因为采用的是camshift算法,所以其基本思想是以视频图像中运动物体的颜色信息作为特征;
运行代码如下:
//采用camshift算法
#include <opencv2/core/utility.hpp>
#include "opencv2/video/tracking.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/videoio.hpp"
#include "opencv2/highgui.hpp"
#include <iostream>
#include <ctype.h>
using namespace cv;
using namespace std;
Mat image;
bool backprojMode = false;//表示是否要进入反向投影模式,true则表示要进入反向投影模式
bool selectObject = false;//表是否在选中要跟踪的初始目标,true表示正在用鼠标选择要跟踪的目标
int trackObject = 0;//跟踪目标的数目
bool showHist = true;//是否显示HUE分量直方图
Point origin;//用于保存鼠标选择第一次单击时点的位置
Rect selection;//用于保存鼠标选择的矩形框
int vmin = 10, vmax = 256, smin = 30;
//用于设置滑动条;
// User draws box around object to track. This triggers CAMShift to start tracking
static void onMouse( int event, int x, int y, int, void* )
//用于鼠标回调函数;该函数用鼠标进行跟踪目标的选择;
{
switch( event )//鼠标事件;
{
case EVENT_LBUTTONDOWN:
//鼠标按下,开始点击选择跟踪物体;
selectObject = true;//鼠标按下赋予真值;
origin = Point(x,y);//保存鼠标左键点击获得的点;
selection = Rect(x,y,0,0);//鼠标按下去时初始化一个矩形区域;
//这里一定要初始化,宽和高为(0,0)是因为在opencv中Rect矩形框类内的点是包含左上角那个点的,但是不含右下角那个点
break;
case EVENT_LBUTTONUP:
//鼠标左键松开;
selectObject = false;
if( selection.width > 0 && selection.height > 0 )//如果选择的物体有效则打开跟随功能;
trackObject = -1; // Set up CAMShift properties in main() loop
break;
}
if( selectObject )
//如果selectObject为1,则表示目标进行目标选择;此时对矩形类selection用当前的鼠标位置进行设置;
{
selection.x = MIN(x, origin.x);
//不一定要等鼠标弹起才计算矩形框,而应该在鼠标按下开始到弹起这段时间实时计算所选矩形框
selection.y = MIN(y, origin.y);
selection.width = std::abs(x - origin.x);//计算矩形宽度和高度;
selection.height = std::abs(y - origin.y);
selection &= Rect(0, 0, image.cols, image.rows);
//保证所选的矩形框在显示区域内;
}
}
string hot_keys =
"\n\nHot keys: \n"
"\tESC - quit the program\n"
"\tc - stop the tracking\n"
"\tb - switch to/from backprojection view\n"
"\th - show/hide object histogram\n"
"\tp - pause video\n"
"To initialize tracking, select the object with mouse\n";
static void help()//帮助文档;
{
cout << "\nThis is a demo that shows mean-shift based tracking\n"
"You select a color objects such as your face and it tracks it.\n"
"This reads from video camera (0 by default, or the camera number the user enters\n"
"Usage: \n"
" ./camshiftdemo [camera number]\n";
cout << hot_keys;
}
const char* keys =
{
"{help h | | show help message}{@camera_number| 0 | camera number}"
};
int main( int argc, const char** argv )
{
VideoCapture cap;
Rect trackWindow;
int hsize = 16;
//划分直方图bin的个数,越多越精确;
float hranges[] = {0,180};
//像素值的取值范围;
const float* phranges = hranges;
//用于初始化CvHistogram类
CommandLineParser parser(argc, argv, keys);//命令解析函数
if (parser.has("help"))
{
help();
return 0;
}
int camNum = parser.get<int>(0);
cap.open(camNum);
if( !cap.isOpened() )//摄像头没有打开的帮助文件;
{
help();
cout << "***Could not initialize capturing...***\n";
cout << "Current parameter's value: \n";
parser.printMessage();
return -1;
}
cout << hot_keys;
namedWindow( "Histogram", 0 );//用于显示直方图;
namedWindow( "CamShift Demo", 0 );
setMouseCallback( "CamShift Demo", onMouse, 0 );//设置鼠标回调函数;
createTrackbar( "Vmin", "CamShift Demo", &vmin, 256, 0 );
createTrackbar( "Vmax", "CamShift Demo", &vmax, 256, 0 );
createTrackbar( "Smin", "CamShift Demo", &smin, 256, 0 );
//设置的滑动条;
Mat frame, hsv, hue, mask, hist,
histimg = Mat::zeros(200, 320, CV_8UC3), backproj;
bool paused = false;
for(;;)
//用于处理的主要函数;
{
if( !paused )//不暂停
{
cap >> frame;//从摄像头抓取一帧图像放在frame中;
if( frame.empty() )
break;
}
frame.copyTo(image);//把frame中的图像复制给image;
if( !paused )
{
cvtColor(image, hsv, COLOR_BGR2HSV);
//把摄像头图像从RGB表色系转为HSV表色系
if( trackObject )//traekObject初始为0;或者键盘输入c后也为0;用鼠标单击后为-1;
//如果trackObject不为0,则表示有需要跟踪的物体;
{
int _vmin = vmin, _vmax = vmax;
/*inRange函数的功能是检可以查输入数组每个元素大小是否在2个给定数值之间,
* 是多通道的,mask保存0通道的最小值,也就是h分量这里利用了hsv的3个通道,
* 比较h,0~180,s,smin~256,v,min(vmin,vmax),max(vmin,vmax)。如果
* 3个通道都在对应的范围内,则mask对应的那个点的值全为1(0xff),否则为0(0x00).*/
inRange(hsv, Scalar(0, smin, MIN(_vmin,_vmax)),
Scalar(180, 256, MAX(_vmin, _vmax)), mask);
//制作掩膜板,只处理像素值为H:0~180,S:smin~256,V:vmin~vmax之间的部分
int ch[] = {0, 0};
hue.create(hsv.size(), hsv.depth());
/*hue初始化为与hsv大小深度一样的矩阵,色调的度量是用角度表示的,
* 红绿蓝之间相差120度,反色相差180度*/
mixChannels(&hsv, 1, &hue, 1, ch, 1);
//hsv的1通道复制到hue的1通道;
if( trackObject < 0 )//鼠标区域松开后,该函数内部又将其赋值为1;
{
// Object has been selected by user, set up CAMShift search properties once
Mat roi(hue, selection), maskroi(mask, selection);
/*此处的构造函数roi用的是Mat hue的矩阵头,且roi的数据指针指向hue,
* 即共用相同的数据,select为其感兴趣的区域*/
calcHist(&roi, 1, 0,
maskroi, hist,
1, &hsize, &phranges);
/*calcHist()函数第一个参数为输入矩阵序列,第2个参数表示输入的矩阵数目,
* 第3个参数表示将被计算直方图维数通道的列表,第4个参数表示可选的掩码函
* 数,第5个参数表示输出直方图,第6个参数表示直方图的维数,第7个参数为每
* 一维直方图数组的大小,第8个参数为每一维直方图bin的边界*/
//将roi的0通道计算直方图并通过mask放入hist中,hsize为每一维直方图的大小
normalize(hist, hist, 0, 255, NORM_MINMAX);
//将hist矩阵进行数组范围归一化,都归一化到0-255
trackWindow = selection;
trackObject = 1; // Don't set up again, unless user selects new ROI
/*置track_object为1,表明属性提取完成,只要鼠标选完区域松开后,
*且没有按键盘清0键'c',则trackObject一直保持为1,因此该if函
* 数只能执行一次,除非重新选择跟踪区域*/
histimg = Scalar::all(0);//与按下‘c’键是一样的,这里的all(0)表示的是标量全部清0
int binW = histimg.cols / hsize;
//histing是一个200*300的矩阵,hsize应该是每一个bin的宽度,也就是histing矩阵能分出几个bin出来
Mat buf(1, hsize, CV_8UC3);//定义一个缓冲单bin矩阵
for( int i = 0; i < hsize; i++ )//saturate_case函数为从一个初始类型准确变换到另一个初始类型
buf.at<Vec3b>(i) = Vec3b(saturate_cast<uchar>(i*180./hsize), 255, 255);
cvtColor(buf, buf, COLOR_HSV2BGR);//hsv又转换成bgr
for( int i = 0; i < hsize; i++ )
{
int val = saturate_cast<int>(hist.at<float>(i)*histimg.rows/255);
/*at函数为返回一个指定数组元素的参考值*/
rectangle( histimg, Point(i*binW,histimg.rows),
Point((i+1)*binW,histimg.rows - val),
Scalar(buf.at<Vec3b>(i)), 3, 8 );
//在一幅输入图像上画一个简单抽的矩形,指定左上角和右下角,并定义颜色,大小,线型等
}
}
// Perform CAMShift
calcBackProject(&hue, 1, 0, hist, backproj, &phranges);
//计算hue的反向投影图,计算hue图像0通道直方图hist的反向投影,并放入backproj中
backproj &= mask;
RotatedRect trackBox = CamShift(backproj, trackWindow,
TermCriteria( TermCriteria::EPS | TermCriteria::COUNT,
10, 1 ));
//trackWindow为鼠标选择的区域,TermCriteria为确定迭代终止的准则
if( trackWindow.area() <= 1 )
{
int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5)/6;
trackWindow = Rect(trackWindow.x - r, trackWindow.y - r,
trackWindow.x + r, trackWindow.y + r) &
Rect(0, 0, cols, rows);
}
if( backprojMode )
cvtColor( backproj, image, COLOR_GRAY2BGR );
// ellipse( image, trackBox, Scalar(0,0,255), 3, LINE_AA );
rectangle(image,Point(trackWindow.x,trackWindow.y),
Point(trackWindow.x+trackWindow.width,
trackWindow.y+trackWindow.height),
Scalar(255,0,0),3,CV_AA);
}
}
else if( trackObject < 0 )
paused = false;
if( selectObject && selection.width > 0 && selection.height > 0 )//如果正处于物体选择,画出选择框
{
Mat roi(image, selection);
bitwise_not(roi, roi);// bitwise_not为将每一个bit位取反
}
imshow( "CamShift Demo", image );
imshow( "Histogram", histimg );
char c = (char)waitKey(10);
if( c == 27 )
break;
switch(c)
{
case 'b':
backprojMode = !backprojMode;
break;
case 'c':
trackObject = 0;
histimg = Scalar::all(0);
break;
case 'h':
showHist = !showHist;
if( !showHist )
destroyWindow( "Histogram" );
else
namedWindow( "Histogram", 1 );
break;
case 'p':
paused = !paused;
break;
default:
;
}
}
return 0;
}
具体操作即用鼠标框选目标即可;
实现效果如下:
其中的命令解析函数的使用:
打开运行文件所在位置,带开终端,输入./文件名 -h 即可;效果如下: