基于OpenCV的云台控制系统

使用VC设计了基于OpenCV的摄像头云台控制系统 实现了运动跟踪、运动报警、抓拍、手动云台控制、云台状态显示、摄像头设置和实时曲线绘制等功能。

#include 
#include 

#define CMD		   ‘O‘ 
#define END		   ‘E‘
#define INVAIL	   0
#define READY	   ‘R‘
#define BUSY	   ‘B‘


#define CONNECT	   ‘C‘ 	//连接
#define WAIT	   ‘W‘  //等待
#define MOVEX	   ‘X‘	//X移位
#define MOVEY	   ‘Y‘	//Y移位
#define	MOVEXY	   ‘P‘	//X-Y移位

#define  uchar	   unsigned char
#define  EOS	   ‘A‘
#define BUFFLEN	   40
#define CMDLEN	   5

struct COMMAND{	   	  		//指令结构
	   		   uchar cmd;
			   uchar dat1;
			   uchar dat2;
			   };

uchar buff[BUFFLEN]bcnt=00bhead=0bend=0;	  //接受数据缓存 及计数器
unsigned char ccnt=0;						  //指令队列计数器
struct COMMAND	cmd_buff[15]={{000}};	  	  //指令队列

void Send_Str（uchar * str）;

void showbuff（void）{
	 				char i;
					Send_Str（“ [Buff: A“）;
					for（i=0;i							{
							if（buff[i]==INVAIL） putchar（‘-‘）;
							else putchar（buff[i]）;
							}
					Send_Str（“ ] A“）;
					putchar（‘ ‘）;
					}

void Cmd_buffPro（void）
	 {uchar ij=0tbendt=0f=0;
	  tbend=bcnt;
	  i=bhead;
	  
	  while（i!=tbend）
	  	{tbend=bcnt;
		if（buff[i]==CMD）
			{
			f=1;
	
			if（bhead<=tbend）
				{
				if（（（（i+CMDLEN-1）%BUFFLEN>bhead）&&（（i+CMDLEN-1）%BUFFLEN				}else {
					  if（（（（i+CMDLEN-1）%BUFFLEN>bhead）||（（i+CMDLEN-1）%BUFFLEN					  }
			if（t）
				{
				if（buff[（i+CMDLEN-1）%BUFFLEN]==END）
					{
					f=0;
					
				 	//Send_Str（“ [CMD] A“）;j++;
					//putchar（j+‘0‘）;
				 
				 	ccnt=ccnt+1;buff[i%BUFFLEN]=INVAIL;
				 	cmd_buff[ccnt].cmd =buff[（i+1）%BUFFLEN];buff[（i+1）%BUFFLEN]=INVAIL;
				 	cmd_buff[ccnt].dat1=buff[（i+2）%BUFFLEN];buff[（i+2）%BUFFLEN]=INVAIL;
				 	cmd_buff[ccnt].dat2=buff[（i+3）%BUFFLEN];buff[（i+3）%BUFFLEN]=INVAIL;
				 	buff[（i+4）%BUFFLEN]=INVAIL;
				 
				 	bhead=（（i+CMDLEN）%（BUFFLEN））; 
				 	i=bhead; 
					
				 	//putchar（‘[‘）;putchar（i/10+‘0‘）;putchar（i%10+‘0‘）;putchar（‘]‘）;
				 	//putchar（‘[‘）;putchar（tbend/10+‘0‘）;putchar（tbend%10+‘0‘）;putchar（‘]‘）;
					}else {
						   f=0;buff[i]=INVAIL;
						  }
				}
			}else{
				  if（f==0）buff[i]=INVAIL;
				  i++;
				  i=i%BUFFLEN;bhead=i;
				 }
		}
	 
	 }
	 
void Cmd_pro（void）
	 {uchar i;
	 
	 if（ccnt>0）
	 	{
	 	for（i=0;i	 		{
			cmd_buff[i].cmd=cmd_buff[i+1].cmd;
			cmd_buff[i].dat1=cmd_buff[i+1].cmd;
			cmd_buff[i].dat2=cmd_buff[i+1].cmd;
			
			putchar（‘[‘）;putchar（（‘0‘+ccnt））;
			Send_Str（“:proCMD] A“）;
			putchar（cmd_buff[0].cmd）;	

			}
		 ccnt--;
		
	 	switch（cmd_buff[0].cmd）
	 		{
			case CONNECT:Send_Str（“connect A“）;break;
			case WAIT	:Send_Str（“waiting A“）;break;
			case MOVEX	:Send_Str（“movex A“）;break;
			case MOVEY	:Send_Str（“movey A“）;break;
			case MOVEXY :Send_Str（“movexy A“）;break;
			default:Send_Str（“Inlegal Command!A“）;break;
			}
	 	}
	 }
	 
#pragma interrupt_handler ReceivePro:19
void ReceivePro（void）	  //串口接受中断服务程序
	{
	buff[bcnt]=UDR0;
	bcnt++;
	bcnt=bcnt%（BUFFLEN）;
	
	showbuff（）;
	//putchar（‘[‘）; putchar（

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件        105  2009-08-01 09:49  源码00\说明.txt

     文件     179704  2004-08-17 12:00  源码00\自动跟踪改进DM_CtrlPad\a.wav

     文件      11232  2009-05-04 15:10  源码00\自动跟踪改进DM_CtrlPad\commondialog.cpp

     文件       3239  2009-05-04 15:10  源码00\自动跟踪改进DM_CtrlPad\commondialog.h

     文件      29272  2009-07-26 10:01  源码00\自动跟踪改进DM_CtrlPad\DM_CtrlPad.aps

     文件       5996  2009-07-26 10:02  源码00\自动跟踪改进DM_CtrlPad\DM_CtrlPad.clw

     文件       2119  2009-04-29 15:21  源码00\自动跟踪改进DM_CtrlPad\DM_CtrlPad.cpp

     文件       7188  2009-05-30 19:53  源码00\自动跟踪改进DM_CtrlPad\DM_CtrlPad.dsp

     文件        677  2009-05-04 15:38  源码00\自动跟踪改进DM_CtrlPad\DM_CtrlPad.dsw

     文件       1368  2009-04-29 15:21  源码00\自动跟踪改进DM_CtrlPad\DM_CtrlPad.h

     文件     476160  2009-07-26 10:03  源码00\自动跟踪改进DM_CtrlPad\DM_CtrlPad.ncb

     文件      53760  2009-07-26 10:03  源码00\自动跟踪改进DM_CtrlPad\DM_CtrlPad.opt

     文件        254  2009-06-04 10:09  源码00\自动跟踪改进DM_CtrlPad\DM_CtrlPad.plg

     文件      13512  2009-05-30 20:49  源码00\自动跟踪改进DM_CtrlPad\DM_CtrlPad.rc

     文件      46163  2009-06-04 08:47  源码00\自动跟踪改进DM_CtrlPad\DM_CtrlPadDlg.cpp

     文件       3212  2009-06-01 16:20  源码00\自动跟踪改进DM_CtrlPad\DM_CtrlPadDlg.h

     文件       1445  2009-05-04 10:52  源码00\自动跟踪改进DM_CtrlPad\DM_SFOptionDlg.cpp

     文件       1332  2009-05-04 10:50  源码00\自动跟踪改进DM_CtrlPad\DM_SFOptionDlg.h

     文件       2504  2009-05-10 18:14  源码00\自动跟踪改进DM_CtrlPad\DM_SFOptionDlgCapture.cpp

     文件       1465  2009-05-10 18:08  源码00\自动跟踪改进DM_CtrlPad\DM_SFOptionDlgCapture.h

     文件       2225  2009-05-10 18:18  源码00\自动跟踪改进DM_CtrlPad\DM_SFOptionDlgPhoto.cpp

     文件       1430  2009-05-10 18:16  源码00\自动跟踪改进DM_CtrlPad\DM_SFOptionDlgPhoto.h

     文件       2364  2009-05-28 22:56  源码00\自动跟踪改进DM_CtrlPad\DM_SFOptionDlgWarn.cpp

     文件       1414  2009-05-28 22:40  源码00\自动跟踪改进DM_CtrlPad\DM_SFOptionDlgWarn.h

     文件       2098  2009-04-29 16:14  源码00\自动跟踪改进DM_CtrlPad\font.cpp

     文件       1461  2009-04-29 16:14  源码00\自动跟踪改进DM_CtrlPad\font.h

     文件       8569  2009-04-29 16:14  源码00\自动跟踪改进DM_CtrlPad\mscomm.cpp

     文件       3221  2009-04-29 16:14  源码00\自动跟踪改进DM_CtrlPad\mscomm.h

     文件        486  2009-05-30 19:39  源码00\自动跟踪改进DM_CtrlPad\objecttrack.h

     文件       2209  2009-04-29 16:14  源码00\自动跟踪改进DM_CtrlPad\oleobject.cpp

............此处省略40个文件信息