205 lines
7.7 KiB
C++
205 lines
7.7 KiB
C++
/*
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* @Descripttion:
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* @version:
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* @Author: tjk
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* @Date: 2023-01-31 17:01:02
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* @LastEditors: Please set LastEditors
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* @LastEditTime: 2023-02-01 17:04:12
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*/
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#include <iostream>
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#include <string>
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#include <opencv2/opencv.hpp>
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using namespace std;
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//定义击打板点中心、距离
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typedef struct armor_point {
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cv::Point point;
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double dis;
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}armor_point;
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//画出旋转矩形
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void drawRotatedRect(cv::Mat& img, const cv::RotatedRect& rect, const cv::Scalar& color, int thickness)
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{
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cv::Point2f Vertex[4];
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rect.points(Vertex);
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for (int i = 0; i < 4; i++)
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{
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cv::line(img, Vertex[i], Vertex[(i + 1) % 4], color, thickness);
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}
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}
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double distance(cv::Point a, cv::Point b)
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{
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return sqrt((a.x - b.x) * (a.x - b.x) + (a.y - b.y) * (a.y - b.y));
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}
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int main()
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{
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//读取视频资源
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string video_path ="./vedio/blue2.mp4";
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cv::VideoCapture cap;
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cap.open(video_path);
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// cv::VideoWriter writer;
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// int coder = cv::VideoWriter::fourcc('M','J','P','G');//选择编码格式
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// double fps=25.0;//设置视频帧率
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// string filename="live.avi";//保存的视频文件名称
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// writer.open(filename,coder,fps,cv::Size(1350,1080),true);//创建保存视频文件的视频流
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// if(!writer.isOpened()){
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// cout<<"打开视频文件失败，请确认是否为合法输入"<<endl;
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// return -1;
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// }
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while (true) {
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cv::Mat src_frame;
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cap >> src_frame;
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cv::resize(src_frame, src_frame, cv::Size(640, 480));
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//读取视频、重新规定窗口大小
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vector<cv::Mat> bgr_images;
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cv::split(src_frame, bgr_images);
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cv::Mat b_src_img = bgr_images[0];
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//分离颜色通道、取蓝色通道进行图像模糊
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cv::blur(b_src_img, b_src_img, cv::Size(3, 3));
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//二值化
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cv::Mat threshold_img;
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cv::threshold(b_src_img, threshold_img, 130, 255, cv::THRESH_BINARY);
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//寻找轮廓
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vector<vector<cv::Point>> contours;
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cv::findContours(threshold_img, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);
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cv::drawContours(src_frame,contours,-1,cv::Scalar(0,0,255));
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cv::Point r_center; // R 的中心点
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vector<cv::RotatedRect> contours_min_rects;//所有轮廓的最小外接矩形
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vector<cv::RotatedRect> armor_min_rects;
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vector<cv::RotatedRect> target_min_rects;
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vector<cv::RotatedRect> r_min_rects; //R
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int r_index = -1;
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// int cnt = 0;
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for (unsigned int contour_index = 0; contour_index < contours.size(); contour_index++) {
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// //寻找最小旋转矩形,放进容器，顺便将面积过大的剔除,长宽比悬殊的剔除
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cv::RotatedRect minrect = minAreaRect(contours[contour_index]);
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cv::Rect rect = boundingRect(contours[contour_index]);
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//找到旋转矩形
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if (minrect.size.area() <= 6000.0 && minrect.size.area() > 150) {
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float width;
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float height;
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//判断长宽比 宽长高短
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if (minrect.size.width > minrect.size.height) {
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width = minrect.size.width;
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height = minrect.size.height;
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}
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else {
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width = minrect.size.height;
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height = minrect.size.width;
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}
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//如果宽高比小于5 ，再判断是不是中心R标 如果宽高比小于1.17 那么则是中心R标 注意此处中心R标的限定条件有中心的位置！
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if (width / height < 5) {
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contours_min_rects.push_back(minrect);
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if (minrect.size.area() > 200 && minrect.size.area() < 350 && minrect.center.y > 100) { // find R
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if (height / width > 0.85) {
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// R_minRects.push_back(minrect);
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r_center = minrect.center;
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cv::circle(src_frame, minrect.center, 15, cv::Scalar(5, 255, 100));
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r_index = contour_index;
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// std::cout<<cnt++<<std::endl;
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}
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}
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//如果面积不满足要求并且宽高比小于1.42 那么为最小旋转矩形
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else {
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if (minrect.size.area() > 300 && minrect.size.area() < 4350 && (height / width) < 0.7) {
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armor_min_rects.push_back(minrect);
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}
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}
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}
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}
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}
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bool find_ok = false;
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//计算两个最小旋转矩形之间的距离
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for (int i = 0; i < armor_min_rects.size() - 1; i++) {
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for (int j = i + 1; j < armor_min_rects.size(); j++) {
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double dis = distance(armor_min_rects[i].center, armor_min_rects[j].center);
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//如果距离小于100 那么将其视为可能的击打板
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if (dis < 100) {
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target_min_rects.push_back(armor_min_rects[i]);
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target_min_rects.push_back(armor_min_rects[j]);
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find_ok = true;
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break;
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}
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// std::cout<<dis<<std::endl;
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}
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if (find_ok) {
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break;
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}
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}
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//如果没有找到两个对应的最小矩形 那么重新进入while循环
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if (target_min_rects.size() != 2) {
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continue;
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}
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else {
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//找到两个最小矩形对应的点 由此找到中心点
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cv::RotatedRect rrect_in; //= target_minRects[0];
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cv::RotatedRect rrect_out;// = target_minRects[1];
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double dis1 = distance(r_center, target_min_rects[0].center);
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double dis2 = distance(r_center, target_min_rects[1].center);
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if (dis1 > dis2) {
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rrect_in = target_min_rects[1];
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rrect_out = target_min_rects[0];
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}
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else {
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rrect_in = target_min_rects[0];
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rrect_out = target_min_rects[1];
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}
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drawRotatedRect(src_frame, rrect_in, cv::Scalar(0, 250, 0), 1);
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drawRotatedRect(src_frame, rrect_out, cv::Scalar(0, 0, 255), 1);
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cv::Point target_center = cv::Point((int)((rrect_in.center.x + rrect_out.center.x) / 2), (int)((rrect_in.center.y + rrect_out.center.y) / 2));
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cv::circle(src_frame, target_center, 5, cv::Scalar(0, 0, 255), -1);
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cv::Point2f in_vet_points[4];
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cv::Point2f out_vet_points[4];
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//找到内外两个矩形的所有点 计算出所有点与中心的距离
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rrect_in.points(in_vet_points);
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rrect_out.points(out_vet_points);
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vector<armor_point> armor_points;
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for (int i = 0; i < 4; i++) {
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armor_point point;
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point.point = in_vet_points[i];
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point.dis = distance(target_center, in_vet_points[i]);
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armor_points.push_back(point);
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}
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for (int i = 0; i < 4; i++) {
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armor_point point;
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point.point = out_vet_points[i];
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point.dis = distance(target_center, out_vet_points[i]);
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armor_points.push_back(point);
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}
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//找到所有点与中心距离最近的四个点
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sort(armor_points.begin(), armor_points.end(), [](armor_point a, armor_point b) {return a.dis < b.dis; });
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for (int i = 0; i < 4; i++)
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{
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cv::circle(src_frame, armor_points[i].point, 3, cv::Scalar(255, 0, 255), -1);
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}
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int buff_run_radius = (int)distance(r_center, target_center);
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cv::circle(src_frame, r_center, buff_run_radius, cv::Scalar(55, 110, 255), 1);
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}
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// cv::resize(src_frame,src_frame,cv::Size(1350,1080));
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// writer.write(src_frame);//把图像写入视频流
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cv::imshow("src_img", src_frame);
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cv::imshow("threshold_img",threshold_img);
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if (cv::waitKey(0) == 'q') {
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break;
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}
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}
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// writer.release();
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cap.release();
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return 0;
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}
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