// Background average sample code done with averages and done with codebooks // (adapted from the OpenCV book sample) // // NOTE: To get the keyboard to work, you *have* to have one of the video windows be active // and NOT the consule window. // // Gary Bradski Oct 3, 2008. // /* *************** License:************************** Oct. 3, 2008 Right to use this code in any way you want without warrenty, support or any guarentee of it working. BOOK: It would be nice if you cited it: Learning OpenCV: Computer Vision with the OpenCV Library by Gary Bradski and Adrian Kaehler Published by O'Reilly Media, October 3, 2008 AVAILABLE AT: http://www.amazon.com/Learning-OpenCV-Computer-Vision-Library/dp/0596516134 Or: http://oreilly.com/catalog/9780596516130/ ISBN-10: 0596516134 or: ISBN-13: 978-0596516130 ************************************************** */ #include "opencv2/core/core.hpp" #include "opencv2/video/background_segm.hpp" #include "opencv2/imgproc/imgproc_c.h" #include "opencv2/highgui/highgui.hpp" #include "opencv2/legacy/legacy.hpp" #include #include #include using namespace std; using namespace cv; //VARIABLES for CODEBOOK METHOD: CvBGCodeBookModel* model = 0; const int NCHANNELS = 3; bool ch[NCHANNELS]={true,true,true}; // This sets what channels should be adjusted for background bounds static void help() { printf("\nLearn background and find foreground using simple average and average difference learning method:\n" "Originally from the book: Learning OpenCV by O'Reilly press\n" "\nUSAGE:\n" " bgfg_codebook [--nframes(-nf)=300] [--movie_filename(-mf)=tree.avi] [--camera(-c), use camera or not]\n" "***Keep the focus on the video windows, NOT the consol***\n\n" "INTERACTIVE PARAMETERS:\n" "\tESC,q,Q - quit the program\n" "\th - print this help\n" "\tp - pause toggle\n" "\ts - single step\n" "\tr - run mode (single step off)\n" "=== AVG PARAMS ===\n" "\t- - bump high threshold UP by 0.25\n" "\t= - bump high threshold DOWN by 0.25\n" "\t[ - bump low threshold UP by 0.25\n" "\t] - bump low threshold DOWN by 0.25\n" "=== CODEBOOK PARAMS ===\n" "\ty,u,v- only adjust channel 0(y) or 1(u) or 2(v) respectively\n" "\ta - adjust all 3 channels at once\n" "\tb - adjust both 2 and 3 at once\n" "\ti,o - bump upper threshold up,down by 1\n" "\tk,l - bump lower threshold up,down by 1\n" "\tSPACE - reset the model\n" ); } // //USAGE: ch9_background startFrameCollection# endFrameCollection# [movie filename, else from camera] //If from AVI, then optionally add HighAvg, LowAvg, HighCB_Y LowCB_Y HighCB_U LowCB_U HighCB_V LowCB_V // const char *keys = { "{nf nframes |300 |frames number}" "{c camera |false |use the camera or not}" "{mf movie_file|tree.avi |used movie video file}" }; int main(int argc, const char** argv) { help(); CommandLineParser parser(argc, argv, keys); int nframesToLearnBG = parser.get("nf"); bool useCamera = parser.has("c"); string filename = parser.get("mf"); IplImage* rawImage = 0, *yuvImage = 0; //yuvImage is for codebook method IplImage *ImaskCodeBook = 0,*ImaskCodeBookCC = 0; CvCapture* capture = 0; int c, n, nframes = 0; model = cvCreateBGCodeBookModel(); //Set color thresholds to default values model->modMin[0] = 3; model->modMin[1] = model->modMin[2] = 3; model->modMax[0] = 10; model->modMax[1] = model->modMax[2] = 10; model->cbBounds[0] = model->cbBounds[1] = model->cbBounds[2] = 10; bool pause = false; bool singlestep = false; if( useCamera ) { printf("Capture from camera\n"); capture = cvCaptureFromCAM( 0 ); } else { printf("Capture from file %s\n",filename.c_str()); capture = cvCreateFileCapture( filename.c_str() ); } if( !capture ) { printf( "Can not initialize video capturing\n\n" ); help(); return -1; } //MAIN PROCESSING LOOP: for(;;) { if( !pause ) { rawImage = cvQueryFrame( capture ); ++nframes; if(!rawImage) break; } if( singlestep ) pause = true; //First time: if( nframes == 1 && rawImage ) { // CODEBOOK METHOD ALLOCATION yuvImage = cvCloneImage(rawImage); ImaskCodeBook = cvCreateImage( cvGetSize(rawImage), IPL_DEPTH_8U, 1 ); ImaskCodeBookCC = cvCreateImage( cvGetSize(rawImage), IPL_DEPTH_8U, 1 ); cvSet(ImaskCodeBook,cvScalar(255)); cvNamedWindow( "Raw", 1 ); cvNamedWindow( "ForegroundCodeBook",1); cvNamedWindow( "CodeBook_ConnectComp",1); } // If we've got an rawImage and are good to go: if( rawImage ) { cvCvtColor( rawImage, yuvImage, CV_BGR2YCrCb );//YUV For codebook method //This is where we build our background model if( !pause && nframes-1 < nframesToLearnBG ) cvBGCodeBookUpdate( model, yuvImage ); if( nframes-1 == nframesToLearnBG ) cvBGCodeBookClearStale( model, model->t/2 ); //Find the foreground if any if( nframes-1 >= nframesToLearnBG ) { // Find foreground by codebook method cvBGCodeBookDiff( model, yuvImage, ImaskCodeBook ); // This part just to visualize bounding boxes and centers if desired cvCopy(ImaskCodeBook,ImaskCodeBookCC); cvSegmentFGMask( ImaskCodeBookCC ); } //Display cvShowImage( "Raw", rawImage ); cvShowImage( "ForegroundCodeBook",ImaskCodeBook); cvShowImage( "CodeBook_ConnectComp",ImaskCodeBookCC); } // User input: c = cvWaitKey(10)&0xFF; c = tolower(c); // End processing on ESC, q or Q if(c == 27 || c == 'q') break; //Else check for user input switch( c ) { case 'h': help(); break; case 'p': pause = !pause; break; case 's': singlestep = !singlestep; pause = false; break; case 'r': pause = false; singlestep = false; break; case ' ': cvBGCodeBookClearStale( model, 0 ); nframes = 0; break; //CODEBOOK PARAMS case 'y': case '0': case 'u': case '1': case 'v': case '2': case 'a': case '3': case 'b': ch[0] = c == 'y' || c == '0' || c == 'a' || c == '3'; ch[1] = c == 'u' || c == '1' || c == 'a' || c == '3' || c == 'b'; ch[2] = c == 'v' || c == '2' || c == 'a' || c == '3' || c == 'b'; printf("CodeBook YUV Channels active: %d, %d, %d\n", ch[0], ch[1], ch[2] ); break; case 'i': //modify max classification bounds (max bound goes higher) case 'o': //modify max classification bounds (max bound goes lower) case 'k': //modify min classification bounds (min bound goes lower) case 'l': //modify min classification bounds (min bound goes higher) { uchar* ptr = c == 'i' || c == 'o' ? model->modMax : model->modMin; for(n=0; n(v); } printf("%d,", ptr[n]); } printf(" CodeBook %s Side\n", c == 'i' || c == 'o' ? "High" : "Low" ); } break; } } cvReleaseCapture( &capture ); cvDestroyWindow( "Raw" ); cvDestroyWindow( "ForegroundCodeBook"); cvDestroyWindow( "CodeBook_ConnectComp"); return 0; }