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MultiCue.cpp
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#include "MultiCue.h"
#if CV_MAJOR_VERSION >= 2 && CV_MAJOR_VERSION <= 3
using namespace bgslibrary::algorithms::multiCue;
using namespace bgslibrary::algorithms;
#define MIN3(x,y,z) ((y) <= (z) ? ((x) <= (y) ? (x) : (y)) : ((x) <= (z) ? (x) : (z)))
#define MAX3(x,y,z) ((y) >= (z) ? ((x) >= (y) ? (x) : (y)) : ((x) >= (z) ? (x) : (z)))
#ifndef PI
#define PI 3.141592653589793f
#endif
#ifndef FALSE
#define FALSE 0
#endif
#ifndef TRUE
#define TRUE 1
#endif
MultiCue::MultiCue() :
IBGS(quote(MultiCue))
{
debug_construction(MultiCue);
//----------------------------------
// User adjustable parameters
//----------------------------------
g_iTrainingPeriod = 20; //the training period (The parameter t in the paper)
g_iT_ModelThreshold = 1; //the threshold for texture-model based BGS. (The parameter tau_T in the paper)
g_iC_ModelThreshold = 10; //the threshold for appearance based verification. (The parameter tau_A in the paper)
g_fLearningRate = 0.05f; //the learning rate for background models. (The parameter alpha in the paper)
g_nTextureTrainVolRange = 15; //the codebook size factor for texture models. (The parameter k in the paper)
g_nColorTrainVolRange = 20; //the codebook size factor for color models. (The parameter eta_1 in the paper)
g_bAbsorptionEnable = TRUE; //If TRUE, cache-book is also modeled for ghost region removal.
g_iAbsortionPeriod = 200; //the period to absorb static ghost regions
g_iRWidth = 90, g_iRHeight = 60; //Frames are precessed after reduced in this size .
//------------------------------------
// For codebook maintenance
//------------------------------------
g_iBackClearPeriod = 300; //the period to clear background models
g_iCacheClearPeriod = 30; //the period to clear cache-book models
//------------------------------------
// Initialization of other parameters
//------------------------------------
g_nNeighborNum = 6, g_nRadius = 2;
g_fConfidenceThre = g_iT_ModelThreshold / (float)g_nNeighborNum; //the final decision threshold
g_iFrameCount = 0;
g_bForegroundMapEnable = FALSE; //TRUE only when BGS is successful
g_bModelMemAllocated = FALSE; //To handle memory..
g_bNonModelMemAllocated = FALSE; //To handle memory..
initLoadSaveConfig(algorithmName);
}
MultiCue::~MultiCue() {
debug_destruction(MultiCue);
Destroy();
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// the main function to background modeling and subtraction // //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::process(const cv::Mat &img_input, cv::Mat &img_output, cv::Mat &img_bgmodel)
{
init(img_input, img_output, img_bgmodel);
//--STep1: Background Modeling--//
//IplImage* frame = &IplImage(img_input);
IplImage* frame = new IplImage(img_input);
IplImage* result_image = cvCreateImage(cvGetSize(frame), IPL_DEPTH_8U, 3);
cvSetZero(result_image);
if (g_iFrameCount <= g_iTrainingPeriod) {
BackgroundModeling_Par(frame);
g_iFrameCount++;
}
//--Step2: Background Subtraction--//
else
{
g_bForegroundMapEnable = FALSE;
ForegroundExtraction(frame);
UpdateModel_Par();
//Get BGS Results
GetForegroundMap(result_image, NULL);
}
delete frame;
img_background = cv::Mat::zeros(img_input.size(), img_input.type());
img_foreground = cv::cvarrToMat(result_image, TRUE);
cvReleaseImage(&result_image);
#ifndef MEX_COMPILE_FLAG
if (showOutput)
cv::imshow(algorithmName + "_FG", img_foreground);
#endif
img_foreground.copyTo(img_output);
img_background.copyTo(img_bgmodel);
firstTime = false;
}
void MultiCue::save_config(cv::FileStorage &fs) {
fs << "g_fLearningRate" << g_fLearningRate;
fs << "g_iAbsortionPeriod" << g_iAbsortionPeriod;
fs << "g_iC_ModelThreshold" << g_iC_ModelThreshold;
fs << "g_iT_ModelThreshold" << g_iT_ModelThreshold;
fs << "g_iBackClearPeriod" << g_iBackClearPeriod;
fs << "g_iCacheClearPeriod" << g_iCacheClearPeriod;
fs << "g_nNeighborNum" << g_nNeighborNum;
fs << "g_nRadius" << g_nRadius;
fs << "g_nTextureTrainVolRange" << g_nTextureTrainVolRange;
fs << "g_bAbsorptionEnable" << g_bAbsorptionEnable;
fs << "g_iTrainingPeriod" << g_iTrainingPeriod;
fs << "g_iRWidth" << g_iRWidth;
fs << "g_iRHeight" << g_iRHeight;
fs << "showOutput" << showOutput;
}
void MultiCue::load_config(cv::FileStorage &fs) {
fs["g_fLearningRate"] >> g_fLearningRate;
fs["g_iAbsortionPeriod"] >> g_iAbsortionPeriod;
fs["g_iC_ModelThreshold"] >> g_iC_ModelThreshold;
fs["g_iT_ModelThreshold"] >> g_iT_ModelThreshold;
fs["g_iBackClearPeriod"] >> g_iBackClearPeriod;
fs["g_iCacheClearPeriod"] >> g_iCacheClearPeriod;
fs["g_nNeighborNum"] >> g_nNeighborNum;
fs["g_nRadius"] >> g_nRadius;
fs["g_nTextureTrainVolRange"] >> g_nTextureTrainVolRange;
fs["g_bAbsorptionEnable"] >> g_bAbsorptionEnable;
fs["g_iTrainingPeriod"] >> g_iTrainingPeriod;
fs["g_iRWidth"] >> g_iRWidth;
fs["g_iRHeight"] >> g_iRHeight;
fs["showOutput"] >> showOutput;
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// the system initialization function //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::Initialize(IplImage* frame)
{
int i, j;
g_iHeight = frame->height;
g_iWidth = frame->width;
Destroy();
//--------------------------------------------------------
// memory initialization
//--------------------------------------------------------
g_ResizedFrame = cvCreateImage(cvSize(g_iRWidth, g_iRHeight), IPL_DEPTH_8U, 3);
g_aGaussFilteredFrame = (uchar***)malloc(sizeof(uchar**)*g_iRHeight);
for (i = 0; i < g_iRHeight; i++) {
g_aGaussFilteredFrame[i] = (uchar**)malloc(sizeof(uchar*)*g_iRWidth);
for (j = 0; j < g_iRWidth; j++) g_aGaussFilteredFrame[i][j] = (uchar*)malloc(sizeof(uchar) * 3);
}
g_aXYZFrame = (uchar***)malloc(sizeof(uchar**)*g_iRHeight);
for (i = 0; i < g_iRHeight; i++) {
g_aXYZFrame[i] = (uchar**)malloc(sizeof(uchar*)*g_iRWidth);
for (j = 0; j < g_iRWidth; j++) g_aXYZFrame[i][j] = (uchar*)malloc(sizeof(uchar) * 3);
}
g_aLandmarkArray = (uchar**)malloc(sizeof(uchar*)*g_iRHeight);
for (i = 0; i < g_iRHeight; i++) g_aLandmarkArray[i] = (uchar*)malloc(sizeof(uchar)*g_iRWidth);
g_aResizedForeMap = (uchar**)malloc(sizeof(uchar*)*g_iRHeight);
for (i = 0; i < g_iRHeight; i++) g_aResizedForeMap[i] = (uchar*)malloc(sizeof(uchar)*g_iRWidth);
g_aForegroundMap = (uchar**)malloc(sizeof(uchar*)*g_iHeight);
for (i = 0; i < g_iHeight; i++) g_aForegroundMap[i] = (uchar*)malloc(sizeof(uchar)*g_iWidth);
g_aUpdateMap = (BOOL**)malloc(sizeof(BOOL*)*g_iRHeight);
for (i = 0; i < g_iRHeight; i++) g_aUpdateMap[i] = (BOOL*)malloc(sizeof(BOOL)*g_iRWidth);
//Bound Box Related..
int iElementNum = 300;
g_BoundBoxInfo = (BoundingBoxInfo*)malloc(sizeof(BoundingBoxInfo));
g_BoundBoxInfo->m_iArraySize = iElementNum;
g_BoundBoxInfo->m_iBoundBoxNum = iElementNum;
g_BoundBoxInfo->m_aLeft = (short*)malloc(sizeof(short)* iElementNum); g_BoundBoxInfo->m_aRight = (short*)malloc(sizeof(short)* iElementNum);
g_BoundBoxInfo->m_aBottom = (short*)malloc(sizeof(short)* iElementNum); g_BoundBoxInfo->m_aUpper = (short*)malloc(sizeof(short)* iElementNum);
g_BoundBoxInfo->m_aRLeft = (short*)malloc(sizeof(short)* iElementNum); g_BoundBoxInfo->m_aRRight = (short*)malloc(sizeof(short)* iElementNum);
g_BoundBoxInfo->m_aRBottom = (short*)malloc(sizeof(short)* iElementNum); g_BoundBoxInfo->m_aRUpper = (short*)malloc(sizeof(short)* iElementNum);
g_BoundBoxInfo->m_ValidBox = (BOOL*)malloc(sizeof(BOOL)* iElementNum);
//--------------------------------------------------------
// texture model related
//--------------------------------------------------------
T_AllocateTextureModelRelatedMemory();
//--------------------------------------------------------
// color moddel related
//--------------------------------------------------------
C_AllocateColorModelRelatedMemory();
g_bModelMemAllocated = TRUE;
g_bNonModelMemAllocated = TRUE;
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// the function to release allocated memories //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::Destroy()
{
if (g_bModelMemAllocated == FALSE && g_bNonModelMemAllocated == FALSE) return;
//short nNeighborNum = g_nNeighborNum;
if (g_bModelMemAllocated == TRUE) {
T_ReleaseTextureModelRelatedMemory();
C_ReleaseColorModelRelatedMemory();
g_bModelMemAllocated = FALSE;
}
if (g_bNonModelMemAllocated == TRUE) {
cvReleaseImage(&g_ResizedFrame);
for (int i = 0; i < g_iRHeight; i++) {
for (int j = 0; j < g_iRWidth; j++) free(g_aGaussFilteredFrame[i][j]);
free(g_aGaussFilteredFrame[i]);
}
free(g_aGaussFilteredFrame);
for (int i = 0; i < g_iRHeight; i++) {
for (int j = 0; j < g_iRWidth; j++) free(g_aXYZFrame[i][j]);
free(g_aXYZFrame[i]);
}
free(g_aXYZFrame);
for (int i = 0; i < g_iRHeight; i++) free(g_aLandmarkArray[i]);
free(g_aLandmarkArray);
for (int i = 0; i < g_iRHeight; i++) free(g_aResizedForeMap[i]);
free(g_aResizedForeMap);
for (int i = 0; i < g_iHeight; i++) free(g_aForegroundMap[i]);
free(g_aForegroundMap);
for (int i = 0; i < g_iRHeight; i++) free(g_aUpdateMap[i]);
free(g_aUpdateMap);
free(g_BoundBoxInfo->m_aLeft); free(g_BoundBoxInfo->m_aRight); free(g_BoundBoxInfo->m_aBottom); free(g_BoundBoxInfo->m_aUpper);
free(g_BoundBoxInfo->m_aRLeft); free(g_BoundBoxInfo->m_aRRight); free(g_BoundBoxInfo->m_aRBottom); free(g_BoundBoxInfo->m_aRUpper);
free(g_BoundBoxInfo->m_ValidBox);
free(g_BoundBoxInfo);
g_bNonModelMemAllocated = FALSE;
}
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// the preprocessing function //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::PreProcessing(IplImage* frame) {
//image resize
ReduceImageSize(frame, g_ResizedFrame);
//Gaussian filtering
GaussianFiltering(g_ResizedFrame, g_aGaussFilteredFrame);
//color space conversion
BGR2HSVxyz_Par(g_aGaussFilteredFrame, g_aXYZFrame);
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// the background modeling function //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::BackgroundModeling_Par(IplImage* frame) {
//initialization
if (g_iFrameCount == 0) Initialize(frame);
//Step1: pre-processing
PreProcessing(frame);
int iH_Start = g_nRadius, iH_end = g_iRHeight - g_nRadius;
int iW_Start = g_nRadius, iW_end = g_iRWidth - g_nRadius;
float fLearningRate = g_fLearningRate * 4;
//Step2: background modeling
for (int i = iH_Start; i < iH_end; i++) {
for (int j = iW_Start; j < iW_end; j++) {
point center;
center.m_nX = j;
center.m_nY = i;
T_ModelConstruction(g_nTextureTrainVolRange, fLearningRate, g_aXYZFrame, center, g_aNeighborDirection[i][j], g_TextureModel[i][j]);
C_CodebookConstruction(g_aXYZFrame[i][j], j, i, g_nColorTrainVolRange, fLearningRate, g_ColorModel[i][j]);
}
}
//Step3: Clear non-essential codewords
if (g_iFrameCount == g_iTrainingPeriod) {
for (int i = 0; i < g_iRHeight; i++) {
for (int j = 0; j < g_iRWidth; j++) {
T_ClearNonEssentialEntries(g_iTrainingPeriod, g_TextureModel[i][j]);
C_ClearNonEssentialEntries(g_iTrainingPeriod, g_ColorModel[i][j]);
}
}
g_iFrameCount++;
}
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// the background subtraction function //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::ForegroundExtraction(IplImage* frame) {
//Step1:pre-processing
PreProcessing(frame);
//Step3: texture-model based process
T_GetConfidenceMap_Par(g_aXYZFrame, g_aTextureConfMap, g_aNeighborDirection, g_TextureModel);
//Step2: color-model based verification
CreateLandmarkArray_Par(g_fConfidenceThre, g_nColorTrainVolRange, g_aTextureConfMap, g_nNeighborNum, g_aXYZFrame, g_aNeighborDirection,
g_TextureModel, g_ColorModel, g_aLandmarkArray);
//Step3: verification procedures
PostProcessing(frame);
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// the post-processing function //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::PostProcessing(IplImage* frame) {
//Step1: morphological operation
MorphologicalOpearions(g_aLandmarkArray, g_aResizedForeMap, 0.5, 5, g_iRWidth, g_iRHeight);
g_bForegroundMapEnable = TRUE;
//Step2: labeling
int** aLabelTable = (int**)malloc(sizeof(int*)*g_iRHeight);
for (int i = 0; i < g_iRHeight; i++) aLabelTable[i] = (int*)malloc(sizeof(int)*g_iRWidth);
int iLabelCount;
Labeling(g_aResizedForeMap, &iLabelCount, aLabelTable);
//Step3: getting bounding boxes for each candidate fore-blob
SetBoundingBox(iLabelCount, aLabelTable);
//Step4: size and appearance based verification
BoundBoxVerification(frame, g_aResizedForeMap, g_BoundBoxInfo);
//Step5: Foreground Region
RemovingInvalidForeRegions(g_aResizedForeMap, g_BoundBoxInfo);
for (int i = 0; i < g_iRHeight; i++) free(aLabelTable[i]);
free(aLabelTable);
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// the background-model update function //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::UpdateModel_Par() {
//short nNeighborNum = g_nNeighborNum;
//Step1: update map construction
for (int i = 0; i < g_iRHeight; i++) {
for (int j = 0; j < g_iRWidth; j++) {
g_aUpdateMap[i][j] = TRUE;
}
}
for (int k = 0; k < g_BoundBoxInfo->m_iBoundBoxNum; k++) {
if (g_BoundBoxInfo->m_ValidBox[k] == TRUE) {
for (int i = g_BoundBoxInfo->m_aRUpper[k]; i <= g_BoundBoxInfo->m_aRBottom[k]; i++) {
for (int j = g_BoundBoxInfo->m_aRLeft[k]; j <= g_BoundBoxInfo->m_aRRight[k]; j++) {
g_aUpdateMap[i][j] = FALSE;
}
}
}
}
//Step2: update
int iH_Start = g_nRadius, iH_End = g_iRHeight - g_nRadius;
int iW_Start = g_nRadius, iW_End = g_iRWidth - g_nRadius;
float fLearningRate = (float)g_fLearningRate;
for (int i = iH_Start; i < iH_End; i++) {
for (int j = iW_Start; j < iW_End; j++) {
point center;
center.m_nX = j;
center.m_nY = i;
if (g_aUpdateMap[i][j] == TRUE) {
//model update
T_ModelConstruction(g_nTextureTrainVolRange, fLearningRate, g_aXYZFrame, center, g_aNeighborDirection[i][j], g_TextureModel[i][j]);
C_CodebookConstruction(g_aXYZFrame[i][j], j, i, g_nColorTrainVolRange, fLearningRate, g_ColorModel[i][j]);
//clearing non-essential codewords
T_ClearNonEssentialEntries(g_iBackClearPeriod, g_TextureModel[i][j]);
C_ClearNonEssentialEntries(g_iBackClearPeriod, g_ColorModel[i][j]);
}
else {
if (g_bAbsorptionEnable == TRUE) {
//model update
T_ModelConstruction(g_nTextureTrainVolRange, fLearningRate, g_aXYZFrame, center, g_aNeighborDirection[i][j], g_TCacheBook[i][j]);
C_CodebookConstruction(g_aXYZFrame[i][j], j, i, g_nColorTrainVolRange, fLearningRate, g_CCacheBook[i][j]);
//clearing non-essential codewords
T_Absorption(g_iAbsortionPeriod, center, g_aTContinuousCnt, g_aTReferredIndex, g_TextureModel[i][j], g_TCacheBook[i][j]);
C_Absorption(g_iAbsortionPeriod, center, g_aCContinuousCnt, g_aCReferredIndex, g_ColorModel[i][j], g_CCacheBook[i][j]);
}
}
//clearing non-essential codewords for cache-books
if (g_bAbsorptionEnable == TRUE) {
T_ClearNonEssentialEntriesForCachebook(g_aLandmarkArray[i][j], g_aTReferredIndex[i][j], 10, g_TCacheBook[i][j]);
C_ClearNonEssentialEntriesForCachebook(g_aLandmarkArray[i][j], g_aCReferredIndex[i][j], 10, g_CCacheBook[i][j]);
}
}
}
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// the color based verification function //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::CreateLandmarkArray_Par(float fConfThre, short nTrainVolRange, float**aConfMap, int iNehborNum, uchar*** aXYZ,
point*** aNeiDir, TextureModel**** TModel, ColorModel*** CModel, uchar**aLandmarkArr) {
int iBound_w = g_iRWidth - g_nRadius;
int iBound_h = g_iRHeight - g_nRadius;
for (int i = 0; i < g_iRHeight; i++) {
for (int j = 0; j < g_iRWidth; j++) {
if (i < g_nRadius || i >= iBound_h || j < g_nRadius || j >= iBound_w) {
aLandmarkArr[i][j] = 0;
continue;
}
double tmp = aConfMap[i][j];
if (tmp > fConfThre) aLandmarkArr[i][j] = 255;
else {
aLandmarkArr[i][j] = 0;
//Calculating texture amount in the background
double dBackAmt, dCnt;
dBackAmt = dCnt = 0;
for (int m = 0; m < iNehborNum; m++) {
for (int n = 0; n < TModel[i][j][m]->m_iNumEntries; n++) {
dBackAmt += TModel[i][j][m]->m_Codewords[n]->m_fMean;
dCnt++;
}
}
dBackAmt /= dCnt;
//Calculating texture amount in the input image
double dTemp, dInputAmt = 0;
for (int m = 0; m < iNehborNum; m++) {
dTemp = aXYZ[i][j][2] - aXYZ[aNeiDir[i][j][m].m_nY][aNeiDir[i][j][m].m_nX][2];
if (dTemp >= 0) dInputAmt += dTemp;
else dInputAmt -= dTemp;
}
//If there are only few textures in both background and input image
if (dBackAmt < 50 && dInputAmt < 50) {
//Conduct color codebook matching
BOOL bMatched = FALSE;
for (int m = 0; m < CModel[i][j]->m_iNumEntries; m++) {
int iMatchedCount = 0;
for (int n = 0; n < 3; n++) {
double dLowThre = CModel[i][j]->m_Codewords[m]->m_dMean[n] - nTrainVolRange - 10;
double dHighThre = CModel[i][j]->m_Codewords[m]->m_dMean[n] + nTrainVolRange + 10;
if (dLowThre <= aXYZ[i][j][n] && aXYZ[i][j][n] <= dHighThre) iMatchedCount++;
}
if (iMatchedCount == 3) {
bMatched = TRUE;
break;
}
}
if (bMatched == TRUE) aLandmarkArr[i][j] = 125;
else aLandmarkArr[i][j] = 255;
}
}
}
}
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// the Gaussian filtering function //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::GaussianFiltering(IplImage* frame, uchar*** aFilteredFrame) {
double dSigma = 0.7;
if (dSigma == 0) {
for (int i = 0; i < g_iRHeight; i++) {
for (int j = 0; j < g_iRWidth; j++) {
aFilteredFrame[i][j][0] = frame->imageData[i*frame->widthStep + j * 3];
aFilteredFrame[i][j][1] = frame->imageData[i*frame->widthStep + j * 3 + 1];
aFilteredFrame[i][j][2] = frame->imageData[i*frame->widthStep + j * 3 + 2];
}
}
}
else
{
cv::Mat temp_img = cv::cvarrToMat(frame, TRUE);
cv::GaussianBlur(temp_img, temp_img, cv::Size(7, 7), dSigma);
//Store results into aFilteredFrame[][][]
//IplImage* img = &IplImage(temp_img);
IplImage* img = new IplImage(temp_img);
//int iWidthStep = img->widthStep;
for (int i = 0; i < g_iRHeight; i++) {
for (int j = 0; j < g_iRWidth; j++) {
aFilteredFrame[i][j][0] = img->imageData[i*img->widthStep + j * 3];
aFilteredFrame[i][j][1] = img->imageData[i*img->widthStep + j * 3 + 1];
aFilteredFrame[i][j][2] = img->imageData[i*img->widthStep + j * 3 + 2];
}
}
delete img;
}
}
//------------------------------------------------------------------------------------------------------------------------------------//
// the image resize function //
//------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::ReduceImageSize(IplImage* SrcImage, IplImage* DstImage) {
int iChannel = 3;
double dResizeFactor_w = (double)g_iWidth / (double)g_iRWidth;
double dResizeFactor_h = (double)g_iHeight / (double)g_iRHeight;
for (int i = 0; i < g_iRHeight; i++) {
for (int j = 0; j < g_iRWidth; j++) {
int iSrcY = (int)(i*dResizeFactor_h);
int iSrcX = (int)(j*dResizeFactor_w);
for (int k = 0; k < iChannel; k++) DstImage->imageData[i*DstImage->widthStep + j * 3 + k]
= SrcImage->imageData[iSrcY*SrcImage->widthStep + iSrcX * 3 + k];
}
}
}
//------------------------------------------------------------------------------------------------------------------------------------//
// the color space conversion function //
//------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::BGR2HSVxyz_Par(uchar*** aBGR, uchar*** aXYZ) {
double dH_ratio = (2 * PI) / 360;
for (int i = 0; i < g_iRHeight; i++) {
double dR, dG, dB;
double dMax, dMin;
double dH, dS, dV;
for (int j = 0; j < g_iRWidth; j++) {
dB = (double)(aBGR[i][j][0]) / 255;
dG = (double)(aBGR[i][j][1]) / 255;
dR = (double)(aBGR[i][j][2]) / 255;
//Find max, min
dMin = MIN3(dR, dG, dB);
dMax = MAX3(dR, dG, dB);
//Get V
dV = dMax;
//Get S, H
if (dV == 0) dS = dH = 0;
else {
//S value
dS = (dMax - dMin) / dMax;
if (dS == 0) dH = 0;
else {
//H value
if (dMax == dR) {
dH = 60 * (dG - dB) / dS;
if (dH < 0) dH = 360 + dH;
}
else if (dMax == dG) dH = 120 + 60 * (dB - dR) / dS;
else dH = 240 + 60 * (dR - dG) / dS;
}
}
dH = dH * dH_ratio;
aXYZ[i][j][0] = (uchar)((dV * dS * cos(dH) * 127.5) + 127.5); //X --> 0~255
aXYZ[i][j][1] = (uchar)((dV * dS * sin(dH) * 127.5) + 127.5); //Y --> 0~255
aXYZ[i][j][2] = (uchar)(dV * 255); //Z --> 0~255
}
}
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// the function to get enlarged confidence map //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::GetEnlargedMap(float** aOriginMap, float** aEnlargedMap) {
int i, j;
short nSrcX;
short nSrcY;
double dEWweight, dNSweight;
double dEWtop, dEWbottom;
double dNW; //north-west
double dNE; //north-east
double dSW; //south-west
double dSE; //south-east
double dScaleFactor_w = ((double)g_iWidth) / ((double)g_iRWidth);
double dScaleFactor_h = ((double)g_iHeight) / ((double)g_iRHeight);
for (i = 0; i < g_iHeight; i++) {
for (j = 0; j < g_iWidth; j++) {
//backward mapping
nSrcY = (int)(i / dScaleFactor_h);
nSrcX = (int)(j / dScaleFactor_w);
if (nSrcY == (g_iRHeight - 1)) nSrcY -= 1;
if (nSrcX == (g_iRWidth - 1)) nSrcX -= 1;
dEWweight = i / dScaleFactor_h - nSrcY;
dNSweight = j / dScaleFactor_w - nSrcX;
dNW = (double)aOriginMap[nSrcY][nSrcX];
dNE = (double)aOriginMap[nSrcY][nSrcX + 1];
dSW = (double)aOriginMap[nSrcY + 1][nSrcX];
dSE = (double)aOriginMap[nSrcY + 1][nSrcX + 1];
// interpolation
dEWtop = dNW + dEWweight * (dNE - dNW);
dEWbottom = dSW + dEWweight * (dSE - dSW);
aEnlargedMap[i][j] = (float)(dEWtop + dNSweight * (dEWbottom - dEWtop));
}
}
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// the morphological operation function //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::MorphologicalOpearions(uchar** aInput, uchar** aOutput, double dThresholdRatio, int iMaskSize, int iWidth, int iHeight) {
int iOffset = (int)(iMaskSize / 2);
int iBound_w = iWidth - iOffset;
int iBound_h = iHeight - iOffset;
uchar** aTemp = (uchar**)malloc(sizeof(uchar*)*iHeight);
for (int i = 0; i < iHeight; i++) {
aTemp[i] = (uchar*)malloc(sizeof(uchar)*iWidth);
}
for (int i = 0; i < iHeight; i++) {
for (int j = 0; j < iWidth; j++) {
aTemp[i][j] = aInput[i][j];
}
}
int iThreshold = (int)(iMaskSize*iMaskSize*dThresholdRatio);
for (int i = 0; i < iHeight; i++) {
for (int j = 0; j < iWidth; j++) {
if (i < iOffset || i >= iBound_h || j < iOffset || j >= iBound_w) {
aOutput[i][j] = 0;
continue;
}
int iCnt = 0;
for (int m = -iOffset; m <= iOffset; m++) {
for (int n = -iOffset; n <= iOffset; n++) {
if (aTemp[i + m][j + n] == 255) iCnt++;
}
}
if (iCnt >= iThreshold) aOutput[i][j] = 255;
else aOutput[i][j] = 0;
}
}
for (int i = 0; i < iHeight; i++) {
free(aTemp[i]);
}
free(aTemp);
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// 2-raster scan pass based labeling function //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::Labeling(uchar** aBinaryArray, int* pLabelCount, int** aLabelTable) {
int x, y, i; // pass 1,2
int cnt = 0; // pass 1
int label = 0; // pass 2
int iSize = g_iRWidth * g_iRHeight;
int iTableSize = iSize / 2;
// initialize , table1 table1
int* aPass1 = (int*)malloc(iSize * sizeof(int));
int* aTable1 = (int*)malloc(iSize / 2 * sizeof(int));
int* aTable2 = (int*)malloc(iSize / 2 * sizeof(int));
memset(aPass1, 0, (iSize) * sizeof(int));
for (y = 1; y < (g_iRHeight); y++) {
for (x = 1; x < (g_iRWidth); x++) {
aLabelTable[y][x] = 0;
}
}
for (i = 0; i < iTableSize; i++) {
aTable1[i] = i;
}
memset(aTable2, 0, iTableSize * sizeof(int));
// pass 1
for (y = 1; y < (g_iRHeight); y++) {
for (x = 1; x < (g_iRWidth); x++) {
if (aBinaryArray[y][x] == 255) { // fore ground??
int up, le;
up = aPass1[(y - 1)*(g_iRWidth)+(x)]; // up index
le = aPass1[(y)*(g_iRWidth)+(x - 1)]; // left index
// case
if (up == 0 && le == 0) {
++cnt;
aPass1[y * g_iRWidth + x] = cnt;
}
else if (up != 0 && le != 0) {
if (up > le) {
aPass1[y *g_iRWidth + x] = le;
aTable1[up] = aTable1[le]; // update table1 table1
}
else {
aPass1[y * g_iRWidth + x] = up;
aTable1[le] = aTable1[up]; // update table1 table1
}
}
else {
aPass1[y * g_iRWidth + x] = up + le;
}
}
}
}
// pass 2
for (y = 1; y < (g_iRHeight); y++) {
for (x = 1; x < (g_iRWidth); x++) {
if (aPass1[y * g_iRWidth + x]) {
int v = aTable1[aPass1[y * g_iRWidth + x]];
if (aTable2[v] == 0) {
++label;
aTable2[v] = label;
}
aLabelTable[y][x] = aTable2[v];
}
}
}
*pLabelCount = label;
free(aPass1);
free(aTable1);
free(aTable2);
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// the function to set bounding boxes for each candidate foreground regions // //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::SetBoundingBox(int iLabelCount, int** aLabelTable) {
int iBoundBoxIndex;
g_BoundBoxInfo->m_iBoundBoxNum = iLabelCount;
for (int i = 0; i < g_BoundBoxInfo->m_iBoundBoxNum; i++) {
g_BoundBoxInfo->m_aRLeft[i] = 9999; //left
g_BoundBoxInfo->m_aRUpper[i] = 9999; //top
g_BoundBoxInfo->m_aRRight[i] = 0; //right
g_BoundBoxInfo->m_aRBottom[i] = 0; //bottom
}
//Step1: Set tight bounding boxes
for (int i = 1; i < g_iRHeight; i++) {
for (int j = 1; j < g_iRWidth; j++) {
if (aLabelTable[i][j] == 0) continue;
iBoundBoxIndex = aLabelTable[i][j] - 1;
if (g_BoundBoxInfo->m_aRLeft[iBoundBoxIndex] > j) g_BoundBoxInfo->m_aRLeft[iBoundBoxIndex] = j; //left
if (g_BoundBoxInfo->m_aRUpper[iBoundBoxIndex] > i) g_BoundBoxInfo->m_aRUpper[iBoundBoxIndex] = i; //top
if (g_BoundBoxInfo->m_aRRight[iBoundBoxIndex] < j) g_BoundBoxInfo->m_aRRight[iBoundBoxIndex] = j; //right
if (g_BoundBoxInfo->m_aRBottom[iBoundBoxIndex] < i) g_BoundBoxInfo->m_aRBottom[iBoundBoxIndex] = i; //bottom
}
}
//Step2: Add margins.
int iBoundary_w = (int)(g_iRWidth / 80), iBoundary_h = (int)(g_iRHeight / 60);
for (int i = 0; i < g_BoundBoxInfo->m_iBoundBoxNum; i++) {
g_BoundBoxInfo->m_aRLeft[i] -= iBoundary_w;
if (g_BoundBoxInfo->m_aRLeft[i] < g_nRadius) g_BoundBoxInfo->m_aRLeft[i] = g_nRadius; //left
g_BoundBoxInfo->m_aRRight[i] += iBoundary_w;
if (g_BoundBoxInfo->m_aRRight[i] >= g_iRWidth - g_nRadius) g_BoundBoxInfo->m_aRRight[i] = g_iRWidth - g_nRadius - 1; //Right
g_BoundBoxInfo->m_aRUpper[i] -= iBoundary_h;
if (g_BoundBoxInfo->m_aRUpper[i] < g_nRadius) g_BoundBoxInfo->m_aRUpper[i] = g_nRadius; //Top
g_BoundBoxInfo->m_aRBottom[i] += iBoundary_h;
if (g_BoundBoxInfo->m_aRBottom[i] >= g_iRHeight - g_nRadius) g_BoundBoxInfo->m_aRBottom[i] = g_iRHeight - g_nRadius - 1;
}
double dH_ratio = (double)g_iHeight / (double)g_iRHeight;
double dW_ratio = (double)g_iWidth / (double)g_iRWidth;
for (int i = 0; i < g_BoundBoxInfo->m_iBoundBoxNum; i++) {
g_BoundBoxInfo->m_aLeft[i] = (int)(g_BoundBoxInfo->m_aRLeft[i] * dW_ratio);
g_BoundBoxInfo->m_aUpper[i] = (int)(g_BoundBoxInfo->m_aRUpper[i] * dH_ratio);
g_BoundBoxInfo->m_aRight[i] = (int)(g_BoundBoxInfo->m_aRRight[i] * dW_ratio);
g_BoundBoxInfo->m_aBottom[i] = (int)(g_BoundBoxInfo->m_aRBottom[i] * dH_ratio);
}
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// the box verification function // //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::BoundBoxVerification(IplImage* frame, uchar** aResForeMap, BoundingBoxInfo* BoundBoxInfo) {
//Step1: Verification by the bounding box size
EvaluateBoxSize(BoundBoxInfo);
//Step2: Verification by checking whether the region is ghost
EvaluateGhostRegion(frame, aResForeMap, BoundBoxInfo);
//Step3: Counting the # of valid box
g_iForegroundNum = 0;
for (int i = 0; i < BoundBoxInfo->m_iBoundBoxNum; i++) {
if (BoundBoxInfo->m_ValidBox[i] == TRUE) g_iForegroundNum++;
}
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// the size based verification // //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::EvaluateBoxSize(BoundingBoxInfo* BoundBoxInfo) {
//Set thresholds
int iLowThreshold_w, iHighThreshold_w;
iLowThreshold_w = g_iRWidth / 32; if (iLowThreshold_w < 5) iLowThreshold_w = 5;
iHighThreshold_w = g_iRWidth;
int iLowThreshold_h, iHighThreshold_h;
iLowThreshold_h = g_iRHeight / 24; if (iLowThreshold_h < 5) iLowThreshold_h = 5;
iHighThreshold_h = g_iRHeight;
int iBoxWidth, iBoxHeight;
//Perform verification.
for (int i = 0; i < BoundBoxInfo->m_iBoundBoxNum; i++) {
iBoxWidth = BoundBoxInfo->m_aRRight[i] - BoundBoxInfo->m_aRLeft[i];
iBoxHeight = BoundBoxInfo->m_aRBottom[i] - BoundBoxInfo->m_aRUpper[i];
if (iLowThreshold_w <= iBoxWidth && iBoxWidth <= iHighThreshold_w && iLowThreshold_h <= iBoxHeight && iBoxHeight <= iHighThreshold_h) {
BoundBoxInfo->m_ValidBox[i] = TRUE;
}
else BoundBoxInfo->m_ValidBox[i] = FALSE;
}
}
//------------------------------------------------------------------------------------------------------------------------------------//
// overlapped region removal //
//------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::EvaluateOverlapRegionSize(BoundingBoxInfo* SrcBoxInfo) {
BOOL *aValidBoxFlag = new BOOL[SrcBoxInfo->m_iBoundBoxNum];
for (int i = 0; i < SrcBoxInfo->m_iBoundBoxNum; i++) aValidBoxFlag[i] = TRUE;
int size1, size2;
short *aLeft = SrcBoxInfo->m_aRLeft, *aRight = SrcBoxInfo->m_aRRight;
short *aTop = SrcBoxInfo->m_aRUpper, *aBottom = SrcBoxInfo->m_aRBottom;
int iThreshold, iCount, iSmall_Idx, iLarge_Idx;
double dThreRatio = 0.7;
for (int i = 0; i < SrcBoxInfo->m_iBoundBoxNum; i++) {
if (SrcBoxInfo->m_ValidBox[i] == FALSE) {
aValidBoxFlag[i] = FALSE;
continue;
}
size1 = (aRight[i] - aLeft[i]) * (aBottom[i] - aTop[i]);
for (int j = i; j < SrcBoxInfo->m_iBoundBoxNum; j++) {
if ((i == j) || (SrcBoxInfo->m_ValidBox[j] == FALSE)) continue;
//Setting threshold for checking overlapped region size
size2 = (aRight[j] - aLeft[j]) * (aBottom[j] - aTop[j]);
if (size1 >= size2) {
iThreshold = (int)(size2 * dThreRatio);
iSmall_Idx = j; iLarge_Idx = i;
}
else {
iThreshold = (int)(size1 * dThreRatio);
iSmall_Idx = i; iLarge_Idx = j;
}
//Calculating overlapped region size
iCount = 0;
for (int m = aLeft[iSmall_Idx]; m < aRight[iSmall_Idx]; m++) {
for (int n = aTop[iSmall_Idx]; n < aBottom[iSmall_Idx]; n++) {
if (aLeft[iLarge_Idx] <= m && m <= aRight[iLarge_Idx] && aTop[iLarge_Idx] <= n && n <= aBottom[iLarge_Idx]) iCount++;
}
}
//Evaluating overlapped region size
if (iCount > iThreshold) aValidBoxFlag[iSmall_Idx] = FALSE;
}
}
for (int i = 0; i < SrcBoxInfo->m_iBoundBoxNum; i++) SrcBoxInfo->m_ValidBox[i] = aValidBoxFlag[i];
delete[] aValidBoxFlag;
}
//-----------------------------------------------------------------------------------------------------------------------------------------//
// appearance based verification // //
//-----------------------------------------------------------------------------------------------------------------------------------------//
void MultiCue::EvaluateGhostRegion(IplImage* frame, uchar** aResForeMap, BoundingBoxInfo* BoundBoxInfo) {
double dThreshold = 10;
BOOL** aUpdateMap = (BOOL**)malloc(sizeof(BOOL*)*g_iRHeight);
for (int i = 0; i < g_iRHeight; i++) {
aUpdateMap[i] = (BOOL*)malloc(sizeof(BOOL)*g_iRWidth);
for (int j = 0; j < g_iRWidth; j++) aUpdateMap[i][j] = FALSE;
}
//Step1: Conduct fore-region evaluation to identify ghost regions
for (int i = 0; i < BoundBoxInfo->m_iBoundBoxNum; i++) {
if (BoundBoxInfo->m_ValidBox[i] == TRUE) {
int iWin_w = BoundBoxInfo->m_aRRight[i] - BoundBoxInfo->m_aRLeft[i];
int iWin_h = BoundBoxInfo->m_aRBottom[i] - BoundBoxInfo->m_aRUpper[i];