36-运动物体检测2（EmguCV学习）

Record

案例：
1、使用椭圆对运动物体轮廓进行拟合（略）；
2、使用滤波方法去除噪声（略）；
3、根据轮廓正外接矩形大小对轮廓进行筛选（略）；
4、绘制物体的运动轨迹（done）；
5、简单的车辆计数（done）；

Code

---

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

using Emgu.CV;
using Emgu.CV.Util;
using Emgu.CV.Structure;
using Emgu.CV.CvEnum;
using Emgu.Util;
using System.Drawing;

namespace lesson36
{
    class Program
    {
        public static VectorOfPoint vcenterPoints = new VectorOfPoint();       //存储中心点集
        public static int carNum = 0;                                          //存储车的计数数目
        static void Main(string[] args)
        {
            //运动物体质心轨迹绘制
            //VideoCapture cap = new VideoCapture("man.avi");
            //if(!cap.IsOpened)
            //{
            //    Console.WriteLine("Open video failed..");
            //    return;
            //}
            //int count = 0;
            //Mat bgImg = new Mat();
            //Mat frame = new Mat();
            //while(true)
            //{
            //    cap.Read(frame);
            //    if(frame.IsEmpty)
            //    {
            //        Console.WriteLine("frame is empty..");
            //        break;
            //    }
            //    count++;
            //    if(count == 1)
            //    {
            //        bgImg = frame.Clone();  //背景差法
            //    }
            //    Mat result = MoveDetect(bgImg, frame);
            //    CvInvoke.Imshow("result", result);
            //    if (CvInvoke.WaitKey(50) == 27)
            //    {
            //        break;
            //    }
            //}

            ///车辆计数演示
            VideoCapture cap = new VideoCapture("car.avi");
            if(!cap.IsOpened)
            {
                Console.WriteLine("Open the video failed..");
                return;                   
            }
            Mat preframe = new Mat();
            Mat frame = new Mat();
            int count = 0;
            while (true)
            {
                cap.Read(frame);
                if(frame.IsEmpty)
                {
                    Console.WriteLine("frame is empty..");
                    break;
                }
                count++;
                if (count == 1)
                {
                    preframe = frame.Clone();
                }
                Mat result = MoveDetect4(preframe, frame);
                CvInvoke.Imshow("result", result);
                preframe = frame.Clone();       //更新前一帧

                if (CvInvoke.WaitKey(50) == 27)
                    break;
            }


        }


        static Mat MoveDetect4(Mat preframe,Mat frame)
        {
            Mat result = frame.Clone();
            Mat gray = new Mat();
            Mat gray2 = new Mat();
            CvInvoke.CvtColor(preframe, gray, ColorConversion.Bgr2Gray);
            CvInvoke.CvtColor(frame, gray2, ColorConversion.Bgr2Gray);
            Mat diff = new Mat();
            CvInvoke.AbsDiff(gray2, gray, diff);
            CvInvoke.Imshow("diff", diff);
            //转换为二值图
            CvInvoke.Threshold(diff, diff, 20, 255, ThresholdType.Binary);
            //滤波
            CvInvoke.MedianBlur(diff, diff, 17);
            //膨胀
            Mat element = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(21, 21), new Point(-1, -1));
            CvInvoke.Dilate(diff, diff, element, new Point(-1, -1), 1, BorderType.Default, new MCvScalar());
            CvInvoke.Imshow("dilate", diff);
            //计算轮廓
            VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint();
            CvInvoke.FindContours(diff, contours, null, RetrType.External, ChainApproxMethod.ChainApproxNone);

            //对轮廓进行遍历，当轮廓经过特定位置时认为经过了检测线，计数变量+1
            for (int i = 0; i < contours.Size; i++)
            {
                Rectangle rect = CvInvoke.BoundingRectangle(contours[i]);
                if(rect.Width > 40 && rect.Width < 180 && 
                                      rect.Height > 40 && rect.Height < 180)        //对轮廓大小进行筛选
                {
                    //绘制出包含车辆的矩形
                    CvInvoke.Rectangle(result, rect, new MCvScalar(0, 255, 0), 2);
                    //当车辆质心Y方向在这个范围内时，车辆计数加1
                    if((rect.Y + rect.Height/2 - 1) >=138 && (rect.Y + rect.Height / 2 - 1 ) <= 142)
                    {
                        carNum++;
                        //车辆经过时绘制显示线示意一下
                        CvInvoke.Line(result, new Point(0, 141), new Point(frame.Cols - 1, 142), new MCvScalar(0, 0, 255), 3);
                        CvInvoke.Circle(result, new Point((int)(rect.X + rect.Width / 2), 142), 5, new MCvScalar(0, 255, 255), -1);
                    }
                }
            }
            //绘制扫描线
            CvInvoke.Line(result, new Point(0, 141), new Point(frame.Cols - 1, 141), new MCvScalar(0, 0, 255), 1);
            string strNum = string.Format("CarNUm={0}", carNum);    //格式化字符串
            CvInvoke.PutText(result, strNum, new Point(10, 25), FontFace.HersheyComplex, 1.2, new MCvScalar(0, 255, 0), 2);
            return result;
        }

        static Mat MoveDetect(Mat bgImg,Mat fgImg)
        {
            Mat result = fgImg.Clone();
            Mat gray = new Mat();
            Mat gray2 = new Mat();
            CvInvoke.CvtColor(bgImg, gray, ColorConversion.Bgr2Gray);
            CvInvoke.CvtColor(fgImg, gray2, ColorConversion.Bgr2Gray);
            //做差
            Mat diff = new Mat();
            CvInvoke.AbsDiff(gray2, gray, diff);
            CvInvoke.Imshow("diff", diff);
            //二值化
            CvInvoke.Threshold(diff, diff, 45, 255, ThresholdType.Binary);
            CvInvoke.Imshow("threshold", diff);
            //滤波膨胀
            CvInvoke.MedianBlur(diff, diff, 5);
            Mat element = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(13, 13), new Point(-1, -1));
            CvInvoke.Dilate(diff, diff, element, new Point(-1, -1), 1, BorderType.Default, new MCvScalar());
            CvInvoke.Imshow("dilate", diff);

            //计算轮廓
            VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint();
            CvInvoke.FindContours(diff, contours, null, RetrType.External, ChainApproxMethod.ChainApproxNone);

            for(int i = 0; i < contours.Size; i++)
            {
                Rectangle rect = CvInvoke.BoundingRectangle(contours[i]);
                if(rect.Width > 10 && rect.Height >10)          //轮廓筛选
                {
                    RotatedRect ellipse = CvInvoke.MinAreaRect(contours[i]);
                    //绘制最小外接椭圆
                    CvInvoke.Ellipse(result, new Point((int)ellipse.Center.X, (int)ellipse.Center.Y),
                                     new Size((int)ellipse.Size.Width/2, (int)ellipse.Size.Height/2), ellipse.Angle,
                                     0, 360, new MCvScalar(0, 255, 0), 2);
                    Point ptCenter = new Point((int)ellipse.Center.X, (int)ellipse.Center.Y);
                    Point[] pts = { ptCenter };
                    vcenterPoints.Push(pts);
                    if(vcenterPoints.Size > 1)   //点集中至少有两个点
                    {
                        for(int j = 0; j < vcenterPoints.Size-1; j++)
                        {
                            CvInvoke.Line(result, vcenterPoints[j], vcenterPoints[j + 1], new MCvScalar(255, 0, 0), 2);
                        }
                    }
                    CvInvoke.Circle(result, ptCenter, 3, new MCvScalar(0, 0, 255), -1);
                }
            }
            return result;
        }
    }
}

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效果

1、物体运动轨迹绘制：

2、简单的车辆计数：