彩色目标跟踪算法

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1、/【程序说明】/ 程序说明：0penCV3编程入门0penCV3版书本配套示例程序08/ 程序描述：来自OpenCV安装目录下Samples文件夹中的官方示例程序-彩色目标跟踪操作/开发测试所用操作系统： Windows 7 64bit/开发测试所用IDE版本：Visual Studio 2010/开发测试所用OpenCV版本：3.0 beta/2014年11月 Revised by 浅墨_毛星云/【头文件、命名空间包含部分】/ 描述：包含程序所使用的头文件和命名空间/#include opencv2/video/tracking.hpp#include opencv2/imgproc/img

2、proc.hpp#include opencv2/highgui/highgui.hpp#include #include using namespace cv; using namespace std;/【全局变量声明】/ 描述：声明全局变量/Mat image; boolbackprojMode = false; boolselect0bject = false; inttrack0bject = 0; boolshowHist = true;Point origin;Rect selection;intvmin = 10, vmax = 256, smin = 30;/【onMouse(

3、 )回调函数】/ 描述：鼠标操作回调/static void onMouse( int event, int x, int y, int, void* )if(select0bject )selection.x = MIN(x, origin.x); selection.y = MIN(y, origin.y); selection.width = std:abs(x - origin.x); selection.height = std:abs(y - origin.y);selection&= Rect(0, 0, image.cols, image.rows);switch( event

4、 )/此句代码的 OpenCV2 版为：/case CV_EVENT_LBUTTONDOWN:/此句代码的 OpenCV3 版为：case EVENT_LBUTTONDOWN: origin = Point(x,y); selection = Rect(x,y,0,0); selectObject = true; break;/此句代码的 OpenCV2 版为：/case CV_EVENT_LBUTTONUP:/此句代码的 OpenCV3 版为：case EVENT_LBUTTONUP: selectObject = false; if(selection.width 0 &selection

5、.height 0 )trackObject = -1;break;/【help( )函数】/ 描述：输出帮助信息/static void ShowHelpText()coutnnttt非常感谢购买OpenCV3编程入门一书！ n nnttt此为本书OpenCV3版的第8个配套示例程序n nnttt 当前使用的 OpenCV 版本为： CV_VERSIONnn ;cout nnt此Demo显示了基于均值漂移的追踪(tracking)技术n t请用鼠标框选一个有颜色的物体，对它进行追踪操作*;cout nnt 操作说明：ntt用鼠标框选对象来初始化跟踪nttESC -退出程序nttc -停止追踪

6、nttb -开/关-投影视图ntth -显示/隐藏-对象直方图n ttp -暂停视频n;const char* keys =1| | 0 | camera number;/【main( )函数】/ 描述：控制台应用程序的入口函数，我们的程序从这里开始/int main( intargc, const char* argv )ShowHelpText();VideoCapture cap;RecttrackWindow;inthsize = 16; floathranges = 0,180;const float* phranges = hranges;cap.open(0);if( !cap.

7、isOpened() )cout frame;if(frame.empty() )break;frame.copyTo(image);if( !paused )cvtColor(image, hsv, COLOR_BGR2HSV);if(trackObject )int _vmin = vmin, _vmax = vmax;inRange(hsv, Scalar(0, smin, MIN(_vmin,_vmax),Scalar(180, 256, MAX(_vmin, _vmax), mask);intch = 0, 0;hue.create(hsv.size(), hsv.depth();m

8、ixChannels(&hsv, 1, &hue, 1, ch, 1);if(trackObject 0 )Mat roi(hue, selection), maskroi(mask, selection); calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges); /此句代码的 OpenCV3 版为： normalize(hist, hist, 0, 255, NORM_MINMAX);/此句代码的 OpenCV2 版为：/normalize(hist, hist, 0, 255, CV_MINMAX);trackWindow =

9、selection;trackObject = 1;histimg = Scalar:all(0);intbinW = histimg.cols / hsize;Mat buf(1, hsize, CV_8UC3);for(int i = 0; i hsize; i+ )buf.at(i) = Vec3b(saturate_cast(i*180./hsize), 255, 255);/此句代码的 OpenCV3 版为： cvtColor(buf, buf, COLOR_HSV2BGR);/此句代码的 OpenCV2 版为：/cvtColor(buf, buf, CV_HSV2BGR);for(

10、int i = 0; i hsize; i+ )intval = saturate_cast(hist.at(i)*histimg.rows/255); rectangle(histimg, Point(i*binW,histimg.rows), Point(i+1)*binW,histimg.rows - val), Scalar(buf.at(i), -1, 8 );calcBackProject(&hue, 1, 0, hist, backproj, &phranges);backproj&= mask;RotatedRecttrackBox = CamShift(backproj, t

11、rackWindow,/此句代码的 OpenCV3 版为：TermCriteria(TermCriteria:EPS | TermCriteria:COUNT, 10, 1 );/此句代码的 OpenCV2 版为：/TermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 );if(trackWindow.area() = 1 )int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5)/6; trackWindow = Rect(trackWindow

12、.x - r, trackWindow.y - r, trackWindow.x + r, trackWindow.y + r) &Rect(0, 0, cols, rows);if(backprojMode )cvtColor(backproj, image, COLOR_GRAY2BGR );/此句代码的 OpenCV3 版为：ellipse( image, trackBox, Scalar(0,0,255), 3, LINE_AA );/此句代码的 OpenCV2 版为：/ellipse( image, trackBox, Scalar(0,0,255), 3, CV_AA );else

13、 if( trackObject 0 &selection.height 0 )Mat roi(image, selection);bitwise_not(roi, roi);imshow( CamShift Demo, image ); imshow( Histogram, histimg );char c = (char)waitKey(10);if( c = 27 )break;switch(c)case b:backprojMode = !backprojMode; break;case c:trackObject = 0;histimg = Scalar:all(0); break;case h:showHist = !showHist;if( !showHist ) destroyWindow( Histogram );else namedWindow( Histogram, 1 );break;case p:paused = !paused;break;default:;return 0;