OpenCV彩色目标跟踪

一、前言

根据鼠标框选区域的色度光谱来进行摄像头读入的视频目标的跟踪

主要采用CamShift算法，全程Continuously Adaptive Mean-SHIFT，是对MeanShift算法改进，被称为连续自适应的MeanShift算法。

二、代码

#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;
bool selectObject = false;
int trackObject = 0;
bool showHist = true;
Point origin;
Rect selection;
int vmin = 10, vmax = 256, smin = 30;// User draws box around object to track. This triggers CAMShift to start tracking
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 &= Rect(0, 0, image.cols, image.rows);}switch (event){case EVENT_LBUTTONDOWN:origin = Point(x, y);selection = Rect(x, y, 0, 0);selectObject = true;break;case EVENT_LBUTTONUP:selectObject = false;if (selection.width > 0 && selection.height > 0)trackObject = -1;   // Set up CAMShift properties in main() loopbreak;}
}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()
{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;float hranges[] = { 0,180 };const float* phranges = hranges;CommandLineParser parser(argc, argv, keys);if (parser.has("help")){help();return 0;}int camNum = parser.get<int>(0);cap.open(camNum);if (!cap.isOpened()){help();cout << "***Could not initialize capturing...***\n";cout << "Current parameter's value: \n";parser.printMessage();return -1;}cout << hot_keys;namedWindow("Histogram", 0);namedWindow("CamShift Demo", 0);setMouseCallback("CamShift Demo", onMouse, 0);createTrackbar("Vmin", "CamShift Demo", &vmin, 256, 0);createTrackbar("Vmax", "CamShift Demo", &vmax, 256, 0);createTrackbar("Smin", "CamShift Demo", &smin, 256, 0);Mat frame, hsv, hue, mask, hist, histimg = Mat::zeros(200, 320, CV_8UC3), backproj;bool paused = false;for (;;){if (!paused){cap >> frame;if (frame.empty())break;}frame.copyTo(image);if (!paused){cvtColor(image, hsv, COLOR_BGR2HSV);if (trackObject){int _vmin = vmin, _vmax = vmax;inRange(hsv, Scalar(0, smin, MIN(_vmin, _vmax)),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){// Object has been selected by user, set up CAMShift search properties onceMat roi(hue, selection), maskroi(mask, selection);calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges);normalize(hist, hist, 0, 255, NORM_MINMAX);trackWindow = selection;trackObject = 1; // Don't set up again, unless user selects new ROIhistimg = Scalar::all(0);int binW = histimg.cols / hsize;Mat buf(1, hsize, CV_8UC3);for (int i = 0; i < hsize; i++)buf.at<Vec3b>(i) = Vec3b(saturate_cast<uchar>(i*180. / hsize), 255, 255);cvtColor(buf, buf, COLOR_HSV2BGR);for (int i = 0; i < hsize; i++){int val = saturate_cast<int>(hist.at<float>(i)*histimg.rows / 255);rectangle(histimg, Point(i*binW, histimg.rows),Point((i + 1)*binW, histimg.rows - val),Scalar(buf.at<Vec3b>(i)), -1, 8);}}// Perform CAMShiftcalcBackProject(&hue, 1, 0, hist, backproj, &phranges);backproj &= mask;RotatedRect trackBox = CamShift(backproj, trackWindow,TermCriteria(TermCriteria::EPS | TermCriteria::COUNT, 10, 1));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);}}else if (trackObject < 0)paused = false;if (selectObject && selection.width > 0 && selection.height > 0){Mat roi(image, selection);bitwise_not(roi, roi);}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");elsenamedWindow("Histogram", 1);break;case 'p':paused = !paused;break;default:;}}return 0;
}

三、效果图

彩色目标追踪

直方图

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OpenCV彩色目标跟踪

一、前言

二、代码

三、效果图

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