BackgroundSubtractor Class Reference

Perform background subtraction to extract the "moving" foreground. More...

#include <background_subtractor.h>

Classes
struct	Params

Public Member Functions
void	apply (const cv::Mat &image, cv::Mat &fg_mask, int shift_x=0, int shift_y=0)
	Computes a foreground mask. More...
	BackgroundSubtractor (const Params &parameters)
	Constructor that accepts a specific parameter configuration. More...
void	updateParameters (const Params &parameters)
	Update internal parameters. More...
void	visualize (const std::string &name, const cv::Mat &image)
	OpenCV Visualization. More...
void	writeMatToYAML (const std::string &filename, const std::vector< cv::Mat > &mat_vec)
	Export vector of matrices to yaml file. More...

Private Member Functions
void	transformToCurrentFrame (int shift_x, int shift_y)
	Transform/shift all internal matrices/grids according to a given translation vector. More...

Private Attributes
cv::Mat	current_frame_
cv::Mat	occupancy_grid_fast_
cv::Mat	occupancy_grid_slow_
Params	params_
int	previous_shift_x_
int	previous_shift_y_

Detailed Description

Perform background subtraction to extract the "moving" foreground.

This class is based on OpenCV's background subtraction class cv::BackgroundSubtractor. It has been modified in order to incorporate a specialized bandpass filter.

See http://docs.opencv.org/3.2.0/d7/df6/classcv_1_1BackgroundSubtractor.html for the original class.

Definition at line 57 of file background_subtractor.h.

Constructor & Destructor Documentation

BackgroundSubtractor::BackgroundSubtractor

(

const Params &

parameters

)

Constructor that accepts a specific parameter configuration.

Definition at line 5 of file background_subtractor.cpp.

Member Function Documentation

void BackgroundSubtractor::apply	(	const cv::Mat &	image,
		cv::Mat &	fg_mask,
		int	shift_x = 0,
		int	shift_y = 0
	)

Computes a foreground mask.

Parameters

[in]	image	Next video frame
[out]	fg_mask	Foreground mask as an 8-bit binary image
[in]	shift_x	Translation along the x axis between the current and previous image
[in]	shift_y	Translation along the y axis between the current and previous image

Definition at line 9 of file background_subtractor.cpp.

void BackgroundSubtractor::transformToCurrentFrame ( int  shift_x, int  shift_y  )

private

Transform/shift all internal matrices/grids according to a given translation vector.

Definition at line 84 of file background_subtractor.cpp.

void BackgroundSubtractor::updateParameters

(

const Params &

parameters

)

Update internal parameters.

Definition at line 112 of file background_subtractor.cpp.

void BackgroundSubtractor::visualize	(	const std::string &	name,
		const cv::Mat &	image
	)

OpenCV Visualization.

Parameters

name	Id/name of the opencv window
image	Image to be visualized

Definition at line 101 of file background_subtractor.cpp.

void BackgroundSubtractor::writeMatToYAML	(	const std::string &	filename,
		const std::vector< cv::Mat > &	mat_vec
	)

Export vector of matrices to yaml file.

Remarks

This method is intended for debugging purposes

Parameters

filename	Desired filename including path and excluding file suffix
mat_vec	Vector of cv::Mat to be exported

Member Data Documentation

cv::Mat BackgroundSubtractor::current_frame_

private

Definition at line 107 of file background_subtractor.h.

cv::Mat BackgroundSubtractor::occupancy_grid_fast_

private

Definition at line 105 of file background_subtractor.h.

cv::Mat BackgroundSubtractor::occupancy_grid_slow_

private

Definition at line 106 of file background_subtractor.h.

Params BackgroundSubtractor::params_

private

Definition at line 112 of file background_subtractor.h.

int BackgroundSubtractor::previous_shift_x_

private

Definition at line 109 of file background_subtractor.h.

int BackgroundSubtractor::previous_shift_y_

private

Definition at line 110 of file background_subtractor.h.

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The documentation for this class was generated from the following files:

• background_subtractor.h
• background_subtractor.cpp