目标跟踪：模板匹配

 

在一幅图像中寻找和模板图像（patch）最相似的区域。

1.判断相似性：

OpenCV中有对应的函数——void matchTemplate( const Mat& image, const Mat& templ, Mat&result, int method )

该函数的功能为，在输入源图像Sourceimage（I）中滑动框，寻找各个位置与模板图像Template image（T）的相似度，并将结果保存在结果矩阵result matrix（R）中。该矩阵的每一个点的亮度表示与模板T的匹配程度。然后可以通过函数minMaxLoc定位矩阵R中的最大值（该函数也可以确定最小值）。那通过什么去评价两个图像相似呢？这就存在一个评价准则，也就是参数method，它可以有以下值（匹配的方法）：

• CVTMSQDIFF 平方差匹配法，最好的匹配为0，值越大匹配越差；

• CVTMSQDIFF_NORMED 归一化平方差匹配法；

• CVTMCCORR 相关匹配法，采用乘法操作，数值越大表明匹配越好；

• CVTMCCORR_NORMED 归一化相关匹配法；

• CVTMCCOEFF 相关系数匹配法，最好的匹配为1，-1表示最差的匹配；

• CVTMCCOEFF_NORMED 归一化相关系数匹配法；

前面两种方法为越小的值表示越匹配，后四种方法值越大越匹配。

2.更新跟踪目标

在第t帧寻找目标的时候，是与t-1帧中我们找到的目标来进行比较的。这样目标的外观变化就会及时的更新，但容易导致跟踪漂移。

3.示例代码

基于VS2013+OpenCV 2.4.9:

///Object tracking algorithm using matchTemplate
///Author:JA
///Date:2015-1-24

#include   

using namespace cv;
using namespace std;

// Global variables  
Rect box;
bool drawing_box = false;
bool gotBB = false;

// bounding box mouse callback  
void mouseHandler(int event, int x, int y, int flags, void *param){
	switch (event){
	case CV_EVENT_MOUSEMOVE:
		if (drawing_box){
			box.width = x - box.x;
			box.height = y - box.y;
		}
		break;
	case CV_EVENT_LBUTTONDOWN:
		drawing_box = true;
		box = Rect(x, y, 0, 0);
		break;
	case CV_EVENT_LBUTTONUP:
		drawing_box = false;
		if (box.width < 0){
			box.x += box.width;
			box.width *= -1;
		}
		if (box.height < 0){
			box.y += box.height;
			box.height *= -1;
		}
		gotBB = true;
		break;
	}
}


// tracker: get search patches around the last tracking box,  
// and find the most similar one  
void tracking(Mat frame, Mat &model, Rect &trackBox)
{
	Mat gray;
	cvtColor(frame, gray, CV_RGB2GRAY);

	Rect searchWindow;
	searchWindow.width = trackBox.width * 3;
	searchWindow.height = trackBox.height * 3;
	searchWindow.x = trackBox.x + trackBox.width * 0.5 - searchWindow.width * 0.5;
	searchWindow.y = trackBox.y + trackBox.height * 0.5 - searchWindow.height * 0.5;
	searchWindow &= Rect(0, 0, frame.cols, frame.rows);

	Mat similarity;
	matchTemplate(gray(searchWindow), model, similarity, CV_TM_CCOEFF_NORMED);

	double mag_r;
	Point point;
	minMaxLoc(similarity, 0, &mag_r, 0, &point);
	trackBox.x = point.x + searchWindow.x;
	trackBox.y = point.y + searchWindow.y;
	model = gray(trackBox);
}

int main(int argc, char * argv[])
{
	VideoCapture capture;
	capture.open("video.mp4");
	bool fromfile = true;
	//Init camera  
	if (!capture.isOpened())
	{
		cout << "capture device failed to open!" << endl;
		return -1;
	}
	//Register mouse callback to draw the bounding box  
	cvNamedWindow("Tracker", CV_WINDOW_AUTOSIZE);
	cvSetMouseCallback("Tracker", mouseHandler, NULL);

	Mat frame, model;
	capture >> frame;
	while (!gotBB)
	{
		if (!fromfile)
			capture >> frame;

		imshow("Tracker", frame);
		if (cvWaitKey(20) == 'q')
			return 1;
	}
	//Remove callback  
	cvSetMouseCallback("Tracker", NULL, NULL);

	Mat gray;
	cvtColor(frame, gray, CV_RGB2GRAY);
	model = gray(box);

	int frameCount = 0;

	while (1)
	{
		capture >> frame;
		if (frame.empty())
			return -1;
		double t = (double)cvGetTickCount();
		frameCount++;

		// tracking  
		tracking(frame, model, box);

		// show  
		stringstream buf;
		buf << frameCount;
		string num = buf.str();
		putText(frame, num, Point(20, 20), FONT_HERSHEY_SIMPLEX, 1, Scalar(0, 0, 255), 3);
		rectangle(frame, box, Scalar(0, 0, 255), 3);
		imshow("Tracker", frame);


		t = (double)cvGetTickCount() - t;
		cout << "cost time: " << t / ((double)cvGetTickFrequency()*1000.) << endl;

		if (cvWaitKey(1) == 27)
			break;
	}

	return 0;
}
  

using namespace cv;
using namespace std;

// Global variables  
Rect box;
bool drawing_box = false;
bool gotBB = false;

// bounding box mouse callback  
void mouseHandler(int event, int x, int y, int flags, void *param){
	switch (event){
	case CV_EVENT_MOUSEMOVE:
		if (drawing_box){
			box.width = x - box.x;
			box.height = y - box.y;
		}
		break;
	case CV_EVENT_LBUTTONDOWN:
		drawing_box = true;
		box = Rect(x, y, 0, 0);
		break;
	case CV_EVENT_LBUTTONUP:
		drawing_box = false;
		if (box.width < 0){
			box.x += box.width;
			box.width *= -1;
		}
		if (box.height < 0){
			box.y += box.height;
			box.height *= -1;
		}
		gotBB = true;
		break;
	}
}


// tracker: get search patches around the last tracking box,  
// and find the most similar one  
void tracking(Mat frame, Mat &model, Rect &trackBox)
{
	Mat gray;
	cvtColor(frame, gray, CV_RGB2GRAY);

	Rect searchWindow;
	searchWindow.width = trackBox.width * 3;
	searchWindow.height = trackBox.height * 3;
	searchWindow.x = trackBox.x + trackBox.width * 0.5 - searchWindow.width * 0.5;
	searchWindow.y = trackBox.y + trackBox.height * 0.5 - searchWindow.height * 0.5;
	searchWindow &= Rect(0, 0, frame.cols, frame.rows);

	Mat similarity;
	matchTemplate(gray(searchWindow), model, similarity, CV_TM_CCOEFF_NORMED);

	double mag_r;
	Point point;
	minMaxLoc(similarity, 0, &mag_r, 0, &point);
	trackBox.x = point.x + searchWindow.x;
	trackBox.y = point.y + searchWindow.y;
	model = gray(trackBox);
}

int main(int argc, char * argv[])
{
	VideoCapture capture;
	capture.open("video.mp4");
	bool fromfile = true;
	//Init camera  
	if (!capture.isOpened())
	{
		cout << "capture device failed to open!" << endl;
		return -1;
	}
	//Register mouse callback to draw the bounding box  
	cvNamedWindow("Tracker", CV_WINDOW_AUTOSIZE);
	cvSetMouseCallback("Tracker", mouseHandler, NULL);

	Mat frame, model;
	capture >> frame;
	while (!gotBB)
	{
		if (!fromfile)
			capture >> frame;

		imshow("Tracker", frame);
		if (cvWaitKey(20) == 'q')
			return 1;
	}
	//Remove callback  
	cvSetMouseCallback("Tracker", NULL, NULL);

	Mat gray;
	cvtColor(frame, gray, CV_RGB2GRAY);
	model = gray(box);

	int frameCount = 0;

	while (1)
	{
		capture >> frame;
		if (frame.empty())
			return -1;
		double t = (double)cvGetTickCount();
		frameCount++;

		// tracking  
		tracking(frame, model, box);

		// show  
		stringstream buf;
		buf << frameCount;
		string num = buf.str();
		putText(frame, num, Point(20, 20), FONT_HERSHEY_SIMPLEX, 1, Scalar(0, 0, 255), 3);
		rectangle(frame, box, Scalar(0, 0, 255), 3);
		imshow("Tracker", frame);


		t = (double)cvGetTickCount() - t;
		cout << "cost time: " << t / ((double)cvGetTickFrequency()*1000.) << endl;

		if (cvWaitKey(1) == 27)
			break;
	}

	return 0;
}

 

参考文献：

1. 模板匹配中差值的平方和（SSD）与互相关准则的关系