【DIY贴片机】基于opencv识别定位电子元件

【DIY贴片机】基于opencv识别定位电子元件

识别效果：
操作步骤：
一、识别图像中目标数量
1.1加载图片
1.2滤波
1.3转灰度
1.4边缘检测
1.5二值化
1.6形态学操作
1.7画轮廓、最小外接矩形
二、确定每个目标位置与角度
2.1缩放最小外接矩形
2.2计算四个目标位置平均灰度值，平均灰度值最大的为1脚位置
2.3标记出1脚
2.4计算旋转角度（0-360度）

代码如下：

#include<opencv2/opencv.hpp>
#include<iostream>
#include<math.h>

using namespace cv;
using namespace std;

float seekFirstFoot(Mat image, RotatedRect box_min, Size size);
int compare_min(double val1, double val2, double val3, double val4);
int compare_max(double val1, double val2, double val3, double val4);
Point cp(Point pos1, Point pos2, Point pos3, Point pos4);

void main()
{
	Mat src = imread("F:\\opencv_program\\IC检测素材\\微信图片_20210315144948.jpg");

	//高斯滤波
	Mat gaussian;
	GaussianBlur(src, gaussian, Size(3, 3), 0);
	//imshow("gaussian", gaussian);

	//转灰度图
	Mat gray;
	cvtColor(gaussian, gray, CV_BGR2GRAY);
	//imshow("gray", gray);

	//边缘检测
	Mat canny;
	Canny(gray, canny, 50, 255);
	//imshow("canny", canny);

	//二值化
	Mat binImag;
	threshold(gray, binImag, 100, 255, THRESH_BINARY);
	//inRange(gray, Scalar(0, 70, 70), Scalar(10, 255, 255), binImag);
	bitwise_not(binImag, binImag);
	//imshow("binImag", binImag);

	//形态学操作
	Mat morphology;
	Mat kernel = getStructuringElement(CV_SHAPE_RECT, Size(3, 3));
	morphologyEx(binImag, morphology, MORPH_OPEN, kernel, Point(-1, -1), 4);
	//imshow("morphology", morphology);

	//发现轮廓
	vector<vector<Point>> contours;
	findContours(morphology, contours, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
	cout << "目标数量：" << contours.size() << endl;
	vector<Rect> bounding(contours.size());  //外接矩形
	vector<RotatedRect> box(contours.size()); //定义最小外接矩形集合
	Point2f rect[4];
	Point2f recr_min[4];

	//画轮廓、计算角度
	for (int i = 0; i < contours.size(); i++)
	{
		bounding[i] = boundingRect(Mat(contours[i]));  //计算外接矩形
		box[i] = minAreaRect(Mat(contours[i])); //计算每个轮廓的最小外接矩形
		//printf("最小外接圆旋转角度：%f \r\n", box[i].angle);
		rectangle(src, bounding[i], Scalar(255, 0, 0));  //绘制外接矩形
		circle(src, Point(box[i].center.x, box[i].center.y), 4, Scalar(0, 0, 255), -1);  //绘制最小外接矩形中心
		box[i].points(rect);
		for (int j = 0; j < 4; j++)
		{
			line(src, rect[j], rect[(j + 1) % 4], Scalar(255, 0, 255), 3); //绘制最小外接矩形的四条直线
		}
		//drawContours(src,contours,i,Scalar(255,0,0)); //绘制轮廓
		//cout << box[i].size << endl;
		cout << "目标【" << i << "】";
		cout << "坐标：" << box[i].center;
		string str = to_string(i);
		putText(src, str, Point(int(box[i].center.x), int(box[i].center.y)), FONT_HERSHEY_SIMPLEX, 2, Scalar(0, 255, 0));


		//计算旋转角度
		float zoom = 0.63;  //缩放比例
		RotatedRect box_min(Point(box[i].center.x, box[i].center.y), Size(box[i].size.width * zoom, box[i].size.height * zoom), box[i].angle); //缩放最小外接旋转矩形

		seekFirstFoot(src, box_min, Size(35, 35));  //根据传入的旋转矩形，计算矩形四个点在size范围内的平均灰度，返回最大平均灰度值所在点与X轴的角度，（0-360度）
	}

	imshow("src", src);
	waitKey(0);
}



float seekFirstFoot(Mat image, RotatedRect box_min, Size size)
{
	Point2f rect_min[4];
	box_min.points(rect_min);


	Point2f rect_micro[4];
	double m[4];  //可能为丝印四个点的灰度均值
	Point pos[4]; //可能为丝印的四个点左上角坐标
	int target_index;  //丝印点下标
	for (int k = 0; k < 4; k++)
	{
		//line(image, rect_min[k], rect_min[(k + 1) % 4], Scalar(255, 100, 255), 1); //绘制矩形的四条直线
		//cout << "坐标【" << k << "】x=" << rect_min[k].x << "y=" << rect_min[k].y << endl;
	}

	for (int i = 0; i < 4; i++)
	{
		RotatedRect rect_micro(Point(rect_min[i].x, rect_min[i].y), size, 0);
		Point2f rect_micro_pos[4];
		rect_micro.points(rect_micro_pos);
		for (int j = 0; j < 4; j++)
		{
			//line(image, rect_micro_pos[j], rect_micro_pos[(j + 1) % 4], Scalar(0, 255, 0), 1); //绘制矩形的四条直线
			//putText(image, "1", (rect_micro_pos[j], rect_micro_pos[(j + 1) % 4]), (0, 255, 0));
			//putText(image, "q", Point(int(rect_micro_pos[j].x), int(rect_micro_pos[j].y)), FONT_HERSHEY_SIMPLEX,2, Scalar(0, 255, 0));
			//cout << "【1】 X=" << int(rect_micro_pos[j].x) << "  Y=" << int(rect_micro_pos[j].y) << endl;

		}
		pos[i] = cp(rect_micro_pos[0], rect_micro_pos[1], rect_micro_pos[2], rect_micro_pos[3]);  //返回最小矩形左上方坐标，
		Rect rect_temp(int(pos[i].x), int(pos[i].y), size.width, size.height);
		Mat InputImage = image(rect_temp);
		//imshow("InputImage", InputImage); 
		Mat  mat_mean, mat_stddev;
		meanStdDev(InputImage, mat_mean, mat_stddev);//求灰度图像的均值、均方差
		m[i] = mat_mean.at<double>(0, 0);

	}
	target_index = compare_max(m[0], m[1], m[2], m[3]);
	Rect mask(int(pos[target_index].x), int(pos[target_index].y), size.width, size.height);
	rectangle(image, mask, Scalar(100, 100, 255));

	//计算旋转角度
	Point p1(box_min.center.x, box_min.center.y);
	Point p2(pos[target_index]);
	double numble = 180 / CV_PI * (atan2(p2.y - p1.y, p2.x - p1.x));

	if (numble > 0)
	{
		numble = 360 - abs(numble);
	}
	if (numble < 0)
	{
		numble = abs(numble);
	}
	cout << "角度 = " << numble << endl;
	return 0;
}

//比较四个数，返回最小数的下标
int compare_min(double val1, double val2, double val3, double val4)
{
	if (val1 <= val2 && val1 <= val3 && val1 <= val4)
	{
		return 0;
	}
	if (val2 <= val1 && val2 <= val3 && val2 <= val4)
	{
		return 1;
	}
	if (val3 <= val2 && val3 <= val1 && val3 <= val4)
	{
		return 2;
	}
	if (val4 <= val1 && val4 <= val3 && val4 <= val2)
	{
		return 3;
	}
}

//比较四个数，返回最大数的下标
int compare_max(double val1, double val2, double val3, double val4)
{
	if (val1 >= val2 && val1 >= val3 && val1 >= val4)
	{
		return 0;
	}
	if (val2 >= val1 && val2 >= val3 && val2 >= val4)
	{
		return 1;
	}
	if (val3 >= val2 && val3 >= val1 && val3 >= val4)
	{
		return 2;
	}
	if (val4 >= val1 && val4 >= val3 && val4 >= val2)
	{
		return 3;
	}
}

//比较矩形的四个点，返回矩形左上方的点坐标
Point cp(Point pos1, Point pos2, Point pos3, Point pos4)
{
	int add1 = pos1.x + pos1.y;
	int add2 = pos2.x + pos2.y;
	int add3 = pos3.x + pos3.y;
	int add4 = pos4.x + pos4.y;
	int temp = compare_min(add1, add2, add3, add4);
	if (temp == 0)
		return pos1;
	if (temp == 1)
		return pos2;
	if (temp == 2)
		return pos3;
	if (temp == 3)
		return pos4;
}

原图像：