【计算机视觉】一步一步实现人脸或特定物体的跟踪(1)——利用CamShift来跟踪

介绍

这里的方法是根据颜色直方图的方式进行人脸或者特定物体的跟踪的，具体步骤是首先计算指定区域的色彩直方图，然后再根据该色彩直方图对整个图片区域进行反投影计算，得到的是该图片中复合指定区域色彩直方图分布的概率分布，最终通过多次迭代，得到一个输出的目标窗口。

实例代码

下面是OpenCV提供的演示代码

#include "StdAfx.h"

#include "opencv2/video/tracking.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"


#include <iostream>
#include <ctype.h>

using namespace cv;
using namespace std;

Mat image;

bool backprojMode = false; //表示是否要进入反向投影模式，ture表示准备进入反向投影模式
bool selectObject = false;//代表是否在选要跟踪的初始目标，true表示正在用鼠标选择
int trackObject = 0; //代表跟踪目标数目
bool showHist = true;//是否显示直方图
Point origin;//用于保存鼠标选择第一次单击时点的位置
Rect selection;//用于保存鼠标选择的矩形框
int vmin = 10, vmax = 256, smin = 30;

void onMouse( int event, int x, int y, int, void* )
{
    if( selectObject )//只有当鼠标左键按下去时才有效，然后通过if里面代码就可以确定所选择的矩形区域selection了
    {
        selection.x = MIN(x, origin.x);//矩形左上角顶点坐标
        selection.y = MIN(y, origin.y);
        selection.width = std::abs(x - origin.x);//矩形宽
        selection.height = std::abs(y - origin.y);//矩形高

        selection &= Rect(0, 0, image.cols, image.rows);//用于确保所选的矩形区域在图片范围内
    }

    switch( event )
    {
    case CV_EVENT_LBUTTONDOWN:
        origin = Point(x,y);
        selection = Rect(x,y,0,0);//鼠标刚按下去时初始化了一个矩形区域
        selectObject = true;
        break;
    case CV_EVENT_LBUTTONUP:
        selectObject = false;
        if( selection.width > 0 && selection.height > 0 )
            trackObject = -1;
        break;
    }
}

void help()
{
    cout << "\nThis is a demo that shows mean-shift based tracking\n"
            "You select a color objects such as your face and it tracks it.\n"
            "This reads from video camera (0 by default, or the camera number the user enters\n"
            "Usage: \n"
            "    ./camshiftdemo [camera number]\n";

    cout << "\n\nHot keys: \n"
            "\tESC - quit the program\n"
            "\tc - stop the tracking\n"
            "\tb - switch to/from backprojection view\n"
            "\th - show/hide object histogram\n"
            "\tp - pause video\n"
            "To initialize tracking, select the object with mouse\n";
}

const char* keys = 
{
    "{1|  | 0 | camera number}"
};

int main( int argc, const char** argv )
{
    help();

    VideoCapture cap; //定义一个摄像头捕捉的类对象
    Rect trackWindow;
    RotatedRect trackBox;//定义一个旋转的矩阵类对象
    int hsize = 16;