public ForegroundDetector(BlobImage image)
{
Finished = true;
Stop = false;
_foregroundDetector = new BackgroundSubtractorMOG2(200, 400, false);
_bImage = image;
}
public ObjectTracker(
TrackerSettings settings)
{
_settings = settings;
_foregroundDetector = new BackgroundSubtractorMOG2(_settings.BackgroundSubtractorHistory.Value, _settings.BackgroundSubtractorMaxComponents.Value, false);
_blobDetector = new CvBlobDetector();
_blobs = new CvBlobs();
_tracks = new CvTracks();
_trackedObjectIdentities = new Dictionary<uint, TrackedObject>();
}
public void Dispose()
{
if (_foregroundDetector == null) return;
try
{
_blobDetector.Dispose();
_blobs.Dispose();
_tracks.Dispose();
((IDisposable)_foregroundDetector).Dispose();
}
catch (Exception ex)
{
Log.Error("Exception disposing foreground detector", ex);
}
_blobDetector = null;
_blobs = null;
_tracks = null;
_foregroundDetector = null;
}
private MotionInfo GetMotionInfo(Mat image)
{
Mat _forgroundMask = new Mat();
Mat _segMask = new Mat();
MotionInfo motionInfoObj = new MotionInfo();
double minArea, angle, objectCount, totalPixelCount;
double overallangle = 0;
double motionPixelCount =0;
int motionArea =0;
totalPixelCount = 0;
objectCount = 0;
minArea = 800;
if (foregroundDetector == null)
{
foregroundDetector = new BackgroundSubtractorMOG2();
}
foregroundDetector.Apply(image, _forgroundMask);
_motionHistory.Update(_forgroundMask);
ImageForeGroundMaskLast = _forgroundMask.ToImage<Bgr, byte>();
#region get a copy of the motion mask and enhance its color
double[] minValues, maxValues;
Point[] minLoc, maxLoc;
_motionHistory.Mask.MinMax(out minValues, out maxValues, out minLoc, out maxLoc);
Mat motionMask = new Mat();
using (ScalarArray sa = new ScalarArray(255.0 / maxValues[0]))
CvInvoke.Multiply(_motionHistory.Mask, sa, motionMask, 1, DepthType.Cv8U);
//Image<Gray, Byte> motionMask = _motionHistory.Mask.Mul(255.0 / maxValues[0]);
#endregion
//create the motion image
Image<Bgr, Byte> motionImage = new Image<Bgr, byte>(motionMask.Size);
//display the motion pixels in blue (first channel)
//motionImage[0] = motionMask;
CvInvoke.InsertChannel(motionMask, motionImage, 0);
//Threshold to define a motion area, reduce the value to detect smaller motion
minArea = 100;
//storage.Clear(); //clear the storage
Rectangle[] rects;
using (VectorOfRect boundingRect = new VectorOfRect())
{
_motionHistory.GetMotionComponents(_segMask, boundingRect);
rects = boundingRect.ToArray();
}
//iterate through each of the motion component
foreach (Rectangle comp in rects)
{
int area = comp.Width * comp.Height;
//reject the components that have small area;
_motionHistory.MotionInfo(_forgroundMask, comp, out angle, out motionPixelCount);
if (area < minArea) continue;
else
{
overallangle = overallangle + angle;
totalPixelCount = totalPixelCount + motionPixelCount;
objectCount = objectCount + 1;
motionArea = motionArea + area;
}
// find the angle and motion pixel count of the specific area
////Draw each individual motion in red
//DrawMotion(motionImage, comp, angle, new Bgr(Color.Red));
}
motionInfoObj.MotionArea = motionArea;
motionInfoObj.OverallAngle = overallangle;
motionInfoObj.BoundingRect = rects;
motionInfoObj.TotalMotions = rects.Length;
motionInfoObj.MotionObjects = objectCount;
motionInfoObj.MotionPixels = totalPixelCount;
averagetotalPixelCount = 0.75 * averagetotalPixelCount + 0.25 * totalPixelCount;
if ( Math.Abs(averagetotalPixelCount - totalPixelCount) / averagetotalPixelCount > 0.59)
Console.WriteLine(" GetMotionInfo - Total Motions found: " + rects.Length + "; Motion Pixel count: " + totalPixelCount);
return motionInfoObj;
}
private void ProcessFrame(object sender, EventArgs e)
{
Mat image = new Mat();
_capture.Retrieve(image);
if (_forgroundDetector == null)
{
_forgroundDetector = new BackgroundSubtractorMOG2();
}
_forgroundDetector.Apply(image, _forgroundMask);
//update the motion history
_motionHistory.Update(_forgroundMask);
#region get a copy of the motion mask and enhance its color
double[] minValues, maxValues;
Point[] minLoc, maxLoc;
_motionHistory.Mask.MinMax(out minValues, out maxValues, out minLoc, out maxLoc);
Mat motionMask = new Mat();
using (ScalarArray sa = new ScalarArray(255.0 / maxValues[0]))
CvInvoke.Multiply(_motionHistory.Mask, sa, motionMask, 1, DepthType.Cv8U);
//Image<Gray, Byte> motionMask = _motionHistory.Mask.Mul(255.0 / maxValues[0]);
#endregion
//create the motion image
Mat motionImage = new Mat(motionMask.Size.Height, motionMask.Size.Width, DepthType.Cv8U, 3);
//display the motion pixels in blue (first channel)
//motionImage[0] = motionMask;
CvInvoke.InsertChannel(motionMask, motionImage, 0);
//Threshold to define a motion area, reduce the value to detect smaller motion
double minArea = 100;
//storage.Clear(); //clear the storage
Rectangle[] rects;
using (VectorOfRect boundingRect = new VectorOfRect())
{
_motionHistory.GetMotionComponents(_segMask, boundingRect);
rects = boundingRect.ToArray();
}
//iterate through each of the motion component
foreach (Rectangle comp in rects)
{
int area = comp.Width * comp.Height;
//reject the components that have small area;
if (area < minArea) continue;
// find the angle and motion pixel count of the specific area
double angle, motionPixelCount;
_motionHistory.MotionInfo(_forgroundMask, comp, out angle, out motionPixelCount);
//reject the area that contains too few motion
if (motionPixelCount < area * 0.05) continue;
//Draw each individual motion in red
DrawMotion(motionImage, comp, angle, new Bgr(Color.Red));
}
// find and draw the overall motion angle
double overallAngle, overallMotionPixelCount;
_motionHistory.MotionInfo(_forgroundMask, new Rectangle(Point.Empty, motionMask.Size), out overallAngle, out overallMotionPixelCount);
DrawMotion(motionImage, new Rectangle(Point.Empty, motionMask.Size), overallAngle, new Bgr(Color.Green));
if (this.Disposing || this.IsDisposed)
return;
capturedImageBox.Image = image;
forgroundImageBox.Image = _forgroundMask;
//Display the amount of motions found on the current image
UpdateText(String.Format("Total Motions found: {0}; Motion Pixel count: {1}", rects.Length, overallMotionPixelCount));
//Display the image of the motion
motionImageBox.Image = motionImage;
}
private async void ProcessFrame(object sender, EventArgs e)
{
List<BsonDocument> tempList = new List<BsonDocument>();
Mat image = new Mat();
_capture.Retrieve(image);
if (_forgroundDetector == null)
{
_forgroundDetector = new BackgroundSubtractorMOG2();
}
_forgroundDetector.Apply(image, _forgroundMask);
//update the motion history
_motionHistory.Update(_forgroundMask);
#region get a copy of the motion mask and enhance its color
double[] minValues, maxValues;
Point[] minLoc, maxLoc;
_motionHistory.Mask.MinMax(out minValues, out maxValues, out minLoc, out maxLoc);
Mat motionMask = new Mat();
using (ScalarArray sa = new ScalarArray(255.0 / maxValues[0]))
CvInvoke.Multiply(_motionHistory.Mask, sa, motionMask, 1, DepthType.Cv8U);
//Image<Gray, Byte> motionMask = _motionHistory.Mask.Mul(255.0 / maxValues[0]);
#endregion
//create the motion image
Mat motionImage = new Mat(motionMask.Size.Height, motionMask.Size.Width, DepthType.Cv8U, 3);
//display the motion pixels in blue (first channel)
//motionImage[0] = motionMask;
CvInvoke.InsertChannel(motionMask, motionImage, 0);
//Threshold to define a motion area, reduce the value to detect smaller motion
double minArea = 5000;
//storage.Clear(); //clear the storage
System.Drawing.Rectangle[] rects;
using (VectorOfRect boundingRect = new VectorOfRect())
{
_motionHistory.GetMotionComponents(_segMask, boundingRect);
rects = boundingRect.ToArray();
}
int motionCount = 0;
//iterate through each of the motion component
foreach (System.Drawing.Rectangle comp in rects)
{
int area = comp.Width * comp.Height;
//reject the components that have small area;
if (area < minArea) continue;
if (!CheckArea(comp)) continue;
//find center point
Point center = new Point(comp.X + (comp.Width >> 1), comp.Y + (comp.Height >> 1));
//insert to temp motion list
var document = new BsonDocument
{
{"Source", Path.GetFileName(videoSource)},
{"Time", DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
{"Area", GetAreaCode(center).ToString()},
{"AreaX", center.X.ToString()},
{"AreaY", center.Y.ToString()},
{"MotionCout", 1 }
};
tempList.Add(document);
//create heatmap
myHeatMap.heatPoints.Add(new HeatPoint(center.X, center.Y, 16));
// find the angle and motion pixel count of the specific area
double angle, motionPixelCount;
_motionHistory.MotionInfo(_forgroundMask, comp, out angle, out motionPixelCount);
//reject the area that contains too few motion 0.05
if (motionPixelCount < area * 0.1) continue;
//Draw each individual motion in red
DrawMotion(motionImage, comp, angle, new Bgr(Color.Red));
motionCount++;
}
//pictureBox3.BackgroundImage = myHeatMap.CreateHeatmap();
Bitmap b = (Bitmap)myHeatMap.CreateHeatmap();
//Image<Gray, Byte> normalizedMasterImage = new Image<Gray, Byte>(b);
//motionImage = normalizedMasterImage.Mat;
pictureBox3.BackgroundImage = b;
// find and draw the overall motion angle
double overallAngle, overallMotionPixelCount;
_motionHistory.MotionInfo(_forgroundMask, new System.Drawing.Rectangle(Point.Empty, motionMask.Size), out overallAngle, out overallMotionPixelCount);
DrawMotion(motionImage, new System.Drawing.Rectangle(Point.Empty, motionMask.Size), overallAngle, new Bgr(Color.Green));
if (this.Disposing || this.IsDisposed)
{
return;
}
//find pedestrian
//bool tryUseCuda = true;
//bool tryuseOpenCL = false;
//long processingTime;
//System.Drawing.Rectangle[] pedestrianRestult = FindPedestrian.Find(image, tryUseCuda, tryuseOpenCL, out processingTime);
//foreach (System.Drawing.Rectangle rect in pedestrianRestult)
//{
// CvInvoke.Rectangle(image, rect, new Bgr(Color.Gold).MCvScalar);
//}
capturedImageBox.Image = image;
//forgroundImageBox.Image = _forgroundMask;
//Display the amount of motions found on the current image
UpdateText(String.Format("Total Motions found: {0}; Motion Pixel count: {1}", motionCount, overallMotionPixelCount));
//write into db
if (checkTimer)
{
foreach(var doc in tempList)
{
await DataAccess.Insert(doc);
}
}
motionCount = 0;
//Display the image of the motion
motionImageBox.Image = motionImage;
}
/// <summary>
/// Motion Detector Constructor
/// </summary>
/// <param name="imagingData">Common Image Processing Imaging Data</param>
public MotionDetector(IImageData imagingData )
{
ImagingData = imagingData;
//Set values for properties
MinMotionAreaThreshold = DEFAULT_MIN_MOTION_AREA_THRESHOLD;
MinMotionPixelFactor = DEFAULT_MIN_MOTION_PIXEL_FACTOR;
GrayThreshold = DEFAULT_GRAY_THRESHOLD;
//Instantiate private members
_motionHistory = new MotionHistory(MOTION_HISTORY_DURATION, MOTION_HISTORY_MAX_DELTA, MOTION_HISTORY_MIN_DELTA);
_forgroundDetector = new BackgroundSubtractorMOG2();
_segMask = new Mat();
_foreground = new Mat();
ComputerVisionMonitors = new Dictionary<eComputerVisionMonitor, IComputerVisionMonitor>();
}
void Run()
{
try
{
_cameraCapture = new VideoCapture();
}
catch (Exception e)
{
MessageBox.Show(e.Message);
return;
}
_fgDetector = new Emgu.CV.VideoSurveillance.BackgroundSubtractorMOG2();
_blobDetector = new CvBlobDetector();
_tracker = new CvTracks();
Application.Idle += ProcessFrame;
}