RM装甲板识别Qt ubuntu20.04 C++ OpenCV4.5.4

0 前言

综合考虑之后，我还是做出了离开RM的决定，但我不会放弃我在计算机视觉上学到的东西，我会在其他的地方继续发光，这里把我使用传统视觉做的装甲板识别（梯队考核任务）分享给大家，鉴于本人水平的缘故，多有瑕疵和纰漏，日后或许会使用卷积神经网络再写一个识别算法。

1 介绍文档

1.1 文件说明

1.1.1 main.cpp

​ 此文件的内容包括装甲板识别的主要内容，并附有步骤的注释。

1.1.2 Armor1Function.cpp

​ 此文件的内容是装甲板识别的三个函数，作用分别是加入限幅滤波防止其他装甲板干扰、辅助筛选装甲板、和输出ROI区域。

1.1.3 commen.h

​ 存放了头文件和一些参数的设定。

1.2 装甲板识别思路

1.2.1 进行图像的预处理

​ 转HSV、二值化、模糊/膨胀处理。

1.2.2 确定装甲板位置

​ 首先从面积上筛选轮廓，再从灯条长宽比上来筛选轮廓，同时输出装甲板中心位置。

1.2.3 输出图像

​ 输出二值化图像、输出ROI区域、输出装甲板定位图像。

1.3 对应的任务完成情况

1.3.1 处理视频

​ 视频时长35秒，截取与b站，是两段视频的剪辑融合，便于更好的测试识别算法的精确性。

1.3.2 输出二值化图像

​ 将处理后的二值化图像输出成与原视频大小一致的视频，窗口名字为“二值化”。

1.3.3 提取ROI

​ 将提取的ROI输出成与原视频大小一致的视频，窗口名字为“ROI”。

1.3.4 输出装甲板中心坐标

​ 实时在终端输出装甲板中心，在视频结束后输出Over。

1.3.5 代码注释

​ 代码注释较为丰富，且格式一致。

1.4 效果截图

2 源代码

Armor.pro

TEMPLATE = app
CONFIG += console c++11
CONFIG -= app_bundle
CONFIG -= qt

SOURCES += \
        ArmorFunction.cpp \
        main.cpp

INCLUDEPATH += /usr/local/include \
               /usr/local/include/opencv4

LIBS += /usr/local/lib/*.so \

HEADERS += \
    commen.h

Armor1.pro.user

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ArmorFunction.cpp

#include"commen.h"

//为了防止有其他装甲板干扰，使得算法可以追踪，加入限幅滤波
filter_type filter(filter_type effective_value, filter_type new_value, filter_type delat_max)
{
    if ( ( new_value - effective_value > delat_max ) || ( effective_value - new_value > delat_max ))
    {
        new_value=effective_value;
        return effective_value;
    }
    else
    {
        new_value=effective_value;
        return new_value;
    }
}
// 为辅助筛选装甲板，提高算法运行速度，做一次筛选预处理
RotatedRect& adjustRec(cv::RotatedRect& rec, const int mode)
   {
       using std::swap;

       float& width = rec.size.width;
       float& height = rec.size.height;
       float& angle = rec.angle;

       if (mode == WIDTH_GREATER_THAN_HEIGHT)
       {
           if (width < height)
           {
               swap(width, height);
               angle += 90.0;
           }
       }

       while (angle >= 90.0) angle -= 180.0;
       while (angle < -90.0) angle += 180.0;

       if (mode == ANGLE_TO_UP)
       {
           if (angle >= 45.0)
           {
               swap(width, height);
               angle -= 90.0;
           }
           else if (angle < -45.0)
           {
               swap(width, height);
               angle += 90.0;
           }
       }
   return rec;
}//筛去竖着的轮廓
//输出ROI
void ROIimg(Mat imgOriginal, int x, int y)
{
    //选取ROI
        //创造一个空白图框
        Mat backGround = Mat::zeros(imgOriginal.size(),CV_8UC3);
        //设置选取位置
        vector<Rect> rectROI;
        Rect rect1(x-30, y-30, 60, 60);
        //截取
        Mat ROI1 = imgOriginal(rect1);
        rectROI.push_back(rect1);
        for(int i = 0; i < rectROI.size(); i++)
        {
            imgOriginal(rectROI[i]).copyTo(backGround(rectROI[i]));
        }
        //展示ROI
        imshow("ROI", backGround);
}

CMakeLists.txt.user

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    <value type="bool" key="RunConfiguration.UseMultiProcess">false</value>
    <value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
    <value type="QString" key="RunConfiguration.WorkingDirectory"></value>
    <value type="QString" key="RunConfiguration.WorkingDirectory.default"></value>
   </valuemap>
   <value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
  </valuemap>
 </data>
 <data>
  <variable>ProjectExplorer.Project.TargetCount</variable>
  <value type="int">3</value>
 </data>
 <data>
  <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
  <value type="int">22</value>
 </data>
 <data>
  <variable>Version</variable>
  <value type="int">22</value>
 </data>
</qtcreator>

commen.h

#ifndef COMMEN_H
#define COMMEN_H
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/opencv.hpp>
#include <iostream>
#include <string>
#include<vector>
#include <time.h>
using namespace cv;
using namespace std;

const int ANGLE_TO_UP = 1;
const int WIDTH_GREATER_THAN_HEIGHT = 0;

#define DELAT_MAX 30//瀹氫箟闄愬箙婊ゆ尝璇樊鏈€澶у€?

typedef	int filter_type;//瀹氫箟闄愬箙婊ゆ尝鏁版嵁绫诲瀷

#endif // COMMEN_H

main.cpp

#include"commen.h"

//为了防止有其他装甲板干扰，使得算法可以追踪，加入限幅滤波
filter_type filter(filter_type effective_value, filter_type new_value, filter_type delat_max);
// 为辅助筛选装甲板，提高算法运行速度，做一次筛选预处理
RotatedRect& adjustRec(cv::RotatedRect& rec, const int mode);
//输出ROI
void ROIimg(Mat imgOriginal, int x, int y);
int main()
{
    //植入随机种子，利用彩色图框，更容易察觉识别位置的变化
    srand(time(NULL));
    VideoCapture capture("/home/dahazi/Desktop/test_armor3.avi");
    while(1)
    {
        //第一步，导入图像
        Mat imgOriginal;
        capture >> imgOriginal;
        if (imgOriginal.empty())
        {
            cout << "Over" << endl;
            return -1;
        }

        //第二步，转HSV图像，重新合并两通道，为了方便后面寻找图像中所有的轮廓
        Mat imgHSV;
        vector<Mat> hsvSplit;
        cvtColor(imgOriginal, imgHSV, COLOR_BGR2HSV);//将RGB转换为HSV，便于识别
        split(imgHSV, hsvSplit);
        equalizeHist(hsvSplit[2], hsvSplit[2]);
        merge(hsvSplit, imgHSV);//重新合并

        //第三步，图像二值化处理，摒弃环境光干扰
        Mat thresHold;
        threshold(hsvSplit[2],thresHold,240,245,THRESH_BINARY);

        //第四步，模糊/膨胀处理，让图像变得圆润
        blur(thresHold, thresHold, Size(3,3));
        Mat element = getStructuringElement(MORPH_ELLIPSE,Size(3,3));//膨胀
        dilate(thresHold, element, element);
        imshow("二值化", thresHold);
        //第五步，开始寻找轮廓
        vector<RotatedRect> vc;
        vector<RotatedRect> vRec;
        vector<vector<Point>> Light_Contour;// 发现的轮廓
        findContours(element.clone(),Light_Contour, RETR_EXTERNAL,CHAIN_APPROX_SIMPLE);

        //第六步，从面积上选轮廓
        for (int i = 0;i < Light_Contour.size();i++)
        {
            //求轮廓面积
            float Light_Contour_Area = contourArea(Light_Contour[i]);
            //去除较小轮廓fitllipse的限制条件
            if (Light_Contour_Area < 15 || Light_Contour[i].size() <= 10)
                continue;
            // 用椭圆拟合区域得到外接矩形
            RotatedRect Light_Rec = fitEllipse(Light_Contour[i]);
            Light_Rec = adjustRec(Light_Rec, ANGLE_TO_UP);

            if (Light_Rec.angle > 10 )
                continue;
            // 长宽比和轮廓面积比限制
            if (Light_Rec.size.width / Light_Rec.size.height > 2
                    || Light_Contour_Area / Light_Rec.size.area() < 0.68)
                continue;
            // 扩大灯柱的面积
            Light_Rec. size.height *= 1.1;
            Light_Rec.size.width *= 1.1;
            vc.push_back(Light_Rec);
        }
        //第七步，从灯条长宽比上来筛选轮廓
        int x,y;
        for (size_t i = 0; i < vc.size(); i++)
        {
            for (size_t j = i + 1; (j < vc.size()); j++)
            {
                //判断是否为相同灯条
                float Contour_angle = abs(vc[i].angle - vc[j].angle); //角度差
                if (Contour_angle >= 7)
                    continue;
                //长度差比率
                float Contour_Len1 = abs(vc[i].size.height - vc[j].size.height) / max(vc[i].size.height, vc[j].size.height);
                //宽度差比率
                float Contour_Len2 = abs(vc[i].size.width - vc[j].size.width) / max(vc[i].size.width, vc[j].size.width);
                if (Contour_Len1 > 0.25 || Contour_Len2 > 0.25)
                    continue;


                RotatedRect ARMOR;
                ARMOR.center.x = (vc[i].center.x + vc[j].center.x) / 2.; //x坐标
                ARMOR.center.y = (vc[i].center.y + vc[j].center.y) / 2.; //y坐标
                ARMOR.angle = (vc[i].angle + vc[j].angle) / 2.; //角度
                float nh, nw, yDiff, xDiff;
                nh = (vc[i].size.height + vc[j].size.height) / 2; //高度
                // 宽度
                nw = sqrt((vc[i].center.x - vc[j].center.x) * (vc[i].center.x - vc[j].center.x) + (vc[i].center.y - vc[j].center.y) * (vc[i].center.y - vc[j].center.y));
                float ratio = nw / nh; //匹配到的装甲板的长宽比
                xDiff = abs(vc[i].center.x - vc[j].center.x) / nh; //x差比率
                yDiff = abs(vc[i].center.y - vc[j].center.y) / nh; //y差比率
                if (ratio < 1.0 || ratio > 5.0 || xDiff < 0.5 || yDiff > 2.0)
                    continue;
                ARMOR.size.height = nh;
                ARMOR.size.width = nw;
                vRec.push_back(ARMOR);
                Point2f point1;
                Point2f point2;
                point1.x=vc[i].center.x;point1.y=vc[i].center.y+30;
                point2.x=vc[j].center.x;point2.y=vc[j].center.y-30;
                int xmidnum = (point1.x+point2.x)/2;
                int ymidnum = (point1.y+point2.y)/2;
                //此时轮廓已筛选完毕，为了方便输出，我们将得到的数据就此输出处理
                ARMOR.center.x = filter(ARMOR.center.x,xmidnum, DELAT_MAX);
                ARMOR.center.y = filter(ARMOR.center.y,ymidnum, DELAT_MAX);
                //随机颜色拟合线
                Scalar color(rand() & 255, rand() & 255, rand() & 255);
                rectangle(imgOriginal, point1,point2, color, 2);//将装甲板框起来

                line(imgOriginal, Point(ARMOR.center.x - 36, ARMOR.center.y - 36),
                    Point(ARMOR.center.x + 36, ARMOR.center.y + 36), Scalar(100, 25, 150), 5);
                line(imgOriginal, Point(ARMOR.center.x + 36, ARMOR.center.y - 36),
                    Point(ARMOR.center.x - 36, ARMOR.center.y + 36), Scalar(100, 25, 150), 5);

                line(imgOriginal, Point(ARMOR.center.x - 10, ARMOR.center.y - 10),
                    Point(ARMOR.center.x + 10, ARMOR.center.y + 10), Scalar(255, 255, 0), 5);
                line(imgOriginal, Point(ARMOR.center.x + 10, ARMOR.center.y - 10),
                    Point(ARMOR.center.x - 10, ARMOR.center.y + 10), Scalar(255, 255, 0), 5);
                circle(imgOriginal,ARMOR.center,7.5,Scalar(0, 0, 255),5);//在装甲板中心画一个圆
                cout << "中心点位置" << "["<<ARMOR.center.x << ", "<< ARMOR.center.y << "]" << endl;
                x = ARMOR.center.x, y = ARMOR.center.y;
            }
        }
        ROIimg(imgOriginal, x, y);
        imshow("Armor", imgOriginal);
        waitKey(30);
    }

    return 0;

}

3演示视频

【RM机甲大师】英雄机器人独立悬挂与自适应悬挂性能表现对比

视频的作者与我无关。

最后的话

我就到这里了，希望天下所有做技术的人能秉持本心，也希望每一个真正想做技术的人都能有自己的平台，有共同信仰的人陪伴你左右。