Python 轨道区域检测代码转c++ 效果可看这篇博客
cv::Mat rect_crop(cv::Mat& img){
float rate = 0.25; //ROI比例
float x, y, w, h; //ROI坐标
cv::Mat mask = cv::Mat::zeros(img.size().height,img.size().width, CV_8UC3);
// 同宽高mask
x = img.size().width*rate;
y = img.size().height*rate;
w = img.size().width*(1-rate) - x;
h = img.size().height*(1-rate) - y;
//ROI坐标
cv::Rect r = cv::Rect(x, y, w, h);
// Rect
cv::Mat crop_img = img(r);
// 获取crop_img
crop_img.copyTo(mask(r));
// mask(r)用crop_img代替
cvtColor(mask,mask,COLOR_BGR2GRAY);
// BGR->GRAY
cv::GaussianBlur(mask, mask,cv::Size(17, 17), 0, 0);
// GaussinBlur
cv::Canny(mask, mask,10,70);
// Canny
std::vector<cv::Vec2f> lines;
// Vec2f 的 vector 接收lines
cv::HoughLines(mask, lines, 1,PI/180, 60);
// 霍夫变换得到lines
cvtColor(mask,mask,COLOR_GRAY2BGR);
// GRAY->BGR
cout<<lines.size()<<endl;
std::vector<cv::Vec2f>::const_iterator it= lines.begin();
// 迭代器
float max_theta = 0.0f;
float min_theta = 3.0f;
float max_rho = 0.0f;
float min_rho = 0.0f;
// 循环获取最左侧和最右侧的直线 /简单的theta筛选 可替换更加高级的办法
while (it!=lines.end())
{
cout<<(*it)<<endl;
float rho= (*it)[0]; // first element is distance rho
float theta= (*it)[1]; // second element is angle theta
if (theta >PI/12 && theta < 11*PI/12)
{
if (theta > PI/2 + PI/9 || theta < PI/2 - PI/9)
{
cout<<"-----"<<rho<<"----"<<theta<<endl;
if(theta > max_theta){max_theta = theta;max_rho=rho;}
if(theta < min_theta){min_theta = theta;min_rho=rho;}
// theta_filter_lines.push_back(*it);
}
}
it++;
}
std::vector<cv::Vec2f> a = {Vec2f(min_rho,min_theta),Vec2f(max_rho,max_theta)};
std::vector<cv::Vec2f>::const_iterator ita= a.begin();
// 通过最大和最小theta来画出轨道的左右两条直线
while (ita!=a.end())
{
float rho= (*ita)[0]; // first element is distance rho
float theta= (*ita)[1]; // second element is angle theta
cv::Point pt1(0,rho/sin(theta));
// point of intersection of the line with last column
cv::Point pt2(mask.cols, (rho - mask.cols * cos(theta))/sin(theta));
// draw a white line
cv::line(mask, pt1, pt2, cv::Scalar(0,255,0), 1);
ita++;
}
// cout<<theta_filter_lines.size()<<endl;
// std::vector<cv::Vec2f>::const_iterator it1= theta_filter_lines.begin();
// while (it1!=theta_filter_lines.end())
// {
// float rho= (*it1)[0]; // first element is distance rho
// float theta= (*it1)[1]; // second element is angle theta
// cv::Point pt1(0,rho/sin(theta));
// // point of intersection of the line with last column
// cv::Point pt2(mask.cols, (rho - mask.cols * cos(theta))/sin(theta));
// // draw a white line
// cv::line(mask, pt1, pt2, cv::Scalar(0,255,0), 1);
// it1++;
// }
return mask;
}