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主函数优化检测，test为特征检测模块

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This commit is contained in:
Luo Yufei
2026-06-18 20:40:24 +08:00
parent b8d3598708
commit d3cc18b15b
2 changed files with 82 additions and 36 deletions
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118
src/main.cpp
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@@ -5,6 +5,7 @@
#include "opencv2/highgui/highgui.hpp" #include "opencv2/highgui/highgui.hpp"
#include <stdio.h> #include <stdio.h>
#include <vector> #include <vector>
#include <cmath>
#include <algorithm> #include <algorithm>
#include <map> #include <map>
#include <string> #include <string>
@@ -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 // 长边拉长函数
cv::RotatedRect stretchLongSide(const cv::RotatedRect& rect, float scale) { cv::RotatedRect stretchLongSide(const cv::RotatedRect& rect, float scale) {
cv::RotatedRect result = rect; cv::RotatedRect result = rect;
@@ -89,8 +102,8 @@ void points_exchange(Point2f points[4]) {
// 装甲板计算函数 // 装甲板计算函数
void set_light(lightbors& armor_light){ void set_light(lightbors& armor_light){
armor_light.left_lightbors = stretchLongSide(armor_light.left_lightbors, 2.2f); armor_light.left_lightbors = stretchLongSide(armor_light.left_lightbors, 2.4f);
armor_light.right_lightbors = stretchLongSide(armor_light.right_lightbors, 2.2f); armor_light.right_lightbors = stretchLongSide(armor_light.right_lightbors, 2.4f);
// 获取角点并放进数组内部 // 获取角点并放进数组内部
Point2f left_points[4]; Point2f left_points[4];
Point2f right_points[4]; Point2f right_points[4];
@@ -300,6 +313,7 @@ int main(){
CameraSetAeState(hCamera, false); CameraSetAeState(hCamera, false);
setStatues = CameraSetExposureTime(hCamera, 3000); setStatues = CameraSetExposureTime(hCamera, 3000);
CameraSetGain(hCamera, 100, 70, 50); CameraSetGain(hCamera, 100, 70, 50);
// CameraSetSaturation(hCamera, 200);
// CameraGetExposureLineTime(hCamera, pfExposureTime); // CameraGetExposureLineTime(hCamera, pfExposureTime);
// printf("compuse = %lf", *pfExposureTime); // printf("compuse = %lf", *pfExposureTime);
printf("statue = %d\n", setStatues); printf("statue = %d\n", setStatues);
@@ -329,17 +343,24 @@ int main(){
cv::Mat grayImage; cv::Mat grayImage;
cv::cvtColor(matImage, grayImage, cv::COLOR_BGR2GRAY); cv::cvtColor(matImage, grayImage, cv::COLOR_BGR2GRAY);
cv::Mat endImage; 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(grayImage, endImage, 4, 255, cv::THRESH_TOZERO);
cv::threshold(endImage, endImage, 10, 255, cv::THRESH_TOZERO_INV); cv::threshold(endImage, endImage, 10, 255, cv::THRESH_TOZERO_INV);
cv::Mat reduceguss; cv::GaussianBlur(endImage, grayImage, cv::Size(5, 5), 0);
cv::GaussianBlur(endImage, reduceguss, cv::Size(5, 5), 0); cv::threshold(grayImage, endImage, 10, 0, cv::THRESH_TRUNC);
cv::Mat process; cv::threshold(endImage, grayImage, 2, 255, cv::THRESH_BINARY);
cv::threshold(reduceguss, process, 10, 0, cv::THRESH_TRUNC); cv::Canny(grayImage, endImage, 120, 200);
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 /* 此内容为灯条检测部分
作用为测试灯条检测如何编写 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 r = channels[2];
cv::Mat mask; cv::Mat mask;
cv::threshold(r, mask, 150, 255, cv::THRESH_BINARY); cv::threshold(r, mask, 150, 255, cv::THRESH_BINARY);
cv::Mat mask3c; // cv::Mat kernel = getStructuringElement(MORPH_RECT, Size(5, 5));
cv::cvtColor(mask, mask3c, cv::COLOR_GRAY2BGR); // dilate(mask, r, kernel);
std::vector<std::vector<cv::Point>> counters; std::vector<std::vector<cv::Point>> counters;
cv::findContours(mask, counters, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE); cv::findContours(mask, counters, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);
std::vector<cv::RotatedRect> end_rects; std::vector<cv::RotatedRect> end_rects;
@@ -359,20 +380,27 @@ int main(){
for(auto& cnt : counters){ for(auto& cnt : counters){
cv::RotatedRect rotRect = cv::minAreaRect(cnt); cv::RotatedRect rotRect = cv::minAreaRect(cnt);
// 面积检测筛选
float area = rotRect.size.width * rotRect.size.height; float area = rotRect.size.width * rotRect.size.height;
if (area < 50 || area > 9000) continue; if (area < 50 || area > 9000) continue;
// 灯条比例筛选
float width = std::min(rotRect.size.width, rotRect.size.height); float width = std::min(rotRect.size.width, rotRect.size.height);
float height = std::max(rotRect.size.width, rotRect.size.height); float height = std::max(rotRect.size.width, rotRect.size.height);
float ratio = height / width; 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); end_rects.push_back(rotRect);
cv::Point2f pts[4]; cv::Point2f pts[4];
rotRect.points(pts); rotRect.points(pts);
// for (int i = 0; i < 4; i++) for (int i = 0; i < 4; i++)
// { {
// cv::line(result, pts[i], pts[(i+1)%4], cv::Scalar(0,255,0), 2); 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 // 灯条配对逻辑
for(size_t i = 0; i < end_rects.size()-1; i++){ for(size_t i = 0; i < end_rects.size()-1; i++){
for(size_t j = i + 1; j < end_rects.size(); j++){ for(size_t j = i + 1; j < end_rects.size(); j++){
/* /*
***** 灯条匹配逻辑 ****** ***** 灯条匹配逻辑 ******
*/ */
// 倾斜角度偏差检测 // 倾斜角度偏差检测
float angle_TF = end_rects[i].angle - end_rects[j].angle; float angle_TF = getright_angle(end_rects[i]) - getright_angle(end_rects[j]);
if (fabs(angle_TF) > 6)continue; if (fabs(angle_TF) > 8)continue;
// 灯条距离与灯条长度比值检测 // 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 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 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 getlight = (first_max + second_max) / 2;
float distance_TF = std::fabs(getheight) / getlight; float distance_TF = getheight / getlight;
if (distance_TF > 2.9 || distance_TF < 2.0)continue; 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 ***** ***** 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 // 装甲板清理步骤，将所有共线装甲板清楚
for(auto& cnt_string : armor){ for(size_t i = 0; i+2 < armor.size(); ++i){
cv::Mat ROI;
CropAndResize(cnt_string, end_canny, ROI);
std::vector<std::vector<cv::Point>> contours; lightbors& first = armor[i];
cv::findContours(ROI, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE); lightbors& second = armor[i+1];
distinguish(cnt_string, contours); 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<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 // 将疑似装甲板全部绘制出来 并配上识别字符
for(auto& cnt : armor){ for(auto& cnt : armor){
if(cnt.righting){ // if(cnt.righting){
cv::putText(matImage, cnt.ID, cnt.armor_point[0], cv::FONT_HERSHEY_SIMPLEX, 3.0, cv::Scalar(255,0,0), 3); // 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++) 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); 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("Tracking", matImage);
// imshow("tae", end_canny); imshow("tae", mask);
waitKey(5); waitKey(5);

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src/test.cpp Normal file
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