This example shows how to use the 2-D normalized cross-correlation for pattern matching and target tracking. The example uses predefined or user specified target and number of similar targets to be tracked. The normalized cross correlation plot shows that when the value exceeds the set threshold, the target is identified.
In this example you use normalized cross correlation to track a target pattern in a video. The pattern matching algorithm involves the following steps:
The input video frame and the template are reduced in size to minimize the amount of computation required by the matching algorithm.
Normalized cross correlation, in the frequency domain, is used to find a template in the video frame.
The location of the pattern is determined by finding the maximum cross correlation value.
Initialize required variables such as the threshold value for the cross correlation and the decomposition level for Gaussian Pyramid decomposition.
threshold = single(0.99); level = 2;
Create System object™ to read a video file.
hVideoSrc = vision.VideoFileReader('vipboard.avi', ... 'VideoOutputDataType', 'single',... 'ImageColorSpace', 'Intensity');
Create three gaussian pyramid System objects for decomposing the target template and decomposing the Image under Test(IUT). The decomposition is done so that the cross correlation can be computed over a small region instead of the entire original size of the image.
hGaussPymd1 = vision.Pyramid('PyramidLevel',level); hGaussPymd2 = vision.Pyramid('PyramidLevel',level); hGaussPymd3 = vision.Pyramid('PyramidLevel',level);
Create a System object to rotate the image by angle of pi before computing multiplication with the target in the frequency domain which is equivalent to correlation.
hRotate1 = vision.GeometricRotator('Angle', pi);
Create two 2-D FFT System objects one for the image under test and the other for the target.
hFFT2D1 = vision.FFT; hFFT2D2 = vision.FFT;
Create a System object to perform 2-D inverse FFT after performing correlation (equivalent to multiplication) in the frequency domain.
hIFFFT2D = vision.IFFT;
Create 2-D convolution System object to average the image energy in tiles of the same dimension of the target.
hConv2D = vision.Convolver('OutputSize','Valid');
Here you implement the following sequence of operations.
% Specify the target image and number of similar targets to be tracked. By % default, the example uses a predefined target and finds up to 2 similar % patterns. Set the variable useDefaultTarget to false to specify a new % target and the number of similar targets to match. useDefaultTarget = true; [Img, numberOfTargets, target_image] = ... videopattern_gettemplate(useDefaultTarget); % Downsample the target image by a predefined factor using the % gaussian pyramid System object. You do this to reduce the amount of % computation for cross correlation. target_image = single(target_image); target_dim_nopyramid = size(target_image); target_image_gp = step(hGaussPymd1, target_image); target_energy = sqrt(sum(target_image_gp(:).^2)); % Rotate the target image by 180 degrees, and perform zero padding so that % the dimensions of both the target and the input image are the same. target_image_rot = step(hRotate1, target_image_gp); [rt, ct] = size(target_image_rot); Img = single(Img); Img = step(hGaussPymd2, Img); [ri, ci]= size(Img); r_mod = 2^nextpow2(rt + ri); c_mod = 2^nextpow2(ct + ci); target_image_p = [target_image_rot zeros(rt, c_mod-ct)]; target_image_p = [target_image_p; zeros(r_mod-rt, c_mod)]; % Compute the 2-D FFT of the target image target_fft = step(hFFT2D1, target_image_p); % Initialize constant variables used in the processing loop. target_size = repmat(target_dim_nopyramid, [numberOfTargets, 1]); gain = 2^(level); Im_p = zeros(r_mod, c_mod, 'single'); % Used for zero padding C_ones = ones(rt, ct, 'single'); % Used to calculate mean using conv
Create a System object to calculate the local maximum value for the normalized cross correlation.
hFindMax = vision.LocalMaximaFinder( ... 'Threshold', single(-1), ... 'MaximumNumLocalMaxima', numberOfTargets, ... 'NeighborhoodSize', floor(size(target_image_gp)/2)*2 - 1);
Create a System object to display the tracking of the pattern.
sz = get(0,'ScreenSize'); pos = [20 sz(4)-400 400 300]; hROIPattern = vision.VideoPlayer('Name', 'Overlay the ROI on the target', ... 'Position', pos);
Initialize figure window for plotting the normalized cross correlation value
hPlot = videopatternplots('setup',numberOfTargets, threshold);
Video Processing Loop
Create a processing loop to perform pattern matching on the input video. This loop uses the System objects you instantiated above. The loop is stopped when you reach the end of the input file, which is detected by the
VideoFileReader System object.
while ~isDone(hVideoSrc) Im = step(hVideoSrc); Im_gp = step(hGaussPymd3, Im); % Frequency domain convolution. Im_p(1:ri, 1:ci) = Im_gp; % Zero-pad img_fft = step(hFFT2D2, Im_p); corr_freq = img_fft .* target_fft; corrOutput_f = step(hIFFFT2D, corr_freq); corrOutput_f = corrOutput_f(rt:ri, ct:ci); % Calculate image energies and block run tiles that are size of % target template. IUT_energy = (Im_gp).^2; IUT = step(hConv2D, IUT_energy, C_ones); IUT = sqrt(IUT); % Calculate normalized cross correlation. norm_Corr_f = (corrOutput_f) ./ (IUT * target_energy); xyLocation = step(hFindMax, norm_Corr_f); % Calculate linear indices. linear_index = sub2ind([ri-rt, ci-ct]+1, xyLocation(:,2),... xyLocation(:,1)); norm_Corr_f_linear = norm_Corr_f(:); norm_Corr_value = norm_Corr_f_linear(linear_index); detect = (norm_Corr_value > threshold); target_roi = zeros(length(detect), 4); ul_corner = (gain.*(xyLocation(detect, :)-1))+1; target_roi(detect, :) = [ul_corner, fliplr(target_size(detect, :))]; % Draw bounding box. Imf = insertShape(Im, 'Rectangle', target_roi, 'Color', 'green'); % Plot normalized cross correlation. videopatternplots('update',hPlot,norm_Corr_value); step(hROIPattern, Imf); end release(hVideoSrc);
This example shows use of Computer Vision System Toolbox™ to find a user defined pattern in a video and track it. The algorithm is based on normalized frequency domain cross correlation between the target and the image under test. The video player window displays the input video with the identified target locations. Also a figure displays the normalized correlation between the target and the image which is used as a metric to match the target. As can be seen whenever the correlation value exceeds the threshold (indicated by the blue line), the target is identified in the input video and the location is marked by the green bounding box.
The following helper functions are used in this example.