无人机目标定位C++程序

针对动态背景下的目标检测定位

#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/imgproc/imgproc.hpp>
#include<opencv2/features2d/features2d.hpp>
#include<opencv2/nonfree/nonfree.hpp>
#include<opencv2/calib3d/calib3d.hpp>
#include<opencv2/stitching/stitcher.hpp>
#include<iostream>
#include<vector>
#include<Windows.h>
#include<sstream>
#include<time.h>
#include<fstream>
#include<math.h>

using namespace cv;
using namespace std;

//定义全局变量
Rect pre_Rect;//定义初始帧的框
int shrink = 4;//图片帧缩小倍数
int frame_num = 1;//记录循环帧数
ofstream recordFile("E:\\软件所资料\\科创项目材料\\图片\\all_pic3(1.2)\\纪录处理时间.txt");//创建记录文件



//运动物体检测函数声明  
Mat MoveDetect(Mat temp, Mat frame);
//基于特征点匹配的图像拼接
void stitch(Mat& srcImage1, Mat& srcImage2, Mat& panorama);
//读入视频帧   调用stitch2函数进行拼接
void readVideo(string videoName);
//求矩形的中心点
Point getCenterPoint(Rect rect);
//获取两点间的距离
double getDistance(Point p1, Point p2);
//手动标框
void onMouse(int event, int x, int y, int, void *);


int main(int argc, char* argv[]) {
    //pre_Rect = Rect(Point(1050, 520), Point(1160, 580));//自己设定的初始矩形框
    pre_Rect = Rect(Point(260, 130), Point(300, 150));//自己设定的初始矩形框
    readVideo("E:\\软件所资料\\录制视频\\test.mov");
    return 0;
}


//读入视频帧   调用stitch函数进行拼接
void readVideo(string videoName) {

    VideoCapture videoCap(videoName);
    if (!videoCap.isOpened()) {
        exit;
    }
    Mat preFrame;//先前帧
    Mat nowFrame;//当前帧
    Mat stichFrame;//拼接帧
    Mat resultFrame;//结果帧

    //函数回调   鼠标事件
    namedWindow("result", 1);
    setMouseCallback("result", onMouse, 0);

    clock_t start, finish, all_start, all_finish;//计算程序运行时间
    double processTime, totalTime = 0;
    videoCap >> preFrame;
    GaussianBlur(preFrame, preFrame, Size(5, 5), 0, 0);//高斯滤波器去除图像中噪点
    resize(preFrame, preFrame, Size(preFrame.cols / shrink, preFrame.rows / shrink));
    //imshow("first", preFrame);
    //int count = 1;
    while (true) {
        all_start = clock();//纪录总的开始时间
        videoCap >> nowFrame;
        GaussianBlur(nowFrame, nowFrame, Size(5, 5), 0, 0);//高斯滤波器去除图像中噪点
        if (nowFrame.empty()) {
            recordFile << "平均处理时间:" << totalTime / frame_num << "ms" << "\n" << "\n";
            recordFile.close();
            break;
        }
        resize(nowFrame, nowFrame, Size(nowFrame.cols / shrink, nowFrame.rows / shrink));

        recordFile << frame_num++ << "\n";

        Mat temp;
        start = clock();
        stitch(nowFrame, preFrame, temp);
        finish = clock();
        recordFile << "拼接用时:" << finish - start << "ms" << "\n";

        if (temp.empty()) {
            stichFrame = nowFrame;
        }
        else {
            stichFrame = temp;
        }


        start = clock();
        resultFrame = MoveDetect(nowFrame, stichFrame);
        finish = clock();
        recordFile << "减差和检测用时:" << finish - start << "ms" << "\n";

        all_finish = clock();//纪录总的结束时间
        processTime = all_finish - all_start;
        recordFile << "共运行:" << processTime << "ms" << "\n" << "\n";
        totalTime += processTime;


        //拼接字符串
        String imageName = "E:\\软件所资料\\科创项目材料\\图片\\all_pic3(1.2)\\第";//字符串检测图片名称
        //数字转换成字符串
        ostringstream strCount;
        strCount << frame_num;
        string str = strCount.str();
        imageName.append(str);
        imageName.append("帧图片.jpg");
        imwrite(imageName, resultFrame);

        imshow("result", resultFrame);
        waitKey(1);
        preFrame = nowFrame.clone();//当前帧nowFrame赋给上一帧preFrame;

    }
}


//基于特征点匹配的图像拼接
void stitch(Mat& srcImage1, Mat& srcImage2, Mat& panorama) {
    clock_t start;
    clock_t finish;
    start </