【OpenCV】OpenCV3的第二天——光流法(Optial Flow)运动目标检测

基于特征点的跟踪算法大致可以分为两个步骤：

      1）探测当前帧的特征点；

      2）通过当前帧和下一帧灰度比较，估计当前帧特征点在下一帧的位置；

      3）过滤位置不变的特征点，余下的点就是目标了。

特征点包括：

1、Harris

2、SURF

3、FAST

4、STAR

5、SIFT

6、ORB

7、MSER

8、GETT

9、Dense

10、SimpleBlob

光流的基本方法：

1、基于梯度

2、基于匹配

3、基于能量

4、基于相位

光流法首先假设的条件：

1、亮度恒定

2、小运动

3、空间一致

使用函数：

goodFeaturesToTrack()——寻找图像中具有大特征的角点

calcOpticalFlowPyrLK()——计算一个稀疏特征集的光流

两篇博客链接：

Opencv学习笔记（九）光流法

http://blog.csdn.net/crzy_sparrow/article/details/7407604

【算法分析】Lucas–Kanade光流算法

http://www.cnblogs.com/gnuhpc/archive/2012/12/04/2802124.html

OpenCV3编程入门——光流法的代码

//

#include "stdafx.h"

#include <iostream>  
#include <opencv2/opencv.hpp>
#include <opencv2/core/core.hpp>  
#include <opencv2/highgui/highgui.hpp> 
#include <opencv2/imgproc/imgproc.hpp>  // Gaussian Blur
#include <opencv2/ml/ml.hpp>
#include <opencv2/contrib/contrib.hpp>

using namespace cv;
using namespace std;


void duan_OpticalFlow(Mat &frame, Mat & result);
bool addNewPoints();
bool acceptTrackedPoint(int i);


Mat curgray;	// 当前图片
Mat pregray;	// 预测图片
vector<Point2f> point[2];	// point0为特征点的原来位置，point1为特征点的新位置
vector<Point2f> initPoint;	// 初始化跟踪点的位置
vector<Point2f> features;	// 检测的特征
int maxCount = 500;	        // 检测的最大特征数
double qLevel = 0.01;	// 特征检测的等级
double minDist = 10.0;	// 两特征点之间的最小距离
vector<uchar> status;	// 跟踪特征的状态，特征的流发现为1，否则为0
vector<float> err;

int main()
{

	Mat matSrc;
	Mat matRst;

	VideoCapture cap("Monkey.mp4");
	int totalFrameNumber = cap.get(CV_CAP_PROP_FRAME_COUNT);

	// perform the tracking process
	printf("Start the tracking process, press ESC to quit.\n");
	for (int nFrmNum = 0; nFrmNum < totalFrameNumber; nFrmNum++) {
		// get frame from the video
		cap >> matSrc;
		if (!matSrc.empty())
		{
			duan_OpticalFlow(matSrc, matRst);
			cout << "This picture is " << nFrmNum << endl;
		}
		else
		{
			cout << "Error : Get picture is empty!" << endl;
		}
		if (waitKey(1) == 27) break;
	}


	waitKey(0);

	return 0;

}



void duan_OpticalFlow(Mat &frame, Mat & result)
{
	cvtColor(frame, curgray, CV_BGR2GRAY);
	frame.copyTo(result);

	if (addNewPoints())
	{
		goodFeaturesToTrack(curgray, features, maxCount, qLevel, minDist);
		point[0].insert(point[0].end(), features.begin(), features.end());
		initPoint.insert(initPoint.end(), features.begin(), features.end());
	}


	if (pregray.empty())
	{
		curgray.copyTo(pregray);
	}

	calcOpticalFlowPyrLK(pregray, curgray, point[0], point[1], status, err);


	int k = 0;
	for (size_t i = 0; i<point[1].size(); i++)
	{
		if (acceptTrackedPoint(i))
		{
			initPoint[k] = initPoint[i];
			point[1][k++] = point[1][i];
		}
	}


	point[1].resize(k);
	initPoint.resize(k);

	for (size_t i = 0; i<point[1].size(); i++)
	{
		line(result, initPoint[i], point[1][i], Scalar(0, 0, 255));
		circle(result, point[1][i], 3, Scalar(0, 255, 0), -1);
	}


	swap(point[1], point[0]);
	swap(pregray, curgray);


	imshow("Optical Flow Demo", result);
	//waitKey(50);
}


bool addNewPoints()
{
	return point[0].size() <= 10;
}


bool acceptTrackedPoint(int i)
{
	return status[i] && ((abs(point[0][i].x - point[1][i].x) + abs(point[0][i].y - point[1][i].y)) > 2);
}

====================OpenCV Source Code===============

enum
{
    OPTFLOW_USE_INITIAL_FLOW = CV_LKFLOW_INITIAL_GUESSES,
    OPTFLOW_LK_GET_MIN_EIGENVALS = CV_LKFLOW_GET_MIN_EIGENVALS,
    OPTFLOW_FARNEBACK_GAUSSIAN = 256
};

//! constructs a pyramid which can be used as input for calcOpticalFlowPyrLK
CV_EXPORTS_W int buildOpticalFlowPyramid(InputArray img, OutputArrayOfArrays pyramid,
                                         Size winSize, int maxLevel, bool withDerivatives = true,
                                         int pyrBorder = BORDER_REFLECT_101, int derivBorder = BORDER_CONSTANT,
                                         bool tryReuseInputImage = true);

//! computes sparse optical flow using multi-scale Lucas-Kanade algorithm
CV_EXPORTS_W void calcOpticalFlowPyrLK( InputArray prevImg, InputArray nextImg,
                           InputArray prevPts, CV_OUT InputOutputArray nextPts,
                           OutputArray status, OutputArray err,
                           Size winSize=Size(21,21), int maxLevel=3,
                           TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 0.01),
                           int flags=0, double minEigThreshold=1e-4);

//! computes dense optical flow using Farneback algorithm
CV_EXPORTS_W void calcOpticalFlowFarneback( InputArray prev, InputArray next,
                           CV_OUT InputOutputArray flow, double pyr_scale, int levels, int winsize,
                           int iterations, int poly_n, double poly_sigma, int flags );

//! estimates the best-fit Euqcidean, similarity, affine or perspective transformation
// that maps one 2D point set to another or one image to another.
CV_EXPORTS_W Mat estimateRigidTransform( InputArray src, InputArray dst,
                                         bool fullAffine);

//! computes dense optical flow using Simple Flow algorithm
CV_EXPORTS_W void calcOpticalFlowSF(Mat& from,
                                    Mat& to,
                                    Mat& flow,
                                    int layers,
                                    int averaging_block_size,
                                    int max_flow);

CV_EXPORTS_W void calcOpticalFlowSF(Mat& from,
                                    Mat& to,
                                    Mat& flow,
                                    int layers,
                                    int averaging_block_size,
                                    int max_flow,
                                    double sigma_dist,
                                    double sigma_color,
                                    int postprocess_window,
                                    double sigma_dist_fix,
                                    double sigma_color_fix,
                                    double occ_thr,
                                    int upscale_averaging_radius,
                                    double upscale_sigma_dist,
                                    double upscale_sigma_color,
                                    double speed_up_thr);

class CV_EXPORTS DenseOpticalFlow : public Algorithm
{
public:
    virtual void calc(InputArray I0, InputArray I1, InputOutputArray flow) = 0;
    virtual void collectGarbage() = 0;
};

// Implementation of the Zach, Pock and Bischof Dual TV-L1 Optical Flow method
//
// see reference:
//   [1] C. Zach, T. Pock and H. Bischof, "A Duality Based Approach for Realtime TV-L1 Optical Flow".
//   [2] Javier Sanchez, Enric Meinhardt-Llopis and Gabriele Facciolo. "TV-L1 Optical Flow Estimation".
CV_EXPORTS Ptr<DenseOpticalFlow> createOptFlow_DualTVL1();

==============================================

// Hand01.cpp : 定义控制台应用程序的入口点。
//

#include "stdafx.h"

#include <stdio.h>
#include <iostream>  
#include <opencv2/opencv.hpp>
#include <opencv2/core/core.hpp>  
#include <opencv2/highgui/highgui.hpp> 
#include <opencv2/imgproc/imgproc.hpp>  // Gaussian Blur
#include <opencv2/ml/ml.hpp>
#include <opencv2/contrib/contrib.hpp>

#include <opencv2/video/tracking.hpp>


using namespace cv;

static void convertFlowToImage(const Mat &flow_x, const Mat &flow_y, Mat &img_x, Mat &img_y, double lowerBound, double higherBound) {
#define CAST(v, L, H) ((v) > (H) ? 255 : (v) < (L) ? 0 : cvRound(255*((v) - (L))/((H)-(L))))
	for (int i = 0; i < flow_x.rows; ++i) {
		for (int j = 0; j < flow_y.cols; ++j) {
			float x = flow_x.at<float>(i, j);
			float y = flow_y.at<float>(i, j);
			img_x.at<uchar>(i, j) = CAST(x, lowerBound, higherBound);
			img_y.at<uchar>(i, j) = CAST(y, lowerBound, higherBound);
		}
	}
#undef CAST
}

static void drawOptFlowMap(const Mat& flow, Mat& cflowmap, int step, double, const Scalar& color)
{
	for (int y = 0; y < cflowmap.rows; y += step)
		for (int x = 0; x < cflowmap.cols; x += step)
		{
			const Point2f& fxy = flow.at<Point2f>(y, x);
			line(cflowmap, Point(x, y), Point(cvRound(x + fxy.x), cvRound(y + fxy.y)),
				color);
			circle(cflowmap, Point(x, y), 2, color, -1);
		}
}

int main(int argc, char** argv)
{
	// IO operation

	const char* keys =
	{
		"{ f  | vidFile      | ex2.avi | filename of video }"
		"{ x  | xFlowFile    | flow_x | filename of flow x component }"
		"{ y  | yFlowFile    | flow_y | filename of flow x component }"
		"{ i  | imgFile      | flow_i | filename of flow image}"
		"{ b  | bound | 15 | specify the maximum of optical flow}"
	};

	//CommandLineParser cmd(argc, argv, keys);
	//string vidFile = cmd.get<string>("vidFile");
	//string xFlowFile = cmd.get<string>("xFlowFile");
	//string yFlowFile = cmd.get<string>("yFlowFile");
	//string imgFile = cmd.get<string>("imgFile");
	//int bound = cmd.get<int>("bound");
	string vidFile = "vidFile";
	string xFlowFile = "xFlowFile";
	string yFlowFile = "yFlowFile";
	string imgFile = "imgFile";
	int bound = 80;


	namedWindow("video", 1);
	namedWindow("imgX", 1);
	namedWindow("imgY", 1);
	namedWindow("Demo", 1);
	//VideoCapture capture(vidFile);
	VideoCapture capture("Monkey.mp4");

	if (!capture.isOpened()) {
		printf("Could not initialize capturing..\n");
		return -1;
	}

	int frame_num = 0;
	Mat image, prev_image, prev_grey, grey, frame, flow, cflow;

	while (true) {
		capture >> frame;
		if (frame.empty())
			break;
		imshow("video", frame);

		if (frame_num == 0) {
			image.create(frame.size(), CV_8UC3);
			grey.create(frame.size(), CV_8UC1);
			prev_image.create(frame.size(), CV_8UC3);
			prev_grey.create(frame.size(), CV_8UC1);

			frame.copyTo(prev_image);
			cvtColor(prev_image, prev_grey, CV_BGR2GRAY);

			frame_num++;
			continue;
		}

		frame.copyTo(image);
		cvtColor(image, grey, CV_BGR2GRAY);

		// calcOpticalFlowFarneback(prev_grey,grey,flow,0.5, 3, 15, 3, 5, 1.2, 0 );
		calcOpticalFlowFarneback(prev_grey, grey, flow, 0.702, 5, 10, 2, 7, 1.5, cv::OPTFLOW_FARNEBACK_GAUSSIAN);

		prev_image.copyTo(cflow);
		drawOptFlowMap(flow, cflow, 12, 1.5, Scalar(0, 255, 0));
		imshow("cflow", cflow);

		Mat flows[2];
		split(flow, flows);
		Mat imgX(flows[0].size(), CV_8UC1);
		Mat imgY(flows[0].size(), CV_8UC1);
		convertFlowToImage(flows[0], flows[1], imgX, imgY, -bound, bound);
		//char tmp[20];
		//sprintf(tmp, "_%04d.jpg", int(frame_num));
		//imwrite(xFlowFile + tmp, imgX);
		//imwrite(yFlowFile + tmp, imgY);
		//imwrite(imgFile + tmp, image);

		std::swap(prev_grey, grey);
		std::swap(prev_image, image);
		frame_num = frame_num + 1;

		imshow("imgX", imgX);
		imshow("imgY", imgY);
		imshow("Demo", image);
		if (waitKey(1) == 27) break;
	}
	waitKey(0);
	return 0;
}