描述
Camshift算法可以用来在视频或者摄像头开启时,跟踪某个固定的物体。
-
原理:
求待跟踪目标的颜色直方图模型,将图像转换为颜色概率分布图,初始化一个搜索窗的大小和位置,并根据上一帧得到的结果自适应调整搜索窗口的位置和大小,从而定位出当前图像中目标的中心位置。 -
不足:受光照影响大,精度不足
代码
摄像头+鼠标框出物体
下面这段代码,会打开摄像头,需要用鼠标框出要跟踪的物体,源代码地址在 https://github.com/prateekvjoshi/Object-Tracker-CAMShift,我进行了少部分修改
main.cpp
// Tracks the selected object using CAMShift algorithm
#include "opencv2/video/tracking.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
#include <ctype.h>
#define CV_TERMCRIT_EPS 2
#define CV_TERMCRIT_ITER 1
#define CV_AA 16
cv::Mat image;
bool selectObject = false;
int trackObject = 0;
cv::Point origin;
cv::Rect selection;
int vmin = 10, vmax = 256, smin = 30;
static void onMouse( int event, int x, int y, int, void* )
{
if( selectObject )
{
selection.x = MIN(x, origin.x);
selection.y = MIN(y, origin.y);
selection.width = std::abs(x - origin.x);
selection.height = std::abs(y - origin.y);
selection &= cv::Rect(0, 0, image.cols, image.rows);
}
switch( event )
{
case cv::EVENT_LBUTTONDOWN:
origin = cv::Point(x,y);
selection = cv::Rect(x,y,0,0);
selectObject = true;
break;
case cv::EVENT_LBUTTONUP:
selectObject = false;
if( selection.width > 0 && selection.height > 0 )
trackObject = -1;
break;
}
}
static void help()
{
std::cout << "\nCAMShift based object tracking\n"
"You select a colored object and the algorithm tracks it.\n"
"This takes the input from the webcam\n"
"Usage: \n"
"$ ./main [camera number]\n";
std::cout << "\n\nKeyboard input options: \n"
"\tESC - quit the program\n"
"\ts - stop the tracking\n"
"\tp - pause video\n"
"\nTo start tracking an object, select the rectangular region around it with the mouse\n\n";
}
int main( int argc, const char** argv )
{
help();
cv::VideoCapture cap;
cv::Rect trackWindow;
int hsize = 16;
float hranges[] = {0,180};
const float* phranges = hranges;
int camNum = 0;
if(argc == 2)
camNum = atoi(argv[1]);
cap.open(camNum);
if( !cap.isOpened() )
{
help();
std::cout << "***Could not initialize capturing...***\n";
std::cout << "Current parameter's value: " << camNum << std::endl;
return -1;
}
cv::namedWindow( "CamShift Object Tracker", 0 );
cv::setMouseCallback( "CamShift Object Tracker", onMouse, 0 );
cv::Mat frame, hsv, hue, mask, hist, histimg = cv::Mat::zeros(200, 320, CV_8UC3), backproj;
bool paused = false;
for(;;)
{
if( !paused )
{
cap >> frame;
if( frame.empty() )
break;
}
frame.copyTo(image);
if( !paused )
{
cv::cvtColor(image, hsv, cv::COLOR_BGR2HSV);
if( trackObject )
{
int _vmin = vmin, _vmax = vmax;
inRange(hsv, cv::Scalar(0, smin, MIN(_vmin,_vmax)),
cv::Scalar(180, 256, MAX(_vmin, _vmax)), mask);
int ch[] = {0, 0};
hue.create(hsv.size(), hsv.depth());
mixChannels(&hsv, 1, &hue, 1, ch, 1);
if( trackObject < 0 )
{
cv::Mat roi(hue, selection), maskroi(mask, selection);
calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges);
normalize(hist, hist, 0, 255, cv::NORM_MINMAX);
trackWindow = selection;
trackObject = 1;
histimg = cv::Scalar::all(0);
int binW = histimg.cols / hsize;
cv::Mat buf(1, hsize, CV_8UC3);
for( int i = 0; i < hsize; i++ )
buf.at<cv::Vec3b>(i) = cv::Vec3b(cv::saturate_cast<uchar>(i*180./hsize), 255, 255);
cvtColor(buf, buf, cv::COLOR_HSV2BGR);
for( int i = 0; i < hsize; i++ )
{
int val = cv::saturate_cast<int>(hist.at<float>(i)*histimg.rows/255);
rectangle( histimg, cv::Point(i*binW,histimg.rows),
cv::Point((i+1)*binW,histimg.rows - val),
cv::Scalar(buf.at<cv::Vec3b>(i)), -1, 8 );
}
}
calcBackProject(&hue, 1, 0, hist, backproj, &phranges);
backproj &= mask;
cv::RotatedRect trackBox = cv::CamShift(backproj, trackWindow,
cv::TermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ));
if( trackWindow.area() <= 1 )
{
int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5)/6;
trackWindow = cv::Rect(trackWindow.x - r, trackWindow.y - r,
trackWindow.x + r, trackWindow.y + r) &
cv::Rect(0, 0, cols, rows);
}
ellipse( image, trackBox, cv::Scalar(0,0,255), 3, CV_AA );
}
}
else if( trackObject < 0 )
paused = false;
if( selectObject && selection.width > 0 && selection.height > 0 )
{
cv::Mat roi(image, selection);
bitwise_not(roi, roi);
}
imshow( "CamShift Object Tracker", image );
char c = (char)cv::waitKey(10);
if( c == 27 )
break;
switch(c)
{
case 's':
trackObject = 0;
histimg = cv::Scalar::all(0);
break;
case 'p':
paused = !paused;
break;
default:
;
}
}
return 0;
}
附赠一个它的CMakeLists.txt吧
project(test)
cmake_minimum_required(VERSION 2.6 FATAL_ERROR)
find_package(OpenCV REQUIRED)
add_executable (main main.cpp )
target_link_libraries(main ${OpenCV_LIBS})