OpenCV: Using the Camshift algorithm to track color targets

<span style= "FONT-SIZE:14PX;" > #include <opencv\cv.h> #include <opencv\highgui.h> #include <stdio.h> #include <ctype.h> Iplimage *image = 0, *HSV = 0, *hue = 0, *mask = 0, *backproject = 0, *histimg = 0; Cvhistogram *hist = 0;int Backproject_mode = 0;int Select_object = 0;int Track_object = 0;int show_hist = 1; Cvpoint origin; Cvrect selection; Cvrect Track_window;  Cvbox2d Track_box;     Tracking return area box, with angle cvconnectedcomp track_comp;int hdims = 48; Divide the number of hist, the higher the more accurate float hranges_arr[] = {0,180};float* Hranges = hranges_arr;int Vmin = ten, Vmax = max, smin = 30;void on_    Mouse (int event, int x, int y, int flags) {if (!image) return;    if (image->origin) y = image->height-y;        if (select_object) {selection.x = MIN (x,origin.x);        SELECTION.Y = MIN (Y,ORIGIN.Y);        Selection.width = selection.x + cv_iabs (x-origin.x);        Selection.height = selection.y + cv_iabs (Y-ORIGIN.Y); selection.x = MAX (selection.x, 0);        SELECTION.Y = MAX (selection.y, 0);        Selection.width = MIN (Selection.width, image->width);        Selection.height = MIN (Selection.height, image->height);        Selection.width-= selection.x;    Selection.height-= SELECTION.Y;        } switch (event) {Case cv_event_lbuttondown:origin = cvpoint (x, y);        Selection = Cvrect (x,y,0,0);        Select_object = 1;    Break        Case cv_event_lbuttonup:select_object = 0; if (selection.width > 0 && selection.height > 0) track_object =-1; #ifdef _DEBUG printf ("        \ n # Mouse selection area "); printf ("\ n X =%d, Y =%d, Width =%d, Height =%d", selection.x, SELECTION.Y, Selection.width, selection.    height); #endif break;    }}cvscalar Hsv2rgb (float hue) {int rgb[3], p, sector;    static const int sector_data[][3]= {{0,2,1}, {1,2,0}, {1,0,2}, {2,0,1}, {2,1,0}, {0,1,2}};    Hue *= 0.033333333333333333333333333333333f; Sector = Cvfloor (hue);    p = Cvround (255* (hue-sector)); P ^= Sector & 1?    255:0;    Rgb[sector_data[sector][0]] = 255;    RGB[SECTOR_DATA[SECTOR][1]] = 0;    RGB[SECTOR_DATA[SECTOR][2]] = p; #ifdef _DEBUG printf ("\ n # Convert HSV to RGB");    printf ("\ hue =%f", hue); printf ("\ R =%d, G =%d, B =%d", rgb[0],rgb[1],rgb[2]), #endif return Cvscalar (rgb[2], rgb[1], rgb[0],0);}    int main (int argc, char** argv) {cvcapture* capture = 0;    iplimage* frame = 0; if (argc = = 1 | |        (argc = = 2 && strlen (argv[1]) = = 1 && isdigit (argv[1][0])))    Capture = Cvcapturefromcam (argc = = 2? Argv[1][0]-' 0 ': 0);    else if (argc = = 2) capture = Cvcapturefromavi (argv[1]);        if (!capture) {fprintf (stderr, "Could not initialize capturing...\n");    return-1;  } printf ("Hot keys: \ n" "\tesc-quit the Program\n" "\tc-stop the Tracking\n" "\TB -Switch To/from backprojection view\n "" \th- Show/hide object Histogram\n "" to initialize tracking, select the object with mouse\n ");    Cvnamedwindow ("Histogram", 1);    Cvnamedwindow ("Camshiftdemo", 1); Cvsetmousecallback ("Camshiftdemo", (cvmousecallback) on_mouse, NULL);    On_mouse Custom Event Cvcreatetrackbar ("Vmin", "Camshiftdemo", &vmin, 256, 0);    Cvcreatetrackbar ("Vmax", "Camshiftdemo", &vmax, 256, 0);    Cvcreatetrackbar ("Smin", "Camshiftdemo", &smin, 256, 0); for (;;)        {int I, bin_w, C;        frame = Cvqueryframe (capture);        if (!frame) break;            if (!image) {//allocates all buffers image = Cvcreateimage (Cvgetsize (frame), 8, 3);            Image->origin = frame->origin;            HSV = Cvcreateimage (Cvgetsize (frame), 8, 3);            Hue = Cvcreateimage (Cvgetsize (frame), 8, 1);            Mask = Cvcreateimage (Cvgetsize (frame), 8, 1);            Backproject = Cvcreateimage (Cvgetsize (frame), 8, 1); hist = CvcreaTehist (1, &hdims, Cv_hist_array, &hranges, 1);            Calculate Histogram histimg = Cvcreateimage (Cvsize (320,200), 8, 3);        Cvzero (HISTIMG);        } cvcopy (frame, image, 0);  Cvcvtcolor (image, HSV, CV_BGR2HSV);            Color space conversion from BGR to HSV if (track_object) {int _vmin = vmin, _vmax = Vmax;   Cvinranges (HSV, Cvscalar (0,smin,min (_vmin,_vmax), 0), Cvscalar (180,256,max (_vmin,_vmax), 0), mask);  Get a mask of two values Cvsplit (HSV, Hue, 0, 0, 0);                ? Only hue Hue component if (Track_object < 0) {float max_val = 0.f;  Cvsetimageroi (hue, selection); Set the selection region to Roi Cvsetimageroi (mask, selection); Set the selection region to Roi cvcalchist (&hue, hist, 0, mask);  Calculate Histogram cvgetminmaxhistvalue (hist, 0, &max_val, 0, 0); Only the maximum value//zoom bin to the interval [0,255] Cvconvertscale (Hist->bins, Hist->bins, Max_val? 255./MAX_val:0., 0);  Cvresetimageroi (hue);                Removal of ROI Cvresetimageroi (mask);                Track_window = Selection;                Track_object = 1;                Cvzero (HISTIMG);  Bin_w = histimg->width/hdims; Hdims: Number of bars Bin_w: Width//histogram for (i = 0; i < hdims; i++) {int                    val = Cvround (cvgetreal1d (hist->bins,i) *histimg->height/255);                    Cvscalar color = Hsv2rgb (i*180.f/hdims); Cvrectangle (Histimg, Cvpoint (i*bin_w,histimg->height), Cvpoint ((i+1) *bin_w,histimg-&gt                ; height-val), Color,-1, 8, 0);            }} cvcalcbackproject (&hue, Backproject, hist);            Cvand (Backproject, Mask, backproject, 0); Call the Camshift algorithm module Cvcamshift (backproject, Track_window, Cvtermcriteria (cv_termcrit_eps |            Cv_termcrit_iter, 1), &track_comp, &track_box);            Track_window = Track_comp.rect; if (Backproject_mode) Cvcvtcolor (backproject, image, CV_GRAY2BGR);            Use Backproject grayscale image if (image->origin) track_box.angle =-track_box.angle;        Cvellipsebox (image, Track_box, Cv_rgb (255,0,0), 3, CV_AA, 0); } if (Select_object && selection.width > 0 && selection.height > 0) {Cvsetimagero            I (image, selection);            Cvxors (image, Cvscalarall (255), image, 0);        Cvresetimageroi (image);        } cvshowimage ("Camshiftdemo", image);        Cvshowimage ("Histogram", histimg);        c = Cvwaitkey (10);  if (c = =) break;            ESC exit Loop Switch (c) {case ' B ': Backproject_mode ^= 1;        Break            Case ' C ': track_object = 0;    Cvzero (HISTIMG);        Break            Case ' h ': show_hist ^= 1;            if (!show_hist) Cvdestroywindow ("histogram");            else Cvnamedwindow ("histogram", 1);        Break        Default:;    }} cvreleasecapture (&capture);    Cvdestroywindow ("Camshiftdemo"); return 0;} </span>

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OpenCV: Using the Camshift algorithm to track color targets