main

main.cpp

@@ -6,15 +6,119 @@ double distance(Point2d a,Point2d b)
 {
 	return sqrtf((powf((a.x - b.x), 2))+ powf((a.y - b.y), 2));
 }
+void KeyPointsToPoints(vector<KeyPoint> kpts, vector<Point2d> &pts,int minx,int miny)
+{
+	for (int i = 0; i < kpts.size(); i++) {
+		kpts[i].pt.x += minx;
+		kpts[i].pt.y += miny;
+		pts.push_back(kpts[i].pt);
+	}
+}
+bool sortwccenter(Point2d a, Point2d b)
+{
+
+}
+class EleCTag
+{
+	public:
+		vector<Point> corner;
+		vector<Point2d> wccenter;
+		vector<Point2d> bccenter;
+};
+void sortCornerWCenter(EleCTag &ECTag, int midx, int midy)//调整白圆和角点顺序
+{
+	cout << midx << endl;
+	cout << midy << endl;
+	double vectmp1[2] = { ECTag.corner[2].x - ECTag.corner[1].x, ECTag.corner[2].y - ECTag.corner[1].y };
+	double vectmp2[2] = { ECTag.corner[1].x - ECTag.corner[0].x, ECTag.corner[1].y - ECTag.corner[0].y };
+	double t = vectmp1[0] * vectmp2[1] - vectmp1[1] * vectmp2[0];//叉乘
+	if (t > 0)//逆时针变为顺时针
+	{
+		int tmpcornerx = ECTag.corner[1].x;
+		int tmpcornery = ECTag.corner[1].y;
+		ECTag.corner[1].x = ECTag.corner[3].x;
+		ECTag.corner[1].y = ECTag.corner[3].y;
+		ECTag.corner[3].x = tmpcornerx;
+		ECTag.corner[3].y = tmpcornery;
+	}
+	int minCornerNum = 0;
+	double minSum = DBL_MAX;
+	double Sum = 0;
+	for (int i = 0; i < 4; i++)//通过与圆距离找到0号角点
+	{
+		for (int j = 0; j < 7; j++)
+		{
+			double tmpdis= distance(ECTag.corner[i], ECTag.wccenter[j]);
+			Sum += tmpdis;
+		}
+		if (Sum < minSum)
+		{
+			minSum=Sum;
+			minCornerNum = i;
+		}
+		Sum = 0;
+	}
+	if (minCornerNum != 0)
+	{
+		for (int i = 0; i != minCornerNum; i++)
+		{
+			ECTag.corner.push_back(ECTag.corner[i]);
+		}
+		ECTag.corner.erase(ECTag.corner.begin(), ECTag.corner.begin() + minCornerNum);
+	}
+	sort(ECTag.wccenter.begin(), ECTag.wccenter.end(), [&ECTag](auto a, auto  b)//排序白圆ID
+	{
+		if (distance(a, ECTag.corner[0]) + distance(a, ECTag.corner[1]) < distance(b, ECTag.corner[0]) + distance(b, ECTag.corner[1]))
+			return true;
+	});
+	sort(ECTag.wccenter.begin(), ECTag.wccenter.begin()+4, [&ECTag](auto  a, auto  b)
+	{
+		if (distance(a, ECTag.corner[0]) < distance(b, ECTag.corner[0]))
+			return true;
+	});
+	//cout << "ECTag.wccenter:" << ECTag.wccenter << endl;
+}
+void sortBCenter(EleCTag &ECTag)
+{
+	sort(ECTag.bccenter.begin(), ECTag.bccenter.end(), [&ECTag](auto a, auto  b)//排序白圆ID
+	{
+		if (distance(a, ECTag.wccenter[0]) < distance(b, ECTag.wccenter[0]))
+			return true;
+	});
+	sort(ECTag.bccenter.begin()+1, ECTag.bccenter.begin()+3, [&ECTag](auto a, auto  b)//排序白圆ID
+	{
+		if (distance(a, ECTag.wccenter[3]) < distance(b, ECTag.wccenter[3]))
+			return true;
+	});
+	cout << "ECTag.bccenter:" << ECTag.bccenter << endl;
+}
+double c2ST(Point2d a, Point2d b, Point2d c)//计算三角形面积的2倍
+{
+	double s = a.x*b.y + b.x*c.y + c.x*a.y - a.x*c.y - b.x*a.y - c.x*b.y;
+	return s;
+}
+void countCR(EleCTag &ECTag)//计算交比
+{
+	for (int i = 0; i < 7; i++)
+	{
+		double st1 = c2ST(ECTag.wccenter[i], ECTag.bccenter[0], ECTag.bccenter[1]);
+		double st2 = c2ST(ECTag.wccenter[i], ECTag.bccenter[2], ECTag.bccenter[3]);
+		double st3 = c2ST(ECTag.wccenter[i], ECTag.bccenter[0], ECTag.bccenter[2]);
+		double st4 = c2ST(ECTag.wccenter[i], ECTag.bccenter[1], ECTag.bccenter[3]);
+		double cr = st1 * st2 / st3 / st4;
+		cout << "cr:" << cr << endl;
+	}
+}
 int main()
 {
-	string imgpath = "D:/11CTag/t1.png";
+	string imgpath = "F:/11cTag/p2.bmp";
 	Mat img = imread(imgpath, 0);
 	Mat local;
 	adaptiveThreshold(img, local, 255, cv::ADAPTIVE_THRESH_MEAN_C, cv::THRESH_BINARY, 51, 11);
 	vector<vector<Point>> contours;
 	vector<Vec4i> hierarchy;
 	findContours(local, contours, hierarchy, RETR_TREE, CHAIN_APPROX_SIMPLE, Point());
+	cout << hierarchy[0] << endl;
 	Mat imageContours = Mat::zeros(local.size(), CV_8UC1);
 	Mat Contours = Mat::zeros(local.size(), CV_8UC1);  //绘制 
 	Mat dstImg = Mat::zeros(local.size(), CV_8UC1);  //绘制 
@@ -35,11 +139,11 @@ int main()
 		//矩形必须是四个点,必须是凸的，
 		if (contours_poly[i].size() == 4 && fabs(contourArea(Mat(contours_poly[i]))) > 1000 && isContourConvex(Mat(contours_poly[i])))
 		{
-			cout << contours_poly[i] << endl;
+			//cout << contours_poly[i] << endl;
 			//potential_quad.push_back(contours_poly[i]);
 			drawContours(dstImg, contours_poly, i, Scalar(255), 1, 8);  //绘制
 			Mat imgtmp = img.clone();
-			int maxx=0, maxy=0, minx=9999, miny=9999;
+			int maxx=0, maxy=0, minx= INT_MAX, miny= INT_MAX;
 			for (int j = 0; j < 4; j++)
 			{
 				maxx = max(contours_poly[i][j].x, maxx);
@@ -49,28 +153,48 @@ int main()
 			}
 			Rect rect(minx,miny,maxx-minx,maxy-miny);
 			Mat roi = Mat(imgtmp, rect);
-			SimpleBlobDetector::Params params;
+			SimpleBlobDetector::Params params;//检测白色圆
 			params.blobColor = 255;
+			params.filterByCircularity = true;    //斑点圆度的限制变量
+			params.minCircularity = 0.8f;    //斑点的最小圆度 
 			cv::Ptr<cv::SimpleBlobDetector> detector = SimpleBlobDetector::create(params);
 			vector<KeyPoint> keyp;
 			detector->detect(roi, keyp);
 			if (keyp.size() == 7) //7个白色的圆
 			{
-				cout << keyp[1].pt.x+minx << endl;
+				int midx = (maxx + minx) / 2;
+				int midy = (maxy + miny) / 2;
+				EleCTag ECTag;
+				ECTag.corner = contours_poly[i];
+				KeyPointsToPoints(keyp, ECTag.wccenter, minx, miny);
+				//const clock_t begin_time = clock();
+				sortCornerWCenter(ECTag, midx, midy);
+				//float seconds = float(clock() - begin_time);
+				//cout << "ECTag.wccenter:" << ECTag.wccenter << endl;
+				//cout << "seconds:"<<seconds << endl;
+				SimpleBlobDetector::Params params2;//检测内部黑色圆
+				params2.blobColor = 0;
+				params2.filterByCircularity = true;   
+				params2.minCircularity = 0.8f;     
+				cv::Ptr<cv::SimpleBlobDetector> detector2 = SimpleBlobDetector::create(params2);
+				vector<KeyPoint> keyp2;
+				detector2->detect(roi, keyp2);
+				KeyPointsToPoints(keyp2, ECTag.bccenter, minx, miny);
+				sortBCenter(ECTag);
+				cout << "keyp2.size:"<<keyp2.size() << endl;
+				countCR(ECTag);
 				imshow("ROI", roi);
 				waitKey(0);
 			}
-
-			
 		}
  
 		drawContours(imageContours, contours, i, Scalar(255), 1, 8, hierarchy);
 	}
-	imshow("approx", dstImg);
-	imshow("Contours Image", imageContours); //轮廓  
+	//imshow("approx", dstImg);
+	//imshow("Contours Image", imageContours); //轮廓  
 	//imshow("Point of Contours", Contours);   //向量contours内保存的所有轮廓点集  
-	imshow("imgraw", local);
+	//imshow("imgraw", local);
 
-	waitKey(0);
+	//waitKey(0);
 	return 0;
 }