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ArmorDetector.cpp
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ArmorDetector.cpp
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/*----------------------------
* @file： ArmorDetector.cpp
* @date： 2020-7-10
* @brief： 装甲板识别 源文件
* @Author： 谭明瑞
*----------------------------
*/
#include"ArmorDetector.h"
using namespace cv;
using namespace std;
/**********************
funtion： 绘制包围装甲板的旋转矩形
parameter：旋转矩形vector，输入的原图像
return: 无
**********************/
void drawline(vector<RotatedRect> rec, Mat img)
{
for (int i = 0; i < rec.size(); i++)
{
Point2f p[4];
rec[i].points(p);
line(img, p[0], p[1], Scalar(0, 255, 0), 2, 8, 0);
line(img, p[1], p[2], Scalar(0, 255, 0), 2, 8, 0);
line(img, p[2], p[3], Scalar(0, 255, 0), 2, 8, 0);
line(img, p[3], p[0], Scalar(0, 255, 0), 2, 8, 0);
}
}
/**********************
funtion： 矫正矩形
parameter：旋转矩形
return: 矫正后的矩形
**********************/
RotatedRect Detect::adjustRec(RotatedRect& rec) {
double width = rec.size.width;
double height = rec.size.height;
double angle = rec.angle;
while (angle >= 90.0) angle -= 180.0;
while (angle < -90.0) angle += 180.0;
if (angle >= 45.0) {
swap(width, height);
angle -= 90.0;
}
else if (angle < -45.0) {
swap(width, height);
angle += 90.0;
}
return rec;
}
/**********************
funtion： 识别装甲板
parameter：原图像
return: 无
**********************/
void Detect::process(Mat&src){
//src.convertTo(src, -1, 0.45, -20);//降低亮度
vector<RotatedRect>lightInfos; //用于储存轮廓拟合得到的旋转矩形
double MaxVal;
Mat hsvImg;
Mat splitImg;
Mat binImg;
Mat temImg;
vector<Mat> channels;
cvtColor(src, hsvImg, COLOR_BGR2HSV);
//imshow("hsvImg", hsvImg); waitKey(0);
split(hsvImg, channels); //分离色彩通道
int lowH, lowS, lowV;
int highH, highS, highV;
//根据敌方颜色选择不同的阈值范围
if (enemy_color==BLUE) {
splitImg = channels[2];
lowH = 80;
lowS = 60;
lowV = 100;
highH = 150;
highS = 255;
highV = 255;
minMaxLoc(splitImg, 0, &MaxVal, 0, 0); //获得channels[2]最大值的指针
threshold(splitImg, splitImg, MaxVal*0.98, 255, CV_THRESH_BINARY); //筛选出亮度较高的一部分图像
medianBlur(splitImg, splitImg, 3); //消除图像中孤立的噪声点
Mat kernel = getStructuringElement(MORPH_RECT, Size(5, 5));
dilate(splitImg, splitImg, kernel);
hsvImg.copyTo(temImg, splitImg);
//imshow("temImg", temImg); waitKey(0);
}
else if (enemy_color == RED) {
splitImg = channels[1];
lowH = 0;
lowS = 0;
lowV = 110;
highH = 255;
highS = 255;
highV = 255;
minMaxLoc(splitImg, 0, &MaxVal, 0, 0); //获得channels[1]最大值的指针
threshold(splitImg, splitImg, MaxVal*0.85, 255, CV_THRESH_BINARY); //筛选出亮度较高的一部分图像
medianBlur(splitImg, splitImg, 3); //消除图像中孤立的噪声点
Mat kernel = getStructuringElement(MORPH_RECT, Size(4, 4));
dilate(splitImg, splitImg, kernel, Point(-1, -1), 2);
hsvImg.copyTo(temImg, splitImg);
//imshow("temImg", temImg); waitKey(0);
}
inRange(temImg, Scalar(lowH, lowS, lowV), Scalar(highH, highS, highV), binImg); //二值化
//imshow("binImg", binImg); waitKey(25);
vector<vector<Point>>contours;
findContours(binImg.clone(), contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE); //在二值图像中寻找轮廓
lightInfos.clear();
for (const auto&contour : contours) {
double area0 = contourArea(contour);
//去掉极小的轮廓
if (contour.size() <= 5 || area0 < 10) {
continue;
}
RotatedRect litRect = fitEllipse(contour); //拟合目标区域成为椭圆，返回一个旋转矩形
litRect = adjustRec(litRect); //矫正矩形
double w_hRatio = litRect.size.width / litRect.size.height; //宽高比
double convex = area0 / litRect.size.area(); //凸度
//去掉宽高比过大及凸度过小的一部分轮廓
if ((w_hRatio > 1.0) || (convex < 0.5)) {
continue;
}
//适当扩大灯条的范围
litRect.size.width *= 1.2;
litRect.size.height *= 1.2;
if ((litRect.size.height > 10 && (litRect.size.height < 150) && (litRect.angle < 45 || litRect.angle>135))) {
lightInfos.push_back(litRect); //将轮廓拟合得到的旋转矩形存入lightInfos
}
}
vector<RotatedRect> armorRects; //用于储存包围装甲板的旋转矩形
RotatedRect armorRect; //定义包围装甲板的旋转矩形
armorRects.clear();
//将灯条按照灯条中心的x坐标由小到大排序
sort(lightInfos.begin(), lightInfos.end(), [](const RotatedRect& rec_1, const RotatedRect& rec_2)
{ return rec_1.center.x < rec_2.center.x;
});
//开始遍历轮廓拟合得到的旋转矩形，获得包围装甲板的旋转矩形
for (size_t i = 0; i < lightInfos.size(); i++)
{
for (size_t j = i + 1; j < lightInfos.size(); j++)
{
const RotatedRect& lightLeft = lightInfos[i];
const RotatedRect& lightRight = lightInfos[j];
double heightDiff = abs(lightLeft.size.height - lightRight.size.height); //高度差
double widthDiff = abs(lightLeft.size.width - lightRight.size.width); //宽度差
double angleDiff = abs(lightLeft.angle - lightRight.angle); //角度差
double yDiff = abs(lightLeft.center.y - lightRight.center.y); //y坐标之差
double xDiff = abs(lightLeft.center.x - lightRight.center.x); //x坐标之差
double meanheight = (lightLeft.size.height + lightRight.size.height) / 2; //平均高度
double yDiffRatio = yDiff / meanheight; //y坐标差比率
double xDiffRatio = xDiff / meanheight; //x坐标差比率
double dist = sqrt((lightLeft.center.x - lightRight.center.x)*(lightLeft.center.x - lightRight.center.x) + (lightLeft.center.y - lightRight.center.y)*(lightLeft.center.y - lightRight.center.y)); //距离
double distRatio = dist / meanheight; //距离差比率
//float heightDiff_ratio = heightDiff / max(lightLeft.size.height, lightRight.size.height); //高度差比率
//根据包围装甲板的旋转矩形的特征进行筛选
if (angleDiff > 8 || xDiffRatio < 0.5 || yDiffRatio>0.7 || distRatio > 3 || distRatio < 1)
continue;
//获得包围装甲板的旋转矩形的中心位置，角度，高度，宽度
armorRect.center.x = (lightLeft.center.x + lightRight.center.x) / 2;
armorRect.center.y = (lightLeft.center.y + lightRight.center.y) / 2;
armorRect.angle = (lightLeft.angle + lightRight.angle) / 2;
if (180 - angleDiff < 10) { armorRect.angle += 90; }
armorRect.size.height = (lightLeft.size.height + lightRight.size.height) / 2;
armorRect.size.width = sqrt((lightLeft.center.x - lightRight.center.x)*(lightLeft.center.x - lightRight.center.x) + (lightLeft.center.y - lightRight.center.y)*(lightLeft.center.y - lightRight.center.y));
//矫正使矩形框的宽度大于或等于高度
double rec_H = armorRect.size.height;
double rec_W = armorRect.size.width;
if (rec_H < rec_W)
{
armorRect.size.height = rec_H;
armorRect.size.width = rec_W;
}
else
{
armorRect.size.height = rec_W;
armorRect.size.width = rec_H;
}
armorRects.emplace_back(armorRect); //将包围装甲板的旋转矩形存入armorRects中
}
}
if (armorRects.empty())
cout << "No Armor!" << endl;
//绘制包围装甲板的旋转，显示装甲板识别图
drawline(armorRects, src);
namedWindow("装甲板识别图", 0);
imshow("装甲板识别图", src);
waitKey(20);
}