added backgroundextractor and backspace stops video tab releases

.gitignore

@@ -4,6 +4,11 @@
 *.pyc
 *.swp
 *.out
+*.user
+*.creator
+*.config
+*.includes
+*.files
 test-robotics
 doc/*
 .ycm_extra_conf.py

examples/CMakeLists.txt

@@ -34,3 +34,11 @@ target_link_libraries(track
   ball_tracking
   ${Boost_LIBRARIES}
   )
+
+add_executable(bgdetect
+  tracking/bg_detector.cpp
+  )
+target_link_libraries(bgdetect
+  ball_tracking
+  ${Boost_LIBRARIES}
+  )

examples/tracking/bg_detector.cpp

+//opencv
+#include "opencv2/imgcodecs.hpp"
+#include "opencv2/imgproc.hpp"
+#include "opencv2/videoio.hpp"
+#include <opencv2/highgui.hpp>
+#include <opencv2/video.hpp>
+
+#include <chrono>
+//C++
+#include <iostream>
+#include <sstream>
+using namespace cv;
+using namespace std;
+// Global variables
+Mat frame; //current frame
+Mat fgMaskMOG2; //fg mask fg mask generated by MOG2 method
+Ptr<BackgroundSubtractor> pMOG2; //MOG2 Background subtractor
+char keyboard; //input from keyboard
+void help();
+void processVideo(char* videoFilename);
+void processImages(char* firstFrameFilename);
+void help()
+{
+    cout
+    << "--------------------------------------------------------------------------" << endl
+    << "This program shows how to use background subtraction methods provided by "  << endl
+    << " OpenCV. You can process both videos (-vid) and images (-img)."             << endl
+                                                                                    << endl
+    << "Usage:"                                                                     << endl
+    << "./bg_sub {-vid <video filename>|-img <image filename>}"                     << endl
+    << "for example: ./bg_sub -vid video.avi"                                       << endl
+    << "or: ./bg_sub -img /data/images/1.png"                                       << endl
+    << "--------------------------------------------------------------------------" << endl
+    << endl;
+}
+int main(int argc, char* argv[])
+{
+    //print help information
+    help();
+    //check for the input parameter correctness
+    if(argc != 3) {
+        cerr <<"Incorret input list" << endl;
+        cerr <<"exiting..." << endl;
+        return EXIT_FAILURE;
+    }
+    //create GUI windows
+    namedWindow("Frame");
+    namedWindow("FG Mask MOG 2");
+    //create Background Subtractor objects
+    pMOG2 = createBackgroundSubtractorMOG2(); //MOG2 approach
+    if(strcmp(argv[1], "-vid") == 0) {
+        //input data coming from a video
+        processVideo(argv[2]);
+    }
+    else if(strcmp(argv[1], "-img") == 0) {
+        //input data coming from a sequence of images
+        processImages(argv[2]);
+    }
+    else {
+        //error in reading input parameters
+        cerr <<"Please, check the input parameters." << endl;
+        cerr <<"Exiting..." << endl;
+        return EXIT_FAILURE;
+    }
+    //destroy GUI windows
+    destroyAllWindows();
+    return EXIT_SUCCESS;
+}
+void processVideo(char* videoFilename) {
+    //create the capture object
+    VideoCapture capture(videoFilename);
+    if(!capture.isOpened()){
+        //error in opening the video input
+        cerr << "Unable to open video file: " << videoFilename << endl;
+        exit(EXIT_FAILURE);
+    }
+    //read input data. ESC or 'q' for quitting
+    keyboard = 0;
+    vector<double> proc_time;
+    while( keyboard != 'q' && keyboard != 27 ){
+        auto start_t = std::chrono::steady_clock::now();
+        auto st_0 = start_t;
+
+        //read the current frame
+        if(!capture.read(frame)) {
+            cerr << "Unable to read next frame." << endl;
+            cerr << "Exiting..." << endl;
+            exit(EXIT_FAILURE);
+        }
+        //use blur on image
+        blur( frame, frame, Size( 3, 3 ), Point(-1,-1));
+        //update the background model
+        pMOG2->apply(frame, fgMaskMOG2);
+        //get the frame number and write it on the current frame
+
+        imshow("FG Mask MOG 2", fgMaskMOG2);
+
+
+        //get the input from the keyboard
+        keyboard = (char)waitKey( 20 );
+
+        auto end_t = std::chrono::steady_clock::now();
+        //proc_time.push_back(std::chrono::duration_cast<std::chrono::milliseconds>(end_t - start_t).count());
+
+        cout << "calc-time:" << (end_t - start_t).count() << " ms, " << endl;
+
+    }
+    //delete capture object
+    capture.release();
+}
+void processImages(char* fistFrameFilename) {
+    //read the first file of the sequence
+    frame = imread(fistFrameFilename);
+    if(frame.empty()){
+        //error in opening the first image
+        cerr << "Unable to open first image frame: " << fistFrameFilename << endl;
+        exit(EXIT_FAILURE);
+    }
+    //current image filename
+    string fn(fistFrameFilename);
+    //read input data. ESC or 'q' for quitting
+    keyboard = 0;
+    while( keyboard != 'q' && keyboard != 27 ){
+        //update the background model
+        pMOG2->apply(frame, fgMaskMOG2);
+        //get the frame number and write it on the current frame
+        size_t index = fn.find_last_of("/");
+        if(index == string::npos) {
+            index = fn.find_last_of("\\");
+        }
+        size_t index2 = fn.find_last_of(".");
+        string prefix = fn.substr(0,index+1);
+        string suffix = fn.substr(index2);
+        string frameNumberString = fn.substr(index+1, index2-index-1);
+        istringstream iss(frameNumberString);
+        int frameNumber = 0;
+        iss >> frameNumber;
+        rectangle(frame, cv::Point(10, 2), cv::Point(100,20),
+                  cv::Scalar(255,255,255), -1);
+        putText(frame, frameNumberString.c_str(), cv::Point(15, 15),
+                FONT_HERSHEY_SIMPLEX, 0.5 , cv::Scalar(0,0,0));
+        //show the current frame and the fg masks
+        imshow("Frame", frame);
+        imshow("FG Mask MOG 2", fgMaskMOG2);
+        //get the input from the keyboard
+        keyboard = (char)waitKey( 30 );
+        //search for the next image in the sequence
+        ostringstream oss;
+        oss << (frameNumber + 1);
+        string nextFrameNumberString = oss.str();
+        string nextFrameFilename = prefix + nextFrameNumberString + suffix;
+        //read the next frame
+        frame = imread(nextFrameFilename);
+        if(frame.empty()){
+            //error in opening the next image in the sequence
+            cerr << "Unable to open image frame: " << nextFrameFilename << endl;
+            exit(EXIT_FAILURE);
+        }
+        //update the path of the current frame
+        fn.assign(nextFrameFilename);
+    }
+}

examples/tracking/track.cpp

@@ -13,6 +13,9 @@ using namespace std;
 using namespace ball_tracking;
 using json = nlohmann::json;
 
+Mat fgMaskMOG2; //fg mask fg mask generated by MOG2 method
+Ptr<BackgroundSubtractor> pMOG2; //MOG2 Background subtractor
+
 int main(int argc, char** argv) {
   try {
     namespace po = boost::program_options;
@@ -40,6 +43,8 @@ int main(int argc, char** argv) {
     Binarizer bin(jobj.at("binarizer"));
     FindBallBlob bf(jobj.at("blob_detection"));
 
+    pMOG2 = createBackgroundSubtractorMOG2(); //MOG2 approach
+
     string fname = vm["input"].as<string>();
     VideoCapture in_video(fname);
     Size in_size((int)in_video.get(CV_CAP_PROP_FRAME_WIDTH), 
@@ -60,6 +65,9 @@ int main(int argc, char** argv) {
       cerr << "Input video could not be opened: " << fname << endl;
       return -1;
     }
+    // set the video at 5s
+    //in_video.set(CAP_PROP_POS_AVI_RATIO, 0.1);
+
     if(!out_video.isOpened()) {
       cerr << "Output video could not be opened: " << outname << endl;
       return -1;
@@ -68,6 +76,8 @@ int main(int argc, char** argv) {
     Mat img, l_lh, tmp;
     Mat res(out_size, CV_8UC3);
     vector<double> llh_time, blob_time, proc_time, in_time, draw_time;
+
+    int x=5;
     while (true) {
       //1) Read the image
       auto start_t = std::chrono::steady_clock::now();
@@ -77,6 +87,11 @@ int main(int argc, char** argv) {
       auto end_t = std::chrono::steady_clock::now();
       in_time.push_back(std::chrono::duration_cast<std::chrono::milliseconds>(end_t - start_t).count()); 
 
+      //Bluring input image
+      blur( img, img, Size( 3, 3 ), Point(-1,-1));
+      //adding backgroundsubtractors
+      pMOG2->apply(img, fgMaskMOG2);
+
       //2) Compute log likelihood image
       start_t = std::chrono::steady_clock::now();
       l_lh = bll(img);
@@ -92,7 +107,8 @@ int main(int argc, char** argv) {
     
       proc_time.push_back(llh_time.back() + blob_time.back());
       cout << "N: " << key_pts.size() << ", FPT: " << proc_time.back() << " ms, ";
-
+      if(key_pts.size()>0)
+          cout << key_pts[0].pt.x;
       //4) Compute output image
       start_t = std::chrono::steady_clock::now();
       drawKeypoints(img, key_pts, res(Rect(0,0,in_size.width,in_size.height)),
@@ -104,6 +120,10 @@ int main(int argc, char** argv) {
       //res.adjustROI(0,0,in_size.width,0);
       drawKeypoints(bin_img, key_pts, res(Rect(0,in_size.height,in_size.width,in_size.height)), 
           Scalar(255,255,0), DrawMatchesFlags::DRAW_RICH_KEYPOINTS);
+
+      drawKeypoints(fgMaskMOG2, key_pts, res(Rect(in_size.width,in_size.height,in_size.width,in_size.height)),
+          Scalar(255,255,0), DrawMatchesFlags::DRAW_RICH_KEYPOINTS);
+
       end_t = std::chrono::steady_clock::now();
       draw_time.push_back(std::chrono::duration_cast<std::chrono::milliseconds>(end_t - start_t).count());
       cout << "Draw: " << draw_time.back() << " ms, ";
@@ -114,10 +134,13 @@ int main(int argc, char** argv) {
 
       //6) Display output
       imshow("Output", res);
-      int k = waitKey(5) & 0xff;
+
+      int k = waitKey(x) & 0xff;
       end_t = std::chrono::steady_clock::now();
       cout << " TT: " << std::chrono::duration_cast<std::chrono::milliseconds>(end_t - st_0).count() 
         << " ms" << endl;
+      if (k==8) x=0;
+      if (k==9) x=5;
       if (k==27) break;
     }
     return 0;

src/tracker.cpp

@@ -16,6 +16,23 @@ namespace ball_tracking {
    */
   namespace {
 
+    class GaussSmooth {
+      private:
+        int size;
+        double sigma;
+      public:
+        GaussSmooth(const json& conf) {
+          size = conf.at("size");
+          sigma = conf.at("sigma");
+        }
+
+        cv::Mat operator()(cv::InputArray _src) {
+          Mat dst;
+          GaussianBlur(_src, dst, Size(size,size), sigma, sigma);
+          return dst;
+        }
+    };
+
     /**
      * Color and background based logistic regression
      */
@@ -23,18 +40,36 @@ namespace ball_tracking {
       private:
         Mat bkg; //!< Background image
         Mat weights; //!< Model weights
+        vector<preproc> pre; //!< Preprocessing functions for the images
       public:
-        cv::Mat operator()(cv::InputArray src) {
+        /*for update the background
+        void ChangeBack(cv::InputArray _bkg){
+            bkg = _bkg;
+        }*/
+
+        Mat pre_chain(cv::InputArray src) {
+          Mat tmp = src.getMat();
+          for (auto p : pre) {
+            tmp = p(tmp);
+          }
+          return tmp;
+        }
+
+        cv::Mat operator()(cv::InputArray _src) {
+          Mat src = pre_chain(_src);
           if (bkg.empty()) {
-            bkg = src.getMat();
+            bkg = src;
           }
           return quadf_log_reg(src, bkg, weights);
         }
 
         CB_log_reg(const json& conf) {
           weights = json2cvmat(conf.at("weights"));
+          if (conf.count("gauss_smooth")) {
+            pre.push_back(GaussSmooth(conf.at("gauss_smooth")));
+          }
           if (conf.count("background")) {
-            bkg = imread(conf.at("background"), CV_LOAD_IMAGE_COLOR);
+            bkg = pre_chain( imread(conf.at("background"), CV_LOAD_IMAGE_COLOR) );
             if (!bkg.data) {
               throw std::logic_error("File not found for background image");
             }

tests/images/test.json

+{
+    "background": "dataset/c8.jpg",
+    "model_coefs": [
+        -0.12809208050991031,
+        0.45351780461524455,
+        1.000187126883715,
+        -0.62768654237217136,
+        -0.89286177482557705,
+        -1.5392970491099109,
+        -0.42325560598722445,
+        0.99756435541399791,
+        1.4936352455663291,
+        0.16492476099963882,
+        -0.31791743751435003,
+        -1.2762469309753672,
+        0.63378027046157748,
+        1.887639943950973,
+        1.1520081646410667,
+        0.39797919710017193,
+        -1.0480923526527788,
+        2.2570968776408722,
+        0.19908623890186553,
+        -0.17220334142491209,
+        -1.0301920563928393,
+        1.1307851807421287,
+        -0.61981945858382004,
+        -1.4852665274521921,
+        -0.053392314939854468,
+        -2.2881257619423905,
+        -1.9175169537470884,
+        -2.0342208094741356
+    ]
+}
\ No newline at end of file