目标跟踪：Ubuntu16.04+KCF（C++）

目标跟踪：KCF

环境：Ubuntu16.04

下载原版的KCFcpp.master,可以去github上下，然后更改源文件；也可以去我的资源里下：https://download.csdn.net/download/weixin_44264994/12228741

更改runtracker.cpp源文件：

#include <iostream>
#include <fstream>
#include <sstream>
#include <algorithm>

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>

#include "kcftracker.hpp"

#include <dirent.h>

using namespace std;
using namespace cv;

// 当前帧
Mat frame;
//初始帧框选目标时候用来显示用的Mat对象
Mat backup;

// Tracker results  跟踪目标的结果框
Rect result;

//函数声明
void on_mouse(int event, int x, int y, int flags, void* );
//初始帧用来框选目标的两个点
cv::Point Point1;
cv::Point Point2;
//初始帧框选目标时判断是第几个点
int counter = 1;


int main(int argc, char* argv[]){

    if (argc > 5) return -1;

    bool HOG = true;    // 是否使用hog特征
    bool FIXEDWINDOW = false;  // 是否使用修正窗口
    bool MULTISCALE = true;  // 是否使用多尺度
    bool SILENT = true;   // 是否不做显示
    bool LAB = false;  // 是否使用LAB颜色

    //不同位置的参数代表的含义
    for(int i = 0; i < argc; i++){
        if ( strcmp (argv[i], "hog") == 0 )
            HOG = true;
        if ( strcmp (argv[i], "fixed_window") == 0 )
            FIXEDWINDOW = true;
        if ( strcmp (argv[i], "singlescale") == 0 )
            MULTISCALE = false;
        if ( strcmp (argv[i], "show") == 0 )
            SILENT = false;
        if ( strcmp (argv[i], "lab") == 0 ){
            LAB = true;
            HOG = true;
        }
        if ( strcmp (argv[i], "gray") == 0 )
            HOG = false;
    }
	
	//使用setMouseCallback函数，首先要有一个窗口和名字
    cv::namedWindow("Camera", cv::WINDOW_NORMAL);

    //用来显示帧号的一些设置
    int text_offset = 50;
    cv::Point origin(text_offset, text_offset);
    int fontFace =  cv::FONT_HERSHEY_COMPLEX;
    double fontScale = 0.7;
    cv::Scalar color(255, 0, 0);
    int thickness = 1;
    cv::LineTypes lineType = cv::LINE_AA;
    bool bottomLeftOrigin = false;

    // Create KCFTracker object
    KCFTracker tracker(HOG, FIXEDWINDOW, MULTISCALE, LAB);

    // Write Results
    ofstream resultsFile;
    string resultsPath = "output.txt";
    resultsFile.open(resultsPath);
    
    // Frame counter
    int nFrames = 0;

    //open camera， 0表示使用的是笔记本电脑自带的摄像头，如果是外接的摄像头一般要改成1
    VideoCapture cam(0);
    if ( !cam.isOpened())
        return -1;
    while(true)
    {
        cam>> frame;
        if(frame.empty())
            break;
        putText(frame, to_string(nFrames), origin, fontFace, fontScale, color, thickness, lineType, bottomLeftOrigin);

        // First frame, 框选目标并初始化tracker
        if (nFrames == 0) {
            imshow("Camera", frame);
            frame.copyTo(backup);
            cv::setMouseCallback("Camera", on_mouse);
            waitKey(0);
            
            tracker.init(Rect(Point1.x, Point1.y, Point2.x - Point1.x, Point2.y - Point1.y), frame);
            rectangle(frame, Point1, Point2, Scalar(0, 255, 255), 2, 8);
            resultsFile << Point1.x << "," << Point1.y << "," << Point2.x - Point1.x << "," << Point2.y - Point1.y << endl;

        }
        // Update
        else{
            cout << "nFrames:  " << nFrames << endl;
            result = tracker.update(frame);
            rectangle( frame, Point( result.x, result.y ), Point( result.x+result.width, result.y+result.height), Scalar( 0, 255, 255 ), 2, 8 );
            resultsFile << result.x << "," << result.y << "," << result.width << "," << result.height << endl;


        }
        nFrames++;
        
        imshow("Camera", frame);
        if( waitKey(10)== ' ' )
            break;
    }
    cam.release();
    resultsFile.close();
    return 0;
}


//每点击两个点之后，把两个点组成的矩形框的四个点的坐标显示出来
void on_mouse(int event, int x, int y, int flags, void*){
    if (event ==  cv::EVENT_LBUTTONDOWN){
        if (counter == 2){
            Point2.x = x;
            Point2.y = y;
            cout << "leftTop, rightTop, leftBottom, rightBottom: "
                      << Point1.x << "," << Point1.y << ","
                      << Point2.x << "," << Point1.y << ","
                      << Point1.x << "," << Point2.y << ","
                      << Point2.x << "," << Point2.y << endl << endl;
            cv::Point leftTopCorner;
            cv::Point rightBottomCorner;
            leftTopCorner.x = min(Point1.x, Point2.x);
            leftTopCorner.y = min(Point1.y, Point2.y);
            rightBottomCorner.x = max(Point1.x, Point2.x);
            rightBottomCorner.y = max(Point1.y, Point2.y);
            cv::rectangle(frame, leftTopCorner, rightBottomCorner, cv::Scalar(0, 255, 0), 1, cv::LINE_AA, 0);
            Point1 = leftTopCorner;
            Point2 = rightBottomCorner;
            cv::imshow("Camera", frame);
            backup.copyTo(frame);
            counter =1;
            return;
        }
        else if (counter == 1) {
            Point1.x = x;
            Point1.y = y;
            cv::drawMarker(frame, Point1, cv::Scalar(0, 255, 0), cv::MARKER_CROSS, 10, 1, cv::LINE_AA);
            cv::imshow("Camera", frame);
            backup.copyTo(frame);
            counter++;
            cout << "You've selected one point, now select the second! " << endl;
        }
    }
}

生成：

cd build
cmake ..
make

然后运行./KCF就可以了，初始打开摄像头后手动选择跟踪目标，左上角和右下角两个坐标点，回车开始跟踪，空格退出
跟踪效果：

重定位不太行