opencv+arduino实现物体点追踪效果

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<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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