Banan pi BPI-M3 use openCV to do video tracking test code

Banana Pi SBCs design BPI-M3(A83T/R18)
1

if you install opencv on BPI-M3

so you can use openCV to do video tracking code

#include "opencv2/video/tracking.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"

#include <iostream>
#include <ctype.h>

using namespace cv;
using namespace std;



//--------------------------------【help( )函数】----------------------------------------------
//                描述：输出帮助信息
//-------------------------------------------------------------------------------------------------
static void help()
{
        //输出欢迎信息和OpenCV版本
        cout <<"\n\n\t\t\t非常感谢使用BPI-OpenCV！\n"
        cout << "\n\t程序默认从摄像头读入视频，可以按需改为从视频文件读入图像\n";
        cout << "\n\t操作说明: \n"
                "\t\t通过点击在图像中添加/删除特征点\n" 
                "\t\tESC - 退出程序\n"
                "\t\tr -自动进行追踪\n"
                "\t\tc - 删除所有点\n"
                "\t\tn - 开/光-夜晚模式\n"<< endl;
}

Point2f point;
bool addRemovePt = false;

//--------------------------------【onMouse( )回调函数】------------------------------------
//                描述：鼠标操作回调
//-------------------------------------------------------------------------------------------------
static void onMouse( int event, int x, int y, int /*flags*/, void* /*param*/ )
{
        //此句代码的OpenCV2版为：
        if( event == CV_EVENT_LBUTTONDOWN )
        //此句代码的OpenCV3版为：
        //if( event == EVENT_LBUTTONDOWN )
        {
                point = Point2f((float)x, (float)y);
                addRemovePt = true;
        }
}

//-----------------------------------【main( )函数】--------------------------------------------
//                描述：控制台应用程序的入口函数
//-------------------------------------------------------------------------------------------------
int main( int argc, char** argv )
{
        help();

        VideoCapture cap;

        //此句代码的OpenCV2版为：
        TermCriteria termcrit(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 20, 0.03);
        //此句代码的OpenCV3版为：
        //TermCriteria termcrit(TermCriteria::MAX_ITER|TermCriteria::EPS, 20, 0.03);
        Size subPixWinSize(10,10), winSize(31,31);

        const int MAX_COUNT = 500;
        bool needToInit = false;
        bool nightMode = false;


        cap.open(0);

        if( !cap.isOpened() )
        {
                cout << "Could not initialize capturing...\n";
                return 0;
        }

        namedWindow( "LK Demo", 1 );
        setMouseCallback( "LK Demo", onMouse, 0 );

        Mat gray, prevGray, image;
        vector<Point2f> points[2];

        for(;;)
        {
                Mat frame;
                cap >> frame;
                if( frame.empty() )
                        break;

                frame.copyTo(image);
                cvtColor(image, gray, COLOR_BGR2GRAY);

                if( nightMode )
                        image = Scalar::all(0);

                if( needToInit )
                {
                        // 自动初始化
                        goodFeaturesToTrack(gray, points[1], MAX_COUNT, 0.01, 10, Mat(), 3, 0, 0.04);
                        cornerSubPix(gray, points[1], subPixWinSize, Size(-1,-1), termcrit);
                        addRemovePt = false;
                }
                else if( !points[0].empty() )
                {
                        vector<uchar> status;
                        vector<float> err;
                        if(prevGray.empty())
                                gray.copyTo(prevGray);
                        calcOpticalFlowPyrLK(prevGray, gray, points[0], points[1], status, err, winSize,
                                3, termcrit, 0, 0.001);
                        size_t i, k;
                        for( i = k = 0; i < points[1].size(); i++ )
                        {
                                if( addRemovePt )
                                {
                                        if( norm(point - points[1][i]) <= 5 )
                                        {
                                                addRemovePt = false;
                                                continue;
                                        }
                                }

                                if( !status[i] )
                                        continue;

                                points[1][k++] = points[1][i];
                                circle( image, points[1][i], 3, Scalar(0,255,0), -1, 8);
                        }
                        points[1].resize(k);
                }

                if( addRemovePt && points[1].size() < (size_t)MAX_COUNT )
                {
                        vector<Point2f> tmp;
                        tmp.push_back(point);

                        //此句代码的OpenCV2版为：
                        cornerSubPix( gray, tmp, winSize, cvSize(-1,-1), termcrit);
                        //此句代码的OpenCV3版为：
                        //cornerSubPix( gray, tmp, winSize, Size(-1,-1), termcrit);
                        points[1].push_back(tmp[0]);
                        addRemovePt = false;
                }

                needToInit = false;
                imshow("LK Demo", image);

                char c = (char)waitKey(10);
                if( c == 27 )
                        break;
                switch( c )
                {
                case 'r':
                        needToInit = true;
                        break;
                case 'c':
                        points[0].clear();
                        points[1].clear();
                        break;
                case 'n':
                        nightMode = !nightMode;
                        break;
                }

                std::swap(points[1], points[0]);
                cv::swap(prevGray, gray);
        }

        return 0;
}