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;
}
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;
}
