// Meanshift.cpp : Defines the entry point for the console application. //
#include \#include \
//#include \
#include \#include
IplImage *image = 0, *hsv = 0, *hue = 0, *mask = 0, *backproject = 0, *histimg = 0; CvHistogram *hist = 0;
int iii; int dx,dy;
int data,wdata;
const char* filename1;
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 返回的区域 box，带角度 CvConnectedComp track_comp;
int hdims = 48; // 划分HIST的个数，越高越精确 float hranges_arr[] = {0,180}; float* hranges = hranges_arr;
int vmin = 10, vmax = 256, smin = 30;
void on_mouse( int event, int x, int y, int flags ,void *) {
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(\鼠标的选择区域：\
printf(\ 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(\：\ printf(\ HUE = %f\
printf(\ R = %d, G = %d, B = %d\#endif
return cvScalar(rgb[2], rgb[1], rgb[0],0); }
int main(int argc, char* argv[]) { CSerialPort m_Com; m_Com.Open(); filename1 = \
CvCapture* capture = 0; IplImage* frame = 0;
/* if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0]))) capture = cvCaptureFromCAM( -1 ); else if( argc == 2 )
capture = cvCaptureFromAVI( argv[1] ); */ capture = cvCaptureFromAVI(filename1);
if( !capture ) {
fprintf(stderr,\ return -1; }
printf( \
\ \
\ \
\
//cvNamedWindow( \ cvNamedWindow( \
cvSetMouseCallback( \on_mouse, NULL); // on_mouse 自定义事件
//cvCreateTrackbar( \ //cvCreateTrackbar( \ //cvCreateTrackbar( \
for(;;) {
int i, bin_w, c;
算直方图
直方图
frame = cvQueryFrame( capture ); iii++; //if (iii==200) printf(\ iii = %d\if( !frame ) break; if( !image ) {
// 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 );
//backproject = cvCreateImage( cvGetSize(frame), 8, 1 );
//hist = cvCreateHist( 1, &hdims, CV_HIST_ARRAY, &hranges, 1 ); // 计 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 ); // 计算 histimg = cvCreateImage( cvSize(320,200), 8, 3 ); //histimg = cvCreateImage( cvSize(640,400), 8, 3 ); cvZero( histimg ); } cvCopy( frame, image, 0 );
cvCvtColor( image, hsv, CV_BGR2HSV ); // 彩色空间转换 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 ); // 得到二值的MASK
cvSplit( hsv, 0,0, 0 , hue); // 只提取 HUE 分量
if( track_object < 0 ) {
float max_val = 0.f;
cvSetImageROI( hue, selection ); // 得到选择区域 for ROI cvSetImageROI( mask, selection ); // 得到选择区域 for mask cvCalcHist( &hue, hist, 0, mask ); // 计算直方图
cvGetMinMaxHistValue( hist, 0, &max_val, 0, 0 ); // 只找最大值
cvConvertScale( hist->bins, hist->bins, max_val ? 255. / max_val : 0., 0 ); // 缩放 bin 到区间 [0,255]
cvResetImageROI( hue ); // remove ROI cvResetImageROI( mask ); track_window = selection; track_object = 1;
cvZero( histimg );
bin_w = histimg->width / hdims; // hdims: 条的个数，则 bin_w 为条的宽度
// 画直方图
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->height - val), color, -1, 8, 0 ); } }
cvCalcBackProject( &hue, backproject, hist ); // 使用 back project 方法 cvAnd( backproject, mask, backproject, 0 );
// calling CAMSHIFT 算法模块
//cvCamShift( backproject, track_window, //cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),