34、通过已存帧的角度和位置信息进行预测帧输出

基本思想：

　　　　使用前两帧信息位置信息和角度信息进行第三帧的信息位置预测；

 

#include <iostream>
#include <cmath>
#include <opencv2/opencv.hpp>
#define PI 3.1415926
using namespace std;
using namespace cv;

float compute_angle(float x1, float y1, float x2, float y2) {
    float angle_temp;
    float xx, yy;
    xx = x2 - x1;
    yy = y2 - y1;
    if (xx == 0.0)
        angle_temp = PI / 2.0;
    else
        angle_temp = atan(fabs(yy / xx));
    if ((xx < 0.0) && (yy >= 0.0))
        angle_temp = PI - angle_temp;
    else if ((xx < 0.0) && (yy < 0.0))
        angle_temp = PI + angle_temp;
    else if ((xx >= 0.0) && (yy < 0.0))
        angle_temp = PI * 2.0 - angle_temp;
    return (angle_temp);
}

int main() {

    Mat  image(900,900,CV_8UC3,Scalar(255,255,255));

    vector<Point> vec_point;
    vec_point.push_back(Point(10,10));
    vec_point.push_back(Point(63,56));
    vec_point.push_back(Point(100,90));
    vec_point.push_back(Point(162,170));


    for(int i=0;i<vec_point.size();i=i+2) {
        putText(image, to_string(i/2), Point(vec_point[i].x, vec_point[i].y), 1, 2, Scalar(200, 45, 160), 2, 8, false);
        rectangle(image, vec_point[i], vec_point[i + 1], Scalar(0, 0, 255), 2, 8, 0);//黄色矩形框

    }
    int x_pre_center=(vec_point[0].x+vec_point[1].x)/2;
    int y_pre_center=(vec_point[0].y+vec_point[1].y)/2;
    int x_now_center=(vec_point[2].x+vec_point[3].x)/2;
    int y_now_center=(vec_point[2].y+vec_point[3].y)/2;
    int distance=sqrt(pow(x_now_center-x_pre_center,2)+pow(y_now_center-y_pre_center,2));
    float angle= compute_angle(x_pre_center, y_pre_center, x_now_center, y_now_center)  ;
    cout<<angle<<endl<<distance<<endl;
    int x_min_pre_box=vec_point[2].x+distance*cos(angle);
    int y_min_pre_box=vec_point[2].y+distance*sin(angle);
    int x_max_pre_box=vec_point[3].x+distance*cos(angle);
    int y_max_pre_box=vec_point[3].y+distance*sin(angle);
    rectangle (image, Point(x_min_pre_box, y_min_pre_box), Point(x_max_pre_box, y_max_pre_box), Scalar(0, 0, 0), 2, 8, 0);//黄色矩形框

    /
    vec_point.clear();
    vector<Point>().swap(vec_point);
    vec_point.push_back(Point(400,430));
    vec_point.push_back(Point(563,556));
    vec_point.push_back(Point(340,390));
    vec_point.push_back(Point(362,470));


    for(int i=0;i<vec_point.size();i=i+2) {
        putText(image, to_string(i/2), Point(vec_point[i].x, vec_point[i].y), 1, 2, Scalar(200, 45, 160), 2, 8, false);
        rectangle(image, vec_point[i], vec_point[i + 1], Scalar(0, 0, 255), 2, 8, 0);//黄色矩形框

    }
    x_pre_center=(vec_point[0].x+vec_point[1].x)/2;
    y_pre_center=(vec_point[0].y+vec_point[1].y)/2;
    x_now_center=(vec_point[2].x+vec_point[3].x)/2;
    y_now_center=(vec_point[2].y+vec_point[3].y)/2;
    distance=sqrt(pow(x_now_center-x_pre_center,2)+pow(y_now_center-y_pre_center,2));
    angle= compute_angle(x_pre_center, y_pre_center, x_now_center, y_now_center)  ;
    cout<<angle<<endl<<distance<<endl;
    x_min_pre_box=vec_point[2].x+distance*cos(angle);
    y_min_pre_box=vec_point[2].y+distance*sin(angle);
    x_max_pre_box=vec_point[3].x+distance*cos(angle);
    y_max_pre_box=vec_point[3].y+distance*sin(angle);
    rectangle (image, Point(x_min_pre_box, y_min_pre_box), Point(x_max_pre_box, y_max_pre_box), Scalar(0, 0, 0), 2, 8, 0);//黄色矩形框

    ///


    /
    vec_point.clear();
    vector<Point>().swap(vec_point);
    vec_point.push_back(Point(740,40));
    vec_point.push_back(Point(763,56));
    vec_point.push_back(Point(640,150));
    vec_point.push_back(Point(662,170));


    for(int i=0;i<vec_point.size();i=i+2) {
        putText(image, to_string(i/2), Point(vec_point[i].x, vec_point[i].y), 1, 2, Scalar(200, 45, 160), 2, 8, false);
        rectangle(image, vec_point[i], vec_point[i + 1], Scalar(0, 0, 255), 2, 8, 0);//黄色矩形框

    }

    x_pre_center=(vec_point[0].x+vec_point[1].x)/2;
    y_pre_center=(vec_point[0].y+vec_point[1].y)/2;
    x_now_center=(vec_point[2].x+vec_point[3].x)/2;
    y_now_center=(vec_point[2].y+vec_point[3].y)/2;
    distance=sqrt(pow(x_now_center-x_pre_center,2)+pow(y_now_center-y_pre_center,2));
    angle= compute_angle(x_pre_center, y_pre_center, x_now_center, y_now_center)  ;
    cout<<angle<<endl<<distance<<endl;

    x_min_pre_box=vec_point[2].x+distance*cos(angle);
    y_min_pre_box=vec_point[2].y+distance*sin(angle);
    x_max_pre_box=vec_point[3].x+distance*cos(angle);
    y_max_pre_box=vec_point[3].y+distance*sin(angle);
    rectangle (image, Point(x_min_pre_box, y_min_pre_box), Point(x_max_pre_box, y_max_pre_box), Scalar(0, 0, 0), 2, 8, 0);//黄色矩形框

/
    vec_point.clear();
    vector<Point>().swap(vec_point);


    vec_point.push_back(Point(340,690));
    vec_point.push_back(Point(362,770));
    vec_point.push_back(Point(400,730));
    vec_point.push_back(Point(563,856));


    for(int i=0;i<vec_point.size();i=i+2) {
        putText(image, to_string(i/2), Point(vec_point[i].x, vec_point[i].y), 1, 2, Scalar(200, 45, 160), 2, 8, false);
        rectangle(image, vec_point[i], vec_point[i + 1], Scalar(0, 0, 255), 2, 8, 0);//黄色矩形框

    }
    x_pre_center=(vec_point[0].x+vec_point[1].x)/2;
    y_pre_center=(vec_point[0].y+vec_point[1].y)/2;
    x_now_center=(vec_point[2].x+vec_point[3].x)/2;
    y_now_center=(vec_point[2].y+vec_point[3].y)/2;
    distance=sqrt(pow(x_now_center-x_pre_center,2)+pow(y_now_center-y_pre_center,2));
    angle= compute_angle(x_pre_center, y_pre_center, x_now_center, y_now_center)  ;
    cout<<angle<<endl<<distance<<endl;
    x_min_pre_box=vec_point[2].x+distance*cos(angle);
    y_min_pre_box=vec_point[2].y+distance*sin(angle);
    x_max_pre_box=vec_point[3].x+distance*cos(angle);
    y_max_pre_box=vec_point[3].y+distance*sin(angle);
    rectangle (image, Point(x_min_pre_box, y_min_pre_box), Point(x_max_pre_box, y_max_pre_box), Scalar(0, 0, 0), 2, 8, 0);//黄色矩形框

    ///


    imshow("跟踪轨迹",image);
    imwrite("a.jpg",image);
    waitKey();
    return 0;
}

CMakefile.txt

cmake_minimum_required(VERSION 3.17)
project(test)

set(CMAKE_CXX_STANDARD 11)
find_package(OpenCV REQUIRED)

add_executable(test main.cpp)
target_link_libraries(test ${OpenC

结果显示