opencv+arduino进行物体点追踪

本文所要实现的结果是：通过在摄像头中选择一个追踪点，通过pc控制摄像头的舵机，使这一点始终在图像的中心。

要点：使用光流法在舵机旋转的同时进行追踪，若该点运动，则摄像头跟踪联动。

#include<opencv2\opencv.hpp>
#include<opencv\cv.h>
#include<opencv\highgui.h>
#include<math.h>
#include<Windows.h>
#include<string.h>


using namespace std;
using namespace cv;

#define WINDOW_NAME "【程序窗口】"      

void on_MouseHandle(int event, int x, int y, int flags, void* param);
void DrawRectangle( cv::Mat& img, cv::Rect box );
void tracking(Mat &frame,vector<Point2f> temp);

HANDLE hComm;
LPCWSTR pStr=L"COM4";
char lpOutbuffer[100];
DWORD dwbyte=100;
Mat srcImage,grayImage,tempImage1,tempImage,imageROI,grayprev;
int g_maxCornerNumber = 1;
double qualityLevel = 0.01;
double minDistance = 10;
int blockSize = 3;
double k = 0.04;
vector<Point2f> corners;
vector<Point2f> pre_corners;
vector<Point2f> counts;
vector<uchar> status;
vector<float> err;
Rect g_rectangle;
Rect g_temprectangle;
bool g_bDrawingBox = false;


int main( int argc, char** argv ) 
{
	Mat frame;
	Mat result;

	COMSTAT Comstat;
	DWORD dwError;
	BOOL bWritestat;
	hComm=CreateFile(pStr,GENERIC_READ | GENERIC_WRITE,0,0,OPEN_EXISTING, 0,NULL);
	if (hComm == INVALID_HANDLE_VALUE)
	{
		cout<<"FLASE";
		return -1;
	}
	else
	{
		cout<<"TURE";
	}
	DCB dcb;
	GetCommState(hComm,&dcb);
	dcb.BaudRate=9600;
	dcb.ByteSize=8;
	dcb.Parity=NOPARITY;
	dcb.StopBits=TWOSTOPBITS;
	bool set=SetCommState(hComm,&dcb);
	bool sup=SetupComm(hComm,1024,1024);

	VideoCapture capture(0);

	namedWindow( WINDOW_NAME );
	setMouseCallback(WINDOW_NAME,on_MouseHandle,(void*)&frame);

	while(1)
	{
		capture >> frame;

			if(!frame.empty())
			{ 
				cvtColor(frame,grayImage,CV_RGB2GRAY);
				if( g_bDrawingBox ) 
				rectangle(frame,g_rectangle.tl(),g_rectangle.br(),Scalar(255,255,255));
				if (corners.size()!=0)
				{
					bool can=PurgeComm(hComm,PURGE_TXCLEAR);
					if (corners[0].x>(frame.cols/2+100))
					{
						lpOutbuffer[0]='a';
						bool ne=WriteFile(hComm,lpOutbuffer,dwbyte,&dwbyte,NULL);
					}
					else if (corners[0].x<(frame.cols/2-100))
					{
						lpOutbuffer[0]='b';
						bool ne=WriteFile(hComm,lpOutbuffer,dwbyte,&dwbyte,NULL);
					}
					tracking(frame,corners);
					rectangle(frame,Point(corners[0].x-10,corners[0].y-10),Point(corners[0].x+10,corners[0].y+10),Scalar(255,255,255));					
				}
				imshow( WINDOW_NAME, frame );
			}
			else
			{ 
				printf(" --(!) No captured frame -- Break!");
				break;
			}

			int c = waitKey(50);
			if( (char)c == 27 )
			{
				break; 
			} 
	}
	return 0;
}
void on_MouseHandle(int event, int x, int y, int flags, void* param)
{

	Mat& image = *(cv::Mat*) param;
	switch( event)
	{
	case EVENT_MOUSEMOVE: 
		{
			if( g_bDrawingBox )
			{
				g_rectangle.width = x-g_rectangle.x;
				g_rectangle.height = y-g_rectangle.y;
			}
		}
		break;

	case EVENT_LBUTTONDOWN: 
		{
			g_bDrawingBox = true;
			g_rectangle =Rect( x, y, 0, 0 );
		}
		break;

	case EVENT_LBUTTONUP: 
		{
			g_bDrawingBox = false;
			if( g_rectangle.width < 0 )
			{
				g_rectangle.x += g_rectangle.width;
				g_rectangle.width *= -1;
			}

			if( g_rectangle.height < 0 ) 
			{
				g_rectangle.y += g_rectangle.height;
				g_rectangle.height *= -1;
			}
			imageROI=grayImage(g_rectangle);
			goodFeaturesToTrack( imageROI,corners,g_maxCornerNumber,qualityLevel,minDistance,Mat(),blockSize,false,k );
			for (int i = 0; i < corners.size(); i++)
			{
				corners[i].x=corners[i].x+g_rectangle.x;
				corners[i].y=corners[i].y+g_rectangle.y;
			}
		}
		break;

	}
}

void tracking(Mat &frame,vector<Point2f> temp)
{
	cvtColor(frame, tempImage1, COLOR_BGR2GRAY);

	if (grayprev.empty())
	{
		tempImage1.copyTo(grayprev);
	}

	calcOpticalFlowPyrLK(grayprev, tempImage1, temp, pre_corners, status, err);

	for (size_t i=0; i<pre_corners.size(); i++)
	{
		line(frame, temp[i], pre_corners[i], Scalar(0, 0, 255));
		circle(frame, pre_corners[i], 4, Scalar(0, 255, 0), -1,8,0);
	}

	swap(pre_corners, corners);
	swap(grayprev, tempImage1);
}