来自OpenCV安装目录下Samples文件夹中的官方示例程序-彩色目标跟踪操作

//--------------------------------------【程序说明】-------------------------------------------
// 程序描述：来自OpenCV安装目录下Samples文件夹中的官方示例程序-彩色目标跟踪操作
// 开发测试所用操作系统： Windows 7 64bit
// 开发测试所用IDE版本：Visual Studio 2010

// QQ：1746430162

// http://bbs.21ic.com/icview-759778-1-1.html (项目展示链接)

//  本工作室是专业电子类设计开发团队，团队成员全为从事51\DSP\ ARM\fpga类嵌入式开发和图像处理、机器学习等相关算法研究多年的软、硬件开发工程师，已与全国几十家客户成功合作。 可以长期提供技术支持，承接各类相关项目开发与咨询服务。

//------------------------------------------------------------------------------------------------


//---------------------------------【头文件、命名空间包含部分】----------------------------
// 描述：包含程序所使用的头文件和命名空间
//-------------------------------------------------------------------------------------------------
#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;






//-----------------------------------【全局变量声明】-----------------------------------------
// 描述：声明全局变量
//-------------------------------------------------------------------------------------------------
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;




//--------------------------------【onMouse( )回调函数】------------------------------------
// 描述：鼠标操作回调
//-------------------------------------------------------------------------------------------------
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 )
{
//此句代码的OpenCV2版为：
//case CV_EVENT_LBUTTONDOWN:
//此句代码的OpenCV3版为：
case EVENT_LBUTTONDOWN:
origin = Point(x,y);
selection = Rect(x,y,0,0);
selectObject = true;
break;
//此句代码的OpenCV2版为：
//case CV_EVENT_LBUTTONUP:
//此句代码的OpenCV3版为：
case EVENT_LBUTTONUP:
selectObject = false;
if( selection.width > 0 && selection.height > 0 )
trackObject = -1;
break;
}
}


//--------------------------------【help( )函数】----------------------------------------------
// 描述：输出帮助信息
//-------------------------------------------------------------------------------------------------
static void ShowHelpText()
{
cout <<"\n\n\t\t\t非常感谢购买《OpenCV3编程入门》一书！\n"
<<"\n\n\t\t\t此为本书OpenCV3版的第8个配套示例程序\n"
<< "\n\n\t\t\t   当前使用的OpenCV版本为：" << CV_VERSION 
<<"\n\n  ----------------------------------------------------------------------------" ;


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}"
};




//-----------------------------------【main( )函数】--------------------------------------------
// 描述：控制台应用程序的入口函数，我们的程序从这里开始
//-------------------------------------------------------------------------------------------------
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);
//此句代码的OpenCV3版为：
normalize(hist, hist, 0, 255, NORM_MINMAX);
//此句代码的OpenCV2版为：
//normalize(hist, hist, 0, 255, CV_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);


//此句代码的OpenCV3版为：
cvtColor(buf, buf, COLOR_HSV2BGR);
//此句代码的OpenCV2版为：
//cvtColor(buf, buf, CV_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,


//此句代码的OpenCV3版为：
TermCriteria( TermCriteria::EPS | TermCriteria::COUNT, 10, 1 ));
//此句代码的OpenCV2版为：
//TermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 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 );


//此句代码的OpenCV3版为：
ellipse( image, trackBox, Scalar(0,0,255), 3, LINE_AA );
//此句代码的OpenCV2版为：
//ellipse( image, trackBox, Scalar(0,0,255), 3, CV_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 );


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;
}