otsu算法选择使类间方差最大的灰度值为阈值，具有很好的效果算法具体描述见otsu论文，或冈萨雷斯著名的数字图像处理那本书这里给出程序流程：1、计算直方图并归一化histogram2、计算图像灰度均值avgValue.3、计算直方图的零阶w[i]和一级矩u[i]4、计算并找到最大的类间方差（between-class variance）variance[i]=(avgValue*w[i]-u[i])*(avgValue*w[i]-u[i])/(w[i]*(1-w[i]))对应此最大方差的灰度值即为要找的阈值5、用找到的阈值二值化图像我在代码中做了一些优化，所以算法描述的某些地方跟程序并不一致otsu代码，先找阈值，继而二值化// implementation of otsu algorithm// author: onezeros(@)// reference: Rafael C. Gonzalez. Digital Image Processing Using MATLAB void cvThresholdOtsu(IplImage* src, IplImage* dst){int height=src->height;int width=src->width;//histogramfloat histogram[256]= {0};for(int i=0; i<height; i++){unsigned char* p=(unsigned char*)src->imageData+src->widthStep*i;for(int j=0; j<width; j++){histogram[*p++]++;}}//normalize histogramint size=height*width;for(int i=0; i<256; i++){histogram[i]=histogram[i]/size;}//average pixel valuefloat avgValue=0;for(int i=0; i<256; i++){avgValue+=i*histogram[i];}int threshold;float maxVariance=0;float w=0,u=0;for(int i=0; i<256; i++){w+=histogram[i];u+=i*histogram[i];float t=avgValue*w-u;float variance=t*t/(w*(1-w));if(variance>maxVariance){maxVariance=variance;threshold=i;}}cvThreshold(src,dst,threshold,255,CV_THRESH_BINARY);}// implementation of otsu algorithm// author: onezeros(@)// reference: Rafael C. Gonzalez. Digital Image Processing Using MATLAB void cvThresholdOtsu(IplImage* src, IplImage* dst){int height=src->height;int width=src->width;//histogramfloat histogram[256]= {0};for(int i=0; i<height; i++){unsigned char* p=(unsigned char*)src->imageData+src->widthStep*i;for(int j=0; j<width; j++){histogram[*p++]++;}}//normalize histogramint size=height*width;for(int i=0; i<256; i++){histogram[i]=histogram[i]/size;}//average pixel valuefloat avgValue=0;for(int i=0; i<256; i++){avgValue+=i*histogram[i];}int threshold;float maxVariance=0;float w=0,u=0;for(int i=0; i<256; i++){w+=histogram[i];u+=i*histogram[i];float t=avgValue*w-u;float variance=t*t/(w*(1-w));if(variance>maxVariance){maxVariance=variance;threshold=i;}}cvThreshold(src,dst,threshold,255,CV_THRESH_BINARY);}更多情况下我们并不需要对每一帧都是用otsu寻找阈值，于是可以先找到阈值，然后用找到的阈值处理后面的图像。
下面这个函数重载了上面的，返回值就是阈值。
只做了一点改变// implementation of otsu algorithm// author: onezeros(@)// reference: Rafael C. Gonzalez. Digital Image Processing Using MATLABint cvThresholdOtsu(IplImage* src){int height=src->height;int width=src->width;//histogramfloat histogram[256]= {0};for(int i=0; i<height; i++){unsigned char* p=(unsigned char*)src->imageData+src->widthStep*i;for(int j=0; j<width; j++){histogram[*p++]++;}}//normalize histogramint size=height*width;for(int i=0; i<256; i++){histogram[i]=histogram[i]/size;}//average pixel valuefloat avgValue=0;for(int i=0; i<256; i++){avgValue+=i*histogram[i];}int threshold;float maxVariance=0;float w=0,u=0;for(int i=0; i<256; i++){w+=histogram[i];u+=i*histogram[i];float t=avgValue*w-u;float variance=t*t/(w*(1-w));if(variance>maxVariance){maxVariance=variance;threshold=i;}}return threshold;}// implementation of otsu algorithm// author: onezeros(@)// reference: Rafael C. Gonzalez. Digital Image Processing Using MATLABint cvThresholdOtsu(IplImage* src){int height=src->height;int width=src->width;//histogramfloat histogram[256]= {0};for(int i=0; i<height; i++){unsigned char* p=(unsigned char*)src->imageData+src->widthStep*i;for(int j=0; j<width; j++){histogram[*p++]++;}}//normalize histogramint size=height*width;for(int i=0; i<256; i++){histogram[i]=histogram[i]/size;}//average pixel valuefloat avgValue=0;for(int i=0; i<256; i++){avgValue+=i*histogram[i];}int threshold;float maxVariance=0;float w=0,u=0;for(int i=0; i<256; i++){w+=histogram[i];u+=i*histogram[i];float t=avgValue*w-u;float variance=t*t/(w*(1-w));if(variance>maxVariance){maxVariance=variance;threshold=i;}}return threshold;}我在手的自动检测中使用这个方法，效果很好。
下面是使用上述两个函数的简单的主程序，可以试运行一下，如果处理视频，要保证第一帧时，手要在图像中。
#include <cv.h>#include <cxcore.h>#include <highgui.h>#pragma comment(lib,"cv210d.lib")#pragma comment(lib,"cxcore210d.lib")#pragma comment(lib,"highgui210d.lib")#include <iostream>using namespace std;int main(int argc, char** argv){#ifdef VIDEO //video processCvCapture* capture=cvCreateCameraCapture(-1);if (!capture){cout<<"failed to open camera"<<endl;exit(0);}int threshold=-1;IplImage* img;while (img=cvQueryFrame(capture)){cvShowImage("video",img);cvCvtColor(img,img,CV_RGB2YCrCb);IplImage* imgCb=cvCreateImage(cvGetSize(img),8,1);cvSplit(img,NULL,NULL,imgCb,NULL);if (threshold<0){threshold=cvThresholdOtsu(imgCb);}//cvThresholdOtsu(imgCb,imgCb);cvThreshold(imgCb,imgCb,threshold,255,CV_THRESH_BINARY);cvErode(imgCb,imgCb);cvDilate(imgCb,imgCb);cvShowImage("object",imgCb);cvReleaseImage(&imgCb);if (cvWaitKey(3)==27) //esc{break;}}cvReleaseCapture(&capture);#else //single image processconst char* filename=(argc>=2?argv[1]:"cr.jpg");IplImage* img=cvLoadImage(filename,CV_LOAD_IMAGE_GRAYSCALE);cvThresholdOtsu(img,img);cvShowImage( "src", img );char buf[256];sprintf_s(buf,256,"%s.otsu.jpg",filename);cvSaveImage(buf,img);cvErode(img,img);cvDilate(img,img);cvShowImage( "dst", img );sprintf_s(buf,256,"%s.otsu.processed.jpg",filename);cvSaveImage(buf,img);cvWaitKey(0);#endifreturn 0;}#include <cv.h>#include <cxcore.h>#include <highgui.h>#pragma comment(lib,"cv210d.lib")#pragma comment(lib,"cxcore210d.lib")#pragma comment(lib,"highgui210d.lib")#include <iostream>using namespace std;int main(int argc, char** argv){#ifdef VIDEO //video processCvCapture* capture=cvCreateCameraCapture(-1);if (!capture){cout<<"failed to open camera"<<endl;exit(0);}int threshold=-1;IplImage* img;while (img=cvQueryFrame(capture)){cvShowImage("video",img);cvCvtColor(img,img,CV_RGB2YCrCb);IplImage* imgCb=cvCreateImage(cvGetSize(img),8,1);cvSplit(img,NULL,NULL,imgCb,NULL);if (threshold<0){threshold=cvThresholdOtsu(imgCb);}//cvThresholdOtsu(imgCb,imgCb);cvThreshold(imgCb,imgCb,threshold,255,CV_THRESH_BINARY);cvErode(imgCb,imgCb);cvDilate(imgCb,imgCb);cvShowImage("object",imgCb);cvReleaseImage(&imgCb);if (cvWaitKey(3)==27) //esc{break;}}cvReleaseCapture(&capture);#else //single image processconst char* filename=(argc>=2?argv[1]:"cr.jpg");IplImage* img=cvLoadImage(filename,CV_LOAD_IMAGE_GRAYSCALE);cvThresholdOtsu(img,img);cvShowImage( "src", img );char buf[256];sprintf_s(buf,256,"%s.otsu.jpg",filename);cvSaveImage(buf,img);cvErode(img,img);cvDilate(img,img);cvShowImage( "dst", img );sprintf_s(buf,256,"%s.otsu.processed.jpg",filename);cvSaveImage(buf,img);cvWaitKey(0);#endifreturn 0;}。