Linux：OpenCV C++ 视频流 二值图 及模板匹配

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视频状态下图像颜色二值化的模板匹配

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新手上路！请多指教！
本文为多篇博客的综合体。
静态模板匹配->视频流模板匹配->颜色识别->本文。
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1.主程序

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#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>

using namespace std;
using namespace cv;

/// 全局变量
Mat img; //摄像头图片
Mat templ;//模板图片
Mat result;//对比结果图
Mat imgThresholded;


char* image_window = "Source Image";
char* result_window = "Result window";

int match_method;
int max_Trackbar = 5;

/// 函数声明
void MatchingMethod(int, void*);
void img_binarization(int,Mat img_transmit);

int main(int argc, char** argv)
{
VideoCapture capture(0);// 视频图片

if ( !capture.isOpened() )   // if not success, exit program
{
cout << "Cannot open the web cam" << endl;
return -1;
}

namedWindow("templ_window", CV_WINDOW_AUTOSIZE);
/*
模板图片二值化，不知道什么原因转换出来不理想
templ = imread("20190415.jpg");    //目标图像
img_binarization(0,templ);
templ = imgThresholded;
*/
templ = imread("20190415.jpg",2);//导入二值化下视频图片，注意图片通道模式
imshow("templ_window", templ);


//二值图调节窗
namedWindow("Control", CV_WINDOW_AUTOSIZE); //create a window called "Control"
int iLowH = 100;
int iHighH = 140;
int iLowS = 45;
int iHighS = 255;
int iLowV = 45;
int iHighV = 255;
//Create trackbars in "Control" window
cvCreateTrackbar("LowH", "Control", &iLowH, 179); //Hue (0 - 179)
cvCreateTrackbar("HighH", "Control", &iHighH, 179);
cvCreateTrackbar("LowS", "Control", &iLowS, 255); //Saturation (0 - 255)
cvCreateTrackbar("HighS", "Control", &iHighS, 255);
cvCreateTrackbar("LowV", "Control", &iLowV, 255); //Value (0 - 255)
cvCreateTrackbar("HighV", "Control", &iHighV, 255);

//  创建图像显示窗口
namedWindow(image_window, CV_WINDOW_AUTOSIZE);
namedWindow(result_window, CV_WINDOW_AUTOSIZE);

//  创建混动条
char* trackbar_label = 
"Method: \n 0: SQDIFF \n 1: SQDIFF NORMED \n 2: TM CCORR\n 3: TM CCORR NORMED \n 4: TM COEFF \n 5: TM COEFF NORMED";
char* s1="image";
char* s2=".jpg";
char file[100];
int j=0;
int i;
while (1)
{
j++;
for(i=0; i<50; i++)
{
capture >> img;//  读图片
img_binarization(0,img);
createTrackbar(trackbar_label, image_window, &match_method, max_Trackbar, MatchingMethod);
//初始化
MatchingMethod(0, 0);
waitKey(30);
}
/*
保存二值图，选取一张作为模板图
   cout << "-----1-----" << endl;
   sprintf(file,"%s%d%s",s1,j,s2);
   cout << "-----2-----" << endl;
   imwrite(file,imgThresholded);
 */
}
return 0;
}

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2.图片颜色二值化

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void img_binarization(int,Mat img_transmit)
{
	Mat imgHSV;
	vector<Mat> hsvSplit;
	cvtColor(img_transmit, imgHSV, COLOR_BGR2HSV); //Convert the captured frame from BGR to HSV
	//因为我们读取的是彩色图，直方图均衡化需要在HSV空间做
	split(imgHSV, hsvSplit);
	equalizeHist(hsvSplit[2],hsvSplit[2]);
	merge(hsvSplit,imgHSV);
	//Mat imgThresholded;
	int iLowH = 100;
	int iHighH = 140;
	int iLowS = 45;
	int iHighS = 255;
	int iLowV = 45;
	int iHighV = 255;
	//Threshold the image
	inRange(imgHSV, Scalar(iLowH, iLowS, iLowV), Scalar(iHighH, iHighS, iHighV), imgThresholded); 
	//开操作 (去除一些噪点)
	Mat element = getStructuringElement(MORPH_RECT, Size(2, 2));

	morphologyEx(imgThresholded, imgThresholded, MORPH_OPEN, element);
	//闭操作 (连接一些连通域)
	morphologyEx(imgThresholded, imgThresholded, MORPH_CLOSE, element);

	imshow("Thresholded Image", imgThresholded);
	waitKey(30);//调节图片刷新频率
	//imshow("Thresholded Image", imgThresholded); //show the thresholded image
}

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3.模板匹配

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void MatchingMethod(int, void*)
{
	Mat img_display;// 用于显示结果
	img.copyTo(img_display);//img_display=img

	// 用于存储匹配结果的矩阵
	int result_cols = img.cols - templ.cols + 1;
	int result_rows = img.rows - templ.rows + 1;
	result.create(result_cols, result_rows, CV_32FC1);

	// 进行模板匹配
	matchTemplate(imgThresholded, templ, result, match_method);
	// 归一化结果（方便显示结果）
	normalize(result, result, 0, 1, NORM_MINMAX, -1, Mat());

	// 找到最佳匹配位置
	double minVal;
	double maxVal;
	Point minLoc;
	Point maxLoc;
	Point matchLoc;

	// 寻找result中的最大和最小值，以及它们所处的像素位置
	minMaxLoc(result, &minVal, &maxVal, &minLoc, &maxLoc, Mat());
	// 使用SQDIFF和SQDIFF_NORMED方法时：值越小代表越相似
	// 使用其他方法时：值越大代表越相似
	if (match_method == CV_TM_SQDIFF || match_method == CV_TM_SQDIFF_NORMED)
	{
		matchLoc = minLoc;
	}
	else
	{
		matchLoc = maxLoc;
	}

	// 显示匹配结果  图像、矩形的一个顶点 、矩形对角线上的另一个顶点、线条颜色 (RGB) 或亮度（灰度图像 ）、线
	条的粗细 、线条的类型 、坐标点的小数点位数
	rectangle(img_display, matchLoc, Point(matchLoc.x + templ.cols, matchLoc.y + templ.rows), 
																	Scalar::all(0), 2, 8, 0);
	//cout << "-----3-----" << endl;
	rectangle(result, matchLoc, Point(matchLoc.x + templ.cols, matchLoc.y + templ.rows), 
																Scalar::all(0), 2, 8, 0);

	imshow(image_window, img_display);
	imshow(result_window, result);

}

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4.效果图

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5.遇到的问题

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相机启动不了

sudo cheese//启动相机

windows 下能运行，linux 无设备驱动
重装虚拟机

c++ - OpenCV: assertation failed ((img.depth() = = CV_8U || img.depth() = = CV_32F) && img.type() == templ.type())
通常是模板图片的问题，图片大小、图像通道数问题。
参考：http://www.itkeyword.com/doc/4822575873968097709/opencv-assertation-failed-img-depth-cv-8u-img-depth-cv-32f-i
https://blog.csdn.net/u011028345/article/details/74847601

查看相机支持视频的模式

Sudo apt-get install v4l-utils

v4l2-ctl --list-formats-ext

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6.学习历程

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1.OpenCV颜色识别
https://blog.csdn.net/chen134225/article/details/80812591

2.OpenCV探索之路（九）：模板匹配
https://www.cnblogs.com/skyfsm/p/6884253.html

3.OpenCV-视频流动态特征感兴趣区域检测–模板匹配(MatchingMethod)
https://blog.csdn.net/wsLJQian/article/details/68947635