OpenCV (C++) 颜色跟随

 1 #include<opencv2/opencv.hpp>
 2 #include<iostream>
 3 
 4 using namespace cv;
 5 using namespace std;
 6 
 7 Rect roi;
 8 Mat frame, mask;
 9 void processFrame(Mat &binary, Rect &rect);
10 
11 int main(int argc, char* argv) {
12     VideoCapture capture(0);//打开摄像头
13     if (!capture.isOpened()) {
14         printf("Could not find Video data..");
15         return -1;
16     }
17     
18     Mat kernel1 = getStructuringElement(MORPH_RECT, Size(3, 3), Point(-1, -1));
19     Mat kernel2 = getStructuringElement(MORPH_RECT, Size(5, 5), Point(-1, -1));
20 
21     namedWindow("input_Video", CV_WINDOW_AUTOSIZE);
22     namedWindow("mask_Video", CV_WINDOW_AUTOSIZE);
23     while (capture.read(frame))//读取当前帧
24     {
25 
26         inRange(frame, Scalar(0, 0, 0), Scalar(255, 80, 80), mask);//过滤得到Scalar1到Scalar2之间的图像
27 
28         //形态学操作
29         morphologyEx(mask, mask, MORPH_OPEN, kernel1, Point(-1, -1));//开操作，去掉噪声
30         dilate(mask, mask, kernel2, Point(-1, -1), 4);//膨胀，填补空洞
31         imshow("mask_Video", mask);
32 
33         processFrame(mask, roi); // 轮廓发现与位置标定
34         rectangle(frame, roi, Scalar(0, 0, 255), 3, 8, 0);//画出外接矩形
35         imshow("input_Video", frame);
36 
37         char c = waitKey(100);//延时100ms
38         if (c == 27) //等待“Esc”
39         {
40             break;
41         }
42     }
43     capture.release();//释放视频的内存
44     waitKey(0);
45     return 0;
46 
47 }
48 
49 
50 //binary：输入图像
51 //rect：返回的ROI区域
52 void processFrame(Mat &binary, Rect &rect) {
53     Point p, center;
54     vector<vector<Point>> contours;
55     vector<Vec4i> hireachy;
56     //发现最外层轮廓
57     findContours(binary, contours, hireachy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE, Point(0, 0));
58 
59     if (contours.size() > 0) //判断是否有轮廓被找到
60     {
61         double maxArea = 0.0;
62         for (size_t t = 0; t < contours.size(); t++) {
63             double area = contourArea(contours[static_cast<int>(t)]);//获取轮廓的面积
64             if (area > maxArea)//面积筛选，只画出最大的轮廓
65             {
66                 maxArea = area;
67                 rect = boundingRect(contours[static_cast<int>(t)]);//获取最小外界矩形
68 
69                 //计算并输出坐标
70                 center.x = rect.x + cvRound(rect.width / 2.0);
71                 center.y = rect.y + cvRound(rect.height / 2.0);
72                 center.x = center.x - frame.cols / 2;
73                 center.y = center.y - frame.rows / 2;
74 
75                 cout << center.x << "," << center.y << endl;
76             }
77         }
78 
79     }
80     else {
81         rect.x = rect.y = rect.width = rect.height = 0;
82     }
83 
84 }