题目：Opencv中的彩色目标跟踪技术

题目：Opencv中的彩色目标跟踪技术

完整代码：

#include "opencv2/video/tracking.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
#include <ctype.h>

using namespace cv;
using namespace std;

Mat image;
bool backprojMode = false;
bool selectObject = false;
int trackObject = 0;
bool showHist = true;
Point origin;
Rect selection;
int vmin = 10, vmax = 256, smin = 30;

static void onMouse(int event, int x, int y, int, void*)
{
	if (selectObject)
	{
		selection.x = MIN(x, origin.x);
		selection.y = MIN(y, origin.y);
		selection.width = std::abs(x - origin.x);
		selection.height = std::abs(y - origin.y);

		selection &= Rect(0, 0, image.cols, image.rows);
	}

	switch (event)
	{
	case EVENT_LBUTTONDOWN:
		origin = Point(x, y);
		selection = Rect(x, y, 0, 0);
		selectObject = true;
		break;
	case EVENT_LBUTTONUP:
		selectObject = false;
		if (selection.width > 0 && selection.height > 0)
			trackObject = -1;
		break;
	}
}

static void ShowHelpText()
{

	cout << "\n\n\t此Demo显示了基于均值漂移的追踪（tracking）技术\n"
		"\t请用鼠标框选一个有颜色的物体，对它进行追踪操作\n";

	cout << "\n\n\t操作说明： \n"
		"\t\t用鼠标框选对象来初始化跟踪\n"
		"\t\tESC - 退出程序\n"
		"\t\tc - 停止追踪\n"
		"\t\tb - 开/关-投影视图\n"
		"\t\th - 显示/隐藏-对象直方图\n"
		"\t\tp - 暂停视频\n";
}

const char* keys =
{
	"{1|  | 0 | camera number}"
};

int main(int argc, const char** argv)
{
	ShowHelpText();

	VideoCapture cap;
	Rect trackWindow;
	int hsize = 16;
	float hranges[] = { 0,180 };
	const float* phranges = hranges;

	cap.open(0);

	if (!cap.isOpened())
	{
		cout << "不能初始化摄像头\n";
	}

	namedWindow("Histogram", 0);
	namedWindow("CamShift Demo", 0);
	setMouseCallback("CamShift Demo", onMouse, 0);
	createTrackbar("Vmin", "CamShift Demo", &vmin, 256, 0);
	createTrackbar("Vmax", "CamShift Demo", &vmax, 256, 0);
	createTrackbar("Smin", "CamShift Demo", &smin, 256, 0);

	Mat frame, hsv, hue, mask, hist, histimg = Mat::zeros(200, 320, CV_8UC3), backproj;
	bool paused = false;

	for (;;)
	{
		if (!paused)
		{
			cap >> frame;
			if (frame.empty())
				break;
		}

		frame.copyTo(image);

		if (!paused)
		{
			cvtColor(image, hsv, COLOR_BGR2HSV);

			if (trackObject)
			{
				int _vmin = vmin, _vmax = vmax;

				inRange(hsv, Scalar(0, smin, MIN(_vmin, _vmax)),
					Scalar(180, 256, MAX(_vmin, _vmax)), mask);
				int ch[] = { 0, 0 };
				hue.create(hsv.size(), hsv.depth());
				mixChannels(&hsv, 1, &hue, 1, ch, 1);

				if (trackObject < 0)
				{
					Mat roi(hue, selection), maskroi(mask, selection);
					calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges);
				
					normalize(hist, hist, 0, 255, NORM_MINMAX);

					trackWindow = selection;
					trackObject = 1;

					histimg = Scalar::all(0);
					int binW = histimg.cols / hsize;
					Mat buf(1, hsize, CV_8UC3);
					for (int i = 0; i < hsize; i++)
						buf.at<Vec3b>(i) = Vec3b(saturate_cast<uchar>(i*180. / hsize), 255, 255);

					cvtColor(buf, buf, COLOR_HSV2BGR);

					for (int i = 0; i < hsize; i++)
					{
						int val = saturate_cast<int>(hist.at<float>(i)*histimg.rows / 255);
						rectangle(histimg, Point(i*binW, histimg.rows),
							Point((i + 1)*binW, histimg.rows - val),
							Scalar(buf.at<Vec3b>(i)), -1, 8);
					}
				}

				calcBackProject(&hue, 1, 0, hist, backproj, &phranges);
				backproj &= mask;
				RotatedRect trackBox = CamShift(backproj, trackWindow,

					TermCriteria(TermCriteria::EPS | TermCriteria::COUNT, 10, 1));

				if (trackWindow.area() <= 1)
				{
					int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5) / 6;
					trackWindow = Rect(trackWindow.x - r, trackWindow.y - r,
						trackWindow.x + r, trackWindow.y + r) &
						Rect(0, 0, cols, rows);
				}

				if (backprojMode)
					cvtColor(backproj, image, COLOR_GRAY2BGR);

				ellipse(image, trackBox, Scalar(0, 0, 255), 3, LINE_AA);
			
			}
		}
		else if (trackObject < 0)
			paused = false;

		if (selectObject && selection.width > 0 && selection.height > 0)
		{
			Mat roi(image, selection);
			bitwise_not(roi, roi);
		}

		imshow("CamShift Demo", image);
		imshow("Histogram", histimg);//直方图

		char c = (char)waitKey(10);
		if (c == 27)
			break;
		switch (c)
		{
		case 'b':
			backprojMode = !backprojMode;
			break;
		case 'c':
			trackObject = 0;
			histimg = Scalar::all(0);
			break;
		case 'h':
			showHist = !showHist;
			if (!showHist)
				destroyWindow("Histogram");
			else
				namedWindow("Histogram", 1);
			break;
		case 'p':
			paused = !paused;
			break;
		default:
			;
		}
	}

	return 0;
}

运行效果：咳咳，这是博主本人萌帅照，不喜轻喷