基于opencv的飞行器巡线代码在树莓派上调用opencv库，对图像中的线进行颜色提取再二值化

#include <stdio.h> #include <iostream> #include <cv.h> #include <opencv2/imgproc/imgproc.hpp> #include <highgui.h> #include <unistd.h> #include <raspicam/raspicam_cv.h> #include <sys/time.h> using namespace std; using namespace cv; class ColorDetector { private: int minDist; cv::Vec3b target; cv::Mat result; bool getDistance(cv::Vec3b color) { return abs(color[0] - target[0])<minDist && abs(color[1] - target[1])< minDist && abs(color[2] - target[2])<minDist; } public: ColorDetector() :minDist(45) { target[0] = target[1] = target[2] = 0; } void setColorDistanceThreshold(int distance); int getColorDistanceThreshold() const; void setTargetColor(unsigned char red, unsigned char green, unsigned char blue); void setTargetColor(cv::Vec3b color); cv::Vec3b getTargetColor() const; cv::Mat process(const cv::Mat &image); }; void ColorDetector::setColorDistanceThreshold(int distance) { if (distance < 0) distance = 0; minDist = distance; } int ColorDetector::getColorDistanceThreshold() const { return minDist; } void ColorDetector::setTargetColor(unsigned char red, unsigned char green, unsigned char blue) { target[2] = red; target[1] = green; target[0] = blue; } void ColorDetector::setTargetColor(cv::Vec3b color) { target = color; } cv::Vec3b ColorDetector::getTargetColor() const { return target; } cv::Mat ColorDetector::process(const cv::Mat &image) { result.create(image.rows, image.cols, CV_8U); cv::Mat_<cv::Vec3b>::const_iterator it = image.begin<cv::Vec3b>(); cv::Mat_<cv::Vec3b>::const_iterator itend = image.end<cv::Vec3b>(); cv::Mat_<uchar>::iterator itout = result.begin<uchar>(); for (; it != itend; ++it, ++itout) { if (getDistance(*it)) { *itout = 0; } else { *itout = 255; } } return result; } int main(int argc,char** argv) { double scale = 0.3; int ave=0, sum=0,count=0,sum1=0,sum2=0; ColorDetector cdetect; cv::Mat image; struct timeval tv1; struct timeval tv2; long start,stop; float dis; CvScalar s; raspicam::RaspiCam_Cv Camera; if(!Camera.open()){cout<<"Error opening"<<endl;return -1;} for(int i =0;i<50;i++) { Camera.grab(); } Camera.retrieve(image); gettimeofday(&tv1,NULL); Size dsize = Size(image.cols*scale,image.rows*scale); Mat imagesuo = Mat(dsize,CV_32S); resize(image, imagesuo,dsize); cdetect.setTargetColor(18, 58, 114); imagesuo = cdetect.process(imagesuo); int* v = new int[image.rows]; memset(v,0,image.rows*4); // cout<<"imagesuo.cols = "<<imagesuo.cols<<endl; // cout<<"imagesuo.rows = "<<imagesuo.rows<<endl; for(int x=0;x<(imagesuo.cols);x++){ for(int y =0;y<(imagesuo.rows);y++){ int value = imagesuo.at<uchar>(y,x); if(value == 0) { v[x]++; } } } /* for(int x=0;x<imagesuo.cols;x++){ cout<<"x"<<x<<" v[x]"<<v[x]<<endl; }*/ for(int x=0;x<imagesuo.cols;x++){ if(v[x]>imagesuo.rows/3) { if(count<12){ count++; sum+=x; } else break; } } ave=sum/count; if(v[ave-40]>10&&v[ave+40]<10) cout<<"left turn"<<endl; else if(v[ave+40]>10&&v[ave-40]<10) cout<<"right turn"<<endl; else cout<<"go go go"<<endl; /* cout<<"imagesuo.cols = "<< imagesuo.cols<<endl; cout<<"imagesuo.rows = "<< imagesuo.rows<<endl; cout<<"ave = "<<ave<<endl; */ if(ave < ((imagesuo.cols)/2-15)) cout<<"letf"<<endl; else if(ave > (imagesuo.cols/2+15)) cout<<"right"<<endl; else cout<<"just ok"<<endl; gettimeofday(&tv2,NULL); start = tv1.tv_sec * 1000000 + tv1.tv_usec; stop = tv2.tv_sec * 1000000 + tv2.tv_usec; dis = (float)(stop - start) / 1000000 ; cout<<dis<<endl; Camera.release(); imwrite("/home/pi/camera/image.jpg",imagesuo); cout<<"success"<<endl; return 0; }