openCV 3 计算机视觉 Python语言实现 8.2.1 meanshift均值漂移/Camshift（连续自适应均值漂移）---目标追踪

关于meanshift算法以及camshift算法的理解可参考：https://my.oschina.net/u/3702502/blog/1815341，内容讲的比较全面。

meanshift均值漂移算法：

代码1：（读取同样大小的窗口图片文件）

import numpy as np
import cv2

cap = cv2.VideoCapture(0)

while True:
    ret ,frame = cap.read()
    cv2.imshow('img',frame)
    if cv2.waitKey(1) & 0xFF == 27 :
        break
        
cap.release()
cv2.destroyAllWindows()
 

代码2：（设置画笔笔盖的阈值范围）

import cv2
import numpy as np

image = cv2.imread('bigai.png') 
cv2.imshow("BGR", image)

hsv_low = np.array([0, 0, 0])
hsv_high = np.array([0, 0, 0])

def h_low(value):
    hsv_low[0] = value

def h_high(value):
    hsv_high[0] = value

def s_low(value):
    hsv_low[1] = value

def s_high(value):
    hsv_high[1] = value

def v_low(value):
    hsv_low[2] = value

def v_high(value):
    hsv_high[2] = value

cv2.namedWindow('image')
cv2.createTrackbar('H low', 'image', 0, 255, h_low) 
cv2.createTrackbar('H high', 'image', 0, 255, h_high)
cv2.createTrackbar('S low', 'image', 0, 255, s_low)
cv2.createTrackbar('S high', 'image', 0, 255, s_high)
cv2.createTrackbar('V low', 'image', 0, 255, v_low)
cv2.createTrackbar('V high', 'image', 0, 255, v_high)

while True:
    dst = cv2.cvtColor(image, cv2.COLOR_BGR2HSV) 
    dst = cv2.inRange(dst, hsv_low, hsv_high) 
    cv2.imshow('dst', dst)
    if cv2.waitKey(1) & 0xFF == 27:
        break
cv2.destroyAllWindows()

（关于BGR与HSV色彩空间转换，可参考https://blog.csdn.net/u010429424/article/details/76577399），代码转载自：https://blog.csdn.net/u010429424/article/details/76577399；

代码3：

import numpy as np
import cv2

cap = cv2.VideoCapture(0)
# 获取视频第一帧
ret,frame = cap.read()
# 标记感兴趣区域
r,h,c,w = 10, 200, 10, 200
# wrap in a tuple
track_window = (c,r,w,h)

# extract the ROI for tracking
roi = frame[r:r+h, c:c+w]
# switch to HSV
hsv_roi =  cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
# 创建掩膜，设置色彩最高阈值与最低阈值，获取笔盖的掩码
mask = cv2.inRange(hsv_roi, np.array((0, 81,167)), np.array((11,255,255)))
cv2.imshow("mask",mask)
# calculate histograms of roi
roi_hist = cv2.calcHist([hsv_roi],[0],mask,[256],[0,256])

cv2.imshow("hist",roi_hist)

cv2.normalize(roi_hist,roi_hist,0,255,cv2.NORM_MINMAX) #作归一化处理

# 设置终止条件，要么10次迭代，要么按至少1 pt移动
term_crit = ( cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1 )

#获取视频后续帧

while(1):
    ret ,frame = cap.read()

    if ret == True:
        hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
        dst = cv2.calcBackProject([hsv],[0],roi_hist,[0,180],1) #计算反向投影图像
        print (dst)
        # 应用meanshift算法获取密度集最大的位置，参数：1、反向投影图像；2、起始迭代的方框；3、迭代条件；返回值：ret（ture or false）；track_window:最终位置的方框
        ret, track_window = cv2.meanShift(dst, track_window, term_crit)
        print(ret)

        # Draw it on image
        x,y,w,h = track_window
        img2 = cv2.rectangle(frame, (x,y), (x+w,y+h), 255,2)
        cv2.imshow('img2',img2)

        k = cv2.waitKey(60) & 0xff
        if k == 27:
            break

    else:
        break

cv2.destroyAllWindows()
cap.release()
 

实现目标的追踪：

 

Camshift连续自适应均值漂移算法：

代码：

#coding=utf-8
import numpy as np
import cv2

cap = cv2.VideoCapture(0)

# take first frame of the video
ret,frame = cap.read()

# setup initial location of window
r,h,c,w = 300,200,400,300  # simply hardcoded the values
track_window = (c,r,w,h)

roi = frame[r:r+h, c:c+w]
hsv_roi =  cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv_roi, np.array((0, 81,167)), np.array((11,255,255)))
roi_hist = cv2.calcHist([hsv_roi],[0],mask,[180],[0,180])
cv2.normalize(roi_hist,roi_hist,0,255,cv2.NORM_MINMAX)
term_crit = ( cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1 )

while(1):
    ret ,frame = cap.read()

    if ret == True:
        hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
        dst = cv2.calcBackProject([hsv],[0],roi_hist,[0,180],1)
        #返回一个旋转的矩形（即我们的结果）和框参数
        ret, track_window = cv2.CamShift(dst, track_window, term_crit)
        #print(ret)
        #得到旋转矩形的四个点的坐标
        pts = cv2.boxPoints(ret)
        #print(pts)
        #将四个顶点的坐标取整型
        pts = np.int0(pts)
        #print(pts)
        img2 = cv2.polylines(frame,[pts],True, 255,2)#多线段矩形

        cv2.imshow('img2',img2)
        k = cv2.waitKey(60) & 0xff
        if k == 27:
            break

    else:
        break

cv2.destroyAllWindows()
cap.release()

实现的结果：