用opencv实现目标追踪的学习笔记——camshift
2018-01-18 09:29
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小白的学习笔记——opencv camshift
-基础:零c++基础,零opencv基础,简单C语言基础,略知数字图像处理知识-工具:VS2015+opencv 2.4.13
-sample: E:\opencv-2.4.13\opencv\sources\samples\cpp\camshiftdemo
目录
小白的学习笔记opencv camshift目录
camshiftdemo
一些c的概念
类Class
重载
bool
namespace 和 std
opencv中的函数
Point
Rect
VideoCapture
keys和CommandLineParser
namedwindow
setMouseCallback
createTrackbar
cvColor
inRange
camshiftdemo
#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 CV_EVENT_LBUTTONDOWN: origin = Point(x,y); selection = Rect(x,y,0,0); selectObject = true; break; case CV_EVENT_LBUTTONUP: selectObject = false; if( selection.width > 0 && selection.height > 0 ) trackObject = -1; break; } } static void help() { cout << "\nThis is a demo that shows mean-shift based tracking\n" "You select a color objects such as your face and it tracks it.\n" "This reads from video camera (0 by default, or the camera number the user enters\n" "Usage: \n" " ./camshiftdemo [camera number]\n"; cout << "\n\nHot 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" "\tp - pause video\n" "To initialize tracking, select the object with mouse\n"; } const char* keys = { "{1| | 0 | camera number}" }; int main( int argc, const char** argv ) { help(); VideoCapture cap; Rect trackWindow; int hsize = 16; float hranges[] = {0,180}; const float* phranges = hranges; CommandLineParser parser(argc, argv, keys); int camNum = parser.get<int>("1"); cap.open(camNum); if( !cap.isOpened() ) { help(); cout << "***Could not initialize capturing...***\n"; cout << "Current parameter's value: \n"; parser.printParams(); return -1; } 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, 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++ ) c022 buf.at<Vec3b>(i) = Vec3b(saturate_cast<uchar>(i*180./hsize), 255, 255); 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, 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 ); 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; }
一些c++的概念
类Class
待续……重载
待续……bool
C语言中没有bool类型,它是C++独有的。bool表示布尔型变量,也就是逻辑性变量的定义符;
它只有一个字节;
bool取值false和true,0为false,非0为true;
namespace 和 std::
所谓namespace,是指标识符的各种可见范围。C++标准程序库中的所有标识符都被定义于一个名为std的namespace中。—— [ 360百科 ]就像我们会用1班的张三和2班的张三来区分同一个学校同一个年级两个叫张三的人一样,命名空间就是用来区分重名的变量和函数。它不仅是起名无能患者的福音,更重要的是解决了不同人写库函数出现同名变量或函数的冲突。
使用C++库函数的标识符,有三种方法:
1、直接指定标识符。例如std::ostream而不是ostream。完整语句如下: std::cout << std::hex << 3.4 << std::endl;
2、使用using关键字。 using std::cout; using std::endl; using std::cin; 以上程序可以写成 cout << std::hex << 3.4 << endl;
3、最方便的就是使用using namespace std; 例如: using namespace std;这样命名空间std内定义的所有标识符都有效(曝光)。就好像它们被声明为全局变量一样。— [ 360百科 ]
opencv中的函数
Point
Point是core.hpp中的一个函数,用来在图像中定义2D数据点。用法如下:
Point pt; pt.x = a; pt.y = b;
或
Point pt = Point(a, b);
Rect
创建一个Rect矩阵对象:Rect rect(a, b, c, d);
(a, b) 是矩形左上顶点的坐标;c 是矩形宽度;d 是矩形高度;
rect.x = a;
rect.y = b;
rect.width = c;
rect.height = d;
更多Rect矩形类用法见博主@CAUC康辉
http://blog.csdn.net/kh1445291129/article/details/51149849
VideoCapture
opencv中用VideoCapture对视频进行操作及调用摄像头。读入视频方法一般由两种:VideoCapture cap; cap.open();
和
VideoCapture();
更多opencv视频基础操作参考博主@洪流之源
http://blog.csdn.net/weicao1990/article/details/53379881
keys和CommandLineParser
const char* keys = { "{1| | 0 | camera number}" //{简称|文件来源|文件值|帮助} }; CommandLineParser parser(argc, argv, keys);//定义命令行解析类对象parser,并调用其构造函数对其初始化
这一点我的理解就是,为了跑程序时,输参数方便。重复的参数,或者是参数的初始化,直接用keys指针搞定。
更多详细的内容请参考博主@Dream_yz
http://blog.csdn.net/yzhang6_10/article/details/51074305
和博主tornadomeet
http://www.cnblogs.com/tornadomeet/archive/2012/04/15/2450505.html
namedwindow
namedWindow( const char* name, int flags=CV_WINDOW_AUTOSIZE);
name 是显示图片的窗口的名称
CV_WINDOW_AUTOSIZE 是根据图片大小显示的参数:
flags = 1是自动调整窗口大小;
flags = 0是用户可以手动调整窗口大小;
setMouseCallback
这个函数是鼠标对图像进行操作时,计算机对鼠标的响应。setMouseCallback(const string& winname, MouseCallback onMouse, void* userdata = 0); /* winname:鼠标进行操作的窗口名 onMouse:鼠标响应函数。根据鼠标不同的动作,进行不同的操作。 userdata:传给回调函数的参数 */
void on_Mouse(int event, int x, int y, int flags, void* param); /* event事件代表鼠标各种操作: #define CV_EVENT_MOUSEMOVE 0 //滑动 #define CV_EVENT_LBUTTONDOWN 1 //左键点击 #define CV_EVENT_RBUTTONDOWN 2 //右键点击 #define CV_EVENT_MBUTTONDOWN 3 //中键点击 #define CV_EVENT_LBUTTONUP 4 //左键放开 #define CV_EVENT_RBUTTONUP 5 //右键放开 #define CV_EVENT_MBUTTONUP 6 //中键放开 #define CV_EVENT_LBUTTONDBLCLK 7 //左键双击 #define CV_EVENT_RBUTTONDBLCLK 8 //右键双击 #define CV_EVENT_MBUTTONDBLCLK 9 //中键双击 x, y是鼠标的位置位于窗口坐标(x,y),即Point(x,y) flags表示鼠标的拖拽事件 param标志所响应的事件函数,相当于自定义标识码用来匹配鼠标的操作和响应的事件 */
更多详细的内容请参考博主@五仁月饼哭了
http://blog.csdn.net/qq_29540745/article/details/52562101
和博主@-牧野-
http://blog.csdn.net/dcrmg/article/details/52027847
createTrackbar
creatTrackbar可在显示图像的窗口中快速创建一个滑动块用来更改阈值。CV_EXPORTS int createTrackbar(const string& trackbarname, const string& winname, int* value, int count, TrackbarCallback onChange = 0, void* userdata = 0);
trackbarname:滑动空间的名称
winname:滑动块作用的图像窗口名称
value:初始化阈值
count:滑块位置的最大值,最小值一直是0
TrackbarCallback:是回调函数,没有时设为NULL
参考自@mysee1989
http://blog.csdn.net/mysee1989/article/details/41379817
cvColor
CV_EXPORTS_W void cvtColor( InputArray src, OutputArray dst, int code, int dstCn=0 ); /* 用于将图像从一个颜色空间转换到另一个颜色空间 src:输入序列 dst:输出序列 code:颜色序列 dsrCn:输出的通道数(0 = automatic)*/
inRange
inRange()函数的功能是检查输入数组(矩阵)每个元素大小是否在给定2个给定数值之间,它的输出是一幅二值图像。相比于threshold()函数,它可以同时针对多通道进行操作。相关文章推荐
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