<span style="font-size:14px;">#include <opencv\cv.h>#include <opencv\highgui.h>#include <stdio.h>#include <ctype.h>IplImage *image = 0, *hsv = 0, *hue = 0, *mask = 0, *backproject = 0, *histimg = 0;CvHistogram *hist = 0;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 ){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 _DEBUGprintf("\n # 鼠标的选择区域");printf("\n X = %d, Y = %d, Width = %d, Height = %d",selection.x, selection.y, selection.width, selection.height);#endifbreak;}}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 _DEBUGprintf("\n # Convert HSV to RGB");printf("\n HUE = %f", hue);printf("\n R = %d, G = %d, B = %d", rgb[0],rgb[1],rgb[2]);#endifreturn cvScalar(rgb[2], rgb[1], rgb[0],0);}int main( int argc, char** argv ){CvCapture* capture = 0;IplImage* frame = 0;if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] – '0' : 0 );else if( argc == 2 )capture = cvCaptureFromAVI( argv[1] );if( !capture ){fprintf(stderr,"Could not initialize capturing…\n");return -1;}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", (CvMouseCallback)on_mouse, NULL ); // on_mouse 自定义事件cvCreateTrackbar( "Vmin", "CamShiftDemo", &vmin, 256, 0 );cvCreateTrackbar( "Vmax", "CamShiftDemo", &vmax, 256, 0 );cvCreateTrackbar( "Smin", "CamShiftDemo", &smin, 256, 0 );for(;;){int i, bin_w, c;frame = cvQueryFrame( capture );if( !frame )break;if( !image ){// 分配所有的缓冲区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 ); // 计算直方图histimg = cvCreateImage( cvSize(320,200), 8, 3 );cvZero( histimg );}cvCopy( frame, image, 0 );cvCvtColor( image, hsv, CV_BGR2HSV ); // 彩色空间转换从 BGR to HSVif( track_object ){int _vmin = vmin, _vmax = vmax;cvInRangeS( hsv, cvScalar(0,smin,MIN(_vmin,_vmax),0),cvScalar(180,256,MAX(_vmin,_vmax),0), mask ); // 得到二值的掩码cvSplit( hsv, hue, 0, 0, 0 ); // 只提取hue色调分量if( track_object < 0 ){float max_val = 0.f;cvSetImageROI( hue, selection ); // 将选择区域设置为ROIcvSetImageROI( mask, selection ); // 将选择区域设置为ROIcvCalcHist( &hue, hist, 0, mask ); // 计算直方图cvGetMinMaxHistValue( hist, 0, &max_val, 0, 0 ); // 只找最大值// 缩放bin到区间 [0,255]cvConvertScale( hist->bins, hist->bins, max_val ? 255. / max_val : 0., 0 );cvResetImageROI( hue ); // 移除ROIcvResetImageROI( mask );track_window = selection;track_object = 1;cvZero( histimg );bin_w = histimg->width / hdims; // hdims: 直方柱的个数 bin_w：柱的宽度// 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 );cvAnd( backproject, mask, backproject, 0 );// 调用Camshift算法模块cvCamShift( backproject, track_window,cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),&track_comp, &track_box );track_window = track_comp.rect;if( backproject_mode )cvCvtColor( backproject, image, CV_GRAY2BGR ); // 使用backproject灰度图像if( image->origin )track_box.angle = -track_box.angle;cvEllipseBox( image, track_box, CV_RGB(255,0,0), 3, CV_AA, 0 );}if( select_object && selection.width > 0 && selection.height > 0 ){cvSetImageROI( image, selection );cvXorS( image, cvScalarAll(255), image, 0 );cvResetImageROI( image );}cvShowImage( "CamShiftDemo", image );cvShowImage( "Histogram", histimg );c = cvWaitKey(10);if( c == 27 )break; // ESC退出循环switch( 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;}</span>
运行结果截图：
而是他们在同伴们都睡着的时候，一步步艰辛地
