前些日子一直在忙答辩的事情,毕业后去了华为,图像处理什么的都派不上用场了。打算分3-4篇文章,把我研究生阶段学过的常用算法为大家和4107的师弟师妹们分享下。本次介绍混合高斯背景建模算法,还是老样子,首先介绍理论部分,然后给出代码,最后实验贴图。
一、理论
混合高斯背景建模是基于像素样本统计信息的背景表示方法,利用像素在较长时间内大量样本值的概率密度等统计信息(如模式数量、每个模式的均值和标准差)表示背景,然后使用统计差分(如3σ原则)进行目标像素判断,可以对复杂动态背景进行建模,计算量较大。
在混合高斯背景模型中,认为像素之间的颜色信息互不相关,对各像素点的处理都是相互独立的。对于视频图像中的每一个像素点,其值在序列图像中的变化可看作是不断产生像素值的随机过程,即用高斯分布来描述每个像素点的颜色呈现规律【单模态(单峰),多模态(多峰)】。
对于多峰高斯分布模型,图像的每一个像素点按不同权值的多个高斯分布的叠加来建模,每种高斯分布对应一个可能产生像素点所呈现颜色的状态,各个高斯分布的权值和分布参数随时间更新。当处理彩色图像时,假定图像像素点R、G、B三色通道相互独立并具有相同的方差。对于随机变量 X的观测数据集{ x1, x2,…, xN}, xt=( rt, gt, bt)为 t时刻像素的样本,则单个采样点 xt其服从的混合高斯分布概率密度函数:
其中k为分布模式总数,η(xt,μi,t, τi,t)为t时刻第i个高斯分布,μi,t为其均值,τi,t为其协方差矩阵,δi,t为方差,I为三维单位矩阵,ωi,t为t时刻第i个高斯分布的权重。
详细算法流程:
二、代码实现
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// my_mixgaussians.cpp : 定义控制台应用程序的入口点。
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//
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#include "stdafx.h"
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#include "cv.h"
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#include "highgui.h"
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int _tmain(int argc, _TCHAR* argv[])
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{
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CvCapture *capture=cvCreateFileCapture("test.avi");
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IplImage *mframe,*current,*frg,*test;
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int *fg,*bg_bw,*rank_ind;
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double *w,*mean,*sd,*u_diff,*rank;
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int C,M,sd_init,i,j,k,m,rand_temp=0,rank_ind_temp=0,min_index=0,x=0,y=0,counter_frame=0;
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double D,alph,thresh,p,temp;
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CvRNG state;
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int match,height,width;
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mframe=cvQueryFrame(capture);
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frg = cvCreateImage(cvSize(mframe->width,mframe->height),IPL_DEPTH_8U,1);
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current = cvCreateImage(cvSize(mframe->width,mframe->height),IPL_DEPTH_8U,1);
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test = cvCreateImage(cvSize(mframe->width,mframe->height),IPL_DEPTH_8U,1);
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C = 4; //number of gaussian components (typically 3-5)
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M = 4; //number of background components
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sd_init = 6; //initial standard deviation (for new components) var = 36 in paper
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alph = 0.01; //learning rate (between 0 and 1) (from paper 0.01)
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D = 2.5; //positive deviation threshold
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thresh = 0.25; //foreground threshold (0.25 or 0.75 in paper)
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p = alph/(1/C); //initial p variable (used to update mean and sd)
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height=current->height;width=current->widthStep;
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fg = (int *)malloc(sizeof(int)*width*height); //foreground array
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bg_bw = (int *)malloc(sizeof(int)*width*height); //background array
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rank = (double *)malloc(sizeof(double)*1*C); //rank of components (w/sd)
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w = (double *)malloc(sizeof(double)*width*height*C); //weights array
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mean = (double *)malloc(sizeof(double)*width*height*C); //pixel means
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sd = (double *)malloc(sizeof(double)*width*height*C); //pixel standard deviations
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u_diff = (double *)malloc(sizeof(double)*width*height*C); //difference of each pixel from mean
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for (i=0;i<height;i++)
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{
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for (j=0;j<width;j++)
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{
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for(k=0;k<C;k++)
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{
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mean[i*width*C+j*C+k] = cvRandReal(&state)*255;
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w[i*width*C+j*C+k] = (double)1/C;
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sd[i*width*C+j*C+k] = sd_init;
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}
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}
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}
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while(1){
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rank_ind = (int *)malloc(sizeof(int)*C);
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cvCvtColor(mframe,current,CV_BGR2GRAY);
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// calculate difference of pixel values from mean
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for (i=0;i<height;i++)
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{
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for (j=0;j<width;j++)
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{
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for (m=0;m<C;m++)
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{
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u_diff[i*width*C+j*C+m] = abs((uchar)current->imageData[i*width+j]-mean[i*width*C+j*C+m]);
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}
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}
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}
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//update gaussian components for each pixel
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for (i=0;i<height;i++)
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{
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for (j=0;j<width;j++)
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{
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match = 0;
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temp = 0;
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for(k=0;k<C;k++)
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{
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if (abs(u_diff[i*width*C+j*C+k]) <= D*sd[i*width*C+j*C+k]) //pixel matches component
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{
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match = 1; // variable to signal component match
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//update weights, mean, sd, p
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w[i*width*C+j*C+k] = (1-alph)*w[i*width*C+j*C+k] + alph;
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p = alph/w[i*width*C+j*C+k];
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mean[i*width*C+j*C+k] = (1-p)*mean[i*width*C+j*C+k] + p*(uchar)current->imageData[i*width+j];
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sd[i*width*C+j*C+k] =sqrt((1-p)*(sd[i*width*C+j*C+k]*sd[i*width*C+j*C+k]) + p*(pow((uchar)current->imageData[i*width+j] - mean[i*width*C+j*C+k],2)));
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}else{
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w[i*width*C+j*C+k] = (1-alph)*w[i*width*C+j*C+k]; // weight slighly decreases
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}
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temp += w[i*width*C+j*C+k];
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}
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for(k=0;k<C;k++)
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{
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w[i*width*C+j*C+k] = w[i*width*C+j*C+k]/temp;
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}
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temp = w[i*width*C+j*C];
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bg_bw[i*width+j] = 0;
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for (k=0;k<C;k++)
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{
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bg_bw[i*width+j] = bg_bw[i*width+j] + mean[i*width*C+j*C+k]*w[i*width*C+j*C+k];
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if (w[i*width*C+j*C+k]<=temp)
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{
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min_index = k;
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temp = w[i*width*C+j*C+k];
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}
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rank_ind[k] = k;
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}
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test->imageData[i*width+j] = (uchar)bg_bw[i*width+j];
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//if no components match, create new component
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if (match == 0)
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{
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mean[i*width*C+j*C+min_index] = (uchar)current->imageData[i*width+j];
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//printf("%d ",(uchar)bg->imageData[i*width+j]);
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sd[i*width*C+j*C+min_index] = sd_init;
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}
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for (k=0;k<C;k++)
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{
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rank[k] = w[i*width*C+j*C+k]/sd[i*width*C+j*C+k];
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//printf("%f ",w[i*width*C+j*C+k]);
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}
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//sort rank values
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for (k=1;k<C;k++)
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{
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for (m=0;m<k;m++)
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{
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if (rank[k] > rank[m])
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{
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//swap max values
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rand_temp = rank[m];
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rank[m] = rank[k];
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rank[k] = rand_temp;
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//swap max index values
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rank_ind_temp = rank_ind[m];
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rank_ind[m] = rank_ind[k];
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rank_ind[k] = rank_ind_temp;
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}
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}
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}
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//calculate foreground
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match = 0;k = 0;
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//frg->imageData[i*width+j]=0;
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while ((match == 0)&&(k<M)){
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if (w[i*width*C+j*C+rank_ind[k]] >= thresh)
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if (abs(u_diff[i*width*C+j*C+rank_ind[k]]) <= D*sd[i*width*C+j*C+rank_ind[k]]){
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frg->imageData[i*width+j] = 0;
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match = 1;
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}
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else
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frg->imageData[i*width+j] = (uchar)current->imageData[i*width+j];
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k = k+1;
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}
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}
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}
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mframe = cvQueryFrame(capture);
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cvShowImage("fore",frg);
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cvShowImage("back",test);
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char s=cvWaitKey(33);
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if(s==27) break;
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free(rank_ind);
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}
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free(fg);free(w);free(mean);free(sd);free(u_diff);free(rank);
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cvNamedWindow("back",0);
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cvNamedWindow("fore",0);
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cvReleaseCapture(&capture);
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cvDestroyWindow("fore");
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cvDestroyWindow("back");
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return 0;
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}
实验结果:
前景:
背景: