OpenCV+Python，meanshift算法选择跟踪目标后，控制云台转动

本人用meanshift算法实现特定目标的手动画框跟踪，想利用框的位置来控制二维云台的转动，希望能够获得指导，有偿。

# -*- coding: utf-8 -*-
import numpy as np
import cv2
current_pos = None
tl = None
br = None

#鼠标事件
def get_rect(im, title='get_rect'):
    mouse_params = {'tl': None, 'br': None, 'current_pos': None,'released_once': False}

    cv2.namedWindow(title)
    cv2.moveWindow(title, 100, 100)

    def onMouse(event, x, y, flags, param):
        param['current_pos'] = (x, y)

        if param['tl'] is not None and not (flags & cv2.EVENT_FLAG_LBUTTON):
            param['released_once'] = True

        if flags & cv2.EVENT_FLAG_LBUTTON:
            if param['tl'] is None:
                param['tl'] = param['current_pos']
            elif param['released_once']:
                param['br'] = param['current_pos']

    cv2.setMouseCallback(title, onMouse, mouse_params)
    cv2.imshow(title, im)

    while mouse_params['br'] is None:
        im_draw = np.copy(im)

        if mouse_params['tl'] is not None:
            cv2.rectangle(im_draw, mouse_params['tl'],
                mouse_params['current_pos'], (255, 0, 0))

        cv2.imshow(title, im_draw)
        _ = cv2.waitKey(10)

    cv2.destroyWindow(title)

    tl = (min(mouse_params['tl'][0], mouse_params['br'][0]),
        min(mouse_params['tl'][1], mouse_params['br'][1]))
    br = (max(mouse_params['tl'][0], mouse_params['br'][0]),
        max(mouse_params['tl'][1], mouse_params['br'][1]))

    return (tl, br)

cap = cv2.VideoCapture('Bolt.mp4')

# 读取摄像头第一帧图像
ret, frame = cap.read()
while True:
    ret, frame = cap.read()
    if ret == True:
        break
# 初始化位置窗口
#r,h,c,w = 250,90,400,125 # simply hardcoded the values
r,h,c,w=15,370,319,87　　　
＃初始位置

#a1,a2 = get_rect(frame, title='get_rect') 手动选框

#r,h,c,w = a1[1],a2[1]-a1[1],a1[0],a2[0]-a1[0]　手动选框

track_window = (c,r,w,h)

# 设置所要跟踪的ROI
roi = frame[r:r+h, c:c+w]
hsv_roi =  cv2.cvtColor(roi, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv_roi, np.array((0., 60.,32.)), np.array((180.,255.,255.)))
roi_hist = cv2.calcHist([hsv_roi],[0],mask,[180],[0,180])
cv2.normalize(roi_hist,roi_hist,0,255,cv2.NORM_MINMAX)

# 设置终止条件
term_crit = ( cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1 )

while(1):
    ret ,frame = cap.read()

    if ret == True:
        hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
        dst = cv2.calcBackProject([hsv],[0],roi_hist,[0,180],1)

        # apply meanshift to get the new location
        ret, track_window = cv2.meanShift(dst, track_window, term_crit)

        # Draw it on image
        x,y,w,h = track_window
        cv2.rectangle(frame, (x,y), (x+w,y+h), 255,2)
        cv2.imshow('img2',frame)

        k = cv2.waitKey(10) & 0xff
        if k == 27:
            break
        #else:
           # cv2.imwrite(chr(k)+".jpg",img2)

    else:
        break

cv2.destroyAllWindows()
cap.release()

解决后，感谢采纳

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