机器视觉-角点检测算法

基于OpenMV硬件平台

识别原理：

1.寻找直线

2.计算相交直线的交点坐标

3.判断直线是否垂直

实验效果：

实验代码：

import sensor, image, time

sensor.reset()

sensor.set_pixformat(sensor.RGB565)

sensor.set_framesize(sensor.QQVGA)

clock = time.clock()

while(True):

    clock.tick()

    img = sensor.snapshot()

    lines = img.find_lines(threshold = 1000, theta_margin = 25, rho_margin = 25)

    for i in range(0,len(lines)-1):

        for j in range(i+1,len(lines)):

            ax1 = lines[i].x1()

            ay1 = lines[i].y1()

            ax2 = lines[i].x2()

            ay2 = lines[i].y2()

            if(ax1 == ax2):

                ax1 = ax1 + 0.01

            k0 = (ay2 - ay1)/(ax2 - ax1)      # 第一条直线斜率

            b0 = ay1 - k0*ax1                 # 第一条直线截距

            bx1 = lines[j].x1()

            by1 = lines[j].y1()

            bx2 = lines[j].x2()

            by2 = lines[j].y2()

            if(bx1 == bx2):

                bx1 = bx1 + 0.01

            k1 = (by2 - by1)/(bx2 - bx1)      # 第二条直线斜率

            b1 = by1 - k1*bx1                 # 第二条直线截距

            if(k0 == k1):

                k0 = k0 + 0.1

            # 计算角点坐标

            intersectionx = (b1-b0)/(k0-k1)

            intersectiony = k0*intersectionx + b0

            img.draw_cross(int(intersectionx), int(intersectiony),color = (0, 255, 0))

            # 判断是否垂直

            kk = float(k0) * float(k1)

            if(kk > -1.3 and kk < -0.7 ):

                img.draw_circle(int(intersectionx), int(intersectiony),10,color = (255, 0, 0))

    for l in lines:

        img.draw_line(l.line(), color = (255, 0, 255))

    print("FPS %f" % clock.fps())