OpenCV3 Python语言实现 笔记6
2017-07-13 14:50
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目标跟踪
一、帧间差异 运动检测
二、帧间差异 背景分割
BackgroundSubtractor KNN MOG2 GMG
cv2.createBackgroundSubtractorKNN()
cv2.createBackgroundSubtractorMOG2()
cv2.createBackgroundSubtractorGMG()
三、MeanShift
----------------------------------------------------------
cv2.inRange(src,lower,upper)
对src里每一行,任意一个数在lower和upper范围内,则为255,否则0
例:
src=np.array([[[ 0, 1, 2],[ 3, 4, 5],[ 6, 7, 8]],
[[ 9, 10, 11],[12, 13, 14],[15, 16, 17]],
[[18, 19, 20],[ 1, 2, 23],[ 4, 5, 26]]])
lower=np.array([ 0, 1, 2])
upper=np.array([18,19,20])
结果:
array([[255, 255, 255],
[255, 255, 255],
[255, 0, 0]], dtype=uint8)
----------------------------------------------------------
----------------------------------------------------------
彩色直方图
calcHist(images,channels,mask,histsize,ranges[, hist[, accumulate])
images 方括号括起来[images]
channels 通道 灰度图[0]
mask可选掩码 标记直方图中计数过的数组元素 即只计算掩码值不为0所对应的图像值
histsize表示每个维度下直方图数组的大小
range一个像素值上下界的数组[0,180]
accumulate 布尔值 直方图是否叠加
----------------------------------------------------------
----------------------------------------------------------
直方图反向投影:一幅图像等于模型图像(产生原始直方图的图像)的概率
cv2.calcBackProject([hsv],[0],roi_hist,[0,180],1)
----------------------------------------------------------
CAMShift
连续自适应均值漂移 调节跟踪窗口的尺寸
四、卡尔曼滤波器
卡尔曼滤波算法:预测阶段,使用当前点计算的协方差来估计目标新位置
更新阶段,记录目标位置,为下一次循环计算修正协方差
kalman = cv2.KalmanFilter(dynamParams,measureParams,controlParams = 0,type = CV_32F)
dynamParams:状态的维度
measureParams:测量的维度
controlParams:控制的维度
type:创建的矩阵类型
import cv2, numpy as np
measurements = []
predictions = []
frame = np.zeros((800, 800, 3), np.uint8)
last_measurement = current_measurement = np.array((2,1), np.float32)
last_prediction = current_prediction = np.zeros((2,1), np.float32)
def mousemove(event, x, y, s, p):
global frame, current_measurement, measurements, last_measurement, current_prediction, last_prediction
last_prediction = current_prediction
last_measurement = current_measurement
current_measurement = np.array([[np.float32(x)],[np.float32(y)]])
kalman.correct(current_measurement)###
current_prediction = kalman.predict()###
lmx, lmy = last_measurement[0], last_measurement[1]
cmx, cmy = current_measurement[0], current_measurement[1]
lpx, lpy = last_prediction[0], last_prediction[1]
cpx, cpy = current_prediction[0], current_prediction[1]
cv2.line(frame, (lmx, lmy), (cmx, cmy), (0,100,0))
cv2.line(frame, (lpx, lpy), (cpx, cpy), (0,0,200))
cv2.namedWindow("kalman_tracker")
cv2.setMouseCallback("kalman_tracker", mousemove);
kalman = cv2.KalmanFilter(4,2,1)
kalman.measurementMatrix = np.array([[1,0,0,0],[0,1,0,0]],np.float32)
kalman.transitionMatrix = np.array([[1,0,1,0],[0,1,0,1],[0,0,1,0],[0,0,0,1]],np.float32)
kalman.processNoiseCov = np.array([[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],np.float32) * 0.03
while True:
cv2.imshow("kalman_tracker", frame)
if (cv2.waitKey(30) & 0xFF) == 27:
break
if (cv2.waitKey(30) & 0xFF) == ord('q'):
cv2.imwrite('kalman.jpg', frame)
break
cv2.destroyAllWindows()
一、帧间差异 运动检测
import cv2 import numpy as np camera = cv2.VideoCapture(0) #获取常用的结构元素的形状:矩形(包括线形)、椭圆(包括圆形)及十字形 #MORPH_RECT, MORPH_ELLIPSE, MORPH_CROSS es = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (10,10)) kernel = np.ones((5,5),np.uint8) background = None while (True): ret, frame = camera.read() if background is None: background = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) background = cv2.GaussianBlur(background, (21, 21), 0) continue gray_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) gray_frame = cv2.GaussianBlur(gray_frame, (21, 21), 0) diff = cv2.absdiff(background, gray_frame)#查的绝对值 diff = cv2.threshold(diff, 25, 255, cv2.THRESH_BINARY)[1] diff = cv2.dilate(diff, es, iterations = 2) image, cnts, hierarchy = cv2.findContours(diff.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) for c in cnts: if cv2.contourArea(c) < 1500: continue (x, y, w, h) = cv2.boundingRect(c) cv2.rectangle(frame, (x, y), (x + w, y + h), (255, 255, 0), 2) cv2.imshow("contours", frame) cv2.imshow("dif", diff) if cv2.waitKey(1000 / 12) & 0xff == ord("q"): break cv2.destroyAllWindows() camera.release()
二、帧间差异 背景分割
BackgroundSubtractor KNN MOG2 GMG
cv2.createBackgroundSubtractorKNN()
cv2.createBackgroundSubtractorMOG2()
cv2.createBackgroundSubtractorGMG()
import cv2 import numpy as np bs = cv2.createBackgroundSubtractorKNN(detectShadows = True)#detectShadows阴影检测 camera = cv2.VideoCapture("movie.mpg") while True: ret, frame = camera.read() fgmask = bs.apply(frame)################# th = cv2.threshold(fgmask.copy(), 244, 255, cv2.THRESH_BINARY)[1]#图像 th = cv2.erode(th, cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (3,3)), iterations = 2) dilated = cv2.dilate(th, cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (8,3)), iterations = 2) image, contours, hier = cv2.findContours(dilated, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) for c in contours: if cv2.contourArea(c) > 1000: (x,y,w,h) = cv2.boundingRect(c) cv2.rectangle(frame, (x,y), (x+w, y+h), (255, 255, 0), 2) cv2.imshow("mog", fgmask) cv2.imshow("thresh", th) cv2.imshow("diff", frame & cv2.cvtColor(fgmask, cv2.COLOR_GRAY2BGR)) cv2.imshow("detection", frame) k = cv2.waitKey(30) & 0xff if k == 27: break camera.release() cv2.destroyAllWindows()
三、MeanShift
----------------------------------------------------------
cv2.inRange(src,lower,upper)
对src里每一行,任意一个数在lower和upper范围内,则为255,否则0
例:
src=np.array([[[ 0, 1, 2],[ 3, 4, 5],[ 6, 7, 8]],
[[ 9, 10, 11],[12, 13, 14],[15, 16, 17]],
[[18, 19, 20],[ 1, 2, 23],[ 4, 5, 26]]])
lower=np.array([ 0, 1, 2])
upper=np.array([18,19,20])
结果:
array([[255, 255, 255],
[255, 255, 255],
[255, 0, 0]], dtype=uint8)
----------------------------------------------------------
----------------------------------------------------------
彩色直方图
calcHist(images,channels,mask,histsize,ranges[, hist[, accumulate])
images 方括号括起来[images]
channels 通道 灰度图[0]
mask可选掩码 标记直方图中计数过的数组元素 即只计算掩码值不为0所对应的图像值
histsize表示每个维度下直方图数组的大小
range一个像素值上下界的数组[0,180]
accumulate 布尔值 直方图是否叠加
----------------------------------------------------------
----------------------------------------------------------
直方图反向投影:一幅图像等于模型图像(产生原始直方图的图像)的概率
cv2.calcBackProject([hsv],[0],roi_hist,[0,180],1)
----------------------------------------------------------
import numpy as np import cv2 cap = cv2.VideoCapture(0) # capture the first frame ret,frame = cap.read() # mark the ROI r,h,c,w = 10, 200, 10, 200 # wrap in a tuple track_window = (c,r,w,h) # extract the ROI for tracking roi = frame[r:r+h, c:c+w] # switch to HSV hsv_roi = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) # create a mask with upper and lower boundaries of colors you want to track mask = cv2.inRange(hsv_roi, np.array((100., 30.,32.)), np.array((180.,120.,255.))) # calculate histograms of roi roi_hist = cv2.calcHist([hsv_roi],[0],mask,[180],[0,180]) cv2.normalize(roi_hist,roi_hist,0,255,cv2.NORM_MINMAX) # Setup the termination criteria, either 10 iteration or move by atleast 1 pt term_crit = ( cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1 ) while(1): ret ,frame = cap.read() if ret == True: hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) dst = cv2.calcBackProject([hsv],[0],roi aac1 _hist,[0,180],1) print dst # apply meanshift to get the new location ret, track_window = cv2.meanShift(dst, track_window, term_crit)#term_crit停止条件 # Draw it on image x,y,w,h = track_window img2 = cv2.rectangle(frame, (x,y), (x+w,y+h), 255,2) cv2.imshow('img2',img2) k = cv2.waitKey(60) & 0xff if k == 27: break else: break cv2.destroyAllWindows() cap.release()
CAMShift
连续自适应均值漂移 调节跟踪窗口的尺寸
import numpy as np import cv2 cap = cv2.VideoCapture(0) # take first frame of the video ret,frame = cap.read() # setup initial location of window r,h,c,w = 300,200,400,300 # simply hardcoded the values track_window = (c,r,w,h) roi = frame[r:r+h, c:c+w] hsv_roi = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) mask = cv2.inRange(hsv_roi, np.array((100., 30.,32.)), np.array((180.,120.,255.))) roi_hist = cv2.calcHist([hsv_roi],[0],mask,[180],[0,180]) cv2.normalize(roi_hist,roi_hist,0,255,cv2.NORM_MINMAX) term_crit = ( cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1 ) while(1): ret ,frame = cap.read() if ret == True: hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) dst = cv2.calcBackProject([hsv],[0],roi_hist,[0,180],1) ################################################################### ret, track_window = cv2.CamShift(dst, track_window, term_crit) pts = cv2.boxPoints(ret)#顶点坐标 pts = np.int0(pts) img2 = cv2.polylines(frame,[pts],True, 255,2)#折线函数 #################################################################### cv2.imshow('img2',img2) k = cv2.waitKey(60) & 0xff if k == 27: break else: break cv2.destroyAllWindows() cap.release()
四、卡尔曼滤波器
卡尔曼滤波算法:预测阶段,使用当前点计算的协方差来估计目标新位置
更新阶段,记录目标位置,为下一次循环计算修正协方差
kalman = cv2.KalmanFilter(dynamParams,measureParams,controlParams = 0,type = CV_32F)
dynamParams:状态的维度
measureParams:测量的维度
controlParams:控制的维度
type:创建的矩阵类型
import cv2, numpy as np
measurements = []
predictions = []
frame = np.zeros((800, 800, 3), np.uint8)
last_measurement = current_measurement = np.array((2,1), np.float32)
last_prediction = current_prediction = np.zeros((2,1), np.float32)
def mousemove(event, x, y, s, p):
global frame, current_measurement, measurements, last_measurement, current_prediction, last_prediction
last_prediction = current_prediction
last_measurement = current_measurement
current_measurement = np.array([[np.float32(x)],[np.float32(y)]])
kalman.correct(current_measurement)###
current_prediction = kalman.predict()###
lmx, lmy = last_measurement[0], last_measurement[1]
cmx, cmy = current_measurement[0], current_measurement[1]
lpx, lpy = last_prediction[0], last_prediction[1]
cpx, cpy = current_prediction[0], current_prediction[1]
cv2.line(frame, (lmx, lmy), (cmx, cmy), (0,100,0))
cv2.line(frame, (lpx, lpy), (cpx, cpy), (0,0,200))
cv2.namedWindow("kalman_tracker")
cv2.setMouseCallback("kalman_tracker", mousemove);
kalman = cv2.KalmanFilter(4,2,1)
kalman.measurementMatrix = np.array([[1,0,0,0],[0,1,0,0]],np.float32)
kalman.transitionMatrix = np.array([[1,0,1,0],[0,1,0,1],[0,0,1,0],[0,0,0,1]],np.float32)
kalman.processNoiseCov = np.array([[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],np.float32) * 0.03
while True:
cv2.imshow("kalman_tracker", frame)
if (cv2.waitKey(30) & 0xFF) == 27:
break
if (cv2.waitKey(30) & 0xFF) == ord('q'):
cv2.imwrite('kalman.jpg', frame)
break
cv2.destroyAllWindows()
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