opencv中集成了斑点检测的类:SimpleBlobDetector ,但是需要2.2版本以后才支持。
angstrom系统中自带的opencv版本是2.2.0的,恰好不支持斑点检测。之前编译了cvblob插件,没成功。
angstrom系统中自带的opencv版本是2.2.0的,恰好不支持斑点检测。之前编译了cvblob插件,没成功。
看了新版本里的SimpleBlobDetector 类后,发现其实现并不难,基于FeatureDetector类,而FeatureDetector是一个特征检测的基础类,其成员函数并没有什么实质的东西。而SimpleBlobDetector 类的实现函数用到的函数、变量类型等都是opencv2.2版本中有的,所以可以直接把SimpleBlobDetector 类拿出来,放到自己的应用程序中。并且可以在带opencv2.2的系统中编译通过。
/*
*头文件:定义类
*/
#ifndef BLOB_H
#define BLOB_H
#include <opencv2/core/core.hpp>
#include <opencv2/core/types_c.h>
#include <opencv2/flann/miniflann.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/imgproc/imgproc_c.h>
#include <opencv2/core/internal.hpp>
#include <iterator>
#include <opencv2/highgui/highgui.hpp>
#include <iostream>
using namespace cv;
using namespace std;
class CV_EXPORTS BlobDetector //: public cv::FeatureDetector
{
public:
struct CV_EXPORTS Params
{
Params();
float thresholdStep;
float minThreshold;
float maxThreshold;
size_t minRepeatability;
float minDistBetweenBlobs;
bool filterByColor;
uchar blobColor;
bool filterByArea;
float minArea, maxArea;
bool filterByCircularity;
float minCircularity, maxCircularity;
bool filterByInertia;
float minInertiaRatio, maxInertiaRatio;
bool filterByConvexity;
float minConvexity, maxConvexity;
void read( const FileNode& fn );
void write( FileStorage& fs ) const;
};
BlobDetector(const BlobDetector::Params ¶meters = BlobDetector::Params());
void read( const FileNode& fn );
void write( FileStorage& fs ) const;
/*
*detect keypoints in an image.
*image the image.
*keypoints the detected keypoints
*mask mask specifying where to look for keypoints(optional).must be a char
* matrix with non-zero values in the region of intestest.
*/
void detect(const Mat& image,vector<KeyPoint>& keypoints,const Mat& mask=Mat()) const;
/*
*detect keypoints in an image set
*images image collection
*keypoints collection of keypoints detected in an input image.
* keypoints[i] is a set of keypoints detected in an images[i]
*masks masks for image set. masks[i] is a mask for images[i].
*/
void detect(const vector<Mat>& images,vector< vector<KeyPoint> >& keypoints,const vector<Mat>& masks=vector<Mat>()) const;
static Ptr<BlobDetector> create(const string& detectorName);
void blobTest();
protected:
struct CV_EXPORTS Center
{
Point2d location;
double radius;
double confidence;
};
void detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
void findBlobs(const cv::Mat &image, const cv::Mat &binaryImage, std::vector<Center> ¢ers) const;
Params params;
};
#endif // BLOB_H
/*
*源文件:类的实现
*/
#include "blob.h"
/*
* BlobDetector
*/
BlobDetector::Params::Params()
{
thresholdStep = 10;
minThreshold = 50;
maxThreshold = 220;
minRepeatability = 2;
minDistBetweenBlobs = 10;
filterByColor = true;
blobColor = 0;
filterByArea = true;
minArea = 25;
maxArea = 5000;
filterByCircularity = false;
minCircularity = 0.8f;
maxCircularity = std::numeric_limits<float>::max();
filterByInertia = true;
//minInertiaRatio = 0.6;
minInertiaRatio = 0.1f;
maxInertiaRatio = std::numeric_limits<float>::max();
filterByConvexity = true;
//minConvexity = 0.8;
minConvexity = 0.95f;
maxConvexity = std::numeric_limits<float>::max();
}
void BlobDetector::Params::read(const cv::FileNode& fn )
{
thresholdStep = fn["thresholdStep"]; //getFileNodeByName,从文件中读取参数
minThreshold = fn["minThreshold"];
maxThreshold = fn["maxThreshold"];
minRepeatability = (size_t)(int)fn["minRepeatability"];
minDistBetweenBlobs = fn["minDistBetweenBlobs"];
filterByColor = (int)fn["filterByColor"] != 0 ? true : false;
blobColor = (uchar)(int)fn["blobColor"];
filterByArea = (int)fn["filterByArea"] != 0 ? true : false;
minArea = fn["minArea"];
maxArea = fn["maxArea"];
filterByCircularity = (int)fn["filterByCircularity"] != 0 ? true : false;
minCircularity = fn["minCircularity"];
maxCircularity = fn["maxCircularity"];
filterByInertia = (int)fn["filterByInertia"] != 0 ? true : false;
minInertiaRatio = fn["minInertiaRatio"];
maxInertiaRatio = fn["maxInertiaRatio"];
filterByConvexity = (int)fn["filterByConvexity"] != 0 ? true : false;
minConvexity = fn["minConvexity"];
maxConvexity = fn["maxConvexity"];
}
void BlobDetector::Params::write(cv::FileStorage& fs) const //储存参数
{
fs << "thresholdStep" << thresholdStep;
fs << "minThreshold" << minThreshold;
fs << "maxThreshold" << maxThreshold;
fs << "minRepeatability" << (int)minRepeatability;
fs << "minDistBetweenBlobs" << minDistBetweenBlobs;
fs << "filterByColor" << (int)filterByColor;
fs << "blobColor" << (int)blobColor;
fs << "filterByArea" << (int)filterByArea;
fs << "minArea" << minArea;
fs << "maxArea" << maxArea;
fs << "filterByCircularity" << (int)filterByCircularity;
fs << "minCircularity" << minCircularity;
fs << "maxCircularity" << maxCircularity;
fs << "filterByInertia" << (int)filterByInertia;
fs << "minInertiaRatio" << minInertiaRatio;
fs << "maxInertiaRatio" << maxInertiaRatio;
fs << "filterByConvexity" << (int)filterByConvexity;
fs << "minConvexity" << minConvexity;
fs << "maxConvexity" << maxConvexity;
}
/**/
BlobDetector::BlobDetector(const BlobDetector::Params ¶meters) : params(parameters)
{
}
void BlobDetector::read( const cv::FileNode& fn )
{
params.read(fn);
}
void BlobDetector::write( cv::FileStorage& fs ) const
{
params.write(fs);
}
/*
*先找出轮廓,再通过轮廓的距求出其圆心和半径
*/
void BlobDetector::findBlobs(const cv::Mat &image, const cv::Mat &binaryImage, vector<Center> ¢ers) const
{
(void)image;
centers.clear();
vector < vector<Point> > contours;
Mat tmpBinaryImage = binaryImage.clone();
findContours(tmpBinaryImage, contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);//找轮廓
#ifdef DEBUG_BLOB_DETECTOR
// Mat keypointsImage;
// cvtColor( binaryImage, keypointsImage, CV_GRAY2RGB );
//
// Mat contoursImage;
// cvtColor( binaryImage, contoursImage, CV_GRAY2RGB );
// drawContours( contoursImage, contours, -1, Scalar(0,255,0) );
// imshow("contours", contoursImage );
#endif
for (size_t contourIdx = 0; contourIdx < contours.size(); contourIdx++)
{
Center center;
center.confidence = 1;
Moments moms = moments(Mat(contours[contourIdx]));
//根据各种筛选模式筛选斑点
if (params.filterByArea)
{
double area = moms.m00;
if (area < params.minArea || area >= params.maxArea)
continue;
}
if (params.filterByCircularity)
{
double area = moms.m00;
double perimeter = arcLength(Mat(contours[contourIdx]), true);
double ratio = 4 * CV_PI * area / (perimeter * perimeter);
if (ratio < params.minCircularity || ratio >= params.maxCircularity)
continue;
}
if (params.filterByInertia)
{
double denominator = sqrt(pow(2 * moms.mu11, 2) + pow(moms.mu20 - moms.mu02, 2));
const double eps = 1e-2;
double ratio;
if (denominator > eps)
{
double cosmin = (moms.mu20 - moms.mu02) / denominator;
double sinmin = 2 * moms.mu11 / denominator;
double cosmax = -cosmin;
double sinmax = -sinmin;
double imin = 0.5 * (moms.mu20 + moms.mu02) - 0.5 * (moms.mu20 - moms.mu02) * cosmin - moms.mu11 * sinmin;
double imax = 0.5 * (moms.mu20 + moms.mu02) - 0.5 * (moms.mu20 - moms.mu02) * cosmax - moms.mu11 * sinmax;
ratio = imin / imax;
}
else
{
ratio = 1;
}
if (ratio < params.minInertiaRatio || ratio >= params.maxInertiaRatio)
continue;
center.confidence = ratio * ratio;
}
if (params.filterByConvexity)
{
vector < Point > hull;
convexHull(Mat(contours[contourIdx]), hull);
double area = contourArea(Mat(contours[contourIdx]));
double hullArea = contourArea(Mat(hull));
double ratio = area / hullArea;
if (ratio < params.minConvexity || ratio >= params.maxConvexity)
continue;
}
center.location = Point2d(moms.m10 / moms.m00, moms.m01 / moms.m00); //得出圆心坐标
if (params.filterByColor)
{
if (binaryImage.at<uchar> (cvRound(center.location.y), cvRound(center.location.x)) != params.blobColor)
continue;
}
//compute blob radius 计算半径
{
vector<double> dists;
for (size_t pointIdx = 0; pointIdx < contours[contourIdx].size(); pointIdx++)
{
Point2d pt = contours[contourIdx][pointIdx];
dists.push_back(norm(center.location - pt));
}
std::sort(dists.begin(), dists.end());
center.radius = (dists[(dists.size() - 1) / 2] + dists[dists.size() / 2]) / 2.;
}
centers.push_back(center);
#ifdef DEBUG_BLOB_DETECTOR
// circle( keypointsImage, center.location, 1, Scalar(0,0,255), 1 );
#endif
}
#ifdef DEBUG_BLOB_DETECTOR
// imshow("bk", keypointsImage );
// waitKey();
#endif
}
void BlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat&) const
{
//TODO: support mask
keypoints.clear();
Mat grayscaleImage;
if (image.channels() == 3)
cvtColor(image, grayscaleImage, CV_BGR2GRAY);
else
grayscaleImage = image;
vector < vector<Center> > centers;
for (double thresh = params.minThreshold; thresh < params.maxThreshold; thresh += params.thresholdStep)
{
Mat binarizedImage;
threshold(grayscaleImage, binarizedImage, thresh, 255, THRESH_BINARY);
#ifdef DEBUG_BLOB_DETECTOR
// Mat keypointsImage;
// cvtColor( binarizedImage, keypointsImage, CV_GRAY2RGB );
#endif
vector < Center > curCenters;
findBlobs(grayscaleImage, binarizedImage, curCenters);
vector < vector<Center> > newCenters;
for (size_t i = 0; i < curCenters.size(); i++)
{
#ifdef DEBUG_BLOB_DETECTOR
// circle(keypointsImage, curCenters[i].location, curCenters[i].radius, Scalar(0,0,255),-1);
#endif
bool isNew = true;
for (size_t j = 0; j < centers.size(); j++)
{
double dist = norm(centers[j][ centers[j].size() / 2 ].location - curCenters[i].location);
isNew = dist >= params.minDistBetweenBlobs && dist >= centers[j][ centers[j].size() / 2 ].radius && dist >= curCenters[i].radius;
if (!isNew)
{
centers[j].push_back(curCenters[i]);
size_t k = centers[j].size() - 1;
while( k > 0 && centers[j][k].radius < centers[j][k-1].radius )
{
centers[j][k] = centers[j][k-1];
k--;
}
centers[j][k] = curCenters[i];
break;
}
}
if (isNew)
{
newCenters.push_back(vector<Center> (1, curCenters[i]));
//centers.push_back(vector<Center> (1, curCenters[i]));
}
}
std::copy(newCenters.begin(), newCenters.end(), std::back_inserter(centers));
#ifdef DEBUG_BLOB_DETECTOR
// imshow("binarized", keypointsImage );
//waitKey();
#endif
}
for (size_t i = 0; i < centers.size(); i++)
{
if (centers[i].size() < params.minRepeatability)
continue;
Point2d sumPoint(0, 0);
double normalizer = 0;
for (size_t j = 0; j < centers[i].size(); j++)
{
sumPoint += centers[i][j].confidence * centers[i][j].location;
normalizer += centers[i][j].confidence;
}
sumPoint *= (1. / normalizer);
KeyPoint kpt(sumPoint, (float)(centers[i][centers[i].size() / 2].radius));
keypoints.push_back(kpt);
}
#ifdef DEBUG_BLOB_DETECTOR
namedWindow("keypoints", CV_WINDOW_NORMAL);
Mat outImg = image.clone();
for(size_t i=0; i<keypoints.size(); i++)
{
circle(outImg, keypoints[i].pt, keypoints[i].size, Scalar(255, 0, 255), -1);
}
//drawKeypoints(image, keypoints, outImg);
imshow("keypoints", outImg);
waitKey();
#endif
}
void BlobDetector::detect(const Mat &image, vector<KeyPoint> &keypoints, const Mat &mask) const
{
keypoints.clear();
if( image.empty() )
return;
CV_Assert( mask.empty() || (mask.type() == CV_8UC1 && mask.size() == image.size()) );
detectImpl(image,keypoints,mask);
}
void BlobDetector::detect(const vector<Mat> &images, vector<vector<KeyPoint> > &keypoints, const vector<Mat> &masks) const
{
keypoints.resize(images.size());
for( size_t i = 0; i< images.size(); i++ )
detect(images[i], keypoints[i], masks.empty()? Mat():masks[i]);
}
Ptr<BlobDetector> BlobDetector::create(const string &detectorName)
{
BlobDetector* fd = 0;
if( !detectorName.compare("Blob") )
fd = new BlobDetector();
return fd;
}
void BlobDetector::blobTest()
{
cout << "----------blob debug-----------" << endl;
cout << params.thresholdStep << endl << params.minThreshold << endl << params.maxThreshold << endl
<< params.minRepeatability << endl << params.minDistBetweenBlobs << endl
<< params.minArea << endl;
// VideoCapture camera(0); // video source for webcam
// camera.set(CV_CAP_PROP_FRAME_WIDTH,640);
// camera.set(CV_CAP_PROP_FRAME_HEIGHT,480);
}
/*
*测试:采集摄像头,进行斑点检测
*/
//测试blob工具,斑点检测
// Initialize blob detector
BlobDetector::Params params;
params.minThreshold = 40;
params.maxThreshold = 60;
params.thresholdStep = 5;
params.minArea = 1000;
params.minConvexity = .4f;
params.minInertiaRatio = .1f;
params.maxArea = 8000;
params.maxConvexity = 2;
params.filterByColor = false;
params.filterByCircularity = false;
BlobDetector blobDetector( params );
blobDetector.create("Blob");
vector<KeyPoint> keyPoints;
blobDetector.blobTest();
Mat blurImage; // blur image
Mat hsvImage; // HSV image
Mat hue; // hue channel
Mat hue1; // Hue upper bound
Mat hue2; // Hue lower bound
Mat hue3; // hue color filtering
Mat final; // Final display image
vector<Mat> slices;
// Theshold Settings
int HuethresL = 30, HuethresH =71, blurSize = 1; //Green
for(;;)
{
camera->read(camImage);
// blur image
blur(camImage, blurImage, Size(2,2));
//imshow("blurImage", blurImage);
// convert raw image to hsv
cvtColor (camImage, hsvImage, CV_RGB2HSV);
//imshow("hsvImage", hsvImage);
blur(hsvImage, hsvImage, Size(3,3));
//imshow("hsvImage blurImage", hsvImage);
// split image to H,S and V images
split(hsvImage,slices);
slices[0].copyTo(hue); // get the hue channel
imshow("hue", hue);
threshold (hue,hue1,HuethresL,255, CV_THRESH_BINARY); // get lower bound
imshow("hue1", hue1);
threshold (hue,hue2,HuethresH,255, CV_THRESH_BINARY_INV); // get upper bound
imshow("hue2", hue2);
hue3 = hue1 & hue2; // multiply to get color range
//Just to show we can access the keyPoints array directly
//You can also investigate the properties of the features to determine their _size_
camImage.copyTo(final);
blobDetector.detect(hue3, keyPoints);
for(int i=0; i<keyPoints.size(); i++){
circle(final, keyPoints[i].pt, 20, cvScalar(255,0,0), 10);
}
//Alternatively, there exists a simple function:
//drawKeypoints(camImage, keyPoints, final, CV_RGB(0,255,0), 4);
// show images
imshow("Webcam Orignal", camImage);
imshow("Hue color",hue3);
imshow("Final",final);
if( cvWaitKey(10) >= 0 )
break;
}