我一直在试图实现跟踪对象的meanshift算法,并已经通过涉及的概念。Meanshift算法跟踪对象问题计算质心更新搜索窗口
按照现在我已经成功地从我的相机成功生成一个单通道色相roi直方图和一个单通道色调视频流,似乎很好,我知道opencv库中有一个meanshift函数,但我我试图使用opencv中提供的数据结构自己实现一个,计算矩和计算搜索窗口的平均质心。
但由于某种原因,我无法在代码中找到问题,因为它会一直收敛到视频流的左上角,以便跟踪任何输入roi(感兴趣区域)。以下是该函数的计算搜索窗口,我觉得这个问题的重心的代码片段谎言,但不知道它是什么,我会很感激,如果有人可以点我在正确的方向:
void moment(Mat &backproj, Rect &win){
int x_c, y_c, x_c_new, y_c_new;
int idx_row, idx_col;
double m00 = 0.0 , m01 = 0.0 , m10 = 0.0 ;
double res = 1.0, TOL = 0.003 ;
//Set the center of search window as the center of the probabilistic image:
y_c = (int) backproj.rows/2 ;
x_c = (int) backproj.cols/2 ;
//Centroid search solver until residual below certain tolerance:
while (res > TOL){
win.width = (int) 80;
win.height = (int) 60;
//First array element at position (x,y) "lower left corner" of the search window:
win.x = (int) (x_c - win.width/2) ;
win.y = (int) (y_c - win.height/2);
//Modulo correction since modulo of negative integer is negative in C:
if (win.x < 0)
win.x = win.x % backproj.cols + backproj.cols ;
if (win.y < 0)
win.y = win.y % backproj.rows + backproj.rows ;
for (int i = 0; i < win.height; i++){
//Traverse along y-axis (height) i.e. rows ensuring wrap around top/bottom boundaries:
idx_row = (win.y + i) % (int)backproj.rows ;
for (int j = 0; j < win.width; j++){
//Traverse along x-axis (width) i.e. cols ensuring wrap around left/right boundaries:
idx_col = (win.x + j) % (int)backproj.cols ;
//Compute Moments:
m00 += (double) backproj.at<uchar>(idx_row, idx_col) ;
m10 += (double) backproj.at<uchar>(idx_row, idx_col) * i ;
m01 += (double) backproj.at<uchar>(idx_row, idx_col) * j ;
}
}
//Compute new centroid coordinates of the search window:
x_c_new = (int) (m10/m00) ;
y_c_new = (int) (m01/m00);
//Compute the residual:
res = sqrt(pow((x_c_new - x_c), 2.0) + pow((y_c_new - y_c), 2.0)) ;
//Set new search window centroid coordinates:
x_c = x_c_new;
y_c = y_c_new;
}
}
这是我第二次在stackoverflow上查询,所以请原谅我忘记遵循的任何指南。
编辑
改变M00,M01,M10阻止WHILE-LOOP内级别变量代替功能级别的变量,由于丹尼尔Strul指点出来,但问题仍然存在。现在搜索窗口围绕框架边界跳跃,而不是关注roi。
void moment(Mat &backproj, Rect &win){
int x_c, y_c, x_c_new, y_c_new;
int idx_row, idx_col;
double m00 , m01 , m10 ;
double res = 1.0, TOL = 0.003 ;
//Set the center of search window as the center of the probabilistic image:
y_c = (int) backproj.rows/2 ;
x_c = (int) backproj.cols/2 ;
//Centroid search solver until residual below certain tolerance:
while (res > TOL){
m00 = 0.0 , m01 = 0.0 , m10 = 0.0
win.width = (int) 80;
win.height = (int) 60;
//First array element at position (x,y) "lower left corner" of the search window:
win.x = (int) (x_c - win.width/2) ;
win.y = (int) (y_c - win.height/2);
//Modulo correction since modulo of negative integer is negative in C:
if (win.x < 0)
win.x = win.x % backproj.cols + backproj.cols ;
if (win.y < 0)
win.y = win.y % backproj.rows + backproj.rows ;
for (int i = 0; i < win.height; i++){
//Traverse along y-axis (height) i.e. rows ensuring wrap around top/bottom boundaries:
idx_row = (win.y + i) % (int)backproj.rows ;
for (int j = 0; j < win.width; j++){
//Traverse along x-axis (width) i.e. cols ensuring wrap around left/right boundaries:
idx_col = (win.x + j) % (int)backproj.cols ;
//Compute Moments:
m00 += (double) backproj.at<uchar>(idx_row, idx_col) ;
m10 += (double) backproj.at<uchar>(idx_row, idx_col) * i ;
m01 += (double) backproj.at<uchar>(idx_row, idx_col) * j ;
}
}
//Compute new centroid coordinates of the search window:
x_c_new = (int) (m10/m00) ;
y_c_new = (int) (m01/m00);
//Compute the residual:
res = sqrt(pow((x_c_new - x_c), 2.0) + pow((y_c_new - y_c), 2.0)) ;
//Set new search window centroid coordinates:
x_c = x_c_new;
y_c = y_c_new;
}
}
感谢您指出另一个错误,我认为它应该在那之后工作,但是现在搜索窗口跳过边缘而不是聚焦于roi。那么该算法应该找到反投影图像内的概率分布模式并将搜索窗口置于该模式中心。 – Ragesam
好吧,我来看看。作为Stack Overflow的一个很好的练习,你应该保留原始代码,因为它是w如。然后,在它下面,添加** EDIT **并追加描述和已经出现的新问题的更正代码。这样,答案仍然与问题的演变保持一致 –
哎呀我的不好:P感谢丹尼尔的指导。我应该保留原样还是重新编辑它?此外,我不确定我是否可以在此发布git链接到整个项目?因为我觉得这对任何想要运行整个代码的人都会有帮助。 – Ragesam