一些小概念
1.反投影直方图的结果是一个概率映射,体现了已知图像内容出现在图像中特定位置的概率。
2.概率映射可以找到最初的位置,从最初的位置开始并且迭代移动,便可以找到精确的位置,这就是均值漂移算法做的事情。
3.均值漂移算法是以迭代的方式锁定函数的局部最大值的。
关于均值漂移算法的过程(opencv)
其实均值漂移算法就是寻找预定义寻找区域中数据点的重心,或者说加权平均值。将寻找区域中心移动到数据点的重心处,并重复这个过程直到寻找区域重心收敛到一个稳定点。
OpenCV中定义了两种终止条件:迭代最大次数以及窗口重心的位移值(低于该值即认为算法收敛)。
在OpenCV中实现这个过程的是meanshift函数,其源代码如下:
- #include "_cv.h"
- CV_IMPL int
- cvMeanShift( const void* imgProb, CvRect windowIn,
- CvTermCriteria criteria, CvConnectedComp* comp )
- {
- //CvMoments用来计算矩形的重心,面积等形状特征
- CvMoments moments;
- int i = 0, eps;
- CvMat stub, *mat = (CvMat*)imgProb;
- CvMat cur_win;
- CvRect cur_rect = windowIn;
- CV_FUNCNAME( "cvMeanShift" );
- //初始化跟踪窗口
- if( comp )
- comp->rect = windowIn;
- //把0阶矩和1阶矩先初始化置零
- moments.m00 = moments.m10 = moments.m01 = 0;
- __BEGIN__;
- CV_CALL( mat = cvGetMat( mat, &stub ));
- //各种输入变量不符合要求时显示错误信息
- 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" );
- //迭代的标准,精度=1.0,迭代次数=100
- CV_CALL( criteria = cvCheckTermCriteria( criteria, 1., 100 ));
- //精度eps=1
- eps = cvRound( criteria.epsilon * criteria.epsilon );
- //最大循环次数=最大迭代次数criteria.max_iter=100
- for( i = 0; i < criteria.max_iter; i++ )
- {
- int dx, dy, nx, ny;
- double inv_m00;
- //选取搜索区域,对该矩形区域计算它的0,1阶矩
- CV_CALL( cvGetSubRect( mat, &cur_win, cur_rect ));
- CV_CALL( cvMoments( &cur_win, &moments ));
- /* Calculating center of mass */
- if( fabs(moments.m00) < DBL_EPSILON )
- break;
- //搜索区域的质量m00
- inv_m00 = moments.inv_sqrt_m00*moments.inv_sqrt_m00;
- //搜索区域的水平重心偏移dx
- dx = cvRound( moments.m10 * inv_m00 - windowIn.width*0.5 );
- //搜索区域的垂直重心偏移dy
- dy = cvRound( moments.m01 * inv_m00 - windowIn.height*0.5 );
- //搜索区域的重心坐标(nx,ny)
- nx = cur_rect.x + dx;
- ny = cur_rect.y + dy;
- //跟踪目标处于图像边缘时进行一些相应的处理
- 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;
- cur_rect.y = ny;
- /* Check for coverage centers mass & window */
- //精度达到要求时即可退出循环
- if( dx*dx + dy*dy < eps )
- break;
- }
- __END__;
- //对meanshift函数的返回值赋值
- if( comp )
- {
- comp->rect = cur_rect;
- comp->area = (float)moments.m00;
- }
- return i;
- }
在里面我们可以很容易的看出迭代过程
对这个算法想仔细研究的同学可以参考一下Dorin Comaniciu 等人2002年写的:
《Mean Shift:A Robust Approach Toward Feature Space Analysis》
实际例子
例子代码
- #include <opencv2\core\core.hpp>
- #include <opencv2\highgui\highgui.hpp>
- #include <opencv2\imgproc\imgproc.hpp>
- #include <opencv2\video\tracking.hpp>
- #include <iostream>
- #include <vector>
- using namespace std;
- #include "objectFinder.h"
- #include "colorhistogram.h"
- int main()
- {
- //读取参考图像
- cv::Mat image= cv::imread("../3.jpg");
- if (!image.data)
- return 0;
- //定义查找物体
- cv::Mat imageROI= image(cv::Rect(85,200,64,64));
- cv::rectangle(image, cv::Rect(85,200,64,64),cv::Scalar(0,0,255));
- //显示参考图像
- cv::namedWindow("第一张图片,标记篮球位置");
- cv::imshow("第一张图片,标记篮球位置",image);
- //获得色度直方图
- ColorHistogram hc;
- cv::MatND colorhist= hc.getHueHistogram(imageROI);
- //读入目标图像
- image= cv::imread("../4.jpg");
- //显示目标图像
- cv::namedWindow("第二张图片");
- cv::imshow("第二张图片",image);
- //将RGB图像图像转换为HSV图像
- cv::Mat hsv;
- cv::cvtColor(image, hsv, CV_BGR2HSV);
- //分离图像通道
- vector<cv::Mat> v;
- cv::split(hsv,v);
- //消除饱和度较低的像素点
- int minSat=65;
- cv::threshold(v[1],v[1],minSat,255,cv::THRESH_BINARY);
- cv::namedWindow("第二张图片消除饱和度较低的像素点");
- cv::imshow("第二张图片消除饱和度较低的像素点",v[1]);
- //进行直方图反投影
- ObjectFinder finder;
- finder.setHistogram(colorhist);
- finder.setThreshold(0.3f);
- int ch[1]={0};
- cv::Mat result= finder.find(hsv,0.0f,180.0f,ch,1);
- cv::namedWindow("第二张图片进行直方图反投影");
- cv::imshow("第二张图片进行直方图反投影",result);
- //利用位运算消除低饱和度像素
- cv::bitwise_and(result,v[1],result);
- cv::namedWindow("第二张图片利用位运算进一步消除低饱和度像素点");
- cv::imshow("第二张图片利用位运算进一步消除低饱和度像素点",result);
- // 得到反投影直方图概率图像
- finder.setThreshold(-1.0f);
- result= finder.find(hsv,0.0f,180.0f,ch,1);
- cv::bitwise_and(result,v[1],result);
- cv::namedWindow("第二张图片处理后的二值图像");
- cv::imshow("第二张图片处理后的二值图像",result);
- cv::Rect rect(85,200,64,64);
- cv::rectangle(image, rect, cv::Scalar(0,0,255));
- cv::TermCriteria criteria(cv::TermCriteria::MAX_ITER,10,0.01);
- cout << "均值漂移迭代次数 = " << cv::meanShift(result,rect,criteria) << endl;
- cv::rectangle(image, rect, cv::Scalar(0,255,0));
- //展示结果图
- cv::namedWindow("查找结果,红框为第一幅图中篮球位置,绿框为现位置");
- cv::imshow("查找结果,红框为第一幅图中篮球位置,绿框为现位置",image);
- cv::waitKey();
- return 0;
- }
输出结果
-END-
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