基于OpenCV实现的工件轮廓检测系统

基于OpenCV实现的工件轮廓检测系统功能介绍获取USB摄像机中的实时视频流，检测出符合特征的标准形状工件外轮廓，包括圆形，三角形，四边形，五边形，六边形等规则形状工件的检测。开发环境为Win764Bit+VS2013+OpenCV2.4.9。实现代码包含main.cpp,shapeDetection.cpp,shapeDetection.h三个源文件。/******************************************************************************************//*shapeDetection.cpp--Projet2016/11/23*//*--ByXiaoYufei *//******************************************************************************************/#include"shapeDetection.h"/***triangles,rectanglesandcirclesdetection*/SimpleShapesdetectShapes(intnum_cam,intlowThreshold){ staticVideoCapturecap(num_cam);//openthewebcam staticMatimg_src,img_dst;//scr:source&dst:destination img_src.release();img_dst.release(); staticMatimg_gray,img_canny; img_gray.release();img_canny.release(); staticSimpleShapesshapes; staticvector<vector<Point>>contours;contours.clear(); staticvector<Point>vertices_contour;vertices_contour.clear(); staticvector<vector<Point>>triangles;triangles.clear(); staticvector<RotatedRect>rectangles;rectangles.clear(); staticvector<vector<Point>>pentas;pentas.clear(); staticvector<vector<Point>>hexa;hexa.clear(); staticvector<Cerc>cercles;cercles.clear(); staticintRATIO=3; staticintkernel_size=3; //checkingthewebcam if(!cap.isOpened()){ cout<<"Error-cameracannotbeopenned"<<endl; exit(-1); } //newframefromthewebcam cap>>img_src; //smooththeimageanddownsampleit Matpyr; pyrDown(img_src,pyr); //imshow("downsample",pyr); //waitKey(10); //upsampletheimageandthensmoothit Matpyr_up; pyrUp(pyr,pyr_up); //imshow("upsample",pyr_up); //waitKey(10); //converttoGrayscale cvtColor(img_src,img_gray,CV_BGR2GRAY); //binarisation(Cannyfilter) Canny(img_gray,img_canny,lowThreshold,RATIO*lowThreshold,kernel_size); //findcoutours findContours(img_canny.clone(),contours,CV_RETR_EXTERNAL,CV_CHAIN_APPROX_SIMPLE); img_dst=img_src.clone(); //findshapesS for(inti=0;i<contours.size();i++){ //approximatecontourwithaccuracyproportional //tothecontourperimeter approxPolyDP(Mat(contours[i]),vertices_contour,arcLength(Mat(contours[i]),true)*0.02,true); //skipsmallornon-convexobjects滤除小的或非凸面的物体 if(fabs(contourArea(contours[i]))<100||!isContourConvex(vertices_contour)){ continue; } if(vertices_contour.size()==3){//TRIANGLES triangles.push_back(vertices_contour);//addtothesetofdetectedtriangles //drawing for(inti=0;i<3;i++) line(img_dst,vertices_contour[i],vertices_contour[(i+1)%3],Scalar(0,128,255),3); //label setLabel(img_dst,"TRI",contours[i]); } elseif(vertices_contour.size()>=4&&vertices_contour.size()<=6) { //拟合出的多边形包含了4-6个顶点，说明为多边形（矩形，五边形，六边形） intnb_vertices=vertices_contour.size(); //calculationof"cos"fromallcorners vector<double>cos; for(intj=2;j<nb_vertices+1;j++){ cos.push_back(angleCos(vertices_contour[j%nb_vertices],vertices_contour[j-2],vertices_contour[j-1])); } //storageof"cos"inascendingorder sort(cos.begin(),cos.end());//以升序排列Cosin角度值 //savetheminandmaxvaluesof"cos" doublemincos=cos.front();//最小值 doublemaxcos=cos.back();//最大值 //checkthatthecornersarerightangles if(nb_vertices==4&&mincos>=-0.1&&maxcos<=0.3) {//RECTANGLES，90度对应的cosin值为0，误差容许范围为0.3。 RotatedRectrotRect=minAreaRect(contours[i]); rectangles.push_back(rotRect);//addtothesetofdetectedrectangles //drawing Point2fcoins_rect[4]; rotRect.points(coins_rect); for(inti=0;i<4;i++) line(img_dst,coins_rect[i],coins_rect[(i+1)%4],Scalar(147,20,255),2); //label stringstreamsentence; sentence<<"RECTrot="<<rotRect.angle;//旋转角度 stringrotLabel=sentence.str(); setLabel(img_dst,rotLabel,contours[i]); } elseif(nb_vertices==5&&mincos>=-0.34&&maxcos<=-0.27)//五边形 { pentas.push_back(vertices_contour); //string setLabel(img_dst,"PENTA",contours[i]); vector<Point>::const_iteratoritp=vertices_contour.begin(); while(itp!=(vertices_contour.end()-1)) { line(img_dst,*itp,*(itp+1),Scalar(255,255,0),2); ++itp; } line(img_dst,*(vertices_contour.begin()),*(vertices_contour.end()-1),Scalar(255,255,0),2); } elseif(nb_vertices==6&&mincos>=-0.55&&maxcos<=-0.45)//六边形 { setLabel(img_dst,"HEXA",vertices_contour); hexa.push_back(vertices_contour); vector<Point>::const_iteratoritp=vertices_contour.begin(); while(itp!=(vertices_contour.end()-1)) { line(img_dst,*itp,*(itp+1),Scalar(0,255,0),2); ++itp; } line(img_dst,*(vertices_contour.begin()),*(vertices_contour.end()-1),Scalar(0,255,0),2); } } else{//CIRCLES doublearea=contourArea(contours[i]);//计算面积 Rectr=boundingRect(contours[i]);//包围矩形 intradius=r.width/2; //判断宽高比（圆的宽高比为1）和面积大小（圆的面积PI*radius^2） if(abs(1-((double)r.width/r.height))<=0.15&&abs(1-(area/(CV_PI*pow(radius,2))))<=0.15){ Cerccercle; minEnclosingCircle(contours[i],cercle.center,cercle.radius); cercles.push_back(cercle);//addtothesetofdetectedcircles //drawing circle(img_dst,cercle.center,cercle.radius,CV_RGB(255,255,0),2); //label setLabel(img_dst,"CIR",contours[i]); } } } //savedata shapes.img_src=img_src; shapes.img_dst=img_dst; shapes.img_bw=img_canny; shapes.rectangles=rectangles; shapes.triangles=triangles; shapes.cercles=cercles; shapes.hexa=hexa; shapes.penta=pentas; //printfsomeinformations if(triangles.size()==0&&rectangles.size()==0&&cercles.size()==0&&pentas.size()==0&&hexa.size()==0)printf("NOTHING\n"); else{ if(triangles.size()>0) printf("TRIANGLE\n"); if(rectangles.size()>0) printf("RECTANGLE\n"); if(cercles.size()>0) printf("CERCLE\n"); if(pentas.size()>0) printf("PENTAGON\n"); if(hexa.size()>0) printf("HEXAGON\n"); } //senddata returnshapes;}/***Helperfunctiontofindacosineofanglebetweenvectors*frompt0->pt1andpt0->pt2*/doubleangleCos(Pointpt1,Pointpt2,Pointpt0){ doubledx1=pt1.x-pt0.x; doubledy1=pt1.y-pt0.y; doubledx2=pt2.x-pt0.x; doubledy2=pt2.y-pt0.y; return(dx1*dx2+dy1*dy2)/sqrt((dx1*dx1+dy1*dy1)*(dx2*dx2+dy2*dy2));}/***Viewing"label"onthecontourdetectedinthepicture"img"*/voidsetLabel(Mat&img,conststringlabel,vector<Point>&contour){ staticintfontface=FONT_HERSHEY_SIMPLEX; staticdoublescale=0.4; staticintthickness=1; staticintbaseline=0; Sizetext=getTextSize(label,fontface,scale,thickness,&baseline); Rectr=boundingRect(contour);//returnsthesmallestrectanglecontainingthe"contour" Pointpt(r.x+((r.width-text.width)/2),r.y+((r.height+text.height)/2)); rectangle(img,pt+Point(0,baseline),pt+Point(text.width,-text.height),CV_RGB(255,255,255),CV_FILLED); putText(img,label,pt,fontface,scale,CV_RGB(0,0,0),thickness,8);}/******************************************************************************************//*shapeDetection.h--Projet2016/11/23*//*--ByXiaoYufei*//******************************************************************************************/#include<opencv2/core/core.hpp>#include<opencv2/highgui/highgui.hpp>#include<opencv2/imgproc/imgproc.hpp>#include<cmath>#include<iostream>usingnamespacecv;usingnamespacestd;structCerc{ Point2fcenter; floatradius;};structSimpleShapes{ Matimg_src; Matimg_dst; Matimg_bw; vector<RotatedRect>rectangles;//矩形 vector<vector<Point>>triangles;//三角形 vector<Cerc>cercles;//圆形 vector<vector<Point>>penta;//五边形 vector<vector<Point>>hexa;//六边形};SimpleShapesdetectShapes(int,int);doubleangleCos(Point,Point,Point);voidsetLabel(Mat&,conststring,vector<Point>&);/******************************************************************************************//*main.cpp--Projet2016/11/23 *//*--ByXiaoYufei *//******************************************************************************************/#include"shapeDetection.h"//GlobalvariablesSimpleShapesshapes;intedgeTh