毕业设计过程记录六，单目单点测距

来源：互联网发布：java数字识别编辑：程序博客网时间：2024/06/05 04:20

平面测距做不出来了，无奈只好用单目单点测距顶上！感谢mbees大神提供的设备和技术上的支持，有时间大家给大神的博客点个关注吧，谢谢。老规矩，直接贴代码!

#include "stdafx.h"#include <iostream>#include "highgui.h"#include <opencv2\opencv.hpp>#include <opencv/cv.hpp> using namespace cv;using namespace std;Mat src;   //原图像存储变量Mat src_gray;   //存灰度图变量int thresh = 180;   //阈值设定int max_thresh = 255;//最大阈值int main( int argc, char** argv ) {VideoCapture cam(1);//获取摄像头0if (!cam.isOpened()) exit(0);//判断是否存在，不存在退出bool stop = false;//循环使能while(!stop){cam >> src;//获取摄像头    cvtColor( src, src_gray, CV_BGR2GRAY );//灰度化      GaussianBlur( src, src, Size(3,3), 0.1, 0, BORDER_DEFAULT ); //线性滤波blur( src_gray, src_gray, Size(3,3) ); //滤波       namedWindow( "原图像", 0 );   //创建一个窗体    imshow( "原图像", src );       //显示原图//定义Canny边缘检测图像       Mat canny_output;  //定义边缘检测存储变量   vector<Vec4i> hierarchy;    Canny( src_gray, canny_output, thresh, thresh*3, 3 ); //利用canny算法检测边缘      namedWindow( "边缘轮廓", 0 );       imshow( "边缘轮廓", canny_output );              vector<vector<Point> > contours;  findContours( canny_output, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0) ); //查找轮廓       //计算轮廓矩       vector<Moments> mu(contours.size() );       for( int i = 0; i < contours.size(); i++ )     {   mu[i] = moments( contours[i], false );   }     //计算轮廓的质心     vector<Point2f> mc( contours.size() );      for( int i = 0; i < contours.size(); i++ )     {   mc[i] = Point2d( mu[i].m10/mu[i].m00 , mu[i].m01/mu[i].m00 );   }     //画轮廓及其质心并显示      Mat drawing = Mat::zeros( canny_output.size(), CV_8UC3 );         for( int i = 0; i< contours.size(); i++ )      {         if (mc[i].y>260||mc[i].y<200){continue;}Scalar color = Scalar( 255, 0, 0);        drawContours( drawing, contours, i, color, 2, 8, hierarchy, 0, Point() );         circle( drawing, mc[i], 5, Scalar( 0, 0, 255), -1, 8, 0 );                rectangle(drawing, boundingRect(contours.at(i)), cvScalar(0,255,0));  double    gain = 0.001644074345 ;            double    offset =0.001607879449 ;//Offset是弧度误差unsigned int pixels_from_center =320 - mc[i].x;            // 算出距离并打印出来if(pixels_from_center>140){gain = 0.001513280086  ;offset =0.017372721230  ;}else if(pixels_from_center>104){gain = 0.001635044755  ;offset =0.003201011964  ;}else{gain = 0.001644074345 ;offset =0.001607879449 ;}const double    h_cm = 7.00;              // 摄像头和激光头距离cm            double          range;            range = h_cm / tan(pixels_from_center * gain + offset);char tam[100];   sprintf(tam, "(%0.0f,%0.0f,%d,%0.3fcm)",mc[i].x,mc[i].y,pixels_from_center,range);   cout<<"距离="<<range<<"cm"<<endl;putText(drawing, tam, Point(mc[i].x, mc[i].y), FONT_HERSHEY_SIMPLEX, 0.4, cvScalar(255,0,255),1);     }     namedWindow( "激光点参数", 0 );    imshow( "激光点参数", drawing );                  char c = cvWaitKey(10);       if( c == 27 ) break;   }   src.release();       src_gray.release();return 0;  }

声明：此段代码归mbees大神所有！
我宣布我的毕设博客到此结束！希望大家都能够完成毕设。

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