Opencv基于CamShift算法实现目标跟踪

CamShift( InputArray probImage, CV_OUT CV_IN_OUT Rect& window, 
         TermCriteria criteria ); 

#include "core/core.hpp"  
#include "highgui/highgui.hpp"  
#include "imgproc/imgproc.hpp" 
#include "video/tracking.hpp" 
#include<iostream>  
 
using namespace cv;  
using namespace std;  
 
Mat image;  
Mat rectImage; 
Mat imageCopy; //绘制矩形框时用来拷贝原图的图像  
bool leftButtonDownFlag=false; //左键单击后视频暂停播放的标志位  
Point originalPoint; //矩形框起点  
Point processPoint; //矩形框终点  
 
Mat targetImageHSV; 
int histSize=200;  
float histR[]={0,255};  
const float *histRange=histR;  
int channels[]={0,1};  
Mat dstHist; 
Rect rect; 
vector<Point> pt; //保存目标轨迹 
void onMouse(int event,int x,int y,int flags ,void* ustc); //鼠标回调函数  
 
int main(int argc,char*argv[])  
{  
 VideoCapture video(argv[1]);  
 double fps=video.get(CV_CAP_PROP_FPS); //获取视频帧率  
 double pauseTime=1000/fps; //两幅画面中间间隔  
 namedWindow("跟踪木头人",0);  
 setMouseCallback("跟踪木头人",onMouse);  
 while(true)  
 {  
  if(!leftButtonDownFlag) //判定鼠标左键没有按下，采取播放视频，否则暂停  
  {  
   video>>image;  
  }  
  if(!image.data||waitKey(pauseTime)==27) //图像为空或Esc键按下退出播放  
  {  
   break;  
  }  
  if(originalPoint!=processPoint&&!leftButtonDownFlag)  
  {  
   Mat imageHSV; 
   Mat calcBackImage; 
   cvtColor(image,imageHSV,CV_RGB2HSV); 
   calcBackProject(&imageHSV,2,channels,dstHist,calcBackImage,&histRange); //反向投影 
   TermCriteria criteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 1000, 0.001);  
   CamShift(calcBackImage, rect, criteria);  
   Mat imageROI=imageHSV(rect); //更新模板    
   targetImageHSV=imageHSV(rect); 
   calcHist(&imageROI, 2, channels, Mat(), dstHist, 1, &histSize, &histRange);  
   normalize(dstHist, dstHist, 0.0, 1.0, NORM_MINMAX); //归一化 
   rectangle(image, rect, Scalar(255, 0, 0),3); //目标绘制  
   pt.push_back(Point(rect.x+rect.width/2,rect.y+rect.height/2)); 
   for(int i=0;i<pt.size()-1;i++) 
   { 
    line(image,pt[i],pt[i+1],Scalar(0,255,0),2.5); 
   } 
  }  
  imshow("跟踪木头人",image);  
  waitKey(100); 
 } 
 return 0;  
}  
 
//*******************************************************************//  
//鼠标回调函数  
void onMouse(int event,int x,int y,int flags,void *ustc)  
{  
 if(event==CV_EVENT_LBUTTONDOWN)  
 {  
  leftButtonDownFlag=true; //标志位  
  originalPoint=Point(x,y); //设置左键按下点的矩形起点  
  processPoint=originalPoint;  
 }  
 if(event==CV_EVENT_MOUSEMOVE&&leftButtonDownFlag)  
 {  
  imageCopy=image.clone();  
  processPoint=Point(x,y);  
  if(originalPoint!=processPoint)  
  {  
   //在复制的图像上绘制矩形  
   rectangle(imageCopy,originalPoint,processPoint,Scalar(255,0,0),2);  
  }  
  imshow("跟踪木头人",imageCopy);  
 }  
 if(event==CV_EVENT_LBUTTONUP)  
 {  
  leftButtonDownFlag=false;  
  rect=Rect(originalPoint,processPoint);   
  rectImage=image(rect); //子图像显示  
  imshow("Sub Image",rectImage);   
  cvtColor(rectImage,targetImageHSV,CV_RGB2HSV); 
  imshow("targetImageHSV",targetImageHSV); 
  calcHist(&targetImageHSV,2,channels,Mat(),dstHist,1,&histSize,&histRange,true,false);   
  normalize(dstHist,dstHist,0,255,CV_MINMAX); 
  imshow("dstHist",dstHist); 
 }   
}