class DiffSegmentation(SegmentationBase):
"""
This method will do image segmentation by looking at the difference between
two frames.
grayOnly - use only gray images.
threshold - The value at which we consider the color difference to
be significant enough to be foreground imagery.
The general usage is
>>> segmentor = DiffSegmentation()
>>> cam = Camera()
>>> while(1):
>>> segmentor.addImage(cam.getImage())
>>> if(segmentor.isReady()):
>>> img = segmentor.getSegmentedImage()
"""
mError = False
mLastImg = None
mCurrImg = None
mDiffImg = None
mColorImg = None
mGrayOnlyMode = True
mThreshold = 10
mBlobMaker = None
def __init__(self, grayOnly=False, threshold=(10, 10, 10)):
self.mGrayOnlyMode = grayOnly
self.mThreshold = threshold
self.mError = False
self.mCurrImg = None
self.mLastImg = None
self.mDiffImg = None
self.mColorImg = None
self.mBlobMaker = BlobMaker()
def addImage(self, img):
"""
Add a single image to the segmentation algorithm
"""
if (img is None):
return
if (self.mLastImg == None):
if (self.mGrayOnlyMode):
self.mLastImg = img.toGray()
self.mDiffImg = Image(self.mLastImg.getEmpty(1))
self.mCurrImg = None
else:
self.mLastImg = img
self.mDiffImg = Image(self.mLastImg.getEmpty(3))
self.mCurrImg = None
else:
if (self.mCurrImg is not None): #catch the first step
self.mLastImg = self.mCurrImg
if (self.mGrayOnlyMode):
self.mColorImg = img
self.mCurrImg = img.toGray()
else:
self.mColorImg = img
self.mCurrImg = img
cv.AbsDiff(self.mCurrImg.getBitmap(), self.mLastImg.getBitmap(),
self.mDiffImg.getBitmap())
return
def isReady(self):
"""
Returns true if the camera has a segmented image ready.
"""
if (self.mDiffImg is None):
return False
else:
return True
def isError(self):
"""
Returns true if the segmentation system has detected an error.
Eventually we'll consruct a syntax of errors so this becomes
more expressive
"""
return self.mError #need to make a generic error checker
def resetError(self):
"""
Clear the previous error.
"""
self.mError = False
return
def reset(self):
"""
Perform a reset of the segmentation systems underlying data.
"""
self.mCurrImg = None
self.mLastImg = None
self.mDiffImg = None
def getRawImage(self):
"""
Return the segmented image with white representing the foreground
and black the background.
"""
return self.mDiffImg
def getSegmentedImage(self, whiteFG=True):
"""
Return the segmented image with white representing the foreground
and black the background.
"""
retVal = None
if (whiteFG):
retVal = self.mDiffImg.binarize(thresh=self.mThreshold)
else:
retVal = self.mDiffImg.binarize(thresh=self.mThreshold).invert()
return retVal
def getSegmentedBlobs(self):
"""
return the segmented blobs from the fg/bg image
"""
retVal = []
if (self.mColorImg is not None and self.mDiffImg is not None):
retVal = self.mBlobMaker.extractFromBinary(
self.mDiffImg.binarize(thresh=self.mThreshold), self.mColorImg)
return retVal
def __getstate__(self):
mydict = self.__dict__.copy()
self.mBlobMaker = None
del mydict['mBlobMaker']
return mydict
def __setstate__(self, mydict):
self.__dict__ = mydict
self.mBlobMaker = BlobMaker()
class DiffSegmentation(SegmentationBase):
"""
This method will do image segmentation by looking at the difference between
two frames.
grayOnly - use only gray images.
threshold - The value at which we consider the color difference to
be significant enough to be foreground imagery.
The general usage is
>>> segmentor = DiffSegmentation()
>>> cam = Camera()
>>> while(1):
>>> segmentor.addImage(cam.getImage())
>>> if(segmentor.isReady()):
>>> img = segmentor.getSegmentedImage()
"""
mError = False
mLastImg = None
mCurrImg = None
mDiffImg = None
mColorImg = None
mGrayOnlyMode = True
mThreshold = 10
mBlobMaker = None
def __init__(self, grayOnly=False, threshold = (10,10,10) ):
self.mGrayOnlyMode = grayOnly
self.mThreshold = threshold
self.mError = False
self.mCurrImg = None
self.mLastImg = None
self.mDiffImg = None
self.mColorImg = None
self.mBlobMaker = BlobMaker()
def addImage(self, img):
"""
Add a single image to the segmentation algorithm
"""
if( img is None ):
return
if( self.mLastImg == None ):
if( self.mGrayOnlyMode ):
self.mLastImg = img.toGray()
self.mDiffImg = Image(self.mLastImg.getEmpty(1))
self.mCurrImg = None
else:
self.mLastImg = img
self.mDiffImg = Image(self.mLastImg.getEmpty(3))
self.mCurrImg = None
else:
if( self.mCurrImg is not None ): #catch the first step
self.mLastImg = self.mCurrImg
if( self.mGrayOnlyMode ):
self.mColorImg = img
self.mCurrImg = img.toGray()
else:
self.mColorImg = img
self.mCurrImg = img
cv.AbsDiff(self.mCurrImg.getBitmap(),self.mLastImg.getBitmap(),self.mDiffImg.getBitmap())
return
def isReady(self):
"""
Returns true if the camera has a segmented image ready.
"""
if( self.mDiffImg is None ):
return False
else:
return True
def isError(self):
"""
Returns true if the segmentation system has detected an error.
Eventually we'll consruct a syntax of errors so this becomes
more expressive
"""
return self.mError #need to make a generic error checker
def resetError(self):
"""
Clear the previous error.
"""
self.mError = False
return
def reset(self):
"""
Perform a reset of the segmentation systems underlying data.
"""
self.mCurrImg = None
self.mLastImg = None
self.mDiffImg = None
def getRawImage(self):
"""
Return the segmented image with white representing the foreground
and black the background.
"""
return self.mDiffImg
def getSegmentedImage(self, whiteFG=True):
"""
Return the segmented image with white representing the foreground
and black the background.
"""
retVal = None
if( whiteFG ):
retVal = self.mDiffImg.binarize(thresh=self.mThreshold)
else:
retVal = self.mDiffImg.binarize(thresh=self.mThreshold).invert()
return retVal
def getSegmentedBlobs(self):
"""
return the segmented blobs from the fg/bg image
"""
retVal = []
if( self.mColorImg is not None and self.mDiffImg is not None ):
retVal = self.mBlobMaker.extractFromBinary(self.mDiffImg.binarize(thresh=self.mThreshold),self.mColorImg)
return retVal
def __getstate__(self):
mydict = self.__dict__.copy()
self.mBlobMaker = None
del mydict['mBlobMaker']
return mydict
def __setstate__(self, mydict):
self.__dict__ = mydict
self.mBlobMaker = BlobMaker()
class RunningSegmentation(SegmentationBase):
"""
RunningSegmentation performs segmentation using a running background model.
This model uses an accumulator which performs a running average of previous frames
where:
accumulator = ((1-alpha)input_image)+((alpha)accumulator)
"""
mError = False
mAlpha = 0.1
mThresh = 10
mModelImg = None
mDiffImg = None
mCurrImg = None
mBlobMaker = None
mGrayOnly = True
mReady = False
def __init__(self, alpha=0.7, thresh=(20,20,20)):
"""
Create an running background difference.
alpha - the update weighting where:
accumulator = ((1-alpha)input_image)+((alpha)accumulator)
threshold - the foreground background difference threshold.
"""
self.mError = False
self.mReady = False
self.mAlpha = alpha
self.mThresh = thresh
self.mModelImg = None
self.mDiffImg = None
self.mColorImg = None
self.mBlobMaker = BlobMaker()
def addImage(self, img):
"""
Add a single image to the segmentation algorithm
"""
if( img is None ):
return
self.mColorImg = img
if( self.mModelImg == None ):
self.mModelImg = Image(cv.CreateImage((img.width,img.height), cv.IPL_DEPTH_32F, 3))
self.mDiffImg = Image(cv.CreateImage((img.width,img.height), cv.IPL_DEPTH_32F, 3))
else:
# do the difference
cv.AbsDiff(self.mModelImg.getBitmap(),img.getFPMatrix(),self.mDiffImg.getBitmap())
#update the model
cv.RunningAvg(img.getFPMatrix(),self.mModelImg.getBitmap(),self.mAlpha)
self.mReady = True
return
def isReady(self):
"""
Returns true if the camera has a segmented image ready.
"""
return self.mReady
def isError(self):
"""
Returns true if the segmentation system has detected an error.
Eventually we'll consruct a syntax of errors so this becomes
more expressive
"""
return self.mError #need to make a generic error checker
def resetError(self):
"""
Clear the previous error.
"""
self.mError = false
return
def reset(self):
"""
Perform a reset of the segmentation systems underlying data.
"""
self.mModelImg = None
self.mDiffImg = None
def getRawImage(self):
"""
Return the segmented image with white representing the foreground
and black the background.
"""
return self._floatToInt(self.mDiffImg)
def getSegmentedImage(self, whiteFG=True):
"""
Return the segmented image with white representing the foreground
and black the background.
"""
retVal = None
img = self._floatToInt(self.mDiffImg)
if( whiteFG ):
retVal = img.binarize(thresh=self.mThresh)
else:
retVal = img.binarize(thresh=self.mThresh).invert()
return retVal
def getSegmentedBlobs(self):
"""
return the segmented blobs from the fg/bg image
"""
retVal = []
if( self.mColorImg is not None and self.mDiffImg is not None ):
eightBit = self._floatToInt(self.mDiffImg)
retVal = self.mBlobMaker.extractFromBinary(eightBit.binarize(thresh=self.mThresh),self.mColorImg)
return retVal
def _floatToInt(self,input):
"""
convert a 32bit floating point cv array to an int array
"""
temp = cv.CreateImage((input.width,input.height), cv.IPL_DEPTH_8U, 3)
cv.Convert(input.getBitmap(),temp)
return Image(temp)
def __getstate__(self):
mydict = self.__dict__.copy()
self.mBlobMaker = None
self.mModelImg = None
self.mDiffImg = None
del mydict['mBlobMaker']
del mydict['mModelImg']
del mydict['mDiffImg']
return mydict
def __setstate__(self, mydict):
self.__dict__ = mydict
self.mBlobMaker = BlobMaker()
class RunningSegmentation(SegmentationBase):
"""
RunningSegmentation performs segmentation using a running background model.
This model uses an accumulator which performs a running average of previous frames
where:
accumulator = ((1-alpha)input_image)+((alpha)accumulator)
"""
mError = False
mAlpha = 0.1
mThresh = 10
mModelImg = None
mDiffImg = None
mCurrImg = None
mBlobMaker = None
mGrayOnly = True
mReady = False
def __init__(self, alpha=0.7, thresh=(20,20,20)):
"""
Create an running background difference.
alpha - the update weighting where:
accumulator = ((1-alpha)input_image)+((alpha)accumulator)
threshold - the foreground background difference threshold.
"""
self.mError = False
self.mReady = False
self.mAlpha = alpha
self.mThresh = thresh
self.mModelImg = None
self.mDiffImg = None
self.mColorImg = None
self.mBlobMaker = BlobMaker()
def addImage(self, img):
"""
Add a single image to the segmentation algorithm
"""
if( img is None ):
return
self.mColorImg = img
if( self.mModelImg == None ):
self.mModelImg = Image(cv.CreateImage((img.width,img.height), cv.IPL_DEPTH_32F, 3))
self.mDiffImg = Image(cv.CreateImage((img.width,img.height), cv.IPL_DEPTH_32F, 3))
else:
# do the difference
cv.AbsDiff(self.mModelImg.getBitmap(),img.getFPMatrix(),self.mDiffImg.getBitmap())
#update the model
cv.RunningAvg(img.getFPMatrix(),self.mModelImg.getBitmap(),self.mAlpha)
self.mReady = True
return
def isReady(self):
"""
Returns true if the camera has a segmented image ready.
"""
return self.mReady
def isError(self):
"""
Returns true if the segmentation system has detected an error.
Eventually we'll consruct a syntax of errors so this becomes
more expressive
"""
return self.mError #need to make a generic error checker
def resetError(self):
"""
Clear the previous error.
"""
self.mError = false
return
def reset(self):
"""
Perform a reset of the segmentation systems underlying data.
"""
self.mModelImg = None
self.mDiffImg = None
def getRawImage(self):
"""
Return the segmented image with white representing the foreground
and black the background.
"""
return self._floatToInt(self.mDiffImg)
def getSegmentedImage(self, whiteFG=True):
"""
Return the segmented image with white representing the foreground
and black the background.
"""
retVal = None
img = self._floatToInt(self.mDiffImg)
if( whiteFG ):
retVal = img.binarize(thresh=self.mThresh)
else:
retVal = img.binarize(thresh=self.mThresh).invert()
return retVal
def getSegmentedBlobs(self):
"""
return the segmented blobs from the fg/bg image
"""
retVal = []
if( self.mColorImg is not None and self.mDiffImg is not None ):
eightBit = self._floatToInt(self.mDiffImg)
retVal = self.mBlobMaker.extractFromBinary(eightBit.binarize(thresh=self.mThresh),self.mColorImg)
return retVal
def _floatToInt(self,input):
"""
convert a 32bit floating point cv array to an int array
"""
temp = cv.CreateImage((input.width,input.height), cv.IPL_DEPTH_8U, 3)
cv.Convert(input.getBitmap(),temp)
return Image(temp)
def __getstate__(self):
mydict = self.__dict__.copy()
self.mBlobMaker = None
self.mModelImg = None
self.mDiffImg = None
del mydict['mBlobMaker']
del mydict['mModelImg']
del mydict['mDiffImg']
return mydict
def __setstate__(self, mydict):
self.__dict__ = mydict
self.mBlobMaker = BlobMaker()