- pbas.h
#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);
//参数设置
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();
//存储D(Xi)的均值
cv::Mat meanMinDist;
float* meanMinDist_Pt;
int width, height;
int chans;
//balance of feature pixel value to conture value 公式5
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;
//存储分割模板
cv::Mat* resultMap;
uchar* resultMap_Pt;
//计算当前输入帧特征,包括梯度+灰度值
std::vector<cv::Mat> currentFeatures;
std::vector<float*> currentFeaturesM_Pt;
std::vector<uchar*> currentFeaturesC_Pt;
// background model
std::vector<std::vector<cv::Mat> > backgroundModel;
//背景模型 N 个features
std::vector<std::vector<float*> >B_Mag_Pts;
std::vector<std::vector<uchar*> >B_Col_Pts;
//计算Paper公式5中的Im
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;
//####################################################################################
//####################################################################################
//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;
};
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2.pbas.cpp
#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(1.0)
{
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()
{
//清空存储各项随机数vector
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();
//先分别产生countOfRandomNumb个随机数,提高算法速度
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;
//以下都可以删除......不明白作者为什么写上去
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)
{
//第一帧先存储图像rows,cols,chans
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,使用前N帧建立背景模型,次函数调用N次
init(input);
//分割mask
resultMap = new cv::Mat(input->rows, input->cols, CV_8UC1);
//calculate features
//计算当前图像Features,(梯度,灰度)
calculateFeatures(¤tFeatures, input);
//set sumMagnitude to zero at beginning and then sum up in the loop
//计算公式5用到的Im
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)
{
//分割mask行指针
resultMap_Pt = resultMap->ptr<uchar>(j);
//对当前特征图(彩色6个Mat,灰度2个Mat)
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)
{
//features vector中的梯度图的行指针
currentFeaturesM_Pt.push_back(currentFeatures.at(z).ptr<float>(j));
//feature vector中的灰度图的行指针
currentFeaturesC_Pt.push_back(currentFeatures.at(z + chans).ptr<uchar>(j));
//背景模型
B_Mag_Pts.push_back(fT);
B_Col_Pts.push_back(uT);
}
//同样取各个行指针
meanMinDist_Pt = meanMinDist.ptr<float>(j);
actualR_Pt = actualR.ptr<float>(j);
actualT_Pt = actualT.ptr<float>(j);
//如果是彩色图像,B_Mag_Pts,B_Col_Pts就分别有3个vector<float*>, 3个vector<uchar*>
//其中每个对应一个通道
//而一个vector<float*>存储runs帧图像的行指针..比如runs=N,则有N个float*,分别对应每个背景特征图
//中梯度图的行地址,同理B_Col_Pts则是灰度图
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));
}
}
//对每个像素依次操作如下
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;
//在countOfRandomNumb中随机取一个数
int entry = randomGenerator.uniform(3, countOfRandomNumb - 4);
do
{
//如果是彩色图像,
if (chans == 3)
{
//R,G,B通道分别: 第index+1个背景图中的第i+1个位置依次与 当前图像的当前位置,比较梯度
//sqrt(Mr^2 + Mg^2 + Mb^2) 其中Mi表示对应通道的梯度差值
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))))
);
//同上,只不过此处是灰度值的比较
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 //灰度图像
{
//比上面更简单 abs(Mb - Mc)^2
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))))
);
}
//根据公式5计算距离
dist = ((double)alpha*(norm / formerMeanMag) + beta*dist);
//如果小于距离阈值,记录,同时匹配数+1
if ((dist < *actualR_Pt))
{
++count;
if (minDist > dist)
minDist = dist;
}
//否则,记下当前位置的梯度值,【未解决】
//此处有点奇怪,公式5是说Im表示前一帧图像的梯度平均,为什么这里只计算不匹配背景的位置梯度???)
//我试过通过累计所有位置的梯度,然后除以像素个数,好像效果没多大区别...alpha值我没动过,可能调下alpha
else
{
sumMagnitude += (double)(norm);
++glCounterFore;
}
++index;
} while ((count < Raute_min) && (index < runs)); //当前匹配数小于2或者背景没有遍历完,循环以上过程
//#############################################
//update backgroundmodel
// is BACKGROUND 如果是背景
if (count >= Raute_min)
{
*resultMap_Pt = 0;
//使用这种方式替代随机数产生器,提高算法速度
//比如T_upper=200, actualT=2;则ratio=100, 那么ratio小于 randomT的概率多大呢,1/2,对吧。 和咱们的
//更新率1/T = 1/2 一样...其他数值同理
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
//存储当前minDist到meanMinDist矩阵中
//若有新的minDist更新,重新计算meanMinDist
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
//更新当前背景模型
if (randomT.at(entry) < ratio)
{
// replace randomly chosen sample
int rand = randomN.at(entry + 1); //randomGenerator.uniform((int)0,(int)N-1);
//替换梯度,灰度值
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);
}
//更新meanMinDist
*meanMinDist_Pt = ((((float)(N - 1)) * (*meanMinDist_Pt)) + (float)minDist) / ((float)N);
}
//邻域更新
//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;
//坐标测试
checkValid(&xNeigh, &yNeigh);
// replace randomly chosen sample
int rand = randomN.at(entry - 1);
//邻域更新
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 //前景
{
// store pixel as foreground
*resultMap_Pt = 255;
//there is some movement
isMove = true;
}
//#######################//#######################//#######################//#######################
//control loops
//#######################//#######################//#######################//#######################
//update R
//更新R, 另一个版本的是在背景中更新R....【未解决】
decisionThresholdRegulator(actualR_Pt, meanMinDist_Pt);
//更新T
//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
//计算meanMag既公式5中的Im
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;
}
//公式(3),更新Decision Threshold图(Mat)
//Pt指向当前R(xi), meanDist既Dmin均值
void PBAS::decisionThresholdRegulator(float* pt, float* meanDist)
{
//update R
double tempR = *pt;
double newThresh = (*meanDist)*R_scale;
//公式(3)
if (tempR < newThresh)
{
tempR += tempR * R_incdec;
}
else
{
tempR -= tempR * R_incdec;
}
//边界保护所有灰度阈值必须大于R_lower
if (tempR >= R_lower)
*pt = (float)tempR;
else
*pt = (float)R_lower;
}
//公式4,pt存储是当前learning rate 图(Mat), meanDist既Dmin均值,
void PBAS::learningRateRegulator(float* pt, float* meanDist, uchar* isFore)
{
//time update
double tempT = *pt;
//根据公式(4)更新
//若是背景
if ((int)*isFore < 128)
{
tempT -= T_inc / (*meanDist + 1.0);
}
else //若是前景
{
tempT += T_dec / (*meanDist + 1.0);
}
//最后更新的T(xi)必须在T_lower 与 T_upper之间
if (tempT > T_lower && tempT < T_upper)
*pt = (float)tempT;
}
//边界保护。
//因为模型Update的时候有一定概率更新邻域,而邻域位置是随机的,所以必须保证邻域位置有效
//既(x,y)坐标必须是有效数值
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;
}
}
//初始化建立背景模型!!!!!!!!!!!!!
void PBAS::init(cv::Mat* input)
{
//对前N帧图像,依次计算每帧图像的Features,存入backgroundModel中
//最后runs = N,不再变化
if (runs < N)
{
std::vector<cv::Mat> init;
calculateFeatures(&init, input);
backgroundModel.push_back(init);
//以下可删
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();
//若是第一次,需要分配内存
if (runs == 0)
{
//存储公式3用到的Dmin均值,开始填充0
meanMinDist.create(input->size(), CV_32FC1);
meanMinDist.zeros(input->rows, input->cols, CV_32FC1);
//当前Decision Threshold矩阵,每个“像素”点赋值为R_lower,一般为18
actualR.create(input->rows, input->cols, CV_32FC1);
//当前Update Learning Rate矩阵,每个“像素”点赋值为T_init,一般为18
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)
{
//依次赋值
ptRs[cols] = (float)R_lower;
ptTs[cols] = (float)T_init;
}
}
}
++runs;
}
}
//计算当前帧的Feature图
void PBAS::calculateFeatures(std::vector<cv::Mat>* feature, cv::Mat* inputImage)
{
//清空feature内容,因为建模完成后,每次计算的feature都存在currentFeature中,所以需要清空
if (!feature->empty())
feature->clear();
cv::Mat mag[3], dir;
//如果是彩色图像
if (inputImage->channels() == 3)
{
//拆分为R G B通道
std::vector<cv::Mat> rgbChannels(3);
cv::split(*inputImage, rgbChannels);
//依次对每个通道计算梯度,然后push到Feature中,此时feature存入了3个Mat,分别是
//R G B通道的梯度图像
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();
}
//然后再把R G B通道的灰度值push到feature 中...
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();
//总结就是:
//feature这个vector<Mat> 最后存了6个Mat,分别是梯度,梯度,梯度,灰度,灰度,灰度
}
else
{
//灰度图像同理,
//只不过最后feature只存入2个Mat, 分别对应梯度图,灰度值
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();
}
//以下都是设置参数函数,不说了................
void PBAS::setN(int temp)
{
N = temp;
newInitialization(); //因为N关系到随机数产生器
}
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(); //因为 T_upper关系到随机数产生器
}
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;
//}
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3.main.cpp
#include <iostream>
#include "PBAS.h"
using namespace cv;
using namespace std;
int main(int argc, char **argv)
{
std::cout << "Using OpenCV " << CV_MAJOR_VERSION << "." << CV_MINOR_VERSION << "." << CV_SUBMINOR_VERSION << std::endl;
/* Open video file */
VideoCapture capture("H:\\D\\testVideo\\dataset2014\\highway.avi");
if (!capture.isOpened())
{
std::cerr << "Cannot open video!" << std::endl;
return 1;
}
PBAS pbas;
std::cout << "Press 'q' to quit..." << std::endl;
int key = 0;
Mat img_input;
while (key != 'q')
{
capture >> img_input;
cv::imshow("Input", img_input);
cv::GaussianBlur(img_input, img_input, cv::Size(5, 5), 1.5);
cv::Mat img_mask;
double t = (double)cv::getTickCount();
pbas.process(&img_input, &img_mask);
t = (double)cv::getTickCount() - t;
int fps = (int)(cv::getTickFrequency() / t);
std::cout << fps << std::endl;
cv::medianBlur(img_mask, img_mask, 5);
imshow("img_mask", img_mask);
key = cvWaitKey(1);
}
return 0;
}