opencv之运动模板跟踪

#include "cv.h"
#include "highgui.h"
#include <time.h>
#include <math.h>
#include <ctype.h>
#include <stdio.h>
// various tracking parameters (in seconds)
const double MHI_DURATION = 0.5;
const double MAX_TIME_DELTA = 0.5;
const double MIN_TIME_DELTA = 0.05;
// 用于运动检测的循环帧数，与机器速度以及FPS设置有关
const int N = 2;
// ring image buffer
//IplImage **buf = 0;//注释掉这句，改为下句
IplImage *buf[N];
int last = 0;
// temporary images
IplImage *mhi = 0; // MHI: motion history image
IplImage *orient = 0; // orientation
IplImage *mask = 0; // valid orientation mask
IplImage *segmask = 0; // motion segmentation map
CvMemStorage* storage = 0; // temporary storage
// parameters:
// img - input video frame
// dst - resultant motion picture
// args - optional parameters
void update_mhi( IplImage* img, IplImage* dst, int diff_threshold )
{
 double timestamp = clock()/1000.; // get current time in seconds
 CvSize size = cvSize(img->width,img->height); // get current frame size
 int i, idx1 = last, idx2;
 IplImage* silh;
 CvSeq* seq;
 CvRect comp_rect;
 double count;
 double angle;
 CvPoint center;
 double magnitude; 
 CvScalar color;
 // allocate images at the beginning or
 // reallocate them if the frame size is changed
 //if( !mhi || mhi->width != size.width || mhi->height != size.height ) //当剪影图像是空，或者图像大小发生改变时
 if( !mhi) //当剪影图像是空
 {
 // if( buf == 0 )
 // {
  // buf = (IplImage**)malloc(N*sizeof(buf[0]));
  // memset( buf, 0, N*sizeof(buf[0]));
 // }//注释掉
  for( i = 0; i < N; i++ ) 
  {
   //cvReleaseImage( &buf[i] );
   buf[i] = cvCreateImage( size, IPL_DEPTH_8U, 1 );
   cvZero( buf[i] );
  }
  //cvReleaseImage( &mhi );
  //cvReleaseImage( &orient );
  //cvReleaseImage( &segmask );
  //cvReleaseImage( &mask ); //还没有对这四个指针分配内存，就释放，觉得有问题。
  mhi = cvCreateImage( size, IPL_DEPTH_32F, 1 );
  cvZero( mhi ); // clear MHI at the beginning
  orient = cvCreateImage( size, IPL_DEPTH_32F, 1 );
  segmask = cvCreateImage( size, IPL_DEPTH_32F, 1 );
  mask = cvCreateImage( size, IPL_DEPTH_8U, 1 );
 }
 cvCvtColor( img, buf[last], CV_BGR2GRAY ); // convert frame to grayscale
 idx2 = (last + 1) % N; // index of (last - (N-1))th frame
 last = idx2;
 silh = buf[idx2];
 // 相邻两帧的差
 cvAbsDiff( buf[idx1], buf[idx2], silh ); // get difference between frames
 // 对差图像做二值化
 cvThreshold( silh, silh, diff_threshold, 1, CV_THRESH_BINARY ); // and threshold it
 cvUpdateMotionHistory( silh, mhi, timestamp, MHI_DURATION ); // update MHI
 // convert MHI to blue 8u image
 // cvCvtScale的第四个参数 shift = (MHI_DURATION - timestamp)*255./MHI_DURATION
 // 控制帧差的消失速率
 cvCvtScale( mhi, mask, 255./MHI_DURATION,
  (MHI_DURATION - timestamp)*255./MHI_DURATION );
 cvZero( dst );
 cvCvtPlaneToPix(mask, 0, 0, 0, dst); // B,G,R,0 －> dist : convert to BLUE image，图像融合
 //上句用蓝色的显示效果，表现出动作时间的先后书序
 //cvCvtPlaneToPix(mask, mask, mask, 0, dst);//白色显示效果
 // 计算运动的梯度方向以及正确的方向掩模mask
 // Filter size = 3
 cvCalcMotionGradient( mhi, mask, orient, 
  MAX_TIME_DELTA, MIN_TIME_DELTA, 3 );
 if( !storage )
  storage = cvCreateMemStorage(0);
 else
  cvClearMemStorage(storage);
 // 运动分割: 获得运动部件的连续序列
 // segmask is marked motion components map. It is not used further
 seq = cvSegmentMotion( mhi, segmask, storage, timestamp, MAX_TIME_DELTA );
 // iterate through the motion components,
 // One more iteration (i == -1) corresponds to the whole image (global motion)
 for( i = 0; i < seq->total; i++ ) 
 {
  if( i < 0 ) { // case of the whole image，对整幅图像做操作
   comp_rect = cvRect( 0, 0, size.width, size.height );
   color = CV_RGB(255,255,255); // white color
   magnitude = 100; // 画线长度以及圆半径的大小控制
  }
  else { // i-th motion component
   comp_rect = ((CvConnectedComp*)cvGetSeqElem( seq, i ))->rect;
   // 去掉小的部分
   if( comp_rect.width + comp_rect.height < 100 ) 
    continue;
   color = CV_RGB(255,0,0); // red color
   magnitude = 30;
   //if(seq->total > 0) MessageBox(NULL,"Motion Detected",NULL,0);
  }
  // select component ROI
  cvSetImageROI( silh, comp_rect );
  cvSetImageROI( mhi, comp_rect );
  cvSetImageROI( orient, comp_rect );
  cvSetImageROI( mask, comp_rect );
  // 在选择的区域内, 计算运动方向
  angle = cvCalcGlobalOrientation( orient, mask, mhi, timestamp,
   MHI_DURATION);
  angle = 360.0 - angle; // adjust for images with top-left origin
  // 在轮廓内计算点数
  // Norm(L1) = sum of total pixel values
  count = cvNorm( silh, 0, CV_L1, 0 );
  // The function cvResetImageROI releases image ROI
  cvResetImageROI( mhi );
  cvResetImageROI( orient );
  cvResetImageROI( mask );
  cvResetImageROI( silh );
  // check for the case of little motion
  if( count < comp_rect.width*comp_rect.height * 0.05 ) // five percent of pixel
   continue;
  // draw a clock with arrow indicating the direction
  center = cvPoint( (comp_rect.x + comp_rect.width/2),
   (comp_rect.y + comp_rect.height/2) );
  cvCircle( dst, center, cvRound(magnitude*1.2), color, 3, CV_AA, 0 );
  cvLine( dst, center, cvPoint( cvRound( center.x + 
   magnitude*cos(angle*CV_PI/180)),
   cvRound( center.y - magnitude*sin(angle*CV_PI/180))), 
   color, 3, CV_AA, 0 );
 }
}
int main(int argc, char** argv)
{
 IplImage* motion = 0;
 CvCapture* capture = 0;
 //if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
 // capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );
 //else if( argc == 2 )
 // capture = cvCaptureFromAVI( argv[1] );
 capture =cvCreateCameraCapture(-1);//直接从摄像头获取图像
 if( capture )
 {
  cvNamedWindow( "Motion", 1 );
  for(;;)
  {
   IplImage* image;
   if( !cvGrabFrame( capture ))
    break;
   image = cvRetrieveFrame( capture );
   if( image )
   {
    if( !motion )
    {
     motion = cvCreateImage( cvSize(image->width,image->height), 
      8, 3 );
     cvZero( motion );
     motion->origin = image->origin;
    }
   }
   update_mhi( image, motion, 60 );
   cvShowImage( "Motion", motion );
   if( cvWaitKey(10) >= 0 )
    break;
  }
  cvReleaseCapture( &capture );
  cvDestroyWindow( "Motion" );
 }
 return 0;
}