光流法目标跟踪

#include <opencv2/video/video.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/core/core.hpp>
#include <iostream>
#include <cstdio>

using namespace std;
using namespace cv;


void tracking(Mat &frame, Mat &output);
bool addNewPoints();
bool acceptTrackedPoint(int i);

//-----------------------------------【全局变量声明】-----------------------------------------
//		描述：声明全局变量
//-------------------------------------------------------------------------------------------------
string window_name = "optical flow tracking";
Mat gray;	// 当前图片
Mat gray_prev;	// 预测图片
vector<Point2f> points[2];	// point0为特征点的原来位置，point1为特征点的新位置
vector<Point2f> initial;	// 初始化跟踪点的位置
vector<Point2f> features;	// 检测的特征
int maxCount = 500;	// 检测的最大特征数
double qLevel = 0.01;	// 特征检测的等级
double minDist = 10.0;	// 两特征点之间的最小距离
vector<uchar> status;	// 跟踪特征的状态，特征的流发现为1，否则为0
vector<float> err;


int main()
{

	Mat frame;
	Mat result;

	//VideoCapture capture("1.avi");
	VideoCapture capture(0);

	if(capture.isOpened())	// 摄像头读取文件开关
	{
		while(true)
		{
			capture >> frame;

			if(!frame.empty())
			{ 
				tracking(frame, result);
			}
			else
			{ 
				printf(" --(!) No captured frame -- Break!");
				break;
			}

			int c = waitKey(50);
			if( (char)c == 27 )
			{
				break; 
			} 
		}
	}
	return 0;
}

//-------------------------------------------------------------------------------------------------
// function: tracking
// brief: 跟踪
// parameter: frame	输入的视频帧
//			  output 有跟踪结果的视频帧
// return: void
//-------------------------------------------------------------------------------------------------
void tracking(Mat &frame, Mat &output)
{

	//此句代码的OpenCV3版为：
	cvtColor(frame, gray, COLOR_BGR2GRAY);
	//此句代码的OpenCV2版为：
	//cvtColor(frame, gray, CV_BGR2GRAY);

	frame.copyTo(output);

	// 添加特征点
	if (addNewPoints())
	{
		goodFeaturesToTrack(gray, features, maxCount, qLevel, minDist);
		points[0].insert(points[0].end(), features.begin(), features.end());
		initial.insert(initial.end(), features.begin(), features.end());
	}

	if (gray_prev.empty())
	{
		gray.copyTo(gray_prev);
	}
	// l-k光流法运动估计
	calcOpticalFlowPyrLK(gray_prev, gray, points[0], points[1], status, err);
	// 去掉一些不好的特征点
	int k = 0;
	for (size_t i=0; i<points[1].size(); i++)
	{
		if (acceptTrackedPoint(i))
		{
			initial[k] = initial[i];
			points[1][k++] = points[1][i];
		}
	}
	points[1].resize(k);
	initial.resize(k);
	// 显示特征点和运动轨迹
	for (size_t i=0; i<points[1].size(); i++)
	{
		line(output, initial[i], points[1][i], Scalar(0, 0, 255));
		circle(output, points[1][i], 3, Scalar(0, 255, 0), -1);
	}

	// 把当前跟踪结果作为下一此参考
	swap(points[1], points[0]);
	swap(gray_prev, gray);

	imshow(window_name, output);
}

//-------------------------------------------------------------------------------------------------
// function: addNewPoints
// brief: 检测新点是否应该被添加
// parameter:
// return: 是否被添加标志
//-------------------------------------------------------------------------------------------------
bool addNewPoints()
{
	return points[0].size() <= 10;
}

//-------------------------------------------------------------------------------------------------
// function: acceptTrackedPoint
// brief: 决定哪些跟踪点被接受
// parameter:
// return:
//-------------------------------------------------------------------------------------------------
bool acceptTrackedPoint(int i)
{
	return status[i] && ((abs(points[0][i].x - points[1][i].x) + abs(points[0][i].y - points[1][i].y)) > 2);
}