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颜色识别模块

来源：花匠小妙招时间：2024-12-15 00:12

/*****************Team_game.h******************************/ #include <iostream> #include<opencv2/opencv.hpp> #include<opencv2/highgui/highgui.hpp> #include<iostream> /*****************串口头文件******************************/ #include <stdio.h> /*标准输入输出定义*/ #include <stdlib.h> /*标准函数库定义*/ #include <unistd.h> /*Unix 标准函数定义*/ #include <sys/types.h> #include <sys/stat.h> //配置所需的头文件 #include <fcntl.h> /*文件控制定义*/ #include <termios.h> /*PPSIX 终端控制定义*/ #include <errno.h> /*错误号定义*/ /***********************************************************/ using namespace std; using namespace cv; #define t_min 37 #define t_max 255 Mat frame,gray_image,threshold_image; Mat dst_image=frame.clone(); //Mat reduction_image=frame.clone(); Mat ployPic; Mat fix; bool chage=false; #define WIND37_NAME "threshold_image2" //寻找凸点定义 vector<int> hull; /******************图像预处理部分*******************************/ void prepossing_image(Mat &frame) { resize(frame,frame,Size(640,480)); cvtColor(frame,gray_image,COLOR_RGB2GRAY); // medianBlur(gray_image,gray_image,7); blur(gray_image,threshold_image,Size(5,5)); threshold(gray_image,threshold_image, t_min,t_max,THRESH_BINARY); // imshow("threshol_image",threshold_image); // namedWindow("threshold",WINDOW_AUTOSIZE); Mat sobel_x,sobel_y; Sobel(threshold_image,sobel_x,CV_16S,0,1,3); Sobel(threshold_image,sobel_y,CV_16S,1,0,3); convertScaleAbs(sobel_x,sobel_x); convertScaleAbs(sobel_y,sobel_y); addWeighted(sobel_x,1.5,sobel_y,1.5,0,dst_image); // imshow("canny",dst_image); //canny算子 // Canny(threshold_image,dst_image,100,255); } /****************图像处理**************************************/ void port_making(Mat &dst_image1) { //提取轮廓 vector<vector<Point>> contours; vector<Vec4i> hierarchy; //寻找轮廓 findContours(dst_image1,contours,hierarchy,RETR_CCOMP,CHAIN_APPROX_SIMPLE,Point(0,0)); vector<vector<Point>> aploycontours(contours.size()); ployPic=frame.clone(); double maxArea=0; for (unsigned int i=0;i<contours.size();i++) { if(contourArea(contours[i])>contourArea(contours[maxArea])) { maxArea=i; approxPolyDP((Mat)contours[i],aploycontours[i],50,true); drawContours(ployPic,aploycontours,i,Scalar(255,255,255),2,8); } } // cout<<"maxArea="<<maxArea<<endl; // imshow("approxPolyDp",ployPic); //寻找凸点 // vector<int> hull; Mat reduction_image=frame.clone(); if(maxArea>0&&aploycontours.size()>0) { convexHull(aploycontours[maxArea],hull,false); if(hull.size()!=0) { for (int i=0;i<hull.size();i++) { circle(reduction_image,aploycontours[maxArea][i],10,Scalar(255,255,255),3); putText(reduction_image,"1",aploycontours[maxArea][0],FONT_HERSHEY_SIMPLEX,1,Scalar(255,255,255),3,8); putText(reduction_image,"2",aploycontours[maxArea][1],FONT_HERSHEY_SIMPLEX,1,Scalar(255,255,255),3,8); putText(reduction_image,"3",aploycontours[maxArea][2],FONT_HERSHEY_SIMPLEX,1,Scalar(255,255,255),3,8); putText(reduction_image,"4",aploycontours[maxArea][3],FONT_HERSHEY_SIMPLEX,1,Scalar(255,255,255),3,8); } } // cout<<"hull="<<hull.size()<<endl; } // imshow("drawing",reduction_image); // Mat fix=Mat::zeros(640,480,frame.type()); //处理roi过后的图片 if(hull.size()==4&&aploycontours[maxArea][0].x<aploycontours[maxArea][2].x&&aploycontours[maxArea][0].y<aploycontours[maxArea][2].y &&aploycontours[maxArea][0].y<aploycontours[maxArea][1].y&&aploycontours[maxArea][1].x<aploycontours[maxArea][3].x &&aploycontours[maxArea][3].y<aploycontours[maxArea][2].y&&aploycontours[maxArea][1].x<aploycontours[maxArea][2].x &&(fabs(aploycontours[maxArea][2].x-aploycontours[maxArea][3].x))<=25&&(fabs(aploycontours[maxArea][0].x-aploycontours[maxArea][1].x))<=25 &&(fabs(aploycontours[maxArea][0].y-aploycontours[maxArea][3].y))<25&&(fabs(aploycontours[maxArea][1].y-aploycontours[maxArea][2].y))<=25) { Rect rect1(Point(aploycontours[maxArea][0].x,aploycontours[maxArea][0].y+10),Point(aploycontours[maxArea][2].x,aploycontours[maxArea][2].y)); fix=frame(rect1); chage=true; // imshow("roi",fix); } if(hull.size()==4&&aploycontours[maxArea][1].x<aploycontours[maxArea][0].x&&aploycontours[maxArea][1].y<aploycontours[maxArea][2].y &&aploycontours[maxArea][3].x>aploycontours[maxArea][2].x&&aploycontours[maxArea][3].y>aploycontours[maxArea][0].y &&aploycontours[maxArea][3].y>aploycontours[maxArea][1].y&&aploycontours[maxArea][3].x>aploycontours[maxArea][1].x &&(fabs(aploycontours[maxArea][3].y-aploycontours[maxArea][0].y))<25&&(fabs(aploycontours[maxArea][2].y-aploycontours[maxArea][1].y))<25 &&(fabs(aploycontours[maxArea][0].x-aploycontours[maxArea][1].x))<25&&(fabs(aploycontours[maxArea][3].x-aploycontours[maxArea][2].x))<25) { Rect rect2(Point(aploycontours[maxArea][1].x,aploycontours[maxArea][1].y+10),Point(aploycontours[maxArea][3].x,aploycontours[maxArea][3].y)); fix=frame(rect2); chage=true; // imshow("roi",fix); } waitKey(2); } /**********************************条件筛选*******************************************************/ void screen_image(Mat &fix1) { Mat red_image,green_image,black_image,white_image,blue_image; double red_area=0,green_area=0,white_area=0,black_area=0,blue_area=0; for ( int i=0;i<5;i++) { switch (i) { case 0: { Mat src=fix1.clone(); // cvtColor(src,src,COLOR_RGB2Lab); // inRange(src,Scalar(0,0,175),Scalar(180,255,255),red_image); // inRange(src,Scalar(0,141,20),Scalar(130,205,101),red_image); vector<Mat>channelred; split(src,channelred); red_image=channelred.at(2)-channelred.at(0); threshold(red_image,red_image,70,255,THRESH_BINARY); // imshow("red_image",red_image); vector<vector<Point>> contours_red; vector<Vec4i> hierachy_red; findContours(red_image,contours_red,hierachy_red,RETR_EXTERNAL,CHAIN_APPROX_TC89_L1); for(unsigned int r=0;r<contours_red.size();r++) { red_area+=fabs(contourArea(contours_red[r])); } // cout<<"红色的面是"<<red_area<<endl; } continue; case 1: { // inRange(src_image,Scalar(0,79,0),Scalar(54,255,255),green_image); Mat src1=fix1.clone(); // cvtColor(src1,src1,COLOR_RGB2BGR); // // inRange(src,Scalar(0,230,88),Scalar(180,255,255),green_image); // inRange(src1,Scalar(0,115,0),Scalar(16,255,255),green_image); vector<Mat> channelg; split(src1,channelg); green_image=channelg.at(1)-channelg.at(0); threshold(green_image,green_image,107,255,THRESH_BINARY); // imshow("green_image",green_image); vector<vector<Point>> contours_green; vector<Vec4i> hierachy_green; findContours(green_image,contours_green,hierachy_green,RETR_EXTERNAL,CHAIN_APPROX_TC89_L1); for(unsigned int g=0;g<contours_green.size();g++) { green_area+=fabs(contourArea(contours_green[g])); } } continue; case 2: { Mat src2=fix1.clone(); // cvtColor(src2,src2,COLOR_RGB2HSV); // inRange(src2,Scalar(0,0,180),Scalar(186,23,255),white_image); // imshow("white",white_image); cvtColor(src2,src2,COLOR_RGB2BGR); vector<Mat> channelwhite; split(src2,channelwhite); white_image=channelwhite.at(0)*0.5+channelwhite.at(2)*0.5; threshold(white_image,white_image,120,255,THRESH_BINARY); // imshow("white",white_image); vector<vector<Point>> contours_white; vector<Vec4i> hierachy_white; findContours(white_image,contours_white,hierachy_white,RETR_EXTERNAL,CHAIN_APPROX_TC89_L1); for(unsigned int w=0;w<contours_white.size();w++) { white_area+=fabs(contourArea(contours_white[w])); } // cout<<"白色的面是"<<white_area<<endl; } continue; case 3: { vector<Mat> hsvSplit; Mat src3=fix1.clone(); // split(src3, hsvSplit); // equalizeHist(hsvSplit[2],hsvSplit[2]); // merge(hsvSplit,src3); // inRange(src3,Scalar(0,0,0),Scalar(85,21,0),black_image); cvtColor(src3,src3,COLOR_BGR2Lab); vector<Mat> channelblack; split(src3,channelblack); black_image=channelblack.at(0); threshold(black_image,black_image,50,255,THRESH_BINARY_INV); // imshow("black_image",black_image); vector<vector<Point>> controus_black; vector<Vec4i> hierarchy_black; findContours(black_image,controus_black,hierarchy_black,RETR_EXTERNAL,CHAIN_APPROX_TC89_L1); for(unsigned int b=0;b<controus_black.size();b++) { black_area+=fabs(contourArea(controus_black[b])); } // cout<<"黑色的面积是"<<black_area<<endl; } continue; case 4: { Mat src4,hsv; src4=fix1.clone(); // cvtColor(src4,src4,COLOR_BGR2RGB); // inRange(src4,Scalar(0,0,190),Scalar(0,255,255),blue_image); vector<Mat> channelg; split(src4,channelg); blue_image=channelg.at(0)-channelg.at(2); threshold(blue_image,blue_image,107,255,THRESH_BINARY); // imshow("blue_image",blue_image); vector<vector<Point>> contours_blue; vector<Vec4i> hierarchy_blue; findContours(blue_image,contours_blue,hierarchy_blue,RETR_EXTERNAL,CHAIN_APPROX_TC89_L1); for (unsigned int i=0;i<contours_blue.size();i++) { blue_area+=fabs(contourArea(contours_blue[i])); } // cout<<"蓝色的面积是"<<blue_area<<endl; } } } int fd; int wr_num=0; struct termios options, newstate; char * buf = new char[8];//分配内存空间 fd = open("/dev/ttyUSB0", O_RDWR|O_NONBLOCK|O_NOCTTY|O_NDELAY); //打开串口读、写打开|非阻塞方式|不作为控制终端|防低电平睡眠 if(fd==-1)//串口未打开 perror("未打开串口"); else//正常打开 cout<<"正常打开!"<<endl; //检测是否为终端 if(fcntl(fd, F_SETFL, 0) < 0 ) //改为阻塞模式 { cout<<"fcntl error"<<endl; } else { cout<<"fcntl = "<<fcntl(fd, F_SETFL, 0)<<endl; } //获取串口 tcgetattr(fd, &options); //设置波特率 //WARNING: B9600 cfsetispeed(&options, B9600); cfsetospeed(&options, B9600); //获取波特率 tcgetattr(fd, &newstate); //串口设置 options.c_cflag |= (CLOCAL | CREAD); options.c_cflag &= ~PARENB; //设置无奇偶校验位 options.c_cflag &= ~CSTOPB; //设置停止位1 options.c_cflag &= ~CSIZE; options.c_cflag |= CS8; //设置数据位 options.c_cc[VTIME] = 0; //阻塞模式的设置 options.c_cc[VMIN] = 0; //激活新配置 tcsetattr(fd, TCSANOW, &options);//初始化 double find_big_area[5]={red_area,white_area,green_area,blue_area,black_area}; double max_area=0; int length=sizeof (find_big_area)/sizeof (int); max_area=*max_element(find_big_area,find_big_area+length); if(max_area==find_big_area[0]) { cout<<"最大的面积是红色"<<max_area<<endl; uint car =5; sprintf(buf,"%c",car); cout<<"输出的字符是"<<car<<endl; write(fd,buf,sizeof (buf)); tcflush(fd,TCIOFLUSH); // test_number++; sleep(0.5); chage=false; } if(max_area==find_big_area[1]) { cout<<"最大的面积是白色"<<max_area<<endl; uint16_t car=1; sprintf(buf,"%c",car); cout<<"输出的字符是"<<car<<endl; write(fd,buf,sizeof (buf)); tcflush(fd,TCIOFLUSH); sleep(0.5); chage=false; } if(max_area==find_big_area[2]) { cout<<"最大的面积是绿色"<<max_area<<endl; cout<<"c"<<endl; uint16_t car= 3; sprintf(buf,"%c",car); cout<<"输出的字符是"<<car<<endl; write(fd,buf,sizeof (buf)); tcflush(fd,TCIOFLUSH); // test_number++; sleep(0.5); chage=false; } if(max_area==find_big_area[3]) { cout<<"最大的面积是蓝色"<<max_area<<endl; uint16_t car =4; sprintf(buf,"%c",car); cout<<"输出的字符是"<<car<<endl; write(fd,buf,sizeof (buf)); // sleep(1); tcflush(fd,TCIOFLUSH); sleep(0.5); chage=false; } if(max_area==find_big_area[4]) { cout<<"最大的面积是黑色"<<max_area<<endl; uint16_t car = 2; sprintf(buf,"%c",car); cout<<"输出的字符是"<<car<<endl; write(fd,buf,sizeof (buf)); //test_number++; sleep(0.5); chage=false; } } /*******************判断识别输出********************************************************/ //void message_out(double red,double white,double green ,double black,double blue ) //{ //} int main() { char spring[50]; VideoCapture capture(2); for (;;) { capture.set(CAP_PROP_BRIGHTNESS,55); double t = (double)getTickCount();//开始计时 capture>>frame; prepossing_image(frame); port_making(dst_image); if(chage==true&&hull.size()==4) { screen_image(fix); // message_out(red_area,white_area,green_area,black_area,blue_area); } t = ((double)getTickCount() - t) / getTickFrequency();//结束计时 double fps =1.0 / t;//转换为帧率 sprintf(spring,"%0.2f",fps); String fpsspring("FPS:"); fpsspring+=spring; putText(ployPic,fpsspring,Point(25,25),FONT_HERSHEY_DUPLEX,0.5,Scalar(255,255,180)); imshow("fps",ployPic); cout << "FPS= " << fps<<endl;//输出帧率 } }

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