python实现单目标、多目标、多尺度、自定义特征的KCF跟踪算法(实例代码)
单目标跟踪：
直接调用opencv中封装的tracker即可。
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Sun Jan 5 17:50:47 2020
第四章 kcf跟踪
@author: youxinlin
"""
import cv2
from items import MessageItem
import time
import numpy as np
'''
监视者模块,负责入侵检测,目标跟踪
'''
class WatchDog(object):
#入侵检测者模块,用于入侵检测
def __init__(self,frame=None):
#运动检测器构造函数
self._background = None
if frame is not None:
self._background = cv2.GaussianBlur(cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY),(21,21),0)
self.es = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (10, 10))
def isWorking(self):
#运动检测器是否工作
return self._background is not None
def startWorking(self,frame):
#运动检测器开始工作
if frame is not None:
self._background = cv2.GaussianBlur(cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY), (21, 21), 0)
def stopWorking(self):
#运动检测器结束工作
self._background = None
def analyze(self,frame):
#运动检测
if frame is None or self._background is None:
return
sample_frame = cv2.GaussianBlur(cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY),(21,21),0)
diff = cv2.absdiff(self._background,sample_frame)
diff = cv2.threshold(diff, 25, 255, cv2.THRESH_BINARY)[1]
diff = cv2.dilate(diff, self.es, iterations=2)
image, cnts, hierarchy = cv2.findContours(diff.copy(),cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
coordinate = []
bigC = None
bigMulti = 0
for c in cnts:
if cv2.contourArea(c) < 1500:
continue
(x,y,w,h) = cv2.boundingRect(c)
if w * h > bigMulti:
bigMulti = w * h
bigC = ((x,y),(x+w,y+h))
if bigC:
cv2.rectangle(frame, bigC[0],bigC[1], (255,0,0), 2, 1)
coordinate.append(bigC)
message = {"coord":coordinate}
message['msg'] = None
return MessageItem(frame,message)
class Tracker(object):
'''
追踪者模块,用于追踪指定目标
'''
def __init__(self,tracker_type = "BOOSTING",draw_coord = True):
'''
初始化追踪器种类
'''
#获得opencv版本
(major_ver, minor_ver, subminor_ver) = (cv2.__version__).split('.')
self.tracker_types = ['BOOSTING', 'MIL','KCF', 'TLD', 'MEDIANFLOW', 'GOTURN']
self.tracker_type = tracker_type
self.isWorking = False
self.draw_coord = draw_coord
#构造追踪器
if int(minor_ver) < 3:
self.tracker = cv2.Tracker_create(tracker_type)
else:
if tracker_type == 'BOOSTING':
self.tracker = cv2.TrackerBoosting_create()
if tracker_type == 'MIL':
self.tracker = cv2.TrackerMIL_create()
if tracker_type == 'KCF':
self.tracker = cv2.TrackerKCF_create()
if tracker_type == 'TLD':
self.tracker = cv2.TrackerTLD_create()
if tracker_type == 'MEDIANFLOW':
self.tracker = cv2.TrackerMedianFlow_create()
if tracker_type == 'GOTURN':
self.tracker = cv2.TrackerGOTURN_create()
def initWorking(self,frame,box):
'''
追踪器工作初始化
frame:初始化追踪画面
box:追踪的区域
'''
if not self.tracker:
raise Exception("追踪器未初始化")
status = self.tracker.init(frame,box)
if not status:
raise Exception("追踪器工作初始化失败")
self.coord = box
self.isWorking = True
def track(self,frame):
'''
开启追踪
'''
message = None
if self.isWorking:
status,self.coord = self.tracker.update(frame)
if status:
message = {"coord":[((int(self.coord[0]), int(self.coord[1])),(int(self.coord[0] + self.coord[2]), int(self.coord[1] + self.coord[3])))]}
if self.draw_coord:
p1 = (int(self.coord[0]), int(self.coord[1]))
p2 = (int(self.coord[0] + self.coord[2]), int(self.coord[1] + self.coord[3]))
cv2.rectangle(frame, p1, p2, (255,0,0), 2, 1)
message['msg'] = "is tracking"
return MessageItem(frame,message)
class ObjectTracker(object):
def __init__(self,dataSet):
self.cascade = cv2.CascadeClassifier(dataSet)
def track(self,frame):
gray = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)
faces = self.cascade.detectMultiScale(gray,1.03,5)
for (x,y,w,h) in faces:
cv2.rectangle(frame,(x,y),(x+w,y+h),(0,0,255),2)
return frame
if __name__ == '__main__' :
# tracker_types = ['BOOSTING', 'MIL','KCF', 'TLD', 'MEDIANFLOW', 'GOTURN']
tracker = Tracker(tracker_type="KCF")
# video = cv2.VideoCapture(0)
# video = cv2.VideoCapture("complex1.mov")
video = cv2.VideoCapture(r"/Users/youxinlin/Desktop/video_data/complex1.MOV")
ok, frame = video.read()
bbox = cv2.selectROI(frame, False)
tracker.initWorking(frame,bbox)
while True:
_,frame = video.read();
if(_):
item = tracker.track(frame);
cv2.imshow("track",item.getFrame())
k = cv2.waitKey(1) & 0xff
if k == 27:
break
附带items.py，放在同个文件夹下：
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Sun Jan 5 17:51:04 2020
@author: youxinlin
"""
import json
from utils import IOUtil
'''
信息封装类
'''
class MessageItem(object):
#用于封装信息的类,包含图片和其他信息
def __init__(self,frame,message):
self._frame = frame
self._message = message
def getFrame(self):
#图片信息
return self._frame
def getMessage(self):
#文字信息,json格式
return self._message
def getBase64Frame(self):
#返回base64格式的图片,将BGR图像转化为RGB图像
jepg = IOUtil.array_to_bytes(self._frame[...,::-1])
return IOUtil.bytes_to_base64(jepg)
def getBase64FrameByte(self):
#返回base64格式图片的bytes
return bytes(self.getBase64Frame())
def getJson(self):
#获得json数据格式
dicdata = {"frame":self.getBase64Frame().decode(),"message":self.getMessage()}
return json.dumps(dicdata)
def getBinaryFrame(self):
return IOUtil.array_to_bytes(self._frame[...,::-1])
utils.py：也放在同一个文件夹下。
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Sun Jan 5 17:51:40 2020
@author: youxinlin
"""
import time
import numpy
import base64
import os
import logging
import sys
from PIL import Image
from io import BytesIO
#工具类
class IOUtil(object):
#流操作工具类
@staticmethod
def array_to_bytes(pic,formatter="jpeg",quality=70):
'''
静态方法,将numpy数组转化二进制流
:param pic: numpy数组
:param format: 图片格式
:param quality:压缩比,压缩比越高,产生的二进制数据越短
:return:
'''
stream = BytesIO()
picture = Image.fromarray(pic)
picture.save(stream,format=formatter,quality=quality)
jepg = stream.getvalue()
stream.close()
return jepg
@staticmethod
def bytes_to_base64(byte):
'''
静态方法,bytes转base64编码
:param byte:
:return:
'''
return base64.b64encode(byte)
@staticmethod
def transport_rgb(frame):
'''
将bgr图像转化为rgb图像,或者将rgb图像转化为bgr图像
'''
return frame[...,::-1]
@staticmethod
def byte_to_package(bytes,cmd,var=1):
'''
将每一帧的图片流的二进制数据进行分包
:param byte: 二进制文件
:param cmd:命令
:return:
'''
head = [ver,len(byte),cmd]
headPack = struct.pack("!3I", *head)
senddata = headPack+byte
return senddata
@staticmethod
def mkdir(filePath):
'''
创建文件夹
'''
if not os.path.exists(filePath):
os.mkdir(filePath)
@staticmethod
def countCenter(box):
'''
计算一个矩形的中心
'''
return (int(abs(box[0][0] - box[1][0])*0.5) + box[0][0],int(abs(box[0][1] - box[1][1])*0.5) +box[0][1])
@staticmethod
def countBox(center):
'''
根据两个点计算出,x,y,c,r
'''
return (center[0][0],center[0][1],center[1][0]-center[0][0],center[1][1]-center[0][1])
@staticmethod
def getImageFileName():
return time.strftime("%Y_%m_%d_%H_%M_%S", time.localtime())+'.png'
多目标跟踪：
和单目标差不多，改用MultiTracker_create()
#!/usr/bin/env python3 # -*- coding: utf-8 -*- """ Created on Sun Jan 5 18:02:33 2020
多目标跟踪
@author: youxinlin
"""import numpy as np
import cv2
import sys
'''
if len(sys.argv) != 2:
print('Input video name is missing')
exit()
'''
print('Select multiple tracking targets')
cv2.namedWindow("tracking")
camera = cv2.VideoCapture(r"/Users/youxinlin/Desktop/video_data/complex6.MOV")
#camera = cv2.VideoCapture(0)
tracker = cv2.MultiTracker_create() #多目标跟踪
a= cv2.Tracker_c
init_once = False
ok, image=camera.read()
if not ok:
print('Failed to read video')
exit()
bbox1 = cv2.selectROI('tracking', image)
bbox2 = cv2.selectROI('tracking', image)
bbox3 = cv2.selectROI('tracking', image)
while camera.isOpened():
ok, image=camera.read()
if not ok:
print ('no image to read')
break
if not init_once:
ok = tracker.add(cv2.TrackerKCF_create(),image,bbox1)
ok = tracker.add(cv2.TrackerKCF_create( ),image, bbox2)
ok = tracker.add(cv2.TrackerKCF_create(),image, bbox3)
init_once = True
ok, boxes = tracker.update(image)
for newbox in boxes:
p1 = (int(newbox[0]), int(newbox[1]))
p2 = (int(newbox[0] + newbox[2]), int(newbox[1] + newbox[3]))
cv2.rectangle(image, p1, p2, (0,0,255))
cv2.imshow('tracking', image)
k = cv2.waitKey(1)
if k == 27 : break # esc pressed
多尺度检测的KCF、自定义所用特征的KCF
在一些场景下，不想使用默认的hog特征跟踪，或需要对比不同特征的跟踪效果，那么封装好的方法似乎不可用，需要可以自己撸一波kcf的代码，从而使用自己设定的特征。
总结
以上所述是小编给大家介绍的python实现单目标、多目标、多尺度、自定义特征的KCF跟踪算法，希望对大家有所帮助，如果大家有任何疑问请给我留言，小编会及时回复大家的。在此也非常感谢大家对【听图阁-专注于Python设计】网站的支持！如果你觉得本文对你有帮助，欢迎转载，烦请注明出处，谢谢！
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