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- <TITLE>Kalman Tracker</TITLE>\r
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- <CENTER><I><FONT COLOR="#000000"><FONT SIZE=+4> \r
- Kalman Tracker\r
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- <p align="center">\r
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- </a><img border="0" src="KalmanApp.jpg" width="709" height="275">\r
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- <BR><BR>\r
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- <H1>Description</H1>\r
-\r
- </a>The library provides a Kalman engine for tracking purposes. In the\r
- application described below, the CAMSHIFT color tracking algorithm is used\r
- to provide measurements for the X-Y tracking of a face (or other colored\r
- object). The CAMSHIFT algorithm implemented here just uses a simple 1-D Hue\r
- histogram sampled from the object using an HSV color space. Therefore,\r
- the color tracker may need some tuning as described below (see CAMSHIFT demo\r
- description page for more details).\r
- <br><br>\r
- To test the filter you will need DirectShow SDK, that is a part of\r
- DirectX SDK. Read <a href="../../faq.htm#DirectShow">FAQ</a> on how\r
- to install it properly.\r
- <h1>Kalman Color Tracker Demo</h1>\r
- You should setup or launch the following DirectShow filter graph edit (of\r
- course, your capture source will depend on your camera):\r
- <br><br>\r
- <center>\r
- <img border="0" src="KalmanGraph.jpg" width="715" height="96">\r
- </center>\r
- <h2 align="left">Controls</h2>\r
- <p align="left">The control panel for the filter (obtained by\r
- right-clicking) the Kalman filter in the filter graph above looks like:\r
- <p align="center"><img border="0" src="KalmanDialog.jpg" width="385" height="275">\r
- <p align="left"><b><font size=+2>[1]</font></b> This controls move the\r
- sample window around when you are not tracking.\r
-\r
- <br><b><font size=+2>[2]</font></b> This is the minimum saturation for a\r
- Hue pixel to be accepted threshold.\r
-\r
- <br><b><font size=+2>[3]</font></b> This is the minimum brightness for a\r
- Hue pixel to be accepted threshold.\r
-\r
- <br><b><font size=+2>[4]</font></b> This allows you to toggle between the\r
- raw video image and the Hue histogram backprojected image.\r
-\r
- <br><b><font size=+2>[5]</font></b> Sample color under box [1] and start\r
- Kalman tracking.\r
-\r
- <br><b><font size=+2>[6]</font></b> Stop Kalman tracking.\r
-\r
- <br>\r
- <h2>\r
- How to\r
- </h2>\r
- <h3>Start Tracking</h3>\r
- 1. Select Normal view [4].<br>\r
- 2. Set the thresholds to zero [2] & [3].<br>\r
- 3. Move the sample box using [1] so that it covers the colored object to be tracked.<br>\r
- 4. Press "Start Track" [5].<br>\r
- \r
- <h3>Tuning the tracking:</h3>\r
- 1. Select Back Project view [4]. The goal is to have the image\r
- such as on the left below to look like the cleaner image on\r
- right below.<br>\r
- <br>\r
- <CENTER><img border="0" src="kalmanbackNClean.jpg" width="649" height="240"></CENTER>\r
- <br>\r
- 2. Increase minimum saturation threshold [2] to clean up the image\r
- without diminishing the object of interest too much.<br>\r
- \r
- 3. Increase minimum brightness threshold [3] to finish the\r
- "clean up" job. Don't turn too high or else bright\r
- spots on the tracked object will become\r
- "holes".<br>\r
-\r
- 4. Turn normal view back on [4].<br>\r
-\r
- <h2>Display</h2>\r
- The meaning of the normal view display is as follows with\r
- reference to the figure below:<br>\r
- <br>\r
- <center><img border="0" src="kalmanTrackShot.jpg" width="320" height="240"></center>\r
- <br>\r
- <font size=+2><b>[A]</b></font> Velocity direction and\r
- magnitude estimation.<br>\r
- <font size=+2><b>[B]</b></font> Sample window if not\r
- tracking, tracking window if tracking.<br>\r
- <font size=+2><b>[C]</b></font> Estimated location of\r
- the object.\r
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projects / opencv / blobdiff