class for detecting changes in image sequences More...

#include <Image/MixtureOfGaussians.hh>

Inheritance diagram for BIAS::MixtureOfGaussians< StorageType >:

Collaboration diagram for BIAS::MixtureOfGaussians< StorageType >:

Public Member Functions
void	AllowCreationOfNewDistributions (bool allow)

int	Apply (BIAS::Image< StorageType > &in)
	update calculations with new image the image has to be formatted correctly, e.g for MoG on HSL images give only the first 2 channels in the image. More...

void	EnableCleanup (bool noise=false, bool holes=false, bool erosion=false)

int	GetBoundingBoxes (std::vector< BIAS::BIASBlob > &corners)
	get vector of corners for each bounding box of detected changes More...

int	GetCurrentDistributions (std::vector< Image< float > > &distributionImages)
	get vector of images containing current guesses (distributions) More...

int	GetDifferenceImage (BIAS::Image< unsigned char > &diff)
	get image of detected scene changes. More...

int	GetDifferenceImageWithVisuals (BIAS::Image< unsigned char > &guiImage)
	get image of detected scene changes with visualisations of detection More...

int	GetLargestBoundingBox (BIAS::BIASBlob &corners)
	get largest bounding box of detected changes More...

int	GetMatchValueImage (BIAS::Image< float > &match)

int	GetMaxWeightImage (BIAS::Image< float > &weight)
	get image with current max weights, only interesting for visualisation More...

int	GetNormalizedImage (BIAS::Image< float > &normalized)
	get normalized rgb image More...

int	GetWeightImage (BIAS::Image< float > &weights)
	get image with current weights and distributions More...

int	InitWeights (const int maxWeight, const int minWeight, const float errorMargin)
	init weights for background/object distinction More...

	MixtureOfGaussians (const unsigned int numDistributions, const unsigned int sizeWindow=3, const float updateFactor=0.1, const MoGColorModel colorModel=MOG_NRGB)
	constructor More...

void	SetColorModel (MoGColorModel model)
	set the used color model note that the images have to be given in the correct model no conversion will take place. More...

void	SetSmoothing (const bool smooth)

void	SetUpdateFactor (float factor=0.1f)

	~MixtureOfGaussians ()
	destructor More...

Protected Member Functions
int	CreateNormalizedImage_ (const BIAS::Image< StorageType > &in, BIAS::Image< float > &out)

int	Init_ ()

int	InitOnePixel_ (unsigned int x, unsigned int y, unsigned int c, unsigned int distrib)

int	Update_ ()

Protected Attributes
bool	bAllowNewDistributionCreation_

bool	bCleanUp_

bool	bErosion_

bool	bInited_

bool	bInverseCleanup_

BIAS::BlobDetectorBFS < unsigned char >	blobDetector_

bool	blobDetectorRan_

bool	bSmooth_

unsigned int	channels_

MoGColorModel	colorModel_

std::vector< BIAS::BIASBlob >	corners_

BIAS::Image< float >	cov_

unsigned int	dCurDistributions_

unsigned int	dDistributions_

unsigned int	dFrameCounter_

unsigned int	dFrames_

BIAS::Image< unsigned char >	difference_

BIAS::Image< unsigned char >	differenceSave_

BIAS::Image< unsigned char >	differenceSmooth_

BIAS::Image< unsigned char >	differenceVisu_

unsigned int	dMaxWeight_

unsigned int	dMinWeight_

unsigned int	dWindow_

float	fError_

float	fUpdateFactor_

pthread_mutex_t *	guardimagemutex

BIAS::Image< float >	guess_

unsigned int	height_

BIAS::Image< unsigned char >	marker

BIAS::Image< float >	matchValueImage_

float	maxDepth_

BIAS::Image< float >	maxWeight_

unsigned int	roiLRx_

unsigned int	roiLRy_

unsigned int	roiULx_

unsigned int	roiULy_

BIAS::Gauss< unsigned char, unsigned char >	smoothResultFilter_

BIAS::Image< float >	weight_

unsigned int	width_

unsigned int	workChannels_

BIAS::Image< float >	workImage_

Detailed Description

template<class StorageType>
class BIAS::MixtureOfGaussians< StorageType >

class for detecting changes in image sequences

Automatically find and visualize changes in image sequences with a mixture of gaussians approach.

After initialization of the algorithm it is possible to detect moving objects in a static scene, where the static scene is described as a background image. Detection is done by calculating the expectancy value of each pixel in the next frame given more than one gaussian distribution for each pixel. If the expectancy is not matched, a change is detected.

This class has been tested on RGB images but should work on other color formats and grey value images. One and three color channels supported.

see also ExampleMixtureOfGaussiansFrame.cpp

Author: fkellner

Definition at line 71 of file MixtureOfGaussians.hh.

Constructor & Destructor Documentation

template<class StorageType >

MixtureOfGaussians::MixtureOfGaussians	(	const unsigned int	numDistributions,
		const unsigned int	sizeWindow = `3`,
		const float	updateFactor = `0.1`,
		const MoGColorModel	colorModel = `MOG_NRGB`
	)

constructor

Parameters

numDistributions	number of gaussian distributions for every pixel.
sizeWindow	window size for calculation of covariance
updateFactor	expectancy values get updated weighted with this factor.
normalizeRGB.	normalize RGB input images to rgb.

Definition at line 43 of file MixtureOfGaussians.cpp.

template<class StorageType >

MixtureOfGaussians::~MixtureOfGaussians ( )

destructor

Definition at line 99 of file MixtureOfGaussians.cpp.

Member Function Documentation

template<class StorageType>

void BIAS::MixtureOfGaussians< StorageType >::AllowCreationOfNewDistributions ( bool allow )

inline

Definition at line 144 of file MixtureOfGaussians.hh.

template<class StorageType>

int MixtureOfGaussians::Apply ( BIAS::Image< StorageType > & in )

update calculations with new image the image has to be formatted correctly, e.g for MoG on HSL images give only the first 2 channels in the image.

for MOG on HSLD give a three channel image with HSD

Parameters

in new image

Definition at line 107 of file MixtureOfGaussians.cpp.

References BIAS::Erosion< InputStorageType, OutputStorageType >::Erode3Fast(), BIAS::Image< StorageType >::FillImageWithConstValue(), BIAS::Gauss< InputStorageType, OutputStorageType >::Filter(), BIAS::ImageBase::GetChannelCount(), BIAS::ROI::GetCorners(), BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetROI(), BIAS::ImageBase::GetStorageType(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::FileHandling::LeadingZeroString(), BIAS::TimeMeasure::Reset(), BIAS::ImageIO::Save(), BIAS::Gauss< InputStorageType, OutputStorageType >::SetHalfWinSize(), BIAS::Gauss< InputStorageType, OutputStorageType >::SetSigma(), BIAS::ImageBase::ST_unsignedchar, BIAS::TimeMeasure::Start(), and BIAS::TimeMeasure::Stop().

Referenced by BIAS::CylindricDepthTrackingPanorama::LoadPanorama(), and BIAS::ExampleMixtureOfGaussiansFrame::processImages_().

template<class StorageType>

int MixtureOfGaussians::CreateNormalizedImage_	(	const BIAS::Image< StorageType > &	in,
		BIAS::Image< float > &	out
	)

protected

Definition at line 355 of file MixtureOfGaussians.cpp.

References BIAS::ImageConvert::ConvertST(), BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::ImageBase::GetStorageType(), BIAS::ImageBase::GetWidth(), BIAS::MOG_HS, BIAS::MOG_HSD, BIAS::MOG_NRGB, BIAS::MOG_NRGBD, BIAS::MOG_RGB, BIAS::MOG_RGBD, and BIAS::ImageBase::ST_float.

template<class StorageType>

void BIAS::MixtureOfGaussians< StorageType >::EnableCleanup	(	bool	noise = `false`,
		bool	holes = `false`,
		bool	erosion = `false`
	)

inline

Definition at line 148 of file MixtureOfGaussians.hh.

template<class StorageType >

int MixtureOfGaussians::GetBoundingBoxes ( std::vector< BIAS::BIASBlob > & corners )

get vector of corners for each bounding box of detected changes

Definition at line 306 of file MixtureOfGaussians.cpp.

template<class StorageType >

int MixtureOfGaussians::GetCurrentDistributions ( std::vector< Image< float > > & distributionImages )

get vector of images containing current guesses (distributions)

Definition at line 327 of file MixtureOfGaussians.cpp.

template<class StorageType >

int MixtureOfGaussians::GetDifferenceImage ( BIAS::Image< unsigned char > & diff )

get image of detected scene changes.

Parameters

diff	scene changes encoded 0 for no change, 255 for change (grey values)

Definition at line 257 of file MixtureOfGaussians.cpp.

template<class StorageType >

int MixtureOfGaussians::GetDifferenceImageWithVisuals ( BIAS::Image< unsigned char > & guiImage )

get image of detected scene changes with visualisations of detection

Parameters

guiImage RGB Image with detected changes (white), bounding boxes (green), centers of mass (red), largest box (yellow)

Definition at line 275 of file MixtureOfGaussians.cpp.

template<class StorageType >

int MixtureOfGaussians::GetLargestBoundingBox ( BIAS::BIASBlob & corners )

get largest bounding box of detected changes

Definition at line 317 of file MixtureOfGaussians.cpp.

template<class StorageType >

int MixtureOfGaussians::GetMatchValueImage ( BIAS::Image< float > & match )

Definition at line 243 of file MixtureOfGaussians.cpp.

template<class StorageType >

int MixtureOfGaussians::GetMaxWeightImage ( BIAS::Image< float > & weight )

get image with current max weights, only interesting for visualisation

Definition at line 221 of file MixtureOfGaussians.cpp.

References BIAS::Image< StorageType >::FillImageWithConstValue(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::Image< StorageType >::Init(), BIAS::ImageBase::IsEmpty(), and BIAS::ImageBase::ST_float.

template<class StorageType >

int MixtureOfGaussians::GetNormalizedImage ( BIAS::Image< float > & normalized )

get normalized rgb image

Parameters

normalized normalized rgb image (or unchanged grey image)

Definition at line 207 of file MixtureOfGaussians.cpp.

template<class StorageType >

int MixtureOfGaussians::GetWeightImage ( BIAS::Image< float > & weights )

get image with current weights and distributions

Definition at line 214 of file MixtureOfGaussians.cpp.

template<class StorageType >

int MixtureOfGaussians::Init_ ( )

protected

Definition at line 445 of file MixtureOfGaussians.cpp.

References BIAS::ImageBase::CM_Grey, BIAS::ImageBase::CM_RGB, BIAS::ImageBase::ST_float, and BIAS::ImageBase::ST_unsignedchar.

template<class StorageType >

int MixtureOfGaussians::InitOnePixel_	(	unsigned int	x,
		unsigned int	y,
		unsigned int	c,
		unsigned int	distrib
	)

protected

Definition at line 536 of file MixtureOfGaussians.cpp.

template<class StorageType >

int MixtureOfGaussians::InitWeights	(	const int	maxWeight,
		const int	minWeight,
		const float	errorMargin
	)

init weights for background/object distinction

Parameters

maxWeight	counter for how many times a pixel is matched can not exceed this maximum. this is decreased if a pixel is not matched.
minWeight	a pixel matched minWeight times is considered background
errorMargin	a pixel is matched if: pixelValue < errorMarginerrorMarginexpected value

Definition at line 88 of file MixtureOfGaussians.cpp.

Referenced by BIAS::CylindricDepthTrackingPanorama::CylindricDepthTrackingPanorama(), and BIAS::ExampleMixtureOfGaussiansFrame::ExampleMixtureOfGaussiansFrame().

template<class StorageType >

void MixtureOfGaussians::SetColorModel ( MoGColorModel model )

set the used color model note that the images have to be given in the correct model no conversion will take place.

Definition at line 72 of file MixtureOfGaussians.cpp.

template<class StorageType >

void MixtureOfGaussians::SetSmoothing ( const bool smooth )

Definition at line 78 of file MixtureOfGaussians.cpp.

Referenced by BIAS::CylindricDepthTrackingPanorama::CylindricDepthTrackingPanorama().

template<class StorageType>

void BIAS::MixtureOfGaussians< StorageType >::SetUpdateFactor ( float factor = 0.1f )

inline

Definition at line 140 of file MixtureOfGaussians.hh.

template<class StorageType >

int MixtureOfGaussians::Update_ ( )

protected

Definition at line 588 of file MixtureOfGaussians.cpp.

Member Data Documentation

template<class StorageType>

bool BIAS::MixtureOfGaussians< StorageType >::bAllowNewDistributionCreation_

protected

Definition at line 182 of file MixtureOfGaussians.hh.

template<class StorageType>

bool BIAS::MixtureOfGaussians< StorageType >::bCleanUp_

protected

Definition at line 184 of file MixtureOfGaussians.hh.

template<class StorageType>

bool BIAS::MixtureOfGaussians< StorageType >::bErosion_

protected

Definition at line 184 of file MixtureOfGaussians.hh.

template<class StorageType>

bool BIAS::MixtureOfGaussians< StorageType >::bInited_

protected

Definition at line 182 of file MixtureOfGaussians.hh.

template<class StorageType>

bool BIAS::MixtureOfGaussians< StorageType >::bInverseCleanup_

protected

Definition at line 184 of file MixtureOfGaussians.hh.

template<class StorageType>

BIAS::BlobDetectorBFS<unsigned char> BIAS::MixtureOfGaussians< StorageType >::blobDetector_

protected

Definition at line 172 of file MixtureOfGaussians.hh.

template<class StorageType>

bool BIAS::MixtureOfGaussians< StorageType >::blobDetectorRan_

protected

Definition at line 174 of file MixtureOfGaussians.hh.

template<class StorageType>

bool BIAS::MixtureOfGaussians< StorageType >::bSmooth_

protected

Definition at line 182 of file MixtureOfGaussians.hh.

template<class StorageType>

unsigned int BIAS::MixtureOfGaussians< StorageType >::channels_

protected

Definition at line 177 of file MixtureOfGaussians.hh.

template<class StorageType>

MoGColorModel BIAS::MixtureOfGaussians< StorageType >::colorModel_

protected

Definition at line 183 of file MixtureOfGaussians.hh.

template<class StorageType>

std::vector<BIAS::BIASBlob> BIAS::MixtureOfGaussians< StorageType >::corners_

protected

Definition at line 173 of file MixtureOfGaussians.hh.

template<class StorageType>

BIAS::Image<float> BIAS::MixtureOfGaussians< StorageType >::cov_

protected

Definition at line 164 of file MixtureOfGaussians.hh.

template<class StorageType>

unsigned int BIAS::MixtureOfGaussians< StorageType >::dCurDistributions_

protected

Definition at line 179 of file MixtureOfGaussians.hh.

template<class StorageType>

unsigned int BIAS::MixtureOfGaussians< StorageType >::dDistributions_

protected

Definition at line 179 of file MixtureOfGaussians.hh.

template<class StorageType>

unsigned int BIAS::MixtureOfGaussians< StorageType >::dFrameCounter_

protected

Definition at line 179 of file MixtureOfGaussians.hh.

template<class StorageType>

unsigned int BIAS::MixtureOfGaussians< StorageType >::dFrames_

protected

Definition at line 179 of file MixtureOfGaussians.hh.

template<class StorageType>

BIAS::Image<unsigned char> BIAS::MixtureOfGaussians< StorageType >::difference_

protected

Definition at line 167 of file MixtureOfGaussians.hh.

template<class StorageType>

BIAS::Image<unsigned char> BIAS::MixtureOfGaussians< StorageType >::differenceSave_

protected

Definition at line 168 of file MixtureOfGaussians.hh.

template<class StorageType>

BIAS::Image<unsigned char> BIAS::MixtureOfGaussians< StorageType >::differenceSmooth_

protected

Definition at line 170 of file MixtureOfGaussians.hh.

template<class StorageType>

BIAS::Image<unsigned char> BIAS::MixtureOfGaussians< StorageType >::differenceVisu_

protected

Definition at line 169 of file MixtureOfGaussians.hh.

template<class StorageType>

unsigned int BIAS::MixtureOfGaussians< StorageType >::dMaxWeight_

protected

Definition at line 180 of file MixtureOfGaussians.hh.

template<class StorageType>

unsigned int BIAS::MixtureOfGaussians< StorageType >::dMinWeight_

protected

Definition at line 180 of file MixtureOfGaussians.hh.

template<class StorageType>

unsigned int BIAS::MixtureOfGaussians< StorageType >::dWindow_

protected

Definition at line 179 of file MixtureOfGaussians.hh.

template<class StorageType>

float BIAS::MixtureOfGaussians< StorageType >::fError_

protected

Definition at line 181 of file MixtureOfGaussians.hh.

template<class StorageType>

float BIAS::MixtureOfGaussians< StorageType >::fUpdateFactor_

protected

Definition at line 181 of file MixtureOfGaussians.hh.

template<class StorageType>

pthread_mutex_t* BIAS::MixtureOfGaussians< StorageType >::guardimagemutex

protected

Definition at line 187 of file MixtureOfGaussians.hh.

template<class StorageType>

BIAS::Image<float> BIAS::MixtureOfGaussians< StorageType >::guess_

protected

Definition at line 163 of file MixtureOfGaussians.hh.

template<class StorageType>

unsigned int BIAS::MixtureOfGaussians< StorageType >::height_

protected

Definition at line 177 of file MixtureOfGaussians.hh.

template<class StorageType>

BIAS::Image<unsigned char> BIAS::MixtureOfGaussians< StorageType >::marker

protected

Definition at line 171 of file MixtureOfGaussians.hh.

template<class StorageType>

BIAS::Image<float> BIAS::MixtureOfGaussians< StorageType >::matchValueImage_

protected

Definition at line 166 of file MixtureOfGaussians.hh.

template<class StorageType>

float BIAS::MixtureOfGaussians< StorageType >::maxDepth_

protected

Definition at line 185 of file MixtureOfGaussians.hh.

template<class StorageType>

BIAS::Image<float> BIAS::MixtureOfGaussians< StorageType >::maxWeight_

protected

Definition at line 165 of file MixtureOfGaussians.hh.

template<class StorageType>

unsigned int BIAS::MixtureOfGaussians< StorageType >::roiLRx_

protected

Definition at line 178 of file MixtureOfGaussians.hh.

template<class StorageType>

unsigned int BIAS::MixtureOfGaussians< StorageType >::roiLRy_

protected

Definition at line 178 of file MixtureOfGaussians.hh.

template<class StorageType>

unsigned int BIAS::MixtureOfGaussians< StorageType >::roiULx_

protected

Definition at line 178 of file MixtureOfGaussians.hh.

template<class StorageType>

unsigned int BIAS::MixtureOfGaussians< StorageType >::roiULy_

protected

Definition at line 178 of file MixtureOfGaussians.hh.

template<class StorageType>

BIAS::Gauss<unsigned char, unsigned char> BIAS::MixtureOfGaussians< StorageType >::smoothResultFilter_

protected

Definition at line 175 of file MixtureOfGaussians.hh.

template<class StorageType>

BIAS::Image<float> BIAS::MixtureOfGaussians< StorageType >::weight_

protected

Definition at line 162 of file MixtureOfGaussians.hh.

template<class StorageType>

unsigned int BIAS::MixtureOfGaussians< StorageType >::width_

protected

Definition at line 177 of file MixtureOfGaussians.hh.

template<class StorageType>

unsigned int BIAS::MixtureOfGaussians< StorageType >::workChannels_

protected

Definition at line 177 of file MixtureOfGaussians.hh.

template<class StorageType>

BIAS::Image<float> BIAS::MixtureOfGaussians< StorageType >::workImage_

protected

Definition at line 161 of file MixtureOfGaussians.hh.

The documentation for this class was generated from the following files:

Image/MixtureOfGaussians.hh
Image/MixtureOfGaussians.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<class StorageType> class BIAS::MixtureOfGaussians< StorageType >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class StorageType>
class BIAS::MixtureOfGaussians< StorageType >