OpenCV中文网站例程——目标跟踪

读取摄像头，用鼠标选择目标，确定目标颜色直方图，我跟踪的目标为乒乓球，且目标与背景颜色对比明显

效果如图——

移动目标跟踪结果不错——

程序如下——

// 目标跟踪.cpp : Defines the entry point for the console application.
//


#include "cv.h"  
#include "highgui.h" 
#include <stdio.h> 
#include <ctype.h>
#include"cxcore.h"  
IplImage *image = 0, *hsv = 0, *hue = 0, *mask = 0, *backproject = 0, *histimg = 0; 
CvHistogram *hist = 0;
int backproject_mode = 0; 
int select_object = 0; 
int track_object = 0; 
int show_hist = 1; 
CvPoint origin; 
CvRect selection;  
CvRect track_window; 
CvBox2D track_box;  
CvConnectedComp track_comp; 
int hdims = 16;  
float hranges_arr[] = {0,180}; 
float* hranges = hranges_arr;  
int vmin = 10, vmax = 256, smin = 30; 
void on_mouse( int event, int x, int y, int flags, void* param ) 
{  
if( !image ) 
return; 
if( image->origin )  
y = image->height - y; 
if( select_object ) 
{  
selection.x = MIN(x,origin.x); 
selection.y = MIN(y,origin.y);  
selection.width = selection.x + CV_IABS(x - origin.x); 
selection.height = selection.y + CV_IABS(y - origin.y); 
selection.x = MAX( selection.x, 0 ); 
selection.y = MAX( selection.y, 0 );  
selection.width = MIN( selection.width, image->width ); 
selection.height = MIN( selection.height, image->height ); 
selection.width -= selection.x; 
selection.height -= selection.y; 
} 
switch( event ) 
{  
case CV_EVENT_LBUTTONDOWN: 
origin = cvPoint(x,y);  
selection = cvRect(x,y,0,0);  
select_object = 1; 
 
break;  
case CV_EVENT_LBUTTONUP: 
select_object = 0;  
if( selection.width > 0 && selection.height > 0 ) 
track_object = -1; 
 break; 
} 
} 
CvScalar hsv2rgb( float hue ) 
{  
int rgb[3], p, sector;  
static const int sector_data[][3]=  
{{0,2,1}, {1,2,0}, {1,0,2}, {2,0,1}, {2,1,0}, {0,1,2}}; 
hue *= 0.033333333333333333333333333333333f; 
sector = cvFloor(hue);  
p = cvRound(255*(hue - sector)); 
p ^= sector & 1 ? 255 : 0; 
rgb[sector_data[sector][0]] = 255; 
rgb[sector_data[sector][1]] = 0; 
rgb[sector_data[sector][2]] = p; 
return cvScalar(rgb[2], rgb[1], rgb[0],0); 
} 
int main( int argc, char** argv ) 
{  
CvCapture* capture = 0; 
 if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0]))) 
capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 ); 
else if( argc == 2 )  
capture = cvCaptureFromAVI( argv[1] ); 
if( !capture ) 
{  
fprintf(stderr,"Could not initialize capturing...\n"); 
return -1; 
} 
printf( "Hot keys: \n"  
"\tESC - quit the program\n"
"\tc - stop the tracking\n"  
"\tb - switch to/from backprojection view\n" 
"\th - show/hide object histogram\n"  
"To initialize tracking, select the object with mouse\n" ); 
cvNamedWindow( "Histogram", 1 );  
cvNamedWindow( "CamShiftDemo", 1 );  
cvSetMouseCallback( "CamShiftDemo", on_mouse, 0 );  
cvCreateTrackbar( "Vmin", "CamShiftDemo", &vmin, 256, 0 ); 
cvCreateTrackbar( "Vmax", "CamShiftDemo", &vmax, 256, 0 ); 
cvCreateTrackbar( "Smin", "CamShiftDemo", &smin, 256, 0 ); 
for(;;) 
{  
IplImage* frame = 0; 
int i, bin_w, c; 
frame = cvQueryFrame( capture ); 
if( !frame ) 
break; 
if( !image ) 
{  
/* allocate all the buffers */  
image = cvCreateImage( cvGetSize(frame), 8, 3 ); 
image->origin = frame->origin;  
hsv = cvCreateImage( cvGetSize(frame), 8, 3 ); 
hue = cvCreateImage( cvGetSize(frame), 8, 1 ); 
mask = cvCreateImage( cvGetSize(frame), 8, 1 );  
backproject = cvCreateImage( cvGetSize(frame), 8, 1 );  
hist = cvCreateHist( 1, &hdims, CV_HIST_ARRAY
, &hranges, 1 ); 
histimg = cvCreateImage( cvSize(320,200), 8, 3 ); 
cvZero( histimg ); 
} 
cvCopy( frame, image, 0 );  
cvCvtColor( image, hsv, CV_BGR2HSV ); 
if( track_object ) 
{  
int _vmin = vmin, _vmax = vmax; 
cvInRangeS( hsv, cvScalar(0,smin,MIN(_vmin,_vmax),0),  
cvScalar(180,256,MAX(_vmin,_vmax),0), mask ); 
cvSplit( hsv, hue, 0, 0, 0 ); 
if( track_object < 0 ) 
{  
float max_val = 0.f;  
cvSetImageROI( hue, selection ); 
cvSetImageROI( mask, selection ); 
cvCalcHist( &hue, hist, 0, mask );  
cvGetMinMaxHistValue( hist, 0, &max_val, 0, 0 );  
cvConvertScale( hist->bins, hist->bins, max_val ? 255. / max_val : 0., 
0 );  
cvResetImageROI( hue ); 
 
cvResetImageROI( mask ); 
track_window = selection; 
track_object = 1; 
cvZero( histimg );  
bin_w = histimg->width / hdims;  
for( i = 0; i < hdims; i++ ) 
{  
int val =  
cvRound( cvGetReal1D(hist->bins,i)*histimg->height/255 );  
CvScalar color = hsv2rgb(i*180.f/hdims);  
cvRectangle( histimg, cvPoint(i*bin_w,histimg->height), 
cvPoint((i+1)*bin_w,histimg->height - val), 
color, -1, 8, 0 ); 
} 
} 
cvCalcBackProject( &hue, backproject, hist ); 
cvAnd( backproject, mask, backproject, 0 ); 
cvCamShift( backproject, track_window,  
cvTermCriteria( CV_TERMCRIT_EPS | 
CV_TERMCRIT_ITER, 10, 1 ),  
&track_comp, &track_box ); 
track_window = track_comp.rect; 
if( backproject_mode )  
cvCvtColor( backproject, image, CV_GRAY2BGR ); 
if( image->origin )  
track_box.angle = -track_box.angle;  
cvEllipseBox( image, track_box, CV_RGB(255,0,0), 3, CV_AA, 0 ); 
} 
if( select_object && selection.width > 0 && selection.height > 0 ) 
{  
cvSetImageROI( image, selection );  
cvXorS( image, cvScalarAll(255), image, 0 ); 
cvResetImageROI( image ); 
} 
cvShowImage( "CamShiftDemo", image ); 
cvShowImage( "Histogram", histimg ); 
c = cvWaitKey(10); 
if( (char) c == 27 ) 
break;  
switch( (char) c ) 
{  
case 'b':  
backproject_mode ^= 1; 
break; 
case 'c':  
track_object = 0; 
cvZero( histimg ); 
break; 
case 'h':   
show_hist ^= 1; 
if( !show_hist )  
cvDestroyWindow( "Histogram" ); 
else  
cvNamedWindow( "Histogram", 1 ); 
break; 
default: 
; 
} 
} 
cvReleaseCapture( &capture );  
cvDestroyWindow("CamShiftDemo"); 
return 0; 
}