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ArmorFind.cpp
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#include "ArmorFind.h"
#include "ArmorSet.h"
#include <math.h>
#define hsv_threshold 70
#define big_armor_highest 4.85
#define big_armor_lowest 3
Armorfind::Armorfind()
{
}
Armorfind::~Armorfind()
{
}
/*
* @brief set the caps
*
*/
vector<Point2f> Armorfind::Armorfinds(Mat src, Mat img_hsv, Mat img_gray,bool &labels)
{
namedWindow("picutre_text1");
namedWindow("picutre_text2");
//namedWindow("picutre_text3");
//namedWindow("picutre_text4");
Mat text(480, 640,CV_8UC1,Scalar(0));
Mat text1(480, 640, CV_8UC1, Scalar(0));
Mat text2(480, 640, CV_8UC1, Scalar(0));
/*准备工作*/
img_gray = p_img(src);
findContours(img_gray, Armorcoutour, RETR_EXTERNAL, CHAIN_APPROX_NONE);
ArmorRects(src, Armorcoutour);//11ms
RectArmorss(ArmorRect, text1);
//Armorstrict(ArmorRect_real, ArmorRect,src);
if (!Armorstrict(ArmorRect_real, ArmorRect,img_hsv))
{
Armorloose(ArmorRect_real, ArmorRect);
cout << "loose" << endl;
}
//RectArmorss( RecChoose,text2);
/*画出可能的装甲对（可注释）*/
all_points =ALLpoint(RectChoose, text2);
for (size_t i = 0; i < all_points.size(); i++)
{
Point2f vertices[4];
vertices[0] = all_points[i][0];
vertices[1] = all_points[i][1];
vertices[2] = all_points[i][2];
vertices[3] = all_points[i][3];
for (int i = 0; i < 4; i++)
line(text2, vertices[i], vertices[(i + 1) % 4], Scalar(255));
}
armor_points = high_chooses(all_points,labels);
RectArmor(src, armor_points);
// resize(src, src, Size(1280, 720));
imshow("picutre_text1",src);
imshow("picutre_text2", img_gray);
//imshow("picutre_text3", text1);
//imshow("picutre_text4", text2);
armorclear();
return armor_points;
//return 0;
}
/***************************计算函数****************************************/
/*
* @brief 判断两点间的距离
*/
float Armorfind::distances(Point2f pt1, Point2f pt2)
{
float distances = sqrt_fast(pow(abs(pt1.x - pt2.x), 2) + pow(abs(pt1.y - pt2.y), 2));
return distances;
}
/*
* @brief 快速开方算法
*/
float Armorfind::sqrt_fast(float x)
{
float xhalf = 0.5f * x;
int i = *(int*)& x; // get bits for floating VALUE
i = 0x5f375a86 - (i >> 1); // gives initial guess y0
x = *(float*)& i; // convert bits BACK to float
x = x * (1.5f - xhalf * x * x); // Newton step, repeating increases accuracy
return 1/x;
}
/*
* @brief 寻找灯条矩形
*/
/***************************功能函数****************************************/
/*
* @brief 预处理函数
*/
Mat Armorfind::p_img(Mat& src)
{
Mat out;
cvtColor(src, out, COLOR_BGR2GRAY);
Mat element1, element2;
threshold(out, out,hsv_threshold , 255, THRESH_BINARY);
element1 = getStructuringElement(MORPH_RECT, Size(1, 5));
erode(out, out, element1);
element2 = getStructuringElement(MORPH_RECT, Size(5, 9));
dilate(out, out, element2);
return out;
}
vector<RotatedRect> Armorfind::ArmorRects(Mat src, vector<vector<Point>> Armorcoutours)//获得椭圆
{
Scalar armorcolor;//gray
RotatedRect s/*旋转矩阵*/, s_fitEllipse, s_minAreaRect;
if (Armorcoutour.size() > 0)
{
int cout1 =0;
for (auto& contour : Armorcoutours)
{
cout1 ++;
bool Armorflags ;
if (contour.size() > 10 && contour.size() < 300)//面积约束
{
s_fitEllipse = fitEllipse(contour);//椭圆
s_minAreaRect = minAreaRect(contour);//最小外接旋转矩形
// double lightrectarea = contourArea(contour);//旋转矩阵面积
s = s_minAreaRect;
s.angle = s_minAreaRect.angle;
s.center = s_fitEllipse.center;
Armorflags = colorchoose(src, Point(s.center));
s.size.height = s_minAreaRect.size.height;
s.size.width = s_minAreaRect.size.width;
if (s.size.width / s.size.height > 0.1)
{
if (s_fitEllipse.size.area() / s.size.area() > AST::light_min_areas)//面积和长度比的约束
{
if (s_fitEllipse.size.height > 5&&s_fitEllipse.size.height<100 )
{
if (Armorflags)
{
ArmorRect.push_back(s);
}
}
}
}
}
if (cout1 > 500)
break;
}
// cout << ArmorRect.size() << endl;
}
return ArmorRect_real;
}
/*
* @brief 找到预设装甲对//严格匹配
* @param
* @return
*/
bool Armorfind::Armorstrict(vector<RotatedRect> realarmor, vector<RotatedRect> ArmorRect,Mat& src)
{
// float Aangle;
// Point center_armor;
size_t size = ArmorRect.size();
if (size < 2)
{
return 0;
}
for (unsigned int NI = 0; NI < size; NI++)
{
for (unsigned int NL = NI; NL < size; NL++)
{
if (ArmorRect[NI].size.area() != ArmorRect[NL].size.area() || ArmorRect[NI].center != ArmorRect[NL].center)
{
if (ArmorRect[NI].size.area() > 10 && ArmorRect[NL].size.area() > 10)
{
pair<RotatedRect, RotatedRect> realarmor;
Point2f rect1[4];
Point2f rect2[4];
float dis_armor = distances(ArmorRect[NI].center, ArmorRect[NL].center);
float dis_height = ( ArmorRect[NI].size.height + ArmorRect[NL].size.height) / 2;
float dis_width = (ArmorRect[NI].size.width + ArmorRect[NL].size.width) / 2;
float height_armor = max(dis_height, dis_width);
float dis = max(dis_armor /height_armor,height_armor/dis_armor);
double angle_dis =abs(atan((ArmorRect[NI].center.y- ArmorRect[NL].center.y) / (ArmorRect[NI].center.x - ArmorRect[NL].center.x))*180/PI);
ArmorRect[NI].points(rect1);
ArmorRect[NL].points(rect2);
float area_size= ArmorRect[NI].size.area() /ArmorRect[NL].size.area() ;
if(dis_armor>20)
{
if(AST::Mode == 0)
{
if(AST::armormode == 1)
{
if (angle_dis<10)//平行度
{
if((dis>1.1&&dis<5.85))
{
if(area_size>0.2&&area_size<5)
{
realarmor.first = ArmorRect[NI];
realarmor.second = ArmorRect[NL];
RectChoose.push_back(realarmor);
}
}
}
}
else if(AST::armormode ==11)
{
if (angle_dis<10)//平行度
{
if((dis>3.1&&dis<7.1))
{
if(area_size>0.4&&area_size<2.5)
{
realarmor.first = ArmorRect[NI];
realarmor.second = ArmorRect[NL];
RectChoose.push_back(realarmor);
}
}
}
}
}
else if(AST::Mode == 1)
{
if(AST::armormode == 1)
{
if (angle_dis<10)//平行度
{
if((dis>1.1&&dis<5.85))
{
if(area_size>0.2&&area_size<5)
{
realarmor.first = ArmorRect[NI];
realarmor.second = ArmorRect[NL];
RectChoose.push_back(realarmor);
}
}
}
}
else if(AST::armormode ==11)
{
if (angle_dis<15)//平行度
{
if((dis>3.1&&dis<7.1))
{
if(area_size>0.4&&area_size<2.5)
{
realarmor.first = ArmorRect[NI];
realarmor.second = ArmorRect[NL];
RectChoose.push_back(realarmor);
}
}
}
}
}
}
}
}
}
}
if (RectChoose.empty())
return 0;
else
return 1;
}
/*
* @brief 清除函数
* @
*/
void Armorfind::armorclear()
{
Armorcoutour.clear();
ArmorRect.clear();
ArmorRect_real.clear();
armor.clear();
// armor_points.clear();
all_points.clear();
}
/*
* @brief 画出矩形/调试
*/
void Armorfind::RectArmorss(vector<RotatedRect> Rect, Mat src)
{
for (int i = 0; i < Rect.size(); i++)
{
// Point2f vertex[4];
// double mins = 100000;
Point2f vertex1[4];
Rect[i].points(vertex1);
for (int i = 0; i < 4; i++)
{
line(src, vertex1[i], vertex1[(i + 1) % 4],255, 1, LINE_AA);
}
}
}
/*
* @brief 画出矩形/调试
*/
void Armorfind::RectArmor(Mat src,vector<Point2f>points)
{
if (points.size() == 4)
{
for (int i = 0; i <4 ; i++)
{
line(src, points[i], points[(i + 1) % 4], Scalar(0, 255, 255), 1, 8, 0);
}
}
else
cout<<"nmsl"<<endl;
}
/*
* @brief 颜色选择层
*/
bool Armorfind::colorchoose(Mat src, Point it)
{
if (it.x < 640 && it.y < 480)
{
Point pt = Point(abs(it.x), abs(it.y));
int R, G, B;
B = src.at<Vec3b>(pt)[0];
G = src.at<Vec3b>(pt)[1];
R = src.at<Vec3b>(pt)[2];
if (AST::Mode == 0)
{
if ((B - R > 80))
{
return 1;
}
else
{
return 0;
}
}
else if (AST::Mode == 1)
{
if( (R-B>40) )
{
return 1;
}
else
{
return 0;
}
}
else
return 0;
}
}
/*
* @brief 返回所有矩形
* @brief 将矩形按12 分布
* 03
*/
vector<vector<Point2f>> Armorfind::ALLpoint(vector<pair<RotatedRect, RotatedRect>> Rect,Mat&src)
{
vector<vector<Point2f>> points_4;
if (Rect.size() > 0)
{
for (size_t i = 0; i < Rect.size(); i++)
{
vector<Point2f> rect_points;
vector<Point2f> rect_point4s;
int width = src.rows;//480
int height = src.cols;//640
int left_top = 10000, left_down = 10000, right_top = 10000, right_down = 10000;
Point2f vertex1[4];
Point2f vertex2[4];
Point2f vertex[4];
Rect[i].first.points(vertex1);
Rect[i].second.points(vertex2);
for (int j = 0; j < 4; j++)
{
rect_points.push_back(vertex1[j]);
rect_points.push_back(vertex2[j]);
}
if (rect_points.size() == 8)
{
for (size_t k = 0; k < rect_points.size(); k++)
{
float distance_left_top = distances(rect_points[k], Point2f( 0,0));
float distance_left_down = distances(rect_points[k], Point2f(0, width));
float distance_right_top = distances(rect_points[k], Point2f(height,0));
float distance_right_down = distances(rect_points[k], Point2f(height, width));
while (distance_left_down < left_down)//左下角为1
{
left_down = distance_left_down;
vertex[0] = rect_points[k];
}
while (distance_left_top < left_top)//左上方为1
{
left_top = distance_left_top;
vertex[1] = rect_points[k];
}
while (distance_right_top < right_top)//右上方为2
{
right_top = distance_right_top;
vertex[2] = rect_points[k];
}
while (distance_right_down < right_down)//右下方为3
{
right_down = distance_right_down;
vertex[3] = rect_points[k];
}
}
}
rect_point4s.push_back(vertex[0]);
rect_point4s.push_back(vertex[1]);
rect_point4s.push_back(vertex[2]);
rect_point4s.push_back(vertex[3]);
points_4.push_back(rect_point4s);
}
}
return points_4;
}
/*
*@brief 宽松匹配，当严格匹配无法识别时进行补偿
*/
bool Armorfind::Armorloose(vector<RotatedRect> realarmor, vector<RotatedRect> ArmorRect)
{
float Aangle;
Point center_armor;
size_t size = ArmorRect.size();
if (size < 2)
{
return 0;
}
for (unsigned int NI = 0; NI < size; NI++)
{
for (unsigned int NL = 0; NL < size; NL++)
{
if (ArmorRect[NI].size.area() != ArmorRect[NL].size.area())
{
pair<RotatedRect, RotatedRect> realarmor;
// float dis_armor = distances(ArmorRect[NI].center, ArmorRect[NL].center);
// Point2f center = Point2f((ArmorRect[NI].center.x + ArmorRect[NL].center.x) / 2, (ArmorRect[NI].center.y + ArmorRect[NI].center.y) / 2);
// float dis_light = (ArmorRect[NI].size.height + ArmorRect[NL].size.height) / 2;
double angle_dis =abs(atan((ArmorRect[NI].center.y- ArmorRect[NL].center.y) / (ArmorRect[NI].center.x - ArmorRect[NL].center.x))*180/PI);
//double dis_angle = abs(ArmorRect[NI].angle - ArmorRect[NL].angle);
if (angle_dis < 5)
{
realarmor.first = ArmorRect[NI];
realarmor.second = ArmorRect[NL];
RectChoose.push_back(realarmor);
}
}
}
}
return 1;
}
/*dou
* @brief 图像处理层面抉择
*
*
*/
vector<Point2f> Armorfind::high_chooses(vector<vector<Point2f>> ptss,bool &armor_label)//装甲板大小,距离,离鼠标的位置
{
vector<Point2f> last_armor;
float best_grade = 0;
Point2f center_one(320,320);
if (ptss.size() > 0)
{
int j=0;
float Grade = 0;
for (size_t i = 0; i < ptss.size(); i++)
{
cout << "第" << i << "个:" << ptss[i].size() << endl;
if (ptss[i].size() == 4)
{
// float rect_index = 0;//矩形参数
float parallel_index = 0;//平行参数
float area_index = 0;//mj参数
float angle_index = 20;//长宽比参数
float center_index =0;
/* /*矩形拟合参数*/
float center_x = (ptss[i][0].x + ptss[i][1].x + ptss[i][2].x + ptss[i][3].x) / 4;
float center_y = (ptss[i][0].y + ptss[i][1].y + ptss[i][2].y + ptss[i][3].y) / 4;
Point armor_center = Point2f(center_x, center_y);
center_index =distances(armor_center,center_one);
/*
float center_distance[4];
center_distance[0] = distances(armor_center, ptss[i][0]);
center_distance[1] = distances(armor_center, ptss[i][1]);
center_distance[2] = distances(armor_center, ptss[i][2]);
center_distance[3] = distances(armor_center, ptss[i][3]);
for (int first = 0; first < 4; first++)
{
for (int sec = 0; sec < 4 - first; sec++)
{
rect_index += (center_distance[first] / center_distance[sec]) / 10;
}
}
*/
/*平行拟合参数*/
float parallel_indexs[4];
float height_01, height_23, width_12, width_30;
parallel_indexs[0] = distances(ptss[i][0], ptss[i][1]);
parallel_indexs[1] = distances(ptss[i][1], ptss[i][2]);
parallel_indexs[2] = distances(ptss[i][2], ptss[i][3]);
parallel_indexs[3] = distances(ptss[i][3], ptss[i][0]);
height_01 = ptss[i][0].y - ptss[i][1].y;
width_12 = ptss[i][2].x - ptss[i][1].x;
height_23 = ptss[i][3].y - ptss[i][2].y;
width_30 = ptss[i][3].x - ptss[i][0].x;
parallel_index =min(min(width_12/height_01,width_12/height_23),min(width_30/height_01,width_30/height_23));
float angle_x1 =abs(atan( (ptss[i][0].y -ptss[i][3].y)/(ptss[i][0].x -ptss[i][3].x))*180/PI);
float angle_x2 =abs(atan( (ptss[i][1].y -ptss[i][2].y)/(ptss[i][1].x -ptss[i][2].x))*180/PI);
float angle_y1 =abs(atan( (ptss[i][1].x -ptss[i][0].x)/(ptss[i][1].y -ptss[i][0].y))*180/PI);
float angle_y2 =abs(atan( (ptss[i][2].x -ptss[i][3].x)/(ptss[i][2].y -ptss[i][3].y))*180/PI);
angle_index =max(max(angle_x1,angle_x2),max(angle_y1,angle_y2));
/*长宽比拟合参数*/
/* float radio = (parallel_indexs[1] + parallel_indexs[3]) / (parallel_indexs[0] + parallel_indexs[2]);
if (radio > 1)
{
lwr_index = abs(2.8 - radio);
}
else
lwr_index = 1;
*/
area_index =parallel_indexs[0] *parallel_indexs[1]/4+parallel_indexs[1] *parallel_indexs[2]/4+parallel_indexs[2] *parallel_indexs[3]/4+parallel_indexs[3] *parallel_indexs[1]/4;
Grade =area_index+
center_index;
// + 4 * (1 - abs(0.1 - lwr_index))
;
// cout << "此装甲对的成绩为：" << Grade << endl;
// cout << rect_index << endl;//1.25
// cout << parallel_index << endl;//0.99
// cout << lwr_index << endl;//20
if(AST::armormode ==1)
{
if (Grade > best_grade)
{
if((parallel_index>1&¶llel_index<2.55))
{
if(angle_index<10)
{
armor_label =0;
j=i;
best_grade = Grade;
}
}
}
}
else if (AST::armormode==11)
{
if (Grade > best_grade)
{
if((parallel_index>big_armor_lowest&¶llel_index<big_armor_highest))
{
if(angle_index<10)
{
armor_label =0;
j=i;
best_grade = Grade;
}
}
}
}
}
}
if(best_grade !=0)
last_armor = ptss[j];
}
return last_armor;
}