Temporal blurring over successive frames.

opencv-temporal-blurring.cpp

// OpenCV imports
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

// C++ imports
#include <iostream>

// namespaces
using namespace std;
using namespace cv;

/*
 * This simple code illustrates temporal blurring by averaging N = 3 successive frames
 * Concept taken from the paper: Robust lane detection and tracking with Ransac and Kalman filter  
 * Link: https://www.researchgate.net/publication/221126736_Robust_lane_detection_and_tracking_with_Ransac_and_Kalman_filter
 */ 
 
int main( int argc, char **argv ) {

     if(argc < 2) {
      cerr << "Usage: " << argv[0] << " /path/to/video/" << endl;
      cout << "Exiting...." << endl;
      return -1;
    }

    // get file name from the command line
    string filename = argv[1];
    
    // capture object
    VideoCapture capture(filename);
  
    // mat container to receive images
    Mat frame;
    
    // check if capture was successful
    if( !capture.isOpened()) throw "Error reading video";
    
    int count = 0;
    
    // vector<int> v;

    vector<Mat> images;
        
    while(true) {

    	// original frame 
        capture >> frame;

        // resized frame - 320x240 / 640x480
        resize(frame, frame,Size(640,480), 0,0, INTER_NEAREST);
        
        // deep copy 
        Mat src = frame.clone();

        // grayscale conversion
        Mat src_gray;
        cvtColor( src, src_gray, CV_BGR2GRAY );
        
        Mat meanmat;
        Mat avgImage = Mat::zeros(src.rows, src.cols, CV_8UC1);


        if(images.size() > 3) {
            images.erase(images.begin()+0);
            
            for(int i = 0; i < images.size(); i++) {
                avgImage += images[i];
                
                meanmat = avgImage/3;
                imshow("meanmat", meanmat);
            }     

        }
        
        else {
            images.push_back(src_gray);
            
        }

        
        /* conceptually implemented*/ 
        // if(v.size() > 2) v.erase(v.begin()+0);
        // v.push_back(count++);
        
        // cout << "vector size: " << v.size() << endl;

        // for(int i = 0; i < v.size(); i++) {
        //     cout << v[i] << endl;
        // }
      
        waitKey(1);
    }


    return 0;
}