RLL Computer Vision Code: code/image_preprocessor.cpp 源文件

RLL Computer Vision

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RLL Computer Vision Code 1.0
江苏科技大学HLL战队机器视觉代码
code
 #include "image_preprocessor.h"
 
 namespace HCVC {
 ImagePreprocessor::ImagePreprocessor()
 {
     //初始化阈值列表
     FileStorage fs("statics/params.xml", FileStorage::READ);
     if(!fs.isOpened())
     {
         cout << "Open file failed" << endl;
     }
     FileNode node = fs["image_preprocessor_threshod"];
     
     for(unsigned int i = 0; i < 3; i++)
     {
         cout << int(node[2*i]) << endl;
         thresholds[i].push_back(int(node[2*i]));
         thresholds[i].push_back(int(node[2*i+1]));
     }
 }
 
 Mat ImagePreprocessor::preprocess(const Mat& srcImage)
 {
     Mat dstImage;
     //均值滤波，去除局部极值
     //blur(srcImage, dstImage, Size(3,3));
     //将bgr格式(opencv默认将彩色图片存储为bgr格式)图像转变为hsv格式
     cvtColor(srcImage, dstImage, CV_BGR2HSV);
     //分离图像三通道
     Mat hsvImages[3];
     split(dstImage, hsvImages);
 
     hsvImages[0] = rangeThreshold(hsvImages[0], 0);
     hsvImages[1] = rangeThreshold(hsvImages[1], 1);
     hsvImages[2] = rangeThreshold(hsvImages[2], 2);
 
     //获取自定义核，核边长只能为奇数
     //Mat erodeKernel = getStructuringElement(MORPH_RECT, Size(3, 3));
     Mat dilateKernel = getStructuringElement(MORPH_RECT, Size(15, 15));
     Mat closeKernel = getStructuringElement(MORPH_RECT, Size(3, 3));
     //腐蚀，消除离散点
     //erode(hsvImages[1], hsvImages[1], erodeKernel);
     //膨胀，增大光柱区域
     dilate(hsvImages[0], hsvImages[0], dilateKernel);
     //中值滤波，去除椒盐噪声
     //medianBlur(hsvImages[2], hsvImages[2], 5);
 //    //显示装甲板轮廓
 //    Laplacian(hsvImages[1], hsvImages[1], CV_8UC1, 3, 1);
     //逻辑与操作，过滤出小车灯柱
     bitwise_and(hsvImages[0], hsvImages[2], dstImage);
     //闭运算，将断裂的灯柱图像连接起来
     morphologyEx(dstImage, dstImage, MORPH_CLOSE, closeKernel);
 
     //显示单通道处理后图像
     imshow("hImage", hsvImages[0]);
     imshow("SImage", hsvImages[1]);
     imshow("VImage", hsvImages[2]);
 
     //显示预处理后图像
     imshow("result", dstImage);
 
     return dstImage;
 }
 
 void ImagePreprocessor::setThreshod(int channel, int minOrMax, int value)
 {
     thresholds[channel][minOrMax] = value;
 }
 
 int ImagePreprocessor::getThreshod(int channel, int minOrMax) const
 {
     return thresholds[channel][minOrMax];
 }
 
 Mat ImagePreprocessor::rangeThreshold(const Mat& srcImage, const int& channel)
 {
     Mat result;
     threshold(srcImage, result, static_cast<double>(thresholds[channel][0]), 0, THRESH_TOZERO);
     threshold(result, result, static_cast<double>(thresholds[channel][1]), 0, THRESH_TOZERO_INV);
 
     return result;
 }
 }
 
制作者
1.8.13
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