动态目标获取并标定+提取质心

#include<iostream>
#include<opencv\cv.hpp>
#include<opencv2\core\core.hpp>
#include<opencv2\highgui\highgui.hpp>
#include<opencv2\imgproc\imgproc.hpp>
//通过帧差法确定动态目标并标定
using namespace std;
using namespace cv;

int main() {

	VideoCapture video("F:\\file\\video\\car.avi");//opencv the camera of the computer

	if (!video.isOpened())
		return -1;//judge whether the camera is opened

	Mat CurrentBGRFrame;//the current colorful frame

	Mat PreviousFirstGrayFrame;//the previous gray frame
	Mat PreviousSecondGrayFrame;//???????
	Mat CurrentGrayFrame;//

	Mat DiffFramePre;//the difference between
	Mat DiffFrameCurrent;//??????

	Mat AbsFrameDiff;//

	Mat PreviousSegmentation;//
	Mat CurrentSegmentation;//
	Mat Segmentation;//
	
	int thresh = 8;
	int NumFrame = 0;//record the current frame

	Mat Kernel = getStructuringElement(MORPH_RECT,Size(21,21),Point(-1,-1));

	for (;;)
	{
		video >> CurrentBGRFrame;

		if (!CurrentBGRFrame.data)
			break;

		NumFrame++;

		cvtColor(CurrentBGRFrame,CurrentGrayFrame,COLOR_BGR2GRAY);

		if (NumFrame == 1)
		{
			PreviousFirstGrayFrame = CurrentGrayFrame.clone();
			imshow("video", CurrentBGRFrame);
			continue;
		}
		else if (NumFrame == 2)
		{
			PreviousSecondGrayFrame = CurrentGrayFrame.clone();

			absdiff(PreviousSecondGrayFrame, PreviousFirstGrayFrame, AbsFrameDiff);

			threshold(AbsFrameDiff,PreviousSegmentation,10,255,CV_THRESH_BINARY);

			imshow("video",CurrentBGRFrame);
			continue;
		}
		else 
		{
			absdiff(CurrentGrayFrame,PreviousFirstGrayFrame,AbsFrameDiff);

			threshold(AbsFrameDiff, CurrentSegmentation, 30, 255, CV_THRESH_BINARY);

			bitwise_and(PreviousSegmentation, CurrentSegmentation,Segmentation);

			medianBlur(Segmentation, Segmentation, 3);

			//dilate the image
			dilate(Segmentation, Segmentation, Kernel);

			//find the edge
			vector<vector<Point>>contours;
			vector<Vec4i>hierarchy;

			Mat tempSegmentation = Segmentation.clone();
			findContours(Segmentation, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
			
			vector<Moments> mu(contours.size());
			for (int i = 0; i < contours.size(); i++)
			{
				mu[i] = moments(contours[i], false);
			}
			//计算轮廓的质心     
			vector<Point2f> mc(contours.size());
			for (int i = 0; i < contours.size(); i++)
			{
				mc[i] = Point2d(mu[i].m10 / mu[i].m00, mu[i].m01 / mu[i].m00);
			}
			//    
		
			for (int i = 0; i< contours.size(); i++)
			{
				Scalar color = Scalar(255, 0, 0);
				drawContours(CurrentBGRFrame, contours, i, color, 2, 8, hierarchy, 0, Point());
				circle(CurrentBGRFrame, mc[i], 5, Scalar(0, 0, 255), -1, 8, 0);
				rectangle(CurrentBGRFrame, boundingRect(contours.at(i)), cvScalar(0, 255, 0));
				char tam[100];
				sprintf_s(tam, "(%0.0f,%0.0f)", mc[i].x, mc[i].y);
				putText(CurrentBGRFrame, tam, Point(mc[i].x, mc[i].y), FONT_HERSHEY_SIMPLEX, 0.4, cvScalar(255, 0, 255), 1);
			}
			
			imshow("video", CurrentBGRFrame);
      
			imshow("segmentation", Segmentation);

			PreviousFirstGrayFrame = CurrentGrayFrame.clone();

			PreviousSegmentation = CurrentSegmentation.clone();
		
		
		}
		if (waitKey(30) == 'q')
			break;
	}

	return 0;

}