Chiebot-Mirror
/
opencv_contrib
8
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

bgsegm: several fixes:

Browse Source 
- descriptor Mat access unsigned -> int
- do not use types uint8_t, etc. from C++11
- fixed uninitialized memory access
- minor cosmetic modifications
pull/1211/head
Maksim Shabunin 7 years ago
parent 42b0e13aef
commit 311feb21ce
3 changed files with 42 additions and 45 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 67
      modules/bgsegm/src/bgfg_gsoc.cpp
  2. 14
      modules/bgsegm/src/synthetic_seq.cpp
  3. 6
      modules/bgsegm/test/test_backgroundsubtractor_lsbp.cpp

67
modules/bgsegm/src/bgfg_gsoc.cpp
Unescape View File

@ -52,6 +52,7 @@
#include "precomp.hpp"
#include <opencv2/calib3d.hpp>
#include <iostream>
#include "opencv2/core/cvdef.h"
namespace cv
{
@ -66,8 +67,7 @@ const float LSBPtau = 0.05f;
#include <intrin.h>
#pragma intrinsic(__popcnt)
#endif
inline uint32_t LSBPDist32(uint32_t n) {
inline int LSBPDist32(unsigned n) {
#if defined(__GNUC__) || defined(__clang__)
return __builtin_popcount(n);
#elif defined(_MSC_VER)
@ -138,7 +138,7 @@ inline float localSVD(float a11, float a12, float a13, float a21, float a22, flo
return std::sqrt(e2 / e1) + std::sqrt(e3 / e1);
}
void removeNoise(Mat& fgMask, const Mat& compMask, const size_t threshold, const uint8_t filler) {
void removeNoise(Mat& fgMask, const Mat& compMask, const size_t threshold, const uchar filler) {
const Size sz = fgMask.size();
Mat labels;
const int nComponents = connectedComponents(compMask, labels, 8, CV_32S);
@ -151,7 +151,7 @@ void removeNoise(Mat& fgMask, const Mat& compMask, const size_t threshold, const
for (int i = 0; i < sz.height; ++i)
for (int j = 0; j < sz.width; ++j)
if (compArea[labels.at<int>(i, j)] < threshold)
fgMask.at<uint8_t>(i, j) = filler;
fgMask.at<uchar>(i, j) = filler;
}
void FindSparseCorrLK(const Mat& src, const Mat& dst, std::vector<Point2f>& srcPoints, std::vector<Point2f>& dstPoints) {
@ -191,20 +191,20 @@ void FindSparseCorrLK(const Mat& src, const Mat& dst, std::vector<Point2f>& srcP
class BackgroundSampleGSOC {
public:
Point3f color;
uint32_t desc;
uint64_t time;
uint64_t hits;
int desc;
uint64 time;
uint64 hits;
BackgroundSampleGSOC(Point3f c = Point3f(), uint32_t d = 0, uint64_t t = 0, uint64_t h = 0) : color(c), desc(d), time(t), hits(h) {}
BackgroundSampleGSOC(Point3f c = Point3f(), int d = 0, uint64 t = 0, uint64 h = 0) : color(c), desc(d), time(t), hits(h) {}
};
class BackgroundSampleLSBP {
public:
Point3f color;
uint32_t desc;
int desc;
float minDecisionDist;
BackgroundSampleLSBP(Point3f c = Point3f(), uint32_t d = 0, float mdd = 1e9f) : color(c), desc(d), minDecisionDist(mdd) {}
BackgroundSampleLSBP(Point3f c = Point3f(), int d = 0, float mdd = 1e9f) : color(c), desc(d), minDecisionDist(mdd) {}
};
template<typename BackgroundSampleType>
@ -291,7 +291,7 @@ public:
samples[minInd] = sample;
}
Point3f getMean(int i, int j, uint64_t threshold) const {
Point3f getMean(int i, int j, uint64 threshold) const {
const int end = i * stride + (j + 1) * nSamples;
Point3f acc(0, 0, 0);
int cnt = 0;
@ -317,13 +317,13 @@ class BackgroundModelLSBP : public BackgroundModel<BackgroundSampleLSBP> {
public:
BackgroundModelLSBP(Size sz, int S) : BackgroundModel(sz, S) {};
int countMatches(int i, int j, const Point3f& color, uint32_t desc, float threshold, uint32_t descThreshold, float& minDist) const {
int countMatches(int i, int j, const Point3f& color, int desc, float threshold, int descThreshold, float& minDist) const {
const int end = i * stride + (j + 1) * nSamples;
int count = 0;
minDist = 1e9;
for (int k = i * stride + j * nSamples; k < end; ++k) {
const float dist = L1dist(color - samples[k].color);
if (dist < threshold && LSBPDist32(desc ^ samples[k].desc) < descThreshold)
if (dist < threshold && LSBPDist32(static_cast<unsigned>(desc ^ samples[k].desc)) < descThreshold)
++count;
if (dist < minDist)
minDist = dist;
@ -390,7 +390,7 @@ public:
void operator()(const Range &range) const {
for (int index = range.start; index < range.end; ++index) {
const int i = index / sz.width, j = index % sz.width;
uint32_t& descVal = desc.at<uint32_t>(i, j);
int& descVal = desc.at<int>(i, j);
descVal = 0;
const float centerVal = localSVDValues.at<float>(i, j);
@ -398,7 +398,7 @@ public:
const int ri = i + LSBPSamplePoints[n].y;
const int rj = j + LSBPSamplePoints[n].x;
if (ri >= 0 && rj >= 0 && ri < sz.height && rj < sz.width && std::abs(localSVDValues.at<float>(ri, rj) - centerVal) > LSBPtau)
descVal |= uint32_t(1U) << n;
descVal |= int(1U) << n;
}
}
}
@ -459,12 +459,12 @@ class BackgroundSubtractorGSOCImpl : public BackgroundSubtractorGSOC {
private:
Ptr<BackgroundModelGSOC> backgroundModel;
Ptr<BackgroundModelGSOC> backgroundModelPrev;
uint64_t currentTime;
uint64 currentTime;
const int motionCompensation;
const int nSamples;
const float replaceRate;
const float propagationRate;
const uint64_t hitsThreshold;
const uint64 hitsThreshold;
const float alpha;
const float beta;
const float blinkingSupressionDecay;
@ -577,7 +577,7 @@ public:
BackgroundSampleGSOC& sample = (* backgroundModel)(k);
if (minDist > threshold) {
fgMask.at<uint8_t>(i, j) = 255;
fgMask.at<uchar>(i, j) = 255;
if (bgs->rng.uniform(0.0f, 1.0f) < bgs->replaceRate)
backgroundModel->replaceOldest(i, j, BackgroundSampleGSOC(frame.at<Point3f>(i, j), 0, bgs->currentTime));
@ -600,7 +600,7 @@ public:
backgroundModel->replaceOldest(i, j - 1, sample);
}
fgMask.at<uint8_t>(i, j) = 0;
fgMask.at<uchar>(i, j) = 0;
}
}
}
@ -637,25 +637,25 @@ public:
else
R.at<float>(i, j) *= 1 + bgs->Rincdec;
if (backgroundModel->countMatches(i, j, frame.at<Point3f>(i, j), LSBPDesc.at<uint32_t>(i, j), R.at<float>(i, j), bgs->LSBPthreshold, minDist) < bgs->minCount) {
fgMask.at<uint8_t>(i, j) = 255;
if (backgroundModel->countMatches(i, j, frame.at<Point3f>(i, j), LSBPDesc.at<int>(i, j), R.at<float>(i, j), bgs->LSBPthreshold, minDist) < bgs->minCount) {
fgMask.at<uchar>(i, j) = 255;
T.at<float>(i, j) += bgs->Tinc / DMean;
}
else {
fgMask.at<uint8_t>(i, j) = 0;
fgMask.at<uchar>(i, j) = 0;
T.at<float>(i, j) -= bgs->Tdec / DMean;
if (bgs->rng.uniform(0.0f, 1.0f) < 1 / T.at<float>(i, j))
(* backgroundModel)(i, j, bgs->rng.uniform(0, bgs->nSamples)) = BackgroundSampleLSBP(frame.at<Point3f>(i, j), LSBPDesc.at<uint32_t>(i, j), minDist);
(* backgroundModel)(i, j, bgs->rng.uniform(0, bgs->nSamples)) = BackgroundSampleLSBP(frame.at<Point3f>(i, j), LSBPDesc.at<int>(i, j), minDist);
if (bgs->rng.uniform(0.0f, 1.0f) < 1 / T.at<float>(i, j)) {
const int oi = i + bgs->rng.uniform(-1, 2);
const int oj = j + bgs->rng.uniform(-1, 2);
if (oi >= 0 && oi < sz.height && oj >= 0 && oj < sz.width)
(* backgroundModel)(oi, oj, bgs->rng.uniform(0, bgs->nSamples)) = BackgroundSampleLSBP(frame.at<Point3f>(oi, oj), LSBPDesc.at<uint32_t>(oi, oj), minDist);
(* backgroundModel)(oi, oj, bgs->rng.uniform(0, bgs->nSamples)) = BackgroundSampleLSBP(frame.at<Point3f>(oi, oj), LSBPDesc.at<int>(oi, oj), minDist);
}
}
@ -729,9 +729,9 @@ void BackgroundSubtractorGSOCImpl::apply(InputArray _image, OutputArray _fgmask,
if (backgroundModel.empty()) {
backgroundModel = makePtr<BackgroundModelGSOC>(sz, nSamples);
backgroundModelPrev = makePtr<BackgroundModelGSOC>(sz, nSamples);
distMovingAvg = Mat(sz, CV_32F, 0.005f);
prevFgMask = Mat(sz, CV_8U);
blinkingSupression = Mat(sz, CV_32F, 0.0f);
distMovingAvg = Mat(sz, CV_32F, Scalar::all(0.005f));
prevFgMask = Mat(sz, CV_8U, Scalar::all(0));
blinkingSupression = Mat(sz, CV_32F, Scalar::all(0.0f));
for (int i = 0; i < sz.height; ++i)
for (int j = 0; j < sz.width; ++j) {
@ -799,7 +799,7 @@ void BackgroundSubtractorGSOCImpl::getBackgroundImage(OutputArray _backgroundIma
Mat backgroundImage = _backgroundImage.getMat();
for (int i = 0; i < sz.height; ++i)
for (int j = 0; j < sz.width; ++j)
backgroundImage.at< Point3_<uint8_t> >(i, j) = backgroundModel->getMean(i, j, hitsThreshold) * 255;
backgroundImage.at< Point3_<uchar> >(i, j) = backgroundModel->getMean(i, j, hitsThreshold) * 255;
}
BackgroundSubtractorLSBPImpl::BackgroundSubtractorLSBPImpl(int _mc,
@ -864,14 +864,11 @@ void BackgroundSubtractorLSBPImpl::apply(InputArray _image, OutputArray _fgmask,
cvtColor(frame, frame, COLOR_GRAY2BGR);
if (frame.depth() != CV_32F) {
frame.convertTo(frame, CV_32F);
frame /= 255;
frame.convertTo(frame, CV_32F, 1.0/255);
}
Mat LSBPDesc(sz, CV_32S);
LSBPDesc = 0;
CV_Assert(frame.channels() == 3);
Mat LSBPDesc(sz, CV_32S, Scalar::all(0));
BackgroundSubtractorLSBPDesc::compute(LSBPDesc, frame, LSBPSamplePoints);
@ -885,7 +882,7 @@ void BackgroundSubtractorLSBPImpl::apply(InputArray _image, OutputArray _fgmask,
for (int i = 0; i < sz.height; ++i)
for (int j = 0; j < sz.width; ++j) {
BackgroundSampleLSBP sample(frame.at<Point3f>(i, j), LSBPDesc.at<uint32_t>(i, j));
BackgroundSampleLSBP sample(frame.at<Point3f>(i, j), LSBPDesc.at<int>(i, j));
for (int k = 0; k < nSamples; ++k) {
(* backgroundModel)(i, j, k) = sample;
(* backgroundModelPrev)(i, j, k) = sample;
@ -937,7 +934,7 @@ void BackgroundSubtractorLSBPImpl::getBackgroundImage(OutputArray _backgroundIma
Mat backgroundImage = _backgroundImage.getMat();
for (int i = 0; i < sz.height; ++i)
for (int j = 0; j < sz.width; ++j)
backgroundImage.at< Point3_<uint8_t> >(i, j) = backgroundModel->getMean(i, j) * 255;
backgroundImage.at< Point3_<uchar> >(i, j) = backgroundModel->getMean(i, j) * 255;
}
Ptr<BackgroundSubtractorGSOC> createBackgroundSubtractorGSOC(int mc,

14
modules/bgsegm/src/synthetic_seq.cpp
Unescape View File

@ -64,7 +64,7 @@ inline int within(int a, int b, int c) {
return (((a) <= (b)) && ((b) <= (c))) ? 1 : 0;
}
void bilinearInterp(uint8_t* dest, double x, double y, unsigned bpp, const uint8_t** values) {
void bilinearInterp(uchar* dest, double x, double y, unsigned bpp, const uchar** values) {
x = std::fmod(x, 1.0);
y = std::fmod(y, 1.0);
@ -76,13 +76,13 @@ void bilinearInterp(uint8_t* dest, double x, double y, unsigned bpp, const uint8
for (unsigned i = 0; i < bpp; i++) {
double m0 = (1.0 - x) * values[0][i] + x * values[1][i];
double m1 = (1.0 - x) * values[2][i] + x * values[3][i];
dest[i] = (uint8_t) ((1.0 - y) * m0 + y * m1);
dest[i] = (uchar) ((1.0 - y) * m0 + y * m1);
}
}
// Static background is a way too easy test. We will add distortion to it.
void waveDistortion(const uint8_t* src, uint8_t* dst, int width, int height, int bypp, double amplitude, double wavelength, double phase) {
const uint8_t zeroes[4] = {0, 0, 0, 0};
void waveDistortion(const uchar* src, uchar* dst, int width, int height, int bypp, double amplitude, double wavelength, double phase) {
const uchar zeroes[4] = {0, 0, 0, 0};
const long rowsiz = width * bypp;
const double xhsiz = (double) width / 2.0;
const double yhsiz = (double) height / 2.0;
@ -104,7 +104,7 @@ void waveDistortion(const uint8_t* src, uint8_t* dst, int width, int height, int
wavelength *= 2;
for (int y = 0; y < height; y++) {
uint8_t* dest = dst;
uchar* dest = dst;
for (int x = 0; x < width; x++) {
const double dx = x * xscale;
@ -116,13 +116,13 @@ void waveDistortion(const uint8_t* src, uint8_t* dst, int width, int height, int
const int xi = clamp(int(needx), 0, width - 2);
const int yi = clamp(int(needy), 0, height - 2);
const uint8_t* p = src + rowsiz * yi + xi * bypp;
const uchar* p = src + rowsiz * yi + xi * bypp;
const int x1_in = within(0, xi, width - 1);
const int y1_in = within(0, yi, height - 1);
const int x2_in = within(0, xi + 1, width - 1);
const int y2_in = within(0, yi + 1, height - 1);
const uint8_t* values[4];
const uchar* values[4];
if (x1_in && y1_in)
values[0] = p;

6
modules/bgsegm/test/test_backgroundsubtractor_lsbp.cpp
Unescape View File

@ -72,16 +72,16 @@ TEST(BackgroundSubtractor_LSBP, Discrimination)
Mat desc;
bgsegm::BackgroundSubtractorLSBPDesc::computeFromLocalSVDValues(desc, lsv, LSBPSamplePoints);
Size sz = desc.size();
std::set<uint32_t> distinctive_elements;
std::set<int> distinctive_elements;
for (int i = 0; i < sz.height; ++i)
for (int j = 0; j < sz.width; ++j)
distinctive_elements.insert(desc.at<uint32_t>(i, j));
distinctive_elements.insert(desc.at<int>(i, j));
EXPECT_GE(distinctive_elements.size(), 35000U);
}
static double scoreBitwiseReduce(const Mat& mask, const Mat& gtMask, uint8_t v1, uint8_t v2) {
static double scoreBitwiseReduce(const Mat& mask, const Mat& gtMask, uchar v1, uchar v2) {
Mat result;
cv::bitwise_and(mask == v1, gtMask == v2, result);
return cv::countNonZero(result);

Write Preview
Loading…
Cancel
Save