<span style="font-size:14px;">#include <opencv\cxcore.h>
#include <opencv\highgui.h>
#include <opencv\cv.h>
#include <stdio.h>
const int MAX_CORNERS = 500;
int main(int argc, char** argv) {
IplImage* imgA = cvLoadImage("OpticalFlow0.jpg",CV_LOAD_IMAGE_GRAYSCALE);
IplImage* imgB = cvLoadImage("OpticalFlow1.jpg",CV_LOAD_IMAGE_GRAYSCALE);
CvSize img_sz = cvGetSize( imgA );
int win_size = 10;
IplImage* imgC = cvLoadImage("OpticalFlow1.jpg",CV_LOAD_IMAGE_UNCHANGED);
//需要做的第一件事就是获取我们想要跟踪的特征
IplImage* eig_image = cvCreateImage( img_sz, IPL_DEPTH_32F, 1 );
IplImage* tmp_image = cvCreateImage( img_sz, IPL_DEPTH_32F, 1 );
int corner_count = MAX_CORNERS;
CvPoint2D32f* cornersA = new CvPoint2D32f[ MAX_CORNERS ];
cvGoodFeaturesToTrack(
imgA,
eig_image,
tmp_image,
cornersA,
&corner_count,
0.01,
5.0,
0,
3,
0,
0.04
);
cvFindCornerSubPix(
imgA,
cornersA,
corner_count,
cvSize(win_size,win_size),
cvSize(-1,-1),
cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03)
);
char features_found[ MAX_CORNERS ];
float feature_errors[ MAX_CORNERS ];
CvSize pyr_sz = cvSize( imgA->width+8, imgB->height/3 );
IplImage* pyrA = cvCreateImage( pyr_sz, IPL_DEPTH_32F, 1 );
IplImage* pyrB = cvCreateImage( pyr_sz, IPL_DEPTH_32F, 1 );
CvPoint2D32f* cornersB = new CvPoint2D32f[ MAX_CORNERS ];
cvCalcOpticalFlowPyrLK( //在图像金字塔中计算LK光流
imgA,
imgB,
pyrA,
pyrB,
cornersA,
cornersB,
corner_count,
cvSize( win_size,win_size ),
5,
features_found,
feature_errors,
cvTermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, .3 ),
0
);
for( int i=0; i<corner_count; i++ ) {
if( features_found[i]==0|| feature_errors[i]>550 ) {
printf("Error is %f/n",feature_errors[i]);
continue;
}
printf("Got it/n");
CvPoint p0 = cvPoint(
cvRound( cornersA[i].x ),
cvRound( cornersA[i].y )
);
CvPoint p1 = cvPoint(
cvRound( cornersB[i].x ),
cvRound( cornersB[i].y )
);
cvLine( imgC, p0, p1, CV_RGB(255,0,0),2 );
}
cvNamedWindow("ImageA",0);
cvNamedWindow("ImageB",0);
cvNamedWindow("LKpyr_OpticalFlow",0);
cvShowImage("ImageA",imgA);
cvShowImage("ImageB",imgB);
cvShowImage("LKpyr_OpticalFlow",imgC);
cvWaitKey(0);
return 0;
}
</span>
运行结果截图: