opencv的camshift如何使用？

[星辰韦]

按照网上的一个程序改写的
http://www.cnblogs.com/tornadomeet/archive/2012/03/15/2398769.html

#include <QCoreApplication>

#include <iostream>
#include<math.h>
#include <UEyeOpenCV.hpp>
#include "opencv2/opencv.hpp"
#include "opencv2/video/tracking.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/objdetect/objdetect.hpp"

using namespace cv;

cv::Mat image;
cv::Mat frame;
cv::Mat image_roi;
cv::Mat hsv;
cv::Mat hue;
cv::Mat mask;
cv::Mat hist;
cv::Mat histimg = Mat::zeros(200, 320, CV_8UC3);
cv::Mat backproj;

bool backprojMode = false; //表示是否要进入反向投影模式，ture表示准备进入反向投影模式
bool selectObject = false;//代表是否在选要跟踪的初始目标，true表示正在用鼠标选择
int trackObject = 0; //代表跟踪目标数目
Point origin;//用于保存鼠标选择第一次单击时点的位置
Rect selection;//用于保存鼠标选择的矩形框

void onMouse( int event, int x, int y, int, void* ){
    if( selectObject )//只有当鼠标左键按下去时才有效，然后通过if里面代码就可以确定所选择的矩形区域selection了
    {
        selection.x = MIN(x, origin.x);//矩形左上角顶点坐标
        selection.y = MIN(y, origin.y);
        selection.width = std::abs(x - origin.x);//矩形宽
        selection.height = std::abs(y - origin.y);//矩形高
        selection &= Rect(0, 0, image.cols, image.rows);//用于确保所选的矩形区域在图片范围内
    }

    switch( event )
    {
    case CV_EVENT_LBUTTONDOWN:
        origin = Point(x,y);
        selection = Rect(x,y,0,0);//鼠标刚按下去时初始化了一个矩形区域
        selectObject = true;
        break;
    case CV_EVENT_LBUTTONUP:
        selectObject = false;
        if( selection.width > 0 && selection.height > 0 )
            trackObject = -1;
        break;
    }
}

int main(int argc, char *argv[])
{
    QCoreApplication a(argc, argv);

    /* set undistort */
    cv::FileStorage fs("out_camera_data.xml", cv::FileStorage::READ);
    cv::Mat cameraMatrix, distCoeffs;
    fs["Camera_Matrix"] >> cameraMatrix;
    fs["Distortion_Coefficients"] >> distCoeffs;
    std::cout  << "camera matrix: " << cameraMatrix << std::endl
               << "distortion coeffs: " << distCoeffs << std::endl;

    /* open camera */
    UeyeOpencvCam cam = UeyeOpencvCam(752,480);

    /* set com*/
    ServoController com;
    com.ServoController::createSerialPort();

    /* OpenCV */
    cv::namedWindow( "CamShift", CV_WINDOW_AUTOSIZE);
    cv::setMouseCallback( "CamShift", onMouse, 0 );//消息响应机制


    for(;;){
        frame= cam.getFrame();
        //cv::cvtColor(frame,grayFrame, CV_BGR2GRAY);
        cv::undistort(frame,image,cameraMatrix,distCoeffs);
        cv::flip(image,image,-1);

        if (trackObject<0){
            image_roi = image(selection);
            cv::namedWindow( "selection", CV_WINDOW_AUTOSIZE);
            cv::imshow("selection",image_roi);
            trackObject=1;
        }

        if(trackObject>0){
            cvtColor(image, hsv, CV_BGR2HSV);//将rgb摄像头帧转化成hsv空间的
            hue.create(hsv.size(), hsv.depth());//hue初始化为与hsv大小深度一样的矩阵，色调的度量是用角度表示的，红绿蓝之间相差120度，反色相差180度
            inRange(hsv, Scalar(0, 30, 10), Scalar(180, 256, 256), mask);
            int ch[] = {0, 0};
            mixChannels(&hsv, 1, &hue, 1, ch, 1);//将hsv第一个通道(也就是色调)的数复制到hue中，0索引数

            Mat roi(hue, selection), maskroi(mask, selection);
            int hsize = 16;
            float hranges[] = {0,180};//hranges在后面的计算直方图函数中要用到
            const float* phranges = hranges;
            cv::calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges);
            cv::normalize(hist, hist, 0, 255, CV_MINMAX);

            cv::calcBackProject(&hue, 1, 0, hist, backproj, &phranges);//计算直方图的反向投影，计算hue图像0通道直方图hist的反向投影，并让入backproj中
            backproj &= mask;
            Rect trackWindow= selection;

            //trackWindow为鼠标选择的区域，TermCriteria为确定迭代终止的准则
            RotatedRect trackBox = CamShift(backproj, trackWindow, TermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 )); 

            // RotatedRect
            Point2f vertices[4];
            trackBox.points(vertices);
            for (int i = 0; i < 4; i++)
                cv::line(image, vertices[i], vertices[(i+1)%4], Scalar(0,255,0));
        }

        cv::imshow("CamShift",image);
        if( cv::waitKey(30)>=0 ) break;
    }

    return a.exec();
}

编译的时候出错
error: undefined reference to `cv::CamShift(cv::_InputArray const&, cv::Rect_<int>&, cv::TermCriteria

没明白为什么

[赵4老师]

参考：C:\Program Files\OpenCV\samples\cpp\camshiftdemo.cpp

#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;

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"
         << "Call:\n"
         << "\n./camshiftdemo [camera number]"
         << "\n" << endl;

    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" << endl;
}

Mat image;

bool backprojMode = false;
bool selectObject = false;
int trackObject = 0;
bool showHist = true;
Point origin;
Rect selection;
int vmin = 10, vmax = 256, smin = 30;

void onMouse( int event, int x, int y, int, void* )
{
    if( selectObject )
    {
        selection.x = MIN(x, origin.x);
        selection.y = MIN(y, origin.y);
        selection.width = std::abs(x - origin.x);
        selection.height = std::abs(y - origin.y);

        selection &= Rect(0, 0, image.cols, image.rows);
    }

    switch( event )
    {
    case CV_EVENT_LBUTTONDOWN:
        origin = Point(x,y);
        selection = Rect(x,y,0,0);
        selectObject = true;
        break;
    case CV_EVENT_LBUTTONUP:
        selectObject = false;
        if( selection.width > 0 && selection.height > 0 )
            trackObject = -1;
        break;
    }
}



int main( int argc, char** argv )
{
    VideoCapture cap;
    Rect trackWindow;
    RotatedRect trackBox;
    int hsize = 16;
    float hranges[] = {0,180};
    const float* phranges = hranges;

    if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
        cap.open(argc == 2 ? argv[1][0] - '0' : 0);
    else if( argc == 2 )
        cap.open(argv[1]);

    if( !cap.isOpened() )
    {
    	help();
        cout << "***Could not initialize capturing...***\n";
        return 0;
    }

    help();

    namedWindow( "Histogram", 0 );
    namedWindow( "CamShift Demo", 0 );
    setMouseCallback( "CamShift Demo", onMouse, 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, CV_BGR2HSV);

            if( trackObject )
            {
                int _vmin = vmin, _vmax = vmax;

                inRange(hsv, Scalar(0, smin, MIN(_vmin,_vmax)),
                        Scalar(180, 256, MAX(_vmin, _vmax)), mask);
                int ch[] = {0, 0};
                hue.create(hsv.size(), hsv.depth());
                mixChannels(&hsv, 1, &hue, 1, ch, 1);

                if( trackObject < 0 )
                {
                    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);
                backproj &= mask;
                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 )
                    cvtColor( backproj, image, CV_GRAY2BGR );
                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 );

        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" );
            else
                namedWindow( "Histogram", 1 );
            break;
        case 'p':
            paused = !paused;
            break;
        default:
            ;
        }
    }

    return 0;
}

[星辰韦]

引用 1 楼 zhao4zhong1 的回复:

参考：C:\Program Files\OpenCV\samples\cpp\camshiftdemo.cpp

就是按着这个改的，但是为什么有那个错误啊

[星辰韦]

引用 1 楼 zhao4zhong1 的回复:

参考：C:\Program Files\OpenCV\samples\cpp\camshiftdemo.cpp

这个例子也编译不了，error: undefined reference to `cv::CamShift(cv::_InputArray const&, cv::Rect_<int>&, cv::TermCriteria。 我用的是ubuntu的QT，opencv2.4.10. 把.pro文件也附上了

SOURCES += \
    main.cpp

INCLUDEPATH += /usr/local/include \
                /usr/local/include/opencv \
                /usr/local/include/opencv2
LIBS += /usr/local/lib/libopencv_core.so    \
        /usr/local/lib/libopencv_highgui.so    \
        /usr/local/lib/libopencv_imgproc.so \

[星辰韦]

找到原因了 必须添加库文件“libopencv_video.so”