Face Tracking with CAMShift using OpenCV/SimpleCV

CAMShift stands for Continuously Adaptive Mean Shift. It is the basis for the face-tracking algorithm in OpenCV. It combines the basic Mean Shift algorithm with an adaptive region-sizing step. The kernel is a simple step function applied to a skin-probability map. The skin probability of each image pixel is based on color using a method called histogram backprojection. Color is represented as Hue from the HSV color model.
 

Face Tracking with CAMShift

import cv2
import cv2.cv as cv

def camshift_tracking(img1, img2, bb):
        hsv = cv2.cvtColor(img1, cv.CV_BGR2HSV)
        mask = cv2.inRange(hsv, np.array((0., 60., 32.)), np.array((180., 255., 255.)))
        x0, y0, w, h = bb
        x1 = x0 + w -1
        y1 = y0 + h -1
        hsv_roi = hsv[y0:y1, x0:x1]
        mask_roi = mask[y0:y1, x0:x1]
        hist = cv2.calcHist( [hsv_roi], [0], mask_roi, [16], [0, 180] )
        cv2.normalize(hist, hist, 0, 255, cv2.NORM_MINMAX);
        hist_flat = hist.reshape(-1)
        prob = cv2.calcBackProject([hsv,cv2.cvtColor(img2, cv.CV_BGR2HSV)], [0], hist_flat, [0, 180], 1)
        prob &= mask
        term_crit = ( cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1 )
        new_ellipse, track_window = cv2.CamShift(prob, bb, term_crit)
        return track_window

def face_track():
    cap = cv2.VideoCapture(0)
    img = cap.read()
    bb = (125,125,200,100) # get bounding box from some method
    while True:
        try:
            img1 = cap.read()
            bb = camshift(img1, img, bb)
            img = img1
            #draw bounding box on img1
            imshow("CAMShift",img1)
        except KeyboardInterrupt:
            break

 
In SimpleCV,

from SimpleCV import Image, Camera
cam = Camera()
img = cam.getImage()
time.sleep(0.4)
# Move your face in some direction
img1 = cam.getImage()
bb = (100,200,100,100) # get Bounding Box from some method
new_bb = img1.track(img,"camshift",bb)
# do this in loop.

It seems that CAMShift is quite efficient and fast. I’ll add Lucas Kanede Tracker, Median Flow Tracker, Forward-Backward Error Tracker soon. And to top it all, I will add OpenTLD to SimpleCV.

P.S. Down with throat infection. Waiting for SimpleCV t-shirt and my Mid-Term evaluation.