opencv循迹

#define _USE_MATH_DEFINES #include <math.h> #include<iostream> #include <opencv2/core/core.hpp> #include <opencv2/highgui/highgui.hpp> #include<imgproc/imgproc.hpp> using namespace std; using namespace cv; class LineFinder { private: Mat img; //原图 vector<Vec4i>lines; //向量中检测到的直线的端点 double deltaRho; double deltaTheta; int minVote; double minLength; double maxGap; public: LineFinder() :deltaRho(1), deltaTheta(M_PI / 180), minVote(10), minLength(0.), maxGap(0.) {}; void setAccResolution(double dRho, double dTheta) { deltaRho = dRho; deltaTheta = dTheta; } void setMinVote(int minv) { minVote = minv; } void setLineLengthAndGap(double length, double gap) { minLength = length; maxGap = gap; } vector<Vec4i>findLines(Mat &binary) { lines.clear(); HoughLinesP(binary, lines, deltaRho, deltaTheta, minVote, minLength, maxGap); return lines; } //绘制检测到的直线 void drawDetectedLines(Mat &image, Scalar color = Scalar(255, 255, 255)) { //画线 vector<Vec4i>::const_iterator it2 = lines.begin(); while (it2 != lines.end()) { Point pt1((*it2)[0], (*it2)[1]); Point pt2((*it2)[2], (*it2)[3]); line(image, pt1, pt2, color); ++it2; } } }; int main() { Mat image = imread("G:/Opencv/road.jpg"); namedWindow("image"); imshow("image", image); Mat result; cvtColor(image, result, CV_BGR2GRAY); //应用Canny算法 Mat contours; Canny(result, contours, 125, 350); LineFinder finder; finder.setLineLengthAndGap(100, 20); finder.setMinVote(80); vector<Vec4i>lines = finder.findLines(contours); int n = 0; //选择line 0 Mat oneline(contours.size(), CV_8U, Scalar(0)); line(oneline, Point(lines[n][0], lines[n][1]), Point(lines[n][2], lines[n][3]), Scalar(255), 5 ); bitwise_and(contours, oneline, oneline); Mat oneLineInv; //白色直线反转后的图像 threshold(oneline, oneLineInv, 128, 255, THRESH_BINARY_INV); cvNamedWindow("One line"); imshow("One line", oneLineInv); vector<Point>points; for (int y = 0; y < oneline.rows; y++) { //y行 uchar *rowPtr = oneline.ptr<uchar>(y); for (int x = 0; x < oneline.cols; x++) { if (rowPtr[x]) { points.push_back(Point(x, y)); } } } Vec4f lineVec; fitLine(Mat(points), lineVec, CV_DIST_L2, 0, 0.01, 0.01); int x0 = lineVec[2]; int y0 = lineVec[3]; int x1 = x0 - 200 * lineVec[0]; int y1 = y0 - 200 * lineVec[1]; cv::line(result, Point(x0, y0), Point(x1, y1), Scalar(0), 3); cvNamedWindow("Estimated line"); imshow("Estimated line", result); waitKey(0); return 0; }