColorModel));
+ g_CCacheBook[i][j]->m_Codewords = (ColorCodeword**)malloc(sizeof(ColorCodeword*)*iElementArraySize);
+ g_CCacheBook[i][j]->m_iNumEntries = 0;
+ g_CCacheBook[i][j]->m_iElementArraySize = iElementArraySize;
+ g_CCacheBook[i][j]->m_iTotal = 0;
+ g_CCacheBook[i][j]->m_bID = 0;
+ }
+ }
+
+ g_aCReferredIndex = (short**)malloc(sizeof(short*)*g_iRHeight);
+ g_aCContinuousCnt = (short**)malloc(sizeof(short*)*g_iRHeight);
+ for(i=0;i<g_iRHeight;i++){
+ g_aCReferredIndex[i] = (short*)malloc(sizeof(short)*g_iRWidth);
+ g_aCContinuousCnt[i] = (short*)malloc(sizeof(short)*g_iRWidth);
+ for(j=0;j<g_iRWidth;j++){
+ g_aCReferredIndex[i][j] = -1;
+ g_aCContinuousCnt[i][j] = 0;
+ }
+ }
+ }
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the memory release function //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::C_ReleaseColorModelRelatedMemory(){
+ int i,j,k;
+
+ for(i=0;i<g_iRHeight;i++){
+ for(j=0;j<g_iRWidth;j++){
+ for(k=0;k<g_ColorModel[i][j]->m_iNumEntries;k++){
+ free(g_ColorModel[i][j]->m_Codewords[k]);
+ }
+ free(g_ColorModel[i][j]->m_Codewords);
+ free(g_ColorModel[i][j]);
+ }
+ free(g_ColorModel[i]);
+ }
+ free(g_ColorModel);
+
+ if(g_bAbsorptionEnable==TRUE){
+ for(i=0;i<g_iRHeight;i++){
+ for(j=0;j<g_iRWidth;j++){
+ for(k=0;k<g_CCacheBook[i][j]->m_iNumEntries;k++){
+ free(g_CCacheBook[i][j]->m_Codewords[k]);
+ }
+ free(g_CCacheBook[i][j]->m_Codewords);
+ free(g_CCacheBook[i][j]);
+ }
+ free(g_CCacheBook[i]);
+ }
+ free(g_CCacheBook);
+
+ for(i=0;i<g_iRHeight;i++){
+ free(g_aCReferredIndex[i]);
+ free(g_aCContinuousCnt[i]);
+ }
+ free(g_aCReferredIndex);
+ free(g_aCContinuousCnt);
+ }
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the codebook construction function //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::C_CodebookConstruction(uchar* aP,int iPosX, int iPosY, short nTrainVolRange, float fLearningRate, ColorModel* pC){
+
+ //Step1: matching
+ int i,j;
+ short nMatchedIndex;
+
+ float fNegLearningRate = 1-fLearningRate;
+
+ nMatchedIndex = -1;
+
+ for(i=0;i<pC->m_iNumEntries;i++){
+
+ //Checking X
+ if(pC->m_Codewords[i]->m_dMean[0]-nTrainVolRange <= aP[0] && aP[0] <= pC->m_Codewords[i]->m_dMean[0]+nTrainVolRange){
+ //Checking Y
+ if(pC->m_Codewords[i]->m_dMean[1]-nTrainVolRange <= aP[1] && aP[1] <= pC->m_Codewords[i]->m_dMean[1]+nTrainVolRange){
+ //Checking Z
+ if(pC->m_Codewords[i]->m_dMean[2]-nTrainVolRange <= aP[2] && aP[2] <= pC->m_Codewords[i]->m_dMean[2]+nTrainVolRange){
+ nMatchedIndex = i;
+ break;
+ }
+ }
+ }
+ }
+
+ pC->m_iTotal = pC->m_iTotal+1;
+
+ //Step2 : adding a new element
+ if(nMatchedIndex==-1){
+ if(pC->m_iElementArraySize == pC->m_iNumEntries){
+ pC->m_iElementArraySize = pC->m_iElementArraySize + 5;
+ ColorCodeword **temp = (ColorCodeword**)malloc(sizeof(ColorCodeword*)*pC->m_iElementArraySize);
+ for(j=0;j<pC->m_iNumEntries;j++){
+ temp[j] = pC->m_Codewords[j];
+ pC->m_Codewords[j]= NULL;
+ }
+ free(pC->m_Codewords);
+ pC->m_Codewords = temp;
+
+ }
+ pC->m_Codewords[pC->m_iNumEntries] = (ColorCodeword*)malloc(sizeof(ColorCodeword));
+
+ pC->m_Codewords[pC->m_iNumEntries]->m_dMean[0] = aP[0];//X
+ pC->m_Codewords[pC->m_iNumEntries]->m_dMean[1] = aP[1];//Y
+ pC->m_Codewords[pC->m_iNumEntries]->m_dMean[2] = aP[2];//Z
+
+ pC->m_Codewords[pC->m_iNumEntries]->m_iT_first_time = pC->m_iTotal;
+ pC->m_Codewords[pC->m_iNumEntries]->m_iT_last_time = pC->m_iTotal;
+ pC->m_Codewords[pC->m_iNumEntries]->m_iMNRL = pC->m_iTotal-1;
+ pC->m_iNumEntries = pC->m_iNumEntries + 1;
+ }
+
+ //Step3 : update
+ else{
+ //m_dMean update
+ pC->m_Codewords[nMatchedIndex]->m_dMean[0] = (fLearningRate*aP[0]) + fNegLearningRate*pC->m_Codewords[nMatchedIndex]->m_dMean[0];//X
+ pC->m_Codewords[nMatchedIndex]->m_dMean[1] = (fLearningRate*aP[1]) + fNegLearningRate*pC->m_Codewords[nMatchedIndex]->m_dMean[1];//Y
+ pC->m_Codewords[nMatchedIndex]->m_dMean[2] = (fLearningRate*aP[2]) + fNegLearningRate*pC->m_Codewords[nMatchedIndex]->m_dMean[2];//Z
+
+ pC->m_Codewords[nMatchedIndex]->m_iT_last_time = pC->m_iTotal;
+ }
+
+ //cache-book handling
+ if(pC->m_bID==1){
+ //1. m_iMNRL update
+ int iNegTime;
+ for(i=0;i<pC->m_iNumEntries;i++){
+ //m_iMNRL update
+ iNegTime = pC->m_iTotal - pC->m_Codewords[i]->m_iT_last_time + pC->m_Codewords[i]->m_iT_first_time - 1;
+ if(pC->m_Codewords[i]->m_iMNRL < iNegTime) pC->m_Codewords[i]->m_iMNRL = iNegTime;
+ }
+
+ //2. g_aCReferredIndex[iPosY][iPosX] update
+ if(g_bAbsorptionEnable == TRUE) g_aCReferredIndex[iPosY][iPosX] = -1;
+ }
+
+ else{
+ //1. m_iMNRL update:
+ if(nMatchedIndex == -1) pC->m_Codewords[pC->m_iNumEntries-1]->m_iMNRL = 0;
+
+ //2. g_aCReferredIndex[iPosY][iPosX] update
+ if(nMatchedIndex==-1){
+ g_aCReferredIndex[iPosY][iPosX] = pC->m_iNumEntries-1;
+ g_aCContinuousCnt[iPosY][iPosX] = 1;
+ }
+ else{
+ if(nMatchedIndex == g_aCReferredIndex[iPosY][iPosX]) g_aCContinuousCnt[iPosY][iPosX]++;
+ else{
+ g_aCReferredIndex[iPosY][iPosX] = nMatchedIndex;
+ g_aCContinuousCnt[iPosY][iPosX] = 1;
+ }
+ }
+ }
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// Clear non-essential codewords of the given codebook // //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::C_ClearNonEssentialEntries(short nClearNum, ColorModel* pModel){
+ int i;
+ short nStaleThresh = (int)(nClearNum*0.5);
+ short nKeepCnt;
+ int* aKeep;
+
+ ColorModel* pC = pModel;
+
+ if(pC->m_iTotal < nClearNum) return; //(Being operated only when pC->t >= nClearNum)
+
+ //Step1:initialization
+ aKeep = (int*)malloc(sizeof(int)*pC->m_iNumEntries);
+
+ nKeepCnt = 0;
+
+ //Step2: Find non-essential codewords
+ for(i=0;i<pC->m_iNumEntries;i++){
+ if(pC->m_Codewords[i]->m_iMNRL > nStaleThresh) {
+ aKeep[i] = 0; //removal
+ }
+ else {
+ aKeep[i] = 1; //keep
+ nKeepCnt++;
+ }
+ }
+
+ //Step3: Perform removal
+ if(nKeepCnt==0 || nKeepCnt==pC->m_iNumEntries){
+ for(i=0;i<pC->m_iNumEntries;i++){
+ pC->m_Codewords[i]->m_iT_first_time = 1;
+ pC->m_Codewords[i]->m_iT_last_time = 1;
+ pC->m_Codewords[i]->m_iMNRL = 0;
+ }
+ }
+ else{
+ nKeepCnt = 0;
+ ColorCodeword** temp = (ColorCodeword**)malloc(sizeof(ColorCodeword*)*pC->m_iNumEntries);
+
+ for(i=0;i<pC->m_iNumEntries;i++){
+ if(aKeep[i] == 1){
+ temp[nKeepCnt] = pC->m_Codewords[i];
+ temp[nKeepCnt]->m_iT_first_time = 1;
+ temp[nKeepCnt]->m_iT_last_time = 1;
+ temp[nKeepCnt]->m_iMNRL = 0;
+ nKeepCnt++;
+ }
+ else free(pC->m_Codewords[i]);
+ }
+
+ //ending..
+ free(pC->m_Codewords);
+ pC->m_Codewords = temp;
+ pC->m_iElementArraySize = pC->m_iNumEntries;
+ pC->m_iNumEntries = nKeepCnt;
+ }
+
+ pC->m_iTotal=0;
+ free(aKeep);
+
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// Clear non-essential codewords of the given codebook (for cache-book) //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::C_ClearNonEssentialEntriesForCachebook(uchar bLandmark, short nReferredIdx, short nClearNum, ColorModel* pCachebook){
+ int i;
+
+ if(pCachebook->m_iTotal<nClearNum) {
+ for(i=0;i<pCachebook->m_iNumEntries;i++){
+ if(bLandmark == 255 && i == nReferredIdx) pCachebook->m_Codewords[i]->m_iMNRL = 0;
+ else pCachebook->m_Codewords[i]->m_iMNRL++;
+ }
+
+ pCachebook->m_iTotal++;
+ }
+
+ else{
+ int iStaleThreshold = 5;
+
+ int* aKeep;
+ short nKeepCnt;
+
+ aKeep = (int*)malloc(sizeof(int)*pCachebook->m_iNumEntries);
+ nKeepCnt = 0;
+
+ for(i=0;i<pCachebook->m_iNumEntries;i++){
+ if(pCachebook->m_Codewords[i]->m_iMNRL<iStaleThreshold){
+ aKeep[i] = 1;
+ nKeepCnt++;
+ }
+ else aKeep[i] = 0;
+ }
+
+ pCachebook->m_iElementArraySize = nKeepCnt+2;
+ if(pCachebook->m_iElementArraySize<3) pCachebook->m_iElementArraySize = 3;
+
+ ColorCodeword** temp = (ColorCodeword**)malloc(sizeof(ColorCodeword*)*pCachebook->m_iElementArraySize);
+ nKeepCnt = 0;
+
+ for(i=0;i<pCachebook->m_iNumEntries;i++){
+ if(aKeep[i]==1){
+ temp[nKeepCnt] = pCachebook->m_Codewords[i];
+ temp[nKeepCnt]->m_iMNRL = 0;
+ nKeepCnt++;
+ }
+ else {
+ free(pCachebook->m_Codewords[i]);
+ }
+
+ }
+
+ //ending..
+ free(pCachebook->m_Codewords);
+ pCachebook->m_Codewords = temp;
+ pCachebook->m_iNumEntries = nKeepCnt;
+ pCachebook->m_iTotal = 0;
+
+ free(aKeep);
+ }
+}
+
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+// the ghost-region absorption function //
+//-----------------------------------------------------------------------------------------------------------------------------------------//
+void SJN_MultiCueBGS::C_Absorption(int iAbsorbCnt, point pos, short** aContinuCnt, short** aRefferedIndex, ColorModel* pModel, ColorModel* pCache){
+
+ //set iLeavingIndex
+ if(aContinuCnt[pos.m_nY][pos.m_nX]<iAbsorbCnt) return;
+
+ int iLeavingIndex = aRefferedIndex[pos.m_nY][pos.m_nX];
+
+ //array expansion
+ if(pModel->m_iElementArraySize==pModel->m_iNumEntries){
+ pModel->m_iElementArraySize = pModel->m_iElementArraySize+5;
+ ColorCodeword** temp = (ColorCodeword**)malloc(sizeof(ColorCodeword*)*pModel->m_iElementArraySize);
+ for(int i=0;i<pModel->m_iNumEntries;i++) temp[i] = pModel->m_Codewords[i];
+ free(pModel->m_Codewords);
+ pModel->m_Codewords = temp;
+ }
+
+ //movement from the cache-book to the codebook
+ pModel->m_Codewords[pModel->m_iNumEntries] = pCache->m_Codewords[iLeavingIndex];
+
+ pModel->m_iTotal = pModel->m_iTotal+1;
+
+ pModel->m_Codewords[pModel->m_iNumEntries]->m_iT_first_time = pModel->m_iTotal;
+ pModel->m_Codewords[pModel->m_iNumEntries]->m_iT_last_time = pModel->m_iTotal;
+ pModel->m_Codewords[pModel->m_iNumEntries]->m_iMNRL = pModel->m_iTotal-1;
+
+ pModel->m_iNumEntries = pModel->m_iNumEntries + 1;
+
+ int k=0;
+ ColorCodeword **pTempCache = (ColorCodeword**)malloc(sizeof(ColorCodeword*)*pCache->m_iElementArraySize);
+ for(int i=0;i<pCache->m_iNumEntries;i++){
+ if(i==iLeavingIndex) continue;
+ else{
+ pTempCache[k] = pCache->m_Codewords[i];
+ k++;
+ }
+ }
+ free(pCache->m_Codewords);
+ pCache->m_Codewords = pTempCache;
+ pCache->m_iNumEntries = k;
+}
\ No newline at end of file
diff --git a/package_bgs/sjn/SJN_MultiCueBGS.h b/package_bgs/sjn/SJN_MultiCueBGS.h
new file mode 100644
index 0000000..1d5dd73
--- /dev/null
+++ b/package_bgs/sjn/SJN_MultiCueBGS.h
@@ -0,0 +1,243 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#define MIN3(x,y,z) ((y) <= (z) ? ((x) <= (y) ? (x) : (y)) : ((x) <= (z) ? (x) : (z)))
+#define MAX3(x,y,z) ((y) >= (z) ? ((x) >= (y) ? (x) : (y)) : ((x) >= (z) ? (x) : (z)))
+#define PI 3.14159
+
+typedef int BOOL;
+
+#ifndef FALSE
+ #define FALSE 0
+#endif
+
+#ifndef TRUE
+ #define TRUE 1
+#endif
+
+#include <malloc.h>
+#include "math.h"
+
+#include <vector>
+using std::vector;
+
+#include <algorithm>
+using std::sort;
+
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+
+//------------------------------------Structure Lists-------------------------------------//
+struct point{
+ short m_nX;
+ short m_nY;
+};
+
+struct neighbor_pos{
+ short m_nX;
+ short m_nY;
+};
+//1) Bounding Box Structure
+struct BoundingBoxInfo{
+ int m_iBoundBoxNum; //# of bounding boxes for all foreground and false-positive blobs
+ int m_iArraySize; //the size of the below arrays to store bounding box information
+
+ short *m_aLeft, *m_aRight, *m_aUpper, *m_aBottom; //arrays to store bounding box information for (the original frame size)
+ short *m_aRLeft, *m_aRRight, *m_aRUpper, *m_aRBottom; //arrays to store bounding box information for (the reduced frame size)
+ BOOL* m_ValidBox; //If this value is true, the corresponding bounding box is for a foreground blob.
+ //Else, it is for a false-positive blob
+};
+
+//2) Texture Model Structure
+struct TextureCodeword{
+ int m_iMNRL; //the maximum negative run-length
+ int m_iT_first_time; //the first access time
+ int m_iT_last_time; //the last access time
+
+ //��� MTLBP��
+ float m_fLowThre; //a low threshold for the matching
+ float m_fHighThre; //a high threshold for the matching
+ float m_fMean; //mean of the codeword
+};
+
+struct TextureModel{
+ TextureCodeword** m_Codewords; //the texture-codeword Array
+
+ int m_iTotal; //# of learned samples after the last clear process
+ int m_iElementArraySize; //the array size of m_Codewords
+ int m_iNumEntries; //# of codewords
+
+ BOOL m_bID; //id=1 --> background model, id=0 --> cachebook
+};
+
+//3) Color Model Structure
+struct ColorCodeword{
+ int m_iMNRL; //the maximum negative run-length
+ int m_iT_first_time; //the first access time
+ int m_iT_last_time; //the last access time
+
+ double m_dMean[3]; //mean vector of the codeword
+
+};
+
+struct ColorModel{
+ ColorCodeword** m_Codewords; //the color-codeword Array
+
+ int m_iTotal; //# of learned samples after the last clear process
+ int m_iElementArraySize; //the array size of m_Codewords
+ int m_iNumEntries; //# of codewords
+
+ BOOL m_bID; //id=1 --> background model, id=0 --> cachebookk
+};
+
+
+class SJN_MultiCueBGS : public IBGS
+{
+private:
+ bool firstTime;
+ bool showOutput;
+ void saveConfig();
+ void loadConfig();
+
+public:
+ SJN_MultiCueBGS();
+ ~SJN_MultiCueBGS(void);
+
+public:
+ //----------------------------------------------------
+ // APIs and User-Adjustable Parameters
+ //----------------------------------------------------
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel); //the main function to background modeling and subtraction
+
+ void GetForegroundMap(IplImage* return_image, IplImage* input_frame=NULL); //the function returning a foreground binary-map
+ void Destroy(); //the function to release allocated memories
+
+ int g_iTrainingPeriod; //the training period (The parameter t in the paper)
+ int g_iT_ModelThreshold; //the threshold for texture-model based BGS. (The parameter tau_T in the paper)
+ int g_iC_ModelThreshold; //the threshold for appearance based verification. (The parameter tau_A in the paper)
+
+ float g_fLearningRate; //the learning rate for background models. (The parameter alpha in the paper)
+
+ short g_nTextureTrainVolRange; //the codebook size factor for texture models. (The parameter k in the paper)
+ short g_nColorTrainVolRange; //the codebook size factor for color models. (The parameter eta_1 in the paper)
+
+public:
+ //----------------------------------------------------
+ // Implemented Function Lists
+ //----------------------------------------------------
+
+ //--1) General Functions
+ void Initialize(IplImage* frame);
+
+ void PreProcessing(IplImage* frame);
+ void ReduceImageSize(IplImage* SrcImage, IplImage* DstImage);
+ void GaussianFiltering(IplImage* frame, uchar*** aFilteredFrame);
+ void BGR2HSVxyz_Par(uchar*** aBGR, uchar*** aXYZ);
+
+ void BackgroundModeling_Par(IplImage* frame);
+ void ForegroundExtraction(IplImage* frame);
+ void CreateLandmarkArray_Par(float fConfThre, short nTrainVolRange, float**aConfMap, int iNehborNum, uchar*** aXYZ,
+ point*** aNeiDir, TextureModel**** TModel, ColorModel*** CModel, uchar**aLandmarkArr);
+
+ void PostProcessing(IplImage* frame);
+ void MorphologicalOpearions(uchar** aInput, uchar** aOutput, double dThresholdRatio, int iMaskSize, int iWidth, int iHeight);
+ void Labeling(uchar** aBinaryArray, int* pLabelCount, int** aLabelTable);
+ void SetBoundingBox(int iLabelCount, int** aLabelTable);
+ void BoundBoxVerification(IplImage* frame, uchar** aResForeMap, BoundingBoxInfo* BoundBoxInfo);
+ void EvaluateBoxSize( BoundingBoxInfo* BoundBoxInfo);
+ void EvaluateOverlapRegionSize(BoundingBoxInfo* SrcBoxInfo);
+ void EvaluateGhostRegion(IplImage* frame, uchar** aResForeMap, BoundingBoxInfo* BoundBoxInfo);
+ double CalculateHausdorffDist(IplImage* input_image, IplImage* model_image);
+ void RemovingInvalidForeRegions(uchar** aResForeMap, BoundingBoxInfo* BoundBoxInfo);
+
+ void UpdateModel_Par();
+ void GetEnlargedMap(float** aOriginMap, float** aEnlargedMap);
+
+ //--2) Texture Model Related Functions
+ void T_AllocateTextureModelRelatedMemory();
+ void T_ReleaseTextureModelRelatedMemory();
+ void T_SetNeighborDirection(point*** aNeighborPos);
+ void T_ModelConstruction(short nTrainVolRange,float fLearningRate, uchar*** aXYZ,point center, point* aNei, TextureModel** aModel);
+ void T_ClearNonEssentialEntries(short nClearNum, TextureModel** aModel);
+ void T_ClearNonEssentialEntriesForCachebook(uchar bLandmark, short* nReferredIdxArr, short nClearNum, TextureModel** pCachebook);
+ void T_GetConfidenceMap_Par(uchar*** aXYZ, float** aTextureMap, point*** aNeiDirArr, TextureModel**** aModel);
+ void T_Absorption(int iAbsorbCnt, point pos, short*** aContinuCnt, short*** aRefferedIndex, TextureModel** pModel, TextureModel** pCache);
+
+ //--3) Color Model Related Functions
+ void C_AllocateColorModelRelatedMemory();
+ void C_ReleaseColorModelRelatedMemory();
+ void C_CodebookConstruction(uchar* aP,int iPosX, int iPosY, short nTrainVolRange, float fLearningRate, ColorModel* pC);
+ void C_ClearNonEssentialEntries(short nClearNum, ColorModel* pModel);
+ void C_ClearNonEssentialEntriesForCachebook(uchar bLandmark, short nReferredIdx, short nClearNum, ColorModel* pCachebook);
+ void C_Absorption(int iAbsorbCnt, point pos , short** aContinuCnt, short** aRefferedIndex, ColorModel* pModel, ColorModel* pCache);
+public:
+ //----------------------------------------------------
+ // Implemented Variable Lists
+ //----------------------------------------------------
+
+ //--1) General Variables
+ int g_iFrameCount; //the counter of processed frames
+
+ int g_iBackClearPeriod; //the period to clear background models
+ int g_iCacheClearPeriod; //the period to clear cache-book models
+
+ int g_iAbsortionPeriod; //the period to absorb static ghost regions
+ BOOL g_bAbsorptionEnable; //If True, procedures for ghost region absorption are activated.
+
+ BOOL g_bModelMemAllocated; //To handle memory..
+ BOOL g_bNonModelMemAllocated; //To handle memory..
+
+ float g_fConfidenceThre; //the final decision threshold
+
+ int g_iWidth, g_iHeight; //width and height of input frames
+ int g_iRWidth, g_iRHeight; //width and height of reduced frames (For efficiency, the reduced size of frames are processed)
+ int g_iForegroundNum; //# of detected foreground regions
+ BOOL g_bForegroundMapEnable; //TRUE only when BGS is successful
+
+ IplImage* g_ResizedFrame; //reduced size of frame (For efficiency, the reduced size of frames are processed)
+ uchar*** g_aGaussFilteredFrame;
+ uchar*** g_aXYZFrame;
+ uchar** g_aLandmarkArray; //the landmark map
+ uchar** g_aResizedForeMap; //the resized foreground map
+ uchar** g_aForegroundMap; //the final foreground map
+ BOOL** g_aUpdateMap; //the location map of update candidate pixels
+
+ BoundingBoxInfo* g_BoundBoxInfo; //the array of bounding boxes of each foreground blob
+
+ //--2) Texture Model Related
+ TextureModel**** g_TextureModel; //the texture background model
+ TextureModel**** g_TCacheBook; //the texture cache-book
+ short*** g_aTReferredIndex; //To handle cache-book
+ short*** g_aTContinuousCnt; //To handle cache-book
+ point*** g_aNeighborDirection;
+ float**g_aTextureConfMap; //the texture confidence map
+
+ short g_nNeighborNum; //# of neighborhoods
+ short g_nRadius;
+ short g_nBoundarySize;
+
+ //--3) Texture Model Related
+ ColorModel*** g_ColorModel; //the color background model
+ ColorModel*** g_CCacheBook; //the color cache-book
+ short** g_aCReferredIndex; //To handle cache-book
+ short** g_aCContinuousCnt; //To handle cache-book
+};
+
+
diff --git a/package_bgs/tb/FuzzyChoquetIntegral.cpp b/package_bgs/tb/FuzzyChoquetIntegral.cpp
new file mode 100644
index 0000000..7d0bf90
--- /dev/null
+++ b/package_bgs/tb/FuzzyChoquetIntegral.cpp
@@ -0,0 +1,204 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "FuzzyChoquetIntegral.h"
+
+FuzzyChoquetIntegral::FuzzyChoquetIntegral() : firstTime(true), frameNumber(0), showOutput(true),
+ framesToLearn(10), alphaLearn(0.1), alphaUpdate(0.01), colorSpace(1), option(2), smooth(true), threshold(0.67)
+{
+ std::cout << "FuzzyChoquetIntegral()" << std::endl;
+}
+
+FuzzyChoquetIntegral::~FuzzyChoquetIntegral()
+{
+ std::cout << "~FuzzyChoquetIntegral()" << std::endl;
+}
+
+void FuzzyChoquetIntegral::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ cv::Mat img_input_f3(img_input.size(), CV_32F);
+ img_input.convertTo(img_input_f3, CV_32F, 1./255.);
+
+ loadConfig();
+
+ if(firstTime)
+ {
+ std::cout << "FuzzyChoquetIntegral parameters:" << std::endl;
+
+ std::string colorSpaceName = "";
+ switch(colorSpace)
+ {
+ case 1: colorSpaceName = "RGB"; break;
+ case 2: colorSpaceName = "OHTA"; break;
+ case 3: colorSpaceName = "HSV"; break;
+ case 4: colorSpaceName = "YCrCb"; break;
+ }
+ std::cout << "Color space: " << colorSpaceName << std::endl;
+
+ if(option == 1)
+ std::cout << "Fuzzing by 3 color components" << std::endl;
+ if(option == 2)
+ std::cout << "Fuzzing by 2 color components + 1 texture component" << std::endl;
+
+ saveConfig();
+ }
+
+ if(frameNumber <= framesToLearn)
+ {
+ if(frameNumber == 0)
+ std::cout << "FuzzyChoquetIntegral initializing background model by adaptive learning..." << std::endl;
+
+ if(img_background_f3.empty())
+ img_input_f3.copyTo(img_background_f3);
+ else
+ img_background_f3 = alphaLearn*img_input_f3 + (1-alphaLearn)*img_background_f3;
+
+ if(showOutput)
+ cv::imshow("CI BG Model", img_background_f3);
+ }
+ else
+ {
+ cv::Mat img_input_f1;
+ cv::cvtColor(img_input_f3, img_input_f1, CV_BGR2GRAY);
+
+ cv::Mat img_background_f1;
+ cv::cvtColor(img_background_f3, img_background_f1, CV_BGR2GRAY);
+
+ IplImage* input_f3 = new IplImage(img_input_f3);
+ IplImage* input_f1 = new IplImage(img_input_f1);
+ IplImage* background_f3 = new IplImage(img_background_f3);
+ IplImage* background_f1 = new IplImage(img_background_f1);
+
+ IplImage* lbp_input_f1 = cvCreateImage(cvSize(input_f1->width, input_f1->height), IPL_DEPTH_32F, 1);
+ cvFillImage(lbp_input_f1, 0.0);
+ fu.LBP(input_f1, lbp_input_f1);
+
+ IplImage* lbp_background_f1 = cvCreateImage(cvSize(background_f1->width, background_f1->height), IPL_DEPTH_32F , 1);
+ cvFillImage(lbp_background_f1, 0.0);
+ fu.LBP(background_f1, lbp_background_f1);
+
+ IplImage* sim_texture_f1 = cvCreateImage(cvSize(input_f1->width, input_f1->height), IPL_DEPTH_32F, 1);
+ fu.SimilarityDegreesImage(lbp_input_f1, lbp_background_f1, sim_texture_f1, 1, colorSpace);
+
+ IplImage* sim_color_f3 = cvCreateImage(cvSize(input_f3->width, input_f3->height), IPL_DEPTH_32F, 3);
+ fu.SimilarityDegreesImage(input_f3, background_f3, sim_color_f3, 3, colorSpace);
+
+ float* measureG = (float*) malloc(3*(sizeof(float)));
+ IplImage* integral_choquet_f1 = cvCreateImage(cvSize(input_f1->width, input_f1->height), IPL_DEPTH_32F, 1);
+
+ // 3 color components
+ if(option == 1)
+ {
+ fu.FuzzyMeasureG(0.4, 0.3, 0.3, measureG);
+ fu.getFuzzyIntegralChoquet(sim_texture_f1, sim_color_f3, option, measureG, integral_choquet_f1);
+ }
+
+ // 2 color components + 1 texture component
+ if(option == 2)
+ {
+ fu.FuzzyMeasureG(0.6, 0.3, 0.1, measureG);
+ fu.getFuzzyIntegralChoquet(sim_texture_f1, sim_color_f3, option, measureG, integral_choquet_f1);
+ }
+
+ free(measureG);
+ cv::Mat img_integral_choquet_f1(integral_choquet_f1);
+
+ if(smooth)
+ cv::medianBlur(img_integral_choquet_f1, img_integral_choquet_f1, 3);
+
+ cv::Mat img_foreground_f1(img_input.size(), CV_32F);
+ cv::threshold(img_integral_choquet_f1, img_foreground_f1, threshold, 255, cv::THRESH_BINARY_INV);
+
+ cv::Mat img_foreground_u1(img_input.size(), CV_8U);
+ double minVal = 0., maxVal = 1.;
+ img_foreground_f1.convertTo(img_foreground_u1, CV_8U, 255.0/(maxVal - minVal), -minVal);
+ img_foreground_u1.copyTo(img_output);
+
+ cv::Mat img_background_u3(img_input.size(), CV_8U);
+ //double minVal = 0., maxVal = 1.;
+ img_background_f3.convertTo(img_background_u3, CV_8U, 255.0/(maxVal - minVal), -minVal);
+ img_background_u3.copyTo(img_bgmodel);
+
+ if(showOutput)
+ {
+ cvShowImage("CI LBP Input", lbp_input_f1);
+ cvShowImage("CI LBP Background", lbp_background_f1);
+ cvShowImage("CI Prob FG Mask", integral_choquet_f1);
+
+ cv::imshow("CI BG Model", img_background_f3);
+ cv::imshow("CI FG Mask", img_foreground_u1);
+ }
+
+ if(frameNumber == (framesToLearn + 1))
+ std::cout << "FuzzyChoquetIntegral updating background model by adaptive-selective learning..." << std::endl;
+
+ IplImage* updated_background_f3 = cvCreateImage(cvSize(input_f1->width, input_f1->height), IPL_DEPTH_32F, 3);
+ cvFillImage(updated_background_f3, 0.0);
+ fu.AdaptativeSelectiveBackgroundModelUpdate(input_f3, background_f3, updated_background_f3, integral_choquet_f1, threshold, alphaUpdate);
+ cv::Mat img_updated_background_f3(updated_background_f3);
+ img_updated_background_f3.copyTo(img_background_f3);
+
+ cvReleaseImage(&lbp_input_f1);
+ cvReleaseImage(&lbp_background_f1);
+ cvReleaseImage(&sim_texture_f1);
+ cvReleaseImage(&sim_color_f3);
+ cvReleaseImage(&integral_choquet_f1);
+ cvReleaseImage(&updated_background_f3);
+
+ delete background_f1;
+ delete background_f3;
+ delete input_f1;
+ delete input_f3;
+ }
+
+ firstTime = false;
+ frameNumber++;
+}
+
+void FuzzyChoquetIntegral::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/FuzzyChoquetIntegral.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "showOutput", showOutput);
+ cvWriteInt(fs, "framesToLearn", framesToLearn);
+ cvWriteReal(fs, "alphaLearn", alphaLearn);
+ cvWriteReal(fs, "alphaUpdate", alphaUpdate);
+ cvWriteInt(fs, "colorSpace", colorSpace);
+ cvWriteInt(fs, "option", option);
+ cvWriteInt(fs, "smooth", smooth);
+ cvWriteReal(fs, "threshold", threshold);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void FuzzyChoquetIntegral::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/FuzzyChoquetIntegral.xml", 0, CV_STORAGE_READ);
+
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+ framesToLearn = cvReadIntByName(fs, 0, "framesToLearn", 10);
+ alphaLearn = cvReadRealByName(fs, 0, "alphaLearn", 0.1);
+ alphaUpdate = cvReadRealByName(fs, 0, "alphaUpdate", 0.01);
+ colorSpace = cvReadIntByName(fs, 0, "colorSpace", 1);
+ option = cvReadIntByName(fs, 0, "option", 2);
+ smooth = cvReadIntByName(fs, 0, "smooth", true);
+ threshold = cvReadRealByName(fs, 0, "threshold", 0.67);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/tb/FuzzyChoquetIntegral.h b/package_bgs/tb/FuzzyChoquetIntegral.h
new file mode 100644
index 0000000..a52a52d
--- /dev/null
+++ b/package_bgs/tb/FuzzyChoquetIntegral.h
@@ -0,0 +1,55 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+
+#include "FuzzyUtils.h"
+
+class FuzzyChoquetIntegral : public IBGS
+{
+private:
+ bool firstTime;
+ long frameNumber;
+ bool showOutput;
+
+ int framesToLearn;
+ double alphaLearn;
+ double alphaUpdate;
+ int colorSpace;
+ int option;
+ bool smooth;
+ double threshold;
+
+ FuzzyUtils fu;
+ cv::Mat img_background_f3;
+
+public:
+ FuzzyChoquetIntegral();
+ ~FuzzyChoquetIntegral();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/tb/FuzzySugenoIntegral.cpp b/package_bgs/tb/FuzzySugenoIntegral.cpp
new file mode 100644
index 0000000..34b1c02
--- /dev/null
+++ b/package_bgs/tb/FuzzySugenoIntegral.cpp
@@ -0,0 +1,204 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "FuzzySugenoIntegral.h"
+
+FuzzySugenoIntegral::FuzzySugenoIntegral() : firstTime(true), frameNumber(0), showOutput(true),
+ framesToLearn(10), alphaLearn(0.1), alphaUpdate(0.01), colorSpace(1), option(2), smooth(true), threshold(0.67)
+{
+ std::cout << "FuzzySugenoIntegral()" << std::endl;
+}
+
+FuzzySugenoIntegral::~FuzzySugenoIntegral()
+{
+ std::cout << "~FuzzySugenoIntegral()" << std::endl;
+}
+
+void FuzzySugenoIntegral::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ cv::Mat img_input_f3(img_input.size(), CV_32F);
+ img_input.convertTo(img_input_f3, CV_32F, 1./255.);
+
+ loadConfig();
+
+ if(firstTime)
+ {
+ std::cout << "FuzzySugenoIntegral parameters:" << std::endl;
+
+ std::string colorSpaceName = "";
+ switch(colorSpace)
+ {
+ case 1: colorSpaceName = "RGB"; break;
+ case 2: colorSpaceName = "OHTA"; break;
+ case 3: colorSpaceName = "HSV"; break;
+ case 4: colorSpaceName = "YCrCb"; break;
+ }
+ std::cout << "Color space: " << colorSpaceName << std::endl;
+
+ if(option == 1)
+ std::cout << "Fuzzing by 3 color components" << std::endl;
+ if(option == 2)
+ std::cout << "Fuzzing by 2 color components + 1 texture component" << std::endl;
+
+ saveConfig();
+ }
+
+ if(frameNumber <= framesToLearn)
+ {
+ if(frameNumber == 0)
+ std::cout << "FuzzySugenoIntegral initializing background model by adaptive learning..." << std::endl;
+
+ if(img_background_f3.empty())
+ img_input_f3.copyTo(img_background_f3);
+ else
+ img_background_f3 = alphaLearn*img_input_f3 + (1-alphaLearn)*img_background_f3;
+
+ if(showOutput)
+ cv::imshow("SI BG Model", img_background_f3);
+ }
+ else
+ {
+ cv::Mat img_input_f1;
+ cv::cvtColor(img_input_f3, img_input_f1, CV_BGR2GRAY);
+
+ cv::Mat img_background_f1;
+ cv::cvtColor(img_background_f3, img_background_f1, CV_BGR2GRAY);
+
+ IplImage* input_f3 = new IplImage(img_input_f3);
+ IplImage* input_f1 = new IplImage(img_input_f1);
+ IplImage* background_f3 = new IplImage(img_background_f3);
+ IplImage* background_f1 = new IplImage(img_background_f1);
+
+ IplImage* lbp_input_f1 = cvCreateImage(cvSize(input_f1->width, input_f1->height), IPL_DEPTH_32F, 1);
+ cvFillImage(lbp_input_f1, 0.0);
+ fu.LBP(input_f1, lbp_input_f1);
+
+ IplImage* lbp_background_f1 = cvCreateImage(cvSize(background_f1->width, background_f1->height), IPL_DEPTH_32F , 1);
+ cvFillImage(lbp_background_f1, 0.0);
+ fu.LBP(background_f1, lbp_background_f1);
+
+ IplImage* sim_texture_f1 = cvCreateImage(cvSize(input_f1->width, input_f1->height), IPL_DEPTH_32F, 1);
+ fu.SimilarityDegreesImage(lbp_input_f1, lbp_background_f1, sim_texture_f1, 1, colorSpace);
+
+ IplImage* sim_color_f3 = cvCreateImage(cvSize(input_f3->width, input_f3->height), IPL_DEPTH_32F, 3);
+ fu.SimilarityDegreesImage(input_f3, background_f3, sim_color_f3, 3, colorSpace);
+
+ float* measureG = (float*) malloc(3*(sizeof(float)));
+ IplImage* integral_sugeno_f1 = cvCreateImage(cvSize(input_f1->width, input_f1->height), IPL_DEPTH_32F, 1);
+
+ // 3 color components
+ if(option == 1)
+ {
+ fu.FuzzyMeasureG(0.4, 0.3, 0.3, measureG);
+ fu.getFuzzyIntegralSugeno(sim_texture_f1, sim_color_f3, option, measureG, integral_sugeno_f1);
+ }
+
+ // 2 color components + 1 texture component
+ if(option == 2)
+ {
+ fu.FuzzyMeasureG(0.6, 0.3, 0.1, measureG);
+ fu.getFuzzyIntegralSugeno(sim_texture_f1, sim_color_f3, option, measureG, integral_sugeno_f1);
+ }
+
+ free(measureG);
+ cv::Mat img_integral_sugeno_f1(integral_sugeno_f1);
+
+ if(smooth)
+ cv::medianBlur(img_integral_sugeno_f1, img_integral_sugeno_f1, 3);
+
+ cv::Mat img_foreground_f1(img_input.size(), CV_32F);
+ cv::threshold(img_integral_sugeno_f1, img_foreground_f1, threshold, 255, cv::THRESH_BINARY_INV);
+
+ cv::Mat img_foreground_u1(img_input.size(), CV_8U);
+ double minVal = 0., maxVal = 1.;
+ img_foreground_f1.convertTo(img_foreground_u1, CV_8U, 255.0/(maxVal - minVal), -minVal);
+ img_foreground_u1.copyTo(img_output);
+
+ cv::Mat img_background_u3(img_input.size(), CV_8U);
+ //double minVal = 0., maxVal = 1.;
+ img_background_f3.convertTo(img_background_u3, CV_8U, 255.0/(maxVal - minVal), -minVal);
+ img_background_u3.copyTo(img_bgmodel);
+
+ if(showOutput)
+ {
+ cvShowImage("SI LBP Input", lbp_input_f1);
+ cvShowImage("SI LBP Background", lbp_background_f1);
+ cvShowImage("SI Prob FG Mask", integral_sugeno_f1);
+
+ cv::imshow("SI BG Model", img_background_f3);
+ cv::imshow("SI FG Mask", img_foreground_u1);
+ }
+
+ if(frameNumber == (framesToLearn + 1))
+ std::cout << "FuzzySugenoIntegral updating background model by adaptive-selective learning..." << std::endl;
+
+ IplImage* updated_background_f3 = cvCreateImage(cvSize(input_f1->width, input_f1->height), IPL_DEPTH_32F, 3);
+ cvFillImage(updated_background_f3, 0.0);
+ fu.AdaptativeSelectiveBackgroundModelUpdate(input_f3, background_f3, updated_background_f3, integral_sugeno_f1, threshold, alphaUpdate);
+ cv::Mat img_updated_background_f3(updated_background_f3);
+ img_updated_background_f3.copyTo(img_background_f3);
+
+ cvReleaseImage(&lbp_input_f1);
+ cvReleaseImage(&lbp_background_f1);
+ cvReleaseImage(&sim_texture_f1);
+ cvReleaseImage(&sim_color_f3);
+ cvReleaseImage(&integral_sugeno_f1);
+ cvReleaseImage(&updated_background_f3);
+
+ delete background_f1;
+ delete background_f3;
+ delete input_f1;
+ delete input_f3;
+ }
+
+ firstTime = false;
+ frameNumber++;
+}
+
+void FuzzySugenoIntegral::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/FuzzySugenoIntegral.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteInt(fs, "showOutput", showOutput);
+ cvWriteInt(fs, "framesToLearn", framesToLearn);
+ cvWriteReal(fs, "alphaLearn", alphaLearn);
+ cvWriteReal(fs, "alphaUpdate", alphaUpdate);
+ cvWriteInt(fs, "colorSpace", colorSpace);
+ cvWriteInt(fs, "option", option);
+ cvWriteInt(fs, "smooth", smooth);
+ cvWriteReal(fs, "threshold", threshold);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void FuzzySugenoIntegral::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/FuzzySugenoIntegral.xml", 0, CV_STORAGE_READ);
+
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+ framesToLearn = cvReadIntByName(fs, 0, "framesToLearn", 10);
+ alphaLearn = cvReadRealByName(fs, 0, "alphaLearn", 0.1);
+ alphaUpdate = cvReadRealByName(fs, 0, "alphaUpdate", 0.01);
+ colorSpace = cvReadIntByName(fs, 0, "colorSpace", 1);
+ option = cvReadIntByName(fs, 0, "option", 2);
+ smooth = cvReadIntByName(fs, 0, "smooth", true);
+ threshold = cvReadRealByName(fs, 0, "threshold", 0.67);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/tb/FuzzySugenoIntegral.h b/package_bgs/tb/FuzzySugenoIntegral.h
new file mode 100644
index 0000000..1144559
--- /dev/null
+++ b/package_bgs/tb/FuzzySugenoIntegral.h
@@ -0,0 +1,55 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+
+#include "FuzzyUtils.h"
+
+class FuzzySugenoIntegral : public IBGS
+{
+private:
+ bool firstTime;
+ long long frameNumber;
+ bool showOutput;
+
+ int framesToLearn;
+ double alphaLearn;
+ double alphaUpdate;
+ int colorSpace;
+ int option;
+ bool smooth;
+ double threshold;
+
+ FuzzyUtils fu;
+ cv::Mat img_background_f3;
+
+public:
+ FuzzySugenoIntegral();
+ ~FuzzySugenoIntegral();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/tb/FuzzyUtils.cpp b/package_bgs/tb/FuzzyUtils.cpp
new file mode 100644
index 0000000..84d5a50
--- /dev/null
+++ b/package_bgs/tb/FuzzyUtils.cpp
@@ -0,0 +1,511 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "FuzzyUtils.h"
+
+FuzzyUtils::FuzzyUtils(void){}
+
+FuzzyUtils::~FuzzyUtils(void){}
+
+void FuzzyUtils::LBP(IplImage* InputImage, IplImage* LBPimage)
+{
+ PixelUtils p;
+
+ float* neighberPixel = (float*) malloc(9*sizeof(float));
+ float* BinaryValue = (float*) malloc(9*sizeof(float));
+ float* CarreExp = (float*) malloc(9*sizeof(float));
+ float* valLBP = (float*) malloc(1*sizeof(float));
+
+ *valLBP = 0;
+
+ int x = 0, y = 0;
+
+ // on implemente les 8 valeurs puissance de 2 qui correspondent aux 8 elem. d'image voisins au elem. d'image central
+ *(CarreExp+0)=1.0;
+ *(CarreExp+1)=2.0;
+ *(CarreExp+2)=4.0;
+ *(CarreExp+3)=8.0;
+ *(CarreExp+4)=0.0;
+ *(CarreExp+5)=16.0;
+ *(CarreExp+6)=32.0;
+ *(CarreExp+7)=64.0;
+ *(CarreExp+8)=128.0;
+
+ //le calcule de LBP
+ //pour les 4 coins
+ /* 1.*/
+ if(x==0 && y==0)
+ {
+ p.getNeighberhoodGrayPixel(InputImage, x,y,neighberPixel);
+ getBinValue(neighberPixel,BinaryValue,4,0);
+ *valLBP=*valLBP+((*(BinaryValue+1))*(*(CarreExp+1))+(*(BinaryValue+2))*(*(CarreExp+2))+(*(BinaryValue+3))*(*(CarreExp+3)))/255.0;
+ p.PutGrayPixel(LBPimage,x,y,*valLBP);
+ }
+
+ /* 2.*/
+ if(x==0 && y==InputImage->width)
+ {
+ *valLBP=0;
+ p.getNeighberhoodGrayPixel(InputImage, x,y,neighberPixel);
+ getBinValue(neighberPixel,BinaryValue,4,1);
+ *valLBP=*valLBP+((*(BinaryValue))*(*(CarreExp))+(*(BinaryValue+2))*(*(CarreExp+2))+(*(BinaryValue+3))*(*(CarreExp+3)))/255.0;
+ p.PutGrayPixel(LBPimage,x,y,*valLBP);
+ }
+
+ /* 3.*/
+ if(x==InputImage->height && y==0)
+ {
+ *valLBP=0;
+ p.getNeighberhoodGrayPixel(InputImage, x,y,neighberPixel);
+ getBinValue(neighberPixel,BinaryValue,4,2);
+ *valLBP=*valLBP+((*(BinaryValue))*(*(CarreExp))+(*(BinaryValue+1))*(*(CarreExp+1))+(*(BinaryValue+3))*(*(CarreExp+3)))/255.0;
+ p.PutGrayPixel(LBPimage,x,y,*valLBP);
+ }
+
+ /* 4.*/
+ if(x==InputImage->height && y==InputImage->width)
+ {
+ *valLBP=0;
+ p.getNeighberhoodGrayPixel(InputImage, x,y,neighberPixel);
+ getBinValue(neighberPixel,BinaryValue,4,3);
+ *valLBP=*valLBP+((*(BinaryValue))*(*(CarreExp))+(*(BinaryValue+1))*(*(CarreExp+1))+(*(BinaryValue+2))*(*(CarreExp+2)))/255.0;
+ p.PutGrayPixel(LBPimage,x,y,*valLBP);
+ }
+
+ //le calcul de LBP pour la premi�re ligne : L(0)
+ if(x==0 && (y!=0 && y!=InputImage->width))
+ {
+ for(int y = 1; y < InputImage->width-1; y++)
+ {
+ p.getNeighberhoodGrayPixel(InputImage, x,y,neighberPixel);
+ getBinValue(neighberPixel,BinaryValue,6,4);
+ *valLBP=0;
+ *valLBP=*valLBP+((*(BinaryValue))*(*(CarreExp))+(*(BinaryValue+1))*(*(CarreExp+1))+(*(BinaryValue+2))*(*(CarreExp+2))+(*(BinaryValue+3))*(*(CarreExp+3))+(*(BinaryValue+5))*(*(CarreExp+5)))/255.0;
+ p.PutGrayPixel(LBPimage,x,y,*valLBP);
+ }
+ }
+
+ //le calcul de LBP pour la derni�re colonne : C(w)
+ if((x!=0 && x!=InputImage->height) && y==InputImage->width)
+ {
+ for(int x = 1; x < InputImage->height-1; x++)
+ {
+ p.getNeighberhoodGrayPixel(InputImage, x,y,neighberPixel);
+ getBinValue(neighberPixel,BinaryValue,6,4);
+ *valLBP=0;
+ *valLBP=*valLBP+((*(BinaryValue))*(*(CarreExp))+(*(BinaryValue+1))*(*(CarreExp+1))+(*(BinaryValue+2))*(*(CarreExp+2))+(*(BinaryValue+3))*(*(CarreExp+3))+(*(BinaryValue+5))*(*(CarreExp+5)))/255.0;
+ p.PutGrayPixel(LBPimage,x,y,*valLBP);
+ }
+ }
+
+ //le calcul de LBP pour la derni�re ligne : L(h)
+ if(x==InputImage->height && (y!=0 && y!=InputImage->width))
+ {
+ for(int y = 1; y < InputImage->width-1; y++)
+ {
+ p.getNeighberhoodGrayPixel(InputImage, x,y,neighberPixel);
+ getBinValue(neighberPixel,BinaryValue,6,1);
+ *valLBP=0;
+ *valLBP=*valLBP+((*(BinaryValue))*(*(CarreExp))+(*(BinaryValue+2))*(*(CarreExp+2))+(*(BinaryValue+3))*(*(CarreExp+3))+(*(BinaryValue+4))*(*(CarreExp+4))+(*(BinaryValue+5))*(*(CarreExp+5)))/255.0;
+ p.PutGrayPixel(LBPimage,x,y,*valLBP);
+ }
+ }
+
+ //le calcul de LBP pour la premi�re colonne : C(0)
+ if((x!=0 && x!=InputImage->height) && y==0)
+ {
+ for(int x = 1; x <InputImage->height-1; x++)
+ {
+ p.getNeighberhoodGrayPixel(InputImage, x,y,neighberPixel);
+ getBinValue(neighberPixel,BinaryValue,6,2);
+ *valLBP=0;
+ *valLBP=*valLBP+((*(BinaryValue))*(*(CarreExp+5))+(*(BinaryValue+1))*(*(CarreExp+6))+(*(BinaryValue+3))*(*(CarreExp+3))+(*(BinaryValue+4))*(*(CarreExp))+(*(BinaryValue+5))*(*(CarreExp+1)))/255.0;
+ p.PutGrayPixel(LBPimage,x,y,*valLBP);
+ }
+ }
+
+ //pour le reste des elements d'image
+ for(int y = 1; y < InputImage->height-1; y++)
+ {
+ for(int x = 1; x < InputImage->width-1; x++)
+ {
+ p.getNeighberhoodGrayPixel(InputImage, x,y,neighberPixel);
+ getBinValue(neighberPixel,BinaryValue,9,4);
+ //le calcul de la valeur du LBP pour chaque elem. d'im.
+ *valLBP=0;
+ for(int l = 0; l < 9; l++)
+ *valLBP = *valLBP + ((*(BinaryValue+l)) * (*(CarreExp+l))) / 255.0;
+ //printf("\nvalLBP(%d,%d)=%f",x,y,*valLBP);
+ p.PutGrayPixel(LBPimage,x,y,*valLBP);
+ }
+ }
+
+ free(neighberPixel);
+ free(BinaryValue);
+ free(CarreExp);
+ free(valLBP);
+}
+
+void FuzzyUtils::getBinValue(float* neighberGrayPixel, float* BinaryValue, int m, int n)
+{
+ // la comparaison entre la valeur d'elem d'image central et les valeurs des elem. d'im. voisins
+ // m = le numero des elements (4, 6 ou 9);
+ // n = la position de l'element central;
+
+ int h = 0;
+ for(int k = 0; k < m; k++)
+ {
+ if(*(neighberGrayPixel+k) >= *(neighberGrayPixel+n))
+ {
+ *(BinaryValue+h)=1;
+ h++;
+ }
+ else
+ {
+ *(BinaryValue+h)=0;
+ h++;
+ }
+ }
+}
+
+void FuzzyUtils::SimilarityDegreesImage(IplImage* CurrentImage, IplImage* BGImage, IplImage* DeltaImage, int n, int color_space)
+{
+ PixelUtils p;
+ int i, j;
+
+ if(n == 1)
+ {
+ float* CurrentGrayPixel = (float*) malloc (1*(sizeof(float)));
+ float* BGGrayPixel = (float*) malloc (1*(sizeof(float)));
+ float* DeltaGrayPixel = (float*) malloc (1*(sizeof(float)));
+
+ for(i = 0; i < CurrentImage->width; i++)
+ {
+ for(j = 0; j < CurrentImage->height; j++)
+ {
+ p.GetGrayPixel(CurrentImage,i,j,CurrentGrayPixel);
+ p.GetGrayPixel(BGImage,i,j,BGGrayPixel);
+ RatioPixels(CurrentGrayPixel,BGGrayPixel,DeltaGrayPixel,1);
+ p.PutGrayPixel(DeltaImage,i,j,*DeltaGrayPixel);
+ }
+ }
+
+ free(CurrentGrayPixel);
+ free(BGGrayPixel);
+ free(DeltaGrayPixel);
+ }
+
+ if(n != 1)
+ {
+ IplImage* ConvertedCurrentImage = cvCreateImage(cvSize(CurrentImage->width, CurrentImage->height), IPL_DEPTH_32F, 3);
+ IplImage* ConvertedBGImage = cvCreateImage(cvSize(CurrentImage->width, CurrentImage->height), IPL_DEPTH_32F, 3);
+
+ float* ConvertedCurrentPixel = (float*) malloc(3*(sizeof(float)));
+ float* ConvertedBGPixel = (float*) malloc(3*(sizeof(float)));
+ float* DeltaConvertedPixel = (float*) malloc(3*(sizeof(float)));
+
+ p.ColorConversion(CurrentImage,ConvertedCurrentImage,color_space);
+ p.ColorConversion(BGImage,ConvertedBGImage,color_space);
+
+ for(i = 0; i < CurrentImage->width; i++)
+ {
+ for(j = 0; j < CurrentImage->height; j++)
+ {
+ p.GetPixel(ConvertedCurrentImage,i,j,ConvertedCurrentPixel);
+ p.GetPixel(ConvertedBGImage,i,j,ConvertedBGPixel);
+ RatioPixels(ConvertedCurrentPixel,ConvertedBGPixel,DeltaConvertedPixel,3);
+ p.PutPixel(DeltaImage,i,j,DeltaConvertedPixel);
+ }
+ }
+
+ free(ConvertedCurrentPixel);
+ free(ConvertedBGPixel);
+ free(DeltaConvertedPixel);
+
+ cvReleaseImage(&ConvertedCurrentImage);
+ cvReleaseImage(&ConvertedBGImage);
+ }
+}
+
+void FuzzyUtils::RatioPixels(float* CurrentPixel, float* BGPixel, float* DeltaPixel, int n)
+{
+ if(n == 1)
+ {
+ if(*CurrentPixel < *BGPixel)
+ *DeltaPixel = *CurrentPixel / *BGPixel;
+
+ if(*CurrentPixel > *BGPixel)
+ *DeltaPixel = *BGPixel / *CurrentPixel;
+
+ if(*CurrentPixel == *BGPixel)
+ *DeltaPixel = 1.0;
+ }
+
+ if(n == 3)
+ for(int i = 0; i < 3; i++)
+ {
+ if(*(CurrentPixel+i) < *(BGPixel+i))
+ *(DeltaPixel+i) = *(CurrentPixel+i) / *(BGPixel+i);
+
+ if(*(CurrentPixel+i) > *(BGPixel+i))
+ *(DeltaPixel+i) = *(BGPixel+i) / *(CurrentPixel+i);
+
+ if(*(CurrentPixel+i) == *(BGPixel+i))
+ *(DeltaPixel+i) = 1.0;
+ }
+}
+
+void FuzzyUtils::getFuzzyIntegralSugeno(IplImage* H, IplImage* Delta, int n, float *MeasureG, IplImage* OutputImage)
+{
+ // MeasureG : est un vecteur contenant 3 mesure g (g1,g2,g3) tel que : g1+g2+g3=1
+ // n : =2 cad aggreger les 2 images "H" et "Delta"
+ // =1 cad aggreger uniquement les valeurs des composantes couleurs de l'image "Delta"
+
+ PixelUtils p;
+
+ float* HTexturePixel = (float*) malloc(1*sizeof(float));
+ float* DeltaOhtaPixel = (float*) malloc(3*(sizeof(float)));
+ int *Indice = (int*) malloc(3*(sizeof(int)));
+ float *HI = (float*) malloc(3*(sizeof(float)));
+ float *Integral = (float*) malloc(3*(sizeof(float)));
+ float* X = (float*) malloc(1*sizeof(float));
+ float* XiXj = (float*) malloc(1*sizeof(float));
+ float IntegralFlou;
+
+ *Indice = 0;
+ *(Indice+1) = 1;
+ *(Indice+2) = 2;
+ *X = 1.0;
+
+ for(int i = 0; i < H->width; i++)
+ {
+ for(int j = 0; j < H->height; j++)
+ {
+ p.GetGrayPixel(H,i,j,HTexturePixel);
+ p.GetPixel(Delta,i,j,DeltaOhtaPixel);
+
+ *(HI+0) = *(HTexturePixel+0);
+ *(HI+1) = *(DeltaOhtaPixel+0);
+ *(HI+2) = *(DeltaOhtaPixel+1);
+
+ Trier(HI,3,Indice);
+
+ *XiXj = *(MeasureG + (*(Indice+1))) + (*(MeasureG + (*(Indice+2))));
+
+ *(Integral+0) = min((HI + (*(Indice+0))), X);
+ *(Integral+1) = min((HI + (*(Indice+1))), XiXj);
+ *(Integral+2) = min((HI + (*(Indice+2))), ((MeasureG+(*(Indice+2)))));
+
+ IntegralFlou = max(Integral,3);
+ p.PutGrayPixel(OutputImage,i,j,IntegralFlou);
+ }
+ }
+
+ free(HTexturePixel);
+ free(DeltaOhtaPixel);
+ free(Indice);
+ free(HI);
+ free(X);
+ free(XiXj);
+ free(Integral);
+}
+
+void FuzzyUtils::getFuzzyIntegralChoquet(IplImage* H, IplImage* Delta, int n, float *MeasureG, IplImage* OutputImage)
+{
+ // MeasureG : est un vecteur contenant 3 mesure g (g1,g2,g3) tel que : g1+g2+g3=1
+ // n : =2 cad aggreger les 2 images "H" et "Delta"
+ // =1 cad aggreger uniquement les valeurs des composantes couleurs de l'image "Delta"
+
+ PixelUtils p;
+
+ float* HTexturePixel = (float*) malloc(1*sizeof(float));
+ float* DeltaOhtaPixel = (float*) malloc(3*(sizeof(float)));
+ int *Indice = (int*) malloc(3*(sizeof(int)));
+ float *HI = (float*) malloc(3*(sizeof(float)));
+ float *Integral = (float*) malloc(3*(sizeof(float)));
+ float* X = (float*) malloc(1*sizeof(float));
+ float* XiXj = (float*) malloc(1*sizeof(float));
+ float* IntegralFlou1 = (float*) malloc(1*sizeof(float));
+ float IntegralFlou;
+
+ *Indice = 0;
+ *(Indice+1) = 1;
+ *(Indice+2) = 2;
+ *X = 1.0;
+
+ for(int i = 0; i < Delta->width; i++)
+ {
+ for(int j = 0; j < Delta->height; j++)
+ {
+ if(n == 2)
+ {
+ p.GetGrayPixel(H,i,j,HTexturePixel);
+ p.GetPixel(Delta,i,j,DeltaOhtaPixel);
+
+ *(HI+0) = *(HTexturePixel+0);
+ *(HI+1) = *(DeltaOhtaPixel+0);
+ *(HI+2) = *(DeltaOhtaPixel+1);
+ }
+
+ if(n==1)
+ {
+ //remplir HI par les valeurs des 3 composantes couleurs uniquement
+ p.GetPixel(Delta,i,j,DeltaOhtaPixel);
+
+ *(HI+0) = *(DeltaOhtaPixel+0);
+ //*(HI+0) = *(DeltaOhtaPixel+2);
+ *(HI+1) = *(DeltaOhtaPixel+1);
+ *(HI+2) = *(DeltaOhtaPixel+2);
+ }
+
+ Trier(HI,3,Indice);
+ *XiXj = *(MeasureG + (*(Indice+1))) + (*(MeasureG + (*(Indice+2))));
+
+ *(Integral+0) = *(HI+(*(Indice+0)))* (*X-*XiXj);
+ *(Integral+1) = *(HI+(*(Indice+1)))* (*XiXj-*(MeasureG+(*(Indice+2))));
+ *(Integral+2) = *(HI+(*(Indice+2)))* (*(MeasureG+(*(Indice+2))));
+
+ IntegralFlou = *(Integral+0) + *(Integral+1) + *(Integral+2);
+ p.PutGrayPixel(OutputImage,i,j,IntegralFlou);
+ }
+ }
+
+ free(HTexturePixel);
+ free(DeltaOhtaPixel);
+ free(Indice);
+ free(HI);
+ free(X);
+ free(XiXj);
+ free(Integral);
+}
+
+void FuzzyUtils::FuzzyMeasureG(float g1, float g2, float g3, float *G)
+{
+ *(G+0) = g1;
+ *(G+1) = g2;
+ *(G+2) = g3;
+}
+
+void FuzzyUtils::Trier(float* g,int n,int* index)
+{
+ // Cette fonction trie un vecteur g par ordre croissant et
+ // sort egalement l'indice des elements selon le trie dans le vecteur "index" suppos� initialis� par des valeurs de 1 a n
+
+ float t;
+ int r,a,b;
+
+ for(a = 1; a <= n; a++)
+ {
+ for(b = n-1; b >= a; b--)
+ if(*(g + b-1) < (*(g + b)))
+ {
+ // ordre croissant des �lements
+ t = *(g + b-1);
+ *(g + b-1) = *(g + b);
+ *(g + b) = t;
+
+ // ordre des indices des �lements du vecteur g
+ r = *(index + b-1);
+ *(index + b-1) = *(index + b);
+ *(index + b) = r;
+ }
+ }
+}
+
+float FuzzyUtils::min(float *a,float *b)
+{
+ float min = 0;
+
+ if(*a >= (*b))
+ min = *b;
+ else
+ min = *a;
+
+ return min;
+}
+
+float FuzzyUtils::max(float* g , int n)
+{
+ float max = 0;
+
+ for(int i = 0; i < n; i++)
+ {
+ if(*(g+i) >= max)
+ max = *(g+i);
+ }
+
+ return max;
+}
+
+void FuzzyUtils::gDeDeux(float* a, float* b, float* lambda)
+{
+ float* c = (float*) malloc(1*sizeof(float));
+ *c = *a + (*b) + (*lambda) * (*a) * (*b);
+}
+
+void FuzzyUtils::getLambda(float* g)
+{
+ float a,b;
+ float* lambda = (float*) malloc(1*sizeof(float));
+
+ a = (*(g+0) * (*(g+1)) + (*(g+1)) * (*(g+2)) + (*(g+0)) * (*(g+2)));
+ *lambda = -(*(g+0) * (*(g+1)) + (*(g+1)) * (*(g+2)) + (*(g+0)) * (*(g+2))) / (*(g+0) * (*(g+1)) * (*(g+2)));
+ b = (*(g+0) * (*(g+1)) * (*(g+2)));
+
+ //printf("\na:%f",a);
+ //printf("\nb:%f",b);
+ //printf("\nlambda:%f", *lambda);
+
+ free(lambda);
+}
+
+void FuzzyUtils::AdaptativeSelectiveBackgroundModelUpdate(IplImage* CurrentImage, IplImage* BGImage, IplImage* OutputImage, IplImage* Integral, float seuil, float alpha)
+{
+ PixelUtils p;
+
+ float beta = 0.0;
+ float* CurentImagePixel = (float*) malloc(3*sizeof(float));
+ float* BGImagePixel = (float*) malloc(3*sizeof(float));
+ float* OutputImagePixel = (float*) malloc(3*sizeof(float));
+ float* IntegralImagePixel = (float*) malloc(1*sizeof(float));
+ float *Maximum = (float*) malloc(1*sizeof(float));
+ float *Minimum = (float*) malloc(1*sizeof(float));
+
+ p.ForegroundMaximum(Integral, Maximum, 1);
+ p.ForegroundMinimum(Integral, Minimum, 1);
+
+ for(int i = 0; i < CurrentImage->width; i++)
+ {
+ for(int j = 0; j < CurrentImage->height; j++)
+ {
+ p.GetPixel(CurrentImage, i, j, CurentImagePixel);
+ p.GetPixel(BGImage, i, j, BGImagePixel);
+ p.GetGrayPixel(Integral, i, j, IntegralImagePixel);
+
+ beta = 1 - ((*IntegralImagePixel) - ((*Minimum / (*Minimum - *Maximum)) * (*IntegralImagePixel) - (*Minimum * (*Maximum) / (*Minimum - *Maximum))));
+
+ for(int k = 0; k < 3; k++)
+ *(OutputImagePixel + k) = beta * (*(BGImagePixel + k)) + (1 - beta) * (alpha * (*(CurentImagePixel+k)) + (1-alpha) * (*(BGImagePixel+k)));
+
+ p.PutPixel(OutputImage, i, j, OutputImagePixel);
+ }
+ }
+
+ free(CurentImagePixel);
+ free(BGImagePixel);
+ free(OutputImagePixel);
+ free(IntegralImagePixel);
+}
diff --git a/package_bgs/tb/FuzzyUtils.h b/package_bgs/tb/FuzzyUtils.h
new file mode 100644
index 0000000..43fc9ad
--- /dev/null
+++ b/package_bgs/tb/FuzzyUtils.h
@@ -0,0 +1,54 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+/*
+Code provided by Thierry BOUWMANS
+
+Maitre de Conf�rences
+Laboratoire MIA
+Universit� de La Rochelle
+17000 La Rochelle
+France
+tbouwman@univ-lr.fr
+
+http://sites.google.com/site/thierrybouwmans/
+*/
+#include "PixelUtils.h"
+
+class FuzzyUtils
+{
+public:
+ FuzzyUtils(void);
+ ~FuzzyUtils(void);
+
+ void LBP(IplImage* InputImage, IplImage* LBP);
+ void getBinValue(float* neighberGrayPixel, float* BinaryValue, int m, int n);
+
+ void SimilarityDegreesImage(IplImage* CurrentImage, IplImage* BGImage, IplImage* DeltaImage, int n, int color_space);
+ void RatioPixels(float* CurrentPixel, float* BGPixel, float* DeltaPixel, int n);
+
+ void getFuzzyIntegralSugeno(IplImage* H, IplImage* Delta, int n, float *MeasureG, IplImage* OutputImage);
+ void getFuzzyIntegralChoquet(IplImage* H, IplImage* Delta, int n, float *MeasureG, IplImage* OutputImage);
+ void FuzzyMeasureG(float g1, float g2, float g3, float *G);
+ void Trier(float* g, int n, int* index);
+ float min(float *a, float *b);
+ float max(float *g, int n);
+ void gDeDeux(float* a, float* b, float* lambda);
+ void getLambda(float* g);
+
+ void AdaptativeSelectiveBackgroundModelUpdate(IplImage* CurrentImage, IplImage* BGImage, IplImage* OutputImage, IplImage* Integral, float seuil, float alpha);
+};
diff --git a/package_bgs/tb/MRF.cpp b/package_bgs/tb/MRF.cpp
new file mode 100644
index 0000000..1dbc69e
--- /dev/null
+++ b/package_bgs/tb/MRF.cpp
@@ -0,0 +1,339 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "MRF.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+//init the basic MRF
+MRF::MRF()
+{
+ in_image = out_image = 0;
+ width = height = 0;
+
+ //////////////////////////////////////////////////////////////////////////
+ no_regions = 2;
+ beta = 2.8;// 0.9;
+ t = 10;//0.05
+
+ //////////////////////////////////////////////////////////////////////////
+ K = 0;
+ E = E_old = 0;
+
+ //////////////////////////////////////////////////////////////////////////
+ T0 = 4;
+ c = 0.98;
+ T = 0;
+
+ //////////////////////////////////////////////////////////////////////////
+ alpha = 0.1;
+
+ //////////////////////////////////////////////////////////////////////////
+ classes = 0;
+ in_image_data = 0;
+ local_evidence = 0;
+}
+
+/************************************************************************/
+/* the Markov Random Field with time constraints for T2FGMM */
+/************************************************************************/
+
+MRF_TC::MRF_TC()
+{
+ beta_time = 0.9;
+}
+
+MRF_TC::~MRF_TC()
+{
+ delete []classes;
+ delete []old_labeling;
+ delete []in_image_data;
+ delete []local_evidence;
+}
+
+double MRF_TC::TimeEnergy2(int i, int j, int label)
+{
+ double energy = 0.0;
+
+ if(old_labeling[i][j] == (label*255))
+ energy -= beta_time;
+ else
+ energy += beta_time;
+
+ if(i != height-1) // south
+ {
+ if(label*255 == old_labeling[i+1][j])
+ energy -= beta_time;
+ else
+ energy += beta_time;
+
+ if((j != width-1) && (label*255 == old_labeling[i+1][j+1]))
+ energy -= beta_time;
+ else
+ energy += beta_time;
+
+ if((j != 0) && (label*255 == old_labeling[i+1][j-1]))
+ energy -= beta_time;
+ else
+ energy += beta_time;
+ }
+
+ if(j != width-1) // east
+ {
+ if(label*255 == old_labeling[i][j+1])
+ energy -= beta_time;
+ else
+ energy += beta_time;
+ }
+
+ if(i != 0) // nord
+ {
+ if(label*255 == old_labeling[i-1][j])
+ energy -= beta_time;
+ else
+ energy += beta_time;
+
+ if((j != width-1) && (label*255 == old_labeling[i-1][j+1]))
+ energy -= beta_time;
+ else
+ energy += beta_time;
+
+ if((j != 0) && (label*255 == old_labeling[i-1][j-1]))
+ energy -= beta_time;
+ else
+ energy += beta_time;
+ }
+
+ if(j != 0) // west
+ {
+ if(label*255 == old_labeling[i][j-1])
+ energy -= beta_time;
+ else
+ energy += beta_time;
+ }
+
+ return energy;
+}
+
+double MRF_TC::Doubleton2(int i, int j, int label)
+{
+ double energy = 0.0;
+
+ if(i != height-1) // south
+ {
+ if(label == classes[i+1][j])
+ energy -= beta;
+ else
+ energy += beta;
+
+ if((j != width-1) && (label == classes[i+1][j+1]))
+ energy -= beta;
+ else
+ energy += beta;
+
+ if((j != 0) && (label == classes[i+1][j-1]))
+ energy -= beta;
+ else
+ energy += beta;
+ }
+
+ if(j != width-1) // east
+ {
+ if(label == classes[i][j+1])
+ energy -= beta;
+ else
+ energy += beta;
+ }
+
+ if(i != 0) // nord
+ {
+ if(label == classes[i-1][j])
+ energy -= beta;
+ else
+ energy += beta;
+
+ if((j != width-1) && (label == classes[i-1][j+1]))
+ energy -= beta;
+ else
+ energy += beta;
+
+ if((j != 0) && (label == classes[i-1][j-1]))
+ energy -= beta;
+ else
+ energy += beta;
+ }
+
+ if(j != 0) // west
+ {
+ if(label == classes[i][j-1])
+ energy -= beta;
+ else
+ energy += beta;
+ }
+
+ return energy;
+}
+
+void MRF_TC::OnIterationOver2(void)
+{
+ CreateOutput2();
+ //cout<<"\rI="<<K<<", ";
+}
+
+void MRF_TC::Build_Classes_OldLabeling_InImage_LocalEnergy()
+{
+ int i;
+ classes = new int* [height];
+ old_labeling = new int *[height];
+ in_image_data = new int* [height];
+ local_evidence = new float* [height];
+
+ for(i = 0; i < height; ++i)
+ {
+ classes[i] = new int[width];
+ old_labeling[i] = new int[width];
+ in_image_data[i] = new int[width];
+ local_evidence[i] = new float[width*2];
+ }
+}
+
+void MRF_TC::InitEvidence2(GMM *gmm, HMM *hmm, IplImage *labeling)
+{
+ int i, j;
+
+ background = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 3);
+ cvCopyImage(background2,background.Ptr());
+
+ unsigned char *in_data = (unsigned char *)(in_image->imageData);
+ unsigned char *labeling_data = (unsigned char *)(labeling->imageData);
+
+ for(i = 0; i < height; ++i)
+ {
+ for(j = 0; j < width; ++j)
+ {
+ in_image_data[i][j] = in_data[(i*in_image->widthStep)+j];
+ old_labeling[i][j] = labeling_data[i*width+j];
+
+ if(in_image_data[i][j] == 255)
+ classes[i][j] = 1;
+ else
+ classes[i][j] = 0;
+ }
+
+ float variance;
+ float muR;
+ float muG;
+ float muB;
+
+ float pixel;
+
+ int modes = 3;
+ float mu;
+
+ for(i = 0; i < height; ++i)
+ {
+ for(j = 0; j < width; ++j)
+ {
+ variance = gmm[(i*width+j) * modes+0].variance;
+ muR = gmm[(i*width+j) * modes+0].muR;
+ muG = gmm[(i*width+j) * modes+0].muG;
+ muB = gmm[(i*width+j) * modes+0].muB;
+
+ mu = (muR + muG + muB)/3;
+
+ pixel = (background(i,j,0) + background(i,j,1) + background(i,j,2))/3;
+
+ if(variance == 0) variance = 1;
+
+ local_evidence[i][j*2+0] = pow((pixel-mu),2)/2/variance;
+
+ if(pixel >= mu)
+ local_evidence[i][j*2+1] = pow((pixel - mu - 2.5*sqrt(variance)),2)/2/variance;
+ else
+ local_evidence[i][j*2+1] = pow((pixel - mu + 2.5*sqrt(variance)),2)/2/variance;
+ }
+ }
+ }
+}
+
+void MRF_TC::CreateOutput2()
+{
+ int i, j;
+ unsigned char *out_data;
+
+ out_data = (unsigned char *) out_image->imageData;
+
+ // create output image
+ for (i = 0; i < height; ++i)
+ for(j = 0; j < width; ++j)
+ out_data[(i*width) + j] = (unsigned char)((classes[i][j])*255);
+}
+
+//calculate the whole energy
+double MRF_TC::CalculateEnergy2()
+{
+ double sum = 0.0;
+ int i, j, k;
+ // !FAIL!
+ for(i = 0; i < height; ++i)
+ {
+ for(j = 0; j < width; ++j)
+ {
+ k = classes[i][j];
+ sum = sum + local_evidence[i][j*2+k] + Doubleton2(i,j,k) + TimeEnergy2(i, j, k);//min the value
+ }
+ }
+ //sum = 0.1;
+ return sum;
+}
+
+// local energy
+double MRF_TC::LocalEnergy2(int i, int j, int label)
+{
+ return local_evidence[i][j*2+label] + Doubleton2(i,j,label) + TimeEnergy2(i,j,label);
+}
+
+void MRF_TC::ICM2()
+{
+ int i, j;
+ int r;
+ //double summa_deltaE = 0;
+ double localenergy0 = 0, localenergy1 = 0;
+
+ K = 0;
+ //E_old = CalculateEnergy2();
+
+ do
+ {
+ for(i = 0; i < height; ++i)
+ for(j = 0; j < width; ++j)
+ {
+ localenergy0 = LocalEnergy2(i,j,0);
+ localenergy1 = LocalEnergy2(i,j,1);
+
+ if(localenergy0 < localenergy1)
+ classes[i][j] = 0;
+ else
+ classes[i][j] = 1;
+ }
+
+ //E = CalculateEnergy2();
+ //summa_deltaE = fabs(E_old-E);
+ //E_old = E;
+ ++K;
+ OnIterationOver2();
+ }while(K < 2);
+}
diff --git a/package_bgs/tb/MRF.h b/package_bgs/tb/MRF.h
new file mode 100644
index 0000000..457bbbc
--- /dev/null
+++ b/package_bgs/tb/MRF.h
@@ -0,0 +1,107 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#ifndef MRF_H
+#define MRF_H
+
+#include "T2FMRF.h"
+
+namespace Algorithms
+{
+ namespace BackgroundSubtraction
+ {
+ // base class
+ class MRF
+ {
+ public:
+ IplImage *in_image, *out_image;
+ //image's width and height
+ int width, height;
+
+ public:
+ MRF();
+
+ protected:
+
+ //////////////////////////////////////////////////////////////////////////
+ //the number of labeling
+ int no_regions;
+ //potential of Space Constraint
+ double beta;
+ //terminal condition when (deltaE < t)
+ double t;
+
+ //////////////////////////////////////////////////////////////////////////
+ //for gibbs
+ double T0;
+ //current temperature
+ double T;
+ double c;
+
+ //////////////////////////////////////////////////////////////////////////
+ // alpha value for MMD
+ double alpha;
+
+ //////////////////////////////////////////////////////////////////////////
+ //current global energy
+ double E;
+ //old global energy
+ double E_old;
+ //number of iteration
+ int K;
+
+ //////////////////////////////////////////////////////////////////////////
+ //labeling image
+ int **classes;
+ //input image
+ int **in_image_data;
+ //evidence
+ float ** local_evidence;
+ };
+
+ /************************************************************************/
+ /* the Markov Random Field with time constraints for T2FGMM */
+ /************************************************************************/
+ class MRF_TC: public MRF
+ {
+ private:
+ double beta_time;
+
+ public:
+ IplImage *background2;
+ RgbImage background;
+ int **old_labeling;
+
+ public:
+ MRF_TC();
+ ~MRF_TC();
+ double TimeEnergy2(int i, int j, int label);
+ void OnIterationOver2(void);
+ void Build_Classes_OldLabeling_InImage_LocalEnergy();
+ void InitEvidence2(GMM *gmm, HMM *hmm, IplImage *labeling);
+ void CreateOutput2();
+ double CalculateEnergy2();
+ double LocalEnergy2(int i, int j, int label);
+ double Doubleton2(int i, int j, int label);
+
+ void Gibbs2();
+ void ICM2();
+ void Metropolis2(bool mmd);
+ };
+ };
+};
+
+#endif
\ No newline at end of file
diff --git a/package_bgs/tb/PerformanceUtils.cpp b/package_bgs/tb/PerformanceUtils.cpp
new file mode 100644
index 0000000..30f89b7
--- /dev/null
+++ b/package_bgs/tb/PerformanceUtils.cpp
@@ -0,0 +1,521 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "PerformanceUtils.h"
+
+PerformanceUtils::PerformanceUtils(void){}
+
+PerformanceUtils::~PerformanceUtils(void){}
+
+float PerformanceUtils::NrPixels(IplImage *image)
+{
+ return (float) (image->width * image->height);
+}
+
+float PerformanceUtils::NrAllDetectedPixNotNULL(IplImage *image, IplImage *ground_truth)
+{
+ //Nombre de tous les pixels non nuls dans Groundthruth et dans image
+ float Union12 = 0.0;
+
+ unsigned char *pixelGT = (unsigned char*) malloc(1*sizeof(unsigned char));
+ unsigned char *pixelI = (unsigned char*) malloc(1*sizeof(unsigned char));
+
+ PixelUtils p;
+
+ for(int y = 0; y < image->height; y++)
+ {
+ for(int x = 0; x < image->width; x++)
+ {
+ p.GetGrayPixel(ground_truth,x,y,pixelGT);
+ p.GetGrayPixel(image,x,y,pixelI);
+
+ if((pixelGT[0] != 0) || (pixelI[0] != 0))
+ Union12++;
+ }
+ }
+
+ free(pixelGT);
+ free(pixelI);
+
+ return Union12;
+}
+
+float PerformanceUtils::NrTruePositives(IplImage *image, IplImage *ground_truth, bool debug)
+{
+ float nTP = 0.0;
+
+ unsigned char *pixelGT = (unsigned char*) malloc(1*sizeof(unsigned char));
+ unsigned char *pixelI = (unsigned char*) malloc(1*sizeof(unsigned char));
+
+ IplImage *TPimage = 0;
+
+ if(debug)
+ {
+ TPimage = cvCreateImage(cvSize(image->width,image->height),image->depth,image->nChannels);
+ cvFillImage(TPimage,0.0);
+ }
+
+ PixelUtils p;
+
+ for(int y = 0; y < image->height; y++)
+ {
+ for(int x = 0; x < image->width; x++)
+ {
+ p.GetGrayPixel(ground_truth,x,y,pixelGT);
+ p.GetGrayPixel(image,x,y,pixelI);
+
+ if((pixelGT[0] != 0) && (pixelI[0] != 0))
+ {
+ if(debug)
+ p.PutGrayPixel(TPimage,x,y,*pixelI);
+
+ nTP++;
+ }
+ }
+ }
+
+ if(debug)
+ {
+ cvNamedWindow("TPImage", 0);
+ cvShowImage("TPImage", TPimage);
+ //std::cout << "True Positives: " << nTP << std::endl;
+ //<< " press ENTER to continue" << std::endl;
+ //cvWaitKey(0);
+ cvReleaseImage(&TPimage);
+ }
+
+ free(pixelGT);
+ free(pixelI);
+
+ return nTP;
+}
+
+float PerformanceUtils::NrTrueNegatives(IplImage* image, IplImage* ground_truth, bool debug)
+{
+ float nTN = 0.0;
+
+ unsigned char *pixelGT = (unsigned char *)malloc(1*sizeof(unsigned char));
+ unsigned char *pixelI = (unsigned char *)malloc(1*sizeof(unsigned char));
+
+ IplImage *TNimage = 0;
+
+ if(debug)
+ {
+ TNimage = cvCreateImage(cvSize(image->width,image->height),image->depth,image->nChannels);
+ cvFillImage(TNimage, 0.0);
+ }
+
+ PixelUtils p;
+
+ for(int y = 0; y < image->height; y++)
+ {
+ for(int x = 0; x < image->width; x++)
+ {
+ p.GetGrayPixel(ground_truth,x,y,pixelGT);
+ p.GetGrayPixel(image,x,y,pixelI);
+
+ if((pixelGT[0] == 0) && (pixelI[0] == 0.0))
+ {
+ *pixelI = 255;
+
+ if(debug)
+ p.PutGrayPixel(TNimage,x,y,*pixelI);
+
+ nTN++;
+ }
+ }
+ }
+
+ if(debug)
+ {
+ cvNamedWindow("TNImage", 0);
+ cvShowImage("TNImage", TNimage);
+ //std::cout << "True Negatives: " << nTN << std::endl;
+ //<< " press ENTER to continue" << std::endl;
+ //cvWaitKey(0);
+ cvReleaseImage(&TNimage);
+ }
+
+ free(pixelGT);
+ free(pixelI);
+
+ return nTN;
+}
+
+float PerformanceUtils::NrFalsePositives(IplImage *image, IplImage *ground_truth,bool debug)
+{
+ float nFP = 0.0;
+
+ unsigned char *pixelGT = (unsigned char*) malloc(1*sizeof(unsigned char));
+ unsigned char *pixelI = (unsigned char*) malloc(1*sizeof(unsigned char));
+
+ IplImage *FPimage = 0;
+
+ if(debug)
+ {
+ FPimage = cvCreateImage(cvSize(image->width,image->height),image->depth,image->nChannels);
+ cvFillImage(FPimage, 0.0);
+ }
+
+ PixelUtils p;
+
+ for(int y = 0; y < image->height; y++)
+ {
+ for(int x = 0; x < image->width; x++)
+ {
+ p.GetGrayPixel(ground_truth,x,y,pixelGT);
+ p.GetGrayPixel(image,x,y,pixelI);
+
+ if((pixelGT[0] == 0) && (pixelI[0] != 0))
+ {
+ if(debug)
+ p.PutGrayPixel(FPimage,x,y,*pixelI);
+
+ nFP++;
+ }
+ }
+ }
+
+ if(debug)
+ {
+ cvNamedWindow("FPImage", 0);
+ cvShowImage("FPImage", FPimage);
+ //std::cout << "False Positives: " << nFP << std::endl;
+ //<< " press ENTER to continue" << std::endl;
+ //cvWaitKey(0);
+ cvReleaseImage(&FPimage);
+ }
+
+ free(pixelGT);
+ free(pixelI);
+
+ return nFP;
+}
+
+float PerformanceUtils::NrFalseNegatives(IplImage * image, IplImage *ground_truth, bool debug)
+{
+ float nFN = 0.0;
+
+ unsigned char *pixelGT = (unsigned char*) malloc(1*sizeof(unsigned char));
+ unsigned char *pixelI = (unsigned char*) malloc(1*sizeof(unsigned char));
+
+ IplImage *FNimage = 0;
+
+ if(debug)
+ {
+ FNimage = cvCreateImage(cvSize(image->width,image->height),image->depth,image->nChannels);
+ cvFillImage(FNimage, 0.0);
+ }
+
+ PixelUtils p;
+
+ for(int y = 0; y < image->height; y++)
+ {
+ for(int x = 0; x < image->width; x++)
+ {
+ p.GetGrayPixel(ground_truth,x,y,pixelGT);
+ p.GetGrayPixel(image,x,y,pixelI);
+
+ if((pixelGT[0] != 0) && (pixelI[0] == 0))
+ {
+ if(debug)
+ p.PutGrayPixel(FNimage,x,y,*pixelGT);
+
+ nFN++;
+ }
+ }
+ }
+
+ if(debug)
+ {
+ cvNamedWindow("FNImage", 0);
+ cvShowImage("FNImage", FNimage);
+ //std::cout << "False Negatives: " << nFN << std::endl;
+ //<< " press ENTER to continue" << std::endl;
+ //cvWaitKey(0);
+ cvReleaseImage(&FNimage);
+ }
+
+ free(pixelGT);
+ free(pixelI);
+
+ return nFN;
+}
+
+float PerformanceUtils::SimilarityMeasure(IplImage *image, IplImage *ground_truth, bool debug)
+{
+ cv::Mat img_input(image,true);
+ cv::Mat img_ref(ground_truth,true);
+
+ int rn = cv::countNonZero(img_ref);
+ cv::Mat i;
+ cv::Mat u;
+
+ if(rn > 0)
+ {
+ i = img_input & img_ref;
+ u = img_input | img_ref;
+ }
+ else
+ {
+ i = (~img_input) & (~img_ref);
+ u = (~img_input) | (~img_ref);
+ }
+
+ int in = cv::countNonZero(i);
+ int un = cv::countNonZero(u);
+
+ double s = (((double)in) / ((double)un));
+
+ if(debug)
+ {
+ cv::imshow("A^B", i);
+ cv::imshow("AvB", u);
+
+ //std::cout << "Similarity Measure: " << s << std::endl;
+
+ //<< " press ENTER to continue" << std::endl;
+ //cv::waitKey(0);
+ }
+
+ return s;
+}
+
+void PerformanceUtils::ImageROC(IplImage *image, IplImage* ground_truth, bool saveResults, char* filename)
+{
+ unsigned char *pixelGT = (unsigned char*) malloc(1*sizeof(unsigned char));
+ unsigned char *pixelI = (unsigned char*) malloc(1*sizeof(unsigned char));
+
+ IplImage *ROCimage = cvCreateImage(cvSize(image->width,image->height),image->depth,image->nChannels);
+ cvFillImage(ROCimage, 0.0);
+
+ PixelUtils p;
+
+ for(int y = 0; y < image->height; y++)
+ {
+ for(int x = 0; x < image->width; x++)
+ {
+ p.GetGrayPixel(ground_truth,x,y,pixelGT);
+ p.GetGrayPixel(image,x,y,pixelI);
+
+ if((pixelGT[0] != 0) && (pixelI[0] != 0)) // TP
+ {
+ *pixelI = 30;
+ p.PutGrayPixel(ROCimage,x,y,*pixelI);
+ }
+
+ if((pixelGT[0] == 0) && (pixelI[0] == 0.0)) // TN
+ {
+ *pixelI = 0;
+ p.PutGrayPixel(ROCimage,x,y,*pixelI);
+ }
+
+ if((pixelGT[0] == 0) && (pixelI[0] != 0)) // FP
+ {
+ *pixelI = 255;
+ p.PutGrayPixel(ROCimage,x,y,*pixelI);
+ }
+
+ if((pixelGT[0] != 0) && (pixelI[0] == 0)) // FN
+ {
+ *pixelI = 100;
+ p.PutGrayPixel(ROCimage,x,y,*pixelI);
+ }
+ }
+ }
+
+ cvNamedWindow("ROC image", 0);
+ cvShowImage("ROC image", ROCimage);
+
+ if(saveResults)
+ {
+ unsigned char *pixelOI = (unsigned char*) malloc(1*sizeof(unsigned char));
+ unsigned char *pixelROC = (unsigned char*) malloc(1*sizeof(unsigned char));
+
+ float** freq;
+ float nTP = 0.0;
+ float nTN = 0.0;
+ float nFP = 0.0;
+ float nFN = 0.0;
+
+ freq = (float**) malloc(256*(sizeof(float*)));
+ for(int i = 0; i < 256; i++)
+ freq[i] = (float*) malloc(7 * (sizeof(float)));
+
+ for(int i = 0; i < 256; i++)
+ for(int j = 0; j < 6; j++)
+ freq[i][j] = 0.0;
+
+ for(int y = 0; y < image->height; y++)
+ {
+ for(int x = 0; x < image->width; x++)
+ {
+ for(int i = 0; i < 256; i++)
+ {
+ p.GetGrayPixel(image,x,y,pixelOI);
+ p.GetGrayPixel(ROCimage,x,y,pixelROC);
+
+ if((pixelOI[0] == i) && (pixelROC[0] == 30.0)) // TP
+ {
+ nTP++;
+ freq[i][0] = nTP;
+ break;
+ }
+
+ if((pixelOI[0] == i) && (pixelROC[0] == 0.0)) // TN
+ {
+ nTN++;
+ freq[i][1] = nTN;
+ break;
+ }
+
+ if((pixelOI[0] == i) && (pixelROC[0] == 255.0)) // FP
+ {
+ nFP++;
+ freq[i][2] = nFP;
+ break;
+ }
+
+ if((pixelOI[0] == i) && (pixelROC[0] == 100)) // FN
+ {
+ nFN++;
+ freq[i][3] = nFN;
+ break;
+ }
+ }
+ }
+ }
+
+ //freq[i][0] = TP
+ //freq[i][1] = TN
+ //freq[i][2] = FP
+ //freq[i][3] = FN
+ //freq[i][4] = FNR
+ //freq[i][5] = FPR
+
+ std::ofstream f(filename);
+
+ if(!f.is_open())
+ std::cout << "Failed to open file " << filename << " for writing!" << std::endl;
+ else
+ {
+ f << " I TP TN FP FN FPR FNR DR \n" << std::endl;
+
+ for(int i = 0; i < 256; i++)
+ {
+ //printf("%4d - TP:%5.0f, TN:%5.0f, FP:%5.0f, FN:%5.0f,", i, freq[i][0], freq[i][1], freq[i][2], freq[i][3]);
+
+ if((freq[i][3] + freq[i][0] != 0.0) && (freq[i][2] + freq[i][1] != 0.0))
+ {
+ freq[i][4] = freq[i][3] / (freq[i][3] + freq[i][0]); // FNR = FN / (TP + FN);
+ freq[i][5] = freq[i][2] / (freq[i][2] + freq[i][1]); // FPR = FP / (FP + TN);
+ freq[i][6] = freq[i][0] / (freq[i][0] + freq[i][3]); // DR = TP / (TP+FN);
+
+ //printf(" FPR:%1.5f, FNR:%1.5f, D:%1.5f\n", freq[i][5], freq[i][4], freq[i][6]);
+ ////fprintf(f," %4d %1.6f %1.6f\n",i,freq[i][5],freq[i][4]);
+ ////fprintf(f," %1.6f %1.6f\n",freq[i][5],freq[i][4]);
+ char line[255];
+ sprintf(line,"%3d %6.0f %6.0f %6.0f %6.0f %1.6f %1.6f %1.6f\n",
+ i, freq[i][0], freq[i][1], freq[i][2], freq[i][3], freq[i][5], freq[i][4], freq[i][6]);
+ f << line;
+ }
+ //else
+ //printf("\n");
+ }
+
+ std::cout << "Results saved in " << filename << std::endl;
+ f.close();
+ }
+
+ free(freq);
+ free(pixelOI);
+ free(pixelROC);
+ }
+
+ //std::cout << "press ENTER to continue" << std::endl;
+ //cvWaitKey(0);
+ cvReleaseImage(&ROCimage);
+
+ free(pixelGT);
+ free(pixelI);
+}
+
+void PerformanceUtils::PerformanceEvaluation(IplImage *image, IplImage *ground_truth, bool saveResults, char* filename, bool debug)
+{
+ float N = 0;
+ N = NrPixels(image);
+
+ float U = 0;
+ U = NrAllDetectedPixNotNULL(image, ground_truth);
+
+ float TP = 0;
+ TP = NrTruePositives(image, ground_truth, debug);
+
+ float TN = 0;
+ TN = NrTrueNegatives(image, ground_truth, debug);
+
+ float FP = 0;
+ FP = NrFalsePositives(image, ground_truth, debug);
+
+ float FN = 0;
+ FN = NrFalseNegatives(image, ground_truth, debug);
+
+ float DetectionRate = TP / (TP + FN);
+ float Precision = TP / (TP + FP);
+ float Fmeasure = (2 * DetectionRate * Precision) / (DetectionRate + Precision);
+
+ float Accuracy = (TN + TP) / N;
+ float FalseNegativeRate = FN / (TP + FN);
+
+ float FalsePositiveRate = FP / (FP + TN);
+ float TruePositiveRate = TP / (TP + FN);
+
+ float SM = 0;
+ SM = SimilarityMeasure(image, ground_truth, debug);
+
+ std::stringstream sstm;
+ sstm << "N = " << N << std::endl;
+ sstm << "U = " << U << std::endl;
+ sstm << "TP = " << TP << std::endl;
+ sstm << "TN = " << TN << std::endl;
+ sstm << "FP = " << FP << std::endl;
+ sstm << "FN = " << FN << std::endl;
+ sstm << "DetectionRate = " << DetectionRate << std::endl;
+ sstm << "Precision = " << Precision << std::endl;
+ sstm << "Fmeasure = " << Fmeasure << std::endl;
+ sstm << "Accuracy = " << Accuracy << std::endl;
+ sstm << "FalseNegativeRate = " << FalseNegativeRate << std::endl;
+ sstm << "FalsePositiveRate = " << FalsePositiveRate << std::endl;
+ sstm << "TruePositiveRate = " << TruePositiveRate << std::endl;
+ sstm << "SimilarityMeasure = " << SM << std::endl;
+
+ std::string results = sstm.str();
+ std::cout << results;
+
+ if(saveResults)
+ {
+ std::ofstream f(filename);
+
+ if(!f.is_open())
+ std::cout << "Failed to open file " << filename << " for writing!" << std::endl;
+ else
+ {
+ f << results;
+ std::cout << "Results saved in " << filename << std::endl;
+ f.close();
+ }
+ }
+}
\ No newline at end of file
diff --git a/package_bgs/tb/PerformanceUtils.h b/package_bgs/tb/PerformanceUtils.h
new file mode 100644
index 0000000..c608264
--- /dev/null
+++ b/package_bgs/tb/PerformanceUtils.h
@@ -0,0 +1,54 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+/*
+Code provided by Thierry BOUWMANS
+
+Maitre de Conf�rences
+Laboratoire MIA
+Universit� de La Rochelle
+17000 La Rochelle
+France
+tbouwman@univ-lr.fr
+
+http://sites.google.com/site/thierrybouwmans/
+*/
+#include <stdio.h>
+#include <fstream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "PixelUtils.h"
+
+class PerformanceUtils
+{
+public:
+ PerformanceUtils(void);
+ ~PerformanceUtils(void);
+
+ float NrPixels(IplImage *image);
+ float NrAllDetectedPixNotNULL(IplImage *image, IplImage *ground_truth);
+ float NrTruePositives(IplImage *image, IplImage *ground_truth, bool debug = false);
+ float NrTrueNegatives(IplImage *image, IplImage *ground_truth, bool debug = false);
+ float NrFalsePositives(IplImage *image, IplImage *ground_truth, bool debug = false);
+ float NrFalseNegatives(IplImage *image, IplImage *ground_truth, bool debug = false);
+ float SimilarityMeasure(IplImage *image, IplImage *ground_truth, bool debug = false);
+
+ void ImageROC(IplImage *image, IplImage* ground_truth, bool saveResults = false, char* filename = "");
+ void PerformanceEvaluation(IplImage *image, IplImage *ground_truth, bool saveResults = false, char* filename = "", bool debug = false);
+};
+
diff --git a/package_bgs/tb/PixelUtils.cpp b/package_bgs/tb/PixelUtils.cpp
new file mode 100644
index 0000000..bc61cc5
--- /dev/null
+++ b/package_bgs/tb/PixelUtils.cpp
@@ -0,0 +1,351 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "PixelUtils.h"
+
+PixelUtils::PixelUtils(void){}
+PixelUtils::~PixelUtils(void){}
+
+void PixelUtils::ColorConversion(IplImage* RGBImage, IplImage* ConvertedImage, int color_space)
+{
+ // Space Color RGB - Nothing to do!
+ if(color_space == 1)
+ cvCopyImage(RGBImage, ConvertedImage);
+
+ // Space Color Ohta
+ if(color_space == 2)
+ cvttoOTHA(RGBImage, ConvertedImage);
+
+ // Space Color HSV - V Intensity - (H,S) Chromaticity
+ if(color_space == 3)
+ cvCvtColor(RGBImage, ConvertedImage, CV_BGR2HSV);
+
+ // Space Color YCrCb - Y Intensity - (Cr,Cb) Chromaticity
+ if(color_space == 4)
+ cvCvtColor(RGBImage,ConvertedImage,CV_BGR2YCrCb);
+}
+
+void PixelUtils::cvttoOTHA(IplImage* RGBImage, IplImage* OthaImage)
+{
+ float* OhtaPixel = (float*) malloc(3*(sizeof(float)));
+ float* RGBPixel = (float*) malloc(3*(sizeof(float)));
+
+ for(int i = 0; i < RGBImage->width; i++)
+ {
+ for(int j = 0;j < RGBImage->height; j++)
+ {
+ GetPixel(RGBImage, i, j, RGBPixel);
+
+ // I1 = (R + G + B) / 3
+ *OhtaPixel = (*(RGBPixel) + (*(RGBPixel + 1)) + (*(RGBPixel + 2))) / 3.0;
+
+ // I2 = (R - B) / 2
+ *(OhtaPixel+1) = (*RGBPixel - (*(RGBPixel + 2))) / 2.0;
+
+ // I3 = (2G - R - B) / 4
+ *(OhtaPixel+2) = (2 * (*(RGBPixel + 1)) - (*RGBPixel) - (*(RGBPixel + 2))) / 4.0;
+
+ PutPixel(OthaImage, i, j, OhtaPixel);
+ }
+ }
+
+ free(OhtaPixel);
+ free(RGBPixel);
+}
+
+void PixelUtils::PostProcessing(IplImage *InputImage)
+{
+ IplImage *ResultImage = cvCreateImage(cvSize(InputImage->width, InputImage->height), IPL_DEPTH_32F, 3);
+
+ cvErode(InputImage, ResultImage, NULL, 1);
+ cvDilate(ResultImage, InputImage, NULL, 0);
+
+ cvReleaseImage(&ResultImage);
+}
+
+void PixelUtils::GetPixel(IplImage *image, int m, int n, unsigned char *pixelcourant)
+{
+ for(int k = 0; k < 3; k++)
+ pixelcourant[k] = ((unsigned char*)(image->imageData + image->widthStep*n))[m*3 + k];
+}
+
+void PixelUtils::GetGrayPixel(IplImage *image, int m, int n, unsigned char *pixelcourant)
+{
+ *pixelcourant = ((unsigned char*)(image->imageData + image->widthStep*n))[m];
+}
+
+void PixelUtils::PutPixel(IplImage *image,int p,int q,unsigned char *pixelcourant)
+{
+ for(int r = 0; r < 3; r++)
+ ((unsigned char*)(image->imageData + image->widthStep*q))[p*3 + r] = pixelcourant[r];
+}
+
+void PixelUtils::PutGrayPixel(IplImage *image, int p, int q, unsigned char pixelcourant)
+{
+ ((unsigned char*)(image->imageData + image->widthStep*q))[p] = pixelcourant;
+}
+
+void PixelUtils::GetPixel(IplImage *image, int m, int n, float *pixelcourant)
+{
+ for(int k = 0; k < 3; k++)
+ pixelcourant[k] = ((float*)(image->imageData + image->widthStep*n))[m*3 + k];
+}
+
+void PixelUtils::GetGrayPixel(IplImage *image, int m, int n, float *pixelcourant)
+{
+ *pixelcourant = ((float*)(image->imageData + image->widthStep*n))[m];
+}
+
+void PixelUtils::PutPixel(IplImage *image, int p, int q, float *pixelcourant)
+{
+ for(int r = 0; r < 3; r++)
+ ((float*)(image->imageData + image->widthStep*q))[p*3 + r] = pixelcourant[r];
+}
+
+void PixelUtils::PutGrayPixel(IplImage *image,int p,int q,float pixelcourant)
+{
+ ((float*)(image->imageData + image->widthStep*q))[p] = pixelcourant;
+}
+
+void PixelUtils::getNeighberhoodGrayPixel(IplImage* InputImage, int x, int y, float* neighberPixel)
+{
+ int i,j,k;
+
+ float* pixelCourant = (float*) malloc(1*(sizeof(float)));
+
+ //le calcul de voisinage pour les 4 coins;
+ /* 1.*/
+ if(x==0 && y==0)
+ {
+ k = 0;
+ for(i = x; i < x+2; i++)
+ for(j = y; j < y+2; j++)
+ {
+ GetGrayPixel(InputImage,i,j,pixelCourant);
+ *(neighberPixel+k) = *pixelCourant;
+ k++;
+ }
+ }
+
+ /* 2.*/
+ if(x==0 && y==InputImage->width)
+ {
+ k = 0;
+ for(i = x; i < x+2; i++)
+ for(j = y-1; j < y+1; j++)
+ {
+ GetGrayPixel(InputImage,i,j,pixelCourant);
+ *(neighberPixel+k) = *pixelCourant;
+ k++;
+ }
+ }
+
+ /* 3.*/
+ if(x==InputImage->height && y==0)
+ {
+ k = 0;
+ for(i = x-1; i < x+1; i++)
+ for(j = y; j < y+2; j++)
+ {
+ GetGrayPixel(InputImage,i,j,pixelCourant);
+ *(neighberPixel+k) = *pixelCourant;
+ k++;
+ }
+ }
+
+ /* 4.*/
+ if(x==InputImage->height && y==InputImage->width)
+ {
+ k = 0;
+ for(i = x-1; i <x+1; i++)
+ for(j = y-1; j < y+1; j++)
+ {
+ GetGrayPixel(InputImage,i,j,pixelCourant);
+ *(neighberPixel+k) = *pixelCourant;
+ k++;
+ }
+ }
+
+ // Voisinage de la premiere ligne : L(0)
+ if(x==0 && (y!=0 && y!=InputImage->width))
+ {
+ k = 0;
+ for(i = x+1; i >= x; i--)
+ for(j = y-1; j < y+2; j++)
+ {
+ GetGrayPixel(InputImage,i,j,pixelCourant);
+ *(neighberPixel+k) = *pixelCourant;
+ k++;
+ }
+ }
+
+ // Voisinage de la derni�re colonne : C(w)
+ if((x!=0 && x!=InputImage->height) && y==InputImage->width)
+ {
+ k = 0;
+ for(i = x+1; i > x-2; i--)
+ for(j = y-1; j < y+1; j++)
+ {
+ GetGrayPixel(InputImage,i,j,pixelCourant);
+ *(neighberPixel+k) = *pixelCourant;
+ k++;
+ }
+ }
+
+ // Voisinage de la derni�re ligne : L(h)
+ if(x==InputImage->height && (y!=0 && y!=InputImage->width))
+ {
+ k = 0;
+ for(i = x; i > x-2; i--)
+ for(j = y-1; j < y+2; j++)
+ {
+ GetGrayPixel(InputImage,i,j,pixelCourant);
+ *(neighberPixel+k) = *pixelCourant;
+ k++;
+ }
+ }
+
+ // Voisinage de la premiere colonne : C(0)
+ if((x!=0 && x!=InputImage->height) && y==0)
+ {
+ k = 0;
+ for(i = x-1; i < x+2; i++)
+ for(j = y; j < y+2; j++)
+ {
+ GetGrayPixel(InputImage,i,j,pixelCourant);
+ *(neighberPixel+k) = *pixelCourant;
+ k++;
+ }
+ }
+
+ //le calcul du voisinage pour le reste des elementes d'image
+ if((x!=0 && x!=InputImage->height)&&(y!=0 && y!=InputImage->width))
+ {
+ k = 0;
+ for(i = x+1;i > x-2; i--)
+ for(j = y-1; j < y+2; j++)
+ {
+ GetGrayPixel(InputImage,i,j,pixelCourant);
+ *(neighberPixel+k) = *pixelCourant;
+ k++;
+ }
+ }
+
+ free(pixelCourant);
+}
+
+void PixelUtils::ForegroundMinimum(IplImage *Foreground, float *Minimum, int n)
+{
+ int i,j,k;
+ float *pixelcourant;
+
+ pixelcourant = (float *) malloc(n*sizeof(float));
+
+ for(k = 0; k < n; k++)
+ *(Minimum + k) = 255;
+
+ for(i = 0; i < Foreground->width; i++)
+ for(j = 0; j < Foreground->height; j++)
+ {
+ if(n == 3)
+ {
+ GetPixel(Foreground,i,j,pixelcourant);
+
+ for(k = 0; k < n; k++)
+ if(*(pixelcourant + k) < *(Minimum + k))
+ *(Minimum + k) = *(pixelcourant + k);
+ }
+
+ if(n==1)
+ {
+ GetGrayPixel(Foreground,i,j,pixelcourant);
+
+ if(*pixelcourant < *Minimum)
+ *Minimum = *pixelcourant;
+ }
+ }
+
+ free(pixelcourant);
+}
+
+void PixelUtils::ForegroundMaximum(IplImage *Foreground, float *Maximum, int n)
+{
+ int i,j,k;
+ float *pixelcourant;
+
+ pixelcourant = (float *) malloc(n*sizeof(float));
+
+ for(k = 0; k < n; k++)
+ *(Maximum + k) = 0;
+
+ for(i = 0; i < Foreground->width; i++)
+ for(j = 0; j < Foreground->height; j++)
+ {
+ if(n == 3)
+ {
+ GetPixel(Foreground,i,j,pixelcourant);
+
+ for(k = 0; k < n; k++)
+ if(*(pixelcourant + k) > *(Maximum + k))
+ *(Maximum + k) = *(pixelcourant + k);
+ }
+
+ if(n == 1)
+ {
+ GetGrayPixel(Foreground,i,j,pixelcourant);
+
+ if(*pixelcourant > *Maximum)
+ *Maximum = *pixelcourant;
+ }
+ }
+
+ free(pixelcourant);
+}
+
+void PixelUtils::ComplementaryAlphaImageCreation(IplImage *AlphaImage, IplImage *ComplementaryAlphaImage, int n)
+{
+ int i,j,k;
+ float *pixelcourant, *pixelcourant1;
+
+ pixelcourant = (float *) malloc(n * sizeof(float));
+ pixelcourant1 = (float *) malloc(n * sizeof(float));
+
+ for(i = 0; i < AlphaImage->width; i++)
+ for(j = 0; j < AlphaImage->height; j++)
+ {
+ if(n == 1)
+ {
+ GetGrayPixel(AlphaImage,i,j,pixelcourant);
+ *pixelcourant1 = 1 - *(pixelcourant);
+ PutGrayPixel(ComplementaryAlphaImage,i,j,*pixelcourant1);
+ }
+
+ if(n == 3)
+ {
+ GetPixel(AlphaImage,i,j,pixelcourant);
+ for(k = 0; k < 3; k++)
+ {
+ *pixelcourant1 = 1.0 - *(pixelcourant);
+ *(pixelcourant1+1) = 1.0 - *(pixelcourant+1);
+ *(pixelcourant1+2) = 1.0 - *(pixelcourant+2);
+ }
+ PutPixel(ComplementaryAlphaImage,i,j,pixelcourant1);
+ }
+ }
+
+ free(pixelcourant);
+ free(pixelcourant1);
+}
diff --git a/package_bgs/tb/PixelUtils.h b/package_bgs/tb/PixelUtils.h
new file mode 100644
index 0000000..efbfdd9
--- /dev/null
+++ b/package_bgs/tb/PixelUtils.h
@@ -0,0 +1,61 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+/*
+Code provided by Thierry BOUWMANS
+
+Maitre de Conf�rences
+Laboratoire MIA
+Universit� de La Rochelle
+17000 La Rochelle
+France
+tbouwman@univ-lr.fr
+
+http://sites.google.com/site/thierrybouwmans/
+*/
+#include <stdio.h>
+#include <cv.h>
+#include <highgui.h>
+
+class PixelUtils
+{
+public:
+ PixelUtils(void);
+ ~PixelUtils(void);
+
+ void ColorConversion(IplImage* RGBImage, IplImage* ConvertedImage, int color_space);
+ void cvttoOTHA(IplImage* RGBImage, IplImage* OthaImage);
+
+ void PostProcessing(IplImage *InputImage);
+
+ void GetPixel(IplImage *image, int m, int n, unsigned char *pixelcourant);
+ void GetGrayPixel(IplImage *image, int m, int n, unsigned char *pixelcourant);
+
+ void PutPixel(IplImage *image, int p, int q, unsigned char *pixelcourant);
+ void PutGrayPixel(IplImage *image, int p, int q, unsigned char pixelcourant);
+
+ void GetPixel(IplImage *image, int m, int n, float *pixelcourant);
+ void GetGrayPixel(IplImage *image, int m, int n, float *pixelcourant);
+
+ void PutPixel(IplImage *image, int p, int q, float *pixelcourant);
+ void PutGrayPixel(IplImage *image, int p, int q, float pixelcourant);
+
+ void getNeighberhoodGrayPixel(IplImage* InputImage, int x, int y, float* neighberPixel);
+ void ForegroundMaximum(IplImage *Foreground, float *Maximum, int n);
+ void ForegroundMinimum(IplImage *Foreground, float *Minimum, int n);
+ void ComplementaryAlphaImageCreation(IplImage *AlphaImage, IplImage *ComplementaryAlphaImage, int n);
+};
\ No newline at end of file
diff --git a/package_bgs/tb/T2FGMM.cpp b/package_bgs/tb/T2FGMM.cpp
new file mode 100644
index 0000000..70d5749
--- /dev/null
+++ b/package_bgs/tb/T2FGMM.cpp
@@ -0,0 +1,337 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* T2FGMM.cpp
+*
+* Purpose: Implementation of the T2 Fuzzy Gaussian Mixture Models (T2GMMs)
+* "Modeling of Dynamic Backgrounds by Type-2 Fuzzy Gaussians Mixture Models"
+* Author: Fida El Baf, Thierry Bouwmans, September 2008.
+
+******************************************************************************/
+
+#include "T2FGMM.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+int compareT2FGMM(const void* _gmm1, const void* _gmm2)
+{
+ GMM gmm1 = *(GMM*)_gmm1;
+ GMM gmm2 = *(GMM*)_gmm2;
+
+ if(gmm1.significants < gmm2.significants)
+ return 1;
+ else if(gmm1.significants == gmm2.significants)
+ return 0;
+ else
+ return -1;
+}
+
+T2FGMM::T2FGMM()
+{
+ m_modes = NULL;
+}
+
+T2FGMM::~T2FGMM()
+{
+ if(m_modes != NULL)
+ delete[] m_modes;
+}
+
+void T2FGMM::Initalize(const BgsParams& param)
+{
+ m_params = (T2FGMMParams&) param;
+
+ // Tbf - the threshold
+ m_bg_threshold = 0.75f; // 1-cf from the paper
+
+ // Tgenerate - the threshold
+ m_variance = 36.0f; // sigma for the new mode
+
+ // GMM for each pixel
+ m_modes = new GMM[m_params.Size()*m_params.MaxModes()];
+
+ // used modes per pixel
+ m_modes_per_pixel = cvCreateImage(cvSize(m_params.Width(), m_params.Height()), IPL_DEPTH_8U, 1);
+
+ m_background = cvCreateImage(cvSize(m_params.Width(), m_params.Height()), IPL_DEPTH_8U, 3);
+
+ // Factor control for the T2FGMM-UM [0,3]
+ //km = (float) 1.5;
+ km = (float) m_params.KM();
+
+ // Factor control for the T2FGMM-UV [0.3,1]
+ //kv = (float) 0.6;
+ kv = (float) m_params.KV();
+}
+
+RgbImage* T2FGMM::Background()
+{
+ return &m_background;
+}
+
+void T2FGMM::InitModel(const RgbImage& data)
+{
+ m_modes_per_pixel.Clear();
+
+ for(unsigned int i = 0; i < m_params.Size()*m_params.MaxModes(); ++i)
+ {
+ m_modes[i].weight = 0;
+ m_modes[i].variance = 0;
+ m_modes[i].muR = 0;
+ m_modes[i].muG = 0;
+ m_modes[i].muB = 0;
+ m_modes[i].significants = 0;
+ }
+}
+
+void T2FGMM::Update(int frame_num, const RgbImage& data, const BwImage& update_mask)
+{
+ // it doesn't make sense to have conditional updates in the GMM framework
+}
+
+void T2FGMM::SubtractPixel(long posPixel, const RgbPixel& pixel, unsigned char& numModes,
+ unsigned char& low_threshold, unsigned char& high_threshold)
+{
+ // calculate distances to the modes (+ sort???)
+ // here we need to go in descending order!!!
+ long pos;
+ bool bFitsPDF = false;
+ bool bBackgroundLow = false;
+ bool bBackgroundHigh = false;
+
+ float fOneMinAlpha = 1 - m_params.Alpha();
+ float totalWeight = 0.0f;
+
+ // calculate number of Gaussians to include in the background model
+ int backgroundGaussians = 0;
+ double sum = 0.0;
+ for(int i = 0; i < numModes; ++i)
+ {
+ if(sum < m_bg_threshold)
+ {
+ backgroundGaussians++;
+ sum += m_modes[posPixel+i].weight;
+ }
+ else
+ break;
+ }
+
+ // update all distributions and check for match with current pixel
+ for(int iModes = 0; iModes < numModes; iModes++)
+ {
+ pos = posPixel + iModes;
+ float weight = m_modes[pos].weight;
+
+ // fit not found yet
+ if (!bFitsPDF)
+ {
+ //check if it belongs to some of the modes
+ //calculate distance
+ float var = m_modes[pos].variance;
+ float muR = m_modes[pos].muR;
+ float muG = m_modes[pos].muG;
+ float muB = m_modes[pos].muB;
+
+ //float km = 2;
+ //float kv = 0.9;
+
+ float dR = fabs(muR - pixel(0));
+ float dG = fabs(muG - pixel(1));
+ float dB = fabs(muB - pixel(2));
+
+ // calculate the squared distance
+ float HR;
+ float HG;
+ float HB;
+
+ // T2FGMM-UM
+ if(m_params.Type() == TYPE_T2FGMM_UM)
+ {
+ if((pixel(0)<muR-km*var)|| (pixel(0)>muR+km*var))
+ HR=2*km*dR/var;
+ else
+ HR=dR*dR/(2*var*var)+km*dR/var+km*km/2;
+
+ if((pixel(1)<muG-km*var)|| (pixel(1)>muG+km*var))
+ HG=2*km*dG/var;
+ else
+ HG=dG*dG/(2*var*var)+km*dG/var+km*km/2;
+
+ if((pixel(2)<muB-km*var)|| (pixel(2)>muB+km*var))
+ HB=2*km*dB/var;
+ else
+ HB=dB*dB/(2*var*var)+km*dB/var+km*km/2;
+ }
+
+ // T2FGMM-UV
+ if(m_params.Type() == TYPE_T2FGMM_UV)
+ {
+ HR = (1/(kv*kv)-kv*kv) * (pixel(0)-muR) * (pixel(0)-muR)/(2*var);
+ HG = (1/(kv*kv)-kv*kv) * (pixel(1)-muG) * (pixel(1)-muG)/(2*var);
+ HB = (1/(kv*kv)-kv*kv) * (pixel(2)-muB) * (pixel(2)-muB)/(2*var);
+ }
+
+ // calculate the squared distance
+ float dist = (HR*HR + HG*HG + HB*HB);
+
+ if(dist < m_params.HighThreshold()*var && iModes < backgroundGaussians)
+ bBackgroundHigh = true;
+
+ // a match occurs when the pixel is within sqrt(fTg) standard deviations of the distribution
+ if(dist < m_params.LowThreshold()*var)
+ {
+ bFitsPDF = true;
+
+ // check if this Gaussian is part of the background model
+ if(iModes < backgroundGaussians)
+ bBackgroundLow = true;
+
+ //update distribution
+ float k = m_params.Alpha() / weight;
+ weight = fOneMinAlpha*weight + m_params.Alpha();
+ m_modes[pos].weight = weight;
+ m_modes[pos].muR = muR - k*(dR);
+ m_modes[pos].muG = muG - k*(dG);
+ m_modes[pos].muB = muB - k*(dB);
+
+ //limit the variance
+ float sigmanew = var + k*(dist-var);
+ m_modes[pos].variance = sigmanew < 4 ? 4 : sigmanew > 5*m_variance ? 5*m_variance : sigmanew;
+ m_modes[pos].significants = m_modes[pos].weight / sqrt(m_modes[pos].variance);
+ }
+ else
+ {
+ weight = fOneMinAlpha*weight;
+ if(weight < 0.0)
+ {
+ weight=0.0;
+ numModes--;
+ }
+
+ m_modes[pos].weight = weight;
+ m_modes[pos].significants = m_modes[pos].weight / sqrt(m_modes[pos].variance);
+ }
+ }
+ else
+ {
+ weight = fOneMinAlpha*weight;
+ if(weight < 0.0)
+ {
+ weight=0.0;
+ numModes--;
+ }
+ m_modes[pos].weight = weight;
+ m_modes[pos].significants = m_modes[pos].weight / sqrt(m_modes[pos].variance);
+ }
+
+ totalWeight += weight;
+ }
+
+ // renormalize weights so they add to one
+ double invTotalWeight = 1.0 / totalWeight;
+ for(int iLocal = 0; iLocal < numModes; iLocal++)
+ {
+ m_modes[posPixel + iLocal].weight *= (float)invTotalWeight;
+ m_modes[posPixel + iLocal].significants = m_modes[posPixel + iLocal].weight
+ / sqrt(m_modes[posPixel + iLocal].variance);
+ }
+
+ // Sort significance values so they are in desending order.
+ qsort(&m_modes[posPixel], numModes, sizeof(GMM), compareT2FGMM);
+
+ // make new mode if needed and exit
+ if(!bFitsPDF)
+ {
+ if(numModes < m_params.MaxModes())
+ numModes++;
+ //else
+ // the weakest mode will be replaced
+
+ pos = posPixel + numModes-1;
+
+ m_modes[pos].muR = pixel.ch[0];
+ m_modes[pos].muG = pixel.ch[1];
+ m_modes[pos].muB = pixel.ch[2];
+ m_modes[pos].variance = m_variance;
+ m_modes[pos].significants = 0; // will be set below
+
+ if (numModes == 1)
+ m_modes[pos].weight = 1;
+ else
+ m_modes[pos].weight = m_params.Alpha();
+
+ //renormalize weights
+ int iLocal;
+ float sum = 0.0;
+ for(iLocal = 0; iLocal < numModes; iLocal++)
+ sum += m_modes[posPixel+ iLocal].weight;
+
+ double invSum = 1.0/sum;
+ for(iLocal = 0; iLocal < numModes; iLocal++)
+ {
+ m_modes[posPixel + iLocal].weight *= (float)invSum;
+ m_modes[posPixel + iLocal].significants = m_modes[posPixel + iLocal].weight / sqrt(m_modes[posPixel + iLocal].variance);
+ }
+ }
+
+ // Sort significance values so they are in desending order.
+ qsort(&(m_modes[posPixel]), numModes, sizeof(GMM), compareT2FGMM);
+
+ if(bBackgroundLow)
+ low_threshold = BACKGROUND;
+ else
+ low_threshold = FOREGROUND;
+
+ if(bBackgroundHigh)
+ high_threshold = BACKGROUND;
+ else
+ high_threshold = FOREGROUND;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+//Input:
+// data - a pointer to the data of a RGB image of the same size
+//Output:
+// output - a pointer to the data of a gray value image of the same size
+// (the memory should already be reserved)
+// values: 255-foreground, 125-shadow, 0-background
+///////////////////////////////////////////////////////////////////////////////
+void T2FGMM::Subtract(int frame_num, const RgbImage& data, BwImage& low_threshold_mask, BwImage& high_threshold_mask)
+{
+ unsigned char low_threshold, high_threshold;
+ long posPixel;
+
+ // update each pixel of the image
+ for(unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ // update model + background subtract
+ posPixel = (r*m_params.Width() + c) * m_params.MaxModes();
+
+ SubtractPixel(posPixel, data(r,c), m_modes_per_pixel(r,c), low_threshold, high_threshold);
+
+ low_threshold_mask(r,c) = low_threshold;
+ high_threshold_mask(r,c) = high_threshold;
+
+ m_background(r,c,0) = (unsigned char) m_modes[posPixel].muR;
+ m_background(r,c,1) = (unsigned char) m_modes[posPixel].muG;
+ m_background(r,c,2) = (unsigned char) m_modes[posPixel].muB;
+ }
+ }
+}
diff --git a/package_bgs/tb/T2FGMM.h b/package_bgs/tb/T2FGMM.h
new file mode 100644
index 0000000..a698e5a
--- /dev/null
+++ b/package_bgs/tb/T2FGMM.h
@@ -0,0 +1,135 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* T2FGMM.h
+*
+* Purpose: Implementation of the T2 Fuzzy Gaussian Mixture Models (T2GMMs)
+* "Modeling of Dynamic Backgrounds by Type-2 Fuzzy Gaussians Mixture Models"
+* Author: Fida El Baf, Thierry Bouwmans, September 2008
+*
+* This code is based on code by Z. Zivkovic's written for his enhanced GMM
+* background subtraction algorithm:
+*
+* Zivkovic's code can be obtained at: www.zoranz.net
+******************************************************************************/
+
+#ifndef T2F_GMM_
+#define T2F_GMM_
+
+#include "../dp/Bgs.h"
+#include "../dp/GrimsonGMM.h"
+
+namespace Algorithms
+{
+ namespace BackgroundSubtraction
+ {
+ const int TYPE_T2FGMM_UM = 0;
+ const int TYPE_T2FGMM_UV = 1;
+
+ // --- User adjustable parameters used by the T2F GMM BGS algorithm ---
+ class T2FGMMParams : public BgsParams
+ {
+ public:
+ float &LowThreshold() { return m_low_threshold; }
+ float &HighThreshold() { return m_high_threshold; }
+
+ float &Alpha() { return m_alpha; }
+ int &MaxModes() { return m_max_modes; }
+ int &Type() { return m_type; }
+ float &KM() { return m_km; }
+ float &KV() { return m_kv; }
+
+ private:
+ // Threshold on the squared dist. to decide when a sample is close to an existing
+ // components. If it is not close to any a new component will be generated.
+ // Smaller threshold values lead to more generated components and higher threshold values
+ // lead to a small number of components but they can grow too large.
+ //
+ // It is usual easiest to think of these thresholds as being the number of variances away
+ // from the mean of a pixel before it is considered to be from the foreground.
+ float m_low_threshold;
+ float m_high_threshold;
+
+ // alpha - speed of update - if the time interval you want to average over is T
+ // set alpha=1/T.
+ float m_alpha;
+
+ // Maximum number of modes (Gaussian components) that will be used per pixel
+ int m_max_modes;
+
+ // T2FGMM_UM / T2FGMM_UV
+ int m_type;
+
+ // Factor control for the T2FGMM-UM
+ float m_km;
+
+ // Factor control for the T2FGMM-UV
+ float m_kv;
+ };
+
+ // --- T2FGMM BGS algorithm ---
+ class T2FGMM : public Bgs
+ {
+ public:
+ T2FGMM();
+ ~T2FGMM();
+
+ void Initalize(const BgsParams& param);
+
+ void InitModel(const RgbImage& data);
+ void Subtract(int frame_num, const RgbImage& data, BwImage& low_threshold_mask, BwImage& high_threshold_mask);
+ void Update(int frame_num, const RgbImage& data, const BwImage& update_mask);
+
+ RgbImage* Background();
+
+ private:
+ void SubtractPixel(long posPixel, const RgbPixel& pixel, unsigned char& numModes, unsigned char& lowThreshold, unsigned char& highThreshold);
+
+ // User adjustable parameters
+ T2FGMMParams m_params;
+
+ // Threshold when the component becomes significant enough to be included into
+ // the background model. It is the TB = 1-cf from the paper. So I use cf=0.1 => TB=0.9
+ // For alpha=0.001 it means that the mode should exist for approximately 105 frames before
+ // it is considered foreground
+ float m_bg_threshold; //1-cf from the paper
+
+ // Initial variance for the newly generated components.
+ // It will will influence the speed of adaptation. A good guess should be made.
+ // A simple way is to estimate the typical standard deviation from the images.
+ float m_variance;
+
+ // Dynamic array for the mixture of Gaussians
+ GMM* m_modes;
+
+ // Number of Gaussian components per pixel
+ BwImage m_modes_per_pixel;
+
+ // Current background model
+ RgbImage m_background;
+
+ // Factor control for the T2FGMM-UM
+ float km;
+
+ // Factor control for the T2FGMM-UV
+ float kv;
+ };
+ };
+};
+
+#endif
diff --git a/package_bgs/tb/T2FGMM_UM.cpp b/package_bgs/tb/T2FGMM_UM.cpp
new file mode 100644
index 0000000..aaf280f
--- /dev/null
+++ b/package_bgs/tb/T2FGMM_UM.cpp
@@ -0,0 +1,111 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "T2FGMM_UM.h"
+
+T2FGMM_UM::T2FGMM_UM() : firstTime(true), frameNumber(0), showOutput(true), threshold(9.0), alpha(0.01), gaussians(3), km(1.5), kv(0.6)
+{
+ std::cout << "T2FGMM_UM()" << std::endl;
+}
+
+T2FGMM_UM::~T2FGMM_UM()
+{
+ std::cout << "~T2FGMM_UM()" << std::endl;
+}
+
+void T2FGMM_UM::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ frame = new IplImage(img_input);
+
+ if(firstTime)
+ frame_data.ReleaseMemory(false);
+ frame_data = frame;
+
+ if(firstTime)
+ {
+ int width = img_input.size().width;
+ int height = img_input.size().height;
+
+ lowThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ lowThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ highThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ highThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ params.SetFrameSize(width, height);
+ params.LowThreshold() = threshold;
+ params.HighThreshold() = 2*params.LowThreshold();
+ params.Alpha() = alpha;
+ params.MaxModes() = gaussians;
+ params.Type() = TYPE_T2FGMM_UM;
+ params.KM() = km; // Factor control for the T2FGMM-UM [0,3] default: 1.5
+ params.KV() = kv; // Factor control for the T2FGMM-UV [0.3,1] default: 0.6
+
+ bgs.Initalize(params);
+ bgs.InitModel(frame_data);
+ }
+
+ bgs.Subtract(frameNumber, frame_data, lowThresholdMask, highThresholdMask);
+ lowThresholdMask.Clear();
+ bgs.Update(frameNumber, frame_data, lowThresholdMask);
+
+ cv::Mat foreground(highThresholdMask.Ptr());
+
+ if(showOutput)
+ cv::imshow("T2FGMM-UM", foreground);
+
+ foreground.copyTo(img_output);
+
+ delete frame;
+ firstTime = false;
+ frameNumber++;
+}
+
+void T2FGMM_UM::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/T2FGMM_UM.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteReal(fs, "threshold", threshold);
+ cvWriteReal(fs, "alpha", alpha);
+ cvWriteReal(fs, "km", km);
+ cvWriteReal(fs, "kv", kv);
+ cvWriteInt(fs, "gaussians", gaussians);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void T2FGMM_UM::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/T2FGMM_UM.xml", 0, CV_STORAGE_READ);
+
+ threshold = cvReadRealByName(fs, 0, "threshold", 9.0);
+ alpha = cvReadRealByName(fs, 0, "alpha", 0.01);
+ km = cvReadRealByName(fs, 0, "km", 1.5);
+ kv = cvReadRealByName(fs, 0, "kv", 0.6);
+ gaussians = cvReadIntByName(fs, 0, "gaussians", 3);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/tb/T2FGMM_UM.h b/package_bgs/tb/T2FGMM_UM.h
new file mode 100644
index 0000000..17e06c5
--- /dev/null
+++ b/package_bgs/tb/T2FGMM_UM.h
@@ -0,0 +1,58 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+#include "T2FGMM.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+class T2FGMM_UM : public IBGS
+{
+private:
+ bool firstTime;
+ long frameNumber;
+ IplImage* frame;
+ RgbImage frame_data;
+
+ T2FGMMParams params;
+ T2FGMM bgs;
+ BwImage lowThresholdMask;
+ BwImage highThresholdMask;
+
+ double threshold;
+ double alpha;
+ float km;
+ float kv;
+ int gaussians;
+ bool showOutput;
+
+public:
+ T2FGMM_UM();
+ ~T2FGMM_UM();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/tb/T2FGMM_UV.cpp b/package_bgs/tb/T2FGMM_UV.cpp
new file mode 100644
index 0000000..6094fe3
--- /dev/null
+++ b/package_bgs/tb/T2FGMM_UV.cpp
@@ -0,0 +1,111 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "T2FGMM_UV.h"
+
+T2FGMM_UV::T2FGMM_UV() : firstTime(true), frameNumber(0), showOutput(true), threshold(9.0), alpha(0.01), gaussians(3), km(1.5), kv(0.6)
+{
+ std::cout << "T2FGMM_UV()" << std::endl;
+}
+
+T2FGMM_UV::~T2FGMM_UV()
+{
+ std::cout << "~T2FGMM_UV()" << std::endl;
+}
+
+void T2FGMM_UV::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ frame = new IplImage(img_input);
+
+ if(firstTime)
+ frame_data.ReleaseMemory(false);
+ frame_data = frame;
+
+ if(firstTime)
+ {
+ int width = img_input.size().width;
+ int height = img_input.size().height;
+
+ lowThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ lowThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ highThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ highThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ params.SetFrameSize(width, height);
+ params.LowThreshold() = threshold;
+ params.HighThreshold() = 2*params.LowThreshold();
+ params.Alpha() = alpha;
+ params.MaxModes() = gaussians;
+ params.Type() = TYPE_T2FGMM_UV;
+ params.KM() = km; // Factor control for the T2FGMM-UM [0,3] default: 1.5
+ params.KV() = kv; // Factor control for the T2FGMM-UV [0.3,1] default: 0.6
+
+ bgs.Initalize(params);
+ bgs.InitModel(frame_data);
+ }
+
+ bgs.Subtract(frameNumber, frame_data, lowThresholdMask, highThresholdMask);
+ lowThresholdMask.Clear();
+ bgs.Update(frameNumber, frame_data, lowThresholdMask);
+
+ cv::Mat foreground(highThresholdMask.Ptr());
+
+ if(showOutput)
+ cv::imshow("T2FGMM-UV", foreground);
+
+ foreground.copyTo(img_output);
+
+ delete frame;
+ firstTime = false;
+ frameNumber++;
+}
+
+void T2FGMM_UV::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/T2FGMM_UV.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteReal(fs, "threshold", threshold);
+ cvWriteReal(fs, "alpha", alpha);
+ cvWriteReal(fs, "km", km);
+ cvWriteReal(fs, "kv", kv);
+ cvWriteInt(fs, "gaussians", gaussians);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void T2FGMM_UV::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/T2FGMM_UV.xml", 0, CV_STORAGE_READ);
+
+ threshold = cvReadRealByName(fs, 0, "threshold", 9.0);
+ alpha = cvReadRealByName(fs, 0, "alpha", 0.01);
+ km = cvReadRealByName(fs, 0, "km", 1.5);
+ kv = cvReadRealByName(fs, 0, "kv", 0.6);
+ gaussians = cvReadIntByName(fs, 0, "gaussians", 3);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
\ No newline at end of file
diff --git a/package_bgs/tb/T2FGMM_UV.h b/package_bgs/tb/T2FGMM_UV.h
new file mode 100644
index 0000000..23c0bf1
--- /dev/null
+++ b/package_bgs/tb/T2FGMM_UV.h
@@ -0,0 +1,58 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+#include "T2FGMM.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+class T2FGMM_UV : public IBGS
+{
+private:
+ bool firstTime;
+ long frameNumber;
+ IplImage* frame;
+ RgbImage frame_data;
+
+ T2FGMMParams params;
+ T2FGMM bgs;
+ BwImage lowThresholdMask;
+ BwImage highThresholdMask;
+
+ double threshold;
+ double alpha;
+ float km;
+ float kv;
+ int gaussians;
+ bool showOutput;
+
+public:
+ T2FGMM_UV();
+ ~T2FGMM_UV();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
+
diff --git a/package_bgs/tb/T2FMRF.cpp b/package_bgs/tb/T2FMRF.cpp
new file mode 100644
index 0000000..3d486bb
--- /dev/null
+++ b/package_bgs/tb/T2FMRF.cpp
@@ -0,0 +1,432 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* T2FMRF.cpp
+*
+* Purpose: Implementation of the T2 Fuzzy Gaussian Mixture Models (T2GMMs)
+* "Modeling of Dynamic Backgrounds by Type-2 Fuzzy Gaussians Mixture Models"
+* Author: Fida El Baf, Thierry Bouwmans, September 2008
+*
+* This code is based on code by Z. Zivkovic's written for his enhanced GMM
+* background subtraction algorithm:
+*
+* Zivkovic's code can be obtained at: www.zoranz.net
+******************************************************************************/
+
+#include "T2FMRF.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+int compareT2FMRF(const void* _gmm1, const void* _gmm2)
+{
+ GMM gmm1 = *(GMM*)_gmm1;
+ GMM gmm2 = *(GMM*)_gmm2;
+
+ if(gmm1.significants < gmm2.significants)
+ return 1;
+ else if(gmm1.significants == gmm2.significants)
+ return 0;
+ else
+ return -1;
+}
+
+GMM* T2FMRF::gmm()
+{
+ return m_modes;
+}
+HMM* T2FMRF::hmm()
+{
+ return m_state;
+}
+
+T2FMRF::T2FMRF()
+{
+ m_modes = NULL;
+}
+
+T2FMRF::~T2FMRF()
+{
+ if(m_modes != NULL)
+ delete[] m_modes;
+}
+
+void T2FMRF::Initalize(const BgsParams& param)
+{
+ m_params = (T2FMRFParams&) param;
+
+ // Tbf - the threshold
+ m_bg_threshold = 0.75f; // 1-cf from the paper
+
+ // Tgenerate - the threshold
+ m_variance = 36.0f; // sigma for the new mode
+
+ // GMM for each pixel
+ m_modes = new GMM[m_params.Size()*m_params.MaxModes()];
+
+ //HMM for each pixel
+ m_state = new HMM[m_params.Size()];
+
+ // used modes per pixel
+ m_modes_per_pixel = cvCreateImage(cvSize(m_params.Width(), m_params.Height()), IPL_DEPTH_8U, 1);
+
+ m_background = cvCreateImage(cvSize(m_params.Width(), m_params.Height()), IPL_DEPTH_8U, 3);
+
+ // Factor control for the T2FGMM-UM [0,3]
+ // km = (float) 2; //1.5;
+ km = (float) m_params.KM();
+
+ // Factor control for the T2FGMM-UV [0.3,1]
+ // kv = (float) 0.9; //0.6;
+ kv = (float) m_params.KV();
+}
+
+RgbImage* T2FMRF::Background()
+{
+ return &m_background;
+}
+
+void T2FMRF::InitModel(const RgbImage& data)
+{
+ m_modes_per_pixel.Clear();
+
+ for(unsigned int i = 0; i < m_params.Size()*m_params.MaxModes(); ++i)
+ {
+ m_modes[i].weight = 0;
+ m_modes[i].variance = 0;
+ m_modes[i].muR = 0;
+ m_modes[i].muG = 0;
+ m_modes[i].muB = 0;
+ m_modes[i].significants = 0;
+ }
+
+ for (unsigned int j = 0; j < m_params.Size(); ++j)
+ {
+ m_state[j].State = background;
+ m_state[j].Ab2b = 0.7;
+ m_state[j].Ab2f = 0.3;
+ m_state[j].Af2b = 0.4;
+ m_state[j].Af2f = 0.6;
+ m_state[j].T = 0.7;
+ }
+}
+
+void T2FMRF::Update(int frame_num, const RgbImage& data, const BwImage& update_mask)
+{
+ // it doesn't make sense to have conditional updates in the GMM framework
+}
+
+void T2FMRF::SubtractPixel(long posPixel, long posGMode, const RgbPixel& pixel, unsigned char& numModes,
+ unsigned char& low_threshold, unsigned char& high_threshold)
+{
+ // calculate distances to the modes (+ sort???)
+ // here we need to go in descending order!!!
+ long pos;
+ bool bFitsPDF = false;
+ bool bBackgroundLow = false;
+ bool bBackgroundHigh = false;
+
+ HiddenState CurrentState = m_state[posPixel].State;
+ float Ab2b = m_state[posPixel].Ab2b;
+ float Ab2f = m_state[posPixel].Ab2f;
+ float Af2b = m_state[posPixel].Af2b;
+ float Af2f = m_state[posPixel].Af2f;
+ float T = m_state[posPixel].T;
+
+ float fOneMinAlpha = 1 - m_params.Alpha();
+ float totalWeight = 0.0f;
+
+ // calculate number of Gaussians to include in the background model
+ int backgroundGaussians = 0;
+ double sum = 0.0;
+ for(int i = 0; i < numModes; ++i)
+ {
+ if(sum < m_bg_threshold)
+ {
+ backgroundGaussians++;
+ sum += m_modes[posGMode+i].weight;
+ }
+ else
+ break;
+ }
+
+ // update all distributions and check for match with current pixel
+ for (int iModes = 0; iModes < numModes; iModes++)
+ {
+ pos = posGMode + iModes;
+ float weight = m_modes[pos].weight;
+
+ // fit not found yet
+ if (!bFitsPDF)
+ {
+ //check if it belongs to some of the modes
+ //calculate distance
+ float var = m_modes[pos].variance;
+ float muR = m_modes[pos].muR;
+ float muG = m_modes[pos].muG;
+ float muB = m_modes[pos].muB;
+
+ //float km = 2;
+ //float kv = 0.9;
+
+ float dR = fabs(muR - pixel(0));
+ float dG = fabs(muG - pixel(1));
+ float dB = fabs(muB - pixel(2));
+
+ // calculate the squared distance
+ float HR;
+ float HG;
+ float HB;
+
+ // T2FMRF-UM
+ if(m_params.Type() == TYPE_T2FMRF_UM)
+ {
+ if((pixel(0) < muR-km*var) || (pixel(0) > muR+km*var))
+ HR = 2*km*dR/var;
+ else
+ HR = dR*dR/(2*var*var)+km*dR/var+km*km/2;
+
+ if((pixel(1) < muG-km*var) || (pixel(1) > muG+km*var))
+ HG = 2*km*dG/var;
+ else
+ HG = dG*dG/(2*var*var)+km*dG/var+km*km/2;
+
+ if((pixel(2) < muB-km*var) || (pixel(2) > muB+km*var))
+ HB = 2*km*dB/var;
+ else
+ HB = dB*dB/(2*var*var)+km*dB/var+km*km/2;
+ }
+
+ // T2FGMM-UV
+ if(m_params.Type() == TYPE_T2FMRF_UV)
+ {
+ HR = (1/(kv*kv)-kv*kv) * (pixel(0)-muR) * (pixel(0)-muR)/(2*var);
+ HG = (1/(kv*kv)-kv*kv) * (pixel(1)-muG) * (pixel(1)-muG)/(2*var);
+ HB = (1/(kv*kv)-kv*kv) * (pixel(2)-muB) * (pixel(2)-muB)/(2*var);
+ }
+
+ float ro;
+ if (CurrentState == background)
+ {
+ if (Ab2b!=0) ro = (Ab2f/Ab2b);
+ else ro = 10;
+ }
+ else
+ {
+ if(Af2b!=0) ro = (Af2f/Af2b);
+ else ro = 10;
+ }
+
+ // calculate the squared distance
+ float dist = (HR*HR + HG*HG + HB*HB);
+
+ if(dist < m_params.HighThreshold()*var && iModes < backgroundGaussians)
+ bBackgroundHigh = true;
+
+ // a match occurs when the pixel is within sqrt(fTg) standard deviations of the distribution
+ if(dist < m_params.LowThreshold()*var)
+ {
+ bFitsPDF = true;
+
+ // check if this Gaussian is part of the background model
+ if(iModes < backgroundGaussians)
+ bBackgroundLow = true;
+
+ //update distribution
+ float k = m_params.Alpha() / weight;
+ weight = fOneMinAlpha*weight + m_params.Alpha();
+ m_modes[pos].weight = weight;
+ m_modes[pos].muR = muR - k*(dR);
+ m_modes[pos].muG = muG - k*(dG);
+ m_modes[pos].muB = muB - k*(dB);
+
+ //limit the variance
+ float sigmanew = var + k*(dist-var);
+ m_modes[pos].variance = sigmanew < 4 ? 4 : sigmanew > 5*m_variance ? 5*m_variance : sigmanew;
+ m_modes[pos].significants = m_modes[pos].weight / sqrt(m_modes[pos].variance);
+ }
+ else
+ {
+ weight = fOneMinAlpha*weight;
+ if (weight < 0.0)
+ {
+ weight=0.0;
+ numModes--;
+ }
+
+ m_modes[pos].weight = weight;
+ m_modes[pos].significants = m_modes[pos].weight / sqrt(m_modes[pos].variance);
+ }
+ }
+ else
+ {
+ weight = fOneMinAlpha*weight;
+ if (weight < 0.0)
+ {
+ weight=0.0;
+ numModes--;
+ }
+ m_modes[pos].weight = weight;
+ m_modes[pos].significants = m_modes[pos].weight / sqrt(m_modes[pos].variance);
+ }
+
+ totalWeight += weight;
+ }
+
+ // renormalize weights so they add to one
+ double invTotalWeight = 1.0 / totalWeight;
+ for (int iLocal = 0; iLocal < numModes; iLocal++)
+ {
+ m_modes[posGMode + iLocal].weight *= (float)invTotalWeight;
+ m_modes[posGMode + iLocal].significants = m_modes[posGMode + iLocal].weight / sqrt(m_modes[posGMode + iLocal].variance);
+ }
+
+ // Sort significance values so they are in desending order.
+ qsort(&m_modes[posGMode], numModes, sizeof(GMM), compareT2FMRF);
+
+ // make new mode if needed and exit
+ if(!bFitsPDF)
+ {
+ if(numModes < m_params.MaxModes())
+ numModes++;
+ //else
+ // the weakest mode will be replaced
+
+ pos = posGMode + numModes-1;
+
+ m_modes[pos].muR = pixel.ch[0];
+ m_modes[pos].muG = pixel.ch[1];
+ m_modes[pos].muB = pixel.ch[2];
+ m_modes[pos].variance = m_variance;
+ m_modes[pos].significants = 0; // will be set below
+
+ if(numModes == 1)
+ m_modes[pos].weight = 1;
+ else
+ m_modes[pos].weight = m_params.Alpha();
+
+ //renormalize weights
+ int iLocal;
+ float sum = 0.0;
+ for(iLocal = 0; iLocal < numModes; iLocal++)
+ sum += m_modes[posGMode+ iLocal].weight;
+
+ double invSum = 1.0/sum;
+ for(iLocal = 0; iLocal < numModes; iLocal++)
+ {
+ m_modes[posGMode + iLocal].weight *= (float)invSum;
+ m_modes[posGMode + iLocal].significants = m_modes[posPixel + iLocal].weight / sqrt(m_modes[posGMode + iLocal].variance);
+ }
+ }
+
+ // Sort significance values so they are in desending order.
+ qsort(&(m_modes[posGMode]), numModes, sizeof(GMM), compareT2FMRF);
+
+ if(bBackgroundLow)
+ {
+ low_threshold = BACKGROUND;
+ m_state[posPixel].State = background;
+
+ if(CurrentState == background)
+ {
+ float b2b = fOneMinAlpha*Ab2b + m_params.Alpha();
+ float b2f = fOneMinAlpha*Ab2f;
+
+ float b = b2b + b2f;
+ m_state[posPixel].Ab2b = b2b/b;
+ m_state[posPixel].Ab2f = b2f/b;
+ m_state[posPixel].T = m_state[posPixel].Ab2b;
+ }
+ else
+ {
+ float f2b = fOneMinAlpha*Af2b + m_params.Alpha();
+ float f2f = fOneMinAlpha*Af2f;
+
+ float f = f2b + f2f;
+ m_state[posPixel].Af2b = f2b/f;
+ m_state[posPixel].Af2f = f2f/f;
+ m_state[posPixel].T = m_state[posPixel].Af2b;
+ }
+ }
+ else
+ {
+ low_threshold = FOREGROUND;
+ m_state[posPixel].State = foreground;
+
+ if(CurrentState == background)
+ {
+ float b2b = fOneMinAlpha*Ab2b;
+ float b2f = fOneMinAlpha*Ab2f + m_params.Alpha();
+
+ float b = b2b + b2f;
+ m_state[posPixel].Ab2b = b2b/b;
+ m_state[posPixel].Ab2f = b2f/b;
+ m_state[posPixel].T = m_state[posPixel].Ab2b;
+ }
+ else
+ {
+ float f2b = fOneMinAlpha*Af2b;
+ float f2f = fOneMinAlpha*Af2f + m_params.Alpha();
+
+ float f = f2b + f2f;
+ m_state[posPixel].Af2b = f2b/f;
+ m_state[posPixel].Af2f = f2f/f;
+ m_state[posPixel].T = m_state[posPixel].Af2b;
+ }
+ }
+
+ if(bBackgroundHigh)
+ high_threshold = BACKGROUND;
+ else
+ high_threshold = FOREGROUND;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+//Input:
+// data - a pointer to the data of a RGB image of the same size
+//Output:
+// output - a pointer to the data of a gray value image of the same size
+// (the memory should already be reserved)
+// values: 255-foreground, 125-shadow, 0-background
+///////////////////////////////////////////////////////////////////////////////
+void T2FMRF::Subtract(int frame_num, const RgbImage& data,
+ BwImage& low_threshold_mask, BwImage& high_threshold_mask)
+{
+ unsigned char low_threshold, high_threshold;
+ long posPixel;
+ long posGMode;
+
+ // update each pixel of the image
+ for(unsigned int r = 0; r < m_params.Height(); ++r)
+ {
+ for(unsigned int c = 0; c < m_params.Width(); ++c)
+ {
+ // update model + background subtract
+ posPixel = r*m_params.Width() + c;
+ posGMode = (r*m_params.Width() + c) * m_params.MaxModes();
+
+ SubtractPixel(posPixel, posGMode, data(r,c), m_modes_per_pixel(r,c), low_threshold, high_threshold);
+
+ low_threshold_mask(r,c) = low_threshold;
+ high_threshold_mask(r,c) = high_threshold;
+
+ m_background(r,c,0) = (unsigned char) m_modes[posGMode].muR;
+ m_background(r,c,1) = (unsigned char) m_modes[posGMode].muG;
+ m_background(r,c,2) = (unsigned char) m_modes[posGMode].muB;
+ }
+ }
+}
diff --git a/package_bgs/tb/T2FMRF.h b/package_bgs/tb/T2FMRF.h
new file mode 100644
index 0000000..e6fb449
--- /dev/null
+++ b/package_bgs/tb/T2FMRF.h
@@ -0,0 +1,164 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+/****************************************************************************
+*
+* T2FMRF.h
+*
+* Purpose: Implementation of the T2 Fuzzy Gaussian Mixture Models (T2GMMs)
+* "Modeling of Dynamic Backgrounds by Type-2 Fuzzy Gaussians Mixture Models"
+* Author: Fida El Baf, Thierry Bouwmans, September 2008
+*
+* This code is based on code by Z. Zivkovic's written for his enhanced GMM
+* background subtraction algorithm:
+*
+* Zivkovic's code can be obtained at: www.zoranz.net
+******************************************************************************/
+
+#ifndef T2F_MRF_
+#define T2F_MRF_
+
+#include "../dp/Bgs.h"
+#include "../dp/GrimsonGMM.h"
+
+namespace Algorithms
+{
+ namespace BackgroundSubtraction
+ {
+ const int TYPE_T2FMRF_UM = 0;
+ const int TYPE_T2FMRF_UV = 1;
+
+ enum HiddenState {background, foreground};
+
+ typedef struct HMMState
+ {
+ float T;
+ //Hidden State
+ HiddenState State;
+ //transition probability
+ float Ab2b;
+ float Ab2f;
+ float Af2f;
+ float Af2b;
+ } HMM;
+
+ //typedef struct GMMGaussian
+ //{
+ // float variance;
+ // float muR;
+ // float muG;
+ // float muB;
+ // float weight;
+ // float significants; // this is equal to weight / standard deviation and is used to
+ // // determine which Gaussians should be part of the background model
+ //} GMM;
+
+ // --- User adjustable parameters used by the T2F GMM BGS algorithm ---
+ class T2FMRFParams : public BgsParams
+ {
+ public:
+ float &LowThreshold() { return m_low_threshold; }
+ float &HighThreshold() { return m_high_threshold; }
+
+ float &Alpha() { return m_alpha; }
+ int &MaxModes() { return m_max_modes; }
+ int &Type() { return m_type; }
+ float &KM() { return m_km; }
+ float &KV() { return m_kv; }
+
+ private:
+ // Threshold on the squared dist. to decide when a sample is close to an existing
+ // components. If it is not close to any a new component will be generated.
+ // Smaller threshold values lead to more generated components and higher threshold values
+ // lead to a small number of components but they can grow too large.
+ //
+ // It is usual easiest to think of these thresholds as being the number of variances away
+ // from the mean of a pixel before it is considered to be from the foreground.
+ float m_low_threshold;
+ float m_high_threshold;
+
+ // alpha - speed of update - if the time interval you want to average over is T
+ // set alpha=1/T.
+ float m_alpha;
+
+ // Maximum number of modes (Gaussian components) that will be used per pixel
+ int m_max_modes;
+
+ // T2FMRF_UM / T2FMRF_UV
+ int m_type;
+
+ // Factor control for the T2FMRF-UM
+ float m_km;
+
+ // Factor control for the T2FMRF-UV
+ float m_kv;
+ };
+
+ // --- T2FGMM BGS algorithm ---
+ class T2FMRF : public Bgs
+ {
+ public:
+ T2FMRF();
+ ~T2FMRF();
+
+ void Initalize(const BgsParams& param);
+ void InitModel(const RgbImage& data);
+ void Subtract(int frame_num, const RgbImage& data, BwImage& low_threshold_mask, BwImage& high_threshold_mask);
+ void Update(int frame_num, const RgbImage& data, const BwImage& update_mask);
+
+ RgbImage* Background();
+
+ GMM *gmm(void);
+ HMM *hmm(void);
+
+ private:
+ void SubtractPixel(long posPixel, long posGMode, const RgbPixel& pixel, unsigned char& numModes, unsigned char& lowThreshold, unsigned char& highThreshold);
+
+ // User adjustable parameters
+ T2FMRFParams m_params;
+
+ // Threshold when the component becomes significant enough to be included into
+ // the background model. It is the TB = 1-cf from the paper. So I use cf=0.1 => TB=0.9
+ // For alpha=0.001 it means that the mode should exist for approximately 105 frames before
+ // it is considered foreground
+ float m_bg_threshold; //1-cf from the paper
+
+ // Initial variance for the newly generated components.
+ // It will will influence the speed of adaptation. A good guess should be made.
+ // A simple way is to estimate the typical standard deviation from the images.
+ float m_variance;
+
+ // Dynamic array for the mixture of Gaussians
+ GMM* m_modes;
+
+ //Dynamic array for the hidden state
+ HMM* m_state;
+
+ // Number of Gaussian components per pixel
+ BwImage m_modes_per_pixel;
+
+ // Current background model
+ RgbImage m_background;
+
+ // Factor control for the T2FGMM-UM
+ float km;
+ // Factor control for the T2FGMM-UV
+ float kv;
+ };
+ };
+};
+
+#endif
diff --git a/package_bgs/tb/T2FMRF_UM.cpp b/package_bgs/tb/T2FMRF_UM.cpp
new file mode 100644
index 0000000..768db39
--- /dev/null
+++ b/package_bgs/tb/T2FMRF_UM.cpp
@@ -0,0 +1,140 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "T2FMRF_UM.h"
+
+T2FMRF_UM::T2FMRF_UM() : firstTime(true), frameNumber(0), showOutput(true), threshold(9.0), alpha(0.01),
+gaussians(3), km(2), kv(0.9)
+{
+ std::cout << "T2FMRF_UM()" << std::endl;
+}
+
+T2FMRF_UM::~T2FMRF_UM()
+{
+ std::cout << "~T2FMRF_UM()" << std::endl;
+}
+
+void T2FMRF_UM::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ frame = new IplImage(img_input);
+
+ if(firstTime)
+ frame_data.ReleaseMemory(false);
+ frame_data = frame;
+
+ if(firstTime)
+ {
+ int width = img_input.size().width;
+ int height = img_input.size().height;
+
+ lowThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ lowThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ highThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ highThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ params.SetFrameSize(width, height);
+ params.LowThreshold() = threshold;
+ params.HighThreshold() = 2*params.LowThreshold();
+ params.Alpha() = alpha;
+ params.MaxModes() = gaussians;
+ params.Type() = TYPE_T2FMRF_UM;
+ params.KM() = km; // Factor control for the T2FMRF-UM [0,3] default: 2
+ params.KV() = kv; // Factor control for the T2FMRF-UV [0.3,1] default: 0.9
+
+ bgs.Initalize(params);
+ bgs.InitModel(frame_data);
+
+ old_labeling = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ old = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+
+ mrf.height = height;
+ mrf.width = width;
+ mrf.Build_Classes_OldLabeling_InImage_LocalEnergy();
+
+ firstTime = false;
+ }
+
+ bgs.Subtract(frameNumber, frame_data, lowThresholdMask, highThresholdMask);
+ cvCopyImage(lowThresholdMask.Ptr(), old);
+
+ /************************************************************************/
+ /* the code for MRF, it can be noted when using other methods */
+ /************************************************************************/
+ //the optimization process is done when the foreground detection is stable,
+ if(frameNumber >= 10)
+ {
+ gmm = bgs.gmm();
+ hmm = bgs.hmm();
+ mrf.background2 = frame_data.Ptr();
+ mrf.in_image = lowThresholdMask.Ptr();
+ mrf.out_image = lowThresholdMask.Ptr();
+ mrf.InitEvidence2(gmm,hmm,old_labeling);
+ mrf.ICM2();
+ cvCopyImage(mrf.out_image, lowThresholdMask.Ptr());
+ }
+
+ cvCopyImage(old, old_labeling);
+
+ lowThresholdMask.Clear();
+ bgs.Update(frameNumber, frame_data, lowThresholdMask);
+
+ cv::Mat foreground(highThresholdMask.Ptr());
+
+ if(showOutput)
+ cv::imshow("T2FMRF-UM", foreground);
+
+ foreground.copyTo(img_output);
+
+ delete frame;
+ frameNumber++;
+}
+
+void T2FMRF_UM::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/T2FMRF_UM.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteReal(fs, "threshold", threshold);
+ cvWriteReal(fs, "alpha", alpha);
+ cvWriteReal(fs, "km", km);
+ cvWriteReal(fs, "kv", kv);
+ cvWriteInt(fs, "gaussians", gaussians);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void T2FMRF_UM::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/T2FMRF_UM.xml", 0, CV_STORAGE_READ);
+
+ threshold = cvReadRealByName(fs, 0, "threshold", 9.0);
+ alpha = cvReadRealByName(fs, 0, "alpha", 0.01);
+ km = cvReadRealByName(fs, 0, "km", 2);
+ kv = cvReadRealByName(fs, 0, "kv", 0.9);
+ gaussians = cvReadIntByName(fs, 0, "gaussians", 3);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
diff --git a/package_bgs/tb/T2FMRF_UM.h b/package_bgs/tb/T2FMRF_UM.h
new file mode 100644
index 0000000..6066834
--- /dev/null
+++ b/package_bgs/tb/T2FMRF_UM.h
@@ -0,0 +1,64 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+#include "MRF.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+class T2FMRF_UM : public IBGS
+{
+private:
+ bool firstTime;
+ long frameNumber;
+ IplImage *frame;
+ RgbImage frame_data;
+
+ IplImage *old_labeling;
+ IplImage *old;
+
+ T2FMRFParams params;
+ T2FMRF bgs;
+ BwImage lowThresholdMask;
+ BwImage highThresholdMask;
+
+ double threshold;
+ double alpha;
+ float km;
+ float kv;
+ int gaussians;
+ bool showOutput;
+
+ MRF_TC mrf;
+ GMM *gmm;
+ HMM *hmm;
+
+public:
+ T2FMRF_UM();
+ ~T2FMRF_UM();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
diff --git a/package_bgs/tb/T2FMRF_UV.cpp b/package_bgs/tb/T2FMRF_UV.cpp
new file mode 100644
index 0000000..6b6fcc0
--- /dev/null
+++ b/package_bgs/tb/T2FMRF_UV.cpp
@@ -0,0 +1,140 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include "T2FMRF_UV.h"
+
+T2FMRF_UV::T2FMRF_UV() : firstTime(true), frameNumber(0), showOutput(true), threshold(9.0), alpha(0.01),
+gaussians(3), km(2), kv(0.9)
+{
+ std::cout << "T2FMRF_UV()" << std::endl;
+}
+
+T2FMRF_UV::~T2FMRF_UV()
+{
+ std::cout << "~T2FMRF_UV()" << std::endl;
+}
+
+void T2FMRF_UV::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
+{
+ if(img_input.empty())
+ return;
+
+ loadConfig();
+
+ if(firstTime)
+ saveConfig();
+
+ frame = new IplImage(img_input);
+
+ if(firstTime)
+ frame_data.ReleaseMemory(false);
+ frame_data = frame;
+
+ if(firstTime)
+ {
+ int width = img_input.size().width;
+ int height = img_input.size().height;
+
+ lowThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ lowThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ highThresholdMask = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ highThresholdMask.Ptr()->origin = IPL_ORIGIN_BL;
+
+ params.SetFrameSize(width, height);
+ params.LowThreshold() = threshold;
+ params.HighThreshold() = 2*params.LowThreshold();
+ params.Alpha() = alpha;
+ params.MaxModes() = gaussians;
+ params.Type() = TYPE_T2FMRF_UV;
+ params.KM() = km; // Factor control for the T2FMRF-UM [0,3] default: 2
+ params.KV() = kv; // Factor control for the T2FMRF-UV [0.3,1] default: 0.9
+
+ bgs.Initalize(params);
+ bgs.InitModel(frame_data);
+
+ old_labeling = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+ old = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
+
+ mrf.height = height;
+ mrf.width = width;
+ mrf.Build_Classes_OldLabeling_InImage_LocalEnergy();
+
+ firstTime = false;
+ }
+
+ bgs.Subtract(frameNumber, frame_data, lowThresholdMask, highThresholdMask);
+ cvCopyImage(lowThresholdMask.Ptr(), old);
+
+ /************************************************************************/
+ /* the code for MRF, it can be noted when using other methods */
+ /************************************************************************/
+ //the optimization process is done when the foreground detection is stable,
+ if(frameNumber >= 10)
+ {
+ gmm = bgs.gmm();
+ hmm = bgs.hmm();
+ mrf.background2 = frame_data.Ptr();
+ mrf.in_image = lowThresholdMask.Ptr();
+ mrf.out_image = lowThresholdMask.Ptr();
+ mrf.InitEvidence2(gmm,hmm,old_labeling);
+ mrf.ICM2();
+ cvCopyImage(mrf.out_image, lowThresholdMask.Ptr());
+ }
+
+ cvCopyImage(old, old_labeling);
+
+ lowThresholdMask.Clear();
+ bgs.Update(frameNumber, frame_data, lowThresholdMask);
+
+ cv::Mat foreground(highThresholdMask.Ptr());
+
+ if(showOutput)
+ cv::imshow("T2FMRF-UV", foreground);
+
+ foreground.copyTo(img_output);
+
+ delete frame;
+ frameNumber++;
+}
+
+void T2FMRF_UV::saveConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/T2FMRF_UV.xml", 0, CV_STORAGE_WRITE);
+
+ cvWriteReal(fs, "threshold", threshold);
+ cvWriteReal(fs, "alpha", alpha);
+ cvWriteReal(fs, "km", km);
+ cvWriteReal(fs, "kv", kv);
+ cvWriteInt(fs, "gaussians", gaussians);
+ cvWriteInt(fs, "showOutput", showOutput);
+
+ cvReleaseFileStorage(&fs);
+}
+
+void T2FMRF_UV::loadConfig()
+{
+ CvFileStorage* fs = cvOpenFileStorage("./config/T2FMRF_UV.xml", 0, CV_STORAGE_READ);
+
+ threshold = cvReadRealByName(fs, 0, "threshold", 9.0);
+ alpha = cvReadRealByName(fs, 0, "alpha", 0.01);
+ km = cvReadRealByName(fs, 0, "km", 2);
+ kv = cvReadRealByName(fs, 0, "kv", 0.9);
+ gaussians = cvReadIntByName(fs, 0, "gaussians", 3);
+ showOutput = cvReadIntByName(fs, 0, "showOutput", true);
+
+ cvReleaseFileStorage(&fs);
+}
diff --git a/package_bgs/tb/T2FMRF_UV.h b/package_bgs/tb/T2FMRF_UV.h
new file mode 100644
index 0000000..b8c0ff0
--- /dev/null
+++ b/package_bgs/tb/T2FMRF_UV.h
@@ -0,0 +1,64 @@
+/*
+This file is part of BGSLibrary.
+
+BGSLibrary is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+BGSLibrary 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with BGSLibrary. If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include <iostream>
+#include <cv.h>
+#include <highgui.h>
+
+#include "../IBGS.h"
+#include "MRF.h"
+
+using namespace Algorithms::BackgroundSubtraction;
+
+class T2FMRF_UV : public IBGS
+{
+private:
+ bool firstTime;
+ long frameNumber;
+ IplImage *frame;
+ RgbImage frame_data;
+
+ IplImage *old_labeling;
+ IplImage *old;
+
+ T2FMRFParams params;
+ T2FMRF bgs;
+ BwImage lowThresholdMask;
+ BwImage highThresholdMask;
+
+ double threshold;
+ double alpha;
+ float km;
+ float kv;
+ int gaussians;
+ bool showOutput;
+
+ MRF_TC mrf;
+ GMM *gmm;
+ HMM *hmm;
+
+public:
+ T2FMRF_UV();
+ ~T2FMRF_UV();
+
+ void process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel);
+
+private:
+ void saveConfig();
+ void loadConfig();
+};
diff --git a/run_camera.sh b/run_camera.sh
new file mode 100644
index 0000000..f000519
--- /dev/null
+++ b/run_camera.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+./build/bgs --use_cam --camera=0
+
diff --git a/run_demo.sh b/run_demo.sh
new file mode 100644
index 0000000..e734f06
--- /dev/null
+++ b/run_demo.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+./build/bgs_demo dataset/video.avi
+
diff --git a/run_video.sh b/run_video.sh
new file mode 100644
index 0000000..0ae1bcb
--- /dev/null
+++ b/run_video.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+./build/bgs -uf -fn=dataset/video.avi
+
diff --git a/vs2010/bgslibrary.sln b/vs2010/bgslibrary.sln
new file mode 100644
index 0000000..06187d0
--- /dev/null
+++ b/vs2010/bgslibrary.sln
@@ -0,0 +1,20 @@
+
+Microsoft Visual Studio Solution File, Format Version 11.00
+# Visual Studio 2010
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "bgslibrary", "bgslibrary.vcxproj", "{3B6BF763-9CDE-4859-ADD9-8EB7B282659F}"
+EndProject
+Global
+ GlobalSection(SolutionConfigurationPlatforms) = preSolution
+ Debug|Win32 = Debug|Win32
+ Release|Win32 = Release|Win32
+ EndGlobalSection
+ GlobalSection(ProjectConfigurationPlatforms) = postSolution
+ {3B6BF763-9CDE-4859-ADD9-8EB7B282659F}.Debug|Win32.ActiveCfg = Debug|Win32
+ {3B6BF763-9CDE-4859-ADD9-8EB7B282659F}.Debug|Win32.Build.0 = Debug|Win32
+ {3B6BF763-9CDE-4859-ADD9-8EB7B282659F}.Release|Win32.ActiveCfg = Release|Win32
+ {3B6BF763-9CDE-4859-ADD9-8EB7B282659F}.Release|Win32.Build.0 = Release|Win32
+ EndGlobalSection
+ GlobalSection(SolutionProperties) = preSolution
+ HideSolutionNode = FALSE
+ EndGlobalSection
+EndGlobal
diff --git a/vs2010/bgslibrary.suo b/vs2010/bgslibrary.suo
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\ No newline at end of file
diff --git a/vs2010/bgslibrary.vcxproj.user b/vs2010/bgslibrary.vcxproj.user
new file mode 100644
index 0000000..2dd78fa
--- /dev/null
+++ b/vs2010/bgslibrary.vcxproj.user
@@ -0,0 +1,8 @@
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+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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+ </PropertyGroup>
+</Project>
\ No newline at end of file
--
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