稠密光流跟踪法（代码）

此代码为学习记录用，无其他任何用途

#include<iostream>
#include<opencv2/opencv.hpp>

using namespace std;
using namespace cv;

int main()
{
	VideoCapture cap(1);//读取摄像头

	//此处为设置相机参数，需要根据使用摄像头修改，笔记本电脑的摄像头可注释掉
	cap.set(CV_CAP_PROP_FRAME_WIDTH, 960);//宽度
	cap.set(CV_CAP_PROP_FRAME_HEIGHT, 640);//高度

	Mat previous_frame, Previous_gray_frame;//定义前一帧图像
	cap.read(previous_frame);//先读取前一帧图像进cap
	cvtColor(previous_frame, Previous_gray_frame, COLOR_BGR2GRAY);//将前一帧图像变成灰度图像
	Mat hsv = Mat::zeros(previous_frame.size(), previous_frame.type());//创建和前一帧图像大小、类型一样的图像

	Mat frame, gray_frame;
	Mat_<Point2f>flow;//存储图像中移动点
	vector<Mat>video;//存储通道分离后的图像
	split(hsv, video);//分离空白图像通道

	Mat mag = Mat::zeros(hsv.size(), CV_32FC1);//振幅
	Mat ang = Mat::zeros(hsv.size(), CV_32FC1);//角度
	Mat xpts = Mat::zeros(hsv.size(), CV_32FC1);//x坐标
	Mat ypts = Mat::zeros(hsv.size(), CV_32FC1);//y坐标

	while (true)
	{
		bool ret = cap.read(frame);
		if (!ret)break;
		imshow("frame", frame);
		cvtColor(frame, gray_frame, COLOR_BGR2GRAY);
		//稠密光流函数计算出光流移动的点
		calcOpticalFlowFarneback(Previous_gray_frame, gray_frame, flow, 0.5, 3, 15, 3, 5, 1.2, 0);

		//从笛卡尔坐标转换到极坐标系
		for (int row = 0; row < flow.rows; row++)
		{
			for (int col = 0; col < flow.cols; col++)
			{
				//将图像坐标系转化成像素坐标系
				const Point2f& flow_xy = flow.at<Point2f>(row, col);
				xpts.at<float>(row, col) = flow_xy.x;
				ypts.at<float>(row, col) = flow_xy.y;
			}
		}
		cartToPolar(xpts, ypts, mag, ang);
		ang = ang*180.0 / CV_PI / 2.0;//将角度值换成弧度制
		
		normalize(mag, mag, 0, 255, NORM_MINMAX);//归一化

		convertScaleAbs(mag, mag);//实现图像增强
		convertScaleAbs(ang, ang);
		
		video[0] = ang;
		video[1] = Scalar(255);
		video[2] = mag;

		merge(video, hsv);//合并通道 

		Mat bgr;
		cvtColor(hsv, bgr, COLOR_HSV2BGR);//从HSV色彩空间转化成BGR色彩空间
		imshow("result", bgr);
		int c = waitKey(60);
		if (c == '27')
		{
			break;
		}
	}
	waitKey(0);
	return 0;
}