OpenCV中鸟瞰中的实时对象跟踪

这个程序是我的'鸟瞰系统中的实时颜色跟踪'。

  #include <sstream>
  #include <string>
  #include <iostream>
  #include <vector>
  #include <stdio.h>
  #include <stdlib.h>
  #include "stdafx.h"
  #include "Fruit.h"
  #include "opencv2\opencv.hpp"
  #pragma comment(lib,"C:\opencv\build\x86\vc10\lib\opencv_core249d.lib")
  #pragma comment(lib,"C:\opencv\build\x86\vc10\lib\opencv_imgproc249d.lib")
  #pragma comment(lib,"C:\opencv\build\x86\vc10\lib\opencv_highgui249d.lib")
  #pragma comment(lib,"C:\opencv\build\x86\vc10\lib\opencv_objdetect249d.lib")
  #pragma comment(lib,"C:\opencv\build\x86\vc10\lib\opencv_ml249d.lib")
  #pragma comment(lib,"C:\opencv\build\x86\vc10\lib\opencv_video249d.lib")
  #pragma comment(lib,"C:\opencv\build\x86\vc10\lib\opencv_calib3d249d.lib")
  using namespace cv;
  //initial min and max HSV filter values.
  //these will be changed using trackbars
  int H_MIN = 0;
  int H_MAX = 256;
  int S_MIN = 0;
  int S_MAX = 256;
  int V_MIN = 0;
  int V_MAX = 256;
  //default capture width and height
  const int FRAME_WIDTH = 640;
  const int FRAME_HEIGHT = 480;
  //max number of objects to be detected in frame
  const int MAX_NUM_OBJECTS=50;
  //minimum and maximum object area
  const int MIN_OBJECT_AREA = 7*7;
  const int MAX_OBJECT_AREA = FRAME_HEIGHT*FRAME_WIDTH/1.5;
  //names that will appear at the top of each window
  const string windowName = "Original Image";
  const string windowName1 = "HSV Image";
  const string windowName2 = "Thresholded Image";
  const string windowName3 = "After Morphological Operations";
  const string trackbarWindowName = "Trackbars";
  void on_trackbar( int, void* )
  {
  //This function gets called whenever a
  // trackbar position is changed
  }
  string intToString(int number){
  std::stringstream ss;
  ss << number;
  return ss.str();
  }
  void createTrackbars(){
  //create window for trackbars
  namedWindow(trackbarWindowName,0);
  //create memory to store trackbar name on window
  char TrackbarName[50];
  sprintf( TrackbarName, "H_MIN", H_MIN);
  sprintf( TrackbarName, "H_MAX", H_MAX);
  sprintf( TrackbarName, "S_MIN", S_MIN);
  sprintf( TrackbarName, "S_MAX", S_MAX);
  sprintf( TrackbarName, "V_MIN", V_MIN);
  sprintf( TrackbarName, "V_MAX", V_MAX);
  createTrackbar( "H_MIN", trackbarWindowName, &H_MIN, H_MAX, on_trackbar );
  createTrackbar( "H_MAX", trackbarWindowName, &H_MAX, H_MAX, on_trackbar );
  createTrackbar( "S_MIN", trackbarWindowName, &S_MIN, S_MAX, on_trackbar );
  createTrackbar( "S_MAX", trackbarWindowName, &S_MAX, S_MAX, on_trackbar );
  createTrackbar( "V_MIN", trackbarWindowName, &V_MIN, V_MAX, on_trackbar );
  createTrackbar( "V_MAX", trackbarWindowName, &V_MAX, V_MAX, on_trackbar );
  }
  void drawObject(vector<Fruit> theFruits,Mat &frame){
  for(int i =0; i<theFruits.size(); i++){
  cv::circle(frame,cv::Point(theFruits.at(i).getXPos(),theFruits.at(i).getYPos()),10,cv::Scalar(0,0,255));
  cv::putText(frame,intToString(theFruits.at(i).getXPos())+ " , " + intToString(theFruits.at(i).getYPos()),cv::Point(theFruits.at(i).getXPos(),theFruits.at(i).getYPos()+20),1,1,Scalar(0,255,0));
  }
  }
  void morphOps(Mat &thresh){
  //create structuring element that will be used to "dilate" and "erode" image.
  //the element chosen here is a 3px by 3px rectangle
  Mat erodeElement = getStructuringElement( MORPH_RECT,Size(3,3));
  //dilate with larger element so make sure object is nicely visible
  Mat dilateElement = getStructuringElement( MORPH_RECT,Size(8,8));
  erode(thresh,thresh,erodeElement);
  erode(thresh,thresh,erodeElement);
  dilate(thresh,thresh,dilateElement);
  dilate(thresh,thresh,dilateElement);
  }
  void trackFilteredObject(Mat threshold,Mat HSV, Mat &cameraFeed_BE){
  vector <Fruit> apples;
  Mat temp;
  threshold.copyTo(temp);
  //these two vectors needed for output of findContours
  vector< vector<Point> > contours;
  vector<Vec4i> hierarchy;
  //find contours of filtered image using openCV findContours function
  findContours(temp,contours,hierarchy,CV_RETR_CCOMP,CV_CHAIN_APPROX_SIMPLE );
  //use moments method to find our filtered object
  double refArea = 0;
  bool objectFound = false;
  if (hierarchy.size() > 0) {
        int numObjects = hierarchy.size();
        //if number of objects greater than MAX_NUM_OBJECTS we have a noisy filter
        if(numObjects<MAX_NUM_OBJECTS){
              for (int index = 0; index >= 0; index = hierarchy[index][0]) {
                    Moments moment = moments((cv::Mat)contours[index]);
                    double area = moment.m00;
                    if(area>MIN_OBJECT_AREA){
                          Fruit apple;
                          apple.setXPos(moment.m10/area);
                          apple.setYPos(moment.m01/area);
                          apples.push_back(apple);
                          objectFound = true;
                    }else objectFound = false;

              }
              //let user know you found an object
              if(objectFound ==true){
                    //draw object location on screen
                    drawObject(apples,cameraFeed_BE);
              }
        }else putText(cameraFeed_BE,"TOO MUCH NOISE! ADJUST FILTER",Point(0,50),1,2,Scalar(0,0,255),2);
  }
  }
  int main(int argc, char* argv[])
  {
  //if we would like to calibrate our filter values, set to true.
  bool calibrationMode = true;
  //Matrix to store each frame of the webcam feed
  Mat cameraFeed;
  Mat threshold;
  Mat HSV;
  if(calibrationMode){
        //create slider bars for HSV filtering
        createTrackbars();
  }
  //video capture object to acquire webcam feed
  VideoCapture capture;
  //open capture object at location zero (default location for webcam)
  capture.open(0);
  //set height and width of capture frame
  capture.set(CV_CAP_PROP_FRAME_WIDTH,FRAME_WIDTH);
  capture.set(CV_CAP_PROP_FRAME_HEIGHT,FRAME_HEIGHT);
  if(!capture.isOpened())  //confirm camera opened
  {
        return -1;
  }
  //start an infinite loop where webcam feed is copied to cameraFeed matrix
  //all of our operations will be performed within this loop
  while(1){
        do{
              capture >> cameraFeed;
        }while(cameraFeed.empty());
        int key = 0;
        IplImage* Frame ;
        IplImage* birds_image;
        CvMat *H;
        float Z; 
  cvNamedWindow("Birds eye");
  Frame =new IplImage(cameraFeed);
  birds_image = cvCloneImage(Frame);
  // EXAMPLE OF LOADING THESE MATRICES BACK IN:
  CvMat *intrinsic = (CvMat*)cvLoad("Intrinsics.xml");
  CvMat *distortion = (CvMat*)cvLoad("Distortion.xml");
  // Build the undistort map which we will use for all subsequent frames.
  IplImage* mapx = cvCreateImage( cvGetSize(Frame), IPL_DEPTH_32F, 1 );
  IplImage* mapy = cvCreateImage( cvGetSize(Frame), IPL_DEPTH_32F, 1 );
  cvInitUndistortMap(
        intrinsic,
        distortion,
        mapx,
        mapy
  );
  IplImage *t = cvCloneImage(Frame);
  //cvShowImage( "Calibration", image ); // Show raw image
  cvRemap( t, Frame, mapx, mapy );     // Undistort image
  cvReleaseImage(&t);
  H = (CvMat*)cvLoad("H.xml");
  cvWarpPerspective(
        Frame, 
        birds_image, 
        H, 
        CV_INTER_LINEAR | CV_WARP_INVERSE_MAP | CV_WARP_FILL_OUTLIERS
        );
  cvShowImage("Birds eye", birds_image);
  Mat cameraFeed_BE = cvarrToMat(birds_image);
  //store image to matrix
  capture.read(cameraFeed_BE);
  //convert frame from BGR to HSV colorspace
  cvtColor(cameraFeed_BE,HSV,COLOR_BGR2HSV);
  if(calibrationMode==true){
  //if in calibration mode, we track objects based on the HSV slider values.
  cvtColor(cameraFeed_BE,HSV,COLOR_BGR2HSV);
  inRange(HSV,Scalar(H_MIN,S_MIN,V_MIN),Scalar(H_MAX,S_MAX,V_MAX),threshold);
  morphOps(threshold);
  imshow(windowName2,threshold);
  trackFilteredObject(threshold,HSV,cameraFeed_BE);
  }
  //show frames 
  imshow(windowName2,threshold);
  imshow(windowName,cameraFeed_BE);
  imshow(windowName1,HSV);
  //delay 30ms so that screen can refresh.
  //image will not appear without this waitKey() command
  if(cv::waitKey(30) >= 0) break;
  }
  return 0;
  }

1. 我认为Original Image，HSV Image和Thresholded Image必须birds image但实际上这些不是。我不知道为什么。

2. 我运行程序一分钟，出现此错误。在此处输入图像描述

我认为当有一些内存泄漏时会出现此错误。所以我添加了这段代码。

  cvReleaseImage(&birds_image)

但是这段代码效果不佳。

你能告诉我你对 1. 和 2.的想法吗？