RM2016视觉开源OpenCv2代码

#include<opencv2/opencv.hpp>#include<iostream>#include<cstdio>#include<omp.h>using namespace std;using namespace cv;#define T_ANGLE_THRE 10#define T_SIZE_THRE 5void brightAdjust(Mat &src, Mat &dst, double dContrast, double dBright){    int nVal;    int rowNumber = dst.rows;    int colNumber = dst.cols*dst.channels();        omp_set_num_threads(8);    #pragma omp parallel for    for (int i = 0; i < rowNumber; i++)    {        uchar* dstdata = dst.ptr<uchar>(i);        uchar* srcdata = src.ptr<uchar>(i);        for (int j = 0; j < colNumber; j++)        {                nVal = ((dContrast * srcdata[j]) + dBright);                if (nVal > 255) nVal = 255;                else if (nVal < 0) nVal = 0;                dstdata[j] = nVal;        }    }}void getDiffImage(Mat &src1, Mat &src2, Mat &dst, int nThre){    int nVal;    int rowNumber = src1.rows;    int colNumber = src1.cols * src1.channels();    omp_set_num_threads(8);#pragma omp parallel for    for (int i = 0; i < rowNumber; i++)    {        uchar* srcData1 = src1.ptr<uchar>(i);        uchar* srcData2 = src2.ptr<uchar>(i);        uchar* dstData = dst.ptr<uchar>(i);        for (int j = 0; j < colNumber; j++)        {            if (srcData1[j] - srcData2[j]> nThre)                dstData[j] = 255;            else                dstData[j] = 0;        }    }}vector<RotatedRect> armorDetect(vector<RotatedRect> vEllipse){    vector<RotatedRect> vRlt;    RotatedRect armor;    int nL, nW;    double dAngle;    vRlt.clear();    if (vEllipse.size() < 2)        return vRlt;    for (unsigned int nI = 0; nI < vEllipse.size() -1; nI++)    {        for (unsigned int nJ = nI + 1; nJ < vEllipse.size(); nJ++)        {            dAngle = abs(vEllipse[nI].angle - vEllipse[nJ].angle);            while (dAngle > 180)                dAngle -= 180;            if ((dAngle < T_ANGLE_THRE || 180 - dAngle < T_ANGLE_THRE) && abs(vEllipse[nI].size.height - vEllipse[nJ].size.height) < (vEllipse[nI].size.height + vEllipse[nJ].size.height) / T_SIZE_THRE && abs(vEllipse[nI].size.width - vEllipse[nJ].size.width) < (vEllipse[nI].size.width + vEllipse[nJ].size.width) / T_SIZE_THRE)            {                armor.center.x = (vEllipse[nI].center.x + vEllipse[nJ].center.x) / 2;                armor.center.y = (vEllipse[nI].center.y + vEllipse[nJ].center.y) / 2;                armor.angle = (vEllipse[nI].angle + vEllipse[nJ].angle) / 2;                if (180 - dAngle < T_ANGLE_THRE)                    armor.angle += 90;                nL = (vEllipse[nI].size.height + vEllipse[nJ].size.height) / 2;                nW = sqrt((vEllipse[nI].center.x - vEllipse[nJ].center.x) * (vEllipse[nI].center.x - vEllipse[nJ].center.x) + (vEllipse[nI].center.y - vEllipse[nJ].center.y) * (vEllipse[nI].center.y - vEllipse[nJ].center.y));                if (nL < nW)                {                    armor.size.height = nL;                    armor.size.width = nW;                }                else                {                    armor.size.height = nW;                    armor.size.width = nL;                }                vRlt.push_back(armor);            }        }    }    return vRlt;}void drawBox(RotatedRect box, Mat &img){    Point2f vertex[4];    box.points(vertex);    for (int i = 0; i < 4; i++)    {        line(img, vertex[i], vertex[(i + 1) % 4], Scalar(0, 0, 255), 2, CV_AA);    }}int main(){    bool bFlag=true;    vector<Mat> channels;    vector<RotatedRect> vEllipse;    vector<vector<Point> > contours;    vector<Vec4i> hierarchy;    vector<RotatedRect> vRlt;    RotatedRect box;    Point2f vertex[4];    Mat frame,  bImage, gImage, rImage, rawImage, grayImage, rlt;    Mat binary;    VideoCapture cap("RedCar.avi");    cap >> frame;    frame.copyTo(rawImage);    double time = 0;    unsigned int frames=0;    while (1)    {        frames++;        double t0 = getTickCount();        brightAdjust(frame, rawImage, 1, -120);        split(rawImage, channels);        bImage = channels.at(0);        gImage = channels.at(1);        rImage = channels.at(2);        bImage.copyTo(binary);        getDiffImage(rImage, gImage, binary, 25);        Mat element = getStructuringElement(MORPH_RECT, Size(5, 5));        dilate(binary, grayImage, element, Point(-1, -1), 3);        erode(grayImage, rlt, element, Point(-1, -1), 1);        findContours(rlt, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);        if (contours.size() == 0)            continue;        for (int i = 0; i < contours.size(); i++)        {            if ((contourArea(contours[i])>300 && contours.size()>10) || (contours.size()<10 && contours.size()>30) )            {                box = minAreaRect(Mat(contours[i])); //原代码是用椭圆拟合，然而我的电脑上fitellipse()出错                box.points(vertex);                for (int i = 0; i < 4; i++)                    line(rlt, vertex[i], vertex[(i + 1) % 4], Scalar(255), 2, CV_AA);                if ((box.size.height / box.size.width) > 1.0)                    bFlag = true;                for (int nI = 0; nI < 5; nI++)                {                    for (int nJ = 0; nJ < 5; nJ++)                    {                        if (box.center.y - 2 + nJ > 0 && box.center.y - 2 + nJ < 480 && box.center.x - 2 + nI > 0 && box.center.x - 2 + nI <  640)                        {                            Vec3b sx = frame.at<Vec3b>((int)(box.center.y - 2 + nJ), (int)(box.center.x - 2 + nI));                            if (sx[0] < 200 || sx[1] < 200 || sx[2] < 200)                            {                                int x1 = sx[0];                                int x2 = sx[1];                                int x3 = sx[2];                                bFlag = false;                                break;                            }                        }                    }                }                if (bFlag)                {                      vEllipse.push_back(box);                }            }        }        vRlt = armorDetect(vEllipse);        for (unsigned int nI = 0; nI < vRlt.size(); nI++)            drawBox(vRlt[nI], frame);        vEllipse.clear();        vRlt.clear();        //imshow("B", rImage);        //imshow("G", gImage);        //imshow("R", bImage);        imshow("Bi", binary);        imshow("RLT", rlt);        imshow("frame", frame);        //imshow("2", rawImage);        cvWaitKey(30);        cap >> frame;        time += (getTickCount() - t0) / getTickFrequency();        cout << frames / time << " fps" << endl;    }    return 0;}