OpenCV之光流

OpenCV之光流

介绍

以下摘自官方文档的介绍，已经说的比较明白了。
光流是由物体或照相机的运动引起的两个连续帧之间图像物体视在运动的模式。 它是2D向量场，其中每个向量都是位移向量，显示点从第一帧到第二帧的运动。

光流在以下领域有许多应用：

• 运动结构
• 视频压缩
• 视频稳定

光流的工作基于以下几个假设：

• 物体的像素强度在连续的帧之间不改变。
• 相邻像素具有相似的运动。

实现

在OpenCV中实现光流的步骤

1. 查找一些关键点
   在例子中我们用goodFeaturesToTrack函数来查找关键点。函数原型：

void cv::goodFeaturesToTrack( InputArray _image, OutputArray _corners,
                              int maxCorners, double qualityLevel, double minDistance,
                              InputArray _mask, int blockSize,
                              bool useHarrisDetector, double harrisK )

2. 迭代跟踪这些点
   例子中用calcOpticalFlowPyrLK来计算光流。函数原型：

void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
                               InputArray _prevPts, InputOutputArray _nextPts,
                               OutputArray _status, OutputArray _err,
                               Size winSize, int maxLevel,
                               TermCriteria criteria,
                               int flags, double minEigThreshold )

根据我的理解，在当前帧查找一些关键点，然后根据这些关键点，在下一帧进行匹配，得到这些点在下一帧的位置。这样就得到了了一组向量，表示了当前帧和下一帧之前点的移动，也就实现了对一些物体的跟踪。

官方例子

#include <iostream>
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/videoio.hpp>
#include <opencv2/video.hpp>
using namespace cv;
using namespace std;
int main(int argc, char **argv)
{
    const string about =
        "This sample demonstrates Lucas-Kanade Optical Flow calculation.\n"
        "The example file can be downloaded from:\n"
        "  https://www.bogotobogo.com/python/OpenCV_Python/images/mean_shift_tracking/slow_traffic_small.mp4";
    const string keys =
        "{ h help |      | print this help message }"
        "{ @image | vtest.avi | path to image file }";
    CommandLineParser parser(argc, argv, keys);
    parser.about(about);
    if (parser.has("help"))
    {
        parser.printMessage();
        return 0;
    }
    string filename = samples::findFile(parser.get<string>("@image"));
    if (!parser.check())
    {
        parser.printErrors();
        return 0;
    }
    VideoCapture capture(filename);
    if (!capture.isOpened()){
        //error in opening the video input
        cerr << "Unable to open file!" << endl;
        return 0;
    }
    // Create some random colors
    vector<Scalar> colors;
    RNG rng;
    for(int i = 0; i < 100; i++)
    {
        int r = rng.uniform(0, 256);
        int g = rng.uniform(0, 256);
        int b = rng.uniform(0, 256);
        colors.push_back(Scalar(r,g,b));
    }
    Mat old_frame, old_gray;
    vector<Point2f> p0, p1;
    // Take first frame and find corners in it
    capture >> old_frame;
    cvtColor(old_frame, old_gray, COLOR_BGR2GRAY);
    goodFeaturesToTrack(old_gray, p0, 100, 0.3, 7, Mat(), 7, false, 0.04);
    // Create a mask image for drawing purposes
    Mat mask = Mat::zeros(old_frame.size(), old_frame.type());
    while(true){
        Mat frame, frame_gray;
        capture >> frame;
        if (frame.empty())
            break;
        cvtColor(frame, frame_gray, COLOR_BGR2GRAY);
        // calculate optical flow
        vector<uchar> status;
        vector<float> err;
        TermCriteria criteria = TermCriteria((TermCriteria::COUNT) + (TermCriteria::EPS), 10, 0.03);
        calcOpticalFlowPyrLK(old_gray, frame_gray, p0, p1, status, err, Size(15,15), 2, criteria);
        vector<Point2f> good_new;
        for(uint i = 0; i < p0.size(); i++)
        {
            // Select good points
            if(status[i] == 1) {
                good_new.push_back(p1[i]);
                // draw the tracks
                line(mask,p1[i], p0[i], colors[i], 2);
                circle(frame, p1[i], 5, colors[i], -1);
            }
        }
        Mat img;
        add(frame, mask, img);
        imshow("Frame", img);
        int keyboard = waitKey(30);
        if (keyboard == 'q' || keyboard == 27)
            break;
        // Now update the previous frame and previous points
        old_gray = frame_gray.clone();
        p0 = good_new;
    }
}

运行结果截图