本文记录了LK光流法的原理和opencv的使用实例。
一、理论部分
参考：http://www.cnblogs.com/andyanut/p/5893168.html
二、在opencv中的使用
void cvCalcOpticalFlowPyrLK(
const CvArr* prev,
const CvArr* curr,
CvArr* prevPyr,
CvArr* currPyr,
const CvPoint2D32f* prevFeatures,
CvPoint2D32f* currFeatures,
int count,
CvSize winSize,
int level,
char* status,
float* track error,
CvTermCriteria criteria,
int flags );
参数介绍：
第一个8位输入图像或者通过 buildOpticalFlowPyramid()建立的金字塔
- nextImg – second input image or pyramid of the same size and the same type as prevImg.
第二个输入图像或者和prevImg相同尺寸和类型的金字塔
- prevPts – vector of 2D points for which the flow needs to be found; point coordinates must be single-precision floating-point numbers.
二维点向量存储找到的光流；点坐标必须是单精度浮点数
- nextPts – output vector of 2D points (with single-precision floating-point coordinates) containing the calculated new positions of input features in the second image; when OPTFLOW_USE_INITIAL_FLOW flag is passed, the vector must have the same size as in the input.
输出二维点向量（用单精度浮点坐标）包括第二幅图像中计算的输入特征的新点位置；当OPTFLOW_USE_INITIAL_FLOW 标志通过，向量必须有和输入一样的尺寸。
- status – output status vector (of unsigned chars); each element of the vector is set to 1 if the flow for the corresponding features has been found, otherwise, it is set to 0.
输出状态向量（无符号char）；如果相应的流特征被发现，向量的每个元素被设置为1，否则，被置为0.
- err – output vector of errors; each element of the vector is set to an error for the corresponding feature, type of the error measure can be set in flags parameter; if the flow wasn’t found then the error is not defined (use the status parameter to find such cases).
输出错误向量；向量的每个元素被设为相应特征的一个错误，误差测量的类型可以在flags参数中设置；如果流不被发现然后错误未被定义（使用status（状态）参数找到此情形）。
- winSize – size of the search window at each pyramid level.
在每个金字塔水平搜寻窗口的尺寸。
- maxLevel – 0-based maximal pyramid level number; if set to 0, pyramids are not used (single level), if set to 1, two levels are used, and so on; if pyramids are passed to input then algorithm will use as many levels as pyramids have but no more than maxLevel.
- criteria – parameter, specifying the termination criteria of the iterative search algorithm (after the specified maximum number of iterations criteria.maxCount or when the search window moves by less than criteria.epsilon.
- flags –
operation flags:
- OPTFLOW_USE_INITIAL_FLOW uses initial estimations, stored in nextPts; if the flag is not set, then prevPts is copied to nextPts and is considered the initial estimate.
- OPTFLOW_LK_GET_MIN_EIGENVALS use minimum eigen values as an error measure (seeminEigThreshold description); if the flag is not set, then L1 distance between patches around the original and a moved point, divided by number of pixels in a window, is used as a error measure.
- minEigThreshold – the algorithm calculates the minimum eigen value of a 2x2 normal matrix of optical flow equations (this matrix is called a spatial gradient matrix in [Bouguet00]), divided by number of pixels in a window; if this value is less than minEigThreshold, then a corresponding feature is filtered out and its flow is not processed, so it allows to remove bad points and get a performance boost.
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函数示例：
下面的程序实现了利用LK光流法对视频中的运动目标进行跟踪
#include <opencv2/video/video.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/core/core.hpp>
#include <iostream>
#include <cstdio>
using namespace std;
using namespace cv;
void tracking(Mat &frame, Mat &output);
bool addNewPoints();
bool acceptTrackedPoint(int i);
string window_name = "optical flow tracking";
Mat gray; // 当前图片
Mat gray_prev; // 预测图片
vector<Point2f> points[2]; // point0为特征点的原来位置，point1为特征点的新位置
vector<Point2f> initial; // 初始化跟踪点的位置
vector<Point2f> features; // 检测的特征
int maxCount = 500; // 检测的最大特征数
double qLevel = 0.01; // 特征检测的等级
double minDist = 10.0; // 两特征点之间的最小距离
vector<uchar> status; // 跟踪特征的状态，特征的流发现为1，否则为0
vector<float> err;
int main()
{
Mat frame;
Mat result;
VideoCapture capture("E:\\data\\hog_svm\\pedestrian.avi");
if (capture.isOpened()/*capture*/) // 摄像头读取文件开关
{
while (true)
{
capture >> frame;
if (!frame.empty())
{
tracking(frame, result);
}
else
{
printf(" --(!) No captured frame -- Break!");
break;
}
int c = waitKey(100);
if ((char)c == 27)
{
break;
}
}
}
return 0;
}
//
// function: tracking
// brief: 跟踪
// parameter: frame 输入的视频帧
// output 有跟踪结果的视频帧
// return: void
//
void tracking(Mat &frame, Mat &output)
{
cvtColor(frame, gray, CV_BGR2GRAY);
frame.copyTo(output);
// 添加特征点
if (addNewPoints())
{
goodFeaturesToTrack(gray, features, maxCount, qLevel, minDist);
points[0].insert(points[0].end(), features.begin(), features.end());
initial.insert(initial.end(), features.begin(), features.end());
}
if (gray_prev.empty())
{
gray.copyTo(gray_prev);
}
// l-k光流法运动估计
calcOpticalFlowPyrLK(gray_prev, gray, points[0], points[1], status, err);
// 去掉一些不好的特征点
int k = 0;
for (size_t i = 0; i<points[1].size(); i++)
{
if (acceptTrackedPoint(i))
{
initial[k] = initial[i];
points[1][k++] = points[1][i];
}
}
points[1].resize(k);
initial.resize(k);
// 显示特征点和运动轨迹
for (size_t i = 0; i<points[1].size(); i++)
{
line(output, initial[i], points[1][i], Scalar(0, 0, 255));
circle(output, points[1][i], 3, Scalar(255, 0, 0), -1);
}
// 把当前跟踪结果作为下一此参考
swap(points[1], points[0]);
swap(gray_prev, gray);
imshow(window_name, output);
}
//
// function: addNewPoints
// brief: 检测新点是否应该被添加
// parameter:
// return: 是否被添加标志
//
bool addNewPoints()
{
return points[0].size() <= 10;
}
//
// function: acceptTrackedPoint
// brief: 决定哪些跟踪点被接受
// parameter:
// return:
//
bool acceptTrackedPoint(int i)
{
return status[i] && ((abs(points[0][i].x - points[1][i].x) + abs(points[0][i].y - points[1][i].y)) > 2);
}
第一个8位输入图像或者通过 buildOpticalFlowPyramid()建立的金字塔
- nextImg – second input image or pyramid of the same size and the same type as prevImg.
第二个输入图像或者和prevImg相同尺寸和类型的金字塔
- prevPts – vector of 2D points for which the flow needs to be found; point coordinates must be single-precision floating-point numbers.
二维点向量存储找到的光流；点坐标必须是单精度浮点数
- nextPts – output vector of 2D points (with single-precision floating-point coordinates) containing the calculated new positions of input features in the second image; when OPTFLOW_USE_INITIAL_FLOW flag is passed, the vector must have the same size as in the input.
输出二维点向量（用单精度浮点坐标）包括第二幅图像中计算的输入特征的新点位置；当OPTFLOW_USE_INITIAL_FLOW 标志通过，向量必须有和输入一样的尺寸。
- status – output status vector (of unsigned chars); each element of the vector is set to 1 if the flow for the corresponding features has been found, otherwise, it is set to 0.
输出状态向量（无符号char）；如果相应的流特征被发现，向量的每个元素被设置为1，否则，被置为0.
- err – output vector of errors; each element of the vector is set to an error for the corresponding feature, type of the error measure can be set in flags parameter; if the flow wasn’t found then the error is not defined (use the status parameter to find such cases).
输出错误向量；向量的每个元素被设为相应特征的一个错误，误差测量的类型可以在flags参数中设置；如果流不被发现然后错误未被定义（使用status（状态）参数找到此情形）。
- winSize – size of the search window at each pyramid level.
在每个金字塔水平搜寻窗口的尺寸。
- maxLevel – 0-based maximal pyramid level number; if set to 0, pyramids are not used (single level), if set to 1, two levels are used, and so on; if pyramids are passed to input then algorithm will use as many levels as pyramids have but no more than maxLevel.
- criteria – parameter, specifying the termination criteria of the iterative search algorithm (after the specified maximum number of iterations criteria.maxCount or when the search window moves by less than criteria.epsilon.
- flags –
operation flags:
- OPTFLOW_USE_INITIAL_FLOW uses initial estimations, stored in nextPts; if the flag is not set, then prevPts is copied to nextPts and is considered the initial estimate.
- OPTFLOW_LK_GET_MIN_EIGENVALS use minimum eigen values as an error measure (seeminEigThreshold description); if the flag is not set, then L1 distance between patches around the original and a moved point, divided by number of pixels in a window, is used as a error measure.
- minEigThreshold – the algorithm calculates the minimum eigen value of a 2x2 normal matrix of optical flow equations (this matrix is called a spatial gradient matrix in [Bouguet00]), divided by number of pixels in a window; if this value is less than minEigThreshold, then a corresponding feature is filtered out and its flow is not processed, so it allows to remove bad points and get a performance boost.
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