热度 1 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 | #include <opencv2/opencv.hpp> using namespace cv; const int sam_frames = 20; const int min_match = 2; const int radius = 20; const int sub_sam = 16; class ViBe { Mat _samples[sam_frames]; Mat _fg_match; Mat m_mask; RNG rand_gen; public: ViBe(const Mat& img) { for (int i = 0; i < sam_frames; ++i) _samples[i] = Mat::zeros(img.size(), CV_8UC1); m_mask = Mat::zeros(img.size(), CV_8UC1); _fg_match = Mat::zeros(img.size(), CV_8UC1); _proc_first(img); } void update(const Mat& img) { for (int i = 0; i < img.rows; ++i) { for (int j = 0; j < img.cols; ++j) { int matches(0), count(0); int dist; while (matches < min_match && count < sam_frames) { dist = abs(_samples[count].at<uchar>(i, j) - img.at<uchar>(i, j)); if (dist < radius) ++matches; ++count; } if (matches >= min_match) { _samples[sam_frames].at<uchar>(i, j) = 0; m_mask.at<uchar>(i, j) = 0; int random = rand_gen.uniform(0, sub_sam); if (!random) { random = rand_gen.uniform(0, sam_frames); _samples[random].at<uchar>(i, j) = img.at<uchar>(i, j); } if (!random) { int row, col; row = i + rand_gen.uniform(-1, 1); col = j + rand_gen.uniform(-1, 1); if (row < 0) row = 0; if (row >= img.rows) --row; if (col < 0) col = 0; if (col >= img.cols) --col; random = rand_gen.uniform(0, sam_frames); _samples[random].at<uchar>(i, j) = img.at<uchar>(i, j); } } else { _fg_match.at<uchar>(i, j)++; m_mask.at<uchar>(i, j) = 255; if (_fg_match.at<uchar>(i, j) > 50) { int random = rand_gen.uniform(0, sam_frames); if (random == 0) { random = rand_gen.uniform(0, sam_frames); _samples[random].at<uchar>(i, j) = img.at<uchar>(i, j); } } } } } } void process(const Mat & img_input, Mat & img_output) { if (img_input.empty()) return; if (img_input.channels() == 3) { Mat gray, filtered_input_image; cvtColor(img_input, gray, CV_BGR2GRAY); GaussianBlur(gray, filtered_input_image, Size(5,5), 1.5); update(filtered_input_image); Mat mask = getMask(); // median filtering medianBlur(mask, mask, 5); // find blobs std::vector<std::vector<Point> > v; std::vector<Vec4i> hierarchy; findContours(mask, v, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE); mask = Scalar(0, 0, 0); for (size_t i=0; i < v.size(); ++i) { // drop smaller blobs if (contourArea(v[i]) < 20) continue; // draw filled blob drawContours(mask, v, i, Scalar(255,0,0), CV_FILLED, 8, hierarchy, 0, Point()); } // morphological closure Mat element = getStructuringElement(MORPH_RECT, Size(7, 7)); morphologyEx(mask, mask, MORPH_CLOSE, element); mask.copyTo(img_output); } } Mat & getMask() { return m_mask; } private: void _proc_first(const Mat& img) { int row, col; for (int i = 0; i < img.rows; ++i) { for (int j = 0; j < img.cols; ++j) { for (int k = 0; k < sam_frames; ++k) { row = i + rand_gen.uniform(-1, 1); col = j + rand_gen.uniform(-1, 1); if (row < 0) row = 0; if (row >= img.rows) --row; if (col < 0) col = 0; if (col >= img.cols) --col; _samples[k].at<uchar>(i, j) = img.at<uchar>(row, col); } } } } }; int main() { Mat frame, mask; VideoCapture capture(0); if (!capture.isOpened()) { std::cout << "No camera!" << std::endl; return -1; } capture >> frame; ViBe bgs(frame); std::cout << "ViBe instantiated." << std::endl; while (capture.isOpened()) { capture >> frame; if (frame.empty()) break; bgs.process(frame, mask); imshow("mask", mask); imshow("input", frame); if (waitKey(10) == 27) break; } } |
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