OpenCV学习实践(5) opencv代码学习实践:basic_thresholding_operations

0.功能

        对二值图像(灰度图)进行的5种阈值操作,每种效果如下:

    /* 0: Binary                    大于阈值为max_binary_value,小于为0
     1: Binary Inverted             与"Binary"相反
     2: Threshold Truncated         大于阈值被截断,其余保留
     3: Threshold to Zero           小于阈值设为0
     4: Threshold to Zero Inverted  大于阈值设为0
    */

        官方参考:https://docs.opencv.org/master/db/d8e/tutorial_threshold.html

1.工作空间准备

        为了使这个单一的cpp文件能够执行,进行如下操作.

mkdir -p opencv_hv/src 
cd opencv_hv/src 
catkin_create_pkg image_proc std_msgs roscpp rospy cv_bridge
cd ../..
gedit hv.launch

        在hv.launch文件中粘贴下述代码段,保存并关闭

<launch>
        <node pkg="image_processing" type="basic_thresholding_operations_node" name="basic_thresholding_operations" output="screen" />
</launch>

         工作空间结构如下:

# meng @ meng in ~/opencv_hv [22:28:30] 
$ tree           
.
├── hv.launch
└── src
    └── image_proc
        ├── CMakeLists.txt
        ├── include
        │   └── image_proc
        ├── package.xml
        └── src

5 directories, 3 files

2.程序准备与解读

        在/home/meng/opencv_hv/src/image_proc/src 文件夹下添加如下文件:

basic_thresholding_operations_node.cpp

#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include <iostream>
using namespace cv;
using std::cout;
int threshold_value = 0;
int threshold_type = 3;
int const max_value = 255;
int const max_type = 4;
int const max_binary_value = 255;
Mat src, src_gray, dst;
const char* window_name = "Threshold Demo";
const char* trackbar_type = "Type: \n 0: Binary \n 1: Binary Inverted \n 2: Truncate \n 3: To Zero \n 4: To Zero Inverted";
const char* trackbar_value = "Value";
static void Threshold_Demo( int, void* )
{
    /* 0: Binary                    大于阈值为max_binary_value,小于为0
     1: Binary Inverted             与"Binary"相反
     2: Threshold Truncated         大于阈值被截断,其余保留
     3: Threshold to Zero           小于阈值设为0
     4: Threshold to Zero Inverted  大于阈值设为0
    */
    threshold( src_gray, dst, threshold_value, max_binary_value, threshold_type );
    imshow( window_name, dst );
}
int main( int argc, char** argv )
{
    String imageName("stuff.jpg"); // by default
    if (argc > 1)
    {
        imageName = argv[1];
    }
    //src = imread( samples::findFile( imageName ), IMREAD_COLOR ); // Load an image
    src = imread("/home/meng/my_learning/opencv_test/data/stuff.jpg", IMREAD_COLOR ); // Load an image
    if (src.empty())
    {
        cout << "Cannot read the image: " << imageName << std::endl;
        return -1;
    }
    cvtColor( src, src_gray, COLOR_BGR2GRAY ); // Convert the image to Gray
    namedWindow("src_gray",WINDOW_AUTOSIZE );
    imshow("src_gray",src_gray);    
    namedWindow( window_name, WINDOW_AUTOSIZE ); // Create a window to display results
    createTrackbar( trackbar_type,
                    window_name, &threshold_type,
                    max_type, Threshold_Demo ); // Create a Trackbar to choose type of Threshold
    createTrackbar( trackbar_value,
                    window_name, &threshold_value,
                    max_value, Threshold_Demo ); // Create a Trackbar to choose Threshold value
    Threshold_Demo( 0, 0 ); // Call the function to initialize
    waitKey();
    return 0;
}

         同时修改/home/meng/opencv_hv/src/image_proc/CMakeLists.txt如下:

cmake_minimum_required(VERSION 3.0.2)
project(image_processing)

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  roscpp
  rospy
  std_msgs
)
find_package(OpenCV REQUIRED)
catkin_package()


include_directories(
# include
  ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}
)

add_executable(basic_thresholding_operations_node src/basic_thresholding_operations_node.cpp)
target_link_libraries(basic_thresholding_operations_node
  ${catkin_LIBRARIES} ${OpenCV_LIBS}
)

3.程序运行        

        回到:/home/meng/opencv_hv,

    catkin_make
    source devel/setup.bash
    #或source devel/setup.zsh
    roslaunch hv.launch

             调节阈值类型和阈值,效果如图下:

原图

truncate

binary

详细操作见视频;https://www.bilibili.com/video/BV1vQ4y127Mr/