#include "highgui.h"#include "cv.h" #include <iostream>#include <stdlib.h>#include <stdio.h> // 求最大值max,最小值min,絕對值abs,正負標志sign#define max(a, b) ((a) > (b) ? (a) : (b))#define min(a, b) ((a) < (b) ? (a) : (b))  #define abs(x) ((x) > 0 ? (x) : -(x))#define sign(x) ((x) > 0 ? 1 : -1) //物體位移動的最小值和最大值#define STEP_MIN 5#define STEP_MAX 100  iplImage *image; // 物體放置地點CvPoint objectPos = cvPoint(-1, -1);// 被跟蹤的顏色和允許范圍---------------可調--------------------int h = 0, s = 0, v = 0, tolerance =5;int H_slider_pos=173,S_slider_pos=150,V_slider_pos=255; /* * 功能:將原圖轉換為二值圖 * 輸入:image圖片，被檢測的像素值nbPixels * 輸出:被檢測物體的重心 */CvPoint binarisation(IplImage* image, int *nbPixels) { 	int x, y;	CvScalar pixel;	IplImage *hsv, *mask;	IplConvKernel *kernel;	int sommeX = 0, sommeY = 0;	*nbPixels = 0; 	// 創建一個mask圖像	mask = cvCreateImage(cvGetSize(image), image->depth, 1); 	//得到hsv格式圖像	hsv = cvCloneImage(image);	cvCvtColor(image, hsv, CV_BGR2HSV); 	//按照顏色范圍給mask圖像賦值(像素值在范圍內則被置為0xff)	cvInRangeS(hsv, cvScalar(h - tolerance -1, s - 5*tolerance, 0), cvScalar(h + tolerance -1, s + 5*tolerance, 255), mask); 	//創建結構元素----一個5X5的橢圓，錨點在(2,2)	kernel = cvCreateStructuringElementEx(5, 5, 2, 2, CV_SHAPE_ELLIPSE); 		//膨脹	cvDilate(mask, mask, kernel, 1);	//腐蝕	cvErode(mask, mask, kernel, 1);   	//計算出查找的重心	for(x = 0; x < mask->width; x++) {		for(y = 0; y < mask->height; y++) {  			//計算符合的像素點的個數  和X，Y值的和			if(((uchar *)(mask->imageData + y*mask->widthStep))[x] == 255) {				sommeX += x;				sommeY += y;				(*nbPixels)++;			}		}	} 	//顯示mask圖像	cvShowImage("視頻二值化", mask); 	//釋放結構元素	cvReleaseStructuringElement(&kernel); 	//釋放mask圖像內存	cvReleaseImage(&mask);	//釋放hsv圖像內存    cvReleaseImage(&hsv); 	//如果找到了符合的點，將所有的點的X,Y坐標求均值并返回	if(*nbPixels > 0)		return cvPoint((int)(sommeX / (*nbPixels)), (int)(sommeY / (*nbPixels)));	else		return cvPoint(-1, -1);} /* * 功能:在被跟蹤的物體重心上畫圓 * 輸入:image圖片,物體重心objectNextPos,像素點個數nbPixels * 輸出:無 */void addObjectToVideo(IplImage* image, CvPoint objectNextPos, int nbPixels) { 	int objectNextStepX, objectNextStepY; 	// 計算下一個紅點位置	if (nbPixels > 10) 	{ 		if (objectPos.x == -1 || objectPos.y == -1) 		{			objectPos.x = objectNextPos.x;			objectPos.y = objectNextPos.y;		} 		if (abs(objectPos.x - objectNextPos.x) > STEP_MIN) 		{			objectNextStepX = max(STEP_MIN, min(STEP_MAX, abs(objectPos.x - objectNextPos.x) / 2));			objectPos.x += (-1) * sign(objectPos.x - objectNextPos.x) * objectNextStepX;		}		if (abs(objectPos.y - objectNextPos.y) > STEP_MIN) {			objectNextStepY = max(STEP_MIN, min(STEP_MAX, abs(objectPos.y - objectNextPos.y) / 2));			objectPos.y += (-1) * sign(objectPos.y - objectNextPos.y) * objectNextStepY;		} 	} else { 		objectPos.x = -1;		objectPos.y = -1; 	} 	// 在image圖像上畫一個半徑為15的紅色圓點	if (nbPixels > 10)		cvDrawCircle(image, objectPos, 10, CV_RGB(255, 0, 0), -1); /*	CvFont* font;	char string[]="i am happy";	cvInitFont(font,CV_FONT_HERSHEY_SIMPLEX,1.0f,1.0f,0,1,8);	cvPutText(image,string,objectPos,font,CV_RGB(0,0,255));*/	cvShowImage("動態追蹤", image); } /* * 功能:得到鼠標點擊處的像素值(被跟蹤的像素值) * 輸入:event事件,坐標x,y ,標志flags,屬性指針param * 輸出:無 */void getObjectColor(int event, int x, int y, int flags, void *param = NULL) { 	// 定義一個var[4]數組變量pixel	CvScalar pixel;	//定義hsv圖像	IplImage *hsv;		//鼠標按下	if(event == CV_EVENT_LBUTTONUP)	{ 		// 獲取hsv圖像		hsv = cvCloneImage(image);		cvCvtColor(image, hsv, CV_BGR2HSV); 		// 獲取像素值		pixel = cvGet2D(hsv, y, x); 				h = (int)pixel.val[0];		s = (int)pixel.val[1];		v = (int)pixel.val[2];		PRintf("%d/n",hsv->depth);		printf("%d,%d,%d/n",h,s,v);		// 釋放image內存    		cvReleaseImage(&hsv); 	} }//修改HSV值void H_changed(int pos){	h=H_slider_pos;}void S_changed(int pos){	s=S_slider_pos;}void V_changed(int pos){	v=V_slider_pos;}/*****************************************                主程序******************************************/ int main() { 		IplImage *hsv;	CvCapture *capture;	char key=NULL; 	int nbPixels;		CvPoint objectNextPos; 	// 讀取攝像頭 	capture = cvCreateCameraCapture(1); 	// 檢測攝像頭捕獲是否成功    	if (!capture) {		printf("Can't initialize the video capture./n");        	return -1; 	} 	// 創建兩個視頻窗口   	cvNamedWindow("動態追蹤", CV_WINDOW_AUTOSIZE);   	cvNamedWindow("視頻二值化", CV_WINDOW_AUTOSIZE);	cvMoveWindow("動態追蹤", 0, 100);	cvMoveWindow("視頻二值化", 650, 100);		//創建顏色控制的滾動條	//cvCreateTrackbar("H:","GeckoGeek Mask",&H_slider_pos,255,H_changed);	//cvCreateTrackbar("S:","GeckoGeek Mask",&S_slider_pos,255,S_changed);	//cvCreateTrackbar("V:","GeckoGeek Mask",&V_slider_pos,255,V_changed);/*	// 點擊鼠標選擇被跟蹤的顏色	cvSetMouseCallback("GeckoGeek Color Tracking", getObjectColor);*//*	//紅瓶蓋	h=174;	s=146;	v=160;*//*	//紅瓶蓋	h=171;	s=151;	v=84;*//*	//皮膚	h=11;	s=51;	v=124;*//*	//激光1	h=173;	s=150;//s最大值190，最小值130	v=255;*//*		//激光2	h=173;	s=150;	v=255;*/	// 按Q退出	while(key != 'Q' && key != 'q') { 		// 得到當前圖像		image = cvQueryFrame(capture); 		// 若無圖像,退出當前循環繼續獲取圖像		if(!image)			continue;		//得到被檢測的顏色重心		objectNextPos = binarisation(image, &nbPixels);		//添加紅色圓點到被檢測顏色的重心		addObjectToVideo(image, objectNextPos, nbPixels); 		//等待10ms		key = cvWaitKey(10); 	} 	// 銷毀窗口	cvDestroyWindow("動態追蹤");	cvDestroyWindow("視頻二值化"); 	// 釋放capture資源	cvReleaseCapture(&capture); 	return 0; }感謝wg_chn大神提供的指導!