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MovingShadRem.cpp
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MovingShadRem.cpp
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#include "MovingShadRem.h"
#include <windows.h>
#include <iomanip>
#include <vector>
#include <math.h>
#include <unordered_map>
#define DEBUG 1
#define TIME_DEBUG 1
void watershedEx(cv::Mat& src, cv::Mat& dst);
void compact_watershed(cv::Mat& img, cv::Mat& B, float dy, float dx, float compValStep, cv::Mat& seeds);
void computeLabelsFromBoundaries(const cv::Mat& image, const cv::Mat& boundaries, cv::Mat& labels, int BOUNDARY_VALUE, int INNER_VALUE);
int relabelConnectedSuperpixels(cv::Mat& labels);
void drawContours1(const cv::Mat& image, const cv::Mat& labels, cv::Mat& contours, bool eight_connected);
//===========================================================
// timer
//===========================================================
double PCFreq = 0.0;
__int64 CounterStart = 0;
double duration = 0.0;
void startTimer() {
duration = 0.0;
LARGE_INTEGER li;
if (!QueryPerformanceFrequency(&li))
std::cout << "QueryPerformanceFrequency failed!\n";
//PCFreq = double(li.QuadPart); //-- seconds
PCFreq = double(li.QuadPart) / 1000.0; //-- milliseconds
//PCFreq = double(li.QuadPart) / 1000000.0; //-- microseconds
QueryPerformanceCounter(&li);
CounterStart = li.QuadPart;
}
void stopTimer() {
LARGE_INTEGER li;
QueryPerformanceCounter(&li);
duration = (li.QuadPart - CounterStart) / PCFreq;
//std::cout << "\nduration time (ms): " << duration << "\r";
}
//===========================================================
// constructor
//===========================================================
MovingShadRem::MovingShadRem(cv::Mat& frame) {
//-- debug
l1 = cv::Mat::zeros(frame.size(), CV_8UC1);
l2 = cv::Mat::zeros(frame.size(), CV_8UC1);
l3 = cv::Mat::zeros(frame.size(), CV_8UC1);
l4 = cv::Mat::zeros(frame.size(), CV_8UC1);
edgeHeatMap = cv::Mat::zeros(frame.size(), CV_8UC3);
tpHeatMap = cv::Mat::zeros(frame.size(), CV_8UC3);
watershedImage = cv::Mat::zeros(frame.size(), CV_8UC3);
watershedMerged = cv::Mat::zeros(frame.size(), CV_8UC3);
ratioMean = cv::Mat::zeros(frame.size(), CV_8UC3);
//-- global shadow model
sh = new Gaussian;
for (int c = 0; c < 3; c++) {
sh->mu[c] = 0;
sh->sigma[c] = 0;
}
}
//===========================================================
// destructor
//===========================================================
MovingShadRem::~MovingShadRem() {}
//===========================================================
// function to remove moving cast shadows
//===========================================================
/**
* @brief removeShadows: remove moving cast shadows from video
*
* @param frame: the current frame
* @param fgMask: foreground mask image from any BS model
* @param bg: the background image
* @param noShadowMask: the final result mask image
*/
void MovingShadRem::removeShadows(const cv::Mat& frame, const cv::Mat& fgMask, const cv::Mat& bg, cv::Mat& msrMask) {
cv::Mat marks, segments, colorCriteriaMask, edgeMask, tpMask, gmmMask;
#if TIME_DEBUG
frameNum++;
frameTime = 0.0;
#endif
//-------------------------------------------------
//-- preprocessing
//-------------------------------------------------
#if TIME_DEBUG
startTimer();
#endif
//cv::medianBlur(frame, frame, 5);
#if FRINGE
//-- remove fg blob contours
cv::Mat fgMaskEdges, fgMaskEdgesDilated;
Canny(fgMask, fgMaskEdges, 0, 128);
dilate(fgMaskEdges, fgMaskEdgesDilated, cv::Mat(), cv::Point(-1, -1), 3, 1, 1);
subtract(fgMask, fgMaskEdgesDilated, fgMask);
#endif
#if TIME_DEBUG
stopTimer();
preTime = preTime + (duration - preTime) / (double)(frameNum + 1);
frameTime += duration;
#endif
//-------------------------------------------------
//-- calculate luminance ratio
//-------------------------------------------------
cv::Mat lumRatio(frame.size(), frame.type(), 0.0); //-- fg/bg
divideMats(frame, bg, fgMask, 255, lumRatio);
//-------------------------------------------------
//-- segmentation
//-------------------------------------------------
#if TIME_DEBUG
startTimer();
#endif
watershedSeg(frame, bg, fgMask, lumRatio, REGION_SIZE, marks);
mergeSegments(frame, bg, fgMask, lumRatio, REGION_SIZE, marks, segments);
#if TIME_DEBUG
stopTimer();
segTime = segTime + (duration - segTime) / (double)(frameNum + 1);
frameTime += duration;
#endif
//-------------------------------------------------
//-- candidate shadows
//-------------------------------------------------
cv::inRange(lumRatio, cv::Scalar(OnelumRatioLow, OnelumRatioLow, OnelumRatioLow), cv::Scalar(OnelumRatioHigh, OnelumRatioHigh, OnelumRatioHigh), colorCriteriaMask);
//cv::inRange(lumRatio, cv::Scalar(BlumRatioLow, GlumRatioLow, RlumRatioLow), cv::Scalar(BlumRatioHigh, GlumRatioHigh, RlumRatioHigh), colorCriteriaMask);
//-------------------------------------------------
//-- gradient
//-------------------------------------------------
#if TIME_DEBUG
startTimer();
#endif
shadowsDontCauseEdge(frame, fgMask, bg, segments, edgeMask);
#if TIME_DEBUG
stopTimer();
gradTime = gradTime + (duration - gradTime) / (double)(frameNum + 1);
frameTime += duration;
#endif
//-------------------------------------------------
//-- terminal points
//-------------------------------------------------
#if TIME_DEBUG
startTimer();
#endif
terminalPointCal(fgMask, segments, tpMask);
#if TIME_DEBUG
stopTimer();
termTime = termTime + (duration - termTime) / (double)(frameNum + 1);
frameTime += duration;
#endif
//-------------------------------------------------
//-- statistical modeling
//-------------------------------------------------
#if TIME_DEBUG
startTimer();
#endif
shadowModelGlobal(colorCriteriaMask, edgeMask, colorCriteriaMask, lumRatio, bg, fgMask, gmmMask);
#if TIME_DEBUG
stopTimer();
gmmTime = gmmTime + (duration - gmmTime) / (double)(frameNum + 1);
frameTime += duration;
#endif
//-------------------------------------------------
//-- final shadow detection
//-------------------------------------------------
//cv::Mat shadowMask = colorCriteriaMask;
//cv::Mat shadowMask = colorCriteriaMask & edgeMask;
//cv::Mat shadowMask = colorCriteriaMask & gmmMask;
cv::Mat shadowMask = colorCriteriaMask & tpMask;
//cv::Mat shadowMask = colorCriteriaMask & gmmMask & tpMask;
//cv::Mat shadowMask = colorCriteriaMask & edgeMask & gmmMask;
//cv::Mat shadowMask = colorCriteriaMask & edgeMask & tpMask & gmmMask;
msrMask = fgMask - shadowMask;
//-------------------------------------------------
//-- post processing
//-------------------------------------------------
#if TIME_DEBUG
startTimer();
#endif
noiseCorrection(fgMask, shadowMask, winSize, finalShadMask);
#if TIME_DEBUG
stopTimer();
postTime = postTime + (duration - postTime) / (double)(frameNum + 1);
frameTime += duration;
#endif
//-------------------------------------------------
//-- imshow
//-------------------------------------------------
#if DEBUG
cv::imshow("lumRatio", lumRatio);
lumRatio.copyTo(ratioRep);
whiteAndGray(fgMask, colorCriteriaMask, l1);
cv::imshow("colorCriteriaMask", l1);
whiteAndGray(fgMask, edgeMask, l2);
cv::imshow("edgeMask", l2);
whiteAndGray(fgMask, tpMask, l3);
cv::imshow("tpMask", l3);
whiteAndGray(fgMask, gmmMask, l4);
cv::imshow("gmmMask", l4);
cv::imshow("finalShadMask", finalShadMask);
#endif
#if TIME_DEBUG
std::cout << "frame time (ms): " << frameTime << "\r";
avgTime = avgTime + (frameTime - avgTime) / (double)(frameNum + 1);
#endif
}
//===========================================================
// core functions
//===========================================================
void MovingShadRem::divideMats(const cv::Mat& first, const cv::Mat& second, const cv::Mat& mask, int scale, cv::Mat& result) {
int ch = first.channels();
result = cv::Mat(first.size(), first.type(), 0.0);
for (int y = 0; y < first.rows; y++) {
uchar const* first_ptr = first.ptr<uchar>(y);
uchar const* second_ptr = second.ptr<uchar>(y);
uchar const* mask_ptr = mask.ptr<uchar>(y);
uchar* result_ptr = result.ptr<uchar>(y);
for (int x = 0; x < first.cols; x++) {
if (mask_ptr[x]) {
for (int c = 0; c < ch; c++) {
*(result_ptr + ch * x + c) = *(second_ptr + ch * x + c) == 0 ? 0 : *(first_ptr + ch * x + c) * scale / (float) * (second_ptr + ch * x + c);
}
}
}
}
}
void MovingShadRem::shadowsDontCauseEdge(const cv::Mat& frame, const cv::Mat& fgMask, const cv::Mat& bg, const cv::Mat& segments, cv::Mat& corrMask) {
corrMask = cv::Mat(frame.size(), CV_8UC1, 0.0);
if (numSet < 1) return;
cv::Mat bgGray, bgEdges, MO, MOGray, MOEdges, fgMaskEdges, fgMaskEdgesDilated;
double low_th = 0.0, high_th = 0.0;
cv::Mat edgeMask(frame.size(), CV_8UC1, 0.0);
//-- bg edges
cvtColor(bg, bgGray, CV_RGB2GRAY);
Canny(bgGray, bgEdges, 200, 255);
dilate(bgEdges, bgEdges, cv::Mat(), cv::Point(-1, -1), 2, 1, 1);
//-- fg edges
frame.copyTo(MO, fgMask);
cvtColor(MO, MOGray, CV_RGB2GRAY);
Canny(MOGray, MOEdges, 100, 150);
//-- fg mask edges (contour)
Canny(fgMask, fgMaskEdges, 0, 128);
dilate(fgMaskEdges, fgMaskEdgesDilated, cv::Mat(), cv::Point(-1, -1), 2, 1, 1);
//-- Es
edgeMask = MOEdges - (fgMaskEdgesDilated + bgEdges);
dilate(edgeMask, edgeMask, cv::Mat(), cv::Point(-1, -1), 6, 1, 1);
//
//#if SIMPLE
// corrMask = fgMask - edgeMask;
// return;
//#endif
//-------------------------------------------------
std::vector<int> nGrad(numSet + 1, 0);
std::vector<int> areaVec(numSet + 1, 0);
std::vector<float> probVec(numSet + 1, 0);
for (int y = 0; y < frame.rows; y++) {
int const* seg_ptr = segments.ptr<int>(y);
uchar const* ed_ptr = edgeMask.ptr<uchar>(y);
for (int x = 0; x < frame.cols; x++) {
if (*(seg_ptr + x)) {
if ((int)*(ed_ptr + x) == 255) {
++nGrad[*(seg_ptr + x)];
}
++areaVec[*(seg_ptr + x)];
}
}
}
for (int i = 1; i <= numSet; i++)
//if (areaVec[i] > minSetArea)
probVec[i] = (float)nGrad[i] / (1 + areaVec[i]);
for (int y = 0; y < frame.rows; y++) {
uchar const* mask_ptr = fgMask.ptr<uchar>(y);
int const* seg_ptr = segments.ptr<int>(y);
uchar* c_ptr = corrMask.ptr<uchar>(y);
for (int x = 0; x < frame.cols; x++) {
if(*(mask_ptr + x) != 0 && probVec[*(seg_ptr + x)] < gradThresh)
*(c_ptr + x) = 255;
}
}
#if DEBUG
cv::Mat probMap(frame.rows, frame.cols, CV_8UC1, 0.0);
for (int y = 0; y < frame.rows; y++) {
int const* seg_ptr = segments.ptr<int>(y);
uchar* p_ptr = probMap.ptr<uchar>(y);
for (int x = 0; x < frame.cols; x++) {
*(p_ptr + x) = (int)(probVec[*(seg_ptr + x)] * 255);
}
}
cv::applyColorMap(probMap, edgeHeatMap, cv::COLORMAP_JET);
edgeHeatMap.setTo(cv::Scalar(0, 0, 0), cv::Mat(fgMask == 0));
cv::imshow("edgeHeatMap", edgeHeatMap);
//cv::imshow("edgeProbMap", probMap);
#endif
}
/*
* calculate the number of external terminal pixels and all terminal pixels
* */
void MovingShadRem::terminalPointCal(const cv::Mat& fgMask, const cv::Mat& segments, cv::Mat& tpMask) {
tpMask = cv::Mat(fgMask.size(), CV_8UC1, 0.0);
std::vector<int> nAllBorders(numSet + 1, 0);
std::vector<int> nExtBorders(numSet + 1, 0);
std::vector<float> probVec(numSet + 1, 0);
for (int y = 1; y < fgMask.rows - 1; y++) {
int const* seg_ptr = segments.ptr<int>(y);
int const* seg_ptr_pre = segments.ptr<int>(y - 1);
int const* seg_ptr_post = segments.ptr<int>(y + 1);
uchar const* mask_ptr = fgMask.ptr<uchar>(y);
uchar const* mask_ptr_pre = fgMask.ptr<uchar>(y - 1);
uchar const* mask_ptr_post = fgMask.ptr<uchar>(y + 1);
for (int x = 1; x < fgMask.cols - 1; x++) {
if ((int) * (mask_ptr + x) == 0)
continue;
if (*(seg_ptr + x) != *(seg_ptr + x - 1) ||
*(seg_ptr + x) != *(seg_ptr + x + 1) ||
*(seg_ptr + x) != *(seg_ptr_pre + x) ||
*(seg_ptr + x) != *(seg_ptr_post + x) ||
*(seg_ptr + x) != *(seg_ptr_pre + x - 1) ||
*(seg_ptr + x) != *(seg_ptr_pre + x + 1) ||
*(seg_ptr + x) != *(seg_ptr_post + x - 1) ||
*(seg_ptr + x) != *(seg_ptr_post + x + 1)) {
nAllBorders[*(seg_ptr + x)]++;
if (*(mask_ptr + x) != *(mask_ptr + x - 1) ||
*(mask_ptr + x) != *(mask_ptr + x + 1) ||
*(mask_ptr + x) != *(mask_ptr_pre + x) ||
*(mask_ptr + x) != *(mask_ptr_post + x) ||
*(mask_ptr + x) != *(mask_ptr_pre + x - 1) ||
*(mask_ptr + x) != *(mask_ptr_pre + x + 1) ||
*(mask_ptr + x) != *(mask_ptr_post + x - 1) ||
*(mask_ptr + x) != *(mask_ptr_post + x + 1)) {
nExtBorders[*(seg_ptr + x)]++;
}
}
}
}
for (int i = 1; i <= numSet; i++)
probVec[i] = (float)nExtBorders[i] / (1 + nAllBorders[i]);
for (int y = 0; y < fgMask.rows; y++) {
uchar const* mask_ptr = fgMask.ptr<uchar>(y);
int const* seg_ptr = segments.ptr<int>(y);
uchar* tp_ptr = tpMask.ptr<uchar>(y);
for (int x = 0; x < fgMask.cols; x++) {
if (*(mask_ptr + x) != 0 && nAllBorders[*(seg_ptr + x)] != 0 && nExtBorders[*(seg_ptr + x)] != 0) {
if (probVec[*(seg_ptr + x)] > tpThresh)
*(tp_ptr + x) = 255;
}
}
}
#if DEBUG
cv::Mat probMap(fgMask.rows, fgMask.cols, CV_8UC1, 0.0);
for (int y = 0; y < fgMask.rows; y++) {
int const* seg_ptr = segments.ptr<int>(y);
uchar* p_ptr = probMap.ptr<uchar>(y);
uchar const* mask_ptr = fgMask.ptr<uchar>(y);
for (int x = 0; x < fgMask.cols; x++) {
if(*(mask_ptr + x) != 0)
*(p_ptr + x) = (int)((0.7 - probVec[*(seg_ptr + x)]) * 255);
}
}
cv::applyColorMap(probMap, tpHeatMap, cv::COLORMAP_JET);
tpHeatMap.setTo(cv::Scalar(0, 0, 0), cv::Mat(fgMask == 0));
cv::imshow("tpHeatMap", tpHeatMap);
//cv::imshow("tpprobMap", probMap);
#endif
}
void MovingShadRem::whiteAndGray(const cv::Mat& fgMask, const cv::Mat& shadowMask, cv::Mat& whiteAndGrayMask) {
whiteAndGrayMask = cv::Mat(fgMask.size(), CV_8UC1, 0.0);
whiteAndGrayMask.setTo(128, shadowMask);
whiteAndGrayMask.setTo(255, fgMask - shadowMask);
}
//============================
// Gaussian shadow model
//============================
void MovingShadRem::shadowModelGlobal(cv::Mat& l1, cv::Mat& l2, cv::Mat& l3, const cv::Mat& Frame, const cv::Mat& bg, const cv::Mat& fgMask, cv::Mat& gmmMask) {
cv::Mat mask(Frame.size(), CV_8U, cv::Scalar(0));
cv::Mat bgMask(Frame.size(), CV_8U, cv::Scalar(0));
for (int y = 1; y < l1.rows - 1; ++y) {
const uchar* l1Ptr = l1.ptr(y);
const uchar* l2Ptr = l2.ptr(y);
const uchar* l3Ptr = l3.ptr(y);
const uchar* framePtr = Frame.ptr(y);
const uchar* pre_Ptr = Frame.ptr(y - 1);
const uchar* post_Ptr = Frame.ptr(y + 1);
for (int x = 1; x < l1.cols - 1; ++x) {
if (*(l1Ptr + x) && *(l2Ptr + x) && *(l3Ptr + x)) {
for (int c = 0; c < 3; c++) {
float haar_x = (float) * (framePtr + 3 * (x - 1) + c) + (float) * (framePtr + 3 * (x + 1) + c) - 2 * (float) * (framePtr + 3 * x + c);
float haar_y = (float) * (pre_Ptr + 3 * x + c) + (float) * (post_Ptr + 3 * x + c) - 2 * (float) * (framePtr + 3 * x + c);
if (sh->sigma[c] == 0) {
sh->mu[c] = (float) * (framePtr + 3 * x + c);
sh->sigma[c] = cov0;
sh->mu[c + 3] = haar_x;
sh->sigma[c + 3] = cov0;
sh->mu[c + 6] = haar_y;
sh->sigma[c + 6] = cov0;
}
else {
sh->mu[c] = sh->mu[c] - alphaM * (sh->mu[c] - (float) * (framePtr + 3 * x + c));
float var_temp = sh->sigma[c] + alphaM * ((sh->mu[c] - (float) * (framePtr + 3 * x + c)) * (sh->mu[c] - (float) * (framePtr + 3 * x + c)) - sh->sigma[c]);
sh->sigma[c] = var_temp < cov_low ? cov_low : (var_temp > cov_hi ? cov_hi : var_temp);
sh->mu[c + 3] = sh->mu[c + 3] - alphaM * (sh->mu[c + 3] - haar_x);
var_temp = sh->sigma[c + 3] + alphaM * ((sh->mu[c + 3] - haar_x) * (sh->mu[c + 3] - haar_x) - sh->sigma[c + 3]);
sh->sigma[c + 3] = var_temp < cov_low ? cov_low : (var_temp > cov_hi ? cov_hi : var_temp);
sh->mu[c + 6] = sh->mu[c + 6] - alphaM * (sh->mu[c + 6] - haar_y);
var_temp = sh->sigma[c + 6] + alphaM * ((sh->mu[c + 6] - haar_y) * (sh->mu[c + 6] - haar_y) - sh->sigma[c + 6]);
sh->sigma[c + 6] = var_temp < cov_low ? cov_low : (var_temp > cov_hi ? cov_hi : var_temp);
}
}
}
}
}
//-- classification
for (int y = 0; y < mask.rows; ++y) {
const uchar* framePtr = Frame.ptr(y);
const uchar* bgPtr = bg.ptr(y);
const uchar* maskPtr = fgMask.ptr(y);
uchar* Ptr = mask.ptr(y);
//uchar* bgShadPtr = bgMask.ptr(y);
for (int x = 0; x < mask.cols; ++x) {
if (*(maskPtr + x) == 255) {
bool isShadow = true;
for (int c = 0; c < 3; c++) {
float dis = (sh->mu[c] - (float) * (framePtr + 3 * x + c)) * (sh->mu[c] - (float) * (framePtr + 3 * x + c));
if (dis > gmmDist * sh->sigma[c])
isShadow = false;
}
if (isShadow)
*(Ptr + x) = 255;
else
*(Ptr + x) = 0;
}
}
}
mask.copyTo(gmmMask);
//std::cout << "mu: " << sh->mu << " , cov: " << sh->sigma << std::endl;
}
//--------------------------------------------------------------------
// A utility function to find set of an element i (uses path compression technique)
int MovingShadRem::find(std::vector<Set>& sets, int i) {
// find root and make root as parent of i (path compression)
if (sets[i].parent != i)
sets[i].parent = find(sets, sets[i].parent);
return sets[i].parent;
}
// A function that does union of two sets of x and y (uses union by rank)
void MovingShadRem::Union(std::vector<Set>& sets, int xroot, int yroot) {
// Attach smaller rank tree under root of high rank tree (Union by Rank)
if (sets[xroot].rank < sets[yroot].rank)
sets[xroot].parent = yroot;
else if (sets[xroot].rank > sets[yroot].rank)
sets[yroot].parent = xroot;
// If ranks are same, then make one as root and increment its rank by one
else {
sets[yroot].parent = xroot;
sets[xroot].rank++;
}
}
/**
* @brief watershedSeg: watershed segmentation
*
* @param frame: the current frame
* @param fgMask: foreground mask image from any BS model
* @param bg: the background image
* @param lumRatio: fg/bg
* @param region_size: size of the blocks
* @param marks: the final result label image
*/
void MovingShadRem::watershedSeg(const cv::Mat& frame, const cv::Mat& bg, const cv::Mat& fgMask, cv::Mat& lumRatio, int region_size, cv::Mat& marks)
{
marks = cv::Mat(frame.size(), CV_32S, 0.0);
#if COMPACT
//-- compact watershed
cv::Mat boundaries, seeds;
compact_watershed(lumRatio, boundaries, region_size, region_size, 5.0, seeds);
boundaries.convertTo(boundaries, CV_32S);
computeLabelsFromBoundaries(lumRatio, boundaries, marks, -1, -2);
#else
//-- regular watershed
long label = 1;
for (int i = region_size / 2; i < marks.rows; i += region_size) {
uchar const* mask_ptr = fgMask.ptr<uchar>(i);
int* marks_ptr = marks.ptr<int>(i);
for (int j = region_size / 2; j < marks.cols; j += region_size) {
if ((int) * (mask_ptr + j) == 0)
*(marks_ptr + j) = 0;
else {
*(marks_ptr + j) = label;
label++;
}
}
}
numSeg = label;
watershedEx(lumRatio, marks);
#endif
marks.setTo(0, ~fgMask);
}
/**
* @brief mergeSegments: merge segmentation
*
* @param frame: the current frame
* @param fgMask: foreground mask image from any BS model
* @param bg: the background image
* @param lumRatio: fg/bg
* @param region_size: size of the blocks
* @param marks: initial label image
* @param segments: merged label image
*/
void MovingShadRem::mergeSegments(const cv::Mat& frame, const cv::Mat& bg, const cv::Mat& fgMask, const cv::Mat& lumRatio, int region_size, const cv::Mat& marks, cv::Mat& segments) {
//-- calculate means and counts of segments
std::vector<std::vector<int>> meanVec(numSeg, std::vector<int>(3, 0));
std::vector<int> areaVec(numSeg, 0);
for (int y = 0; y < lumRatio.rows; y++) {
const int* marks_ptr = marks.ptr<int>(y);
const uchar* lum_ptr = lumRatio.ptr<uchar>(y);
for (int x = 0; x < lumRatio.cols; x++) {
if (*(marks_ptr + x) > 0) {
for (int c = 0; c < 3; c++)
meanVec[*(marks_ptr + x )][c] += (int)*(lum_ptr + 3 * x + c);
areaVec[*(marks_ptr + x)] ++;
}
}
}
for (int i = 1; i < numSeg; i++)
for (int c = 0; c < 3; c++)
meanVec[i][c] = areaVec[i] == 0 ? 0 : meanVec[i][c] / areaVec[i];
//-------------------------------------------
//-- merge
std::vector<Set> sets(numSeg);
for (int v = 0; v < numSeg; ++v)
sets[v].parent = v;
for (int y = stepSize; y < marks.rows; y += stepSize) {
int const* marks_ptr = marks.ptr<int>(y);
int const* marks_ptr_pre = marks.ptr<int>(y - stepSize);
uchar const* mask_ptr = fgMask.ptr<uchar>(y);
uchar const* mask_ptr_pre = fgMask.ptr(y - stepSize);
uchar const* lum_ptr = lumRatio.ptr<uchar>(y);
uchar const* lum_ptr_pre = lumRatio.ptr(y - stepSize);
uchar const* fr_ptr = frame.ptr<uchar>(y);
uchar const* fr_ptr_pre = frame.ptr(y - stepSize);
uchar const* bg_ptr = bg.ptr<uchar>(y);
uchar const* bg_ptr_pre = bg.ptr(y - stepSize);
for (int x = stepSize; x < marks.cols; x += stepSize) {
if ((int) *(mask_ptr + x) == 255) {
//-- left
if ((int)*(mask_ptr + x - stepSize) == 255 && (int) *(marks_ptr + x - stepSize) != (int) *(marks_ptr + x)) {
int count = 0;
for (int c = 0; c < 3; c++) {
if (
(abs((int) * (lum_ptr + 3 * x + c) - (int) * (lum_ptr + 3 * (x - stepSize) + c)) < SEG_THRESH)
//|| (abs(abs((int)*(fr_ptr + 3 * x + c)- (int) * (fr_ptr + 3 * (x - stepSize) + c)) - abs((int) * (bg_ptr + 3 * x + c) - (int) * (bg_ptr + 3 * (x - stepSize) + c))) < SEG_THRESH)
//|| (abs((int)meanVec[*(marks_ptr + x)][c] - (int)meanVec[*(marks_ptr + x - stepSize)][c]) < SEG_THRESH)
)
count++;
}
if (count == 3) {
int current = find(sets, *(marks_ptr + x));
int left = find(sets, *(marks_ptr + x - stepSize));
Union(sets, current, left);
}
}
//-- up
if ((int) *(mask_ptr_pre + x) == 255 && *(marks_ptr_pre + x) != *(marks_ptr + x)) {
int count = 0;
for (int c = 0; c < 3; c++)
if (
(abs((int) * (lum_ptr + 3 * x + c) - (int) * (lum_ptr_pre + 3 * x + c)) < SEG_THRESH)
//|| (abs(abs((int) * (fr_ptr + 3 * x + c) - (int) * (fr_ptr_pre + 3 * x + c)) - abs((int) * (bg_ptr + 3 * x + c) - (int) * (bg_ptr_pre + 3 * x + c))) < SEG_THRESH)
//|| (abs(meanVec[*(marks_ptr + x)][c] - meanVec[*(marks_ptr_pre + x)][c]) < SEG_THRESH)
)
count++;
if (count == 3) {
int first = find(sets, *(marks_ptr + x));
int second = find(sets, *(marks_ptr_pre + x));
Union(sets, first, second);
}
}
}
}
}
//-- construct segments
segments = cv::Mat::zeros(marks.size(), CV_32SC1);
std::unordered_map<int, int> labels;
int label = 1;
for (int y = 0; y < marks.rows; y++) {
int* segments_ptr = segments.ptr<int>(y);
int const* marks_ptr = marks.ptr<int>(y);
uchar const* mask_ptr = fgMask.ptr<uchar>(y);
for (int x = 0; x < marks.cols; x++) {
if (*(mask_ptr + x) && areaVec[*(marks_ptr + x)] > minSegArea) {
int root = find(sets, *(marks_ptr + x));
if (labels.find(root) == labels.end()) {
labels.insert({ root, label });
label++;
}
*(segments_ptr + x) = labels[root];
}
}
}
numSet = labels.size();
#if DEBUG
cv::Mat means(fgMask.size(), CV_8UC3, 0.0);
for (int y = 0; y < lumRatio.rows; y++) {
uchar* means_ptr = means.ptr<uchar>(y);
const int* marks_ptr = marks.ptr<int>(y);
for (int x = 0; x < lumRatio.cols; x++)
if (*(marks_ptr + x) > 0)
for (int c = 0; c < 3; c++)
*(means_ptr + 3 * x + c) = meanVec[*(marks_ptr + x)][c];
}
cv::imshow("means", means);
means.copyTo(ratioMean);
std::vector<cv::Vec3b> colorTab;
for (int i = 0; i <= 600; i++) {
int b = cv::theRNG().uniform(0, 255);
int g = cv::theRNG().uniform(0, 255);
int r = cv::theRNG().uniform(0, 255);
colorTab.push_back(cv::Vec3b((uchar)b, (uchar)g, (uchar)r));
}
for (int i = 0; i < marks.rows; i++) {
for (int j = 0; j < marks.cols; j++) {
int index = marks.at<int>(i, j);
if (index == -1)
watershedImage.at<cv::Vec3b>(i, j) = cv::Vec3b(255, 255, 255);//watershed line
else if(index == 0)
watershedImage.at<cv::Vec3b>(i, j) = cv::Vec3b(0, 0, 0);//bg
else
watershedImage.at<cv::Vec3b>(i, j) = colorTab[index % 600];//masks with different colors for single region
}
}
//for (int i = region_size / 2; i < marks.rows; i += region_size) {
// for (int j = region_size / 2; j < marks.cols; j += region_size) {
// watershedImage.at<cv::Vec3b>(i, j) = cv::Vec3b(255, 255, 255);
// }
//}
imshow("watershed", watershedImage);
for (int i = 0; i < segments.rows; i++) {
for (int j = 0; j < segments.cols; j++) {
int index = segments.at<int>(i, j);
if (index == -1)
watershedMerged.at<cv::Vec3b>(i, j) = cv::Vec3b(255, 255, 255);//watershed line
else if (index == 0)
watershedMerged.at<cv::Vec3b>(i, j) = cv::Vec3b(0, 0, 0);//bg
else
watershedMerged.at<cv::Vec3b>(i, j) = colorTab[index % 600];//masks with different colors for single region
}
}
//for (int i = region_size / 2; i < marks.rows; i += region_size) {
// for (int j = region_size / 2; j < marks.cols; j += region_size) {
// watershedMerged.at<cv::Vec3b>(i, j) = cv::Vec3b(255, 255, 255);
// }
//}
imshow("watershedMerged", watershedMerged);
//cv::Mat convert_img, wshed;
//frame.convertTo(convert_img, CV_8UC3);
//addWeighted(convert_img, 0.5, watershedImage, 0.5, 0, wshed);
//cv::imshow("AddWeighted Image", wshed);
#endif
}
//===========================================================
// post-processing functions
//===========================================================
/**
* @brief noiseCorrection: check the pixel, if it belongs to shadow or foreground
* ( F. Edge Noise Correction )
* check a widow around each pixel in the shadowMask, if most pixels in that
* window are shadow classify the pixel as shadow, otherwise as foreground
*
* @param shadowMask: a matrix represent background(0), foreground(255) and shadow(127)
*/
void MovingShadRem::noiseCorrection(const cv::Mat& fgMask, cv::Mat& shadowMask, int windowSize, cv::Mat& wAndG) {
int i1, i2, j1, j2, y, x, m = 0, n = 0, i = 0, j = 0;
int w = fgMask.cols;
int h = fgMask.rows;
wAndG = cv::Mat(fgMask.size(), CV_8UC1, 0.0);
whiteAndGray(fgMask, shadowMask, wAndG);
for (y = 0; y < h; y++) {
uchar* maskPtr = wAndG.ptr<uchar>(y);
for (x = 0; x < w; x++) {
if (*(maskPtr + x) != 0) {
i1 = MAX(0, y - windowSize);
i2 = MIN(h - 1, y + windowSize);
j1 = MAX(0, x - windowSize);
j2 = MIN(w - 1, x + windowSize);
for (i = i1; i <= i2; ++i)
{
uchar* wPtr = wAndG.ptr<uchar>(i);
for (j = j1; j <= j2; ++j)
{
if (*(wPtr + j) == 255)
++n;
if (*(wPtr + j) == 128)
++m;
}
}
if (m > n) *(maskPtr + x) = 128;
else if (n > m) *(maskPtr + x) = 255;
m = 0;
n = 0;
}
}
}
}
//========================================
//-- watershed
//========================================
struct WSNode
{
int next;
int mask_ofs;
int img_ofs;
};
// Queue for WSNodes
struct WSQueue
{
WSQueue() { first = last = 0; }
int first, last;
};
static int allocWSNodes(std::vector<WSNode>& storage)
{
int sz = (int)storage.size();
int newsz = MAX(128, sz * 3 / 2);
storage.resize(newsz);
if (sz == 0)
{
storage[0].next = 0;
sz = 1;
}
for (int i = sz; i < newsz - 1; i++)
storage[i].next = i + 1;
storage[newsz - 1].next = 0;
return sz;
}
//the modified version of watershed algorithm from OpenCV
void watershedEx(cv::Mat& src, cv::Mat& dst)
{
// Labels for pixels
const int IN_QUEUE = -2; // Pixel visited
// possible bit values = 2^8
const int NQ = 256;
cv::Size size = src.size();
int channel = src.channels();
// Vector of every created node
std::vector<WSNode> storage;
int free_node = 0, node;
// Priority queue of queues of nodes
// from high priority (0) to low priority (255)
WSQueue q[NQ];
// Non-empty queue with highest priority
int active_queue;
int i, j;
// Color differences
int db, dg, dr;
int subs_tab[513];
// MAX(a,b) = b + MAX(a-b,0)
#define ws_max(a,b) ((b) + subs_tab[(a)-(b)+NQ])
// MIN(a,b) = a - MAX(a-b,0)
#define ws_min(a,b) ((a) - subs_tab[(a)-(b)+NQ])
// Create a new node with offsets mofs and iofs in queue idx
#define ws_push(idx,mofs,iofs) \
{ \
if (!free_node) \
free_node = allocWSNodes(storage); \
node = free_node; \
free_node = storage[free_node].next; \
storage[node].next = 0; \
storage[node].mask_ofs = mofs; \
storage[node].img_ofs = iofs; \
if (q[idx].last) \
storage[q[idx].last].next = node; \
else \
q[idx].first = node; \
q[idx].last = node; \
}
// Get next node from queue idx
#define ws_pop(idx,mofs,iofs) \
{ \
node = q[idx].first; \
q[idx].first = storage[node].next; \
if (!storage[node].next) \
q[idx].last = 0; \
storage[node].next = free_node; \
free_node = node; \
mofs = storage[node].mask_ofs; \
iofs = storage[node].img_ofs; \
}
// Get highest absolute channel difference in diff
#define c_diff(ptr1,ptr2,diff) \
{ \
db = std::abs((ptr1)[0] - (ptr2)[0]); \
dg = std::abs((ptr1)[1] - (ptr2)[1]); \
dr = std::abs((ptr1)[2] - (ptr2)[2]); \
diff = ws_max(db, dg); \
diff = ws_max(diff, dr); \
assert(0 <= diff && diff <= 255); \
}
//get absolute difference in diff
#define c_gray_diff(ptr1,ptr2,diff) \
{ \
diff = std::abs((ptr1)[0] - (ptr2)[0]); \
assert(0 <= diff&&diff <= 255); \
}
CV_Assert(src.type() == CV_8UC3 || src.type() == CV_8UC1 && dst.type() == CV_32SC1);
CV_Assert(src.size() == dst.size());
// Current pixel in input image
const uchar* img = src.ptr();
// Step size to next row in input image
int istep = int(src.step / sizeof(img[0]));
// Current pixel in mask image
int* mask = dst.ptr<int>();
// Step size to next row in mask image
int mstep = int(dst.step / sizeof(mask[0]));
for (i = 0; i < 256; i++)
subs_tab[i] = 0;
for (i = 256; i <= 512; i++)
subs_tab[i] = i - 256;
//for (j = 0; j < size.width; j++)
//mask[j] = mask[j + mstep*(size.height - 1)] = 0;
// initial phase: put all the neighbor pixels of each marker to the ordered queue -
// determine the initial boundaries of the basins
for (i = 1; i < size.height - 1; i++) {
img += istep; mask += mstep;
mask[0] = mask[size.width - 1] = 0; // boundary pixels
for (j = 1; j < size.width - 1; j++) {
int* m = mask + j;
if (m[0] < 0)
m[0] = 0;
if (m[0] == 0 && (m[-1] > 0 || m[1] > 0 || m[-mstep] > 0 || m[mstep] > 0))
{
// Find smallest difference to adjacent markers
const uchar* ptr = img + j * channel;
int idx = 256, t;
if (m[-1] > 0) {
if (channel == 3) {
c_diff(ptr, ptr - channel, idx);
}
else {
c_gray_diff(ptr, ptr - channel, idx);
}
}
if (m[1] > 0) {
if (channel == 3) {
c_diff(ptr, ptr + channel, t);