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stone.cpp
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#include"stone.h"
void Stone::detect_stone(cv::Mat src,int tem_type)
{
int flag = 0;
cout << "-------begin-------" << endl;
cv::Mat binary = cv::Mat::zeros(src.size(), CV_8UC1);
cv::Mat hsv_src;
cv::cvtColor(src, hsv_src, cv::COLOR_RGB2HSV);//turn hsv to detect color
cv::Mat dst = cv::Mat::zeros(src.size(), src.type());
//this->type = tem_type;//从键盘中读取识别模式
//检测黄矿石
if (this->type == 1) //if we detect yellow
{
cv::Mat mask;
cv::inRange(hsv_src, cv::Scalar(0, 0, 90), cv::Scalar(180, 180, 245), mask);//get yellow stone mask
//cv::imshow("mask", mask);
//分离出黄矿石
for (int r = 0; r < src.rows; r++)
{
for (int c = 0; c < src.cols; c++)
{
if (mask.at<uchar>(r, c) == 255)
{
dst.at<cv::Vec3b>(r, c) = src.at<cv::Vec3b>(r, c);
}
}
}
//cv::imshow("dst", dst);
cv::cvtColor(dst, dst, cv::COLOR_BGR2GRAY);
cv::threshold(dst, binary, 40, 255, cv::THRESH_BINARY_INV);//binary yellow stone
//检测视觉标签
flag = find_sign(binary, src);
cv::putText(src,"to find white stone",cv::Point(src.rows / 3, src.cols / 3), 2, 1, cv::Scalar(0, 0, 255));
if (flag == 1||flag==2)
{
cv::putText(src,"OK",cv::Point(src.rows / 4, src.cols / 2), 2, 1, cv::Scalar(0, 0, 255));
}
else
{
cv::putText(src,"NO",cv::Point(src.rows / 4, src.cols / 2), 2, 1, cv::Scalar(0, 0, 255));
}
}
//检测白矿石
else if (this->type == 0)
{
cv::Mat ROI_stone, ROI_mask;
cv::Mat mask;
cv::inRange(hsv_src, cv::Scalar(80, 0, 0), cv::Scalar(110, 255, 255), mask);//get white stone mask
//cv::imshow("mask", mask);
//分离出白色矿石
for (int r = 0; r < src.rows; r++)
{
for (int c = 0; c < src.cols; c++)
{
if (mask.at<uchar>(r, c) == 255)
{
dst.at<cv::Vec3b>(r, c) = src.at<cv::Vec3b>(r, c);
}
}
}
//cv::imshow("dst", dst);
cv::cvtColor(dst, dst, cv::COLOR_BGR2GRAY);
cv::threshold(dst, binary, 40, 255, cv::THRESH_BINARY);//binary yellow stone
//cv::imshow("bin", binary);
remove_spot(binary,dst);//去除噪声
//找到白色矿石轮廓
vector<vector<cv::Point>>contours;
vector<cv::Vec4i>hierarchy;
cv::findContours(dst.clone(), contours, hierarchy, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
double stone_area = 0;
int index = 0;
for (int i = 0; i < contours.size(); i++)
{
double contour_area = cv::contourArea(contours[i]);
if (contour_area > stone_area)//delete contours by area
{
stone_area = contour_area;
index = i;
}
//cout << cv::contourArea(contours[i]) << endl;
}
if (stone_area > 10000)//面积阈值暂定为10000，后期需要改
{
this->stone_rect = cv::boundingRect(contours[index]);//get stone ROI rect
ROI_mask = binary(this->stone_rect).clone();
cv::drawContours(binary, contours, index, cv::Scalar(255), -1);
ROI_stone = binary(this->stone_rect);
cv::bitwise_xor(ROI_stone, ROI_mask, ROI_stone);//get sign of rect
//cv::imshow("ROI_stone",ROI_stone);
//cv::waitKey(0);
flag = find_sign(ROI_stone, src);
}
else
{
cout << "can't find enough big area of stone" << endl;
}
cv::putText(src,"to find yellow stone",cv::Point(src.rows / 3, src.cols / 3), 2, 1, cv::Scalar(0, 0, 255));
if (flag == 1||flag==2)
{
cv::putText(src,"OK",cv::Point(src.rows / 4, src.cols / 2), 2, 1, cv::Scalar(0, 0, 255));
}
else
{
cv::putText(src,"NO",cv::Point(src.rows / 4, src.cols / 2), 2, 1, cv::Scalar(0, 0, 255));
}
}
cout << "-------stop---------" << endl;
cv::imshow("src", src);
}
//匹配标签完成并传输对应信号 return 1:正确识别两个左右标签 2：正确识别一个左或右标签 0：default
int Stone::find_sign(cv::Mat ROI_stone, cv::Mat& src)
{
int sign_l = 0, sign_r = 0, sign_fulldark = 0;//左标签，右标签，全黑标签个数
vector<vector<cv::Point>>contours;
vector<cv::Vec4i>hierarchy;
cv::findContours(ROI_stone.clone(), contours, hierarchy, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);//get contours of sign
for (int i = 0; i < contours.size(); i++)
{
if (cv::contourArea(contours[i]) < 1000)//detele fake sign by area
continue;
cv::Rect rects = cv::boundingRect(contours[i]);
if (((float)rects.height / rects.width < 0.8) || ((float)rects.height / rects.width > 1.2))//标签的长宽比筛查，阈值暂定0.8~1.2
continue;
//cout << "area of sign == " << cv::contourArea(contours[i]) << endl;
//判断标签类型
switch (detect_dot(ROI_stone(rects).clone()))
{
case 0:
this->sign_l = cv::Rect(rects.tl() + this->stone_rect.tl(), rects.br() + this->stone_rect.tl());
sign_l++;
cv::rectangle(src, rects.tl() + this->stone_rect.tl(), rects.br() + this->stone_rect.tl(), cv::Scalar(0, 0, 255), 2);
//cv::imshow("ROI_Sign_l", ROI_stone(rects));
//cv::waitKey(0);
break;
case 1:
this->sign_r = cv::Rect(rects.tl() + this->stone_rect.tl(), rects.br() + this->stone_rect.tl());
sign_r++;
cv::rectangle(src, rects.tl() + this->stone_rect.tl(), rects.br() + this->stone_rect.tl(), cv::Scalar(0, 0, 255), 2);
//cv::imshow("ROI_Sign_r", ROI_stone(rects));
//cv::waitKey(0);
break;
//因为矿石不发生翻转，全黑标签在下方，识别全黑标签已删除
//case 2:
// this->sign_fulldark = cv::Rect(rects.tl() + this->stone_rect.tl(), rects.br() + this->stone_rect.tl());
// sign_fulldark++;
// cv::rectangle(src, rects.tl() + this->stone_rect.tl(), rects.br() + this->stone_rect.tl(), cv::Scalar(0, 0, 255), 2);
// //cv::imshow("ROI_Sign", ROI_stone(rects));
// //cv::waitKey(0);
// break;
default:
break;
}
//this->sign.push_back(cv::Rect(rects.tl() + this->stone_rect.tl(), rects.br() + this->stone_rect.tl()));//push back the sign to vector
}
//cv::imshow("ROI", ROI_stone);
if (sign_fulldark > 0)//矿石发生翻转的情况
{
int sum_sign = sign_l + sign_r + sign_fulldark;
cout << "find dark sign" << endl;
if ((sum_sign == 3) && (sign_fulldark == 2))//条形码面
{
cout << "bar code" << endl;
}
else if ((sum_sign == 2) && (sign_fulldark == 1))
{
if (sign_l == 1)
{
cout << "rotate 90 clockwise" << endl;
this->sign_r = this->sign_fulldark;
sign_r = 1;
}
else
{
cout << "rotate 180 clockwise" << endl;
this->sign_l = this->sign_fulldark;
sign_l = 1;
}
}
}
cout << "portion of right and left" << (float)this->sign_r.height / this->sign_l.height << endl;
if ((((this->sign_l.br().x + this->sign_l.tl().x) / 2) < ((this->sign_r.br().x + this->sign_r.tl().x) / 2)) && (sign_l == 1) && (sign_r == 1))//识别到完整两个视觉标签
{
this->center_x = ((this->sign_l.br().x + this->sign_l.tl().x) / 2 + (this->sign_r.br().x + this->sign_r.tl().x) / 2) / 2;
cv::line(src, cv::Point(this->center_x, 0), cv::Point(this->center_x, src.rows), cv::Scalar(255, 255, 0));
int diff = this->sign_r.tl().x - this->sign_l.br().x;
int distance_img = src.cols / 2 - this->center_x;
this->distance = 9.0 * distance_img / diff;
this->space = (float)9*1280/diff;//根据小孔成像原理实地测量，换相机需要更改参数!!!
serial.serialMode(this->distance, this->space , this->type , this->receive_color);
int type1 = this->receive_color;
this->type = type1;
cv::putText(src, "go left" + converttostring(this->distance) + "cm", cv::Point(src.rows / 2, src.cols / 2), 3, 1, cv::Scalar(0, 255, 255));
cv::putText(src, "space" + converttostring(this->space) + "cm", cv::Point(src.rows / 2+30, src.cols / 2+30), 3, 1, cv::Scalar(0, 0, 255));
//TODO:车子没有正对矿石时还需要考虑转动角使其正对
return 1;
}
else if ((sign_l == 1) && (sign_r == 0))//只识别到左标签
{
cout << "only find left sign,go back and move right" << endl;
this->distance = (src.cols/2-this->sign_l.br().x)/rate - 4.5;
float rate = (this->sign_l.br().x-this->sign_l.tl().x)/3.0;
this->space = (float)1280/rate;//根据小孔成像原理实地测量，换相机需要更改参数!!!
serial.serialMode(this->distance, this->space , this->type , this->receive_color);
this->type = this->receive_color;
cv::putText(src, "go left" + converttostring(this->distance) + "cm", cv::Point(src.rows / 2, src.cols / 2), 3, 1, cv::Scalar(0, 255, 255));
cv::putText(src, "space" + converttostring(this->space) + "cm", cv::Point(src.rows / 2+30, src.cols / 2+30), 3, 1, cv::Scalar(0, 0, 255));
return 2;
}
else if ((sign_l == 0) && (sign_r == 1))//只识别到右标签
{
cout << "only find right sign,go back and move left" << endl;
this->distance = (src.cols/2-this->sign_r.tl().x)/rate + 4.5;
float rate = (this->sign_r.br().x-this->sign_r.tl().x)/3.0;
this->space = (float)1280/rate;//根据小孔成像原理实地测量，换相机需要更改参数!!!
serial.serialMode(this->distance, this->space , this->type , this->receive_color);
this->type = this->receive_color;
cv::putText(src, "go left" + converttostring(this->distance) + "cm", cv::Point(src.rows / 2, src.cols / 2), 3, 1, cv::Scalar(0, 255, 255));
cv::putText(src, "space" + converttostring(this->space) + "cm", cv::Point(src.rows / 2+30, src.cols / 2+30), 3, 1, cv::Scalar(0, 0, 255));
return 2;
}
else if (sign_l + sign_r > 2)//识别到多个左右标签
{
cout << "find many signs" << endl;
if (sign_l > sign_r)
{
cout << "move left and go ahead" << endl;
}
else
{
cout << "move right and go ahead" << endl;
}
}
else//未识别到标签
{
cout << "find stone,but no sign" << endl;
}
serial.serialMode(0, 0, this->type , this->receive_color);
this->type = this->receive_color;
return 0;
}
///判断标签类型 return 0:左标志 1：右标志 2：全黑标志 4：default
int Stone::detect_dot(cv::Mat ROI)
{
int other_area = 0, sign_area = 0;
for (int i = 0; i < ROI.rows; i++)
{
for (int j = 0; j < ROI.cols; j++)
{
if (ROI.at<uchar>(i, j) == 0)
{
other_area++;
}
else
{
sign_area++;
}
}
}
//cout << "portion of dark sign " << (float)sign_area / ROI.cols / ROI.rows << endl;//黑色标签在整个ROI中的占比
if (((float)sign_area/ROI.cols/ROI.rows >0.4)&&((float)sign_area / ROI.cols / ROI.rows < 0.65))//占比阈值暂定0.4~0.65
{
int left_area = 0;
int right_area = 0;
int darkl_area = 0;
int darkr_area = 0;
//分别左标签与右标签白色与黑色的面积
for (int i = 0; i < ROI.rows; i++)
{
for (int j = 0; j < ROI.cols; j++)
{
if ((i > ROI.rows / 2) && (j < ROI.cols / 2))
{
if (ROI.at<uchar>(i, j) == 0)
{
left_area++;
}
}
else if ((i > ROI.rows / 2) && (j > ROI.cols / 2))
{
if (ROI.at<uchar>(i, j) == 0)
{
right_area++;
}
}
if ((i < ROI.rows / 3) || (j < ROI.cols / 3))
{
if (ROI.at<uchar>(i, j) == 255)
{
darkl_area++;
}
}
if ((i < ROI.rows / 3) || (j > ROI.cols * 2 / 3))
{
if (ROI.at<uchar>(i, j) == 255)
{
darkr_area++;
}
}
}
}
//cout << "portion of right sign " << (float)darkr_area / (ROI.cols * ROI.rows * 5 / 9) << endl;
//cout << "portion of other part of right sign" << (float)left_area * 4 / ROI.cols / ROI.rows << endl;
//cout << "portion of left sign " << (float)darkl_area / (ROI.cols * ROI.rows * 5 / 9) << endl;
//cout << "portion of other part of left sign" << (float)right_area * 4 / ROI.cols / ROI.rows << endl;
if (((float)left_area * 4 / ROI.cols / ROI.rows > 0.9)&&((float)darkr_area / (ROI.cols * ROI.rows * 5 / 9)>0.7))//标签中黑白分别对应ROI的占比作为阈值，暂定0.9/0.7
{
//cout << "right sign" << endl;
return 1;
}
else if (((float)right_area * 4 / ROI.cols / ROI.rows > 0.9) && ((float)darkl_area / (ROI.cols * ROI.rows * 5 / 9) > 0.7))//标签中黑白分别对应ROI的占比作为阈值，暂定0.9/0.7
{
//cout << "left sign" << endl;
return 0;
}
}
else if ((float)sign_area / ROI.cols / ROI.rows > 1)
{
//cout << "find full_dark" << endl;
return 2;
}
return 4;
}
//去除噪声
void Stone::remove_spot(cv::Mat src, cv::Mat& dst)
{
dst = src.clone();
uchar *pdata = (uchar*)src.data;
uchar *qdata = (uchar*)dst.data;
pdata = pdata+5*src.cols+6;//从6行6列开始遍历
qdata = qdata+5*dst.cols+6;
for (int i = 5; i < src.rows-5; i++)
{
for (int j = 5; j < src.cols-5; j++)
{
int index_white = (*(pdata-1)+*(pdata+1)+*(pdata+1+src.cols)+*(pdata-1+src.cols)+*(pdata-1-src.cols)+*(pdata+1-src.cols)
+*(pdata+src.cols)+*(pdata-src.cols))/255;//计算周围8邻域的白点个数
if (index_white>5)
{
*qdata = 255;
}
else if(index_white<2)
{
*qdata = 0;
}
pdata++;
qdata++;
}
pdata = pdata+11;
qdata = qdata+11;
}
}
Stone::Stone()
{
this->sign_l = cv::Rect(0, 0, 0, 0);
this->sign_r = cv::Rect(0, 0, 0, 0);
this->stone_rect = cv::Rect(0, 0, 0, 0);
this->type = 1;
}
Stone::~Stone()
{
}