GaussBackground.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
 
// IVT
#include "Image/ByteImage.h"
#include "Math/FloatVector.h"
#include "Math/Math2d.h"
 
// C
#include <math.h>
 
// probability distribution of a pixel in HS-space
struct CPixelProbabilityDistribution
{
    Vec2d vMean; // mean of the distribution
    Mat2d mCovariance; // inverse covariance matrix of the distribution (Sigma^-1)
 
    bool bShifted; // true if H-scale has been shifted by 128
    // to avoid overflow problems
    float fSatWeight; // weighting for the use of S-dist only vs HS-dist
};
 
// class for learning, representation and segmentation of a background using
// a normal distribution in HS-space
class CGaussBackground
{
public:
    CGaussBackground(const int nWidth, const int nHeight);
    ~CGaussBackground();
 
    void LearnBackgroundRGB(CByteImage** pRGBImages, const int nNumImages);
    void LearnBackground(CByteImage** pHSVImages, const int nNumImages);
 
    void GetBinaryForegroundImageRGB(const CByteImage* pInputImageRGB,
                                     CByteImage* pForegroundImage);
 
    void SegmentImageRGB(const CByteImage* pInputImageRGB, CByteImage* pProbabilityImage);
    void SegmentImageRGB(const CByteImage* pInputImageRGB, float* pProbabilityImage);
    void SegmentImage(const CByteImage* pInputImageRGB,
                      const CByteImage* pInputImageHSV,
                      CByteImage* pProbabilityImage);
    void SegmentImage(const CByteImage* pInputImageRGB,
                      const CByteImage* pInputImageHSV,
                      float* pProbabilityImage);
 
    void BinarizeAndFillHoles(CByteImage* pProbabilityImage);
 
private:
    inline void FillHolesHorVert(const CByteImage* pInputImage,
                                 CByteImage* pOutputImage,
                                 const int nRadius = 20);
    inline void
    FillHolesDiag(const CByteImage* pInputImage, CByteImage* pOutputImage, const int nRadius = 20);
    inline void FillHolesHorVertDiag(const CByteImage* pInputImage,
                                     CByteImage* pOutputImage,
                                     const int nRadius = 55);
    inline double CalcProbOfPixel(const int nIndex, const Vec2d vHS_Value);
 
    CPixelProbabilityDistribution* m_pPixelProbabilityDistributions;
    int m_nImageWidth, m_nImageHeight;
 
    CByteImage* m_pBackgroundRGB;
};