python物体追踪opencv_python+opencv追踪物体
程序功能：鼠标选取一个视频中的物体，自动追踪物体，并显示物体左右移动的方向
#!/usr/bin/env python
import cv2.cv as cv
bx=0
lx=0
def is_rect_nonzero(r):
(_,_,w,h) = r
return (w > 0) and (h > 0)
class CamShiftDemo:
def __init__(self):
self.capture = cv.CaptureFromCAM(0)
cv.NamedWindow( "CamShiftDemo", 1 )
cv.NamedWindow( "Histogram", 1 )
cv.SetMouseCallback( "CamShiftDemo", self.on_mouse)
self.drag_start = None # Set to (x,y) when mouse starts drag
self.track_window = None # Set to rect when the mouse drag finishes
print( "Keys:\n"
" ESC - quit the program\n"
" b - switch to/from backprojection view\n"
"To initialize tracking, drag across the object with the mouse\n" )
def hue_histogram_as_image(self, hist):
""" Returns a nice representation of a hue histogram """
histimg_hsv = cv.CreateImage( (320,200), 8, 3)
mybins = cv.CloneMatND(hist.bins)
cv.Log(mybins, mybins)
(_, hi, _, _) = cv.MinMaxLoc(mybins)
cv.ConvertScale(mybins, mybins, 255. / hi)
w,h = cv.GetSize(histimg_hsv)
hdims = cv.GetDims(mybins)[0]
for x in range(w):
xh = (180 * x) / (w - 1) # hue sweeps from 0-180 across the image
val = int(mybins[int(hdims * x / w)] * h / 255)
cv.Rectangle( histimg_hsv, (x, 0), (x, h-val), (xh,255,64), -1)
cv.Rectangle( histimg_hsv, (x, h-val), (x, h), (xh,255,255), -1)
histimg = cv.CreateImage( (320,200), 8, 3)
cv.CvtColor(histimg_hsv, histimg, cv.CV_HSV2BGR)
return histimg
def on_mouse(self, event, x, y, flags, param):
if event == cv.CV_EVENT_LBUTTONDOWN:
self.drag_start = (x, y)
if event == cv.CV_EVENT_LBUTTONUP:
self.drag_start = None
self.track_window = self.selection
if self.drag_start:
xmin = min(x, self.drag_start[0])
ymin = min(y, self.drag_start[1])
xmax = max(x, self.drag_start[0])
ymax = max(y, self.drag_start[1])
self.selection = (xmin, ymin, xmax - xmin, ymax - ymin)
bx = xmin+(xmax-xmin)/2
def run(self):
hist = cv.CreateHist([180], cv.CV_HIST_ARRAY, [(0,180)], 1 )
backproject_mode = False
while True:
frame = cv.QueryFrame( self.capture )
# Convert to HSV and keep the hue
hsv = cv.CreateImage(cv.GetSize(frame), 8, 3)
cv.CvtColor(frame, hsv, cv.CV_BGR2HSV)
self.hue = cv.CreateImage(cv.GetSize(frame), 8, 1)
cv.Split(hsv, self.hue, None, None, None)
# Compute back projection
backproject = cv.CreateImage(cv.GetSize(frame), 8, 1)
# Run the cam-shift
cv.CalcArrBackProject( [self.hue], backproject, hist )
if self.track_window and is_rect_nonzero(self.track_window):
crit = ( cv.CV_TERMCRIT_EPS | cv.CV_TERMCRIT_ITER, 10, 1)
(iters, (area, value, rect), track_box) = cv.CamShift(backproject, self.track_window, crit)
self.track_window = rect
# If mouse is pressed, highlight the current selected rectangle
# and recompute the histogram
if self.drag_start and is_rect_nonzero(self.selection):
sub = cv.GetSubRect(frame, self.selection)
save = cv.CloneMat(sub)
cv.ConvertScale(frame, frame, 0.5)
cv.Copy(save, sub)
x,y,w,h = self.selection
cv.Rectangle(frame, (x,y), (x+w,y+h), (255,255,255))
bx = (x+w)/2
print( str(lx) + "hua" + str(bx) )
sel = cv.GetSubRect(self.hue, self.selection )
cv.CalcArrHist( [sel], hist, 0)
(_, max_val, _, _) = cv.GetMinMaxHistValue( hist)
if max_val != 0:
cv.ConvertScale(hist.bins, hist.bins, 255. / max_val)
elif self.track_window and is_rect_nonzero(self.track_window):
cv.EllipseBox( frame, track_box, cv.CV_RGB(255,0,0), 3, cv.CV_AA, 0 )
global lx
global bx
lx = track_box[0][0]
if (lx - bx) > 5 :
print( "left-left-left-left" )
elif (lx - bx) < -5 :
print( "right-right-right-right" )
bx = lx
if not backproject_mode:
cv.ShowImage( "CamShiftDemo", frame )
else:
cv.ShowImage( "CamShiftDemo", backproject)
cv.ShowImage( "Histogram", self.hue_histogram_as_image(hist))
c = cv.WaitKey(7) % 0x100
if c == 27:
break
elif c == ord("b"):
backproject_mode = not backproject_mode
if __name__=="__main__":
demo = CamShiftDemo()
demo.run()
cv.DestroyAllWindows()