Example Background Moving Camera - Revision history

Peter at 21:13, 12 July 2021

2021-07-12T21:13:20Z

Peter at 02:58, 22 December 2020

2020-12-22T02:58:03Z

← Older revision		Revision as of 02:58, 22 December 2020
Line 8:		Line 8:

	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.36/examples/src/main/java/boofcv/examples/tracking/ExampleBackgroundRemovalMoving.java ExampleBackgroundRemovalMoving.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/tracking/ExampleBackgroundRemovalMoving.java ExampleBackgroundRemovalMoving.java]

	Concepts:		Concepts:
Line 29:		Line 29:
	*/		*/
	public class ExampleBackgroundRemovalMoving {		public class ExampleBackgroundRemovalMoving {
	public static void main(String[] args) {		public static void main( String[] args ) {

	// Example with a moving camera. Highlights why motion estimation is sometimes required		// Example with a moving camera. Highlights why motion estimation is sometimes required
	String fileName = UtilIO.pathExample("tracking/chipmunk.mjpeg");		String fileName = UtilIO.pathExample("tracking/chipmunk.mjpeg");
Line 52:		Line 51:

	// This estimates the 2D image motion		// This estimates the 2D image motion
	ImageMotion2D<GrayF32,Homography2D_F64> motion2D =		ImageMotion2D<GrayF32, Homography2D_F64> motion2D =
	FactoryMotion2D.createMotion2D(500, 0.5, 3, 100, 0.6, 0.5, false, tracker, new Homography2D_F64());		FactoryMotion2D.createMotion2D(500, 0.5, 3, 100, 0.6, 0.5, false, tracker, new Homography2D_F64());

Line 59:		Line 58:
	// Configuration for Gaussian model. Note that the threshold changes depending on the number of image bands		// Configuration for Gaussian model. Note that the threshold changes depending on the number of image bands
	// 12 = gray scale and 40 = color		// 12 = gray scale and 40 = color
	ConfigBackgroundGaussian configGaussian = new ConfigBackgroundGaussian(12,0.001f);		ConfigBackgroundGaussian configGaussian = new ConfigBackgroundGaussian(12, 0.001f);
	configGaussian.initialVariance = 64;		configGaussian.initialVariance = 64;
	configGaussian.minimumDifference = 5;		configGaussian.minimumDifference = 5;
Line 85:		Line 84:

	// storage for segmented image. Background = 0, Foreground = 1		// storage for segmented image. Background = 0, Foreground = 1
	GrayU8 segmented = new GrayU8(video.getWidth(),video.getHeight());		GrayU8 segmented = new GrayU8(video.getWidth(), video.getHeight());
	// Grey scale image that's the input for motion estimation		// Grey scale image that's the input for motion estimation
	GrayF32 grey = new GrayF32(segmented.width,segmented.height);		GrayF32 grey = new GrayF32(segmented.width, segmented.height);

	// coordinate frames		// coordinate frames
Line 96:		Line 95:

	// Create a background image twice the size of the input image. Tell it that the home is in the center		// Create a background image twice the size of the input image. Tell it that the home is in the center
	background.initialize(grey.width * 2, grey.height * 2, homeToWorld);		background.initialize(grey.width2, grey.height2, homeToWorld);

	BufferedImage visualized = new BufferedImage(segmented.width,segmented.height,BufferedImage.TYPE_INT_RGB);		BufferedImage visualized = new BufferedImage(segmented.width, segmented.height, BufferedImage.TYPE_INT_RGB);
	ImageGridPanel gui = new ImageGridPanel(1,2);		ImageGridPanel gui = new ImageGridPanel(1, 2);
	gui.setImages(visualized, visualized);		gui.setImages(visualized, visualized);

Line 107:		Line 106:
	double alpha = 0.01; // smoothing factor for FPS		double alpha = 0.01; // smoothing factor for FPS

	while( video.hasNext() ) {		while (video.hasNext()) {
	ImageBase input = video.next();		ImageBase input = video.next();

Line 113:		Line 112:
	GConvertImage.convert(input, grey);		GConvertImage.convert(input, grey);

	if( !motion2D.process(grey) ) {		if (!motion2D.process(grey)) {
	throw new RuntimeException("Should handle this scenario");		throw new RuntimeException("Should handle this scenario");
	}		}
Line 121:		Line 120:

	background.segment(firstToCurrent32, input, segmented);		background.segment(firstToCurrent32, input, segmented);
	background.updateBackground(firstToCurrent32,input);		background.updateBackground(firstToCurrent32, input);
	long after = System.nanoTime();		long after = System.nanoTime();

	fps = (1.0-alpha)fps + alpha(1.0/((after-before)/1e9));		fps = (1.0 - alpha)fps + alpha(1.0/((after - before)/1e9));

	VisualizeBinaryData.renderBinary(segmented,false,visualized);		VisualizeBinaryData.renderBinary(segmented, false, visualized);
	gui.setImage(0, 0, (BufferedImage)video.getGuiImage());		gui.setImage(0, 0, (BufferedImage)video.getGuiImage());
	gui.setImage(0, 1, visualized);		gui.setImage(0, 1, visualized);
	gui.repaint();		gui.repaint();

	System.out.println("FPS = "+fps);		System.out.println("FPS = " + fps);

	~~try {Thread~~.sleep(5);~~} catch (InterruptedException e) {}~~		BoofMiscOps.sleep(5);
	}		}
	}		}
	}		}
	</syntaxhighlight>		</syntaxhighlight>

Peter at 05:37, 18 May 2020

2020-05-18T05:37:31Z

← Older revision		Revision as of 05:37, 18 May 2020
Line 8:		Line 8:

	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.29/examples/src/boofcv/examples/tracking/ExampleBackgroundRemovalMoving.java ExampleBackgroundRemovalMoving.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.36/examples/src/main/java/boofcv/examples/tracking/ExampleBackgroundRemovalMoving.java ExampleBackgroundRemovalMoving.java]

	Concepts:		Concepts:
Line 42:		Line 42:

	// Configure the feature detector		// Configure the feature detector
	~~ConfigGeneralDetector confDetector~~ = new ~~ConfigGeneralDetector~~();		ConfigPointDetector configDetector = new ConfigPointDetector();
	~~confDetector~~.~~threshold~~ = 10;		configDetector.type = PointDetectorTypes.SHI_TOMASI;
	~~confDetector~~.maxFeatures = 300;		configDetector.general.maxFeatures = 300;
	~~confDetector~~.radius = 6;		configDetector.general.radius = 6;
			configDetector.general.threshold = 10;

	// Use a KLT tracker		// Use a KLT tracker
	PointTracker tracker = FactoryPointTracker.klt(~~new int[]{1, 2,~~ 4, ~~8}, confDetector~~, 3,		PointTracker tracker = FactoryPointTracker.klt(4, configDetector, 3, GrayF32.class, null);
	GrayF32.class, null);

	// This estimates the 2D image motion		// This estimates the 2D image motion
Line 85:		Line 85:

	// storage for segmented image. Background = 0, Foreground = 1		// storage for segmented image. Background = 0, Foreground = 1
	GrayU8 segmented = new GrayU8(video.~~getNextWidth~~(),video.~~getNextHeight~~());		GrayU8 segmented = new GrayU8(video.getWidth(),video.getHeight());
	// Grey scale image that's the input for motion estimation		// Grey scale image that's the input for motion estimation
	GrayF32 grey = new GrayF32(segmented.width,segmented.height);		GrayF32 grey = new GrayF32(segmented.width,segmented.height);

Peter at 03:09, 19 March 2018

2018-03-19T03:09:27Z

← Older revision		Revision as of 03:09, 19 March 2018
Line 8:		Line 8:

	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/tracking/ExampleBackgroundRemovalMoving.java ExampleBackgroundRemovalMoving.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.29/examples/src/boofcv/examples/tracking/ExampleBackgroundRemovalMoving.java ExampleBackgroundRemovalMoving.java]

	Concepts:		Concepts:
Line 62:		Line 62:
	configGaussian.initialVariance = 64;		configGaussian.initialVariance = 64;
	configGaussian.minimumDifference = 5;		configGaussian.minimumDifference = 5;

			// Note that GMM doesn't interpolate the input image. Making it harder to model object edges.
			// However it runs faster because of this.
			ConfigBackgroundGmm configGmm = new ConfigBackgroundGmm();
			configGmm.initialVariance = 1600;
			configGmm.significantWeight = 1e-1f;

	// Comment/Uncomment to switch background mode		// Comment/Uncomment to switch background mode
Line 67:		Line 73:
	FactoryBackgroundModel.movingBasic(configBasic, new PointTransformHomography_F32(), imageType);		FactoryBackgroundModel.movingBasic(configBasic, new PointTransformHomography_F32(), imageType);
	// FactoryBackgroundModel.movingGaussian(configGaussian, new PointTransformHomography_F32(), imageType);		// FactoryBackgroundModel.movingGaussian(configGaussian, new PointTransformHomography_F32(), imageType);
			// FactoryBackgroundModel.movingGmm(configGmm,new PointTransformHomography_F32(), imageType);

			background.setUnknownValue(1);

	MediaManager media = DefaultMediaManager.INSTANCE;		MediaManager media = DefaultMediaManager.INSTANCE;

Peter at 16:20, 17 August 2017

2017-08-17T16:20:09Z

← Older revision		Revision as of 16:20, 17 August 2017
Line 8:		Line 8:

	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/tracking/ExampleBackgroundRemovalMoving.java ExampleBackgroundRemovalMoving.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/tracking/ExampleBackgroundRemovalMoving.java ExampleBackgroundRemovalMoving.java]

	Concepts:		Concepts:
Line 110:		Line 110:

	Homography2D_F64 firstToCurrent64 = motion2D.getFirstToCurrent();		Homography2D_F64 firstToCurrent64 = motion2D.getFirstToCurrent();
	~~UtilHomography~~.convert(firstToCurrent64, firstToCurrent32);		ConvertMatrixData.convert(firstToCurrent64, firstToCurrent32);

	background.segment(firstToCurrent32, input, segmented);		background.segment(firstToCurrent32, input, segmented);

Peter at 12:45, 28 March 2016

2016-03-28T12:45:25Z

← Older revision		Revision as of 12:45, 28 March 2016
Line 8:		Line 8:

	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.20/examples/src/boofcv/examples/tracking/ExampleBackgroundRemovalMoving.java ExampleBackgroundRemovalMoving.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/tracking/ExampleBackgroundRemovalMoving.java ExampleBackgroundRemovalMoving.java]

	Concepts:		Concepts:
Line 37:		Line 37:

	// Comment/Uncomment to switch input image type		// Comment/Uncomment to switch input image type
	ImageType imageType = ImageType.single(~~ImageFloat32~~.class);		ImageType imageType = ImageType.single(GrayF32.class);
	// ImageType imageType = ImageType.il(3, InterleavedF32.class);		// ImageType imageType = ImageType.il(3, InterleavedF32.class);
	// ImageType imageType = ImageType.il(3, InterleavedU8.class);		// ImageType imageType = ImageType.il(3, InterleavedU8.class);
Line 49:		Line 49:
	// Use a KLT tracker		// Use a KLT tracker
	PointTracker tracker = FactoryPointTracker.klt(new int[]{1, 2, 4, 8}, confDetector, 3,		PointTracker tracker = FactoryPointTracker.klt(new int[]{1, 2, 4, 8}, confDetector, 3,
	~~ImageFloat32~~.class, null);		GrayF32.class, null);

	// This estimates the 2D image motion		// This estimates the 2D image motion
	ImageMotion2D<~~ImageFloat32~~,Homography2D_F64> motion2D =		ImageMotion2D<GrayF32,Homography2D_F64> motion2D =
	FactoryMotion2D.createMotion2D(500, 0.5, 3, 100, 0.6, 0.5, false, tracker, new Homography2D_F64());		FactoryMotion2D.createMotion2D(500, 0.5, 3, 100, 0.6, 0.5, false, tracker, new Homography2D_F64());

Line 77:		Line 77:

	// storage for segmented image. Background = 0, Foreground = 1		// storage for segmented image. Background = 0, Foreground = 1
	~~ImageUInt8~~ segmented = new ~~ImageUInt8~~(video.getNextWidth(),video.getNextHeight());		GrayU8 segmented = new GrayU8(video.getNextWidth(),video.getNextHeight());
	// Grey scale image that's the input for motion estimation		// Grey scale image that's the input for motion estimation
	~~ImageFloat32~~ grey = new ~~ImageFloat32~~(segmented.width,segmented.height);		GrayF32 grey = new GrayF32(segmented.width,segmented.height);

	// coordinate frames		// coordinate frames

Peter at 18:11, 9 November 2015

2015-11-09T18:11:10Z

← Older revision		Revision as of 18:11, 9 November 2015
Line 8:		Line 8:

	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.19/examples/src/boofcv/examples/tracking/ExampleBackgroundRemovalMoving.java ExampleBackgroundRemovalMoving.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.20/examples/src/boofcv/examples/tracking/ExampleBackgroundRemovalMoving.java ExampleBackgroundRemovalMoving.java]

	Concepts:		Concepts:
Line 32:		Line 32:

	// Example with a moving camera. Highlights why motion estimation is sometimes required		// Example with a moving camera. Highlights why motion estimation is sometimes required
	String fileName = "~~../data/applet/~~tracking/chipmunk.mjpeg";		String fileName = UtilIO.pathExample("tracking/chipmunk.mjpeg");
	// Camera has a bit of jitter in it. Static kinda works but motion reduces false positives		// Camera has a bit of jitter in it. Static kinda works but motion reduces false positives
	// String fileName = "~~../data/applet/~~background/horse_jitter.mp4";		// String fileName = UtilIO.pathExample("background/horse_jitter.mp4");

	// Comment/Uncomment to switch input image type		// Comment/Uncomment to switch input image type
Line 70:		Line 70:

	MediaManager media = DefaultMediaManager.INSTANCE;		MediaManager media = DefaultMediaManager.INSTANCE;
	SimpleImageSequence video = media.openVideo(fileName, background.getImageType());		SimpleImageSequence video =
			media.openVideo(fileName, background.getImageType());
			// media.openCamera(null,640,480,background.getImageType());

	//====== Initialize Images		//====== Initialize Images

Peter: Undo revision 1623 by Peter (talk)

2015-09-20T04:39:17Z

Undo revision 1623 by Peter (talk)

Show changes

Peter at 04:37, 20 September 2015

2015-09-20T04:37:57Z

Show changes

Peter at 04:32, 20 September 2015

2015-09-20T04:32:50Z

← Older revision		Revision as of 04:32, 20 September 2015
Line 15:		Line 15:

	Related Examples:		Related Examples:
	* [[~~Example_Background_Static_Camera~~\| Background ~~Static~~ Camera]]		* [[Example_Background_Stationary_Camera\| Background Stationary Camera]]

	= Example Code =		= Example Code =

← Older revision		Revision as of 21:13, 12 July 2021
Line 8:		Line 8:

	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/tracking/ExampleBackgroundRemovalMoving.java ExampleBackgroundRemovalMoving.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/tracking/ExampleBackgroundRemovalMoving.java ExampleBackgroundRemovalMoving.java]

	Concepts:		Concepts:
Line 21:		Line 21:
	<syntaxhighlight lang="java">		<syntaxhighlight lang="java">
	/**		/**
	* Example showing how to perform background modeling with a moving camera. Here the camera's motion is explicitly		* Example showing how to perform background modeling with a moving camera. Here the camera's motion is explicitly
	* estimated using a motion model. That motion model is then used to distort the image and generate background.		* estimated using a motion model. That motion model is then used to distort the image and generate background.
	* The net affect is a significant reduction in false positives around the objects of images in oscillating cameras		* The net affect is a significant reduction in false positives around the objects of images in oscillating cameras
	* and the ability to detect motion in moving scenes.		* and the ability to detect motion in moving scenes.
Line 30:		Line 30:
	public class ExampleBackgroundRemovalMoving {		public class ExampleBackgroundRemovalMoving {
	public static void main( String[] args ) {		public static void main( String[] args ) {
	// Example with a moving camera. Highlights why motion estimation is sometimes required		// Example with a moving camera. Highlights why motion estimation is sometimes required
	String fileName = UtilIO.pathExample("tracking/chipmunk.mjpeg");		String fileName = UtilIO.pathExample("tracking/chipmunk.mjpeg");
	// Camera has a bit of jitter in it. Static kinda works but motion reduces false positives		// Camera has a bit of jitter in it. Static kinda works but motion reduces false positives
	// String fileName = UtilIO.pathExample("background/horse_jitter.mp4");		// String fileName = UtilIO.pathExample("background/horse_jitter.mp4");

Line 56:		Line 56:
	ConfigBackgroundBasic configBasic = new ConfigBackgroundBasic(30, 0.005f);		ConfigBackgroundBasic configBasic = new ConfigBackgroundBasic(30, 0.005f);

	// Configuration for Gaussian model. Note that the threshold changes depending on the number of image bands		// Configuration for Gaussian model. Note that the threshold changes depending on the number of image bands
	// 12 = gray scale and 40 = color		// 12 = gray scale and 40 = color
	ConfigBackgroundGaussian configGaussian = new ConfigBackgroundGaussian(12, 0.001f);		ConfigBackgroundGaussian configGaussian = new ConfigBackgroundGaussian(12, 0.001f);
Line 83:		Line 83:
	//====== Initialize Images		//====== Initialize Images

	// storage for segmented image. Background = 0, Foreground = 1		// storage for segmented image. Background = 0, Foreground = 1
	GrayU8 segmented = new GrayU8(video.getWidth(), video.getHeight());		GrayU8 segmented = new GrayU8(video.getWidth(), video.getHeight());
	// Grey scale image that's the input for motion estimation		// Grey scale image that's the input for motion estimation
Line 94:		Line 94:
	homeToWorld.a23 = grey.height/2;		homeToWorld.a23 = grey.height/2;

	// Create a background image twice the size of the input image. Tell it that the home is in the center		// Create a background image twice the size of the input image. Tell it that the home is in the center
	background.initialize(grey.width2, grey.height2, homeToWorld);		background.initialize(grey.width2, grey.height2, homeToWorld);