转载于:http://hi.baidu.com/wcp12_4/item/c0d042d61addfb846dce3f45
opencv源码
// cvMeanShift
cvMeanShift( const void* imgProb, CvRect windowIn,
CvTermCriteria criteria, CvConnectedComp* comp )
{
CvMoments moments;
int i = 0, eps;
CvMat stub, *mat = (CvMat*)imgProb;
CvMat cur_win;
CvRect cur_rect = windowIn;
CV_FUNCNAME( "cvMeanShift" );
if( comp )
comp->rect = windowIn;
moments.m00 = moments.m10 = moments.m01 = 0;
__BEGIN__;
CV_CALL( mat = cvGetMat( mat, &stub ));
if( CV_MAT_CN( mat->type ) > 1 )
CV_ERROR( CV_BadNumChannels, cvUnsupportedFormat );
if( windowIn.height <= 0 || windowIn.width <= 0 )
CV_ERROR( CV_StsBadArg, "Input window has non-positive sizes" );
if( windowIn.x < 0 || windowIn.x + windowIn.width > mat->cols ||
windowIn.y < 0 || windowIn.y + windowIn.height > mat->rows )
CV_ERROR( CV_StsBadArg, "Initial window is not inside the image ROI" );
CV_CALL( criteria = cvCheckTermCriteria( criteria, 1., 100 ));
eps = cvRound( criteria.epsilon * criteria.epsilon );
for( i = 0; i < criteria.max_iter; i++ )//迭代max_iter次,调用meanshift时传入
{
int dx, dy, nx, ny;
double inv_m00;
//得到子矩阵(搜索框)
CV_CALL( cvGetSubRect( mat, &cur_win, cur_rect ));//返回输入的矩阵的矩形数组子集的矩阵头到cur_win
CV_CALL( cvMoments( &cur_win, &moments ));//计算矩
/* Calculating center of mass */
if( fabs(moments.m00) < DBL_EPSILON )
break;
inv_m00 = moments.inv_sqrt_m00*moments.inv_sqrt_m00;//m00不为0
// 计算重心偏移量
dx = cvRound( moments.m10 * inv_m00 - windowIn.width*0.5 );//m10/m00
dy = cvRound( moments.m01 * inv_m00 - windowIn.height*0.5 );//m01/m00
nx = cur_rect.x + dx;
ny = cur_rect.y + dy;
if( nx < 0 )
nx = 0;
else if( nx + cur_rect.width > mat->cols )
nx = mat->cols - cur_rect.width;
if( ny < 0 )
ny = 0;
else if( ny + cur_rect.height > mat->rows )
ny = mat->rows - cur_rect.height;
dx = nx - cur_rect.x;
dy = ny - cur_rect.y;
cur_rect.x = nx;//更新搜索框位置
cur_rect.y = ny;
/* Check for coverage centers mass & window */
if( dx*dx + dy*dy < eps )
break;
}
__END__;
if( comp )
{
comp->rect = cur_rect;
comp->area = (float)moments.m00;
}
return i;
}
// cvCamShift
cvCamShift( const void* imgProb, CvRect windowIn,
CvTermCriteria criteria,
CvConnectedComp* _comp,
CvBox2D* box )
{
const int TOLERANCE = 10;
CvMoments moments;
double m00 = 0, m10, m01, mu20, mu11, mu02, inv_m00;
double a, b, c, xc, yc;
double rotate_a, rotate_c;
double theta = 0, square;
double cs, sn;
double length = 0, width = 0;
int itersUsed = 0;
CvConnectedComp comp;
CvMat cur_win, stub, *mat = (CvMat*)imgProb;
CV_FUNCNAME( "cvCamShift" );
comp.rect = windowIn;//初始搜索窗口
__BEGIN__;
CV_CALL( mat = cvGetMat( mat, &stub ));//目标图
CV_CALL( itersUsed = cvMeanShift( mat, windowIn, criteria, &comp ));//调用meanshift
windowIn = comp.rect;
//搜索窗口扩大TOLERANCE,
windowIn.x -= TOLERANCE;
if( windowIn.x < 0 )
windowIn.x = 0;
windowIn.y -= TOLERANCE;
if( windowIn.y < 0 )
windowIn.y = 0;
windowIn.width += 2 * TOLERANCE;
if( windowIn.x + windowIn.width > mat->width )
windowIn.width = mat->width - windowIn.x;
windowIn.height += 2 * TOLERANCE;
if( windowIn.y + windowIn.height > mat->height )
windowIn.height = mat->height - windowIn.y;
//返回输入的矩阵的矩形数组子集的矩阵头到cur_win
CV_CALL( cvGetSubRect( mat, &cur_win, windowIn ));
/* Calculating moments in new center mass *///计算矩
CV_CALL( cvMoments( &cur_win, &moments ));
m00 = moments.m00;//0阶矩
m10 = moments.m10;
m01 = moments.m01;
mu11 = moments.mu11;
mu20 = moments.mu20;
mu02 = moments.mu02;
if( fabs(m00) < DBL_EPSILON )
EXIT;
inv_m00 = 1. / m00;
xc = cvRound( m10 * inv_m00 + windowIn.x );//搜索窗口位置
yc = cvRound( m01 * inv_m00 + windowIn.y );
a = mu20 * inv_m00;
b = mu11 * inv_m00;
c = mu02 * inv_m00;
/* Calculating width & height */
square = sqrt( 4 * b * b + (a - c) * (a - c) );
/* Calculating orientation */
theta = atan2( 2 * b, a - c + square );
/* Calculating width & length of figure */
cs = cos( theta );
sn = sin( theta );
rotate_a = cs * cs * mu20 + 2 * cs * sn * mu11 + sn * sn * mu02;
rotate_c = sn * sn * mu20 - 2 * cs * sn * mu11 + cs * cs * mu02;
length = sqrt( rotate_a * inv_m00 ) * 4;//长
width = sqrt( rotate_c * inv_m00 ) * 4;//宽
/* In case, when tetta is 0 or 1.57... the Length & Width may be exchanged */
if( length < width )
{
double t;
CV_SWAP( length, width, t );
CV_SWAP( cs, sn, t );
theta = CV_PI*0.5 - theta;
}
/* Saving results */
if( _comp || box )
{
int t0, t1;
int _xc = cvRound( xc );
int _yc = cvRound( yc );
t0 = cvRound( fabs( length * cs ));
t1 = cvRound( fabs( width * sn ));
t0 = MAX( t0, t1 ) + 2;
comp.rect.width = MIN( t0, (mat->width - _xc) * 2 );
t0 = cvRound( fabs( length * sn ));
t1 = cvRound( fabs( width * cs ));
t0 = MAX( t0, t1 ) + 2;
comp.rect.height = MIN( t0, (mat->height - _yc) * 2 );
comp.rect.x = MAX( 0, _xc - comp.rect.width / 2 );
comp.rect.y = MAX( 0, _yc - comp.rect.height / 2 );
comp.rect.width = MIN( mat->width - comp.rect.x, comp.rect.width );
comp.rect.height = MIN( mat->height - comp.rect.y, comp.rect.height );
comp.area = (float) m00;
}
__END__;
if( _comp )
*_comp = comp;
if( box )
{
box->size.height = (float)length;
box->size.width = (float)width;
box->angle = (float)(theta*180./CV_PI);
box->center = cvPoint2D32f( comp.rect.x + comp.rect.width*0.5f,
comp.rect.y + comp.rect.height*0.5f);
}
return itersUsed;
}
参考文献:
《学习opencv》中文版
Computer Vision Face Tracking For Use in a Perceptual User Interface 。Gary R. Bradski 1998
cvhistogram.cpp cvcamshift.cpp
**************************************************************** 给力的分割线 ***********************************************************************
我的论文程序里用的meanshift函数,从opencv的meanshift函数改动而来(自己写的代码来计算0阶矩、1阶矩,其他小改动了哈,使之适应小数据集的均值飘逸计算)
CV_IMPL int myMeanShift( const IplImage* imgProb, CvRect windowIn, CvTermCriteria criteria, CvConnectedComp* comp )
{
int i = 0, eps;
CvRect cur_rect = windowIn;
CV_FUNCNAME( "myMeanShift" );
if( comp )
comp->rect = windowIn;
double m00 = 0;
double m10 = 0;
double m01 = 0;//0阶矩 1阶矩
__BEGIN__;
if( windowIn.height <= 0 || windowIn.width <= 0 )
CV_ERROR( CV_StsBadArg, "Input window has non-positive sizes" );
if( windowIn.x < 0 || windowIn.x + windowIn.width > imgProb->width ||
windowIn.y < 0 || windowIn.y + windowIn.height > imgProb->height )
CV_ERROR( CV_StsBadArg, "Initial window is not inside the image ROI" );
CV_CALL( criteria = cvCheckTermCriteria( criteria, 1., 100 ));
eps = cvRound( criteria.epsilon * criteria.epsilon );
for( i = 0; i < 1/*criteria.max_iter*/; i++ )//迭代100次
{
int dx, dy, nx, ny;
double inv_m00;
//计算矩 m00 m10 m01
//得到图像的值 , cvGet2D(img,行,列)
cout<<"val ";
for(int i = 0; i < windowIn.height ; i++)
{
for(int j =0 ; j < windowIn.width ; j++)
{
if( ((cur_rect.y + i) < imgProb->height) && ((cur_rect.x + j) < imgProb->width) )
{
CvScalar tmp;
tmp = cvGet2D(imgProb , windowIn.y + i, windowIn.x + j);//行、列
cout<<" "<<tmp.val[0];
m00 = m00 + tmp.val[0];
m10 = m10 + (j+1) * tmp.val[0];
m01 = m01 + (i+1) * tmp.val[0];
}
}
cout<<endl;
}
cout<<endl<<"m00 "<<m00<<" "<<m10<<" "<<m01<<endl;
//
/* Calculating center of mass */
if( fabs(m00) < DBL_EPSILON )
break;
if(m00!=0)
{
inv_m00 = (1/sqrt(m00))*(1/sqrt(m00));//m00不为0
}
// 计算重心偏移量
dx = cvRound( m10 * inv_m00 - (windowIn.width*0.5 +0.5));//m10/m00
dy = cvRound( m01 * inv_m00 - (windowIn.height*0.5 +0.5));//m01/m00
nx = cur_rect.x + dx;//重心位移
ny = cur_rect.y + dy;
cout<<"center:"<<m10 * inv_m00<<" "<<m01 * inv_m00<<endl ;
cout<<"rect.x y "<<cur_rect.x<<" "<<cur_rect.y<<" nx ny :"<<nx<<" "<<ny<<endl;
cout<<"dx dy11:"<<m10 * inv_m00 - (windowIn.width*0.5+0.5)<<" "<<m01 * inv_m00 - (windowIn.height*0.5+0.5)<<" ";
cout<<"win width height :"<<windowIn.x<<" "<<windowIn.y<<" "<<windowIn.width*0.5<<" "<<windowIn.height*0.5<<endl;
cout<<"dx dy:"<<dx<<" "<<dy<<endl;
if( nx < 0 )
nx = 0;
else if( nx + cur_rect.width > imgProb->width )
nx = imgProb->width - cur_rect.width;
if( ny < 0 )
ny = 0;
else if( ny + cur_rect.height > imgProb->height )
ny = imgProb->height - cur_rect.height;
dx = nx - cur_rect.x;
dy = ny - cur_rect.y;
cur_rect.x = nx;//更新搜索框位置
cur_rect.y = ny;
/* Check for coverage centers mass & window */
if( dx*dx + dy*dy < eps )
break;
}
__END__;
if( comp )
{
comp->rect = cur_rect;
comp->area = (float)m00;
}
return i;
}
**************************************************************** 给力的分割线 ***********************************************************************
相对于camshift的颜色概率分布,其他基于meanshift的跟踪方法大多用小模板在原图像中进行匹配(匹配值计算有各种方法),计算模板中心位置的像素(原图像)的匹配值,来得到原图像的匹配度概率分布。再在这个分布上meanshift。这些方法和camshift相比就是计算量大了很多,应该是这样子的,了解还不是很多。