本文所要实现的结果是:通过在摄像头中选择一个追踪点,通过电脑控制摄像头的舵机,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。
# include
# include
# include
# include
# include
# include
使用名称空间性病;
使用名称空间的简历;
#定义WINDOW_NAME”【程序窗口】”
空白on_MouseHandle (int, int x, int y, int旗帜,void *参数);
空白DrawRectangle(简历::Mat&img,简历::矩形框);
无效的跟踪(垫和框架,vector临时);
处理hComm;
LPCWSTR pStr=L“COM4为”;
char lpOutbuffer [100];
DWORD dwbyte=100;
垫srcImage、grayImage tempImage1、tempImage imageROI, grayprev;
int g_maxCornerNumber=1;
双qualityLevel=0.01;
双minDistance=10;
int blockSize=3;
双k=0.04;
vector角落;
vectorpre_corners;
vector计数;
vector状态;
vector犯错;
矩形g_rectangle;
矩形g_temprectangle;
bool g_bDrawingBox=false;
int主要(int命令行参数个数,char * * argv)
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垫框架;
垫的结果;
COMSTAT COMSTAT;
DWORD dwError;
BOOL bWritestat;
hComm=它仅仅(pStr GENERIC_READ | GENERIC_WRITE, 0, 0, OPEN_EXISTING, 0, NULL);
如果(hComm==INVALID_HANDLE_VALUE)
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cout<& lt;“误”;
返回1;
}
其他的
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cout<& lt;“真正的”;
}
DCB DCB;
GetCommState (hComm, dcb);
dcb.BaudRate=9600;
dcb.ByteSize=8;
dcb.Parity=NOPARITY;
dcb.StopBits=TWOSTOPBITS;
bool设置=SetCommState (hComm, dcb);
bool一口=SetupComm (hComm、1024、1024);
VideoCapture捕获(0);
namedWindow (WINDOW_NAME);
setMouseCallback (WINDOW_NAME on_MouseHandle (void *),框架);
而(1)
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捕捉祝辞祝辞框架;
如果(! frame.empty ())
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cvtColor(框架、grayImage CV_RGB2GRAY);
如果(g_bDrawingBox)
矩形(框架、g_rectangle.tl (), g_rectangle.br(),标量(255255255));
如果(corners.size () !=0)
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bool可以=PurgeComm (hComm PURGE_TXCLEAR);
如果([0]角落.x> (frame.cols/2 + 100)
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lpOutbuffer [0]=' a ';
bool ne=WriteFile (hComm、lpOutbuffer dwbyte,, dwbyte, NULL);
}
else if ([0] .x<角落;(frame.cols/2 - 100))
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lpOutbuffer [0]=' b ';
bool ne=WriteFile (hComm、lpOutbuffer dwbyte,, dwbyte, NULL);
}
跟踪(框架、角落);
矩形(帧点([0][0].x-10角落,角落.y-10),点([0]。x + 10,角落角落[0].y + 10),标量(255255255));
}
imshow (WINDOW_NAME框架);
}
其他的
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printf ("——(!)没有捕获的框架——打破!”);
打破;
}
int c=waitKey (50);
如果((char) c==27)
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打破;
}
}
返回0;
}
空白on_MouseHandle (int, int x, int y, int旗帜,void *参数)
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Mat&形象=*(简历:垫*)参数;
开关(事件)
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案例EVENT_MOUSEMOVE:
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如果(g_bDrawingBox)
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g_rectangle。宽度=x-g_rectangle.x;
g_rectangle。身高=y-g_rectangle.y;
}
}
打破;
案例EVENT_LBUTTONDOWN:
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g_bDrawingBox=true;
g_rectangle=矩形(x, y, 0, 0);
}
打破;
案例EVENT_LBUTTONUP:
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g_bDrawingBox=false;
如果(g_rectangle。宽度& lt;0)
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g_rectangle。x +=g_rectangle.width;
g_rectangle。宽度*=1;
}
如果(g_rectangle。高度& lt;0)
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g_rectangle。y +=g_rectangle.height;
g_rectangle。高度*=1;
}
imageROI=grayImage (g_rectangle);
goodFeaturesToTrack (imageROI角落,g_maxCornerNumber、qualityLevel minDistance,垫(),blockSize,假,k);
for (int i=0;我& lt;corners.size ();我+ +)
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角落[我]。x=[我]。x + g_rectangle.x角落;
[我]角落.y=[我].y + g_rectangle.y角落;
}
}
打破;
}
}
无效的跟踪(垫和框架,vector临时)
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cvtColor(框架、tempImage1 COLOR_BGR2GRAY);
如果(grayprev.empty ())
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tempImage1.copyTo (grayprev);
}
calcOpticalFlowPyrLK (grayprev tempImage1、临时pre_corners,地位,犯错);
(size_t我=0;i
