The first is the main function
#include <iostream>
#include <opencv2/opencv.hpp>
#include "ArmorPlate.h"
using namespace std;
using namespace cv;
bool CameraRead(ArmorPlate& armor_param);
int main()
{
ArmorPlate armor;
armor.CameraInit(0);
//while (1)
//{
//if (!CameraRead(armor))
//continue;
armor.AutoShoot();
//}
return 0;
}
bool CameraRead(ArmorPlate& armor_param)
{
armor_param.capture_plate.read(armor_param.armor_image);
if (!armor_param.armor_image.data)
{
cout << "The camera has not read a image!" << endl;
armor_param.CameraInit(0);
return false;
}
else
return true;
}
After the header file:
#pragma once
#define BLUETEAM 0
#define REDTEAM 1
class ArmorPlate
{
public:
cv::Mat pre_image;
cv::Mat armor_image;
cv::VideoCapture capture_plate;
int myteam;
ArmorPlate();
bool CameraInit(int device);
void AutoShoot();
private:
void ImgPreprosses(const cv::Mat& src, const cv::Mat& dst);
};
class ArmorRect
{
public:
cv::RotatedRect armors;
};After that CPP file:
#include <opencv2/opencv.hpp>
#include "ArmorPlate.h"
using namespace std;
using namespace cv;
ArmorPlate::ArmorPlate()
{
myteam = REDTEAM;
}
bool ArmorPlate::CameraInit(int device)
{
capture_plate.open(device);
if (!capture_plate.isOpened())
{
cout << "The capture has something wrong!";
return false;
}
else return true;
}
cv::RotatedRect& adjustRec(cv::RotatedRect& rec)
{
using std::swap;
float& width = rec.size.width;
float& height = rec.size.height;
float& angle = rec.angle;
while (angle >= 90.0) angle -= 180.0;
while (angle < -90.0) angle += 180.0;
if (angle >= 45.0)
{
swap(width, height);
angle -= 90.0;
}
else if (angle < -45.0)
{
swap(width, height);
angle += 90.0;
}
return rec;
}
void ArmorPlate::AutoShoot()
{
armor_image = imread("2.jpg");
ImgPreprosses(armor_image, pre_image);
imshow("原图", armor_image);
//imshow("预处理图", pre_image);
waitKey(0);
}
void drawall(vector<RotatedRect> rec,Mat img)
{
for (int i = 0; i < rec.size(); i++)
{
Point2f p[4];
rec[i].points(p);
line(img, p[0], p[1], Scalar(0, 0, 255), 1, 8, 0);
line(img, p[1], p[2], Scalar(0, 0, 255), 1, 8, 0);
line(img, p[2], p[3], Scalar(0, 0, 255), 1, 8, 0);
line(img, p[3], p[0], Scalar(0, 0, 255), 1, 8, 0);
}
}
void ArmorPlate::ImgPreprosses(const Mat& src, const Mat& dst)
{
Mat grayImg;
Mat binBrightImg;
vector<RotatedRect> lightInfos;
double MaxValue;
vector<Mat> channels;
//split(src, channels);
//if (myteam == REDTEAM)
//{
// grayImg = channels.at(0)- channels.at(2);
// blur(grayImg, grayImg, Size(3, 3));
// //grayImg *= 3;
//}
//else
// grayImg = channels.at(2) - channels.at(0);
//imshow("灰度图",grayImg);
//minMaxLoc(grayImg, 0, &MaxValue, 0, 0);waitKey(0);
//threshold(grayImg, binBrightImg, MaxValue*0.85, 255, THRESH_BINARY);//THRESH_BINARY
////CV_THRESH_OTSU不可用，因为该方法用于区分前景和后景
//Mat element = getStructuringElement(MORPH_RECT,Size(3,3));
//morphologyEx(binBrightImg, binBrightImg, MORPH_DILATE, element, Point(-1, -1), 1);
////dilate(binBrightImg, binBrightImg, element);
//morphologyEx(binBrightImg, binBrightImg, MORPH_OPEN, element,Point(-1,-1),3);
////morphologyEx(binBrightImg, binBrightImg, MORPH_DILATE, element, Point(-1, -1), 1);
//morphologyEx(binBrightImg, binBrightImg, MORPH_CLOSE, element, Point(-1, -1), 3);
////medianBlur(binBrightImg, binBrightImg, 11);
////dilate(binBrightImg, binBrightImg, element);
//imshow("二值图", binBrightImg);waitKey(0);
//方法2//
Mat HSVImg;
Mat image;
cvtColor(src, HSVImg, COLOR_BGR2HSV);
split(HSVImg, channels);
minMaxLoc(channels[2], 0, &MaxValue, 0, 0);
threshold(channels[2], channels[2], MaxValue*0.98, 255, THRESH_BINARY);
Mat element = getStructuringElement(MORPH_RECT, Size(5, 5));
medianBlur(channels[2], channels[2], 3);
morphologyEx(channels[2], channels[2], MORPH_DILATE, element, Point(-1, -1), 1);
imshow("V通道二值图", channels[2]); waitKey();
HSVImg.copyTo(image, channels[2]);
int BLowH = 80;
int BHighH = 150;
int BLowS = 60;
int BHighS = 255;
int BLowV = 100;
int BHighV = 255;
//inRange(image, Scalar(BLowH, BLowS, BLowV), Scalar(BHighH, BHighS, BHighV), binBrightImg);
//imshow("二值图", binBrightImg); waitKey(0);
binBrightImg = channels[2];
//方法2结束//
vector<vector<Point>> lightContours;
cv::findContours(binBrightImg.clone(), lightContours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
Mat drawingImg = Mat::zeros(src.size(), CV_8UC3);
for (int i = 0; i < lightContours.size(); i++)
drawContours(drawingImg, lightContours, i, Scalar(0, 255, 0));
imshow("轮廓图", drawingImg); waitKey(0);
lightInfos.clear();
for (const auto& contour : lightContours)
{
float lightContourArea = contourArea(contour);
if (contour.size() <= 5 ||lightContourArea <10 ) continue;
RotatedRect lightRec = fitEllipse(contour);
RotatedRect minAreaRec = minAreaRect(contour);
adjustRec(lightRec);
if ((lightRec.size.width / lightRec.size.height) >0.8)
continue;
int x = lightRec.center.x - lightRec.size.width;
if (x < 0)
continue;
int y = lightRec.center.y - lightRec.size.height;
if (y < 0)
continue;
//cout << lightRec.angle << endl;
//RotatedRect s;
//s.angle = lightRec.angle;
//s.center = lightRec.center;
//if (minAreaRec.size.width > minAreaRec.size.height)
//{
// s.size.height = minAreaRec.size.width;
// s.size.width = minAreaRec.size.height;
// //lightRec.angle += 90;
//}
//else
//{
// s.size.height = minAreaRec.size.height;
// s.size.width = minAreaRec.size.width;
//
//}
//
//if (lightRec.size.width > lightRec.size.height)
//{
// swap(lightRec.size.width, lightRec.size.height);
//}
if (lightRec.size.width / lightRec.size.height > 1.0 ||
lightContourArea / lightRec.size.area() < 0.5)
continue;
lightRec.size.width *= 1.1;
lightRec.size.height *= 1.1;
Rect boundRect = lightRec.boundingRect();
Mat lightImg = src(boundRect);
if((lightRec.size.height>10&& (lightRec.size.height < 150)&&(lightRec.angle<45||lightRec.angle>135)))
lightInfos.push_back(lightRec);
}
vector<RotatedRect> armors;
vector<ArmorRect> armorRects;
ArmorRect armorRect;
armors.clear();
armorRects.clear();
if (lightInfos.size()<=1)
{
cout << "There's no light contours in quality." << endl;
}
sort(lightInfos.begin(), lightInfos.end(), [](const RotatedRect& ld1, const RotatedRect& ld2)
{
return ld1.center.x < ld2.center.x;
});
for (int i = 0; i < lightInfos.size(); i++)
{
for (int j = i + 1; j < lightInfos.size(); j++)
{
const RotatedRect& left = lightInfos[i];
const RotatedRect& right = lightInfos[j];
double heightDiff = abs(left.size.height - right.size.height);
double widthDiff = abs(left.size.width - right.size.width);
double angleDiff = abs(left.angle - right.angle);
double yDiff = abs(left.center.y - right.center.y);
double xDiff = abs(left.center.x - right.center.x);
double meanheight = (left.size.height + right.size.height)/2;
double yDiffRatio = yDiff / meanheight;
double xDiffRatio = xDiff / meanheight;
double dis= sqrt((left.center.x - right.center.x)*(left.center.x - right.center.x) + (left.center.y - right.center.y)*(left.center.y - right.center.y));
double ratio = dis / meanheight;
float heightDiff_ratio = heightDiff / max(left.size.height, right.size.height);
if (angleDiff > 10 || xDiffRatio < 0.5 || yDiffRatio>0.7||ratio>3||ratio<1)
continue;
armorRect.armors.center.x = (left.center.x + right.center.x) / 2;
armorRect.armors.center.y = (left.center.y + right.center.y) / 2;
armorRect.armors.angle= (left.angle + right.angle) / 2;
//cout << left.angle << endl;
//armorRect.armors.angle = 0;
if (180 - angleDiff < 3)
armorRect.armors.angle += 90;
armorRect.armors.size.height= (left.size.height + right.size.height) / 2;
armorRect.armors.size.width = sqrt((left.center.x - right.center.x)*(left.center.x - right.center.x) + (left.center.y - right.center.y)*(left.center.y - right.center.y));
double nL = armorRect.armors.size.height;
double nW = armorRect.armors.size.width;
if (nL < nW)
{
armorRect.armors.size.height = nL;
armorRect.armors.size.width = nW;
}
else
{
armorRect.armors.size.height = nW;
armorRect.armors.size.width = nL;
}
armorRects.emplace_back(armorRect);
armors.push_back(armorRect.armors);
}
}
if (armorRects.empty())
cout << "There is no armor in quality!" << endl;
drawall(armors, src);
imshow("", src);
}Originally it started when a pretreatment of the RGB channels (the comment section), by RB channel subtraction (or with weights RGB subtraction), but the effect is not good:
Since the length and width of the pre-filled pit difference denoising region 255 is insufficient, the blue light results in the affected ellipse fitting angle is always good enough to improve the threshold adjustment parameter and the rear of the effect is poor. In the final processing into the HSV channel, and finally after a series of parameter adjustment work, finally we got fairly good results:
