基于codebook运动目标检测_matlab

//codebook BGS method //adapt from book of learning opencv by mikewolf //2008-11-25 #include "stdafx.h" #include <cv.h> #include <highgui.h> #define CHANNELS 3 typedef struct ce { uchar learnHigh[CHANNELS]; //High side threshold for learning uchar learnLow[CHANNELS]; //Low side threshold for learning uchar max[CHANNELS]; //High side of box boundary uchar min[CHANNELS]; //Low side of box boundary int t_last_update; //Allow us to kill stale entries int stale; //max negative run (longest period of inactivity) } code_element; //码书结构 typedef struct code_book { code_element **cb; //指向码字的指针 int numEntries; //码书包含的码字数量 int t; //count every access } codeBook; codeBook* TcodeBook;//包括所有像素的码书集合 ////////////////////////////////////////////////////////////// // int update_codebook(uchar *p, codeBook &c, unsigned cbBounds) // Updates the codebook entry with a new data point // // p Pointer to a YUV or HSI pixel // c Codebook for this pixel // cbBounds Learning bounds for codebook (Rule of thumb: 10) // numChannels Number of color channels we’re learning // // NOTES: // cvBounds must be of length equal to numChannels // // RETURN // codebook index // int update_codebook( uchar* p, codeBook& c, unsigned* cbBounds, int numChannels ) { unsigned int high[3],low[3]; int n; for(n=0; n<numChannels; n++) { high[n] = *(p+n)+*(cbBounds+n); if(high[n] > 255) high[n] = 255; low[n] = *(p+n)-*(cbBounds+n); if(low[n] < 0) low[n] = 0; } int matchChannel; // SEE IF THIS FITS AN EXISTING CODEWORD // for(int i=0; i<c.numEntries; i++) { matchChannel = 0; for(n=0; n<numChannels; n++) { if((c.cb[i]->learnLow[n] <= *(p+n)) && //Found an entry for this channel (*(p+n) <= c.cb[i]->learnHigh[n])) { matchChannel++; } } if(matchChannel == numChannels) //If an entry was found { c.cb[i]->t_last_update = c.t; //adjust this codeword for the first channel for(n=0; n<numChannels; n++){ if(c.cb[i]->max[n] < *(p+n)) { c.cb[i]->max[n] = *(p+n); } else if(c.cb[i]->min[n] > *(p+n)) { c.cb[i]->min[n] = *(p+n); } } break; } } // OVERHEAD TO TRACK POTENTIAL STALE ENTRIES // for(int s=0; s<c.numEntries; s++) { // Track which codebook entries are going stale: // int negRun = c.t - c.cb[s]->t_last_update; if(c.cb[s]->stale < negRun) c.cb[s]->stale = negRun; } // ENTER A NEW CODEWORD IF NEEDED // if(i == c.numEntries) //if no existing codeword found, make one { code_element **foo = new code_element* [c.numEntries+1]; for(int ii=0; ii<c.numEntries; ii++) { foo[ii] = c.cb[ii]; } foo[c.numEntries] = new code_element; if(c.numEntries) delete [] c.cb; c.cb = foo; for(n=0; n<numChannels; n++) { c.cb[c.numEntries]->learnHigh[n] = high[n]; c.cb[c.numEntries]->learnLow[n] = low[n]; c.cb[c.numEntries]->max[n] = *(p+n); c.cb[c.numEntries]->min[n] = *(p+n); } c.cb[c.numEntries]->t_last_update = c.t; c.cb[c.numEntries]->stale = 0; c.numEntries += 1; } // SLOWLY ADJUST LEARNING BOUNDS // for(n=0; n<numChannels; n++) { if(c.cb[i]->learnHigh[n] < high[n]) c.cb[i]->learnHigh[n] += 1; if(c.cb[i]->learnLow[n] > low[n]) c.cb[i]->learnLow[n] -= 1; } return(i); } /////////////////////////////////////////////////////////////////// //int clear_stale_entries(codeBook &c) // During learning, after you’ve learned for some period of time, // periodically call this to clear out stale codebook entries // // c Codebook to clean up // // Return // number of entries cleared // int clear_stale_entries(codeBook &c){ int staleThresh = c.t>>1; int *keep = new int [c.numEntries]; int keepCnt = 0; // SEE WHICH CODEBOOK ENTRIES ARE TOO STALE // for(int i=0; i<c.numEntries; i++){ if(c.cb[i]->stale > staleThresh) keep[i] = 0; //Mark for destruction else { keep[i] = 1; //Mark to keep keepCnt += 1; } } // KEEP ONLY THE GOOD // c.t = 0; //Full reset on stale tracking code_element **foo = new code_element* [keepCnt]; int k=0; for(int ii=0; ii<c.numEntries; ii++){ if(keep[ii]) { foo[k] = c.cb[ii]; //We have to refresh these entries for next clearStale foo[k]->t_last_update = 0; k++; } } // CLEAN UP // delete [] keep; delete [] c.cb; c.cb = foo; int numCleared = c.numEntries - keepCnt; c.numEntries = keepCnt; return(numCleared); } //////////////////////////////////////////////////////////// // uchar background_diff( uchar *p, codeBook &c, // int minMod, int maxMod) // Given a pixel and a codebook, determine if the pixel is // covered by the codebook // // p Pixel pointer (YUV interleaved) // c Codebook reference // numChannels Number of channels we are testing // maxMod Add this (possibly negative) number onto // max level when determining if new pixel is foreground // minMod Subract this (possibly negative) number from // min level when determining if new pixel is foreground // // NOTES: // minMod and maxMod must have length numChannels, // e.g. 3 channels => minMod[3], maxMod[3]. There is one min and // one max threshold per channel. // // Return // 0 => background, 255 => foreground // uchar background_diff( uchar* p, codeBook& c, int numChannels, int* minMod, int* maxMod ) { int matchChannel; // SEE IF THIS FITS AN EXISTING CODEWORD // for(int i=0; i<c.numEntries; i++) { matchChannel = 0; for(int n=0; n<numChannels; n++) { if((c.cb[i]->min[n] - minMod[n] <= *(p+n)) && (*(p+n) <= c.cb[i]->max[n] + maxMod[n])) { matchChannel++; //Found an entry for this channel } else { break; } } if(matchChannel == numChannels) { break; //Found an entry that matched all channels } } if(i >= c.numEntries) return(255); return(0); } IplImage* pFrame = NULL; IplImage* pFrameHSV = NULL; IplImage* pFrImg = NULL; CvCapture* pCapture = NULL; int nFrmNum = 0; //IplImage* pFrImg = NULL; //IplImage* pBkImg = NULL; unsigned cbBounds = 10; int height,width; int nchannels; int minMod[3]={20,20,20}, maxMod[3]={20,20,20}; int _tmain(int argc, _TCHAR* argv[]) { //创建窗口 cvNamedWindow("video", 1); cvNamedWindow("HSV空间图像",1); cvNamedWindow("foreground",1); //使窗口有序排列 cvMoveWindow("video", 30, 0); cvMoveWindow("HSV空间图像", 360, 0); cvMoveWindow("foreground", 690, 0); //打开视频文件， if( !(pCapture = cvCaptureFromFile("3.avi"))) { fprintf(stderr, "Can not open video file %s\n"); return -2; } int j; //逐帧读取视频 while(pFrame = cvQueryFrame( pCapture )) { nFrmNum++; cvShowImage("video", pFrame); if (nFrmNum == 1) { height = pFrame->height; width = pFrame->width; nchannels = pFrame->nChannels; pFrameHSV = cvCreateImage(cvSize(pFrame->width, pFrame->height), IPL_DEPTH_8U,3); pFrImg = cvCreateImage(cvSize(pFrame->width, pFrame->height), IPL_DEPTH_8U,1); //cvCvtColor(pFrame, pFrameHSV, CV_BGR2HSV);//色