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This commit is contained in:
Luo Yufei
2026-06-16 20:13:24 +08:00
commit b8d3598708
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.gitignore vendored Normal file
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# Xmake cache
.xmake/
build/
# MacOS Cache
.DS_Store

17
.vscode/c_cpp_properties.json vendored Normal file
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{
"configurations": [
{
"name": "Linux",
"includePath": [
"${workspaceFolder}/**",
"/usr/include/opencv4"
],
"defines": [],
"compilerPath": "/usr/bin/g++",
"cStandard": "c11",
"cppStandard": "c++11",
"intelliSenseMode": "linux-gcc-x64"
}
],
"version": 4
}

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src/main.cpp Normal file
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#include <iostream>
#include "CameraApi.h"
#include "opencv2/core.hpp"
#include "opencv2/opencv.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <stdio.h>
#include <vector>
#include <algorithm>
#include <map>
#include <string>
using namespace cv;
unsigned char * g_pRgbBuffer;
struct lightbors
{
cv::RotatedRect left_lightbors;
cv::RotatedRect right_lightbors;
cv::RotatedRect left_armor;
cv::RotatedRect right_armor;
cv::Point2f armor_center;
cv::Point2f armor_point[4]; // 次序为 左上 -> 右上 -> 右下 -> 左下
std::string ID; // 装甲板数字
bool righting = 0;
};
// 长边拉长函数
cv::RotatedRect stretchLongSide(const cv::RotatedRect& rect, float scale) {
cv::RotatedRect result = rect;
// 比较 width 和 height，长边是较大的那个
if (rect.size.width >= rect.size.height) {
result.size.width *= scale; // width 是长边，拉长它
} else {
result.size.height *= scale; // height 是长边，拉长它
}
return result;
}
// 角点交换函数
void points_exchange(Point2f points[4]) {
std::vector<Point2f> pts(points, points + 4);
// Step 1: 按 y 坐标升序排序（y 小在上，y 大在下）
// y 相同则按 x 排序（x 小在左）
std::sort(pts.begin(), pts.end(), [](const Point2f& a, const Point2f& b) {
if (std::abs(a.y - b.y) > 1e-5) {
return a.y < b.y; // y 小的排在前面（上方）
}
return a.x < b.x; // y 相同，x 小的排在前面
});
// Step 2: 分组 —— 上方两点（y 较小）和下方两点（y 较大）
Point2f top1 = pts[0]; // y 最小
Point2f top2 = pts[1]; // y 次小
Point2f bottom1 = pts[2]; // y 次大
Point2f bottom2 = pts[3]; // y 最大
// Step 3: 上方两点按 x 排序，确定左上和右上
Point2f top_left, top_right;
if (top1.x < top2.x) {
top_left = top1; // x 小 → 左上
top_right = top2; // x 大 → 右上
} else {
top_left = top2;
top_right = top1;
}
// Step 4: 下方两点按 x 排序，确定左下和右下
Point2f bottom_left, bottom_right;
if (bottom1.x < bottom2.x) {
bottom_left = bottom1; // x 小 → 左下
bottom_right = bottom2; // x 大 → 右下
} else {
bottom_left = bottom2;
bottom_right = bottom1;
}
// Step 5: 按顺时针重新赋值：左上 → 右上 → 右下 → 左下
points[0] = top_left; // 左上
points[1] = top_right; // 右上
points[2] = bottom_right; // 右下
points[3] = bottom_left; // 左下
}
// 装甲板计算函数
void set_light(lightbors& armor_light){
armor_light.left_lightbors = stretchLongSide(armor_light.left_lightbors, 2.2f);
armor_light.right_lightbors = stretchLongSide(armor_light.right_lightbors, 2.2f);
// 获取角点并放进数组内部
Point2f left_points[4];
Point2f right_points[4];
armor_light.left_lightbors.points(left_points);
armor_light.right_lightbors.points(right_points);
points_exchange(left_points);
points_exchange(right_points);
for(size_t i = 0 ; i < 4; i++){
if (i == 0 || i == 3)
{
armor_light.armor_point[i] = left_points[i];
}else{
armor_light.armor_point[i] = right_points[i];
}
}
armor_light.armor_center = {(armor_light.left_armor.center.x + armor_light.right_armor.center.x) / 2 , (armor_light.left_armor.center.y + armor_light.right_armor.center.y) / 2};
}
/*
// // 透视变换获取图像 并进行特征变换变为 64 * 64
// void Per_transformation(const lightbors& armor_light, cv::Mat& endB, cv::Mat outImage){
// int dst_w = 64;
// int dst_h = 64;
// std::vector<cv::Point2f> dst_pts = {
// {0.0f, 0.0f},
// {(float)dst_w, 0.0f},
// {(float)dst_w, (float)dst_h},
// {0.0f, (float)dst_h}
// };
// cv::Mat M = cv::getPerspectiveTransform(armor_light.armor_point, dst_pts.data());
// std::cout << "[DEBUG] M empty: " << M.empty() << std::endl;
// cv::warpPerspective(endB, outImage, M, cv::Size(dst_w, dst_h));
// }
*/
void CropAndResize(const lightbors& armor_light, cv::Mat& endB, cv::Mat& outImage) {
int dst_w = 64;
int dst_h = 64;
// 计算 armor_point 四个角点的外接矩形
float min_x = std::min({armor_light.armor_point[0].x, armor_light.armor_point[1].x,
armor_light.armor_point[2].x, armor_light.armor_point[3].x});
float max_x = std::max({armor_light.armor_point[0].x, armor_light.armor_point[1].x,
armor_light.armor_point[2].x, armor_light.armor_point[3].x});
float min_y = std::min({armor_light.armor_point[0].y, armor_light.armor_point[1].y,
armor_light.armor_point[2].y, armor_light.armor_point[3].y});
float max_y = std::max({armor_light.armor_point[0].y, armor_light.armor_point[1].y,
armor_light.armor_point[2].y, armor_light.armor_point[3].y});
// 限制在图像范围内
int x = std::max(0, static_cast<int>(min_x));
int y = std::max(0, static_cast<int>(min_y));
int width = std::min(static_cast<int>(max_x) - x, endB.cols - x);
int height = std::min(static_cast<int>(max_y) - y, endB.rows - y);
if (width <= 0 || height <= 0) {
std::cerr << "[ERROR] Invalid crop region!" << std::endl;
outImage = cv::Mat::zeros(dst_h, dst_w, endB.type());
return;
}
// 截取 ROI 并缩放到 64x64
cv::Rect roi(x, y, width, height);
cv::Mat cropped = endB(roi).clone();
cv::resize(cropped, outImage, cv::Size(dst_w, dst_h));
}
// 自研分类算法
void distinguish(lightbors& armor_light, std::vector<std::vector<cv::Point>>& contours){
// 空集反馈
if (contours.empty()){
armor_light.ID = "UNKNOWN";
armor_light.righting = 0;
std::cout << "error" << std::endl;
return;
}
int max_idx = 0;
double max_area = 0;
for (int i = 0; i < contours.size(); i++)
{
double area = cv::contourArea(contours[i]);
if(area > max_area){
max_area = area;
max_idx = i;
}
}
auto& contour = contours[max_idx];
// ========== 特征 1：多边形顶点数 ==========
std::vector<cv::Point> approx;
double epsilon = 0.02 * cv::arcLength(contour, true);
cv::approxPolyDP(contour, approx, epsilon, true);
int vertices = approx.size();
// ========== 特征 2：凸缺陷 ==========
std::vector<int> hull_indices;
cv::convexHull(contour, hull_indices, false, false);
std::vector<cv::Vec4i> defects;
int defect_count = 0;
try {
cv::convexityDefects(contour, hull_indices, defects);
double perimeter = cv::arcLength(contour, true);
for (auto& d : defects) {
if (d[3] / 256.0 > perimeter * 0.04)
defect_count++;
}
} catch (const cv::Exception& e) {
// 自相交轮廓，跳过凸缺陷检测
defect_count = 0;
}
// ========== 特征 3：宽高比 ==========
cv::Rect rect = cv::boundingRect(contour);
double aspect_ratio = (double)rect.width / rect.height;
// ========== 特征 4：凸性 ==========
double area = cv::contourArea(contour);
std::vector<cv::Point> hull_pts;
cv::convexHull(contour, hull_pts);
double hull_area = cv::contourArea(hull_pts);
double solidity = (hull_area > 0) ? area / hull_area : 0;
// ========== 特征 5：实心像素密度 ==========
cv::Mat roi_mask = cv::Mat::zeros(64, 64, CV_8UC1);
cv::drawContours(roi_mask, contours, max_idx, 255, cv::FILLED);
cv::Mat filled;
cv::floodFill(roi_mask, cv::Point(32, 32), 255);
int filled_pixels = cv::countNonZero(roi_mask);
double fill_ratio = (hull_area > 0) ?
(double)filled_pixels / (64.0 * 64.0) : 0;
if (vertices >= 20 && fill_ratio > 0.4)
{
armor_light.righting = 1;
armor_light.ID = "sentinel";
return;
}
else if (defect_count == 0 && aspect_ratio < 0.5 && vertices <= 8 )
{
armor_light.righting = 1;
armor_light.ID = "1";
return;
}
else if (defect_count >= 1 && aspect_ratio >= 0.4)
{
armor_light.righting = 1;
armor_light.ID = "3";
return;
}
else{
armor_light.righting = 0;
armor_light.ID = "UNKNOWN";
return;
}
}
int main(){
int iCameraCounts = 1;
int iStatues = -1;
int setStatues = -1;
tSdkCameraDevInfo tCameraEnumList;
double* pfExposureTime;
int hCamera;
tSdkCameraCapbility tCapability;
tSdkFrameHead sFrameInfo;
BYTE* pbyBuffer;
int iDisplatFrames = 10000;
int channel = 3;
/////////////////////////////////////////////////////////
std::vector<lightbors> armor;
/////////////////////////////////////////////////////////
CameraSdkInit(1);
iStatues = CameraEnumerateDevice(&tCameraEnumList, &iCameraCounts);
printf("statue = %d\n", iStatues);
printf("count = %d\n", iCameraCounts);
if(iCameraCounts == 0){
return -1;
}
iStatues = CameraInit(&tCameraEnumList, -1, -1, &hCamera);
printf("state = %d\n", iStatues);
if(iStatues != CAMERA_STATUS_SUCCESS){
return -1;
}
CameraGetCapability(hCamera, &tCapability);
g_pRgbBuffer = (unsigned char*)malloc(tCapability.sResolutionRange.iHeightMax*tCapability.sResolutionRange.iWidthMax*3);
CameraPlay(hCamera);
CameraSetAeState(hCamera, false);
setStatues = CameraSetExposureTime(hCamera, 3000);
CameraSetGain(hCamera, 100, 70, 50);
// CameraGetExposureLineTime(hCamera, pfExposureTime);
// printf("compuse = %lf", *pfExposureTime);
printf("statue = %d\n", setStatues);
if(tCapability.sIspCapacity.bMonoSensor){
channel = 1;
CameraSetIspOutFormat(hCamera, CAMERA_MEDIA_TYPE_MONO8);
}else{
channel = 3;
CameraSetIspOutFormat(hCamera, CAMERA_MEDIA_TYPE_BGR8);
}
while(iDisplatFrames){
if(CameraGetImageBuffer(hCamera, &sFrameInfo, &pbyBuffer, 1000) == CAMERA_STATUS_SUCCESS){
CameraImageProcess(hCamera, pbyBuffer, g_pRgbBuffer, &sFrameInfo);
cv::Mat matImage(
cv::Size(sFrameInfo.iWidth,sFrameInfo.iHeight),
sFrameInfo.uiMediaType == CAMERA_MEDIA_TYPE_MONO8 ? CV_8UC1 : CV_8UC3,
g_pRgbBuffer
);
// 测试图像处理代码
// 作用为突出数字特征
cv::Mat grayImage;
cv::cvtColor(matImage, grayImage, cv::COLOR_BGR2GRAY);
cv::Mat endImage;
cv::threshold(grayImage, endImage, 4, 255, cv::THRESH_TOZERO);
cv::threshold(endImage, endImage, 10, 255, cv::THRESH_TOZERO_INV);
cv::Mat reduceguss;
cv::GaussianBlur(endImage, reduceguss, cv::Size(5, 5), 0);
cv::Mat process;
cv::threshold(reduceguss, process, 10, 0, cv::THRESH_TRUNC);
cv::Mat end;
cv::threshold(process, end, 2, 255, cv::THRESH_BINARY);
cv::Mat end_canny;
cv::Canny(end, end_canny, 120, 200);
cv::Mat the_end;
/* 此内容为灯条检测部分
作用为测试灯条检测如何编写
*/
std::vector<cv::Mat> channels;
cv::split(matImage, channels);
cv::Mat r = channels[2];
cv::Mat mask;
cv::threshold(r, mask, 150, 255, cv::THRESH_BINARY);
cv::Mat mask3c;
cv::cvtColor(mask, mask3c, cv::COLOR_GRAY2BGR);
std::vector<std::vector<cv::Point>> counters;
cv::findContours(mask, counters, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);
std::vector<cv::RotatedRect> end_rects;
// 灯条检测逻辑
for(auto& cnt : counters){
cv::RotatedRect rotRect = cv::minAreaRect(cnt);
float area = rotRect.size.width * rotRect.size.height;
if (area < 50 || area > 9000) continue;
float width = std::min(rotRect.size.width, rotRect.size.height);
float height = std::max(rotRect.size.width, rotRect.size.height);
float ratio = height / width;
if (ratio < 4 || ratio > 26) continue;
end_rects.push_back(rotRect);
cv::Point2f pts[4];
rotRect.points(pts);
// for (int i = 0; i < 4; i++)
// {
// cv::line(result, pts[i], pts[(i+1)%4], cv::Scalar(0,255,0), 2);
// }
}
armor.clear();
if(end_rects.size() >= 2){
// 灯条配对逻辑
for(size_t i = 0; i < end_rects.size()-1; i++){
for(size_t j = i + 1; j < end_rects.size(); j++){
/*
***** 灯条匹配逻辑 ******
*/
// 倾斜角度偏差检测
float angle_TF = end_rects[i].angle - end_rects[j].angle;
if (fabs(angle_TF) > 6)continue;
// 灯条距离与灯条长度比值检测
float first_max = std::max(end_rects[i].size.width, end_rects[i].size.height);
float second_max = std::max(end_rects[j].size.width, end_rects[j].size.height);
float getheight = end_rects[i].center.x - end_rects[j].center.x;
float getlight = (first_max + second_max) / 2;
float distance_TF = std::fabs(getheight) / getlight;
if (distance_TF > 2.9 || distance_TF < 2.0)continue;
/*
***** 灯条归位并定点 *****
*/
lightbors armor_light;
if(end_rects[i].center.x < end_rects[j].center.x){
armor_light.left_lightbors = end_rects[i];
armor_light.right_lightbors = end_rects[j];
}else{
armor_light.left_lightbors = end_rects[j];
armor_light.right_lightbors = end_rects[i];
}
// 计算每对灯条的装甲板
set_light(armor_light);
// 放入装甲板总数组
armor.push_back(armor_light);
}
}
// 此处为字符识别部分，为了降低算力，采用自研的识别算法
for(auto& cnt_string : armor){
cv::Mat ROI;
CropAndResize(cnt_string, end_canny, ROI);
std::vector<std::vector<cv::Point>> contours;
cv::findContours(ROI, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);
distinguish(cnt_string, contours);
}
// 将疑似装甲板全部绘制出来 并配上识别字符
for(auto& cnt : armor){
if(cnt.righting){
cv::putText(matImage, cnt.ID, cnt.armor_point[0], cv::FONT_HERSHEY_SIMPLEX, 3.0, cv::Scalar(255,0,0), 3);
}
for (int i = 0; i < 4; i++)
{
cv::line(matImage, cnt.armor_point[i], cnt.armor_point[(i+1)%4], cv::Scalar(0,0,254), 2);
}
}
}
imshow("Tracking", matImage);
// imshow("tae", end_canny);
waitKey(5);
CameraReleaseImageBuffer(hCamera, pbyBuffer);
}
}
CameraUnInit(hCamera);
free(g_pRgbBuffer);
return 0;
}

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xmake.lua Normal file
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set_project("test_cxx")
set_version("1.0.0")
set_languages("c++11")
set_optimize("fastest")
add_requires("opencv 4.x", {configs = {shared = true}})
add_rules("mode.debug", "mode.release")
target("test_cxx")
set_kind("binary")
add_files("src/*.cpp")
add_packages("opencv")
add_links("MVSDK")
--
-- If you want to known more usage about xmake, please see https://xmake.io
--
-- ## FAQ
--
-- You can enter the project directory firstly before building project.
--
-- $ cd projectdir
--
-- 1. How to build project?
--
-- $ xmake
--
-- 2. How to configure project?
--
-- $ xmake f -p [macosx|linux|iphoneos ..] -a [x86_64|i386|arm64 ..] -m [debug|release]
--
-- 3. Where is the build output directory?
--
-- The default output directory is `./build` and you can configure the output directory.
--
-- $ xmake f -o outputdir
-- $ xmake
--
-- 4. How to run and debug target after building project?
--
-- $ xmake run [targetname]
-- $ xmake run -d [targetname]
--
-- 5. How to install target to the system directory or other output directory?
--
-- $ xmake install
-- $ xmake install -o installdir
--
-- 6. Add some frequently-used compilation flags in xmake.lua
--
-- @code
-- -- add debug and release modes
-- add_rules("mode.debug", "mode.release")
--
-- -- add macro definition
-- add_defines("NDEBUG", "_GNU_SOURCE=1")
--
-- -- set warning all as error
-- set_warnings("all", "error")
--
-- -- set language: c99, c++11
-- set_languages("c99", "c++11")
--
-- -- set optimization: none, faster, fastest, smallest
-- set_optimize("fastest")
--
-- -- add include search directories
-- add_includedirs("/usr/include", "/usr/local/include")
--
-- -- add link libraries and search directories
-- add_links("tbox")
-- add_linkdirs("/usr/local/lib", "/usr/lib")
--
-- -- add system link libraries
-- add_syslinks("z", "pthread")
--
-- -- add compilation and link flags
-- add_cxflags("-stdnolib", "-fno-strict-aliasing")
-- add_ldflags("-L/usr/local/lib", "-lpthread", {force = true})
--
-- @endcode
--