【原創】使用棋盤格實現攝像頭序號標定
Author: chad
Mail: [email protected]
項目中遇到一個問題,通過usb接口在一個工控機上安裝4個相同的攝像頭,但是usb攝像頭卻沒有設備ID等唯一性編碼,導致無法很好的識別每個攝像頭對應的工位序號.
爲此,使用了類似棋盤格的方格實現攝像頭序號標定.使用的序號板如下所示:
序號板設計爲外框粗,內框細是爲了方便輪廓查找。
由於序號板相對攝像頭圖像放置如果出現大幅度的旋轉時, 攝像頭無法確定圖片的旋轉方向,所以,程序中不考慮序號板安裝偏轉問題,實際使用時也要求安裝角度必須小於10度.
運行效果如下:
如圖所示,程序正確識別出序號板對應的序號.
源碼如下:
/*
2015-07-24 [email protected]
編譯命令如下:
g++ `pkg-config opencv --cflags` cam_seq.c -o cam_seq `pkg-config opencv --libs`
*/
#include <cstdio>
#include <cstring>
#include <iostream>
#include <cv.h>
#include <highgui.h>
#include <cmath>
#include <opencv/highgui.h>
#include <stdio.h>
using namespace std;
//旋轉,縮放
int WarpAffine(IplImage *src, double angle, double scale )
{
CvPoint2D32f srcTri[3], dstTri[3];
CvMat* rot_mat = cvCreateMat(2,3,CV_32FC1);
IplImage *dst;
dst = cvCloneImage(src);
dst->origin = src->origin;
cvZero(dst);
//COMPUTE ROTATION MATRIX
CvPoint2D32f center = cvPoint2D32f(src->width/2,
src->height/2);
cv2DRotationMatrix(center,angle,scale,rot_mat);
cvWarpAffine(src,dst,rot_mat);
cvCopy(dst,src);
cvReleaseImage(&dst);
cvReleaseMat(&rot_mat);
return 0;
}
//獲取4*4棋盤箇中黑色方塊對應的索引
int GetQPIndex(IplImage *srcImage)
{
int width=srcImage->width;
int height=srcImage->height;
int index = 0;
for(int row = height/8; row < height; row+=height/4)
{
//取圖像的每一行的首地址
unsigned char* ptr = (unsigned char*)(srcImage->imageData + srcImage->widthStep * row );
//處理當前行
for(int col = width/8; col < srcImage->widthStep; col+=width/4)
{
index ++;
//對當前像素進行判斷
ptr += col;
long x,y;
x = y = 0;
for( int i= row; i< row+height/8; i++ ) {
unsigned char* tmptr = (unsigned char*)(srcImage->imageData + srcImage->widthStep * i );
for( int j = col; j < col+width/8; j++ ) {
x ++;
y = y + (int)tmptr[j];
}
}
if( y / x < 100 ) {
return index;
}
}
}
return 0;
}
//void callTrackbar( int position )
//{
//}
int main(int argc,char *argv[])
{
char tmpbuf[100];
CvCapture* capture ;
cvNamedWindow("cvCanny");
if( argc != 1 )
capture = cvCreateCameraCapture( atoi(argv[1]) ); //從視頻設備獲取圖像
else
capture = cvCreateCameraCapture( 0 ); //從視頻設備獲取圖像
IplImage *frame;
IplImage *out = NULL;
IplImage *grayimg = NULL;
int i = 0;
double length,area,rectArea;
double rectDegree = 0.0; //矩形度
double long2Short = 1.0; //體態比
int DirectFlag = 0; //長寬顛倒標準
//計算邊界序列的參數 長度 面積 矩形 最小矩形
//並輸出每個邊界的參數
CvRect rect;
CvBox2D box;
int imageCnt = 1;
double axisLong = 0.0, axisShort = 0.0;
double temp;
frame = cvQueryFrame( capture ); //讀取一幀數據
if( !frame ) {
cerr<<"cvQueryFrame fail!"<<endl;
return -1;
}
out = cvCreateImage(cvGetSize(frame),IPL_DEPTH_8U,1); //深度8bit 單通道
grayimg = cvCreateImage(cvGetSize(frame),IPL_DEPTH_8U,1);
int cannyMax,cannyMin,threshod;
cannyMax = 0;
cannyMin = 150;
threshod = 0;
while(1)
{
frame = cvQueryFrame( capture ); //讀取一幀數據
if( !frame ) break;
WarpAffine( frame, 180, 1.0 );
cvCvtColor( frame, grayimg, CV_RGB2GRAY ); //rgb轉換爲灰度圖像
cvCanny( grayimg, out, cannyMin, cannyMax, 3 ); //邊緣檢測處理
cvShowImage("cvCanny",out); //顯示圖像
if( !cannyMax ) {
cannyMax = 250;
cannyMin = 150;
cvCreateTrackbar("cannyMax", "cvCanny", &cannyMax, 255, NULL );
cvSetTrackbarPos( "cannyMax", "cvCanny", cannyMax );
cvCreateTrackbar("cannyMin", "cvCanny", &cannyMin, 255, NULL );
cvSetTrackbarPos( "cannyMin", "cvCanny", cannyMin );
}
//尋找輪廓
CvMemStorage *storage = cvCreateMemStorage(0);
CvSeq * seq = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint), storage);
CvSeq * tempSeq = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint), storage);
int cnt = cvFindContours( out, storage, &seq );//返回輪廓的數目
//cout<<"number of contours "<<cnt<<endl;
int rectCountNum = 0;
for (tempSeq = seq;tempSeq != NULL; tempSeq = tempSeq->h_next)
{
length = cvArcLength(tempSeq);
area = cvContourArea(tempSeq);
//篩選面積比較大的區域
if( area > 5000 ) {
//外接矩形
rect = cvBoundingRect(tempSeq,1);
//繪製輪廓和外接矩形
//cvDrawContours(frame,tempSeq,CV_RGB(255,0,0),CV_RGB(255,0,0),0);
//cvRectangleR(frame,rect,CV_RGB(0,255,0));
//cvShowImage("dst",frame);
//cvWaitKey(0);
//繪製外接最小矩形
CvPoint2D32f pt[4];
box = cvMinAreaRect2(tempSeq,0);
cvBoxPoints(box,pt);
//下面開始分析圖形的形狀特徵
//長軸 短軸
axisLong = sqrt(pow(pt[1].x -pt[0].x,2) + pow(pt[1].y -pt[0].y,2));
axisShort = sqrt(pow(pt[2].x -pt[1].x,2) + pow(pt[2].y -pt[1].y,2));
DirectFlag = 0;
if( axisShort > axisLong ) {
temp = axisLong;
axisLong = axisShort;
axisShort= temp;
DirectFlag = 1;
}
rectArea = axisLong * axisShort;
rectDegree = area / rectArea;
//體態比or長寬比 最下外接矩形的長軸和短軸的比值
long2Short = axisLong/axisShort;
//cout<<"long2Short: "<<long2Short<<endl;
//cout<<"rectDegree: "<<rectDegree<<endl;
//cout<<"rectArea : "<<rectArea<<endl;
if( long2Short> 0.9 && long2Short < 1.1 && rectDegree > 0.9 && rectArea > 5000 )
{
//cout<<"Length: "<<length<<endl;
//cout<<"Area : "<<area<<endl;
//cout<<"long axis : "<<axisLong<<endl;
//cout<<"short axis: "<<axisShort<<endl;
//cout<<"long2Short: "<<long2Short<<endl;
//cout<<"rectArea : "<<rectArea<<endl;
//cout<<"rectDegree: "<<rectDegree<<endl;
//cout<<"rectCountNum: "<<rectCountNum++<<endl;
for(int i = 0;i<4;++i) {
cvLine(frame,cvPointFrom32f(pt[i]),cvPointFrom32f(pt[((i+1)%4)?(i+1):0]),CV_RGB(255,0,0));
}
//cvShowImage("out",frame);
IplImage *cutimg = NULL;
IplImage *cutthreshimg = NULL,*cuttmpimg;
cvSetImageROI(frame,rect);
cutimg = cvCreateImage(cvSize(rect.width,rect.height),IPL_DEPTH_8U,3);
cutthreshimg = cvCreateImage(cvGetSize(cutimg),IPL_DEPTH_8U,1);
cuttmpimg = cvCreateImage(cvGetSize(cutimg),IPL_DEPTH_8U,1);
cvCopy(frame,cutimg,0);
//cvCvtColor( cutimg, cutthreshimg, CV_RGB2GRAY ); //rgb轉換爲灰度圖像
//cvThreshold( cuttmpimg, cutthreshimg, threshod, 255, CV_THRESH_BINARY );//圖像二值化
//cvAdaptiveThreshold( cuttmpimg, cutthreshimg, 255, CV_ADAPTIVE_THRESH_GAUSSIAN_C/*CV_ADAPTIVE_THRESH_MEAN_C*/,
// CV_THRESH_BINARY, 3, 5 ); //自適應閾值化
//cout<<"box.angle: "<<abs(box.angle)<<endl;
//圖像旋轉
//if( abs(box.angle) < 90 ) //旋轉角度在0度附近時會出現0<>90 震盪! 實際使用時旋轉角度也不會超過30度!
//WarpAffine( cutimg, DirectFlag ?box.angle:box.angle+90, 1.0 );
//WarpAffine( cutthreshimg, DirectFlag ?box.angle:box.angle+90, 1.0 );
cvShowImage("cutimg",cutimg);
IplImage *cutmpimg = NULL;
cutmpimg = cvCreateImage(cvGetSize(cutimg),IPL_DEPTH_8U,1); //深度8bit 單通道
cvCvtColor( cutimg, cutmpimg, CV_RGB2GRAY ); //rgb轉換爲灰度圖像
cvThreshold( cutmpimg, cutmpimg, 105, 255, CV_THRESH_BINARY );//圖像自適應二值化
//cvShowImage("threshold",cutmpimg);
cout<<"--------------index="<<GetQPIndex(cutmpimg)<<endl;
if( !threshod ) {
threshod = 150;
cvCreateTrackbar("cvThreshold", "cutimg", &threshod, 255, NULL );
cvSetTrackbarPos( "cvThreshold", "cutimg", threshod );
}
cvResetImageROI(frame);
cvReleaseImage( &cutimg );
cvReleaseImage( &cuttmpimg );
cvReleaseImage( &cutthreshimg );
}
}
}
char c = cvWaitKey(150); //等待按鍵輸入
if( c == 27 ) {
cvReleaseMemStorage( &storage );
break;
}
}
cvReleaseCapture( &capture );
cvReleaseImage( &frame );
cvReleaseImage( &out );
cvReleaseImage( &grayimg );
cvDestroyWindow("out");
return 0;
}