From d3cc18b15b8aaa70242f3cea10fde5715f716c52 Mon Sep 17 00:00:00 2001 From: lyf <169361657@qq.com> Date: Thu, 18 Jun 2026 20:40:24 +0800 Subject: [PATCH] =?UTF-8?q?=E4=B8=BB=E5=87=BD=E6=95=B0=E4=BC=98=E5=8C=96?= =?UTF-8?q?=E6=A3=80=E6=B5=8B=EF=BC=8Ctest=E4=B8=BA=E7=89=B9=E5=BE=81?= =?UTF-8?q?=E6=A3=80=E6=B5=8B=E6=A8=A1=E5=9D=97?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/main.cpp | 118 +++++++++++++++++++++++++++++++++++---------------- src/test.cpp | 0 2 files changed, 82 insertions(+), 36 deletions(-) create mode 100644 src/test.cpp diff --git a/src/main.cpp b/src/main.cpp index da22471..d615e8d 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -5,6 +5,7 @@ #include "opencv2/highgui/highgui.hpp" #include #include +#include #include #include #include @@ -26,6 +27,18 @@ struct lightbors }; +// 角度矫正函数(针对于Opencv矩形拟合的狗屎算法) +float getright_angle(const cv::RotatedRect& rect) { + float angle = rect.angle; // 总是 width 边的方向，∈[-90°, 0°] + if (rect.size.width < rect.size.height) + angle += 90.f; // 现在 angle 是 height 边（长边）的方向 + + // 归一化到 [0, 180) + if (angle < 0.f) angle += 180.f; // 例如 -10° → 170° + if (angle >= 180.f) angle -= 180.f; // 理论上不会超过 180，但可防万一 + return angle; +} + // 长边拉长函数 cv::RotatedRect stretchLongSide(const cv::RotatedRect& rect, float scale) { cv::RotatedRect result = rect; @@ -89,8 +102,8 @@ void points_exchange(Point2f points[4]) { // 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); + armor_light.left_lightbors = stretchLongSide(armor_light.left_lightbors, 2.4f); + armor_light.right_lightbors = stretchLongSide(armor_light.right_lightbors, 2.4f); // 获取角点并放进数组内部 Point2f left_points[4]; Point2f right_points[4]; @@ -300,6 +313,7 @@ int main(){ CameraSetAeState(hCamera, false); setStatues = CameraSetExposureTime(hCamera, 3000); CameraSetGain(hCamera, 100, 70, 50); + // CameraSetSaturation(hCamera, 200); // CameraGetExposureLineTime(hCamera, pfExposureTime); // printf("compuse = %lf", *pfExposureTime); printf("statue = %d\n", setStatues); @@ -329,17 +343,24 @@ int main(){ 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; 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; + cv::GaussianBlur(endImage, grayImage, cv::Size(5, 5), 0); + cv::threshold(grayImage, endImage, 10, 0, cv::THRESH_TRUNC); + cv::threshold(endImage, grayImage, 2, 255, cv::THRESH_BINARY); + cv::Canny(grayImage, endImage, 120, 200); + /* 此内容为灯条检测部分 作用为测试灯条检测如何编写 @@ -349,8 +370,8 @@ int main(){ 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); + // cv::Mat kernel = getStructuringElement(MORPH_RECT, Size(5, 5)); + // dilate(mask, r, kernel); std::vector> counters; cv::findContours(mask, counters, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE); std::vector end_rects; @@ -359,20 +380,27 @@ int main(){ for(auto& cnt : counters){ cv::RotatedRect rotRect = cv::minAreaRect(cnt); + // 面积检测筛选 float area = rotRect.size.width * rotRect.size.height; if (area < 50 || area > 9000) continue; + + // 灯条比例筛选 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; + if (ratio < 4 || ratio > 15) continue; + + // 灯条合理角度筛选 + if(getright_angle(rotRect) < 5 || getright_angle(rotRect) > 175)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); - // } + for (int i = 0; i < 4; i++) + { + cv::line(matImage, pts[i], pts[(i+1)%4], cv::Scalar(0,255,0), 2); + } } @@ -381,21 +409,22 @@ int main(){ // 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; + float angle_TF = getright_angle(end_rects[i]) - getright_angle(end_rects[j]); + if (fabs(angle_TF) > 8)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 getheight = sqrt(pow(end_rects[i].center.x - end_rects[j].center.x, 2)+pow(end_rects[i].center.y - end_rects[j].center.y, 2)); float getlight = (first_max + second_max) / 2; - float distance_TF = std::fabs(getheight) / getlight; - if (distance_TF > 2.9 || distance_TF < 2.0)continue; + float distance_TF = getheight / getlight; + if (distance_TF > 3.7 || distance_TF < 2.0)continue; + // if ((first_max / second_max) > 1.6 || (first_max / second_max) < 0.4)continue; /* ***** 灯条归位并定点 ***** @@ -419,22 +448,39 @@ int main(){ } } - // 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); + // 装甲板清理步骤，将所有共线装甲板清楚 + for(size_t i = 0; i+2 < armor.size(); ++i){ - std::vector> contours; - cv::findContours(ROI, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE); - distinguish(cnt_string, contours); - } + lightbors& first = armor[i]; + lightbors& second = armor[i+1]; + lightbors& third = armor[i+2]; + + cv::Point2f& first_position = first.right_lightbors.center; + cv::Point2f& second_left_position = second.left_lightbors.center; + cv::Point2f& second_right_position = second.right_lightbors.center; + cv::Point2f& third_position = third.left_lightbors.center; + + if(first_position == second_left_position && second_right_position == third_position){ + armor.erase(armor.begin() + (i+1)); + }else{continue;} + // } + + // // 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, endImage, ROI); + + // std::vector> 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); - } + // 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); @@ -443,7 +489,7 @@ int main(){ } imshow("Tracking", matImage); - // imshow("tae", end_canny); + imshow("tae", mask); waitKey(5); diff --git a/src/test.cpp b/src/test.cpp new file mode 100644 index 0000000..e69de29