Zi 字媒體

OPENCV機器人單目相機測距的實驗 (OPENCV Camera ranging) 沒有驗證過 單純備份 資料來源: https://mp.weixin.qq.com/s?__biz=MzU0NTAyNTQ1OQ==&mid=2247488792&idx=1&sn=df1f2e9326dec2510cdcde0058f0eb35&chksm=fb7269c4cc05e0d271ecacab564a7f6d628c2f535f0572bab22757c87eb612c9ef77014b14c0&scene=126&sessionid=1580785606&key=d0cbbe752e25cfeab669ce94d0966a36fde98fc9cfd086dd21b25ee1cc31a345b51da7dfd2ea7b179a56509763fe7bb89285774bb044b5361c43f3157fc70ec4a8aa7761aab7129bf7e2b6615fd3f21c&ascene=1&uin=MjIwODk2NDgxNw==&devicetype=Windows+10&version=6208006f&lang=zh_TW&exportkey=Ag5pv/308H3GxvI8yvy3JIk=&pass_ticket=oe7str4PUfwRRxLSrD2XWT7QfJCJ8lApNjhwY0mYV98canSD1vjTw5bxjnwy2SNV GITHUB: https://github.com/jash-git/OPENCV-Camera-ranging #include "pch.h" #include #include #include using namespace cv; using namespace std; #define HALF_LENGTH 15 //二维码宽度的二分之一 const int imageWidth = 640; //设置图片大小，即摄像头的分辨率 const int imageHeight = 480; Size imageSize = Size(imageWidth, imageHeight); Mat mapx, mapy; // 相机内参 Mat cameraMatrix = (Mat_(3, 3) << 273.4985, 0, 321.2298, 0, 273.3338, 239.7912, 0, 0, 1); // 相机外参 Mat distCoeff = (Mat_(1, 4) << -0.3551, 0.1386, 0, 0); Mat R = Mat::eye(3, 3, CV_32F); VideoCapture cap1; typedef struct //定义一个二维码对象的结构体 { string type; string data; vector location; } decodedObject; void img_init(void); void decode(Mat &im, vector&decodedObjects); void display(Mat &im, vector&decodedObjects); int main(int argc, char* argv[]) { initUndistortRectifyMap(cameraMatrix, distCoeff, R, cameraMatrix, imageSize, CV_32FC1, mapx, mapy); img_init(); namedWindow("yuantu", WINDOW_AUTOSIZE); Mat im; while (waitKey(1) != 'q') { cap1 >> im; if (im.empty()) break; remap(im, im, mapx, mapy, INTER_LINEAR);//畸变矫正 imshow("yuantu", im); // 已解码对象的变量 vector decodedObjects; // 找到并解码条形码和二维码 decode(im, decodedObjects); // 显示位置 display(im, decodedObjects); //vector points_xy = decodedObjects[0].location; //假设图中就一个二维码对象，将二维码四角位置取出 imshow("二维码", im); waitKey(30); } return EXIT_SUCCESS; } void img_init(void) { //初始化摄像头 cap1.open(0); cap1.set(CAP_PROP_FOURCC, 'GPJM'); cap1.set(CAP_PROP_FRAME_WIDTH, imageWidth); cap1.set(CAP_PROP_FRAME_HEIGHT, imageHeight); } // 找到并解码条形码和二维码 //输入为图像 //返回为找到的条形码对象 void decode(Mat &im, vector&decodedObjects) { // 创建zbar扫描仪 zbar::ImageScanner scanner; // 配置扫描仪 scanner.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1); // 转换图像为灰度图灰度 Mat imGray; cvtColor(im, imGray, COLOR_BGR2GRAY); // 将图像数据包 装在zbar图像中 //可以参考：https://blog.csdn.net/bbdxf/article/details/79356259 zbar::Image image(im.cols, im.rows, "Y800", (uchar *)imGray.data, im.cols * im.rows); // Scan the image for barcodes and QRCodes //扫描图像中的条形码和qr码 int n = scanner.scan(image); // Print results for (zbar::Image::SymbolIterator symbol = image.symbol_begin(); symbol != image.symbol_end(); ++symbol) { decodedObject obj; obj.type = symbol->get_type_name(); obj.data = symbol->get_data(); // Print type and data //打印 //cout << "Type : " << obj.type << endl; //cout << "Data : " << obj.data << endl << endl; // Obtain location //获取位置 for (int i = 0; i < symbol->get_location_size(); i++) { obj.location.push_back(Point(symbol->get_location_x(i), symbol->get_location_y(i))); } decodedObjects.push_back(obj); } } // 显示位置 void display(Mat &im, vector&decodedObjects) { // Loop over all decoded objects //循环所有解码对象 for (int i = 0; i < decodedObjects.size(); i++) { vector points = decodedObjects[i].location; vector hull; // If the points do not form a quad, find convex hull //如果这些点没有形成一个四边形，找到凸包 if (points.size() > 4) convexHull(points, hull); else hull = points; vector pnts; // Number of points in the convex hull //凸包中的点数 int n = hull.size(); for (int j = 0; j < n; j++) { line(im, hull[j], hull[(j + 1) % n], Scalar(255, 0, 0), 3); pnts.push_back(Point2f(hull[j].x, hull[j].y)); } vector obj = vector{ cv::Point3f(-HALF_LENGTH, -HALF_LENGTH, 0), //tl cv::Point3f(HALF_LENGTH, -HALF_LENGTH, 0), //tr cv::Point3f(HALF_LENGTH, HALF_LENGTH, 0), //br cv::Point3f(-HALF_LENGTH, HALF_LENGTH, 0) //bl }; //自定义二维码四个点坐标 cv::Mat rVec = cv::Mat::zeros(3, 1, CV_64FC1);//init rvec cv::Mat tVec = cv::Mat::zeros(3, 1, CV_64FC1);//init tvec solvePnP(obj, pnts, cameraMatrix, distCoeff, rVec, tVec, false, SOLVEPNP_ITERATIVE); cout << "tvec:\n " << tVec << endl; } }