cv::Mat FSVision::subLaser(cv::Mat &laserOff, cv::Mat &laserOn, double threshold)
{
unsigned int cols = laserOff.cols;
unsigned int rows = laserOff.rows;
cv::Mat bwLaserOff( cols,rows,CV_8U,cv::Scalar(100) );
cv::Mat bwLaserOn( cols,rows,CV_8U,cv::Scalar(100) );
cv::Mat diffImage( cols,rows,CV_8U,cv::Scalar(100) );
cv::Mat treshImage( cols,rows,CV_8U,cv::Scalar(100) );
cv::Mat result( cols,rows,CV_8UC3,cv::Scalar(100) );
cv::cvtColor(laserOff, bwLaserOff, CV_RGB2GRAY); //convert to grayscale
cv::cvtColor(laserOn, bwLaserOn, CV_RGB2GRAY); //convert to grayscale
cv::subtract(bwLaserOn,bwLaserOff,diffImage); //subtract both grayscales
cv::GaussianBlur(diffImage,diffImage,cv::Size(5,5),3); //gaussian filter
cv::threshold(diffImage,treshImage,threshold,255,cv::THRESH_BINARY); //apply threshold
cv::Mat element5(3,3,CV_8U,cv::Scalar(1));
cv::morphologyEx(treshImage,treshImage,cv::MORPH_OPEN,element5);
cv::cvtColor(treshImage, result, CV_GRAY2RGB); //convert back ro rgb
/*cv::namedWindow("laserLine");
cv::imshow("laserLine", result);
cv::waitKey(0);
cv::destroyWindow("laserLine");*/
return result;
}
cv::Mat FSVision::diffImage(cv::Mat &laserOff, cv::Mat &laserOn)
{
unsigned int cols = laserOff.cols;
unsigned int rows = laserOff.rows;
cv::Mat bwLaserOff( cols,rows,CV_8U,cv::Scalar(100) );
cv::Mat bwLaserOn( cols,rows,CV_8U,cv::Scalar(100) );
cv::Mat diffImage( cols,rows,CV_8U,cv::Scalar(100) );
cv::Mat result( cols,rows,CV_8UC3,cv::Scalar(100) );
cv::cvtColor(laserOff, bwLaserOff, CV_RGB2GRAY); //convert to grayscale
cv::cvtColor(laserOn, bwLaserOn, CV_RGB2GRAY); //convert to grayscale
cv::subtract(bwLaserOn,bwLaserOff,diffImage); //subtract both grayscales
cv::cvtColor(diffImage, result, CV_GRAY2RGB); //convert back ro rgb
return result;
}
void WinImage::slotDiffer()
{
// Differ specific
QImage imageExpected;
QString fileName = QFileDialog::getOpenFileName(this);
if (!fileName.isEmpty())
imageExpected = QImage( fileName);
_image = diffImage( _image, imageExpected, _a_number->value());
update();
//printf("File %s differs ", fileName);
QString message = "Differs... ";
statusBar()->showMessage( message);
}
QPixmap MismatchWindow::computeDiffPixmap(const QImage& expectedImage, const QImage& resultImage) {
// Create an empty difference image if the images differ in size
if (expectedImage.height() != resultImage.height() || expectedImage.width() != resultImage.width()) {
return QPixmap();
}
// This is an optimization, as QImage.setPixel() is embarrassingly slow
unsigned char* buffer = new unsigned char[expectedImage.height() * expectedImage.width() * 3];
// loop over each pixel
for (int y = 0; y < expectedImage.height(); ++y) {
for (int x = 0; x < expectedImage.width(); ++x) {
QRgb pixelP = expectedImage.pixel(QPoint(x, y));
QRgb pixelQ = resultImage.pixel(QPoint(x, y));
// Convert to luminance
double p = R_Y * qRed(pixelP) + G_Y * qGreen(pixelP) + B_Y * qBlue(pixelP);
double q = R_Y * qRed(pixelQ) + G_Y * qGreen(pixelQ) + B_Y * qBlue(pixelQ);
// The intensity value is modified to increase the brightness of the displayed image
double absoluteDifference = fabs(p - q) / 255.0;
double modifiedDifference = sqrt(absoluteDifference);
int difference = (int)(modifiedDifference * 255.0);
buffer[3 * (x + y * expectedImage.width()) + 0] = difference;
buffer[3 * (x + y * expectedImage.width()) + 1] = difference;
buffer[3 * (x + y * expectedImage.width()) + 2] = difference;
}
}
QImage diffImage(buffer, expectedImage.width(), expectedImage.height(), QImage::Format_RGB888);
QPixmap resultPixmap = QPixmap::fromImage(diffImage);
delete[] buffer;
return resultPixmap;
}
Mat ScanProc::DetectLaser2(Mat &laserOn, Mat &laserOff)
{
//some parameter need to be tuned
int laserMagnitudeThreshold = 20; //default: 10
int maxLaserWidth = 40, minLaserWidth = 3; //default: 40, 3
int rangeDistanceThreshold = 5; //default: 5
int& rows = laserOff.rows;
int& cols = laserOff.cols;
Mat grayLaserOn(rows, cols, CV_8U, Scalar(0));
Mat grayLaserOff(rows, cols, CV_8U, Scalar(0));
Mat diffImage(rows, cols, CV_8U, Scalar(0));
Mat thresholdImage(rows, cols, CV_8U, Scalar(0));
Mat rangeImage(rows, cols, CV_8U, Scalar(0));
Mat result(rows, cols, CV_8U, Scalar(0));
// convert to grayscale
cvtColor(laserOff, grayLaserOff, CV_BGR2GRAY);
cvtColor(laserOn, grayLaserOn, CV_BGR2GRAY);
subtract(grayLaserOn, grayLaserOff, diffImage);
//const double MAX_MAGNITUDE_SQ = 255 * 255 * 3; // The maximum pixel magnitude sq we can see
//const double INV_MAX_MAGNITUDE_SQ = 1.0f / MAX_MAGNITUDE_SQ;
const int width = grayLaserOff.cols;
const int height = grayLaserOff.rows;
//unsigned components = before.getNumComponents();
//unsigned rowStep = width * components;
int numLocations = 0;
int numMerged = 0;
int numPixelsOverThreshold = 0;
// The location that we last detected a laser line
int maxNumLocations = height;
int firstRowLaserCol = width / 2;
int prevLaserCol = firstRowLaserCol;
LaserRange* laserRanges = new LaserRange[width + 1];
//unsigned char * ar = a;
//unsigned char * br = b;
//unsigned char * dr = d;
for (unsigned iRow = 0; iRow < height && numLocations < maxNumLocations; iRow++)
{
// The column that the laser started and ended on
int numLaserRanges = 0;
laserRanges[numLaserRanges].startCol = -1;
laserRanges[numLaserRanges].endCol = -1;
int numRowOut = 0;
int imageColumn = 0;
for (unsigned iCol = 0; iCol < width; iCol += 1)
{
int mag = diffImage.at<uchar>(iRow, iCol);
// Compare it against the threshold
if (mag > laserMagnitudeThreshold)
{
thresholdImage.at<uchar>(iRow, iCol) = 255;
// Flag that this pixel was over the threshold value
numPixelsOverThreshold++;
// The start of pixels with laser in them
if (laserRanges[numLaserRanges].startCol == -1)
{
laserRanges[numLaserRanges].startCol = imageColumn;
}
}
// The end of pixels with laser in them
else if (laserRanges[numLaserRanges].startCol != -1)
{
int laserWidth = imageColumn - laserRanges[numLaserRanges].startCol;
if (laserWidth <= maxLaserWidth && laserWidth >= minLaserWidth)
{
// If this range was real close to the previous one, merge them instead of creating a new one
bool wasMerged = false;
if (numLaserRanges > 0)
{
unsigned rangeDistance = laserRanges[numLaserRanges].startCol - laserRanges[numLaserRanges - 1].endCol;
if (rangeDistance < rangeDistanceThreshold)
{
laserRanges[numLaserRanges - 1].endCol = imageColumn;
laserRanges[numLaserRanges - 1].centerCol = round((laserRanges[numLaserRanges - 1].startCol + laserRanges[numLaserRanges - 1].endCol) / 2);
wasMerged = true;
numMerged++;
}
}
// Proceed to the next laser range
if (!wasMerged)
{
// Add this range as a candidate
laserRanges[numLaserRanges].endCol = imageColumn;
laserRanges[numLaserRanges].centerCol = round((laserRanges[numLaserRanges].startCol + laserRanges[numLaserRanges].endCol) / 2);
numLaserRanges++;
}
// Reinitialize the range
laserRanges[numLaserRanges].startCol = -1;
laserRanges[numLaserRanges].endCol = -1;
}
// There was a false positive
else
{
laserRanges[numLaserRanges].startCol = -1;
}
}
// Go from image components back to image pixels
imageColumn++;
} // foreach column
// If we have a valid laser region
if (numLaserRanges > 0)
{
for (int i = 0; i < numLaserRanges; i++)
{
for (int j = laserRanges[i].startCol; j < laserRanges[i].endCol; j++)
{
rangeImage.at<uchar>(iRow, j) = 255;
}
}
int rangeChoice = detectBestLaserRange(laserRanges, numLaserRanges, prevLaserCol);
prevLaserCol = laserRanges[rangeChoice].centerCol;
int centerCol = detectLaserRangeCenter(iRow, laserRanges[rangeChoice], diffImage);
result.at<uchar>(iRow, centerCol) = 255;
//laserLocations[numLocations].x = centerCol;
//laserLocations[numLocations].y = iRow;
// If this is the first row that a laser is detected in, set the firstRowLaserCol member
if (numLocations == 0)
{
firstRowLaserCol = laserRanges[rangeChoice].startCol;
}
numLocations++;
}
} // foreach row
pPreviewWnd->updateFrame(grayLaserOff, "laser off");
msleep(LASER_LINE_DETECTION_PREVIEW_DELAY);
pPreviewWnd->updateFrame(grayLaserOn, "laser on");
msleep(LASER_LINE_DETECTION_PREVIEW_DELAY);
pPreviewWnd->updateFrame(diffImage, "diff");
msleep(LASER_LINE_DETECTION_PREVIEW_DELAY);
pPreviewWnd->updateFrame(thresholdImage, "threshold");
msleep(LASER_LINE_DETECTION_PREVIEW_DELAY);
pPreviewWnd->updateFrame(rangeImage, "laser range");
msleep(LASER_LINE_DETECTION_PREVIEW_DELAY);
pPreviewWnd->updateFrame(result, "result");
msleep(LASER_LINE_DETECTION_PREVIEW_DELAY);
return result;
}
Mat ScanProc::DetectLaser(Mat &laserOn, Mat &laserOff)
{
Q_ASSERT(pPreviewWnd);
unsigned int cols = laserOn.cols;
unsigned int rows = laserOn.rows;
Mat grayLaserOn(rows,cols,CV_8U,Scalar(0));
Mat grayLaserOff(rows,cols,CV_8U,Scalar(0));
Mat diffImage(rows,cols,CV_8U,Scalar(0));
Mat gaussImage(rows,cols,CV_8U,Scalar(0));
Mat laserImage(rows,cols,CV_8U,Scalar(0));
Mat result(rows,cols,CV_8UC3,Scalar(0));
//QImage imglaserOn((uchar*)laserOn.data, laserOn.cols, laserOn.rows, QImage::Format_RGB888);
//imglaserOn = imglaserOn.rgbSwapped();
//imglaserOn.save(QString("laserOn.jpg"),"JPEG");
pPreviewWnd->updateFrame(laserOn, "laserOn");
msleep(LASER_LINE_DETECTION_PREVIEW_DELAY);
//QImage imglaserOff((uchar*)laserOff.data, laserOff.cols, laserOff.rows, QImage::Format_RGB888);
//imglaserOff = imglaserOff.rgbSwapped();
//imglaserOff.save(QString("laserOff.jpg"),"JPEG");
pPreviewWnd->updateFrame(laserOff, "laserOff");
msleep(LASER_LINE_DETECTION_PREVIEW_DELAY);
// convert to grayscale
cvtColor(laserOn, grayLaserOn, CV_BGR2GRAY);
cvtColor(laserOff, grayLaserOff, CV_BGR2GRAY);
pPreviewWnd->updateFrame(grayLaserOn, "grayLaserOn");
msleep(LASER_LINE_DETECTION_PREVIEW_DELAY);
pPreviewWnd->updateFrame(grayLaserOff, "grayLaserOff");
msleep(LASER_LINE_DETECTION_PREVIEW_DELAY);
// diff image
subtract(grayLaserOn,grayLaserOff,diffImage);
pPreviewWnd->updateFrame(diffImage, "diffImage");
msleep(LASER_LINE_DETECTION_PREVIEW_DELAY);
/*
// apply gaussian
GaussianBlur(diffImage,gaussImage,Size(15,15),12,12);
diffImage = diffImage-gaussImage;
pPreviewWnd->updateFrame(diffImage, "gaussian");
msleep(LASER_LINE_DETECTION_DELAY);
*/
// apply threshold
double threshold = 10;
cv::threshold(diffImage, diffImage, threshold, 255, THRESH_TOZERO);
pPreviewWnd->updateFrame(diffImage, "threshold");
msleep(LASER_LINE_DETECTION_PREVIEW_DELAY);
// apply erode
erode(diffImage,diffImage,Mat(3,3,CV_8U,Scalar(1)) );
pPreviewWnd->updateFrame(diffImage, "erode");
msleep(LASER_LINE_DETECTION_PREVIEW_DELAY);
// apply canny
Canny(diffImage,diffImage,20,50);
pPreviewWnd->updateFrame(diffImage, "canny");
msleep(LASER_LINE_DETECTION_PREVIEW_DELAY);
int* edges = new int[cols]; //contains the cols index of the detected edges per row
for(unsigned int y = 0; y < rows; y++)
{
//reset the detected edges
for(unsigned int j=0; j < cols; j++)
{
edges[j] = -1;
}
int j=0;
for(unsigned int x = 0; x < cols; x++)
{
if(diffImage.at<uchar>(y,x) > 250)
{
edges[j] = x;
j++;
}
}
//iterate over detected edges, take middle of two edges
for(unsigned int j = 0; j < cols - 1; j += 2)
{
if(edges[j] >= 0 && edges[j+1] >= 0 && edges[j+1] - edges[j] < 40)
{
int middle = (int)(edges[j] + edges[j+1]) / 2;
laserImage.at<uchar>(y,middle) = 255;
}
}
}
delete [] edges;
pPreviewWnd->updateFrame(laserImage, "laserLine");
msleep(LASER_LINE_DETECTION_PREVIEW_DELAY);
//cvtColor(laserImage, result, CV_GRAY2RGB); //convert back ro rgb
//QImage imgResult((uchar*)result.data, result.cols, result.rows, QImage::Format_RGB888);
//imgResult.save(QString("result.jpg"),"JPEG");
return laserImage;
}
int main(int argc, char* argv[])
{
QCoreApplication app(argc, argv);
qreal tolerance = 0;
QStringList args = app.arguments();
for (int i = 0; i < argc; ++i)
if (args[i] == "-t" || args[i] == "--tolerance")
tolerance = args[i + 1].toDouble();
char buffer[2048];
QImage actualImage;
QImage baselineImage;
while (fgets(buffer, sizeof(buffer), stdin)) {
// remove the CR
char* newLineCharacter = strchr(buffer, '\n');
if (newLineCharacter)
*newLineCharacter = '\0';
if (!strncmp("Content-Length: ", buffer, 16)) {
strtok(buffer, " ");
int imageSize = strtol(strtok(0, " "), 0, 10);
if (imageSize <= 0) {
fputs("error, image size must be specified.\n", stdout);
} else {
unsigned char buffer[2048];
QBuffer data;
// Read all the incoming chunks
data.open(QBuffer::WriteOnly);
while (imageSize > 0) {
size_t bytesToRead = qMin(imageSize, 2048);
size_t bytesRead = fread(buffer, 1, bytesToRead, stdin);
data.write(reinterpret_cast<const char*>(buffer), bytesRead);
imageSize -= static_cast<int>(bytesRead);
}
// Convert into QImage
QImage decodedImage;
decodedImage.loadFromData(data.data(), "PNG");
decodedImage.convertToFormat(QImage::Format_ARGB32);
// Place it in the right place
if (actualImage.isNull())
actualImage = decodedImage;
else
baselineImage = decodedImage;
}
}
if (!actualImage.isNull() && !baselineImage.isNull()) {
if (actualImage.size() != baselineImage.size()) {
fprintf(stdout, "diff: 100%% failed\n");
fprintf(stderr, "error, test and reference image have different properties.\n");
fflush(stderr);
fflush(stdout);
} else {
int w = actualImage.width();
int h = actualImage.height();
QImage diffImage(w, h, QImage::Format_ARGB32);
int count = 0;
qreal sum = 0;
qreal maxDistance = 0;
for (int x = 0; x < w; ++x)
for (int y = 0; y < h; ++y) {
QRgb pixel = actualImage.pixel(x, y);
QRgb basePixel = baselineImage.pixel(x, y);
qreal red = (qRed(pixel) - qRed(basePixel)) / static_cast<float>(qMax(255 - qRed(basePixel), qRed(basePixel)));
qreal green = (qGreen(pixel) - qGreen(basePixel)) / static_cast<float>(qMax(255 - qGreen(basePixel), qGreen(basePixel)));
qreal blue = (qBlue(pixel) - qBlue(basePixel)) / static_cast<float>(qMax(255 - qBlue(basePixel), qBlue(basePixel)));
qreal alpha = (qAlpha(pixel) - qAlpha(basePixel)) / static_cast<float>(qMax(255 - qAlpha(basePixel), qAlpha(basePixel)));
qreal distance = qSqrt(red * red + green * green + blue * blue + alpha * alpha) / 2.0f;
int gray = distance * qreal(255);
diffImage.setPixel(x, y, qRgb(gray, gray, gray));
if (distance >= 1 / qreal(255)) {
count++;
sum += distance;
maxDistance = qMax(maxDistance, distance);
}
}
qreal difference = 0;
if (count)
difference = 100 * sum / static_cast<qreal>(w * h);
if (difference <= tolerance) {
difference = 0;
} else {
difference = qRound(difference * 100) / 100.0f;
difference = qMax(difference, qreal(0.01));
}
if (!difference)
fprintf(stdout, "diff: %01.2f%% passed\n", difference);
else {
QBuffer buffer;
buffer.open(QBuffer::WriteOnly);
diffImage.save(&buffer, "PNG");
buffer.close();
const QByteArray &data = buffer.data();
printf("Content-Length: %lu\n", static_cast<unsigned long>(data.length()));
// We have to use the return value of fwrite to avoid "ignoring return value" gcc warning
// See https://bugs.webkit.org/show_bug.cgi?id=45384 for details.
if (fwrite(data.constData(), 1, data.length(), stdout)) {}
fprintf(stdout, "diff: %01.2f%% failed\n", difference);
}
fflush(stdout);
}
actualImage = QImage();
baselineImage = QImage();
}
}
return 0;
}
TestCase::IterateResult ReadPixelsCase::iterate (void)
{
const tcu::RenderTarget& renderTarget = m_context.getRenderTarget();
tcu::PixelFormat pixelFormat = renderTarget.getPixelFormat();
int targetWidth = renderTarget.getWidth();
int targetHeight = renderTarget.getHeight();
int x = 0;
int y = 0;
int imageWidth = 0;
int imageHeight = 0;
deRandom rnd;
deRandom_init(&rnd, deInt32Hash(m_curIter));
switch (m_curIter)
{
case 0:
// Fullscreen
x = 0;
y = 0;
imageWidth = targetWidth;
imageHeight = targetHeight;
break;
case 1:
// Upper left corner
x = 0;
y = 0;
imageWidth = targetWidth / 2;
imageHeight = targetHeight / 2;
break;
case 2:
// Lower right corner
x = targetWidth / 2;
y = targetHeight / 2;
imageWidth = targetWidth - x;
imageHeight = targetHeight - y;
break;
default:
x = deRandom_getUint32(&rnd) % (targetWidth - 1);
y = deRandom_getUint32(&rnd) % (targetHeight - 1);
imageWidth = 1 + (deRandom_getUint32(&rnd) % (targetWidth - x - 1));
imageHeight = 1 + (deRandom_getUint32(&rnd) % (targetHeight - y - 1));
break;
}
Surface resImage(imageWidth, imageHeight);
Surface refImage(imageWidth, imageHeight);
Surface diffImage(imageWidth, imageHeight);
int r = (int)(deRandom_getUint32(&rnd) & 0xFF);
int g = (int)(deRandom_getUint32(&rnd) & 0xFF);
int b = (int)(deRandom_getUint32(&rnd) & 0xFF);
tcu::clear(refImage.getAccess(), tcu::IVec4(r, g, b, 255));
glClearColor(r/255.0f, g/255.0f, b/255.0f, 1.0f);
glClear(GL_COLOR_BUFFER_BIT);
glu::readPixels(m_context.getRenderContext(), x, y, resImage.getAccess());
GLU_CHECK_MSG("glReadPixels() failed.");
RGBA colorThreshold = pixelFormat.getColorThreshold();
RGBA matchColor(0, 255, 0, 255);
RGBA diffColor(255, 0, 0, 255);
bool isImageOk = true;
for (int j = 0; j < imageHeight; j++)
{
for (int i = 0; i < imageWidth; i++)
{
RGBA resRGBA = resImage.getPixel(i, j);
RGBA refRGBA = refImage.getPixel(i, j);
bool isPixelOk = compareThreshold(refRGBA, resRGBA, colorThreshold);
diffImage.setPixel(i, j, isPixelOk ? matchColor : diffColor);
isImageOk = isImageOk && isPixelOk;
}
}
if (isImageOk)
m_testCtx.setTestResult(QP_TEST_RESULT_PASS, "Pass");
else
{
m_testCtx.setTestResult(QP_TEST_RESULT_FAIL, "Fail");
TestLog& log = m_testCtx.getLog();
log << TestLog::ImageSet("Result", "Resulting framebuffer")
<< TestLog::Image("Result", "Resulting framebuffer", resImage)
<< TestLog::Image("Reference", "Reference image", refImage)
<< TestLog::Image("DiffMask", "Failing pixels", diffImage)
<< TestLog::EndImageSet;
}
return (++m_curIter < m_numIters) ? CONTINUE : STOP;
}
cv::Mat FSVision::subLaser2(cv::Mat &laserOff, cv::Mat &laserOn,int JD)
{
unsigned int cols = laserOff.cols;
unsigned int rows = laserOff.rows;
cv::Mat bwLaserOff( rows,cols,CV_8U,cv::Scalar(100) );
cv::Mat bwLaserOn( rows,cols,CV_8U,cv::Scalar(100) );
cv::Mat tresh2Image( rows,cols,CV_8U,cv::Scalar(0) );
cv::Mat diffImage( rows,cols,CV_8U,cv::Scalar(100) );
cv::Mat gaussImage( rows,cols,CV_8U,cv::Scalar(0) );
cv::Mat laserImage( rows,cols,CV_8U,cv::Scalar(0) );
cv::Mat result( rows,cols,CV_8UC3,cv::Scalar(0) );
std::vector<cv::Mat> rgbChannelsOff(3);
cv::split(laserOff, rgbChannelsOff);
// cv::cvtColor(laserOff, bwLaserOff, CV_RGB2GRAY);//convert to grayscale
bwLaserOff=rgbChannelsOff[0];
//cv::imshow("laserLineOff", bwLaserOff); cv::waitKey(10);
std::vector<cv::Mat> rgbChannelsOn(3);
cv::split(laserOn, rgbChannelsOn);
// cv::cvtColor(laserOn, bwLaserOn, CV_RGB2GRAY); //convert to grayscale
bwLaserOn = rgbChannelsOn[0];
//
cv::subtract(bwLaserOn,bwLaserOff,diffImage); //subtract both grayscales
// cv::cvtColor(laserOn, diffImage, CV_RGB2GRAY);
tresh2Image = diffImage.clone();
//cv::imshow("tresh2Image1", tresh2Image); cv::waitKey(10);
//细化测试
cv::Mat img=tresh2Image.clone();
//cv::equalizeHist(img,img);
cv::blur(img,img, cv::Size(5,5));
//cv::imshow("tresh2Image1_2", img); cv::waitKey(10);
cv::threshold(img, img,40, 255, cv::THRESH_BINARY);
cv::blur(img,img, cv::Size(3,3));
char buffer [256];
if(JD%4==0)
{
JD=JD/4;
sprintf (buffer, "D:\\img\\img1\\sd_spline-%d.jpg",JD);
cv::imwrite(buffer,img);
sprintf (buffer, "D:\\img\\img2\\tex_image-%d.jpg",JD);
cv::imwrite(buffer,laserOff);
}
normalizeLetter(img,img); //很好的细化
// cv::imshow("tresh2Image2", img); cv::waitKey(10);
// img.convertTo(img,CV_32FC1);
// skeletonize(img); //很好的细化
//cv::blur(img,img, cv::Size(3,3));
// cv::imshow("tresh2Image3", img); cv::waitKey(0);
/*
cv::blur(img,img, cv::Size(3,3));
cv::Mat element = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(3, 3));
cv::erode(img, img, element); // cv::imshow("tresh2Image3", img); cv::waitKey(1000);
cv::dilate(img, img, element);
cv::dilate(img, img, element);
// cv::dilate(img, img, element);
cv::blur(img,img, cv::Size(5,5));
cv::imshow("tresh2Image2_2", img); cv::waitKey(10);
cv::imshow("tresh2Image3", img); cv::waitKey(10);
// cv::blur(img,img, cv::Size(3,3));
cv::Mat element2 = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(3, 3));
cv::dilate(img, img, element2);// cv::dilate(img, img, element);
cv::blur(img,img, cv::Size(3,3));
// cv::erode(img, img, element2);
cv::imshow("tresh2Image4", img); cv::waitKey(0);
// atfx atf ;// = new atfx();
// atf.setInputSketch(1-img);
// cv::Mat thinned_image = atf.getATFImage();
// cv::imshow("tresh2Image4", img); cv::waitKey(10);
// skeletonize(img); //很好的细化
//cv::imshow("tresh2Image5", img); cv::waitKey(10);
// cv::dilate(img, img, element2);
// cv::imshow("tresh2Image6", img); cv::waitKey(0);
////
//cv::namedWindow("tresh2Image2",0);
//cv::imshow("tresh2Image2", img); //cv::waitKey(10);
//diffImage =img.clone();
// cv::cvtColor(laserImage, result, CV_GRAY2RGB); //convert back ro rgb
//return result;
//细化
//void cvThin (IplImage* src, IplImage* dst, int iterations)
//cvThreshold
// cv::blur(tresh2Image,tresh2Image, cv::Size(3,3));
// Apply the specified morphology operation
//cv::imshow("laserLine", FSVision::histogram(diffImage));
//cv::waitKey(0);
//cv::imshow("laserLine", diffImage);
//cv::waitKey(0);
cv::GaussianBlur(diffImage,gaussImage,cv::Size(15,15),12,12);
diffImage = diffImage-gaussImage;
//cv::imshow("laserLine", diffImage);
//cv::waitKey(0);
double threshold = 10;
cv::threshold(diffImage,diffImage,threshold,255,cv::THRESH_TOZERO); //apply threshold
//cv::imshow("laserLine", FSVision::histogram(diffImage));
//cv::waitKey(0);
//cv::equalizeHist(diffImage,diffImage);
//cv::imshow("laserLine", FSVision::histogram(diffImage));
//cv::waitKey(0);
cv::erode(diffImage,diffImage,cv::Mat(3,3,CV_8U,cv::Scalar(1)) );
//cv::imshow("laserLine", diffImage);
//cv::waitKey(0);
//cv::Mat element5(3,3,CV_8U,cv::Scalar(1));
//cv::morphologyEx(diffImage,diffImage,cv::MORPH_OPEN,element5);
//cv::imshow("laserLine", diffImage);
//cv::waitKey(0);
cv::Canny(diffImage,diffImage,20,50);
//cv::imshow("laserLine", diffImage);
//cv::waitKey(0);
//cv::imshow("laserLine", treshImage+diffImage);
//cv::waitKey(0);
//cv::destroyWindow("laserLine");
int *edges;
edges=new int[cols]; //contains the cols index of the detected edges per row
for(unsigned int y = 0; y <rows; y++){
//reset the detected edges
for(unsigned int j=0; j<cols; j++){ edges[j]=-1; }
int j=0;
for(unsigned int x = 0; x<cols; x++){
if(diffImage.at<uchar>(y,x)>250){
edges[j]=x;
j++;
}
}
//iterate over detected edges, take middle of two edges
for(unsigned int j=0; j<cols-1; j+=2){
if(edges[j]>=0 && edges[j+1]>=0 && edges[j+1]-edges[j]<40){
int middle = (int)(edges[j]+edges[j+1])/2;
//qDebug() << cols << rows << y << middle;
laserImage.at<uchar>(y,middle) = 255;
}
}
}
*/
for(unsigned int y = 0; y <img.rows ; y++)
{
for(unsigned int x = 0; x<img.cols; x++)
{
if(img.at<int>(y,x)>99) {
laserImage.at<uchar>(y,x) = 255;
}
else
{
laserImage.at<uchar>(y,x) = 0;
}
}
}
// cv::namedWindow("laserLine",0);
//cv::imshow("laserLine", diffImage);
// cv::imshow("laserLine", laserImage);
//cv::waitKey(0);
// cv::imshow("laserLine", laser+treshImage);
// cv::waitKey(0);
//cv::destroyAllWindows();
cv::cvtColor(laserImage, result, CV_GRAY2RGB); //convert back ro rgb
return result;
}
cv::Mat CSVision::subLaser2(cv::Mat &laserOff, cv::Mat &laserOn)
{
unsigned int cols = laserOff.cols;
unsigned int rows = laserOff.rows;
cv::Mat bwLaserOff( rows,cols,CV_8U,cv::Scalar(100) );
cv::Mat bwLaserOn( rows,cols,CV_8U,cv::Scalar(100) );
cv::Mat tresh2Image( rows,cols,CV_8U,cv::Scalar(0) );
cv::Mat diffImage( rows,cols,CV_8U,cv::Scalar(100) );
cv::Mat gaussImage( rows,cols,CV_8U,cv::Scalar(0) );
cv::Mat laserImage( rows,cols,CV_8U,cv::Scalar(0) );
cv::Mat result( rows,cols,CV_8UC3,cv::Scalar(0) );
cv::Mat mresult( rows,cols,CV_8UC3,cv::Scalar(0) );
cv::absdiff(laserOn,laserOff,mresult); //subtract both grayscales
cv::threshold(mresult,mresult,12,255,cv::THRESH_BINARY); //CEB temp remove
// cv::imshow("color absdiff", mresult);
// cv::cvtColor(laserOff, bwLaserOff, CV_RGB2GRAY);//convert to grayscale
// cv::cvtColor(laserOn, bwLaserOn, CV_RGB2GRAY); //convert to grayscale
// cv::subtract(bwLaserOn,bwLaserOff,diffImage); //subtract both grayscales // CEB good
// cv::absdiff(bwLaserOn,bwLaserOff,diffImage); //subtract both grayscales
// tresh2Image = diffImage.clone();
// cv::namedWindow("Before Image");
// cv::imshow("subtract", diffImage);
cv::cvtColor(mresult,diffImage, CV_RGB2GRAY);//convert to grayscale
// cv::imshow("subtract", diffImage);
// cv::waitKey(0);
// Apply the specified morphology operation
//cv::imshow("laserLine", FSVision::histogram(diffImage));
//cv::waitKey(0);
/*int morph_elem = 0;
int morph_size = 1;
// cv::Canny(diffImage,diffImage,20,50);
cv::Mat element = cv::getStructuringElement(
morph_elem,
cv::Size( 2*morph_size + 1, 2*morph_size+1 ),
cv::Point( morph_size, morph_size ) );
cv::morphologyEx(diffImage, diffImage, cv::MORPH_OPEN, element);*/
//cv::imshow("laserLine", diffImage);
//cv::waitKey(0);
// cv::imshow("Before Blur ", diffImage); CEB
// cv::GaussianBlur(diffImage,gaussImage,cv::Size(15,15),12,12); // remove CEB
// cv::imshow("Gauss image ", gaussImage);
// diffImage = diffImage-gaussImage; // CEB removed
// cv::imshow("Blur", diffImage);
// cv::waitKey(0);
// FSFloat threshold = 10;
// cv::imshow("Before threshold", diffImage);
// cv::threshold(diffImage,diffImage,threshold,255,cv::THRESH_TOZERO); //apply threshold
cv::threshold(diffImage,diffImage,11,255,cv::THRESH_BINARY); //CEB good
// cv::threshold(diffImage,diffImage,11,255,cv::THRESH_BINARY); //CEB temp remove
// cv::threshold(diffImage,diffImage,threshold,255,cv::THRESH_OTSU); //CEB worked
// cv::threshold(diffImage,diffImage,threshold,255,cv::THRESH_TOZERO);
// cv::imshow("After threshold", diffImage);
// cv::imshow("threshold", CSVision::histogram(diffImage));
// cv::waitKey(0);
// cv::equalizeHist(diffImage,diffImage); // ceb worked
// cv::imshow("threshhold", diffImage);
// cv::waitKey(0);
//cv::erode(diffImage,diffImage,cv::Mat(3,3,CV_8U,cv::Scalar(1)) ); CEB removing to test
cv::erode(diffImage,diffImage,cv::Mat(3,3,CV_8U,cv::Scalar(1)) );
//cv::imshow("Erode", diffImage);
cv::dilate(diffImage,diffImage,cv::Mat(3,3,CV_8U,cv::Scalar(1)) );
// cv::imshow("After", diffImage);
// cv::imshow("laserLine", diffImage);
// cv::waitKey(0);
// cv::Mat element5(3,3,CV_8U,cv::Scalar(1)); // ceb worked
// cv::morphologyEx(diffImage,diffImage,cv::MORPH_OPEN,element5); // ceb worked
// cv::imshow("laserLine", diffImage);
// cv::waitKey(0);
// cv::Canny(diffImage,diffImage,20,50); CEB
// cv::imshow("laserLine", diffImage);
// cv::waitKey(0);
// cv::imshow("laserLine", treshImage+diffImage);
// cv::waitKey(0);
// cv::destroyWindow("laserLine");
/*
int edges[cols]; //contains the cols index of the detected edges per row
for(unsigned int y = 0; y <rows; y++){
//reset the detected edges
for(unsigned int j=0; j<cols; j++){ edges[j]=-1; }
int j=0;
for(unsigned int x = 0; x<cols; x++){
if(diffImage.at<uchar>(y,x)>250){
edges[j]=x;
j++;
}
}
//iterate over detected edges, take middle of two edges
for(unsigned int j=0; j<cols-1; j+=2)
// cv::Canny(diffImage,diffImage,20,50);
{
//cv::imshow("laserBasic", laserBasic);
// cv::waitKey(0);
if(edges[j]>=0 && edges[j+1]>=0 && edges[j+1]-edges[j]<40){
int middle = (int)(edges[j]+edges[j+1])/2;
//qDebug() << cols << rows << y << middle;
laserImage.at<uchar>(y,middle) = 255;
}
}/
}
int edges[cols]; //contains the cols index of the detected edges per row
for(unsigned int y = 0; y <rows; y++){
//reset the detected edges
for(unsig/ned int j=0; j<cols; j++){ edges[j]=-1; }
int j=0;cv::imshow("laserBasic", laserBasic);
cv::waitKey(0);
for(unsigned int x = 0; x<cols; x++){
if(diffImage.at<uchar>(y,x)>250){
edges[j]=x;
j++;
}
}
//iterate over detected edges, take middle of two edges
for(unsigned int j=0; j<cols-1; j+=2){
if(edges[j]>=0 && edges[j+1]>=0 && edges[j+1]-edges[j]<40){
int middle = (int)(edges[j]+edges[j+1])/2;
//qDebug() << cols << rows << y << middle;
laserImage.at<uchar>(y,middle) = 255;
}
}
}
}
} */
/*
cv::namedWindow("laserLine");
cv::imshow("laserLine", diffImage);
cv::waitKey(0);
cv::imshow("laserLine", laserImage);
cv::waitKey(0);
cv::imshow("laserLine", laser+treshImage);
cv::waitKey(0);
cv::destroyAllWindows();*/
/* CEB
cv::absdiff(laserOff, laserOn, result);
cv::Mat channel[3];
cv::split(result,channel);
cv::Mat laserBasic( rows,cols,CV_8U,cv::Scalar(0) );
laserBasic = channel[2];
cv::threshold(laserBasic,laserBasic,20,255,cv::THRESH_OTSU);
cv::Mat laserFocus( rows,cols,CV_8U,cv::Scalar(0) );
*/
int edges[cols]; //contains the cols index of the detected edges per row
for(unsigned int y = 0; y <rows; y++){
//reset the detected edges
for(unsigned int j=0; j<cols; j++){ edges[j]=-1; }
int j=0;
for(unsigned int x = 0; x<cols; x++){
// if(laserBasic.at<uchar>(y,x)>250){ ceb
if(diffImage.at<uchar>(y,x)>250){
edges[j]=x;
j++;
}
}
//iterate over detected edges, take middle of two edges
for(unsigned int j=0; j<cols-1; j+=2){
if(edges[j]>=0 && edges[j+1]>=0 && edges[j+1]-edges[j]<40){
int middle = (int)(edges[j]+edges[j+1])/2;
//qDebug() << cols << rows << y << middle;
// laserFocus.at<uchar>(y,middle) = 255; CEB
laserImage.at<uchar>(y,middle) = 255;
}
}
}
// cv::cvtColor(laserFocus, result, CV_GRAY2RGB); //convert back ro rgb //CEB
cv::cvtColor(laserImage, result, CV_GRAY2RGB); //convert back ro rgb //CEB
return result;
}
cv::Mat FSVision::subLaser2(cv::Mat &laserOff, cv::Mat &laserOn)
{
unsigned int cols = laserOff.cols;
unsigned int rows = laserOff.rows;
cv::Mat bwLaserOff( rows,cols,CV_8U,cv::Scalar(100) );
cv::Mat bwLaserOn( rows,cols,CV_8U,cv::Scalar(100) );
cv::Mat tresh2Image( rows,cols,CV_8U,cv::Scalar(0) );
cv::Mat diffImage( rows,cols,CV_8U,cv::Scalar(100) );
cv::Mat gaussImage( rows,cols,CV_8U,cv::Scalar(0) );
cv::Mat laserImage( rows,cols,CV_8U,cv::Scalar(0) );
cv::Mat result( rows,cols,CV_8UC3,cv::Scalar(0) );
cv::cvtColor(laserOff, bwLaserOff, CV_RGB2GRAY);//convert to grayscale
cv::cvtColor(laserOn, bwLaserOn, CV_RGB2GRAY); //convert to grayscale
cv::subtract(bwLaserOn,bwLaserOff,diffImage); //subtract both grayscales
tresh2Image = diffImage.clone();
/*cv::namedWindow("laserLine");
cv::imshow("laserLine", diffImage);
cv::waitKey(0);*/
// Apply the specified morphology operation
//cv::imshow("laserLine", FSVision::histogram(diffImage));
//cv::waitKey(0);
/*int morph_elem = 0;
int morph_size = 1;
cv::Mat element = cv::getStructuringElement(
morph_elem,
cv::Size( 2*morph_size + 1, 2*morph_size+1 ),
cv::Point( morph_size, morph_size ) );
cv::morphologyEx(diffImage, diffImage, cv::MORPH_OPEN, element);*/
//cv::imshow("laserLine", diffImage);
//cv::waitKey(0);
cv::GaussianBlur(diffImage,gaussImage,cv::Size(15,15),12,12);
diffImage = diffImage-gaussImage;
//cv::imshow("laserLine", diffImage);
//cv::waitKey(0);
FSFloat threshold = 10;
cv::threshold(diffImage,diffImage,threshold,255,cv::THRESH_TOZERO); //apply threshold
//cv::imshow("laserLine", FSVision::histogram(diffImage));
//cv::waitKey(0);
//cv::equalizeHist(diffImage,diffImage);
//cv::imshow("laserLine", FSVision::histogram(diffImage));
//cv::waitKey(0);
cv::erode(diffImage,diffImage,cv::Mat(3,3,CV_8U,cv::Scalar(1)) );
//cv::imshow("laserLine", diffImage);
//cv::waitKey(0);
//cv::Mat element5(3,3,CV_8U,cv::Scalar(1));
//cv::morphologyEx(diffImage,diffImage,cv::MORPH_OPEN,element5);
//cv::imshow("laserLine", diffImage);
//cv::waitKey(0);
cv::Canny(diffImage,diffImage,20,50);
//cv::imshow("laserLine", diffImage);
//cv::waitKey(0);
//cv::imshow("laserLine", treshImage+diffImage);
//cv::waitKey(0);
//cv::destroyWindow("laserLine");
int edges[cols]; //contains the cols index of the detected edges per row
for(unsigned int y = 0; y <rows; y++){
//reset the detected edges
for(unsigned int j=0; j<cols; j++){ edges[j]=-1; }
int j=0;
for(unsigned int x = 0; x<cols; x++){
if(diffImage.at<uchar>(y,x)>250){
edges[j]=x;
j++;
}
}
//iterate over detected edges, take middle of two edges
for(unsigned int j=0; j<cols-1; j+=2){
if(edges[j]>=0 && edges[j+1]>=0 && edges[j+1]-edges[j]<40){
int middle = (int)(edges[j]+edges[j+1])/2;
//qDebug() << cols << rows << y << middle;
laserImage.at<uchar>(y,middle) = 255;
}
}
}
/*cv::namedWindow("laserLine");
cv::imshow("laserLine", diffImage);
cv::waitKey(0);
cv::imshow("laserLine", laserImage);
cv::waitKey(0);
cv::imshow("laserLine", laser+treshImage);
cv::waitKey(0);
cv::destroyAllWindows();*/
cv::cvtColor(laserImage, result, CV_GRAY2RGB); //convert back ro rgb
return result;
}
