转自:http://blog.sina.com.cn/s/blog_60b330b801018md4.html
最简单的霍夫变换是在图像中识别直线。在平面直角坐标系(x-y)中,一条直线可以用下式表示。
void HoughLines(InputArray image, OutputArray lines, double rho, double theta, int threshold, double srn=0, double stn=0 )
- #include
"opencv2/opencv.hpp" - #define
PI 3.1415926 -
- int
main(int argc, char *argv[]) - {
-
cv::Mat image = cv::imread ("road.jpg"); -
cv::Mat result; -
cv::cvtColor (image,result,CV_BGRA2GRAY); -
cv::Mat contours; -
//边缘检测 -
cv::Canny (result,contours,125,350); -
std::vector<cv::Vec2f> lines; -
//霍夫变换,获得一组极坐标参数(rho,theta),每一对对应一条直线,保存到lines -
//第3,4个参数表示在(rho,theta)坐标系里横纵坐标的最小单位,即步长 -
cv::HoughLines (contours,lines,1,PI/180,80); -
std::vector<cv::Vec2f>::const_iterator it = lines.begin (); -
std::cout<<lines.size ()<<std::endl; -
while(it != lines.end()){ -
float rho = (*it)[0]; -
float theta = (*it)[1]; -
if(theta<PI/4.||theta>3.*PI/4){ -
//画交点在上下两边的直线 -
cv::Point pt1(rho/cos(theta),0); -
cv::Point pt2((rho-result.rows*sin(theta))/cos(theta),result.rows); -
cv::line(image,pt1,pt2,cv::Scalar(255),1); -
} -
else { -
//画交点在左右两边的直线 -
cv::Point pt1(0,rho/sin(theta)); -
cv::Point pt2(result.cols,(rho-result.cols*cos(theta)/sin(theta))); -
cv::line(image,pt1,pt2,cv::Scalar(255),1); -
} -
++it; -
} -
cv::namedWindow ("hough"); -
cv::imshow("hough",image); -
cv::waitKey (0); - }
检测结果示例:
void HoughLinesP(InputArray image, OutputArray lines, double rho, double theta, int threshold, dou-
ble minLineLength=0, double maxLineGap=0 )
这个方法是通过概率霍夫变换实现的:
1)随机获取边缘图片上的前景点,映射到级坐标系画曲线;
2)当极坐标系里面有交点达到最小投票数,将该点对应x-y坐标系的直线L找出来;
3)搜索边缘图片上前景点,在直线L上的点(且点与点之间距离小于maxLineGap的)连成线段,然后这些点全部删除,并且记录该线段的参数,就是起始点和终止点啦~~~~~~~~~~~~~~~~~~~(当然这里线段长度要满足最小长度的,否则就不用记录了)
4)重复1),2),3)
- #include
"opencv2/opencv.hpp" - #define
PI 3.1415926 -
- class
LineFinder{ - private:
-
// 直线对应的点参数向量 -
std::vector<cv::Vec4i> lines; -
//步长 -
double deltaRho; -
double deltaTheta; -
// 判断是直线的最小投票数 -
int minVote; -
// 判断是直线的最小长度 -
double minLength; -
// 同一条直线上点之间的距离容忍度 -
double maxGap; - public:
-
//初始化 -
LineFinder() : deltaRho(1), deltaTheta(PI/180), -
minVote(10), minLength(0.), maxGap(0.) {} -
// 设置步长 -
void setAccResolution(double dRho, double dTheta) { -
deltaRho= dRho; -
deltaTheta= dTheta; -
} -
// 设置最小投票数 -
void setMinVote(int minv) { -
minVote= minv; -
} -
// 设置最小线段长度和线段间距容忍度 -
void setLineLengthAndGap(double length, double gap) { -
minLength= length; -
maxGap= gap; -
} -
-
//寻找线段 -
std::vector<cv::Vec4i> findLines(cv::Mat& binary) { -
lines.clear(); -
cv::HoughLinesP(binary,lines, deltaRho, deltaTheta, minVote,minLength, maxGap); - //
return lines; -
} -
-
// 画线段 -
void drawDetectedLines(cv::Mat &image, cv::Scalar color=cv::Scalar(255,255,255)) { -
std::vector<cv::Vec4i>::const_iterator it2=lines.begin(); -
while (it2!=lines.end()) { -
cv::Point pt1((*it2)[0],(*it2)[1]); -
cv::Point pt2((*it2)[2],(*it2)[3]); -
cv::line( image, pt1, pt2, color); -
++it2; -
} -
} - };
-
-
- int
main(int argc, char *argv[]) - {
-
cv::Mat image = cv::imread ("road.jpg"); -
cv::Mat result; -
cv::cvtColor (image,result,CV_BGRA2GRAY); -
cv::Mat contours; -
//边缘检测 -
cv::Canny (result,contours,125,350); -
LineFinder finder; -
finder.setMinVote (80); -
finder.setLineLengthAndGap (100,20); -
finder.findLines (contours); -
finder.drawDetectedLines (image); -
-
cv::namedWindow ("hough"); -
cv::imshow("hough",image); -
cv::waitKey (0); - }
测试结果如下 :