近来,因为在项目中遇到跟踪的难题,没事翻看opencv2.4.5里的相关源码查阅,偶然发现在opencv的contrib文件夹下实现了多种目标跟踪算法,包括featuretracker、hybridtracker和detection_based_tracker等。由于是改代码是放置于contrib文件夹下,所以不能直接调用(除非自己重新编译)。对源代码进行了提取,单还是有错,欢迎同道之人下载下来一起找错,相互交流。
首先附上main函数里的相关代码:
Rect box(0,0,0,0);
bool drawing_box = false;
bool gotBB = false;
string video ="E:\\Video\\test1.avi";
//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;
}
}
void drawBox(Mat& image, CvRect box, Scalar color, int thick)
{
rectangle( image, cvPoint(box.x, box.y), cvPoint(box.x+box.width,box.y+box.height),color, thick);
}
int main(int argc, char * argv[])
{
VideoCapture capture;
Mat frame;
CvFeatureTrackerParams params;
params.feature_type = 0;
params.window_size = 0;
FeatureTraker tracker(params);
//FeatureTraker tracker;
capture.open(video);
if (!capture.isOpened())
{
cout << " video file open failed..." << endl;
return 1;
}
capture >> frame;
if ( frame.empty())
{
cout << " get frame error..." << endl;
return 1;
}
resize( frame, frame, Size(352,288));
//Register mouse callback to draw the bounding box
namedWindow("fetureTracker",CV_WINDOW_AUTOSIZE);
setMouseCallback( "fetureTracker", mouseHandler, NULL );
GETBOUNDINGBOX:
while(!gotBB)
{
drawBox(frame,box,Scalar(0,255,0),2);
imshow("fetureTracker", frame);
if ( waitKey(33) == 'q')
return 0;
}
if (box.area()<160)
{
cout << "Bounding box too small, try again." << endl;
gotBB = false;
goto GETBOUNDINGBOX;
}
//Remove callback
setMouseCallback( "fetureTracker", NULL, NULL );
printf("Initial Bounding Box = x:%d y:%d h:%d w:%d\n",box.x,box.y,box.width,box.height);
tracker.newTrackingWindow(frame,box);
Point2f pt = tracker.getTrackingCenter();
circle(frame,pt,5,Scalar(0,0,255),2);
for (;;)
{
capture>>frame;
resize( frame, frame, Size(352,288));
tracker.updateTrackingWindow(frame);
pt = tracker.getTrackingCenter();
circle(frame,pt,5,Scalar(0,0,255),2);
drawBox(frame,box,Scalar(0,255,0),2);
imshow("fetureTracker", frame);
if ( waitKey(33) == 'q')
break;
}
return 0;
}
接着,对opencv中FeatureTracker类中的几个问题进行简单列举下:
1) 因为SIFT和SURF是nonfree模块下的类,所以在调用该模块下的函数之前需要调用: initModule_nonfree();函数。
2) 在FeatureTracker的带有CvFeatureTrackerParams类型参数的构造函数中,switch case缺少break;语句。
修改后的头文件FeatureTraker.hpp如下:
// Feature tracking parameters
struct CV_EXPORTS CvFeatureTrackerParams
{
enum { SIFT = 0, SURF = 1, OPTICAL_FLOW = 2 };
CvFeatureTrackerParams(int featureType = 0, int windowSize = 0)
{
feature_type = featureType;
window_size = windowSize;
}
int feature_type; // Feature type to use
int window_size; // Window size in pixels around which to search for new window
};
class FeatureTraker
{
private:
Ptr<Feature2D> dd;
Ptr<DescriptorMatcher> matcher;
vector<DMatch> matches;
Mat prev_image;
Mat prev_image_bw;
Rect prev_trackwindow;
Point2d prev_center;
int ittr;
vector<Point2f> features[2];
public:
Mat disp_matches;
CvFeatureTrackerParams params;
FeatureTraker();
explicit FeatureTraker(CvFeatureTrackerParams params);
~FeatureTraker();
void newTrackingWindow(Mat image, Rect selection);
Rect updateTrackingWindow(Mat image);
Rect updateTrackingWindowWithSIFT(Mat image);
Rect updateTrackingWindowWithFlow(Mat image);
void setTrackingWindow(Rect _window);
Rect getTrackingWindow();
Point2f getTrackingCenter();
};
修改后的头文件FeatureTraker.cpp如下:
FeatureTraker::FeatureTraker(CvFeatureTrackerParams _params) :
params(_params)
{
initModule_nonfree();
switch (params.feature_type)
{
case CvFeatureTrackerParams::SIFT:
dd = Algorithm::create<Feature2D>("Feature2D.SIFT");
if( dd.empty() )
CV_Error(CV_StsNotImplemented, "OpenCV has been compiled without SIFT support");
dd->set("nOctaveLayers", 5);
dd->set("contrastThreshold", 0.04);
dd->set("edgeThreshold", 10.7);
break;
case CvFeatureTrackerParams::SURF:
dd = Algorithm::create<Feature2D>("Feature2D.SURF");
if( dd.empty() )
CV_Error(CV_StsNotImplemented, "OpenCV has been compiled without SURF support");
dd->set("hessianThreshold", 400);
dd->set("nOctaves", 3);
dd->set("nOctaveLayers", 4);
break;
default:
CV_Error(CV_StsBadArg, "Unknown feature type");
break;
}
matcher = new BFMatcher(NORM_L2);
}
FeatureTraker::FeatureTraker()
{
}
FeatureTraker::~FeatureTraker()
{
}
void FeatureTraker::newTrackingWindow(Mat image, Rect selection)
{
image.copyTo(prev_image);
cvtColor(prev_image, prev_image_bw, CV_BGR2GRAY);
prev_trackwindow = selection;
prev_center.x = selection.x;
prev_center.y = selection.y;
ittr = 0;
}
Rect FeatureTraker::updateTrackingWindow(Mat image)
{
if(params.feature_type == CvFeatureTrackerParams::OPTICAL_FLOW)
return updateTrackingWindowWithFlow(image);
else
return updateTrackingWindowWithSIFT(image);
}
Rect FeatureTraker::updateTrackingWindowWithSIFT(Mat image)
{
ittr++;
vector<KeyPoint> prev_keypoints, curr_keypoints;
vector<Point2f> prev_keys, curr_keys;
Mat prev_desc, curr_desc;
Rect window = prev_trackwindow;
Mat mask = Mat::zeros(image.size(), CV_8UC1);
rectangle(mask, Point(window.x, window.y), Point(window.x + window.width,
window.y + window.height), Scalar(255), CV_FILLED);
dd->operator()(prev_image, mask, prev_keypoints, prev_desc);
window.x -= params.window_size;
window.y -= params.window_size;
window.width += params.window_size;
window.height += params.window_size;
rectangle(mask, Point(window.x, window.y), Point(window.x + window.width,
window.y + window.height), Scalar(255), CV_FILLED);
dd->operator()(image, mask, curr_keypoints, curr_desc);
if (prev_keypoints.size() > 4 && curr_keypoints.size() > 4)
{
//descriptor->compute(prev_image, prev_keypoints, prev_desc);
//descriptor->compute(image, curr_keypoints, curr_desc);
matcher->match(prev_desc, curr_desc, matches);
for (int i = 0; i < (int)matches.size(); i++)
{
prev_keys.push_back(prev_keypoints[matches[i].queryIdx].pt);
curr_keys.push_back(curr_keypoints[matches[i].trainIdx].pt);
}
Mat T = findHomography(prev_keys, curr_keys, CV_LMEDS);
prev_trackwindow.x += cvRound(T.at<double> (0, 2));
prev_trackwindow.y += cvRound(T.at<double> (1, 2));
}
prev_center.x = prev_trackwindow.x;
prev_center.y = prev_trackwindow.y;
prev_image = image;
return prev_trackwindow;
}
Rect FeatureTraker::updateTrackingWindowWithFlow(Mat image)
{
ittr++;
Size subPixWinSize(10,10), winSize(31,31);
Mat image_bw;
TermCriteria termcrit(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, 0.03);
vector<uchar> status;
vector<float> err;
cvtColor(image, image_bw, CV_BGR2GRAY);
cvtColor(prev_image, prev_image_bw, CV_BGR2GRAY);
if (ittr == 1)
{
Mat mask = Mat::zeros(image.size(), CV_8UC1);
rectangle(mask, Point(prev_trackwindow.x, prev_trackwindow.y), Point(
prev_trackwindow.x + prev_trackwindow.width, prev_trackwindow.y
+ prev_trackwindow.height), Scalar(255), CV_FILLED);
goodFeaturesToTrack(image_bw, features[1], 500, 0.01, 20, mask, 3, 0, 0.04);
cornerSubPix(image_bw, features[1], subPixWinSize, Size(-1, -1), termcrit);
}
else
{
calcOpticalFlowPyrLK(prev_image_bw, image_bw, features[0], features[1],
status, err, winSize, 3, termcrit);
Point2f feature0_center(0, 0);
Point2f feature1_center(0, 0);
int goodtracks = 0;
for (int i = 0; i < (int)features[1].size(); i++)
{
if (status[i] == 1)
{
feature0_center.x += features[0][i].x;
feature0_center.y += features[0][i].y;
feature1_center.x += features[1][i].x;
feature1_center.y += features[1][i].y;
goodtracks++;
}
}
feature0_center.x /= goodtracks;
feature0_center.y /= goodtracks;
feature1_center.x /= goodtracks;
feature1_center.y /= goodtracks;
prev_center.x += (feature1_center.x - feature0_center.x);
prev_center.y += (feature1_center.y - feature0_center.y);
prev_trackwindow.x = (int)prev_center.x;
prev_trackwindow.y = (int)prev_center.y;
}
swap(features[0], features[1]);
image.copyTo(prev_image);
return prev_trackwindow;
}
void FeatureTraker::setTrackingWindow(Rect _window)
{
prev_trackwindow = _window;
}
Rect FeatureTraker::getTrackingWindow()
{
return prev_trackwindow;
}
Point2f FeatureTraker::getTrackingCenter()
{
Point2f center(0, 0);
center.x = (float)(prev_center.x + prev_trackwindow.width/2.0);
center.y = (float)(prev_center.y + prev_trackwindow.height/2.0);
return center;
}
源代码下载:http://download.csdn.net/detail/kezunhai/5660195