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meanshift实现视频中动态目标的跟踪.doc
//#include "stdafx.h"
#include "cv.h"
#include "highgui.h"
#define u_char unsigned char
#define DIST 0.5
#define NUM 20
//全局变量
bool pause = false;
bool is_tracking = false;
CvRect drawing_box;
IplImage *current;
double *hist1, *hist2;
double *m_wei;
double C = 0.0;
void init_target(double *hist1, double *m_wei, IplImage *current)
{
IplImage *pic_hist = 0;
int t_h, t_w, t_x, t_y;
double h, dist;
int i, j;
int q_r, q_g, q_b, q_temp;
t_h = drawing_box.height;
t_w = drawing_box.width;
t_x = drawing_box.x;
t_y = drawing_box.y;
//pow 函数是求每个矩阵元素 src(I) 的 p 次幂 dst[I] = src(I)p
h = pow(((double)t_w) / 2, 2) + pow(((double)t_h) / 2, 2); //带宽
pic_hist = cvCreateImage(cvSize(300, 200), IPL_DEPTH_8U, 3); //生成直方图图像
//初始化权值矩阵和目标直方图
for (i = 0; i < t_w*t_h; i++)
{
}
m_wei[i] = 0.0;
for (i = 0; i < 4096; i++)
{
}
hist1[i] = 0.0;
for (i = 0; i < t_h; i++)
{
}
for (j = 0; j < t_w; j++)
{
}
dist = pow(i - (double)t_h / 2, 2) + pow(j - (double)t_w / 2, 2);
m_wei[i*t_w + j] = 1 - dist / h;
C += m_wei[i*t_w + j];
//计算目标权值直方
for (i = t_y; i < t_y + t_h; i++)
{
}
for (j = t_x; j < t_x + t_w; j++)
{
}
//rgb 颜色空间量化为 16*16*16 bins ???
q_r = ((u_char)current->imageData[i*current->widthStep + j * 3 + 2]) / 16;
q_g = ((u_char)current->imageData[i*current->widthStep + j * 3 + 1]) / 16;
q_b = ((u_char)current->imageData[i*current->widthStep + j * 3 + 0]) / 16;
q_temp = q_r * 256 + q_g * 16 + q_b;
hist1[q_temp] = hist1[q_temp] + m_wei[(i - t_y)*t_w + (j - t_x)];
//归一化直方图
for (i = 0; i < 4096; i++)
{
}
hist1[i] = hist1[i] / C;
//生成目标直方图
double temp_max = 0.0;
for (i = 0; i < 4096; i++)
//求直方图最大值，为了归一化
{
if (temp_max < hist1[i])
{
temp_max = hist1[i];
}
}
//画直方图
CvPoint p1, p2;
double bin_width = (double)pic_hist->width / 4096;
double bin_unith = (double)pic_hist->height / temp_max;
for (i = 0; i < 4096; i++)
{
}
p1.x = i * bin_width;
p1.y = pic_hist->height;
p2.x = (i + 1)*bin_width;
p2.y = pic_hist->height - hist1[i] * bin_unith;
cvRectangle(pic_hist, p1, p2, cvScalar(0, 255, 0), -1, 8, 0);
cvSaveImage("hist1.jpg", pic_hist);
cvReleaseImage(&pic_hist);
}
void MeanShift_Tracking(IplImage *current)
{
int num = 0, i = 0, j = 0;
int t_w = 0, t_h = 0, t_x = 0, t_y = 0;
double *w = 0, *hist2 = 0;
double sum_w = 0, x1 = 0, x2 = 0, y1 = 2.0, y2 = 2.0;
int q_r, q_g, q_b;
int *q_temp;
IplImage *pic_hist = 0;
t_w = drawing_box.width;
t_h = drawing_box.height;
pic_hist = cvCreateImage(cvSize(300, 200), IPL_DEPTH_8U, 3);
hist2 = (double *)malloc(sizeof(double) * 4096);
w = (double *)malloc(sizeof(double) * 4096);
q_temp = (int *)malloc(sizeof(int)*t_w*t_h);
while ((pow(y2, 2) + pow(y1, 2) > 0.5) && (num < NUM))
{
num++;
t_x = drawing_box.x;
t_y = drawing_box.y;
memset(q_temp, 0, sizeof(int)*t_w*t_h);
for (i = 0; i < 4096; i++)
{
}
w[i] = 0.0;
hist2[i] = 0.0;
for (i = t_y; i < t_h + t_y; i++)
{
for (j = t_x; j < t_w + t_x; j++)
{
//rgb 颜色空间量化为 16*16*16 bins
q_r = ((u_char)current->imageData[i * current->widthStep + j * 3 + 2]) / 16;
q_g = ((u_char)current->imageData[i * current->widthStep + j * 3 + 1]) / 16;
q_b = ((u_char)current->imageData[i * current->widthStep + j * 3 + 0]) / 16;
q_temp[(i - t_y) *t_w + j - t_x] = q_r * 256 + q_g * 16 + q_b;
hist2[q_temp[(i - t_y) *t_w + j - t_x]] = hist2[q_temp[(i - t_y) *t_w + j -
t_x]] + m_wei[(i - t_y) * t_w + j - t_x];
}
}
//归一化直方图
for (i = 0; i < 4096; i++)
{
hist2[i] = hist2[i] / C;
////printf("%f\n",hist2[i]);
}
//生成目标直方图
double temp_max = 0.0;
for (i = 0; i < 4096; i++)
//求直方图最大值，为了归一化
{
}
if (temp_max < hist2[i])
{
}
temp_max = hist2[i];
//画直方图
CvPoint p1, p2;
double bin_width = (double)pic_hist->width / (4368);
double bin_unith = (double)pic_hist->height / temp_max;
for (i = 0; i < 4096; i++)
{
p1.x = i * bin_width;
p1.y = pic_hist->height;
p2.x = (i + 1)*bin_width;
p2.y = pic_hist->height - hist2[i] * bin_unith;
cvRectangle(pic_hist, p1, p2, cvScalar(0, 255, 0), -1, 8, 0);
}
cvSaveImage("hist2.jpg", pic_hist);
for (i = 0; i < 4096; i++)
{
}
if (hist2[i] != 0)
{
}
else
{
}
w[i] = sqrt(hist1[i] / hist2[i]);
w[i] = 0;
sum_w = 0.0;
x1 = 0.0;
x2 = 0.0;
for (i = 0; i < t_h; i++)
{
}
for (j = 0; j < t_w; j++)
{
}
sum_w = sum_w + w[q_temp[i * t_w + j]];
x1 = x1 + w[q_temp[i * t_w + j]] * (i - t_h / 2);
x2 = x2 + w[q_temp[i * t_w + j]] * (j - t_w / 2);
y1 = x1 / sum_w;
y2 = x2 / sum_w;
//中心点位置更新
drawing_box.x += y2;
drawing_box.y += y1;
}
free(hist2);
free(w);
free(q_temp);
//显示跟踪结果
cvRectangle(current, cvPoint(drawing_box.x, drawing_box.y), cvPoint(drawing_box.x +
drawing_box.width, drawing_box.y + drawing_box.height), CV_RGB(255, 0, 0), 2);
cvShowImage("Meanshift", current);
cvReleaseImage(&pic_hist);
}
void onMouse(int event, int x, int y, int flags, void *param)
{
if (pause)
{
switch (event)
{
case CV_EVENT_LBUTTONDOWN:
//the left up point of the rect
drawing_box.x = x;
drawing_box.y = y;
break;
case CV_EVENT_LBUTTONUP:
//finish drawing the rect (use color green for finish)
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