實驗環(huán)境：

Python3.6+OpenCV3.4+pycharm2019

代碼實現(xiàn)：

首先是一個

簡單的不用kalman濾波的運動目標(biāo)追蹤代碼

這里可以根據(jù)需要進(jìn)行攝像頭運動目標(biāo)識別，只要把

camera = cv2.VideoCapture('./video/yellow_ball.mp4')

# 改成camera = cv2.VideoCapture(0) 就是攝像頭內(nèi)識別

完整代碼：

from collections import deque

import numpy as np

import cv2

# imutils

import time

#設(shè)定閾值，HSV空間

redLower = np.array([11, 100, 100])

redUpper = np.array([20, 255, 255])

#初始化追蹤點的列表

mybuffer = 64

pts = deque(maxlen=mybuffer)

#打開攝像頭

camera = cv2.VideoCapture('./video/yellow_ball.mp4')

fourcc = cv2.VideoWriter_fourcc(*'XVID') # 保存文件為avi格式

fps = camera.get(cv2.CAP_PROP_FPS)

size = (int(camera.get(cv2.CAP_PROP_FRAME_WIDTH)), int(camera.get(cv2.CAP_PROP_FRAME_HEIGHT))) # 輸出視頻尺寸，長和寬

out = cv2.VideoWriter('new_yellow_ball.avi', fourcc, fps, size) # 輸出視頻

#等待兩秒

time.sleep(2)

#遍歷每一幀，檢測紅色瓶蓋

while True:

#讀取幀

(ret, frame) = camera.read()

if ret == False:

break

#判斷是否成功打開攝像頭

# if not ret:

# print('No Camera')

# break

#frame = imutils.resize(frame, width=600)

#轉(zhuǎn)到HSV空間

hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

#根據(jù)閾值構(gòu)建掩膜

mask = cv2.inRange(hsv, redLower, redUpper)

#腐蝕操作

mask = cv2.erode(mask, None, iterations=2)

#膨脹操作，其實先腐蝕再膨脹的效果是開運算，去除噪點

mask = cv2.dilate(mask, None, iterations=2)

#輪廓檢測

cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]

#初始化瓶蓋圓形輪廓質(zhì)心

center = None

#如果存在輪廓

if len(cnts) > 0:

#找到面積最大的輪廓

c = max(cnts, key = cv2.contourArea)

#確定面積最大的輪廓的外接圓

((x, y), radius) = cv2.minEnclosingCircle(c)

#計算輪廓的矩

M = cv2.moments(c)

#計算質(zhì)心

center = (int(M["m10"]/M["m00"]), int(M["m01"]/M["m00"]))

#只有當(dāng)半徑大于10時，才執(zhí)行畫圖

if radius > 10:

cv2.circle(frame, (int(x), int(y)), int(radius), (0, 255, 255), 2)

cv2.circle(frame, center, 5, (0, 0, 255), -1)

#把質(zhì)心添加到pts中，并且是添加到列表左側(cè)

pts.appendleft(center)

#遍歷追蹤點，分段畫出軌跡

for i in range(1, len(pts)):

if pts[i - 1] is None or pts[i] is None:

continue

#計算所畫小線段的粗細(xì)

thickness = int(np.sqrt(mybuffer / float(i + 1)) * 2.5)

#畫出小線段

cv2.line(frame, pts[i - 1], pts[i], (0, 0, 255), thickness)

#res = cv2.bitwise_and(frame, frame, mask=mask)

cv2.imshow('Frame', frame)

out.write(frame)

#鍵盤檢測，檢測到esc鍵退出

k = cv2.waitKey(5)&0xFF

if k == 27:

break

#攝像頭釋放

camera.release()

#銷毀所有窗口

cv2.destroyAllWindows()

這里是

基于kalman濾波的運動目標(biāo)識別與軌跡繪制

import cv2

import numpy as np

# hsv閾值，便于進(jìn)行輪廓判斷及軌跡繪制，需要根據(jù)運動目標(biāo)的顏色自己進(jìn)行調(diào)整

min_hsv_bound = (35, 100, 100)

max_hsv_bound = (77, 255, 255)

#狀態(tài)向量

stateSize = 6

#觀測向量

measSize = 4

coutrSize = 0

kf = cv2.KalmanFilter(stateSize,measSize,coutrSize)

state = np.zeros(stateSize, np.float32)#[x,y,v_x,v_y,w,h],簇心位置，速度，高寬

meas = np.zeros(measSize, np.float32)#[z_x,z_y,z_w,z_h]

procNoise = np.zeros(stateSize, np.float32)

#狀態(tài)轉(zhuǎn)移矩陣

cv2.setIdentity(kf.transitionMatrix)#生成單位矩陣

# [1 0 dT 0 0 0]

# [0 1 0 dT 0 0]

# [0 0 1 0 0 0]

# [0 0 0 1 0 0]

# [0 0 0 0 1 0]

# [0 0 0 0 0 1]

#觀測矩陣

# [1 0 0 0 0 0]

# [0 1 0 0 0 0]

# [0 0 0 0 1 0]

# [0 0 0 0 0 1]

kf.measurementMatrix = np.zeros((measSize,stateSize),np.float32)

kf.measurementMatrix[0,0]=1.0

kf.measurementMatrix[1,1]=1.0

kf.measurementMatrix[2,4]=1.0

kf.measurementMatrix[3,5]=1.0

#預(yù)測噪聲

# [Ex 0 0 0 0 0]

# [0 Ey 0 0 0 0]

# [0 0 Ev_x 0 0 0]

# [0 0 0 Ev_y 0 0]

# [0 0 0 0 Ew 0]

# [0 0 0 0 0 Eh]

cv2.setIdentity(kf.processNoiseCov)

kf.processNoiseCov[0,0] = 1e-2

kf.processNoiseCov[1,1] = 1e-2

kf.processNoiseCov[2,2] = 5.0

kf.processNoiseCov[3,3] = 5.0

kf.processNoiseCov[4,4] = 1e-2

kf.processNoiseCov[5,5] = 1e-2

#測量噪聲

cv2.setIdentity(kf.measurementNoiseCov)

# for i in range(len(kf.measurementNoiseCov)):

# kf.measurementNoiseCov[i,i] = 1e-1

video_cap = cv2.VideoCapture('./video/green_ball.mp4')

# 視頻輸出

fps = video_cap.get(cv2.CAP_PROP_FPS) #獲得視頻幀率，即每秒多少幀

size = (int(video_cap.get(cv2.CAP_PROP_FRAME_WIDTH)),int(video_cap.get(cv2.CAP_PROP_FRAME_HEIGHT)))

videoWriter = cv2.VideoWriter('./video/new_green.mp4' ,cv2.VideoWriter_fourcc('m', 'p', '4', 'v'), fps, size)

ticks = 0

i=0

found = False

notFoundCount = 0

prePointCen = [] #存儲小球中心點位置

meaPointCen = []

while(True):

ret, frame = video_cap.read()

if ret is False:

break

cv2.imshow('frame',frame)

cv2.waitKey(1)

precTick = ticks

ticks = float(cv2.getTickCount())

res = frame.copy()

# dT = float(1/fps)

dT = float((ticks - precTick)/cv2.getTickFrequency())

if(found):

#預(yù)測得到的小球位置

kf.transitionMatrix[0,2] = dT

kf.transitionMatrix[1,3] = dT

state = kf.predict()

width = state[4]

height = state[5]

x_left = state[0] - width/2 #左上角橫坐標(biāo)

y_left = state[1] - height/2 #左上角縱坐標(biāo)

x_right = state[0] + width/2

y_right = state[1] + height/2

center_x = state[0]

center_y = state[1]

prePointCen.append((int(center_x),int(center_y)))

cv2.circle(res, (int(center_x),int(center_y)),2,(255,0,0),-1)

cv2.rectangle(res,(x_left,y_left),(x_right,y_right),(255,0,0),2)

#根據(jù)顏色二值化得到的小球位置

frame = cv2.GaussianBlur(frame, (5,5), 3.0, 3.0)

frame = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

rangeRes = cv2.inRange(frame, min_hsv_bound,max_hsv_bound)

kernel = np.ones((3, 3), np.uint8)

# 腐蝕膨脹

rangeRes = cv2.erode(rangeRes, kernel, iterations=2)

rangeRes = cv2.dilate(rangeRes, kernel, iterations=2)

# cv2.imshow("Threshold", rangeRes)

cv2.waitKey(1)

contours = cv2.findContours(rangeRes.copy(),cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_NONE)[-2]

#檢測輪廓，只檢測最外圍輪廓，保存物體邊界上所有連續(xù)的輪廓點到contours向量內(nèi)

balls = []

ballsBox = []

for i in range(len(contours)):

x, y, w, h = cv2.boundingRect(np.array(contours[i]))

ratio = float(w/h)

if(ratio > 1.0):

ratio = 1.0 / ratio

if(ratio > 0.75 and w*h>=400):

balls.append(contours[i])

ballsBox.append([x, y, w, h])

print( "Balls found:", len(ballsBox))

print("\n")

for i in range(len(balls)):

# 繪制小球輪廓

cv2.drawContours(res, balls, i, (20,150,20),1)

cv2.rectangle(res,(ballsBox[i][0],ballsBox[i][1]),(ballsBox[i][0]+ballsBox[i][2],ballsBox[i][1]+ballsBox[i][3]),(0,255,0),2) #二值化得到小球邊界

center_x = ballsBox[i][0] + ballsBox[i][2] / 2

center_y = ballsBox[i][1] + ballsBox[i][3] / 2

meaPointCen.append((int(center_x),int(center_y)))

cv2.circle(res,(int(center_x),int(center_y)), 2, (20,150,20) ,-1)

name = "(" + str(center_x) + "," + str(center_y) + ")"

cv2.putText(res, name, (int(center_x) + 3, int(center_y) - 3), cv2.FONT_HERSHEY_COMPLEX, 0.5, (20,150,20), 2)

n = len(prePointCen)

for i in range(1, n):

print(i)

if prePointCen[i-1] is None or prePointCen[i] is None:

continue

# 注釋掉的這塊是為了繪制能夠隨時間先后慢慢消失的追蹤軌跡，但是有一些小錯誤

# 計算所畫小線段的粗細(xì)

# thickness = int(np.sqrt(64 / float(n - i + 1))*2.5)

# print(thickness)

# 畫出小線段

# cv2.line(res, prePointCen[i-1], prePointCen[i], (0, 0, 255), thickness)

cv2.line(res, prePointCen[i-1], prePointCen[i], (0,0,255), 1, 4)

if(len(balls) == 0):

notFoundCount += 1

print("notFoundCount",notFoundCount)

print("\n")

if notFoundCount >= 100:

found = False

else:

#測量得到的物體位置

notFoundCount = 0

meas[0] = ballsBox[0][0] + ballsBox[0][2] / 2

meas[1] = ballsBox[0][1] + ballsBox[0][3] / 2

meas[2] = float(ballsBox[0][2])

meas[3] = float(ballsBox[0][3])

#第一次檢測

if not found:

for i in range(len(kf.errorCovPre)):

kf.errorCovPre[i,i] = 1

state[0] = meas[0]

state[1] = meas[1]

state[2] = 0

state[3] = 0

state[4] = meas[2]

state[5] = meas[3]

kf.statePost = state

found = True

else:

kf.correct(meas) #Kalman修正

print('rr',res.shape)

print("Measure matrix:", meas)

cv2.imshow("Tracking", res)

cv2.waitKey(1)

videoWriter.write(res)

大概就是這樣了，如果追蹤效果不好就自己調(diào)整一下閾值范圍吧

總結(jié)

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