本文所要实现的结果是：通过在摄像头中选择一个追踪点，通过pc控制摄像头的舵机，使这一点始终在图像的中心。
要点：使用光流法在舵机旋转的同时进行追踪，若该点运动，则摄像头跟踪联动。
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#include<opencv2\opencv.hpp>
#include<opencv\cv.h>
#include<opencv\highgui.h>
#include<math.h>
#include<Windows.h>
#include<string.h>
using namespace std;
using namespace cv;
#define WINDOW_NAME "【程序窗口】"
void on_MouseHandle(int event, int x, int y, int flags, void* param);
void DrawRectangle( cv::Mat& img, cv::Rect box );
void tracking(Mat &frame,vector<Point2f> temp);
HANDLE hComm;
LPCWSTR pStr=L"COM4";
char lpOutbuffer[100];
DWORD dwbyte=100;
Mat srcImage,grayImage,tempImage1,tempImage,imageROI,grayprev;
int g_maxCornerNumber = 1;
double qualityLevel = 0.01;
double minDistance = 10;
int blockSize = 3;
double k = 0.04;
vector<Point2f> corners;
vector<Point2f> pre_corners;
vector<Point2f> counts;
vector<uchar> status;
vector<float> err;
Rect g_rectangle;
Rect g_temprectangle;
bool g_bDrawingBox = false;
int main( int argc, char** argv )
{
Mat frame;
Mat result;
COMSTAT Comstat;
DWORD dwError;
BOOL bWritestat;
hComm=CreateFile(pStr,GENERIC_READ | GENERIC_WRITE,0,0,OPEN_EXISTING, 0,NULL);
if (hComm == INVALID_HANDLE_VALUE)
{
cout<<"FLASE";
return -1;
}
else
{
cout<<"TURE";
}
DCB dcb;
GetCommState(hComm,&dcb);
dcb.BaudRate=9600;
dcb.ByteSize=8;
dcb.Parity=NOPARITY;
dcb.StopBits=TWOSTOPBITS;
bool set=SetCommState(hComm,&dcb);
bool sup=SetupComm(hComm,1024,1024);
VideoCapture capture(0);
namedWindow( WINDOW_NAME );
setMouseCallback(WINDOW_NAME,on_MouseHandle,(void*)&frame);
while(1)
{
capture >> frame;
if(!frame.empty())
{
cvtColor(frame,grayImage,CV_RGB2GRAY);
if( g_bDrawingBox )
rectangle(frame,g_rectangle.tl(),g_rectangle.br(),Scalar(255,255,255));
if (corners.size()!=0)
{
bool can=PurgeComm(hComm,PURGE_TXCLEAR);
if (corners[0].x>(frame.cols/2+100))
{
lpOutbuffer[0]='a';
bool ne=WriteFile(hComm,lpOutbuffer,dwbyte,&dwbyte,NULL);
}
else if (corners[0].x<(frame.cols/2-100))
{
lpOutbuffer[0]='b';
bool ne=WriteFile(hComm,lpOutbuffer,dwbyte,&dwbyte,NULL);
}
tracking(frame,corners);
rectangle(frame,Point(corners[0].x-10,corners[0].y-10),Point(corners[0].x+10,corners[0].y+10),Scalar(255,255,255));
}
imshow( WINDOW_NAME, frame );
}
else
{
printf(" --(!) No captured frame -- Break!");
break;
}
int c = waitKey(50);
if( (char)c == 27 )
{
break;
}
}
return 0;
}
void on_MouseHandle(int event, int x, int y, int flags, void* param)
{
Mat& image = *(cv::Mat*) param;
switch( event)
{
case EVENT_MOUSEMOVE:
{
if( g_bDrawingBox )
{
g_rectangle.width = x-g_rectangle.x;
g_rectangle.height = y-g_rectangle.y;
}
}
break;
case EVENT_LBUTTONDOWN:
{
g_bDrawingBox = true;
g_rectangle =Rect( x, y, 0, 0 );
}
break;
case EVENT_LBUTTONUP:
{
g_bDrawingBox = false;
if( g_rectangle.width < 0 )
{
g_rectangle.x += g_rectangle.width;
g_rectangle.width *= -1;
}
if( g_rectangle.height < 0 )
{
g_rectangle.y += g_rectangle.height;
g_rectangle.height *= -1;
}
imageROI=grayImage(g_rectangle);
goodFeaturesToTrack( imageROI,corners,g_maxCornerNumber,qualityLevel,minDistance,Mat(),blockSize,false,k );
for (int i = 0; i < corners.size(); i++)
{
corners[i].x=corners[i].x+g_rectangle.x;
corners[i].y=corners[i].y+g_rectangle.y;
}
}
break;
}
}
void tracking(Mat &frame,vector<Point2f> temp)
{
cvtColor(frame, tempImage1, COLOR_BGR2GRAY);
if (grayprev.empty())
{
tempImage1.copyTo(grayprev);
}
calcOpticalFlowPyrLK(grayprev, tempImage1, temp, pre_corners, status, err);
for (size_t i=0; i<pre_corners.size(); i++)
{
line(frame, temp[i], pre_corners[i], Scalar(0, 0, 255));
circle(frame, pre_corners[i], 4, Scalar(0, 255, 0), -1,8,0);
}
swap(pre_corners, corners);
swap(grayprev, tempImage1);
}
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以上就是本文的全部内容，希望对大家的学习有所帮助，也希望大家多多支持服务器之家。
原文链接：http://blog.csdn.net/wi162yyxq/article/details/52369484