一种粗略的普通摄像头的深度信息提取方法 c 源码

/********************************************************************** imageZooming Release Date: 2011/01/11 Copyright (C) 2011 Zhijie Lee email: onezeros.lee@gmail.com web: http://blog.csdn.net/onezeros This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. **********************************************************************/ #include <cv.h> #include <cxcore.h> #include <highgui.h> #pragma comment(lib,"cv210d.lib") #pragma comment(lib,"cxcore210d.lib") #pragma comment(lib,"highgui210d.lib") #include <iostream> #include <queue> using namespace std; class CvTarget{ public: int erea;//size int top;//position int bottom; int left; int right; CvTarget():erea(0),top(0),bottom(0),left(0),right(0){} CvPoint getCenter(){return cvPoint((right+left)>>1,(bottom+top)>>1);} int getWidth(){return right-left;} int getHeight(){return bottom-top;} }; void cvFindTarget(const IplImage* img,CvTarget& targets); static const int HandEreaThreshold=500; int main(int argc,char** argv) { CvCapture* capture=cvCreateCameraCapture(-1); if (!capture){ cout<<"failed to open camera"<<endl; exit(0); } //image for show IplImage* img=cvLoadImage("Song.jpg"); if (!img){ cout<<"failed to load image"<<endl; exit(0); } CvSize showSize=cvGetSize(img); //processing window size const CvSize winSizeProcess=cvSize(320,240); IplImage* imgColor=cvCreateImage(winSizeProcess,8,3); IplImage* imgGray=cvCreateImage(winSizeProcess,8,1); int threshold=140; cvNamedWindow("processing"); cvMoveWindow("processing",0,0); cvCreateTrackbar("threshold","processing",&threshold,200,NULL); int oldImgErea=-1; bool isZooming=false; IplImage* imgHand; while (imgHand=cvQueryFrame(capture)){ cvResize(imgHand,imgColor); cvCvtColor(imgColor,imgColor,CV_RGB2YCrCb); cvSplit(imgColor,NULL,NULL,imgGray,NULL); cvThreshold(imgGray,imgGray,threshold,255,CV_THRESH_BINARY); cvShowImage("processing",imgGray); if (isZooming){ cvErode(imgGray,imgGray); cvDilate(imgGray,imgGray); CvTarget target; cvFindTarget(imgGray,target); if (target.erea>HandEreaThreshold){ float scale=1.0f; if (oldImgErea>0){ scale=(float)target.erea/oldImgErea; } oldImgErea=target.erea; showSize.width*=scale; showSize.height*=scale; //in defense of limit extreme situation if (showSize.width<4||showSize.height<4|| showSize.width>2000||showSize.width>2000){ showSize=cvGetSize(img); } } } IplImage* imgResized=cvCreateImage(showSize,8,3); cvResize(img,imgResized); static int screenWidth=1024; static int screenHeight=768; cvMoveWindow("image",(screenWidth-showSize.width)>>1,(screenHeight-showSize.height)>>1); cvShowImage("image",imgResized); cvReleaseImage(&imgResized); int keyPressed=cvWaitKey(3); if(keyPressed==27){ break; }else if (keyPressed==' '){//start/strop zooming isZooming=!isZooming; } } cvReleaseImage(&img); cvReleaseCapture(&capture); return 0; } void cvFindTarget(const IplImage* img_,CvTarget& tar) { assert(img_->nChannels==1); IplImage* img=cvCreateImage(cvSize(img_->width,img_->height),IPL_DEPTH_8U,1); cvCopy(img_,img); for (int h=0;h<img->height;h++){ for (int w=0;w<img->width;w++){ if (*(unsigned char*)(img->imageData+h*img->widthStep+w)==255){ CvTarget target; target.top=h; target.bottom=h; target.left=w; target.right=w; queue<CvPoint> points; points.push(cvPoint(w,h)); *(img->imageData+h*img->widthStep+w)=0; //find target with breadth iteration while(!points.empty()){ target.erea++; CvPoint p=points.front(); points.pop(); if (p.x>0&&*(unsigned char*)(img->imageData+p.y*img->widthStep+p.x-1)==255){//left *(img->imageData+p.y*img->widthStep+p.x-1)=0; points.push(cvPoint(p.x-1,p.y)); if (target.left>p.x-1){ target.left=p.x-1; } } if (p.y+1<img->height&&*(unsigned char*)(img->imageData+(p.y+1)*img->widthStep+p.x)==255){//bottom *(img->imageData+(p.y+1)*img->widthStep+p.x)=0; points.push(cvPoint(p.x,p.y+1)); if (target.bottom<p.y+1){ target.bottom=p.y+1; } } if (p.x+1<img->width&&*(unsigned char*)(img->imageData+p.y*img->widthStep+p.x+1)==255){//right *(img->imageData+p.y*img->widthStep+p.x+1)=0; points.push(cvPoint(p.x+1,p.y)); if (target.right<p.x+1){ target.right=p.x+1; } } if (p.y>0&&*(unsigned char*)(img->imageData+(p.y-1)*img->widthStep+p.x)==255){//top *(img->imageData+(p.y-1)*img->widthStep+p.x)=0; points.push(cvPoint(p.x,p.y-1)); } } if (target.erea>tar.erea){ tar=target; } } } } cvReleaseImage(&img); }