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广州学院代码

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  1. 1. 图像预处理部分
  2. 2. 寻找R标
  3. 3. 写creatTrackBar进行调参

华南理工大学广州学院能量机关

图像预处理部分
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//图像预处理部分
switch (_my_color) {
  case uart::RED: {
    // my_color 为红色，则处理红色的情况 灰度图与 RGB 同样做红色处理
    cv::subtract(split_img_[2], split_img_[0], bin_img_color_);  // r-b
    }
   case uart::BLUE: {
    // my_color为蓝色，则处理蓝色的情况 灰度图与RGB同样做蓝色处理
    cv::subtract(split_img_[0], split_img_[2], bin_img_color_);
    }
}
 cvtColor(_input_img, gray_img_, cv::COLOR_BGR2GRAY);
 average_th_ = static_cast<int>((buff_config_.param.RED_BUFF_GRAY_TH + buff_config_.param.BLUE_BUFF_GRAY_TH) * 0.5);
 cv::threshold(gray_img_, bin_img_gray_, average_th_, 255, cv::THRESH_BINARY);
bitwise_or( bin_img_gray_,bin_img_color_,bin_img_);
morphologyEx(bin_img_, bin_img_, cv::MORPH_DILATE, ele_);
寻找R标
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// 计算圆心大概位置
 delta_height_point_ = current_target_.deltaPoint();
 roi_global_center_  = current_target_.Armor().Rect().center - buff_config_.param.BIG_LENTH_R * delta_height_point_;

 // roi中心安全条件
 if (roi_global_center_.x < 0 || roi_global_center_.y < 0 || roi_global_center_.x > _input_src_img.cols || roi_global_center_.y > _input_src_img.rows) {
   if (roi_global_center_.x < 0) {
     roi_global_center_.x = 1;
   }
   if (roi_global_center_.y < 0) {
     roi_global_center_.y = 1;
   }
   if (roi_global_center_.x > _input_src_img.cols) {
     roi_global_center_.x = _input_src_img.cols - 1;
   }
   if (roi_global_center_.y > _input_src_img.rows - 1) {
     roi_global_center_.y = _input_src_img.rows - 1;
   }
 }

 // 画出假定圆心的roi矩形
 cv::RotatedRect roi_R(roi_global_center_, cv::Size(buff_config_.param.CENTER_R_ROI_SIZE, buff_config_.param.CENTER_R_ROI_SIZE), 0);
 cv::Rect roi = roi_R.boundingRect();

 // roi安全条件
 roi = roi_tool_.makeRectSafeTailor(_input_src_img, roi);

 // 截取roi大小的图像，并绘制截取区域
 result_img_ = roi_tool_.cutRoIRect(_input_bin_img, roi);
 roi_img_    = roi_tool_.cutRoIRect(_input_src_img, roi);
 is_circle_ = false;

 // 更新roi的中心点
 roi_local_center_ = cv::Point2f(roi_img_.cols * 0.5, roi_img_.rows * 0.5);

 // 查找轮廓
 cv::findContours(result_img_, contours_r_, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);

 fmt::print("[{}] 圆心目标遍历轮廓数量: {} \n", center_yellow, contours_r_.size());

 // 选择并记录合适的圆心目标
 for (size_t i = 0; i != contours_r_.size(); ++i) {
   if (contours_r_[i].size() < 6) {
     continue;
   }

   center_r_.inputParams(contours_r_[i], roi_img_);
   
   fmt::print("[{}] 矩形 {} 比例:{}\n", center_yellow, i, center_r_.aspectRatio());
   
   if (center_r_.aspectRatio() < buff_config_.param.CENTER_R_ASPECT_RATIO_MIN || center_r_.aspectRatio() > buff_config_.param.CENTER_R_ASPECT_RATIO_MAX) {
     continue;
   }
   
   fmt::print("[{}] 矩形 {} 面积:{}\n", center_yellow, i, center_r_.Rect().boundingRect().area());
   
   if (center_r_.Rect().boundingRect().area() < buff_config_.param.CENTER_R_AREA_MIN || center_r_.Rect().boundingRect().area() > buff_config_.param.CENTER_R_AREA_MAX) {
     continue;
   }
   
   fmt::print("[{}] Find center R target success !!!   ", center_yellow);
   fmt::print(" --》 矩形 {}  --》 Ratio: {} / Area: {} ", i, center_r_.aspectRatio(), center_r_.Rect().boundingRect().area());
   
   center_r_box_.push_back(center_r_);

   fmt::print("\n");
 }

 fmt::print("[{}] 符合比例条件的有: {}\n", center_yellow, center_r_box_.size());

 // 如果没有圆心目标，则退出
 if (center_r_box_.size() < 1) {
   fmt::print("[{}] 圆心为:假定圆心 \n", center_yellow);
   is_circle_       = false;
   center_r_point2f = roi_global_center_;


 } else {
   std::sort(center_r_box_.begin(), center_r_box_.end(), [](abstract_center_r::Center_R& c1, abstract_center_r::Center_R& c2) { return c1.centerDist() < c2.centerDist(); });

   fmt::print("[{}] 圆心为:真实圆心 \n", center_yellow);
   is_circle_       = true;
   center_r_point2f = center_r_box_[0].Rect().center + roi_R.boundingRect2f().tl();

 }

 // 清理容器
 center_r_box_.clear();
 contours_r_.clear();

 std::vector<abstract_center_r::Center_R>(center_r_box_).swap(center_r_box_);
 std::vector<std::vector<cv::Point>>(contours_r_).swap(contours_r_);
 return center_r_point2f;
 }
写creatTrackBar进行调参
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#ifndef RELEASE
    if (buff_config_.ctrl.IS_PARAM_ADJUSTMENT == 1) {
      std::string window_name = {"[basic_buff] bgrProcessing() -> trackbar"};

      cv::namedWindow(window_name);
      cv::createTrackbar("GRAY_TH_RED:", window_name, &buff_config_.param.RED_BUFF_GRAY_TH, 255, nullptr);
      cv::createTrackbar("COLOR_TH_RED:", window_name, &buff_config_.param.RED_BUFF_COLOR_TH, 255, nullptr);

      cv::imshow(window_name, trackbar_img_);
      fmt::print("[{}] BGR红色预处理调参面板已打开 \n", process_yellow);
    }

#endif  // !RELEASE