From d9d51c12aee7ac5c35b58b9b247d28011ae84353 Mon Sep 17 00:00:00 2001
From: Moritz Maxeiner <mm@ucw.sh>
Date: Mon, 15 Nov 2021 01:25:40 +0100
Subject: [PATCH] Replace erroneous subtraction leading to underflow.
Instead allow selection between two new subtractions:
1. Absolute Difference
2. Saturated Difference (Truncation at 0,255 limits)
---
Src/Config.cpp | 2 +
Src/Config.h | 2 +
Src/Model/TrackerParameter.cpp | 15 +++++++-
Src/Model/TrackerParameter.h | 38 ++++++-------------
.../CustomBackgroundSubtractor.cpp | 23 ++++++++++-
.../preprocessor/CustomBackgroundSubtractor.h | 5 +++
.../preprocessor/ImagePreProcessor.cpp | 1 +
Src/View/TrackerParameterView.cpp | 20 ++++++++--
Src/View/TrackerParameterView.h | 3 ++
9 files changed, 77 insertions(+), 32 deletions(-)
diff --git a/Src/Config.cpp b/Src/Config.cpp
index ef92d20..72e8d3c 100644
--- a/Src/Config.cpp
+++ b/Src/Config.cpp
@@ -51,6 +51,7 @@ void Config::load(QString dir, QString file)
config->EnableSwap = tree.get<int>(globalPrefix+"EnableSwap",config->EnableSwap);
config->EnableAdd = tree.get<int>(globalPrefix+"EnableAdd",config->EnableAdd);
config->EnableRotate = tree.get<int>(globalPrefix+"EnableRotate",config->EnableRotate);
+ config->UseAbsoluteDifference = tree.get<bool>(globalPrefix+"UseAbsoluteDifference",config->UseAbsoluteDifference);
config->BinarizationThreshold = tree.get<int>(globalPrefix+"BinarizationThreshold",config->BinarizationThreshold);
config->SizeErode = tree.get<int>(globalPrefix+"SizeErode",config->SizeErode);
config->SizeDilate = tree.get<int>(globalPrefix+"SizeDilate",config->SizeDilate);
@@ -77,6 +78,7 @@ void Config::save(QString dir, QString file)
tree.put(globalPrefix+"EnableSwap", config->EnableSwap);
tree.put(globalPrefix+"EnableAdd", config->EnableAdd);
tree.put(globalPrefix+"EnableRotate", config->EnableRotate);
+ tree.put(globalPrefix+"UseAbsoluteDifference", config->UseAbsoluteDifference);
tree.put(globalPrefix+"BinarizationThreshold", config->BinarizationThreshold);
tree.put(globalPrefix+"SizeErode", config->SizeErode);
tree.put(globalPrefix+"SizeDilate", config->SizeDilate);
diff --git a/Src/Config.h b/Src/Config.h
index 31f70ba..f268060 100644
--- a/Src/Config.h
+++ b/Src/Config.h
@@ -7,7 +7,9 @@
class Config : public IConfig
{
public:
+ bool UseAbsoluteDifference = true;
int BinarizationThreshold = 40;
+
int SizeErode = 8;
int SizeDilate = 8;
int MinBlobSize = 40;
diff --git a/Src/Model/TrackerParameter.cpp b/Src/Model/TrackerParameter.cpp
index 8363a86..645159c 100644
--- a/Src/Model/TrackerParameter.cpp
+++ b/Src/Model/TrackerParameter.cpp
@@ -7,7 +7,7 @@ TrackerParameter::TrackerParameter(QObject *parent) :
_cfg = static_cast<ControllerTrackingAlgorithm*>(parent)->getConfig();
-
+ _UseAbsoluteDifference = _cfg->UseAbsoluteDifference;
_BinarizationThreshold = _cfg->BinarizationThreshold;
_SizeErode = _cfg->SizeErode;
_SizeDilate = _cfg->SizeDilate;
@@ -38,4 +38,17 @@ void TrackerParameter::setBinarizationThreshold(int x)
int TrackerParameter::getBinarizationThreshold()
{
return _BinarizationThreshold;
+}
+
+
+void TrackerParameter::setUseAbsoluteDifference(bool value)
+{
+ _UseAbsoluteDifference = value;
+ _cfg->UseAbsoluteDifference = value;
+ Q_EMIT notifyView();
+}
+
+bool TrackerParameter::getUseAbsoluteDifference()
+{
+ return _UseAbsoluteDifference;
}
\ No newline at end of file
diff --git a/Src/Model/TrackerParameter.h b/Src/Model/TrackerParameter.h
index db3384f..5ad37d1 100644
--- a/Src/Model/TrackerParameter.h
+++ b/Src/Model/TrackerParameter.h
@@ -18,48 +18,58 @@ public slots:
_algorithm = algorithm;
}
+ void setUseAbsoluteDifference(bool x);
+ bool getUseAbsoluteDifference();
+
void setBinarizationThreshold(int x);
int getBinarizationThreshold();
int getSizeErode() { return _SizeErode; };
void setSizeErode(int x) {
_SizeErode = x;
+ _cfg->SizeErode = x;
Q_EMIT notifyView();
};
int getSizeDilate() { return _SizeDilate; };
void setSizeDilate(int x) {
_SizeDilate = x;
+ _cfg->SizeDilate = x;
Q_EMIT notifyView();
};
double getLearningRate() { return _LearningRate; };
void setLearningRate(double x) {
_LearningRate = x;
+ _cfg->LearningRate = x;
Q_EMIT notifyView();
};
double getMinBlobSize() { return _MinBlobSize; };
void setMinBlobSize(double x) {
_MinBlobSize = x;
+ _cfg->MinBlobSize = x;
Q_EMIT notifyView();
};
double getMaxBlobSize() { return _MaxBlobSize; };
void setMaxBlobSize(double x) {
_MaxBlobSize = x;
+ _cfg->MaxBlobSize = x;
Q_EMIT notifyView();
};
bool getDoBackground() { return _doBackground; };
void setDoBackground(bool x) {
_doBackground = x;
+ _cfg->DoBackground = x;
Q_EMIT notifyView();
};
bool getDoNetwork() { return _doNetwork; };
void setDoNetwork(bool x) {
_doNetwork = x;
+ _cfg->DoNetwork = x;
Q_EMIT notifyView();
};
@@ -86,38 +96,14 @@ public slots:
void setNewSelection(std::string x) {
_newSelection = x;
}
-
-
- void setAll(
- int BinarizationThreshold,
- int SizeErode,
- int SizeDilate,
- double LearningRate,
- int minBlobSize,
- int maxBlobSize)
- {
- _BinarizationThreshold = BinarizationThreshold;
- _SizeErode = SizeErode;
- _SizeDilate = SizeDilate;
- _LearningRate = LearningRate;
- _MinBlobSize = minBlobSize;
- _MaxBlobSize = maxBlobSize;
- _cfg->BinarizationThreshold = BinarizationThreshold;
- _cfg->SizeErode = SizeErode;
- _cfg->SizeDilate = SizeDilate;
- _cfg->MinBlobSize = minBlobSize;
- _cfg->MaxBlobSize = maxBlobSize;
- _cfg->LearningRate = LearningRate;
- Q_EMIT notifyView();
- };
-
-
private:
QString _algorithm;
+ bool _UseAbsoluteDifference;
int _BinarizationThreshold;
+
int _SizeErode;
int _SizeDilate;
double _LearningRate;
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/CustomBackgroundSubtractor.cpp b/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/CustomBackgroundSubtractor.cpp
index 95e46cc..cf8f62a 100644
--- a/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/CustomBackgroundSubtractor.cpp
+++ b/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/CustomBackgroundSubtractor.cpp
@@ -5,6 +5,18 @@
#include <opencv2/imgproc.hpp>
+CustomBackgroundSubtractor::CustomBackgroundSubtractor()
+: m_useAbsoluteDifference{true}
+, m_binarizationThreshold{8}
+{
+
+}
+
+void CustomBackgroundSubtractor::setUseAbsoluteDifference(bool value)
+{
+ m_useAbsoluteDifference = value;
+}
+
void CustomBackgroundSubtractor::setBinarizationThreshold(int value)
{
m_binarizationThreshold = value;
@@ -33,7 +45,9 @@ void CustomBackgroundSubtractor::apply(cv::InputArray image, cv::OutputArray fgm
auto fgmaskmat = fgmask.getMat();
- auto workOnRegion = [&](int x, int y) {
+ const auto useAbsoluteDifference = m_useAbsoluteDifference;
+
+ auto workOnRegion = [&, useAbsoluteDifference](int x, int y) {
const int startingX = x * regionWidth;
const int startingY = y * regionHeight;
const cv::Rect subArea = cv::Rect(startingX, startingY, regionWidth, regionHeight);
@@ -41,7 +55,12 @@ void CustomBackgroundSubtractor::apply(cv::InputArray image, cv::OutputArray fgm
cv::Mat subImage = image.getMat()(subArea);
cv::Mat subResults = fgmaskmat(subArea);
- subResults = (subBackground - subImage);
+ if (useAbsoluteDifference) {
+ cv::absdiff(subBackground, subImage, subResults);
+ } else {
+ cv::subtract(subBackground, subImage, subResults);
+ }
+
subBackground = (1.0 - learningRate) * subBackground + learningRate * subImage;
};
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/CustomBackgroundSubtractor.h b/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/CustomBackgroundSubtractor.h
index 551748c..94c79b0 100644
--- a/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/CustomBackgroundSubtractor.h
+++ b/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/CustomBackgroundSubtractor.h
@@ -5,14 +5,19 @@
class CustomBackgroundSubtractor : public cv::BackgroundSubtractor
{
public:
+ CustomBackgroundSubtractor();
+
void apply(cv::InputArray image, cv::OutputArray fgmask, double learningRate = -1) override;
void getBackgroundImage(cv::OutputArray backgroundImage) const override;
+ void setUseAbsoluteDifference(bool value);
void setBinarizationThreshold(int value);
private:
cv::Mat m_background;
+ bool m_useAbsoluteDifference;
+
int m_binarizationThreshold;
};
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.cpp b/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.cpp
index 621d935..9f241aa 100644
--- a/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.cpp
+++ b/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.cpp
@@ -85,6 +85,7 @@ cv::Mat ImagePreProcessor::backgroundSubtraction(cv::Mat& image)
if (m_TrackingParameter->getAlgorithm() != QString("Custom")) {
init();
}
+ subtractor->setUseAbsoluteDifference(m_TrackingParameter->getUseAbsoluteDifference());
subtractor->setBinarizationThreshold(m_TrackingParameter->getBinarizationThreshold());
} else {
qFatal("Unsupported background subtraction algorithm");
diff --git a/Src/View/TrackerParameterView.cpp b/Src/View/TrackerParameterView.cpp
index bf58593..5f21a2f 100644
--- a/Src/View/TrackerParameterView.cpp
+++ b/Src/View/TrackerParameterView.cpp
@@ -5,6 +5,7 @@
TrackerParameterView::TrackerParameterView(QWidget *parent, IController *controller, IModel *model) : IViewWidget(parent, controller, model),
_ui(new Ui::TrackerParameterView),
+ _useAbsDiff(nullptr),
_binThres(nullptr)
{
_ui->setupUi(this);
@@ -31,6 +32,8 @@ TrackerParameterView::TrackerParameterView(QWidget *parent, IController *control
connect(_ui->lineEdit_7_learningRate, qOverload<double>(&QDoubleSpinBox::valueChanged), this, &TrackerParameterView::parametersChanged);
initSubtractorSpecificUI(_ui->algorithmCB->currentText());
+
+ _ui->algorithmCB->setEnabled(false);
}
TrackerParameterView::~TrackerParameterView()
@@ -46,11 +49,18 @@ void TrackerParameterView::initSubtractorSpecificUI(QString algorithm)
_ui->algorithmSpecificParameterLayout->removeRow(0);
}
- if (_binThres) {
- _binThres = nullptr;
- }
+ _useAbsDiff = nullptr;
+ _binThres = nullptr;
if (algorithm == QString("Custom")) {
+ _useAbsDiff = new QCheckBox();
+ _useAbsDiff->setText(" ");
+ _useAbsDiff->setChecked(parameter->getUseAbsoluteDifference());
+ _ui->algorithmSpecificParameterLayout->addRow(tr("Use Absolute Difference:"), _useAbsDiff);
+
+ connect(_useAbsDiff, &QCheckBox::toggled, parameter, &TrackerParameter::setUseAbsoluteDifference);
+ connect(_useAbsDiff, &QCheckBox::toggled, this, &TrackerParameterView::parametersChanged);
+
_binThres = new QSpinBox();
_binThres->setMinimum(1);
_binThres->setMaximum(255);
@@ -85,6 +95,10 @@ void TrackerParameterView::getNotified()
_ui->lineEdit_7_learningRate->setValue(parameter->getLearningRate());
+ if (_useAbsDiff) {
+ _useAbsDiff->setChecked(parameter->getUseAbsoluteDifference());
+ }
+
if (_binThres) {
_binThres->setValue(parameter->getBinarizationThreshold());
}
diff --git a/Src/View/TrackerParameterView.h b/Src/View/TrackerParameterView.h
index 6412b0b..172a0e9 100644
--- a/Src/View/TrackerParameterView.h
+++ b/Src/View/TrackerParameterView.h
@@ -5,6 +5,7 @@
#include "../Model/TrackerParameter.h"
#include <QSpinBox>
+#include <QCheckBox>
namespace Ui {
class TrackerParameterView;
@@ -31,6 +32,8 @@ public:
private:
Ui::TrackerParameterView *_ui;
+ QCheckBox* _useAbsDiff;
+
QSpinBox* _binThres;
private slots:
--
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