opencv+arduino实现物体点追踪效果

2023-09-18 04:32:07 72

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。

#include
#include
#include
#include
#include
#include


usingnamespacestd;
usingnamespacecv;

#defineWINDOW_NAME"【程序窗口】"

voidon_MouseHandle(intevent,intx,inty,intflags,void*param);
voidDrawRectangle(cv::Mat&img,cv::Rectbox);
voidtracking(Mat&frame,vectortemp);

HANDLEhComm;
LPCWSTRpStr=L"COM4";
charlpOutbuffer[100];
DWORDdwbyte=100;
MatsrcImage,grayImage,tempImage1,tempImage,imageROI,grayprev;
intg_maxCornerNumber=1;
doublequalityLevel=0.01;
doubleminDistance=10;
intblockSize=3;
doublek=0.04;
vectorcorners;
vectorpre_corners;
vectorcounts;
vectorstatus;
vectorerr;
Rectg_rectangle;
Rectg_temprectangle;
boolg_bDrawingBox=false;


intmain(intargc,char**argv)
{
Matframe;
Matresult;

COMSTATComstat;
DWORDdwError;
BOOLbWritestat;
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";
}
DCBdcb;
GetCommState(hComm,&dcb);
dcb.BaudRate=9600;
dcb.ByteSize=8;
dcb.Parity=NOPARITY;
dcb.StopBits=TWOSTOPBITS;
boolset=SetCommState(hComm,&dcb);
boolsup=SetupComm(hComm,1024,1024);

VideoCapturecapture(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)
{
boolcan=PurgeComm(hComm,PURGE_TXCLEAR);
if(corners[0].x>(frame.cols/2+100))
{
lpOutbuffer[0]='a';
boolne=WriteFile(hComm,lpOutbuffer,dwbyte,&dwbyte,NULL);
}
elseif(corners[0].x<(frame.cols/2-100))
{
lpOutbuffer[0]='b';
boolne=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("--(!)Nocapturedframe--Break!");
break;
}

intc=waitKey(50);
if((char)c==27)
{
break;
}
}
return0;
}
voidon_MouseHandle(intevent,intx,inty,intflags,void*param)
{

Mat&image=*(cv::Mat*)param;
switch(event)
{
caseEVENT_MOUSEMOVE:
{
if(g_bDrawingBox)
{
g_rectangle.width=x-g_rectangle.x;
g_rectangle.height=y-g_rectangle.y;
}
}
break;

caseEVENT_LBUTTONDOWN:
{
g_bDrawingBox=true;
g_rectangle=Rect(x,y,0,0);
}
break;

caseEVENT_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(inti=0;itemp)
{
cvtColor(frame,tempImage1,COLOR_BGR2GRAY);

if(grayprev.empty())
{
tempImage1.copyTo(grayprev);
}

calcOpticalFlowPyrLK(grayprev,tempImage1,temp,pre_corners,status,err);

for(size_ti=0;i
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毛票票。

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opencv+arduino实现物体点追踪效果

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