Robomaster2023 能量机关识别demo

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Robomaster2023 能量机关识别demo

在这里插入图片描述

效果视频
https://www.bilibili.com/video/BV1zT411C7PY/?vd_source=15a7e7c79fb0c7348fc5147c131dd6af

/** @Descripttion: * @version: * @Author: tjk* @Date: 2023-01-31 17:01:02* @LastEditors: Please set LastEditors* @LastEditTime: 2023-02-01 17:04:12*/
#include <iostream>
#include <string>
#include <opencv2/opencv.hpp>using namespace std;typedef struct armor_point{cv::Point point;double dis;
}armor_point;void drawRotatedRect(cv::Mat &img, const cv::RotatedRect &rect, const cv::Scalar &color, int thickness)
{cv::Point2f Vertex[4];rect.points(Vertex);for(int i = 0 ; i < 4 ; i++){cv::line(img , Vertex[i] , Vertex[(i + 1) % 4] , color , thickness);}
}
double distance(cv::Point a,cv::Point b)
{return sqrt((a.x -b.x)*(a.x -b.x) + (a.y -b.y)*(a.y -b.y));
}int main()
{string video_path = "/home/idriver/tjk/project/rm/buff_demo/blue.mp4"; cv::VideoCapture cap;cap.open(video_path);// cv::VideoWriter writer;// int coder = cv::VideoWriter::fourcc('M','J','P','G');//选择编码格式// double fps=25.0;//设置视频帧率// string filename="live.avi";//保存的视频文件名称// writer.open(filename,coder,fps,cv::Size(1350,1080),true);//创建保存视频文件的视频流// if(!writer.isOpened()){//     cout<<"打开视频文件失败，请确认是否为合法输入"<<endl;//     return -1;// }while(true){cv::Mat src_frame;cap >> src_frame;cv::resize(src_frame,src_frame,cv::Size(640,480));vector<cv::Mat> bgr_images;cv::split(src_frame,bgr_images);cv::Mat b_src_img = bgr_images[0];cv::blur(b_src_img,b_src_img,cv::Size(3,3));cv::Mat threshold_img;cv::threshold(b_src_img,threshold_img,130,255,cv::THRESH_BINARY);vector<vector<cv::Point>> contours;cv::findContours(threshold_img,contours,cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);// cv::drawContours(src_frame,contours,-1,cv::Scalar(0,0,255));cv::Point r_center; // R 的中心点vector<cv::RotatedRect> contours_min_rects;//所有轮廓的最小外接矩形vector<cv::RotatedRect> armor_min_rects;vector<cv::RotatedRect> target_min_rects;vector<cv::RotatedRect> r_min_rects; //Rint r_index = -1;// int cnt = 0;for (unsigned int contour_index = 0; contour_index < contours.size(); contour_index++) {//     //寻找最小旋转矩形,放进容器，顺便将面积过大的剔除,长宽比悬殊的剔除cv::RotatedRect minrect = minAreaRect(contours[contour_index]);cv::Rect rect = boundingRect(contours[contour_index]);if (minrect.size.area() <= 6000.0 && minrect.size.area()>150) {float width;float height;//判断长宽比if (minrect.size.width > minrect.size.height){width = minrect.size.width;height = minrect.size.height;} else {width = minrect.size.height;height = minrect.size.width;}if (width / height < 5) {contours_min_rects.push_back(minrect);if(minrect.size.area() > 200 && minrect.size.area() < 350 && minrect.center.y > 100) { // find Rif(height / width > 0.85){// R_minRects.push_back(minrect);r_center = minrect.center;cv::circle(src_frame,minrect.center,15,cv::Scalar(5,255,100));r_index = contour_index;// std::cout<<cnt++<<std::endl;    }} else {if(minrect.size.area() > 300 && minrect.size.area() < 4350 && (height / width) < 0.7) {armor_min_rects.push_back(minrect);}     }}   }}bool find_ok = false;for (int i = 0;i<armor_min_rects.size()-1;i++){for (int j = i+1;j<armor_min_rects.size();j++){double dis = distance(armor_min_rects[i].center,armor_min_rects[j].center);if(dis<100){target_min_rects.push_back(armor_min_rects[i]);target_min_rects.push_back(armor_min_rects[j]);find_ok = true;break;}// std::cout<<dis<<std::endl;}   if (find_ok){break;}    }if(target_min_rects.size() != 2){continue;} else {cv::RotatedRect rrect_in; //= target_minRects[0];cv::RotatedRect rrect_out;// = target_minRects[1];double dis1 = distance(r_center,target_min_rects[0].center);double dis2 = distance(r_center,target_min_rects[1].center);if (dis1 > dis2){rrect_in = target_min_rects[1];rrect_out = target_min_rects[0];} else {rrect_in = target_min_rects[0];rrect_out = target_min_rects[1];}drawRotatedRect(src_frame,rrect_in,cv::Scalar(0,250,0),1);drawRotatedRect(src_frame,rrect_out,cv::Scalar(0,0,255),1);cv::Point target_center = cv::Point((int)((rrect_in.center.x + rrect_out.center.x)/2),(int)((rrect_in.center.y + rrect_out.center.y)/2));cv::circle(src_frame,target_center,5,cv::Scalar(0,0,255),-1);cv::Point2f in_vet_points[4];cv::Point2f out_vet_points[4];rrect_in.points(in_vet_points);rrect_out.points(out_vet_points);vector<armor_point> armor_points; for(int i = 0;i<4;i++){armor_point point;point.point = in_vet_points[i];point.dis = distance(target_center,in_vet_points[i]);armor_points.push_back(point);}for(int i = 0;i<4;i++){armor_point point;point.point = out_vet_points[i];point.dis = distance(target_center,out_vet_points[i]);armor_points.push_back(point);}sort(armor_points.begin(),armor_points.end(),[](armor_point a,armor_point b){return a.dis < b.dis;});for(int i = 0;i<4;i++){cv::circle(src_frame,armor_points[i].point,3,cv::Scalar(255,0,255),-1);}int buff_run_radius = (int)distance(r_center,target_center);cv::circle(src_frame,r_center,buff_run_radius,cv::Scalar(55,110,255),1);}// cv::resize(src_frame,src_frame,cv::Size(1350,1080));// writer.write(src_frame);//把图像写入视频流cv::imshow("src_img",src_frame);// cv::imshow("threshold_img",threshold_img);if (cv::waitKey(0) == 'q'){break;}}// writer.release();cap.release();return 0;
}