基于ubuntu14视觉识别乒乓球_1

串口通信，opencv3.0

窗口大小可调

编译

cmake ../

make

./color

正常光线下运行比较稳定，找圆比较准确。程序设置了圆的半径区间以及圆心最小间距，以满足产品的需求，可自行修改调试。

历程如下

#define USE_SERIAL 0 // 1:use serial  0:not use serial    //用串口调试时置1，不用串口时一定要置0，否则会报错

#include <iostream>

#include "opencv2/highgui/highgui.hpp"

#include "opencv2/imgproc/imgproc.hpp"

#include <opencv2/core/core.hpp>  

#include <opencv2/opencv.hpp>

#if USE_SERIAL

#include <boost/asio.hpp>

#include <boost/bind.hpp>

using namespace boost::asio;

#endif

using namespace cv;

using namespace std;

int g_nThresh = 135;

Mat canny_output;

Mat imgOriginal;

Mat imgHSV;

Mat imgThresholded;//二值化后的图像数组

Mat bf;//对灰度图像进行双边滤波

Mat element = getStructuringElement(MORPH_RECT, Size(5, 5));

Mat dstImage;

int x,y,r;

int iLowH = 9;

int iHighH = 37;

int iLowS = 135;

int iHighS = 255;

int iLowV = 175;

int iHighV = 255;

int main(int argc, char** argv)

{

size_t i = 0;

int fd;

#if USE_SERIAL

char serial_buff[100]={0};

io_service iosev;

        //节点文件

/* fd = open("/dev/ttyUSB0",O_RDWR);

if( -1 == fd );

{

cout << "Error: Cannot open the serial port" << endl;

cout << endl;

return -1;

}

close(fd);

*/

        serial_port serial(iosev, "/dev/ttyUSB0");

        // 设置参数

        serial.set_option(serial_port::baud_rate(115200));

        serial.set_option(serial_port::flow_control(serial_port::flow_control::none));

        serial.set_option(serial_port::parity(serial_port::parity::none));

        serial.set_option(serial_port::stop_bits(serial_port::stop_bits::one));

        serial.set_option(serial_port::character_size(8));

//write(serial, buffer("Test! ", sizeof("Test! ")));

#endif

VideoCapture cap(-1); //capture the video from web cam

if (!cap.isOpened())  // if not success, exit program

{

cout << "Error: Cannot open the web cam" << endl;

cout << endl;

return -1;

}

#if USE_SERIAL

write(serial, buffer("Test! ", sizeof("Test! ")));

#endif

// namedWindow("imgThresholded", 0);    //Image can adjust size

while (true)

{

bool bSuccess = cap.read(imgOriginal); // read a new frame from video

if (!bSuccess) //if not success, break loop

{

cout << "Cannot read a frame from video stream" << endl;

break;

}

//区分颜色*****************************************************************************************************

vector<Mat> hsvSplit;//cevtor 容器

cvtColor(imgOriginal, imgHSV, COLOR_BGR2HSV); //Convert the captured frame from BGR to HSV

 //因为我们读取的是彩色图，直方图均衡化需要在HSV空间做

split(imgHSV, hsvSplit);//(多通道数组-》容器)

equalizeHist(hsvSplit[2], hsvSplit[2]);

merge(hsvSplit, imgHSV);

inRange(imgHSV, Scalar(iLowH, iLowS, iLowV), Scalar(iHighH, iHighS, iHighV), imgThresholded); //Threshold the image

 //开操作 (去除一些噪点)

morphologyEx(imgThresholded, imgThresholded, MORPH_OPEN, element);

//闭操作 (连接一些连通域)

morphologyEx(imgThresholded, imgThresholded, MORPH_CLOSE, element);

//addWeighted(imgThresholded, 1, canny_output, 1, 0., dstImage);

//morphologyEx(dstImage, dstImage, MORPH_CLOSE, element);

//找圆************************************************************************************************************

blur(imgThresholded, bf, Size(3, 3));

//用Canny算子检测边缘

Canny(bf, canny_output, g_nThresh, g_nThresh * 2, 3);

vector<Vec3f> circles;//声明一个向量，保存检测出的圆的圆心坐标和半径

HoughCircles(canny_output, circles, CV_HOUGH_GRADIENT, 1, 70, 250, 10, 5, 70);//霍夫变换检测圆1.5, 5, 150, 80, 1, 50

for ( i = 0; i < circles.size(); i++)//把霍夫变换检测出的圆画出来

{

Point center(cvRound(circles[i][0]), cvRound(circles[i][1]));

int radius = cvRound(circles[i][2]);

circle(imgOriginal, center, radius, Scalar(255, 255, 255), 3,8, 0);

// cout << "x="<<cvRound(circles[i][0]) << " " << "y="<< cvRound(circles[i][1]) << " "

// << "z="<< cvRound(circles[i][2]) << endl;//在控制台输出圆心坐标和半径

x=cvRound(circles[i][0]);

y=cvRound(circles[i][1]);

r=cvRound(circles[i][2]);

#if USE_SERIAL

sprintf( serial_buff,"A%03d%03d%03d%03dB",i,cvRound(circles[i][0])/8,cvRound(circles[i][1])/8,cvRound(circles[i][2]));

write(serial, buffer(serial_buff, 14 ));

//write(serial, buffer("AB", 2));

#endif

}

#if USE_SERIAL

if( i!=0 )

write(serial, buffer(" ", strlen(" ")));

#endif

//~~~~~~~~~~~~~~~~~~~~~~~~

imshow("imgThresholded", imgThresholded);//滤过颜色

cvResizeWindow("imgThresholded",640,480);//Image can adjust size

imshow("imgOriginal", imgOriginal);//寻找边沿

cvResizeWindow("imgOriginal",640,480);//Image can adjust size

//imshow("canny_output", canny_output);//原图显示找出的圆

char key = (char)waitKey(20);

if (key == 27)

break;

}

return 0;

}