opencv+arduino实现物体点追踪效果分享！

本文所要实现的结果是：通过在摄像头中选择一个追踪点，通过pc控制摄像头的舵机，使这一点始终在图像的中心。

要点：使用光流法在舵机旋转的同时进行追踪，若该点运动，则摄像头跟踪联动。

  #include<opencv2opencv.hpp>   #include<opencvcv.h>   #include<opencvhighgui.h>   #include<math.h>   #include<Windows.h>   #include<string.h>         using namespace std;   using namespace cv;      #define WINDOW_NAME "【程序窗口】"         void on_MouseHandle(int event, int x, int y, int flags, void* param);   void DrawRectangle( cv::Mat& img, cv::Rect box );   void tracking(Mat &frame,vector<Point2f> temp);      HANDLE hComm;   LPCWSTR pStr=L"COM4";   char lpOutbuffer[100];   DWORD dwbyte=100;   Mat srcImage,grayImage,tempImage1,tempImage,imageROI,grayprev;   int g_maxCornerNumber = 1;   double qualityLevel = 0.01;   double minDistance = 10;   int blockSize = 3;   double k = 0.04;   vector<Point2f> corners;   vector<Point2f> pre_corners;   vector<Point2f> counts;   vector<uchar> status;   vector<float> err;   Rect g_rectangle;   Rect g_temprectangle;   bool g_bDrawingBox = false;         int main( int argc, char** argv )    {     Mat frame;     Mat result;        COMSTAT Comstat;     DWORD dwError;     BOOL bWritestat;     hComm=CreateFile(pStr,GENERIC_READ | GENERIC_WRITE,0,0,OPEN_EXISTING, 0,NULL);     if (hComm == INVALID_HANDLE_VALUE)     {       cout<<"FLASE";       return -1;     }     else     {       cout<<"TURE";     }     DCB dcb;     GetCommState(hComm,&dcb);     dcb.BaudRate=9600;     dcb.ByteSize=8;     dcb.Parity=NOPARITY;     dcb.StopBits=TWOSTOPBITS;     bool set=SetCommState(hComm,&dcb);     bool sup=SetupComm(hComm,1024,1024);        VideoCapture capture(0);        namedWindow( WINDOW_NAME );     setMouseCallback(WINDOW_NAME,on_MouseHandle,(void*)&frame);        while(1)     {       capture >> frame;            if(!frame.empty())         {            cvtColor(frame,grayImage,CV_RGB2GRAY);           if( g_bDrawingBox )            rectangle(frame,g_rectangle.tl(),g_rectangle.br(),Scalar(255,255,255));           if (corners.size()!=0)           {             bool can=PurgeComm(hComm,PURGE_TXCLEAR);             if (corners[0].x>(frame.cols/2+100))             {               lpOutbuffer[0]='a';               bool ne=WriteFile(hComm,lpOutbuffer,dwbyte,&dwbyte,NULL);             }             else if (corners[0].x<(frame.cols/2-100))             {               lpOutbuffer[0]='b';               bool ne=WriteFile(hComm,lpOutbuffer,dwbyte,&dwbyte,NULL);             }             tracking(frame,corners);             rectangle(frame,Point(corners[0].x-10,corners[0].y-10),Point(corners[0].x+10,corners[0].y+10),Scalar(255,255,255));                    }           imshow( WINDOW_NAME, frame );         }         else         {            printf(" --(!) No captured frame -- Break!");           break;         }            int c = waitKey(50);         if( (char)c == 27 )         {           break;          }      }     return 0;   }   void on_MouseHandle(int event, int x, int y, int flags, void* param)   {        Mat& image = *(cv::Mat*) param;     switch( event)     {     case EVENT_MOUSEMOVE:        {         if( g_bDrawingBox )         {           g_rectangle.width = x-g_rectangle.x;           g_rectangle.height = y-g_rectangle.y;         }       }       break;        case EVENT_LBUTTONDOWN:        {         g_bDrawingBox = true;         g_rectangle =Rect( x, y, 0, 0 );       }       break;        case EVENT_LBUTTONUP:        {         g_bDrawingBox = false;         if( g_rectangle.width < 0 )         {           g_rectangle.x += g_rectangle.width;           g_rectangle.width *= -1;         }            if( g_rectangle.height < 0 )          {           g_rectangle.y += g_rectangle.height;           g_rectangle.height *= -1;         }         imageROI=grayImage(g_rectangle);         goodFeaturesToTrack( imageROI,corners,g_maxCornerNumber,qualityLevel,minDistance,Mat(),blockSize,false,k );         for (int i = 0; i < corners.size(); i++)         {           corners[i].x=corners[i].x+g_rectangle.x;           corners[i].y=corners[i].y+g_rectangle.y;         }       }       break;        }   }      void tracking(Mat &frame,vector<Point2f> temp)   {     cvtColor(frame, tempImage1, COLOR_BGR2GRAY);        if (grayprev.empty())     {       tempImage1.copyTo(grayprev);     }        calcOpticalFlowPyrLK(grayprev, tempImage1, temp, pre_corners, status, err);        for (size_t i=0; i<pre_corners.size(); i++)     {       line(frame, temp[i], pre_corners[i], Scalar(0, 0, 255));       circle(frame, pre_corners[i], 4, Scalar(0, 255, 0), -1,8,0);     }        swap(pre_corners, corners);     swap(grayprev, tempImage1);   } 

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