opencv 学习随记
1. IplImage* 类型图像上的操作 CV1
1.1 标识字
CvFont myfont = cvFont(1, 2); sprintf(buffer, "mouse click at [%d,%d]", x, y); cvPutText(pImage, buffer, cvPoint(winX, winY), &myfont, cvScalar(255,0,0)); //标识字
1.2 画线 矩形 圆
cvLine(frame,
cvPoint(fliph(Mark.vertex[v1][0]),flipv(Mark.vertex[v1][1])),
cvPoint(fliph(Mark.vertex[v2][0]),flipv(Mark.vertex[v2][1])),
CV_RGB(255,255,0),1,8); //画线
cvRectangle(frame,
cvPoint(fliph(vx-1),flipv(vy+1)),
cvPoint(fliph(vx+1),flipv(vy-1)),
CV_RGB(0,255,255),1,8); // 画矩形点
cvCircle(frame,cvPoint(Mark.vertex[(2+orients_dir)%4][0],Mark.vertex[(2+orients_dir)%4][1]),
10,cvScalar(0,0,255)); //绘制mark位置
1.3 复制拷贝
IplImage* frame2 ;
frame2 = cvCloneImage(frame);
1.4 生成 灰度化处理
frame = cvLoadImage("./input/cmpCut41.jpg", CV_LOAD_IMAGE_UNCHANGED);
gray = cvCreateImage(cvSize(frame->width,frame->height),IPL_DEPTH_8U,1);
cvCvtColor(frame, gray, CV_RGB2GRAY);//灰度化
cvThreshold(gray,gray2,threshold,255,CV_THRESH_BINARY); // 灰度二值化 阀值100
1.5 转cv::Mat
cv::Mat mClearFrame2;
mClearFrame2 = cv::Mat(gray).clone(); // track
1.6 显示 cvShowImage
IplImage* frame;
cvNamedWindow( "testwindow", 1 );//zyh
cvShowImage("testwindow",frame); //zyh
1.7 读取摄像头 /视频 帧
CvCapture* capture;
// capture = cvCaptureFromCAM( camID );
capture = cvCaptureFromFile("capture2.avi");
cvSetCaptureProperty( capture, CV_CAP_PROP_FRAME_WIDTH, 640 );
cvSetCaptureProperty( capture, CV_CAP_PROP_FRAME_HEIGHT, 480 );
//cvSetCaptureProperty( capture, CV_CAP_PROP_FPS, 60 );
tFrame = cvQueryFrame( capture );//zyh
if ( !capture ) {
fprintf( stderr, "ERROR: capture is NULL \n" );
getchar();
return -1;
}
1.8 图像保存
char ImageName3[100];
sprintf(ImageName3,"%s%d%s", "/home/agv/QrProcess/QrCodeProcess/data/output/compensate/com",ii, ".jpg");//保存的图片名
IplImage CompensateImage =IplImage(mClearFrame2);
cvSaveImage(ImageName3, &CompensateImage);
2. cv::mat 图像操作 cv2
2.1 画圆 标字 画直线
cv::Mat GglobalMap;
cv::circle(GglobalMap,cvPoint( miu_SLAM.at<float>(0)+mapBasePosY,miu_SLAM.at<float>(1) + mapBasePosX),
10,CV_RGB(0,255,0),-1); //绘制mark位置
std::string text ="robotpos";
cv::putText(GglobalMap,text,cvPoint( miu_SLAM.at<float>(0)+mapBasePosY-20,miu_SLAM.at<float>(1) + mapBasePosX-20),
CV_FONT_HERSHEY_COMPLEX, 1, CV_RGB(255, 0, 0) );
//画robot方向
float startx = miu_SLAM.at<float>(0) ;float starty = miu_SLAM.at<float>(1) ;
float robotR =5.0; float robotAngle = miu_SLAM.at<float>(2) ;
float endx = startx+ robotR*cos(robotAngle) ;float endy=starty+ robotR*sin(robotAngle) ;
cv::line(MappingResult,
cvPoint(startx ,starty ),
cvPoint(endx,endy),
CV_RGB(0,0,0),1,8);
2.2 复制 copyTo clone
cv::Mat globalMap;
cv::resize(res,display,cv::Size(0,0),1.0,1.0,cv::INTER_CUBIC); // res插值像素增到 1.354倍
//创建合成矩形
cv::Mat composite = cv::Mat(display.rows,display.cols+globalMap.cols,CV_8UC3);
globalMap.copyTo(compositeRoi);
或
compositeRoi = globalMap.clone()
2.3 显示
cvNamedWindow( "testwindow", 1 );//zyh
cv::imshow("testwindow", globalMap);
2.4 视频操作 VideoCapture
#include "opencv2/opencv.hpp" using namespace cv; int main(int, char**) { VideoCapture cap(0); // open the default camera if(!cap.isOpened()) // check if we succeeded return -1; Mat edges; namedWindow("edges",1); for(;;) { Mat frame; cap >> frame; // get a new frame from camera cvtColor(frame, edges, CV_BGR2GRAY); GaussianBlur(edges, edges, Size(7,7), 1.5, 1.5); Canny(edges, edges, 0, 30, 3); imshow("edges", edges); if(waitKey(30) >= 0) break; } // the camera will be deinitialized automatically in VideoCapture destructor return 0; }
2.5 截图处理
frame = cvQueryFrame( capture );
mClearFrame = cv::Mat(frame).clone();
cv::Rect cutRect( 100, 200, 20, 50); // k矩形块
//cvShowImage("testwindow2",frame); //zyh
cutout = mClearFrame(cutRect).clone(); // rk矩形块
或
cv::Mat img = cv::imread("./2.png");
cv::Mat img_out;
Rect rect(0, 0, 200, 50);
img(rect).copyTo(img_out);
cv::imshow("show",img_out);
2.6 cv::mat 保存为图片
cv::Mat globalMap;
cv::imwrite("./globalmap_result.png",globalMap);
方法二：
先把 cv::Mat 转为 IplImage 再用 cvSaveImage 来保存，直接用 IplImage 可以直接强制类型转 cv::Mat 为 IplImage 数据类型。
cv::Mat matrixJprg = cv::imdecode(cv::Mat(data), 1);
IplImage qImg;
qImg = IplImage(matrixJprg); // cv::Mat -> IplImage
cvSaveImage("./out.jpg", &qImg);
3. string->int float long
//stdlib.h 中 /* Convert a string to a floating-point number. */ extern double atof (__const char *__nptr) /* Convert a string to an integer. */ extern int atoi (__const char *__nptr) /* Convert a string to a long integer. */ extern long int atol (__const char *__nptr)int ->string
std::string QRCodeLocalizer::int2str(int num)
{
std::stringstream ss;
ss << num;
std::string text = ss.str();
return text;
}
4.文件读取 变量 FileStorage
相关连接：http://www.cnblogs.com/summerRQ/articles/2524560.html
http://blog.sina.com.cn/s/blog_6a67b5c50100mpry.html
- //3-16 CvFileStorage结构，数据通过CxCore数据存储函数访问
- typedef struct CvFileStorage
- {
- ... //hidden fields
- }CvFileStorage;
<calibFile>./data/no_distortion_big.cal</calibFile> <cvCalibFile>./data/calibDataBoardCam.xml</cvCalibFile>
createMap( inputData, mapFile);
cv::FileStorage fs2(inputData[std::string("cvCalibFile")].c_str(), cv::FileStorage::READ);
cameraMatrix = cv::Mat::eye(3, 3, CV_64F);
distCoeffs = cv::Mat::zeros(8, 1, CV_64F);
//获取标定参数
fs2["Camera_Matrix"] >> cameraMatrix; //相机矩阵
fs2["Distortion_Coefficients"] >> distCoeffs; //畸变系数
cvCalibFile.xml
<?xml version="1.0"?>
<opencv_storage>
<read>"camera calibration by kint at 05.02.03"</read>
<imageCount>12</imageCount>
<cameraMatrix type_id="opencv-matrix">
<rows>3</rows>
<cols>3</cols>
<dt>d</dt>
<data>
5.0519443370436323e+02 0. 3.2083884160474554e+02 0.
5.0285768483869174e+02 2.3831697216475899e+02 0. 0. 1.</data></cameraMatrix>
<distCoeffs type_id="opencv-matrix">
<rows>5</rows>
<cols>1</cols>
<dt>d</dt>
<data>
-9.2216292456289706e-02 6.5000304572855785e-02
-6.3123997885573520e-04 3.2158869444328347e-03
5.7265487017375147e-02</data></distCoeffs>
</opencv_storage>
void QRCodeLocalizer::createMap( MapType &inputData, char * filename)
{
std::string line;
std::string startBraceEnd(">");
std::string endBraceStart("</");
std::ifstream infile(filename);
while (std::getline(infile, line))
{
bool readFine = false;
if(line.size() > 0 && line[0] == '<' && line[line.size()-1] == '>' )
{
std::size_t pSBE = line.find(startBraceEnd);
std::size_t pEBS = line.find(endBraceStart);
if( pSBE!=std::string::npos && pEBS!=std::string::npos && pSBE < pEBS)
{
std::string marker1 = line.substr(1,pSBE-1);
std::string marker2 = line.substr(pEBS+2,line.size()-pEBS-3);
if( marker1 == marker2 )
{
std::string content = line.substr(pSBE+1,pEBS-pSBE-1);
//cout<<"content '"<<content<<"' "<<endl;
inputData.insert( pair<string, string>(marker1, content) );
readFine = true;
}
}
}
if( readFine == true )
{
cout<<line<<" READ FINE "<<endl;
}
else
{
cout<<line<<" ERROR ERROR ERROR !!!!!!!!!!!!! "<<endl;
}
}
}
5 程序退出 exit()
函数名: exit()
所在头文件：stdlib.h
功 能: 关闭所有文件，终止正在执行的进程。
exit(1)表示异常退出.这个1是返回给操作系统的。
exit(x)（x不为0）都表示异常退出
exit(0)表示正常退出
exit()的参数会被传递给一些操作系统，包括UNIX,Linux,和MS DOS，以供其他程序使用。
stdlib.h: void exit(int status);
frame = cvQueryFrame( capture );
if ( frame==NULL ) {
cout<<"ERROR: capture is NULL /AVI finish \n"<<endl;
cv::imwrite("./globalmap_result.png",globalMap);
exit(0);
}
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~相关链接~~~~~~~~~~~~~~~~~~~~~~~
http://blog.csdn.net/lu597203933/article/details/16349965 Opencv2系列学习笔记1(图像的基本操作)
小村长技术blog http://blog.csdn.net/lu597203933
videocapture http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html?highlight=videocapture#videocapture
opencv2.3读写视频 http://www.360doc.com/content/12/0418/16/8353073_204677086.shtml