//對運動物體的跟蹤:
//如果背景固定,可用幀差法 然後在計算下連通域 將面積小的去掉即可
//如果背景單一,即你要跟蹤的物體顏色和背景色有較大區別 可用基於顏色的跟蹤 如CAMSHIFT 魯棒性都是較好的
//如果背景複雜,如背景中有和前景一樣的顏色 就需要用到一些具有預測性的算法 如卡爾曼濾波等 可以和CAMSHIFT結合
#include "cv.h"
#include "highgui.h"
#include <stdio.h>
#include <ctype.h>
IplImage *image = 0, *hsv = 0, *hue = 0, *mask = 0, *backproject = 0, *histimg = 0;
//用HSV中的Hue分量進行跟蹤
CvHistogram *hist = 0;
//直方圖類
int backproject_mode = 0;
int select_object = 0;
int track_object = 0;
int show_hist = 1;
CvPoint origin;
CvRect selection;
CvRect track_window;
//CvRect
//矩形框的偏移和大小
//typedef struct CvRect
//{
//int x; /* 方形的最左角的x-座標 */
//int y; /* 方形的最上或者最下角的y-座標 */
//int width; /* 寬 */
//int height; /* 高 */
//}
//CvRect;
/* 構造函數*/
//inline CvRect cvRect( int x, int y, int width, int height );
CvBox2D track_box; // tracking 返回的區域 box,帶角度
//typedef struct CvBox2D
//{
//CvPoint2D32f center; /* 盒子的中心 */
//CvSize2D32f size; /* 盒子的長和寬 */
//float angle; /* 水平軸與第一個邊的夾角,用弧度表示*/
//}實際上是橢圓的外接矩形,不同於CvRect結構,此矩形可以是傾斜的。畫橢圓那個函數也用到這個結構。
CvConnectedComp track_comp;
//連接部件
// typedef struct CvConnectedComp {
// double area; /* 連通域的面積 */
// float value; /* 分割域的灰度縮放值 */
// CvRect rect; /* 分割域的 ROI */
// } CvConnectedComp;
int hdims = 48;
//劃分直方圖bins的個數,越多越精確
float hranges_arr[] = {0,180};
//像素值的範圍
float* hranges = hranges_arr;
//用於初始化CvHistogram類
int vmin = 10, vmax = 256, smin = 30;
//用於設置滑動條
//鼠標回調函數,該函數用鼠標進行跟蹤目標的選擇
void on_mouse( int event, int x, int y, int flags,void* param ) //源程序丟失 void* param
{
if( !image )
return;
if( image->origin )
y = image->height - y;
//如果圖像原點座標在左下,則將其改爲左上
if( select_object )
//select_object爲1,表示在用鼠標進行目標選擇
//此時對矩形類selection用當前的鼠標位置進行設置
{
selection.x = MIN(x,origin.x); //#define MIN(a,b) ((a) > (b) ? (b) : (a))
selection.y = MIN(y,origin.y);
selection.width = selection.x + CV_IABS(x - origin.x); //#define CV_IABS(a) (((a) ^ ((a) < 0 ? -1 : 0)) - ((a) < 0 ? -1 : 0))
selection.height = selection.y + CV_IABS(y - origin.y);
selection.x = MAX( selection.x, 0 );
selection.y = MAX( selection.y, 0 );
selection.width = MIN( selection.width, image->width );
selection.height = MIN( selection.height, image->height );
selection.width -= selection.x;
selection.height -= selection.y;
}
switch( event )
{
case CV_EVENT_LBUTTONDOWN:
//鼠標按下,開始點擊選擇跟蹤物體
origin = cvPoint(x,y);
selection = cvRect(x,y,0,0);//CvRect cvRect(int x(左上角), int y(左上角), int width, int height);
//Stores coordinates of a rectangle.
select_object = 1;
break;
case CV_EVENT_LBUTTONUP:
//鼠標鬆開,完成選擇跟蹤物體
select_object = 0;
if( selection.width > 0 && selection.height > 0 )
//如果選擇物體有效,則打開跟蹤功能
track_object = -1;
#ifdef _DEBUG
printf("\n # 鼠標的選擇區域:");
printf("\n X = %d, Y = %d, Width = %d, Height = %d",
selection.x, selection.y, selection.width, selection.height);
#endif
break;
}
}
CvScalar hsv2rgb( float hue )
//用於將Hue量轉換成RGB量
{
int rgb[3], p, sector;
static const int sector_data[][3]=
{{0,2,1}, {1,2,0}, {1,0,2}, {2,0,1}, {2,1,0}, {0,1,2}};
hue *= 0.033333333333333333333333333333333f;
sector = cvFloor(hue);
p = cvRound(255*(hue - sector));
p ^= sector & 1 ? 255 : 0;
rgb[sector_data[sector][0]] = 255;
rgb[sector_data[sector][1]] = 0;
rgb[sector_data[sector][2]] = p;
#ifdef _DEBUG
printf("\n # Convert HSV to RGB:");
printf("\n HUE = %f", hue);
printf("\n R = %d, G = %d, B = %d", rgb[0],rgb[1],rgb[2]);
#endif
return cvScalar(rgb[2], rgb[1], rgb[0],0);
}
int main( int argc, char** argv )
{
CvCapture* capture = 0;
IplImage* frame = 0;
if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );
else if( argc == 2 )
capture = cvCaptureFromAVI( argv[1] );
if( !capture )
{
fprintf(stderr,"Could not initialize capturing...\n");
return -1;
}
printf( "Hot 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"
"To initialize tracking, select the object with mouse\n" );
cvNamedWindow( "Histogram", 1 );
//用於顯示直方圖
cvNamedWindow( "CamShiftDemo", 1 );
//用於顯示視頻
cvSetMouseCallback( "CamShiftDemo", on_mouse, NULL );
//設置鼠標回調函數
cvCreateTrackbar( "Vmin", "CamShiftDemo", &vmin, 256, 0 );
cvCreateTrackbar( "Vmax", "CamShiftDemo", &vmax, 256, 0 );
cvCreateTrackbar( "Smin", "CamShiftDemo", &smin, 256, 0 );
//設置滑動條
for(;;)
//進入視頻幀處理主循環
{
int i, bin_w, c;
frame = cvQueryFrame( capture );
if( !frame )
break;
if( !image )
//image爲0,表明剛開始還未對image操作過,先建立一些緩衝區
{
/* allocate all the buffers */
image = cvCreateImage( cvGetSize(frame), 8, 3 );
image->origin = frame->origin;
hsv = cvCreateImage( cvGetSize(frame), 8, 3 );
hue = cvCreateImage( cvGetSize(frame), 8, 1 );
mask = cvCreateImage( cvGetSize(frame), 8, 1 );
//分配掩膜圖像空間
backproject = cvCreateImage( cvGetSize(frame), 8, 1 );
//分配反向投影圖空間,大小一樣,單通道
hist = cvCreateHist( 1, &hdims, CV_HIST_ARRAY, &hranges, 1 );
//分配直方圖空間// 計算直方圖
histimg = cvCreateImage( cvSize(320,200), 8, 3 );
//分配用於直方圖顯示的空間
cvZero( histimg );
//置背景爲黑色
}
cvCopy( frame, image, 0 );
cvCvtColor( image, hsv, CV_BGR2HSV ); // 彩色空間轉換 BGR to HSV
//把圖像從RGB表色系轉爲HSV表色系
if( track_object )
//track_object非零,表示有需要跟蹤的物體
{
int _vmin = vmin, _vmax = vmax;
cvInRangeS( hsv, cvScalar(0,smin,MIN(_vmin,_vmax),0),
cvScalar(180,256,MAX(_vmin,_vmax),0), mask );
//CVAPI(void) cvInRangeS( const CvArr* src, CvScalar lower,CvScalar upper, CvArr* dst );
//製作掩膜板,只處理像素值爲H:0~180,S:smin~256,V:vmin~vmax之間的部分
//用於檢查圖像中像素的灰度是否屬於某一指定範圍。cvInRange()檢查,src的每一個像素點是否落在lower和upper範圍中。
//如果src的值大於或者等於lower值,並且小於upper值,那麼dst中對應的對應值將被設置爲0xff;否則,dst的值將被設置爲0。
cvSplit( hsv, hue, 0, 0, 0 ); // 只提取 HUE 分量
//Divides a multi-channel array into several single-channel arrays.
//void cvSplit(const CvArr* src, CvArr* dst0, CvArr* dst1, CvArr* dst2, CvArr* dst3)
if( track_object < 0 )
//如果需要跟蹤的物體還沒有進行屬性提取,則進行選取框類的圖像屬性提取
{
float max_val = 0.f;
cvSetImageROI( hue, selection ); // 得到選擇區域 for ROI 基於給定的矩形設置圖像的ROI(感興趣區域,region of interesting)
//設置原選擇框爲ROI void cvSetImageROI(IplImage* image,CvRect rect)
cvSetImageROI( mask, selection ); // 得到選擇區域 for mask
//設置掩膜板選擇框爲ROI
cvCalcHist( &hue, hist, 0, mask ); // 計算直方圖
//得到選擇框內且滿足掩膜板內的直方圖
cvGetMinMaxHistValue( hist, 0, &max_val, 0, 0 ); // 只找最大值
/* Finds indices and values of minimum and maximum histogram bins
CVAPI(void) cvGetMinMaxHistValue( const CvHistogram* hist,
float* min_value, float* max_value,
int* min_idx CV_DEFAULT(NULL),
int* max_idx CV_DEFAULT(NULL));*/
cvConvertScale( hist->bins, hist->bins, max_val ? 255. / max_val : 0., 0 );
// 縮放 bin 到區間 [0,255]// 對直方圖的數值轉爲0~255
//Converts one array to another with optional linear transformation.
//dst(I) = scalesrc(I) + (shift0; shift1; :::)
/*CVAPI(void) cvConvertScale( const CvArr* src, CvArr* dst,
double scale CV_DEFAULT(1),
double shift CV_DEFAULT(0) );*/
cvResetImageROI( hue ); // remove ROI
/* Resets image ROI and COI
CVAPI(void) cvResetImageROI( IplImage* image );*/
cvResetImageROI( mask );
//去除ROI
track_window = selection;
track_object = 1;
//置track_object爲1,表明屬性提取完成
//CvRect track_window;
cvZero( histimg );
//histimg = cvCreateImage( cvSize(320,200), 8, 3 );
//分配用於直方圖顯示的空間
bin_w = histimg->width / hdims; // hdims: 條的個數,則 bin_w 爲條的寬度
//int hdims = 48;劃分直方圖bins的個數,越多越精確
// 畫直方圖
for( i = 0; i < hdims; i++ )
//畫直方圖到圖像空間
{
int val = cvRound( cvGetReal1D(hist->bins,i)*histimg->height/255 );
//int cvRound (double value//對一個double型的數進行四捨五入,並返回一個整型數!
//CVAPI(double) cvGetReal1D( const CvArr* arr, int idx0 );
//Input array. Must have a single channel.
//Return a specific element of single-channel 1D, 2D, 3D or nD array.
CvScalar color = hsv2rgb(i*180.f/hdims);
cvRectangle( histimg, cvPoint(i*bin_w,histimg->height),
cvPoint((i+1)*bin_w,histimg->height - val),
color, -1, 8, 0 );
//void cvRectangle(CvArr* img, CvPoint pt1, CvPoint pt2, CvScalar color, int thickness=1,
//int line-Type=8, int shift=0 ) pt1,pt2爲對頂點
}
}
cvCalcBackProject( &hue, backproject, hist );
//void cvCalcBackProject(IplImage** image, CvArr* backProject, const CvHistogram* hist)
//計算hue的反向投影圖
cvAnd( backproject, mask, backproject, 0 );
//void cvAnd(const CvArr* src1, const CvArr* src2, CvArr* dst, const CvArr* mask=NULL)
//得到掩膜內的反向投影
// calling CAMSHIFT 算法模塊
cvCamShift( backproject, track_window,
cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),
&track_comp, &track_box ); //CvBox2D track_box;CvRect track_window;
////使用MeanShift算法對backproject中的內容進行搜索,返回跟蹤結果
track_window = track_comp.rect;//收斂後搜索窗口的位置
//得到跟蹤結果的矩形框
//CvConnectedComp track_comp;
//連接部件
// typedef struct CvConnectedComp {
// double area; /* 連通域的面積 */
// float value; /* 分割域的灰度縮放值 */
// CvRect rect; /* 分割域的 ROI */
// } CvConnectedComp;
if( backproject_mode ) //int backproject_mode = 0;
cvCvtColor( backproject, image, CV_GRAY2BGR ); // 使用backproject灰度圖像
if( image->origin ) //image->origin = frame->origin;
track_box.angle = -track_box.angle;
cvEllipseBox( image, track_box, CV_RGB(255,0,0), 3, CV_AA, 0 );
//void cvEllipseBox(CvArr* img, CvBox2D box, CvScalar color, int thickness=1, int lineType=8, int shift=0 )
//畫橢圓
//畫出跟蹤結果的位置
}
if( select_object && selection.width > 0 && selection.height > 0 )
//如果正處於物體選擇,畫出選擇框
{
cvSetImageROI( image, selection );
cvXorS( image, cvScalarAll(255), image, 0 );
//void cvXorS(const CvArr* src, CvScalar value, CvArr* dst, const CvArr* mask=NULL)
//src或value=dst
cvResetImageROI( image );
}
cvShowImage( "CamShiftDemo", image );
cvShowImage( "Histogram", histimg );
c = cvWaitKey(10);
if( c == 27 )
break; // exit from for-loop
switch( c )
{
case 'b':
backproject_mode ^= 1;//^異或操作,0^0=0,0^1=1,1^0=1,1^1=0
break;
case 'c':
track_object = 0;
cvZero( histimg );//直方圖清除後,track_object = 0;方便重新取屬性
break;
case 'h':
show_hist ^= 1;
if( !show_hist )
cvDestroyWindow( "Histogram" );
else
cvNamedWindow( "Histogram", 1 );
break;
default:
;
}
}
cvReleaseCapture( &capture );
cvDestroyWindow("CamShiftDemo");
return 0;
}
camshiftdemo C註釋
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