opencv+arduino实现物体点追踪效果

#include<opencv2/opencv.hpp> #include<opencv/cv.h> #include<opencv/highgui.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); }