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光流法-运动目标的检测二（opencv学习）

2011-12-01 18:59 405 查看

光流法-运动目标的检测二（opencv学习）
2011-11-04 11:05

正如上一篇文章所述， cvCalcOpticalFlowPyrLK 需要确定特征点。

本程序，通过帧差获得运动的点作为特征点。

本程序原本的目的是计算运动点的速度，通过修正可以进行运动跟踪。

#include <cv.h>

#include <highgui.h>

#include <iostream>

using namespace std;

int const MAX_CORNERS = 1000;

int main (int argc, char **argv)

{

CvCapture* capture = 0;

capture = cvCaptureFromCAM( CV_CAP_ANY ); //get frame

IplImage *src_img1; //the previous frame (gray)

IplImage *src_img2; //the current frame(gray)

IplImage *dst_img; //the result

IplImage *cur_img;

IplImage *pre_img;

CvPoint2D32f * move_old_point = new CvPoint2D32f[ MAX_CORNERS];

CvPoint2D32f * move_new_point = new CvPoint2D32f[ MAX_CORNERS];

char *features_found = new char[MAX_CORNERS];

float *features_error = new float[MAX_CORNERS];

CvTermCriteria criteria;

criteria = cvTermCriteria (CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 64, 0.01);

while(1)

{

int i,j;

int dx, dy;

int p = 0;

int rows, cols;

int countn = MAX_CORNERS;

pre_img = cvQueryFrame(capture);

CvSize img_sz = cvGetSize(pre_img);

src_img1 = cvCreateImage(img_sz, IPL_DEPTH_8U, 1);

cvCvtColor(pre_img, src_img1, CV_RGB2GRAY);

cur_img = cvQueryFrame(capture);

src_img2 = cvCreateImage(img_sz, IPL_DEPTH_8U, 1);

cvCvtColor(cur_img, src_img2, CV_RGB2GRAY);

dst_img = (IplImage *)cvClone(cur_img);

IplImage *move_img = cvCreateImage(img_sz, IPL_DEPTH_8U, 1);

cvZero(move_img);

//cvAbsDiff(src_img1, src_img2,move_img);

cols = src_img1->width;

rows = src_img1->height;

for (i = 0; i <cols; i++)

{

for (j = 0; j<rows; j++)

{

double a = abs(cvGet2D(src_img1, j, i).val[0]-cvGet2D(src_img2, j, i).val[0]);

CvScalar b = cvScalar(a, 0, 0,0);

cvSet2D(move_img, j, i,b);

if (a>40)

{

if (p<MAX_CORNERS-1)

{

int d = ++p;

move_old_point[d].x = i;

move_old_point[d].y = j;

}

}

}

}

cvNamedWindow("moving object", 1);

cvShowImage("moving object", move_img);

CvSize Pyrsize = cvSize(src_img1->width +8, src_img1->height/3);

IplImage * pyrA = cvCreateImage(Pyrsize, IPL_DEPTH_32F, 1); //pyrA是需要寻找的点，不是没有初始化的

IplImage * pyrB = cvCreateImage(Pyrsize, IPL_DEPTH_32F, 1);

cvCalcOpticalFlowPyrLK(src_img1,

src_img2,

pyrA,

pyrB,

move_old_point,

move_new_point,

countn,

cvSize(10, 10),

3,

features_found,

features_error,

criteria,

0

);

for (i = 0; i < countn; i++)

{

int x1 = (int)move_new_point[i].x;

int x2 = (int)move_old_point[i].x;

int y1 = (int)move_new_point[i].y;

int y2 = (int)move_old_point[i].y;

dx =(int) abs(x1 - x2) ;

dy = (int)abs(y1 - y2);

if (dx >= 5&& dy >= 5)

{

cvLine (dst_img, cvPoint(x2, y2),cvPoint(x2+5, y2+5) , CV_RGB (255, 0, 0), 1, CV_AA, 0);

}

}

cvNamedWindow ("ImagePyrLK", 1);

cvShowImage ("ImagePyrLK", dst_img);

cvWaitKey (1);

cvReleaseImage (&dst_img);

cvReleaseImage(&pyrA);

cvReleaseImage(&pyrB);

cvReleaseImage(&move_img);

}

cvDestroyWindow("moving object");

cvDestroyWindow ("ImagePyrLK");

cvReleaseImage (&src_img1);

cvReleaseImage (&src_img2);

cvReleaseImage (&pre_img);

cvReleaseImage (&cur_img);

return 0;

}

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