學習camshiftdemo小記

 參考自：http://blog.csdn.net/koriya/article/details/3347365

#ifdef _CH_#pragma package <opencv>#endif#define CV_NO_BACKWARD_COMPATIBILITY#ifndef _EiC#include "cv.h"#include "highgui.h"#include <stdio.h>#include <ctype.h>#endif//用HSV中的Hue分量進行跟蹤IplImage *image = 0, *hsv = 0, *hue = 0, *mask = 0, *backproject = 0, *histimg = 0;CvHistogram *hist = 0;          //長條圖類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;              //Meanshift跟蹤演算法返回的Box類CvConnectedComp track_comp;int hdims = 16;                 //劃分長條圖bins的個數，越多越精確float hranges_arr[] = {0,180};  //像素值的範圍float* hranges = hranges_arr;   //用於初始化CvHistogram類int vmin = 10, vmax = 256, smin = 30;void on_mouse( int event, int x, int y, int flags, void* param ) //該函數用於選擇跟蹤目標{if( !image )return;if( image->origin )y = image->height - y;if( select_object ) //如果處於選擇跟蹤物體階段，則對selection用當前的滑鼠位置進行設定{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:        //開始點擊選擇跟蹤物體origin = cvPoint(x,y);selection = cvRect(x,y,0,0);  //座標select_object = 1;            //表明開始進行選取break;case CV_EVENT_LBUTTONUP:select_object = 0;            //選取完成if( selection.width > 0 && selection.height > 0 )track_object = -1;        //如果選擇物體有效，則開啟跟蹤功能break;}}CvScalar hsv2rgb( float hue )         //用於將Hue量轉換成RGB量{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;return cvScalar(rgb[2], rgb[1], rgb[0],0);  //返回對應的顏色值}int main( int argc, char** argv ){CvCapture* capture = 0;if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );//開啟網路攝影機else if( argc == 2 )capture = cvCaptureFromAVI( argv[1] ); //開啟AVI檔案if( !capture )  //開啟視頻流失敗處理{fprintf(stderr,"Could not initialize capturing...\n");return -1;}                   //列印出程式功能列表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", on_mouse, 0 );        // 設定滑鼠回呼函數cvCreateTrackbar( "Vmin", "CamShiftDemo", &vmin, 256, 0 );//建立滑動條cvCreateTrackbar( "Vmax", "CamShiftDemo", &vmax, 256, 0 );cvCreateTrackbar( "Smin", "CamShiftDemo", &smin, 256, 0 );for(;;)           //進入視訊框架處理主迴圈{IplImage* frame = 0;int i, bin_w, c;frame = cvQueryFrame( capture );if( !frame )  break;if( !image )  //剛開始先建立一些緩衝區{/* allocate all the 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 );       //分配掩膜映像空間backproject = cvCreateImage( cvGetSize(frame), 8, 1 );//分配反向投影圖空間，大小一樣，單通道hist = cvCreateHist( 1, &hdims, CV_HIST_ARRAY, &hranges, 1 );  //分配建立長條圖空間histimg = cvCreateImage( cvSize(320,200), 8, 3 );              //分配用於畫長條圖的空間cvZero( histimg );   //背景為黑色}cvCopy( frame, image, 0 );cvCvtColor( image, hsv, CV_BGR2HSV );   // 把映像從RGB表色系轉為HSV表色系if( track_object )  //   如果當前有需要跟蹤的物體   {int _vmin = vmin, _vmax = vmax;            //掩膜板，只處理像素值為H：0~180，S：smin~256，V：vmin~vmax之間的部分cvInRangeS( hsv, cvScalar(0,smin,MIN(_vmin,_vmax),0),cvScalar(180,256,MAX(_vmin,_vmax),0), mask );cvSplit( hsv, hue, 0, 0, 0 ); // 取得H分量if( track_object < 0 ) //如果需要跟蹤的物體還沒有進行屬性提取，則進行選取框類的映像屬性提取{float max_val = 0.f;cvSetImageROI( hue, selection );  // 設定原選擇框cvSetImageROI( mask, selection ); // 設定Mask的選擇框cvCalcHist( &hue, hist, 0, mask );// 得到選擇框內且滿足掩膜板內的長條圖cvGetMinMaxHistValue( hist, 0, &max_val, 0, 0 );cvConvertScale( hist->bins, hist->bins, max_val ? 255. / max_val : 0., 0 );  // 對長條圖轉為0~255cvResetImageROI( hue );  // remove ROIcvResetImageROI( mask );track_window = selection;track_object = 1;cvZero( histimg );bin_w = histimg->width / hdims;for( i = 0; i < hdims; i++ )  //畫長條圖到映像空間{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->height - val),color, -1, 8, 0 );}}cvCalcBackProject( &hue, backproject, hist ); // 得到hue的反向投影圖cvAnd( backproject, mask, backproject, 0 );   // 得到反向投影圖mask內的內容cvCamShift( backproject, track_window,cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),&track_comp, &track_box );//使用MeanShift演算法對backproject中的內容進行搜尋，返回跟蹤結果track_window = track_comp.rect; //得到跟蹤結果的矩形框if( backproject_mode )cvCvtColor( backproject, image, CV_GRAY2BGR ); // 顯示模式if( !image->origin )track_box.angle = -track_box.angle;cvEllipseBox( image, track_box, CV_RGB(255,0,0), 3, CV_AA, 0 ); //畫出跟蹤結果的位置}if( select_object && selection.width > 0 && selection.height > 0 ) //如果正處於物體選擇，畫出選擇框{cvSetImageROI( image, selection );cvXorS( image, cvScalarAll(255), image, 0 );cvResetImageROI( image );}cvShowImage( "CamShiftDemo", image ); //顯示視頻和長條圖cvShowImage( "Histogram", histimg );c = cvWaitKey(10);if( (char) c == 27 )break;switch( (char) 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" );elsecvNamedWindow( "Histogram", 1 );break;default:;}}cvReleaseCapture( &capture );cvDestroyWindow("CamShiftDemo");return 0;}#ifdef _EiCmain(1,"camshiftdemo.c");#endif