基于Camshift道路检测（改），基于划定框的匹配

opencv3.0Beta+VS2012的视频保存为图片，如果opencv版本不同引入的库也会不一样，大家注意！！！

#include "opencv2/opencv.hpp"#include "opencv2/opencv.hpp"#include "opencv2/video/tracking.hpp"#include "opencv2/imgproc/imgproc.hpp"#include "opencv2/highgui/highgui.hpp"#include "iostream"#include "ctype.h"#include "opencv2\imgproc\types_c.h" #include "opencv2/highgui/highgui_c.h"using namespace cv;using namespace std;Mat image;Rect rt;bool backprojMode = true;bool selectObject = true;int trackObject = 0;bool showHist = true;Point origin;Rect selection;int vmin = 10, vmax = 256, smin = 30;static void help(){cout << "\nThis is a demo that shows mean-shift based tracking\n""You select a color objects such as your face and it tracks it.\n""This reads from video camera (0 by default, or the camera number the user enters\n""Usage: \n"" ./camshiftdemo [camera number]\n";cout << "\n\nHot 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""\tp - pause video\n""To initialize tracking, select the object with mouse\n";}const char* keys ={"{1| | 0 | camera number}"};int main(int argc, const char** argv){help();VideoCapture cap;Rect trackWindow;int hsize = 16;float hranges[] = { 0, 180 };const float* phranges = hranges;Mat imgbackprojtemp;cap.open("e:\\data\\1.mp4");if (!cap.isOpened()){cerr << "Capture open error!" << endl;return -1;}int vidwidth = cap.get(CV_CAP_PROP_FRAME_WIDTH);int vidheight = cap.get(CV_CAP_PROP_FRAME_HEIGHT);rt = Rect(cvRound(vidwidth / 2 - 150), cvRound(vidheight - 110), 199, 99);selection = rt;namedWindow("Histogram", 0);namedWindow("CamShift Demo", 0);createTrackbar("Vmin", "CamShift Demo", &vmin, 256, 0);createTrackbar("Vmax", "CamShift Demo", &vmax, 256, 0);createTrackbar("Smin", "CamShift Demo", &smin, 256, 0);Mat frame, hsv, hue, mask, hist, histimg = Mat::zeros(200, 320, CV_8UC3), backproj;bool paused = false;for (;;){if (!paused){cap >> frame;if (frame.empty())break;} frame.copyTo(image);if (!paused){cvtColor(image, hsv, COLOR_BGR2HSV);{int _vmin = vmin, _vmax = vmax;inRange(hsv, Scalar(0, smin, MIN(_vmin, _vmax)),Scalar(100, 256, MAX(_vmin, _vmax)), mask);int ch[] = { 0, 0 };hue.create(hsv.size(), hsv.depth());mixChannels(&hsv, 1, &hue, 1, ch, 1);Mat roi(hue, selection), maskroi(mask, selection);calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges);normalize(hist, hist, 0, 255, CV_MINMAX);trackWindow = selection;trackObject = 1;histimg = Scalar::all(0);int binW = histimg.cols / hsize;Mat buf(1, hsize, CV_8UC3);for (int i = 0; i < hsize; i++)buf.at<vec3b>(i) = Vec3b(saturate_cast<uchar>(i*180. / hsize), 255, 255);cvtColor(buf, buf, CV_HSV2BGR);for (int i = 0; i < hsize; i++){int val = saturate_cast<int>(hist.at<float>(i)*histimg.rows / 255);rectangle(histimg, Point(i*binW, histimg.rows),Point((i + 1)*binW, histimg.rows - val),Scalar(buf.at<vec3b>(i)), -1, 8);}calcBackProject(&hue, 1, 0, hist, backproj, &phranges);{cvtColor(backproj, image, COLOR_GRAY2BGR);image.copyTo(imgbackprojtemp);imshow("backprojection image", imgbackprojtemp);waitKey(1);}}}if (selectObject && selection.width > 0 && selection.height > 0){Mat roi(image, selection);bitwise_not(roi, roi);}imshow("CamShift Demo", image);imshow("Histogram", histimg);char c = (char)waitKey(10);if (c == 27)break;switch (c){case 'b':backprojMode = !backprojMode;break;case 'c':trackObject = 0;histimg = Scalar::all(0);break;case 'h':showHist = !showHist;if (!showHist)destroyWindow("Histogram");elsenamedWindow("Histogram", 1);break;case 'p':paused = !paused;break;default:;}}return 0;}</vec2f></fstream></tchar></opencv2></ctype></iostream></char></vec3b></float></int></uchar></vec3b>