一、概述
目标跟踪是计算机视觉领域的一个重要分支。研究的人很多,近几年也出现了很多很多的算法。大家看看淋漓满目的paper就知道了。但在这里,我们也聚焦下比较简单的算法,看看它的优势在哪里。毕竟有时候简单就是一种美。
在这里我们一起来欣赏下“模板匹配”这个简单点的跟踪算法。它的思想很简单,我们把要跟踪的目标保存好,然后在每一帧来临的时候,我们在整个图像中寻找与这个目标最相似的,我们就相信这个就是目标了。那如何判断相似呢?就用到了一些相关性的东西了,这个在我之前的一篇博文里面介绍过,大家可以参考下:
模板匹配中差值的平方和(SSD)与互相关准则的关系
http://blog.csdn.net/zouxy09/article/details/8549743
然后为了适应目标的变化,我们就需要随时更新我们要跟踪的目标。换句话来说,在跟踪t帧的时候,也就是在第t帧寻找目标的时候,是与t-1帧中我们找到的目标来进行比较的。这样目标的外观变化就会及时的更新。这个就叫做在线跟踪方法。当然了,这个策略会导致跟踪漂移的问题,这就是近几年很多跟踪算法关注的重要问题之一了。
二、代码实现
我的代码是基于VS2010+ OpenCV2.4.2的。代码可以读入视频,也可以读摄像头,两者的选择只需要在代码中稍微修改即可。对于视频来说,运行会先显示第一帧,然后我们用鼠标框选要跟踪的目标,然后跟踪器开始跟踪每一帧。对摄像头来说,就会一直采集图像,然后我们用鼠标框选要跟踪的目标,接着跟踪器开始跟踪后面的每一帧。具体代码如下:
simpleTracker.cpp
- // Object tracking algorithm using matchTemplate
- // Author : zouxy
- // Date : 2013-10-28
- // HomePage : http://blog.csdn.net/zouxy09
- // Email : zouxy09@qq.com
- #include <opencv2/opencv.hpp>
- using namespace cv;
- using namespace std;
- // Global variables
- Rect box;
- bool drawing_box = false;
- bool gotBB = false;
- // bounding box mouse callback
- void mouseHandler(int event, int x, int y, int flags, void *param){
- switch( event ){
- case CV_EVENT_MOUSEMOVE:
- if (drawing_box){
- box.width = x-box.x;
- box.height = y-box.y;
- }
- break;
- case CV_EVENT_LBUTTONDOWN:
- drawing_box = true;
- box = Rect( x, y, 0, 0 );
- break;
- case CV_EVENT_LBUTTONUP:
- drawing_box = false;
- if( box.width < 0 ){
- box.x += box.width;
- box.width *= -1;
- }
- if( box.height < 0 ){
- box.y += box.height;
- box.height *= -1;
- }
- gotBB = true;
- break;
- }
- }
- // tracker: get search patches around the last tracking box,
- // and find the most similar one
- void tracking(Mat frame, Mat &model, Rect &trackBox)
- {
- Mat gray;
- cvtColor(frame, gray, CV_RGB2GRAY);
- Rect searchWindow;
- searchWindow.width = trackBox.width * 3;
- searchWindow.height = trackBox.height * 3;
- searchWindow.x = trackBox.x + trackBox.width * 0.5 - searchWindow.width * 0.5;
- searchWindow.y = trackBox.y + trackBox.height * 0.5 - searchWindow.height * 0.5;
- searchWindow &= Rect(0, 0, frame.cols, frame.rows);
- Mat similarity;
- matchTemplate(gray(searchWindow), model, similarity, CV_TM_CCOEFF_NORMED);
- double mag_r;
- Point point;
- minMaxLoc(similarity, 0, &mag_r, 0, &point);
- trackBox.x = point.x + searchWindow.x;
- trackBox.y = point.y + searchWindow.y;
- model = gray(trackBox);
- }
- int main(int argc, char * argv[])
- {
- VideoCapture capture;
- capture.open("david.mpg");
- bool fromfile = true;
- //Init camera
- if (!capture.isOpened())
- {
- cout << "capture device failed to open!" << endl;
- return -1;
- }
- //Register mouse callback to draw the bounding box
- cvNamedWindow("Tracker", CV_WINDOW_AUTOSIZE);
- cvSetMouseCallback("Tracker", mouseHandler, NULL );
- Mat frame, model;
- capture >> frame;
- while(!gotBB)
- {
- if (!fromfile)
- capture >> frame;
- imshow("Tracker", frame);
- if (cvWaitKey(20) == 'q')
- return 1;
- }
- //Remove callback
- cvSetMouseCallback("Tracker", NULL, NULL );
- Mat gray;
- cvtColor(frame, gray, CV_RGB2GRAY);
- model = gray(box);
- int frameCount = 0;
- while (1)
- {
- capture >> frame;
- if (frame.empty())
- return -1;
- double t = (double)cvGetTickCount();
- frameCount++;
- // tracking
- tracking(frame, model, box);
- // show
- stringstream buf;
- buf << frameCount;
- string num = buf.str();
- putText(frame, num, Point(20, 20), FONT_HERSHEY_SIMPLEX, 1, Scalar(0, 0, 255), 3);
- rectangle(frame, box, Scalar(0, 0, 255), 3);
- imshow("Tracker", frame);
- t = (double)cvGetTickCount() - t;
- cout << "cost time: " << t / ((double)cvGetTickFrequency()*1000.) << endl;
- if ( cvWaitKey(1) == 27 )
- break;
- }
- return