camshiftdemo.cpp的详细注释
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- #include "opencv2/video/tracking.hpp"
- #include "opencv2/imgproc/imgproc.hpp"
- #include "opencv2/highgui/highgui.hpp"
- #include <iostream>
- #include <ctype.h>
- using namespace cv;
- using namespace std;
- Mat image;
- bool backprojMode = false;
- bool selectObject = false;//用来判断是否选中,当鼠标左键按下时为true,左键松开时为false
- int trackObject = 0;
- bool showHist = true;
- Point origin;//选中的起点
- Rect selection;//选中的区域
- int vmin = 10, vmax = 256, smin = 30;//图像掩膜需要的边界常数
- //鼠标事件响应函数,这个函数从按下左键时开始响应直到左键释放
- static void onMouse( int event, int x, int y, int, void* )
- {
- if( selectObject )
- {
- //选择区域的x坐标选起点与当前点的最小值,保证鼠标不管向右下角还是左上角拉动都正确选择
- selection.x = MIN(x, origin.x);
- selection.y = MIN(y, origin.y);
- //获得选择区域的宽和高
- selection.width = std::abs(x - origin.x);
- selection.height = std::abs(y - origin.y);
- //这条语句多余,注释掉不影响结果
- // selection &= Rect(0, 0, image.cols, image.rows);
- }
- switch( event )
- {
- case CV_EVENT_LBUTTONDOWN://按下鼠标时,捕获点origin
- origin = Point(x,y);
- selection = Rect(x,y,0,0);
- selectObject = true;//这时switch前面的if语句条件为true,执行该语句
- break;
- case CV_EVENT_LBUTTONUP://松开鼠标时,捕获width和height
- selectObject = false;
- if( selection.width > 0 && selection.height > 0 )
- trackObject = -1;//重新计算直方图
- break;
- }
- }
- static void help()//打印控制按键说明
- {
- 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;//要跟踪的窗口
- int hsize = 16;//创建直方图时要用的常量
- float hranges[] = {0,180};
- const float* phranges = hranges;
- CommandLineParser parser(argc, argv, keys);
- int camNum = parser.get<int>("1");//现在camNum = 0
- cap.open(camNum);
- //摄像头画面捕捉不成功则退出程序
- if( !cap.isOpened() )
- {
- help();
- cout << "***Could not initialize capturing...***\n";
- cout << "Current parameter's value: \n";
- parser.printParams();//打印出cmd参数信息
- return -1;
- }
- //关于显示窗口的一些设置
- namedWindow( "Histogram", 0 );
- namedWindow( "CamShift Demo", 0 );
- //设置鼠标事件,把鼠标响应与onMouse函数关联起来
- setMouseCallback( "CamShift Demo", onMouse, 0 );
- //创建三个滑块条,特定条件用滑块条选择不同参数能获得较好的跟踪效果
- createTrackbar( "Vmin", "CamShift Demo", &vmin, 256, 0 );
- createTrackbar( "Vmax", "CamShift Demo", &vmax, 256, 0 );
- createTrackbar( "Smin", "CamShift Demo", &smin, 256, 0 );
- //创建Mat变量,frame, hsv, hue, mask, hist, histimg, backproj;其中histimg初始化为200*300的零矩阵
- Mat frame, hsv, hue, mask, hist, histimg = Mat::zeros(200, 320, CV_8UC3), backproj;
- bool paused = false;
- //主循环
- for(;;)
- {
- if( !paused )
- {
- cap >> frame;//从摄像头输入frame
- if( frame.empty() )//为空,跳出主循环
- break;
- }
- frame.copyTo(image);//frame存入image
- if( !paused )
- {
- cvtColor(image, hsv, CV_BGR2HSV);//将BGR转换成HSV格式,存入hsv中,hsv是3通道
- if( trackObject )//松开鼠标左键时,trackObject为-1,执行核心部分
- {
- int _vmin = vmin, _vmax = vmax;
- //inRange用来检查元素的取值范围是否在另两个矩阵的元素取值之间,返回验证矩阵mask(0-1矩阵)
- //这里用于制作掩膜板,只处理像素值为H:0~180,S:smin~256, V:vmin~vmax之间的部分。mask是要求的,单通道
- inRange(hsv, Scalar(0, smin, MIN(_vmin,_vmax)),
- Scalar(180, 256, MAX(_vmin, _vmax)), mask);
- int ch[] = {0, 0};
- //type包含通道信息,例如CV_8UC3,而深度信息depth不包含通道信息,例如CV_8U.
- hue.create(hsv.size(), hsv.depth());//hue是单通道
- mixChannels(&hsv, 1, &hue, 1, ch, 1);//将H分量拷贝到hue中,其他分量不拷贝。
- if( trackObject < 0 )
- {
- //roi为选中区域的矩阵,maskroi为0-1矩阵
- Mat roi(hue, selection), maskroi(mask, selection);
- //绘制色调直方图hist,仅限于用户选定的目标矩形区域
- calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges);
- normalize(hist, hist, 0, 255, CV_MINMAX);//必须是单通道,hist是单通道。归一化,范围为0-255
- trackWindow = selection;
- trackObject = 1;//trackObject置1,接下来就不需要再执行这个if块了
- histimg = Scalar::all(0);//用于显示直方图
- //计算每个直方的宽度
- int binW = histimg.cols / hsize;//hsize为16,共显示16个
- Mat buf(1, hsize, CV_8UC3);//
- for( int i = 0; i < hsize; i++ )
- //直方图每一项的颜色是根据项数变化的
- buf.at<Vec3b>(i) = Vec3b(saturate_cast<uchar>(i*180./hsize), 255, 255);
- cvtColor(buf, buf, CV_HSV2BGR);
- //量化等级一共有16个等级,故循环16次,画16个直方块
- for( int i = 0; i < hsize; i++ )
- {
- int val = saturate_cast<int>(hist.at<float>(i)*histimg.rows/255);//获取直方图每一项的高
- //画直方图。opencv中左上角为坐标原点
- rectangle( histimg, Point(i*binW,histimg.rows),
- Point((i+1)*binW,histimg.rows - val),
- Scalar(buf.at<Vec3b>(i)), -1, 8 );
- }
- }
- //根据直方图hist计算整幅图像的反向投影图backproj,backproj与hue相同大小
- calcBackProject(&hue, 1, 0, hist, backproj, &phranges);
- //计算两个矩阵backproj、mask的每个元素的按位与,返回backproj
- backproj &= mask;
- //调用最核心的camshift函数
- //TermCriteria是算法完成的条件
- RotatedRect trackBox = CamShift(backproj, trackWindow,
- TermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ));
- if( trackWindow.area() <= 1 )
- {
- int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5)/6;
- trackWindow = Rect(trackWindow.x - r, trackWindow.y - r,
- trackWindow.x + r, trackWindow.y + r) &
- Rect(0, 0, cols, rows);
- }
- if( backprojMode )//转换显示方式,将backproj显示出来
- cvtColor( backproj, image, CV_GRAY2BGR );
- //画出椭圆,第二个参数是一个矩形,画该矩形的内接圆
- ellipse( image, trackBox, Scalar(0,0,255), 3, CV_AA );
- }
- }
- else if( trackObject < 0 )
- paused = false;
- if( selectObject && selection.width > 0 && selection.height > 0 )
- {
- Mat roi(image, selection);
- bitwise_not(roi, roi);
- }
- imshow( "CamShift Demo", image );
- imshow( "Histogram", histimg );
- //每轮都要等待用户的按键控制
- char c = (char)waitKey(10);
- if( c == 27 )//"Esc"键,直接退出
- break;
- switch(c)
- {
- case 'b'://转换显示方式
- backprojMode = !backprojMode;
- break;
- case 'c'://停止追踪
- trackObject = 0;
- histimg = Scalar::all(0);
- break;
- case 'h'://隐藏或显示直方图
- showHist = !showHist;
- if( !showHist )
- destroyWindow( "Histogram" );
- else
- namedWindow( "Histogram", 1 );
- break;
- case 'p'://暂停
- paused = !paused;//frame停止从摄像头获取图像,只显示旧的图像
- break;
- default:
- ;
- }
- }
- return 0;
- }
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