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energy changed

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sun
2019-07-05 09:39:20 +08:00
parent 4b943d97b2
commit f9fcde55ac
4 changed files with 54 additions and 39 deletions
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11
energy/include/energy/energy.h
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@@ -102,18 +102,17 @@ private:
void initEnergyPartParam();
void initRotation();
int findFan(const cv::Mat &src, vector<EnergyPart> &fans, int &last_fans_cnt);
int findArmor(const cv::Mat &src, vector<EnergyPart> &armors, int &last_armors_cnt);
int findFan(const cv::Mat src, int &last_fans_cnt);
int findArmor(const cv::Mat src, int &last_armors_cnt);
int findCenterR(const cv::Mat src);
void showFanContours(std::string windows_name, const cv::Mat &src, const std::vector<EnergyPart> &fans);
void showArmorContours(std::string windows_name, const cv::Mat &src, const std::vector<EnergyPart> &armors);
void showBothContours(std::string windows_name, const cv::Mat &src, const std::vector<EnergyPart> &fans,
const std::vector<EnergyPart> &armors);
void showBothContours(std::string windows_name, const cv::Mat src);
void showCenterRContours(std::string windows_name, const cv::Mat src);
bool isValidFanContour(const vector<cv::Point> &fan_contour);
bool isValidArmorContour(const vector<cv::Point> &armor_contour);
bool isValidFanContour(const vector<cv::Point> fan_contour);
bool isValidArmorContour(const vector<cv::Point> armor_contour);
bool isValidCenterRContour(const vector<cv::Point> center_R_contour);
void getFanPosition(std::vector<float> &fanPosition, const std::vector<EnergyPart> &fans, cv::Point cycle_center, double radius);

73
energy/src/energy/find/energy_finder.cpp
View File

@@ -8,7 +8,10 @@ using std::cout;
using std::endl;
using std::vector;
int Energy::findFan(const cv::Mat &src, vector<EnergyPart> &fans, int &last_fans_cnt) {
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于寻找图像内所有的大风车扇叶
// ---------------------------------------------------------------------------------------------------------------------
int Energy::findFan(const cv::Mat src, int &last_fans_cnt) {
if (src.empty())return 0;
static Mat src_bin;
src_bin = src.clone();
@@ -16,6 +19,7 @@ int Energy::findFan(const cv::Mat &src, vector<EnergyPart> &fans, int &last_fans
if(src.type() == CV_8UC3){
cvtColor(src_bin, src_bin, CV_BGR2GRAY);
}
std::vector<vector<Point> > fan_contours;
StructingElementClose(src_bin,6,6);
@@ -59,8 +63,10 @@ int Energy::findFan(const cv::Mat &src, vector<EnergyPart> &fans, int &last_fans
}
int Energy::findArmor(const cv::Mat &src, vector<EnergyPart> &armors, int &last_armors_cnt) {
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于寻找图像内所有的大风车装甲板模块
// ---------------------------------------------------------------------------------------------------------------------
int Energy::findArmor(const cv::Mat src, int &last_armors_cnt) {
if (src.empty())return 0;
static Mat src_bin;
src_bin = src.clone();
@@ -72,7 +78,6 @@ int Energy::findArmor(const cv::Mat &src, vector<EnergyPart> &armors, int &last_
std::vector<vector<Point> > armor_contours_external;//用总轮廓减去外轮廓，只保留内轮廓，除去流动条的影响。
StructingElementErodeDilate(src_bin);
// StructingElementClose(src_bin,10,10);
// imshow("armor struct",src_bin);
findContours(src_bin, armor_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
@@ -121,6 +126,10 @@ int Energy::findArmor(const cv::Mat &src, vector<EnergyPart> &armors, int &last_
return static_cast<int>(armors.size());
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于寻找图像内大风车中心字母“R”
// ---------------------------------------------------------------------------------------------------------------------
int Energy::findCenterR(const cv::Mat src) {
if (src.empty())return 0;
static Mat src_bin;
@@ -159,7 +168,10 @@ int Energy::findCenterR(const cv::Mat src) {
return static_cast<int>(centerRs.size());
}
bool Energy::isValidFanContour(const vector<cv::Point> &fan_contour) {
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于判断找到的矩形候选区是否为扇叶
// ---------------------------------------------------------------------------------------------------------------------
bool Energy::isValidFanContour(const vector<cv::Point> fan_contour) {
double cur_contour_area = contourArea(fan_contour);
if (cur_contour_area > energy_part_param_.FAN_CONTOUR_AREA_MAX ||
cur_contour_area < energy_part_param_.FAN_CONTOUR_AREA_MIN)
@@ -179,29 +191,31 @@ bool Energy::isValidFanContour(const vector<cv::Point> &fan_contour) {
//cout<<"length width min fail."<<endl;
return false;
}
// float length_width_ratio = length / width;
// if (length_width_ratio > energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX ||
// length_width_ratio < energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN)
// {
// //cout<<"length width ratio fail."<<endl;
// return false;
// }
float length_width_ratio = length / width;
if (length_width_ratio > energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX ||
length_width_ratio < energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN)
{
//cout<<"length width ratio fail."<<endl;
return false;
}
if (cur_contour_area / cur_size.area() < 0.6) return false;
return true;
}
bool Energy::isValidArmorContour(const vector<cv::Point> &armor_contour) {
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于判断找到的矩形候选区是否为装甲板
// ---------------------------------------------------------------------------------------------------------------------
bool Energy::isValidArmorContour(const vector<cv::Point> armor_contour) {
double cur_contour_area = contourArea(armor_contour);
// if (cur_contour_area > energy_part_param_.ARMOR_CONTOUR_AREA_MAX ||
// cur_contour_area < energy_part_param_.ARMOR_CONTOUR_AREA_MIN)
// {
// //cout<<cur_contour_area<<" "<<energy_fan_param_.CONTOUR_AREA_MIN<<" "<<energy_fan_param_.CONTOUR_AREA_MAX<<endl;
// //cout<<"area fail."<<endl;
// return false;
// }
if (cur_contour_area > energy_part_param_.ARMOR_CONTOUR_AREA_MAX ||
cur_contour_area < energy_part_param_.ARMOR_CONTOUR_AREA_MIN)
{
//cout<<cur_contour_area<<" "<<energy_fan_param_.CONTOUR_AREA_MIN<<" "<<energy_fan_param_.CONTOUR_AREA_MAX<<endl;
//cout<<"area fail."<<endl;
return false;
}
RotatedRect cur_rect = minAreaRect(armor_contour);
Size2f cur_size = cur_rect.size;
float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;
@@ -230,15 +244,18 @@ bool Energy::isValidArmorContour(const vector<cv::Point> &armor_contour) {
return true;
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于判断找到的矩形候选区是否为可能的风车中心R候选区
// ---------------------------------------------------------------------------------------------------------------------
bool Energy::isValidCenterRContour(const vector<cv::Point> center_R_contour) {
double cur_contour_area = contourArea(center_R_contour);
// if (cur_contour_area > energy_part_param_.ARMOR_CONTOUR_AREA_MAX ||
// cur_contour_area < energy_part_param_.ARMOR_CONTOUR_AREA_MIN)
// {
// //cout<<cur_contour_area<<" "<<energy_fan_param_.CONTOUR_AREA_MIN<<" "<<energy_fan_param_.CONTOUR_AREA_MAX<<endl;
// //cout<<"area fail."<<endl;
// return false;
// }
if (cur_contour_area > energy_part_param_.ARMOR_CONTOUR_AREA_MAX ||
cur_contour_area < energy_part_param_.ARMOR_CONTOUR_AREA_MIN)
{
//cout<<cur_contour_area<<" "<<energy_fan_param_.CONTOUR_AREA_MIN<<" "<<energy_fan_param_.CONTOUR_AREA_MAX<<endl;
//cout<<"area fail."<<endl;
return false;
}
RotatedRect cur_rect = minAreaRect(center_R_contour);
Size2f cur_size = cur_rect.size;
float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;

6
energy/src/energy/run.cpp
View File

@@ -33,18 +33,18 @@ int Energy::run(cv::Mat &src){
fans_cnt = findFan(src, fans, last_fans_cnt);
fans_cnt = findFan(src, last_fans_cnt);
// cout<<"fans_cnt: "<<fans_cnt<<endl;
if(fans_cnt==-1) return 0;//滤去漏判的帧
// if(fans_cnt>0)showFanContours("fan",src,fans);
// fans_cnt=0;
armors_cnt = findArmor(src, armors, last_armors_cnt);
armors_cnt = findArmor(src, last_armors_cnt);
// cout<<"armors_cnt: "<<armors_cnt<<endl;
if(armors_cnt==-1) return 0;//滤去漏判的帧
// if(armors_cnt>0) showArmorContours("armor",src,armors);
if(armors_cnt>0||fans_cnt>0) showBothContours("Both",src, fans, armors);
if(armors_cnt>0||fans_cnt>0) showBothContours("Both",src);
centerRs_cnt = findCenterR(src);
if(centerRs_cnt>0)showCenterRContours("R",src);

3
energy/src/energy/show/show.cpp
View File

@@ -83,8 +83,7 @@ void Energy::showCenterRContours(std::string windows_name, const cv::Mat src) {
imshow(windows_name, image2show);
}
void Energy::showBothContours(std::string windows_name, const cv::Mat &src, const std::vector<EnergyPart> &fans,
const std::vector<EnergyPart> &armors) {
void Energy::showBothContours(std::string windows_name, const cv::Mat src) {
if (src.empty())return;
static Mat image2show;
if(src.type() == CV_8UC1) // 黑白图像