Merge pull request andrewssobral#17 from HemangShah1/bgsB1

Added algorithms SuBSENSE and LOBSTER to package_bgs/pl

Demo.cpp

@@ -65,6 +65,9 @@ along with BGSLibrary.  If not, see <http://www.gnu.org/licenses/>.
 #include "package_bgs/sjn/SJN_MultiCueBGS.h"
 #include "package_bgs/bl/SigmaDeltaBGS.h"
 
+#include "package_bgs/pl/SuBSENSE.h"
+#include "package_bgs/pl/LOBSTER.h"
+
 int main(int argc, char **argv)
 {
   std::cout << "Using OpenCV " << CV_MAJOR_VERSION << "." << CV_MINOR_VERSION << "." << CV_SUBMINOR_VERSION << std::endl;
@@ -156,6 +159,10 @@ int main(int argc, char **argv)
   /*** BL Package (thanks to Benjamin Laugraud) ***/
   //bgs = new SigmaDeltaBGS;
 
+  /*** PL Package (thanks to Pierre-Luc) ***/
+  //bgs = new SuBSENSEBGS();
+  //bgs = new LOBSTERBGS();
+
   int key = 0;
   while(key != 'q')
   {

package_bgs/pl/BackgroundSubtractorLBSP.cpp

@@ -0,0 +1,69 @@
+#include "BackgroundSubtractorLBSP.h"
+#include "DistanceUtils.h"
+#include "RandUtils.h"
+#include <iostream>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <iomanip>
+#include <exception>
+
+#ifndef SIZE_MAX
+# if __WORDSIZE == 64
+#  define SIZE_MAX		(18446744073709551615UL)
+# else
+#  define SIZE_MAX		(4294967295U)
+# endif
+#endif
+
+// local define used to determine the default median blur kernel size
+#define DEFAULT_MEDIAN_BLUR_KERNEL_SIZE (9)
+
+BackgroundSubtractorLBSP::BackgroundSubtractorLBSP(float fRelLBSPThreshold, size_t nLBSPThresholdOffset)
+	:	 m_nImgChannels(0)
+		,m_nImgType(0)
+		,m_nLBSPThresholdOffset(nLBSPThresholdOffset)
+		,m_fRelLBSPThreshold(fRelLBSPThreshold)
+		,m_nTotPxCount(0)
+		,m_nTotRelevantPxCount(0)
+		,m_nFrameIndex(SIZE_MAX)
+		,m_nFramesSinceLastReset(0)
+		,m_nModelResetCooldown(0)
+		,m_aPxIdxLUT(nullptr)
+		,m_aPxInfoLUT(nullptr)
+		,m_nDefaultMedianBlurKernelSize(DEFAULT_MEDIAN_BLUR_KERNEL_SIZE)
+		,m_bInitialized(false)
+		,m_bAutoModelResetEnabled(true)
+		,m_bUsingMovingCamera(false)
+		,nDebugCoordX(0),nDebugCoordY(0) {
+	CV_Assert(m_fRelLBSPThreshold>=0);
+}
+
+BackgroundSubtractorLBSP::~BackgroundSubtractorLBSP() {}
+
+void BackgroundSubtractorLBSP::initialize(const cv::Mat& oInitImg) {
+	this->initialize(oInitImg,cv::Mat());
+}
+
+cv::AlgorithmInfo* BackgroundSubtractorLBSP::info() const {
+	return nullptr;
+}
+
+cv::Mat BackgroundSubtractorLBSP::getROICopy() const {
+	return m_oROI.clone();
+}
+
+void BackgroundSubtractorLBSP::setROI(cv::Mat& oROI) {
+	LBSP::validateROI(oROI);
+	CV_Assert(cv::countNonZero(oROI)>0);
+	if(m_bInitialized) {
+		cv::Mat oLatestBackgroundImage;
+		getBackgroundImage(oLatestBackgroundImage);
+		initialize(oLatestBackgroundImage,oROI);
+	}
+	else
+		m_oROI = oROI.clone();
+}
+
+void BackgroundSubtractorLBSP::setAutomaticModelReset(bool bVal) {
+	m_bAutoModelResetEnabled = bVal;
+}

package_bgs/pl/BackgroundSubtractorLBSP.h

@@ -0,0 +1,85 @@
+#pragma once
+
+#include <opencv2/features2d/features2d.hpp>
+#include <opencv2/video/background_segm.hpp>
+#include "LBSP.h"
+
+/*!
+	Local Binary Similarity Pattern (LBSP)-based change detection algorithm (abstract version/base class).
+
+	For more details on the different parameters, see P.-L. St-Charles and G.-A. Bilodeau, "Improving Background
+	Subtraction using Local Binary Similarity Patterns", in WACV 2014, or G.-A. Bilodeau et al, "Change Detection
+	in Feature Space Using Local Binary Similarity Patterns", in CRV 2013.
+
+	This algorithm is currently NOT thread-safe.
+ */
+class BackgroundSubtractorLBSP : public cv::BackgroundSubtractor {
+public:
+	//! full constructor
+	BackgroundSubtractorLBSP(float fRelLBSPThreshold, size_t nLBSPThresholdOffset=0);
+	//! default destructor
+	virtual ~BackgroundSubtractorLBSP();
+	//! (re)initiaization method; needs to be called before starting background subtraction
+	virtual void initialize(const cv::Mat& oInitImg);
+	//! (re)initiaization method; needs to be called before starting background subtraction
+	virtual void initialize(const cv::Mat& oInitImg, const cv::Mat& oROI)=0;
+	//! primary model update function; the learning param is used to override the internal learning speed (ignored when <= 0)
+	virtual void operator()(cv::InputArray image, cv::OutputArray fgmask, double learningRate=0)=0;
+	//! unused, always returns nullptr
+	virtual cv::AlgorithmInfo* info() const;
+	//! returns a copy of the ROI used for descriptor extraction
+	virtual cv::Mat getROICopy() const;
+	//! sets the ROI to be used for descriptor extraction (note: this function will reinit the model and return the usable ROI)
+	virtual void setROI(cv::Mat& oROI);
+	//! turns automatic model reset on or off
+	void setAutomaticModelReset(bool);
+
+protected:
+	struct PxInfoBase {
+		int nImgCoord_Y;
+		int nImgCoord_X;
+		size_t nModelIdx;
+	};
+	//! background model ROI used for LBSP descriptor extraction (specific to the input image size)
+	cv::Mat m_oROI;
+	//! input image size
+	cv::Size m_oImgSize;
+	//! input image channel size
+	size_t m_nImgChannels;
+	//! input image type
+	int m_nImgType;
+	//! LBSP internal threshold offset value, used to reduce texture noise in dark regions
+	const size_t m_nLBSPThresholdOffset;
+	//! LBSP relative internal threshold (kept here since we don't keep an LBSP object)
+	const float m_fRelLBSPThreshold;
+	//! total number of pixels (depends on the input frame size) & total number of relevant pixels
+	size_t m_nTotPxCount, m_nTotRelevantPxCount;
+	//! current frame index, frame count since last model reset & model reset cooldown counters
+	size_t m_nFrameIndex, m_nFramesSinceLastReset, m_nModelResetCooldown;
+	//! pre-allocated internal LBSP threshold values LUT for all possible 8-bit intensities
+	size_t m_anLBSPThreshold_8bitLUT[UCHAR_MAX+1];
+	//! internal pixel index LUT for all relevant analysis regions (based on the provided ROI)
+	size_t* m_aPxIdxLUT;
+	//! internal pixel info LUT for all possible pixel indexes
+	PxInfoBase* m_aPxInfoLUT;
+	//! default kernel size for median blur post-proc filtering
+	const int m_nDefaultMedianBlurKernelSize;
+	//! specifies whether the algorithm is fully initialized or not
+	bool m_bInitialized;
+	//! specifies whether automatic model resets are enabled or not
+	bool m_bAutoModelResetEnabled;
+	//! specifies whether the camera is considered moving or not
+	bool m_bUsingMovingCamera;
+	//! copy of latest pixel intensities (used when refreshing model)
+	cv::Mat m_oLastColorFrame;
+	//! copy of latest descriptors (used when refreshing model)
+	cv::Mat m_oLastDescFrame;
+	//! the foreground mask generated by the method at [t-1]
+	cv::Mat m_oLastFGMask;
+
+public:
+	// ######## DEBUG PURPOSES ONLY ##########
+	int nDebugCoordX, nDebugCoordY;
+	std::string sDebugName;
+};
+