RM装甲板识别Qt ubuntu20.04 C++ OpenCV4.5.4
0 前言
综合考虑之后，我还是做出了离开RM的决定，但我不会放弃我在计算机视觉上学到的东西，我会在其他的地方继续发光，这里把我使用传统视觉做的装甲板识别（梯队考核任务）分享给大家，鉴于本人水平的缘故，多有瑕疵和纰漏，日后或许会使用卷积神经网络再写一个识别算法。
1 介绍文档
1.1 文件说明
1.1.1 main.cpp
此文件的内容包括装甲板识别的主要内容，并附有步骤的注释。
1.1.2 Armor1Function.cpp
此文件的内容是装甲板识别的三个函数，作用分别是加入限幅滤波防止其他装甲板干扰、辅助筛选装甲板、和输出ROI区域。
1.1.3 commen.h
存放了头文件和一些参数的设定。
1.2 装甲板识别思路
1.2.1 进行图像的预处理
转HSV、二值化、模糊/膨胀处理。
1.2.2 确定装甲板位置
首先从面积上筛选轮廓，再从灯条长宽比上来筛选轮廓，同时输出装甲板中心位置。
1.2.3 输出图像
输出二值化图像、输出ROI区域、输出装甲板定位图像。
1.3 对应的任务完成情况
1.3.1 处理视频
视频时长35秒，截取与b站，是两段视频的剪辑融合，便于更好的测试识别算法的精确性。
1.3.2 输出二值化图像
将处理后的二值化图像输出成与原视频大小一致的视频，窗口名字为“二值化”。
1.3.3 提取ROI
将提取的ROI输出成与原视频大小一致的视频，窗口名字为“ROI”。
1.3.4 输出装甲板中心坐标
实时在终端输出装甲板中心，在视频结束后输出Over。
1.3.5 代码注释
代码注释较为丰富，且格式一致。
1.4 效果截图
2 源代码
Armor.pro
TEMPLATE = app
CONFIG += console c++11
CONFIG -= app_bundle
CONFIG -= qt
SOURCES += \
ArmorFunction.cpp \
main.cpp
INCLUDEPATH += /usr/local/include \
/usr/local/include/opencv4
LIBS += /usr/local/lib/*.so \
HEADERS += \
commen.h
Armor1.pro.user
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ArmorFunction.cpp
#include"commen.h"
//为了防止有其他装甲板干扰，使得算法可以追踪，加入限幅滤波
filter_type filter(filter_type effective_value, filter_type new_value, filter_type delat_max)
{
if ( ( new_value - effective_value > delat_max ) || ( effective_value - new_value > delat_max ))
{
new_value=effective_value;
return effective_value;
}
else
{
new_value=effective_value;
return new_value;
}
}
// 为辅助筛选装甲板，提高算法运行速度，做一次筛选预处理
RotatedRect& adjustRec(cv::RotatedRect& rec, const int mode)
{
using std::swap;
float& width = rec.size.width;
float& height = rec.size.height;
float& angle = rec.angle;
if (mode == WIDTH_GREATER_THAN_HEIGHT)
{
if (width < height)
{
swap(width, height);
angle += 90.0;
}
}
while (angle >= 90.0) angle -= 180.0;
while (angle < -90.0) angle += 180.0;
if (mode == ANGLE_TO_UP)
{
if (angle >= 45.0)
{
swap(width, height);
angle -= 90.0;
}
else if (angle < -45.0)
{
swap(width, height);
angle += 90.0;
}
}
return rec;
}//筛去竖着的轮廓
//输出ROI
void ROIimg(Mat imgOriginal, int x, int y)
{
//选取ROI
//创造一个空白图框
Mat backGround = Mat::zeros(imgOriginal.size(),CV_8UC3);
//设置选取位置
vector<Rect> rectROI;
Rect rect1(x-30, y-30, 60, 60);
//截取
Mat ROI1 = imgOriginal(rect1);
rectROI.push_back(rect1);
for(int i = 0; i < rectROI.size(); i++)
{
imgOriginal(rectROI[i]).copyTo(backGround(rectROI[i]));
}
//展示ROI
imshow("ROI", backGround);
}
CMakeLists.txt.user
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commen.h
#ifndef COMMEN_H
#define COMMEN_H
#include main.cpp
#include"commen.h"
//为了防止有其他装甲板干扰，使得算法可以追踪，加入限幅滤波
filter_type filter(filter_type effective_value, filter_type new_value, filter_type delat_max);
// 为辅助筛选装甲板，提高算法运行速度，做一次筛选预处理
RotatedRect& adjustRec(cv::RotatedRect& rec, const int mode);
//输出ROI
void ROIimg(Mat imgOriginal, int x, int y);
int main()
{
//植入随机种子，利用彩色图框，更容易察觉识别位置的变化
srand(time(NULL));
VideoCapture capture("/home/dahazi/Desktop/test_armor3.avi");
while(1)
{
//第一步，导入图像
Mat imgOriginal;
capture >> imgOriginal;
if (imgOriginal.empty())
{
cout << "Over" << endl;
return -1;
}
//第二步，转HSV图像，重新合并两通道，为了方便后面寻找图像中所有的轮廓
Mat imgHSV;
vector<Mat> hsvSplit;
cvtColor(imgOriginal, imgHSV, COLOR_BGR2HSV);//将RGB转换为HSV，便于识别
split(imgHSV, hsvSplit);
equalizeHist(hsvSplit[2], hsvSplit[2]);
merge(hsvSplit, imgHSV);//重新合并
//第三步，图像二值化处理，摒弃环境光干扰
Mat thresHold;
threshold(hsvSplit[2],thresHold,240,245,THRESH_BINARY);
//第四步，模糊/膨胀处理，让图像变得圆润
blur(thresHold, thresHold, Size(3,3));
Mat element = getStructuringElement(MORPH_ELLIPSE,Size(3,3));//膨胀
dilate(thresHold, element, element);
imshow("二值化", thresHold);
//第五步，开始寻找轮廓
vector<RotatedRect> vc;
vector<RotatedRect> vRec;
vector<vector<Point>> Light_Contour;// 发现的轮廓
findContours(element.clone(),Light_Contour, RETR_EXTERNAL,CHAIN_APPROX_SIMPLE);
//第六步，从面积上选轮廓
for (int i = 0;i < Light_Contour.size();i++)
{
//求轮廓面积
float Light_Contour_Area = contourArea(Light_Contour[i]);
//去除较小轮廓fitllipse的限制条件
if (Light_Contour_Area < 15 || Light_Contour[i].size() <= 10)
continue;
// 用椭圆拟合区域得到外接矩形
RotatedRect Light_Rec = fitEllipse(Light_Contour[i]);
Light_Rec = adjustRec(Light_Rec, ANGLE_TO_UP);
if (Light_Rec.angle > 10 )
continue;
// 长宽比和轮廓面积比限制
if (Light_Rec.size.width / Light_Rec.size.height > 2
|| Light_Contour_Area / Light_Rec.size.area() < 0.68)
continue;
// 扩大灯柱的面积
Light_Rec. size.height *= 1.1;
Light_Rec.size.width *= 1.1;
vc.push_back(Light_Rec);
}
//第七步，从灯条长宽比上来筛选轮廓
int x,y;
for (size_t i = 0; i < vc.size(); i++)
{
for (size_t j = i + 1; (j < vc.size()); j++)
{
//判断是否为相同灯条
float Contour_angle = abs(vc[i].angle - vc[j].angle); //角度差
if (Contour_angle >= 7)
continue;
//长度差比率
float Contour_Len1 = abs(vc[i].size.height - vc[j].size.height) / max(vc[i].size.height, vc[j].size.height);
//宽度差比率
float Contour_Len2 = abs(vc[i].size.width - vc[j].size.width) / max(vc[i].size.width, vc[j].size.width);
if (Contour_Len1 > 0.25 || Contour_Len2 > 0.25)
continue;
RotatedRect ARMOR;
ARMOR.center.x = (vc[i].center.x + vc[j].center.x) / 2.; //x坐标
ARMOR.center.y = (vc[i].center.y + vc[j].center.y) / 2.; //y坐标
ARMOR.angle = (vc[i].angle + vc[j].angle) / 2.; //角度
float nh, nw, yDiff, xDiff;
nh = (vc[i].size.height + vc[j].size.height) / 2; //高度
// 宽度
nw = sqrt((vc[i].center.x - vc[j].center.x) * (vc[i].center.x - vc[j].center.x) + (vc[i].center.y - vc[j].center.y) * (vc[i].center.y - vc[j].center.y));
float ratio = nw / nh; //匹配到的装甲板的长宽比
xDiff = abs(vc[i].center.x - vc[j].center.x) / nh; //x差比率
yDiff = abs(vc[i].center.y - vc[j].center.y) / nh; //y差比率
if (ratio < 1.0 || ratio > 5.0 || xDiff < 0.5 || yDiff > 2.0)
continue;
ARMOR.size.height = nh;
ARMOR.size.width = nw;
vRec.push_back(ARMOR);
Point2f point1;
Point2f point2;
point1.x=vc[i].center.x;point1.y=vc[i].center.y+30;
point2.x=vc[j].center.x;point2.y=vc[j].center.y-30;
int xmidnum = (point1.x+point2.x)/2;
int ymidnum = (point1.y+point2.y)/2;
//此时轮廓已筛选完毕，为了方便输出，我们将得到的数据就此输出处理
ARMOR.center.x = filter(ARMOR.center.x,xmidnum, DELAT_MAX);
ARMOR.center.y = filter(ARMOR.center.y,ymidnum, DELAT_MAX);
//随机颜色拟合线
Scalar color(rand() & 255, rand() & 255, rand() & 255);
rectangle(imgOriginal, point1,point2, color, 2);//将装甲板框起来
line(imgOriginal, Point(ARMOR.center.x - 36, ARMOR.center.y - 36),
Point(ARMOR.center.x + 36, ARMOR.center.y + 36), Scalar(100, 25, 150), 5);
line(imgOriginal, Point(ARMOR.center.x + 36, ARMOR.center.y - 36),
Point(ARMOR.center.x - 36, ARMOR.center.y + 36), Scalar(100, 25, 150), 5);
line(imgOriginal, Point(ARMOR.center.x - 10, ARMOR.center.y - 10),
Point(ARMOR.center.x + 10, ARMOR.center.y + 10), Scalar(255, 255, 0), 5);
line(imgOriginal, Point(ARMOR.center.x + 10, ARMOR.center.y - 10),
Point(ARMOR.center.x - 10, ARMOR.center.y + 10), Scalar(255, 255, 0), 5);
circle(imgOriginal,ARMOR.center,7.5,Scalar(0, 0, 255),5);//在装甲板中心画一个圆
cout << "中心点位置" << "["<<ARMOR.center.x << ", "<< ARMOR.center.y << "]" << endl;
x = ARMOR.center.x, y = ARMOR.center.y;
}
}
ROIimg(imgOriginal, x, y);
imshow("Armor", imgOriginal);
waitKey(30);
}
return 0;
}
3演示视频
【RM机甲大师】英雄机器人独立悬挂与自适应悬挂性能表现对比
视频的作者与我无关。
最后的话
我就到这里了，希望天下所有做技术的人能秉持本心，也希望每一个真正想做技术的人都能有自己的平台，有共同信仰的人陪伴你左右。