如何实现视觉识别形状

最新推荐文章于 2023-12-25 10:00:53 发布

Robotway

最新推荐文章于 2023-12-25 10:00:53 发布

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文章标签：人工智能

本文链接：https://blog.csdn.net/Robotway/article/details/129986686

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1. 功能说明

通过摄像头识别圆形及矩形两种形状。

2. 电子硬件

本实验中采用了以下硬件：

主控板	Basra主控板（兼容Arduino Uno）
扩展板	Bigfish2.1
电池	7.4V锂电池
通信	2510通信转接板
通信	WiFi路由器
其它	摄像头
其它	配置OpenCV的Visual Studio 2015.net环境的计算机一台

3. 功能实现

工作原理：

① 导入一张图片或者通过WiFi传递摄像信息给PC；

② 在PC端使用OpenCV对图像转化为灰度图像；

③ 检测圆形和矩形。

检测圆形使用霍夫变换：

vector<Vec3f> circles;

HoughCircles(image, circles, HOUGH_GRADIENT, 2.0,

image.rows/8, // change this value to detect circles with different distances to each other

200, 85, 0, 0 // change the last two parameters

  // (min_radius & max_radius) to detect larger circles

);

检测矩形：

//多边形检测，通过约束条件寻找矩形

static void findSquares(const Mat& image, vector<vector<Point> >& squares)

{

squares.clear();


Mat pyr, timg, gray0(image.size(), CV_8U), gray;


// down-scale and upscale the image to filter out the noise

pyrDown(image, pyr, Size(image.cols / 2, image.rows / 2));

pyrUp(pyr, timg, image.size());

vector<vector<Point> > contours;


// find squares in every color plane of the image

for (int c = 0; c < 3; c++)

{

int ch[] = { c, 0 };

mixChannels(&timg, 1, &gray0, 1, ch, 1);


// try several threshold levels

for (int l = 0; l < N; l++)

{

// hack: use Canny instead of zero threshold level.

// Canny helps to catch squares with gradient shading

if (l == 0)

{

// apply Canny. Take the upper threshold from slider

// and set the lower to 0 (which forces edges merging)

Canny(gray0, gray, 0, thresh, 5);

// dilate canny output to remove potential

// holes between edge segments

dilate(gray, gray, Mat(), Point(-1, -1));

}

else

{

// apply threshold if l!=0:

//     tgray(x,y) = gray(x,y) < (l+1)*255/N ? 255 : 0

gray = gray0 >= (l + 1) * 255 / N;

}


// find contours and store them all as a list

findContours(gray, contours, RETR_LIST, CHAIN_APPROX_SIMPLE);


vector<Point> approx;


// test each contour

for (size_t i = 0; i < contours.size(); i++)

{

// approximate contour with accuracy proportional

// to the contour perimeter

approxPolyDP(Mat(contours[i]), approx, arcLength(Mat(contours[i]), true)*0.02, true);


// square contours should have 4 vertices after approximation

// relatively large area (to filter out noisy contours)

// and be convex.

// Note: absolute value of an area is used because

// area may be positive or negative - in accordance with the

// contour orientation

if (approx.size() == 4 &&

fabs(contourArea(Mat(approx))) > 1000 &&

isContourConvex(Mat(approx)))

{

double maxCosine = 0;


for (int j = 2; j < 5; j++)

{

// find the maximum cosine of the angle between joint edges

double cosine = fabs(angle(approx[j % 4], approx[j - 2], approx[j - 1]));

maxCosine = MAX(maxCosine, cosine);

}


// if cosines of all angles are small

// (all angles are ~90 degree) then write quandrange

// vertices to resultant sequence

if (maxCosine < 0.3)

squares.push_back(approx);

}

}

}

}

}

3.1硬件连接

将摄像头与路由器连接，启动路由器，将PC连接到路由器的WIFI网络。

接线说明：

① 将2510通信转接板连接到扩展板的扩展坞上面；

② 用3根母对母杜邦线将2510通信转接板与WiFi路由器连接起来，GND-GND、RX-RX、TX-TX；

③ 找到1根USB线，一端连接到2510通信转接板接口上，另一端连接到WiFi路由器USB接口上；

④ 将摄像头线连接到WiFi路由器接口上。

3.2示例程序

下面提供一个可以进行识别圆形和矩形的参考例程（ShapeDetect\ShapeDetect\MainWindow.xaml.cs）：

using System;

using System.Collections.Generic;

using System.Linq;

using System.Text;

using System.Threading.Tasks;

using System.Windows;

using System.Windows.Controls;

using System.Windows.Data;

using System.Windows.Documents;

using System.Windows.Input;

using System.Windows.Media;

using System.Windows.Media.Imaging;

using System.Windows.Navigation;

using System.Windows.Shapes;

using System.Windows.Forms;

using System.Runtime.InteropServices;

using System.Threading;


namespace ShapeDetect

{

    /// <summary>

    /// 形状识别

    /// </summary>

    public partial class MainWindow : Window

    {

        //定义检测模式

        int IMAGE_MODE = 1, VIDEO_MODE = 2;


        private AutoResetEvent exitEvent;

        private Thread m_thread;


        //导入动态链接库

        [DllImport("HoughCircles_DLL.dll")]

        //检测圆

        public static extern System.UIntPtr HoughCircles([MarshalAs(UnmanagedType.LPStr)]string address, int detect_mode);

        [DllImport("SquareDetect_DLL.dll")]

        //检测矩形

        public static extern void SquareDetector([MarshalAs(UnmanagedType.LPStr)]string address, int detect_mode);


        public MainWindow()

        {

            InitializeComponent();

        }


        private void Window_Loaded(object sender, RoutedEventArgs e)

        {

            GetIni();

            imgCheckBtn.IsChecked = true;

            circleCheckBtn.IsChecked = true;

        }


        //获取ini配置文件信息

        private void GetIni()

        {

            ini_RW.FileName = System.Windows.Forms.Application.StartupPath + "\\Config.ini";

            this.videoAddress.Text = ini_RW.ReadIni("VideoUrl", "videourl", "");

            this.ipAddress.Text = ini_RW.ReadIni("ControlUrl", "controlUrl", "");

            this.portBox.Text = ini_RW.ReadIni("ControlPort", "controlPort", "");

        }


        //修改配置

        private void setBtn_Click(object sender, RoutedEventArgs e)

        {

            ini_RW.WriteIni("VideoUrl", "videourl", this.videoAddress.Text);

            ini_RW.WriteIni("ControlUrl", "controlUrl", this.ipAddress.Text);

            ini_RW.WriteIni("ControlPort", "controlPort", this.portBox.Text);


            System.Windows.MessageBox.Show("配置成功！请重启程序以使配置生效。", "配置信息", MessageBoxButton.OK, MessageBoxImage.Information);

            //this.Close();

        }


        //计数清零

        private void BoxClean()

        {

            circleTextBox.Text = "0";

            recTextBox.Text = "0";

        }


        //打开图片地址

        private void imgBtn_Click(object sender, RoutedEventArgs e)

        {

            try

            {


                BoxClean();

                //WPF中，OpenFileDialog位于Microsoft.Win32名称空间

                Microsoft.Win32.OpenFileDialog dialog = new Microsoft.Win32.OpenFileDialog();

                dialog.Filter = "All files (*.*)|*.*|jpg files (*.jpg)|*.jpg|png files(*.png)|*.png";


                if (dialog.ShowDialog() == true)

                {


                    string path = dialog.FileName;

                    imgAddressBox.Text = path;

                }

            }

            catch { };

        }


        //检测形状判断

        private void ShapeDetect(string address, int mode)

        {

            if (circleCheckBtn.IsChecked == true)

            {

                //System.Windows.MessageBox.Show("检测圆形");

                circleTextBox.Text = HoughCircles(address, mode).ToString();

            }

            else if (recCheckBtn.IsChecked == true)

            {

                //System.Windows.MessageBox.Show("检测矩形");

                SquareDetector(address, mode);

            }

        }


        //图片检测

        private void imgDetect()

        {


            if (imgAddressBox.Text == string.Empty)

            {

                System.Windows.MessageBox.Show(

                    "图片地址为空，请选择一张图片", "警告",

                    MessageBoxButton.OK,

                    MessageBoxImage.Information

                    );

                return;

            }

            else

            {

                ShapeDetect(imgAddressBox.Text, IMAGE_MODE);

            }

        }


        //视频检测

        private void videoDetect()

        {

            try

            {

                while (true)

                {

                    this.Dispatcher.Invoke(

                        new Action(

                            delegate

                            {

                                string ip = this.videoAddress.Text;

                                ShapeDetect(ip, VIDEO_MODE);

                            }

                            ));

                }


            }

            catch { };

        }


        //判断检测为图片还是视频，开启形状检测

        private void detectBtn_Click(object sender, RoutedEventArgs e)

        {

            BoxClean();

            if (imgCheckBtn.IsChecked == true)

            {

                imgDetect();

            }

            else if (videoCheckBtn.IsChecked == true)

            {

                try

                {

                    m_thread = new Thread(new ThreadStart(videoDetect));

                    m_thread.Start();

                }

                catch { };

            }

        }


        //按esc键退出视频检测，结束线程

        private void Window_KeyDown(object sender, System.Windows.Input.KeyEventArgs e)

        {

            if (e.Key == Key.Escape)

            {

                exitEvent.Set();

                m_thread.Join();

            }

        }


    }

}

程序识别圆形及矩形两种形状，包括对图像以及视频中的物体的形状检测，可参考上面的演示视频进行操作。图片中物体的形状识别，文末资料下载中提供一张测试图片，然后选择图片按钮，选择要检测的圆形或者矩形，点击形状检测。