Opencv颜色识别与追踪

这是基于颜色识别的物体追踪

不废话

直接看代码

这是Opencv3的代码

//---------------------------------【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 = ;
bool showHist = true;
Point origin;
Rect selection;
int vmin = , vmax = , smin = ;
 
//--------------------------------【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(, , 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,,);
        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 >  && selection.height >  )
            trackObject = -;
        break;
    }
}
 
//--------------------------------【help( )函数】----------------------------------------------
//        描述：输出帮助信息
//-------------------------------------------------------------------------------------------------
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}"
};
 
//-----------------------------------【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 = ;
    float hranges[] = {,};
    const float* phranges = hranges;
 
    cap.open();
 
    if( !cap.isOpened() )
    {
        cout << "不能初始化摄像头\n";
    }
 
    namedWindow( "Histogram",  );
    namedWindow( "CamShift Demo",  );
    setMouseCallback( "CamShift Demo", onMouse,  );
    createTrackbar( "Vmin", "CamShift Demo", &vmin, ,  );
    createTrackbar( "Vmax", "CamShift Demo", &vmax, ,  );
    createTrackbar( "Smin", "CamShift Demo", &smin, ,  );
 
    Mat frame, hsv, hue, mask, hist, histimg = Mat::zeros(, , 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(, smin, MIN(_vmin,_vmax)),
                    Scalar(, , MAX(_vmin, _vmax)), mask);
                int ch[] = {, };
                hue.create(hsv.size(), hsv.depth());
                mixChannels(&hsv, , &hue, , ch, );
 
                if( trackObject <  )
                {
                    Mat roi(hue, selection), maskroi(mask, selection);
                    calcHist(&roi, , , maskroi, hist, , &hsize, &phranges);
                    //此句代码的OpenCV3版为：
                    normalize(hist, hist, , , NORM_MINMAX);
                    //此句代码的OpenCV2版为：
                    //normalize(hist, hist, 0, 255, CV_MINMAX);
 
                    trackWindow = selection;
                    trackObject = ;
 
                    histimg = Scalar::all();
                    int binW = histimg.cols / hsize;
                    Mat buf(, hsize, CV_8UC3);
                    for( int i = ; i < hsize; i++ )
                        buf.at<Vec3b>(i) = Vec3b(saturate_cast<uchar>(i*./hsize), , );
 
                    //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 = ; i < hsize; i++ )
                    {
                        int val = saturate_cast<int>(hist.at<float>(i)*histimg.rows/);
                        rectangle( histimg, Point(i*binW,histimg.rows),
                            Point((i+)*binW,histimg.rows - val),
                            Scalar(buf.at<Vec3b>(i)), -,  );
                    }
                }
 
                calcBackProject(&hue, , , hist, backproj, &phranges);
                backproj &= mask;
                RotatedRect trackBox = CamShift(backproj, trackWindow,
 
                //此句代码的OpenCV3版为：
                TermCriteria( TermCriteria::EPS | TermCriteria::COUNT, ,  ));
                //此句代码的OpenCV2版为：
                //TermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ));
 
                if( trackWindow.area() <=  )
                {
                    int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + )/;
                    trackWindow = Rect(trackWindow.x - r, trackWindow.y - r,
                        trackWindow.x + r, trackWindow.y + r) &
                        Rect(, , cols, rows);
                }
 
                if( backprojMode )
                    cvtColor( backproj, image, COLOR_GRAY2BGR );
 
                //此句代码的OpenCV3版为：
                ellipse( image, trackBox, Scalar(,,), , LINE_AA );
                //此句代码的OpenCV2版为：
                //ellipse( image, trackBox, Scalar(0,0,255), 3, CV_AA );
 
            }
        }
        else if( trackObject <  )
            paused = false;
 
        if( selectObject && selection.width >  && selection.height >  )
        {
            Mat roi(image, selection);
            bitwise_not(roi, roi);
        }
 
        imshow( "CamShift Demo", image );
        imshow( "Histogram", histimg );
 
        char c = (char)waitKey();
        if( c ==  )
            break;
        switch(c)
        {
        case 'b':
            backprojMode = !backprojMode;
            break;
        case 'c':
            trackObject = ;
            histimg = Scalar::all();
            break;
        case 'h':
            showHist = !showHist;
            if( !showHist )
                destroyWindow( "Histogram" );
            else
                namedWindow( "Histogram",  );
            break;
        case 'p':
            paused = !paused;
            break;
        default:
            ;
        }
    }
 
    return ;
}

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