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added background subtraction sample for gpu module

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This commit is contained in:
Vladislav Vinogradov 2012-06-25 12:48:54 +00:00
parent 3a4353f04d
commit d85ef03a42
5 changed files with 226 additions and 9 deletions
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4
modules/gpu/include/opencv2/gpu/gpu.hpp
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@ -1984,6 +1984,9 @@ public:
//! the update operator
void operator()(const GpuMat& frame, GpuMat& fgmask, float learningRate = 0.0f, Stream& stream = Stream::Null());
//! computes a background image which are the mean of all background gaussians
void getBackgroundImage(GpuMat& backgroundImage, Stream& stream = Stream::Null()) const;
int history;
float varThreshold;
float backgroundRatio;
@ -1993,6 +1996,7 @@ private:
int nmixtures_;
Size frameSize_;
int frameType_;
int nframes_;
GpuMat weight_;

18
modules/gpu/src/bgfg_mog.cpp
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@ -47,6 +47,7 @@
cv::gpu::MOG_GPU::MOG_GPU(int) { throw_nogpu(); }
void cv::gpu::MOG_GPU::initialize(cv::Size, int) { throw_nogpu(); }
void cv::gpu::MOG_GPU::operator()(const cv::gpu::GpuMat&, cv::gpu::GpuMat&, float, Stream&) { throw_nogpu(); }
void cv::gpu::MOG_GPU::getBackgroundImage(GpuMat&, Stream&) const { throw_nogpu(); }
cv::gpu::MOG2_GPU::MOG2_GPU(int) { throw_nogpu(); }
void cv::gpu::MOG2_GPU::initialize(cv::Size, int) { throw_nogpu(); }
@ -62,10 +63,11 @@ namespace cv { namespace gpu { namespace device
void mog_gpu(DevMem2Db frame, int cn, DevMem2Db fgmask, DevMem2Df weight, DevMem2Df sortKey, DevMem2Db mean, DevMem2Db var,
int nmixtures, float varThreshold, float learningRate, float backgroundRatio, float noiseSigma,
cudaStream_t stream);
void getBackgroundImage_gpu(int cn, DevMem2Df weight, DevMem2Db mean, DevMem2Db dst, int nmixtures, float backgroundRatio, cudaStream_t stream);
void loadConstants(int nmixtures, float Tb, float TB, float Tg, float varInit, float varMin, float varMax, float tau, unsigned char shadowVal);
void mog2_gpu(DevMem2Db frame, int cn, DevMem2Db fgmask, DevMem2Db modesUsed, DevMem2Df weight, DevMem2Df variance, DevMem2Db mean, float alphaT, float prune, bool detectShadows, cudaStream_t stream);
void getBackgroundImage_gpu(int cn, DevMem2Db modesUsed, DevMem2Df weight, DevMem2Db mean, DevMem2Db dst, cudaStream_t stream);
void getBackgroundImage2_gpu(int cn, DevMem2Db modesUsed, DevMem2Df weight, DevMem2Db mean, DevMem2Db dst, cudaStream_t stream);
}
}}}
@ -80,7 +82,7 @@ namespace mog
}
cv::gpu::MOG_GPU::MOG_GPU(int nmixtures) :
frameSize_(0, 0), nframes_(0)
frameSize_(0, 0), frameType_(0), nframes_(0)
{
nmixtures_ = std::min(nmixtures > 0 ? nmixtures : mog::defaultNMixtures, 8);
history = mog::defaultHistory;
@ -94,6 +96,7 @@ void cv::gpu::MOG_GPU::initialize(cv::Size frameSize, int frameType)
CV_Assert(frameType == CV_8UC1 || frameType == CV_8UC3 || frameType == CV_8UC4);
frameSize_ = frameSize;
frameType_ = frameType;
int ch = CV_MAT_CN(frameType);
int work_ch = ch;
@ -139,6 +142,15 @@ void cv::gpu::MOG_GPU::operator()(const cv::gpu::GpuMat& frame, cv::gpu::GpuMat&
StreamAccessor::getStream(stream));
}
void cv::gpu::MOG_GPU::getBackgroundImage(GpuMat& backgroundImage, Stream& stream) const
{
using namespace cv::gpu::device::mog;
backgroundImage.create(frameSize_, frameType_);
getBackgroundImage_gpu(backgroundImage.channels(), weight_, mean_, backgroundImage, nmixtures_, backgroundRatio, StreamAccessor::getStream(stream));
}
/////////////////////////////////////////////////////////////////
// MOG2
@ -235,7 +247,7 @@ void cv::gpu::MOG2_GPU::getBackgroundImage(GpuMat& backgroundImage, Stream& stre
backgroundImage.create(frameSize_, frameType_);
getBackgroundImage_gpu(backgroundImage.channels(), bgmodelUsedModes_, weight_, mean_, backgroundImage, StreamAccessor::getStream(stream));
getBackgroundImage2_gpu(backgroundImage.channels(), bgmodelUsedModes_, weight_, mean_, backgroundImage, StreamAccessor::getStream(stream));
}
#endif

69
modules/gpu/src/cuda/bgfg_mog.cu
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@ -369,6 +369,63 @@ namespace cv { namespace gpu { namespace device
withoutLearning[cn](frame, fgmask, weight, mean, var, nmixtures, varThreshold, backgroundRatio, stream);
}
template <typename WorkT, typename OutT>
__global__ void getBackgroundImage(const PtrStepf gmm_weight, const PtrStep_<WorkT> gmm_mean, DevMem2D_<OutT> dst, const int nmixtures, const float backgroundRatio)
{
const int x = blockIdx.x * blockDim.x + threadIdx.x;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
if (x >= dst.cols || y >= dst.rows)
return;
WorkT meanVal = VecTraits<WorkT>::all(0.0f);
float totalWeight = 0.0f;
for (int mode = 0; mode < nmixtures; ++mode)
{
float weight = gmm_weight(mode * dst.rows + y, x);
WorkT mean = gmm_mean(mode * dst.rows + y, x);
meanVal = meanVal + weight * mean;
totalWeight += weight;
if(totalWeight > backgroundRatio)
break;
}
meanVal = meanVal * (1.f / totalWeight);
dst(y, x) = saturate_cast<OutT>(meanVal);
}
template <typename WorkT, typename OutT>
void getBackgroundImage_caller(DevMem2Df weight, DevMem2Db mean, DevMem2Db dst, int nmixtures, float backgroundRatio, cudaStream_t stream)
{
dim3 block(32, 8);
dim3 grid(divUp(dst.cols, block.x), divUp(dst.rows, block.y));
cudaSafeCall( cudaFuncSetCacheConfig(getBackgroundImage<WorkT, OutT>, cudaFuncCachePreferL1) );
getBackgroundImage<WorkT, OutT><<<grid, block, 0, stream>>>(weight, (DevMem2D_<WorkT>) mean, (DevMem2D_<OutT>) dst, nmixtures, backgroundRatio);
cudaSafeCall( cudaGetLastError() );
if (stream == 0)
cudaSafeCall( cudaDeviceSynchronize() );
}
void getBackgroundImage_gpu(int cn, DevMem2Df weight, DevMem2Db mean, DevMem2Db dst, int nmixtures, float backgroundRatio, cudaStream_t stream)
{
typedef void (*func_t)(DevMem2Df weight, DevMem2Db mean, DevMem2Db dst, int nmixtures, float backgroundRatio, cudaStream_t stream);
static const func_t funcs[] =
{
0, getBackgroundImage_caller<float, uchar>, 0, getBackgroundImage_caller<float3, uchar3>, getBackgroundImage_caller<float4, uchar4>
};
funcs[cn](weight, mean, dst, nmixtures, backgroundRatio, stream);
}
///////////////////////////////////////////////////////////////
// MOG2
@ -642,7 +699,7 @@ namespace cv { namespace gpu { namespace device
}
template <typename WorkT, typename OutT>
__global__ void getBackgroundImage(const DevMem2Db modesUsed, const PtrStepf gmm_weight, const PtrStep_<WorkT> gmm_mean, PtrStep_<OutT> dst)
__global__ void getBackgroundImage2(const DevMem2Db modesUsed, const PtrStepf gmm_weight, const PtrStep_<WorkT> gmm_mean, PtrStep_<OutT> dst)
{
const int x = blockIdx.x * blockDim.x + threadIdx.x;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
@ -674,27 +731,27 @@ namespace cv { namespace gpu { namespace device
}
template <typename WorkT, typename OutT>
void getBackgroundImage_caller(DevMem2Db modesUsed, DevMem2Df weight, DevMem2Db mean, DevMem2Db dst, cudaStream_t stream)
void getBackgroundImage2_caller(DevMem2Db modesUsed, DevMem2Df weight, DevMem2Db mean, DevMem2Db dst, cudaStream_t stream)
{
dim3 block(32, 8);
dim3 grid(divUp(modesUsed.cols, block.x), divUp(modesUsed.rows, block.y));
cudaSafeCall( cudaFuncSetCacheConfig(getBackgroundImage<WorkT, OutT>, cudaFuncCachePreferL1) );
cudaSafeCall( cudaFuncSetCacheConfig(getBackgroundImage2<WorkT, OutT>, cudaFuncCachePreferL1) );
getBackgroundImage<WorkT, OutT><<<grid, block, 0, stream>>>(modesUsed, weight, (DevMem2D_<WorkT>) mean, (DevMem2D_<OutT>) dst);
getBackgroundImage2<WorkT, OutT><<<grid, block, 0, stream>>>(modesUsed, weight, (DevMem2D_<WorkT>) mean, (DevMem2D_<OutT>) dst);
cudaSafeCall( cudaGetLastError() );
if (stream == 0)
cudaSafeCall( cudaDeviceSynchronize() );
}
void getBackgroundImage_gpu(int cn, DevMem2Db modesUsed, DevMem2Df weight, DevMem2Db mean, DevMem2Db dst, cudaStream_t stream)
void getBackgroundImage2_gpu(int cn, DevMem2Db modesUsed, DevMem2Df weight, DevMem2Db mean, DevMem2Db dst, cudaStream_t stream)
{
typedef void (*func_t)(DevMem2Db modesUsed, DevMem2Df weight, DevMem2Db mean, DevMem2Db dst, cudaStream_t stream);
static const func_t funcs[] =
{
0, getBackgroundImage_caller<float, uchar>, 0, getBackgroundImage_caller<float3, uchar3>, getBackgroundImage_caller<float4, uchar4>
0, getBackgroundImage2_caller<float, uchar>, 0, getBackgroundImage2_caller<float3, uchar3>, getBackgroundImage2_caller<float4, uchar4>
};
funcs[cn](modesUsed, weight, mean, dst, stream);

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samples/gpu/768x576.avi
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144
samples/gpu/bgfg_segm.cpp Normal file
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@ -0,0 +1,144 @@
#include <iostream>
#include <string>
#include "opencv2/core/core.hpp"
#include "opencv2/gpu/gpu.hpp"
#include "opencv2/highgui/highgui.hpp"
using namespace std;
using namespace cv;
using namespace cv::gpu;
enum Method
{
FGD_STAT,
MOG,
MOG2
};
int main(int argc, const char** argv)
{
cv::CommandLineParser cmd(argc, argv,
"{ c | camera | false | use camera }"
"{ f | file | 768x576.avi | input video file }"
"{ m | method | mog | method (fgd_stat, mog, mog2) }"
"{ h | help | false | print help message }");
if (cmd.get<bool>("help"))
{
cout << "Usage : bgfg_segm [options]" << endl;
cout << "Avaible options:" << endl;
cmd.printParams();
return 0;
}
bool useCamera = cmd.get<bool>("camera");
string file = cmd.get<string>("file");
string method = cmd.get<string>("method");
if (method != "fgd_stat" && method != "mog" && method != "mog2")
{
cerr << "Incorrect method" << endl;
return -1;
}
Method m = method == "fgd_stat" ? FGD_STAT : method == "mog" ? MOG : MOG2;
VideoCapture cap;
if (useCamera)
cap.open(0);
else
cap.open(file);
if (!cap.isOpened())
{
cerr << "can not open camera or video file" << endl;
return -1;
}
Mat frame;
cap >> frame;
GpuMat d_frame(frame);
FGDStatModel fgd_stat;
MOG_GPU mog;
MOG2_GPU mog2;
GpuMat d_fgmask;
GpuMat d_fgimg;
GpuMat d_bgimg;
Mat fgmask;
Mat fgimg;
Mat bgimg;
switch (m)
{
case FGD_STAT:
fgd_stat.create(d_frame);
break;
case MOG:
mog(d_frame, d_fgmask, 0.01);
break;
case MOG2:
mog2(d_frame, d_fgmask);
break;
}
namedWindow("image", WINDOW_NORMAL);
namedWindow("foreground mask", WINDOW_NORMAL);
namedWindow("foreground image", WINDOW_NORMAL);
namedWindow("mean background image", WINDOW_NORMAL);
for(;;)
{
cap >> frame;
if (frame.empty())
break;
d_frame.upload(frame);
//update the model
switch (m)
{
case FGD_STAT:
fgd_stat.update(d_frame);
d_fgmask = fgd_stat.foreground;
d_bgimg = fgd_stat.background;
break;
case MOG:
mog(d_frame, d_fgmask, 0.01);
mog.getBackgroundImage(d_bgimg);
break;
case MOG2:
mog2(d_frame, d_fgmask);
mog2.getBackgroundImage(d_bgimg);
break;
}
d_fgimg.setTo(Scalar::all(0));
d_frame.copyTo(d_fgimg, d_fgmask);
d_fgmask.download(fgmask);
d_fgimg.download(fgimg);
if (!d_bgimg.empty())
d_bgimg.download(bgimg);
imshow("image", frame);
imshow("foreground mask", fgmask);
imshow("foreground image", fgimg);
if (!bgimg.empty())
imshow("mean background image", bgimg);
char key = waitKey(30);
if (key == 27)
break;
}
return 0;
}