static void Main(string[] args)
{
#region
Mat[] splitall;
Mat src;
Mat channel_depth = new Mat();
Mat channel_gray = new Mat();
Mat channel_three = new Mat();
Mat element3 = Cv2.GetStructuringElement(MorphShapes.Rect, new Size(3, 1));
Mat element5 = Cv2.GetStructuringElement(MorphShapes.Rect, new Size(3, 3));
FileStorage cld_date = new FileStorage("0924.yaml", FileStorage.Mode.Read); //101161kk.yaml
using (var fs = new FileStorage("0924.yaml", FileStorage.Mode.Read)) //0924.yaml
{
src = fs["vocabulary"].ReadMat();
}
Cv2.Split(src, out splitall);
splitall[2].ConvertTo(channel_depth, MatType.CV_32FC1);
//var window1 = new Window("depth",channel_depth);
//Cv2.WaitKey();
splitall[3].ConvertTo(channel_gray, MatType.CV_8UC1);
//using (var window = new Window("原始图", WindowMode.Normal, channel_gray))
//{
// Cv2.WaitKey();
//}
int imgcols = channel_depth.Cols, imgrows = channel_depth.Rows;
Mat model_calc_gray = Mat.Zeros(channel_depth.Rows, channel_depth.Cols, MatType.CV_32FC1);
Mat model_gray = Mat.Zeros(channel_depth.Rows, channel_depth.Cols, MatType.CV_8UC1);
Mat model_step1 = Mat.Zeros(channel_depth.Rows, channel_depth.Cols, MatType.CV_32FC1);
for (int i = 0; i < channel_depth.Rows; i++)
{
for (int j = 0; j < channel_depth.Cols; j++)
{
if (channel_depth.At <float>(i, j) < 900) //900时为临界 ==》 0943
{
model_calc_gray.Set <float>(i, j, channel_gray.At <Byte>(i, j)); //= channel_gray.At<short>(i, j);//char convert to float that could calcaulate
}//方便后面sigmoid计算
else
{
continue;
}
}
}
Mat Edge_one = model_calc_gray.Clone();
for (int i = 0; i < 100; i++)
{
for (int j = 0; j < model_calc_gray.Cols; j++)
{
Edge_one.Set <float>(i, j, 0);
}
}
//取反
Mat Edge = Mat.Zeros(channel_depth.Rows, channel_depth.Cols, MatType.CV_32FC1);
Edge = new Scalar(255) - Edge_one; //
int zero_cout = Cv2.CountNonZero(Edge); //返回矩阵中的非零值个数
Scalar zero_sum = Cv2.Sum(Edge); //对mat类四个通道求和
float matMean = (float)(zero_sum[0] / zero_cout); //对非0像素求均值
float angle = 0.2f;
for (int i = 0; i < imgrows; i++)
{
for (int j = 0; j < imgcols; j++)
{
if (Edge.At <float>(i, j) != 0)
{
model_step1.Set <float>(i, j, sigmod(Edge.At <float>(i, j), matMean, angle));
}
}
}
Mat show_change_two = Mat.Zeros(channel_depth.Rows, channel_depth.Cols, MatType.CV_8UC1);
Cv2.Normalize(model_step1, show_change_two, 0, 255, NormTypes.MinMax, MatType.CV_8UC1);
using (var window = new Window("转换展示图", WindowMode.Normal, show_change_two))
{
Cv2.WaitKey();
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Cv2.MorphologyEx(show_change_two, show_change_two, MorphTypes.Close, element5, new Point(-1, -1), 10);
using (var window = new Window("5次模糊", WindowMode.Normal, show_change_two))
{
Cv2.WaitKey();
}
Cv2.MorphologyEx(show_change_two, show_change_two, MorphTypes.Dilate, element5, new Point(-1, -1), 8);
using (var window = new Window("5次模糊", WindowMode.Normal, show_change_two))
{
Cv2.WaitKey();
}
#region 注释代码
//Cv2.MorphologyEx(show_change_two, show_change_two, MorphTypes.Erode, element5, new Point(-1, -1), 2);
//using (var window = new Window("5次模糊", WindowMode.Normal, show_change_two))
//{
// Cv2.WaitKey();
//}
//Cv2.MorphologyEx(show_change_two, show_change_two, MorphTypes.Open, element5, new Point(-1, -1), 10);
//using (var window = new Window("5次模糊", WindowMode.Normal, show_change_two))
//{
// Cv2.WaitKey();
//}
//for (int num1 = 0; num1 < 5; num1++)
// //Cv2.MedianBlur(show_change_two, show_change_two, 5);
// Cv2.GaussianBlur(show_change_two, show_change_two, new Size(3, 1), MatType.CV_8UC1);
//using (var window = new Window("10次中值", WindowMode.Normal, show_change_two))
//{
// Cv2.WaitKey();
//}
//Cv2.MorphologyEx(show_change_two, show_change_two, MorphTypes.Close, element5, new Point(-1, -1), 3);
//using (var window = new Window("5比原算", WindowMode.Normal, show_change_two))
//{
// Cv2.WaitKey();
//}
//for (int num1 = 0; num1 < 10; num1++)
// Cv2.GaussianBlur(show_change_two, show_change_two, new Size(1, 3), MatType.CV_8UC1);
//using (var window = new Window("5次模糊", WindowMode.Normal, show_change_two))
//{
// Cv2.WaitKey();
//}
//Cv2.MorphologyEx(show_change_two, show_change_two, MorphTypes.Dilate, element3, new Point(-1, -1), 3);
////调试结果较好，二值化之前都不要对图像进行滤波，会丧失边界
//Cv2.Dilate(show_change_two, show_change_two, element3, new Point(-1, -1), 5);
//using (var window = new Window("5膨胀", WindowMode.Normal, show_change_two))
//{
// Cv2.WaitKey();
//}
// Cv2.Dilate(show_change_two, show_change_two, element5, new Point(-1, -1), 5);
//using (var window = new Window("5次腐蚀", WindowMode.Normal, show_change_two))
//{
// Cv2.WaitKey();
//}
// for (int num1 = 0; num1 < 10; num1++)
// Cv2.MedianBlur(show_change_two, show_change_two, 5);
//// Cv2.GaussianBlur(show_change_two, show_change_two, new Size(1, 3), MatType.CV_8UC1);
// using (var window = new Window("10次中值", WindowMode.Normal, show_change_two))
// {
// Cv2.WaitKey();
// }
// int a = 0;
//Cv2.Threshold(show_change_two, show_change_two, 0, 255,ThresholdTypes.Otsu);
//PixelConnectivity pixelConnectivity =new PixelConnectivity();
//Cv2.ConnectedComponents(show_change_two, show_change_two, 4);
//////Cv2.MedianBlur(show_change_two, show_change_two, 5);
//using (var window = new Window("结果二值", WindowMode.Normal, show_change_two))
//{
// Cv2.WaitKey();
//}
//for (int num1 = 0; num1 < 10; num1++)
// Cv2.MedianBlur(show_change_two, show_change_two, 5);
//// Cv2.GaussianBlur(show_change_two, show_change_two, new Size(1, 3), MatType.CV_8UC1);
//using (var window = new Window("10次中值", WindowMode.Normal, show_change_two))
//{
// Cv2.WaitKey();
//}
//int a = 0;
#endregion
#endregion
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Mat Sobel_Edge = new Mat();
Mat Sobel_result = Mat.Zeros(imgrows, imgcols, MatType.CV_8UC1);
Cv2.Sobel(show_change_two, Sobel_Edge, MatType.CV_16SC1, 4, 0, 5, 1, 0, BorderTypes.Default);
Cv2.ConvertScaleAbs(Sobel_Edge, Sobel_result);
Cv2.Threshold(Sobel_result, Sobel_result, 20, 255, ThresholdTypes.Otsu);
using (var window = new Window("sobel结果二值", WindowMode.Normal, Sobel_result))
{
Cv2.WaitKey();
}
//for (int num1 = 0; num1 < 3; num1++)
////Cv2.MedianBlur(Sobel_result, Sobel_result, 3);
// Cv2.GaussianBlur(Sobel_result, Sobel_result, new Size(1, 3), MatType.CV_8UC1);
//using (var window = new Window("10次模糊", WindowMode.Normal, Sobel_result))
//{
// Cv2.WaitKey();
//}
//Mat img_step2 = new Mat();
//Cv2.MorphologyEx(Sobel_result, Sobel_result, MorphTypes.Open, element5, new Point(-1, -1), 1);
//using (var window = new Window("sobel5后膨胀", WindowMode.Normal, Sobel_result))
//{
// Cv2.WaitKey();
//}
Mat result = Mat.Zeros(imgrows, imgcols, MatType.CV_8UC1);
Point[][] contours_one;
HierarchyIndex[] hierarchy_one;
Cv2.FindContours(Sobel_result.Clone(), out contours_one, out hierarchy_one, RetrievalModes.External, ContourApproximationModes.ApproxSimple, new Point(0, 0));
List <Point[]> afterFilter = new List <Point[]>();
Console.WriteLine("轮廓数量" + contours_one.Length);
for (int c = 0; c < contours_one.Length; c++)
{
Console.WriteLine("轮廓" + c + "长度" + contours_one[c].Length);
}
//vector<vector<Point>>::iterator itc = contours_one.begin();
for (int c = 0; c < contours_one.Length; c++)
{
double area = Cv2.ContourArea(contours_one[c]);
Console.WriteLine(area);
if (area > 800)
{
afterFilter.Add(contours_one[c]);
}
}
Cv2.DrawContours(result, afterFilter, -1, new Scalar(255), -1);
using (var window = new Window("去除小面积结果图", WindowMode.Normal, result))
{
Cv2.WaitKey();
}
////for (int num = 0; num < 5; num++)
//// Cv2.Dilate(result, result, element3);
//using (var window = new Window("连接下面的部分5次膨胀结果图", WindowMode.Normal, result))
//{
// Cv2.WaitKey();
//}
Cv2.MorphologyEx(result, result, MorphTypes.Close, element3, new Point(-1, -1), 5);
using (var window = new Window("闭运算再次迭代10次结果图", result))
{
Cv2.WaitKey();
}
Mat result1 = Mat.Zeros(imgrows, imgcols, MatType.CV_8UC1);
Point[][] contours_one1;
HierarchyIndex[] hierarchy_one1;
Cv2.FindContours(result.Clone(), out contours_one1, out hierarchy_one1, RetrievalModes.External, ContourApproximationModes.ApproxSimple, new Point(0, 0));
List <Point[]> afterFilter1 = new List <Point[]>();
Console.WriteLine(contours_one1.Length);
//vector<vector<Point>>::iterator itc = contours_one.begin();
for (int c = 0; c < contours_one1.Length; c++)
{
double area = Cv2.ContourArea(contours_one1[c]);
Console.WriteLine(area);
if (area > 3000)
{
afterFilter1.Add(contours_one1[c]);
}
}
Cv2.DrawContours(result1, afterFilter1, -1, new Scalar(255), -1);
using (var window = new Window("再次去除小面积结果图", WindowMode.Normal, result1))
{
Cv2.WaitKey();
}
Mat result_uchar = Mat.Zeros(imgrows, imgcols, MatType.CV_8UC1);
result1.ConvertTo(result_uchar, MatType.CV_8UC1);
Point[][] contours_three;
HierarchyIndex[] hierarchy_three;
Cv2.FindContours(result_uchar.Clone(), out contours_three, out hierarchy_three, RetrievalModes.External, ContourApproximationModes.ApproxSimple, new Point(0, 0));
Mat rectangle_one = Mat.Zeros(imgrows, imgcols, MatType.CV_8UC3);
Rect[] boundRect_one = new Rect[contours_three.Length]; //定义外接矩形集合
RotatedRect[] box_one = new RotatedRect[contours_three.Length];
Point2f[] rect_one = new Point2f[4];
Console.WriteLine("最终边界数量：" + contours_three.Length);
List <Point2f[]> rec_vec = new List <Point2f[]>(contours_three.Length);
float[] center_one_x = new float[contours_three.Length];
float[] center_one_y = new float[contours_three.Length];
for (int i = 0; i < contours_three.Length; i++)
{
box_one[i] = Cv2.MinAreaRect(contours_three[i]); //计算外接旋转矩形
boundRect_one[i] = Cv2.BoundingRect(contours_three[i]); //计算每个轮廓最小外接矩形
Cv2.Circle(rectangle_one, new Point(box_one[i].Center.X, box_one[i].Center.Y), 5, new Scalar(0, 255, 0), -1); //绘制最旋转矩形的中心点
rect_one = box_one[i].Points(); //把最小外接矩形四个端点复制给rect数组 复制构造
Cv2.Rectangle(rectangle_one, boundRect_one[i], new Scalar(0, 255, 0), 5); //画最小外接矩形
center_one_x[i] = box_one[i].Center.X;
center_one_y[i] = box_one[i].Center.Y;
//cout << "end" <<center_one.size() << endl;
for (int j = 0; j < 4; j++)
{
Cv2.Line(rectangle_one, (Point)rect_one[j], (Point)rect_one[(j + 1) % 4], new Scalar(0, 0, 255), 2); //绘制旋转矩形每条边
// rec_vec[i].push_back(rect_one[j]); /*cout << "第"<<j<<"个角点"<< rect[j] << endl;*/
}
using (var window = new Window("绘制最小外接矩形结果图", WindowMode.Normal, rectangle_one))
{
Cv2.WaitKey();
}
}
int[] ind = new int[center_one_x.Length];
BubbleSort(center_one_x, ind);
for (int i = 0; i < contours_three.Length - 1; i++)
{
// cout << "ind" << ind[i] << endl;
Point point_one;
point_one.X = boundRect_one[ind[i]].X + boundRect_one[ind[i]].Width / 2;
point_one.Y = boundRect_one[ind[i]].Y;
Point point_two;
point_two.X = boundRect_one[ind[i + 1]].X + boundRect_one[ind[i + 1]].Width / 2;
point_two.Y = boundRect_one[ind[i + 1]].Y + boundRect_one[ind[i + 1]].Height;
Point point_three;
point_three = point_two - point_one;
point_three.X = Math.Abs(point_three.X);
point_three.Y = Math.Abs(point_three.Y);
Rect rect = new Rect(point_one.X, point_one.Y, point_three.X, point_three.Y);
Mat capture_one = channel_gray[rect];
//imshow("截图第一幅图结果图", capture_one);
using (var window = new Window("截图第一幅图结果图", WindowMode.Normal, capture_one))
{
Cv2.WaitKey();
}
Point point_four;
point_four.X = point_one.X + point_three.X / 2;
point_four.Y = point_one.Y + 100;
Cv2.Circle(channel_gray, point_four, 9, new Scalar(0, 0, 255));
Console.WriteLine("贴标X：" + splitall[0].At <float>(point_four.Y, point_four.X));
Console.WriteLine("贴标Y：" + splitall[1].At <float>(point_four.Y, point_four.X));
Console.WriteLine("贴标Z：" + splitall[2].At <float>(point_four.Y, point_four.X));
using (var window = new Window("截图第一幅圈圈", WindowMode.Normal, channel_gray))
{
Cv2.WaitKey();
}
Point point_five;
point_five.X = point_one.X + point_three.Y / 2;
point_five.Y = point_one.Y + 200;
Cv2.Circle(channel_gray, point_five, 9, new Scalar(0, 0, 255));
Console.WriteLine("喷码X：" + splitall[0].At <float>(point_five.Y, point_five.X));
Console.WriteLine("喷码Y：" + splitall[1].At <float>(point_five.Y, point_five.X));
Console.WriteLine("喷码Z：" + splitall[2].At <float>(point_five.Y, point_five.X));
using (var window = new Window("截图第二幅圈圈", WindowMode.Normal, channel_gray))
{
Cv2.WaitKey();
}
}
}