我根据提取的红球的边缘拟合了一个椭圆。但这并不准确。
我基于 HSV 颜色空间提取了这个红球，但它总是忽略了这个球的轮廓。（也许是因为轮廓的颜色要深得多）。
有什么好主意可以让我为这个球拟合一个更好的椭圆吗？我想找到一个可以尽可能准确地拥抱红球的椭圆。
如果我可以使用 OpenCV 的现有功能会更好。
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1 回答
1
我已经解决了这个问题。它仍然不稳定，但在大多数情况下它可以工作。
源图像。可以检测到所有这些图像：https ://www.dropbox.com/sh/daerty94kv5k2n7/AABu9Axewe6mL0NdEX2nG5MIa?dl=0
根据颜色拟合椭圆
根据颜色和边缘重新拟合椭圆
视频链接：https ://www.youtube.com/watch?v=q0TQYREm9uA
这是源代码：
#include <iostream>
#include "opencv2/opencv.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
using namespace cv;
using namespace std;
int main(int argc, char** argv)
{
cv::Mat capturedImage = imread(argv[1]);
if( capturedImage.empty() )
{
cout << "Couldn't open image " << argv[1] << "\nUsage: fitellipse <image_name>\n";
return 0;
}
/*============================= Phase 1: Translate Color Space from RGB to HSV =====================================================*/
cv::Mat imgHSV;
cv::cvtColor(capturedImage, imgHSV, cv::COLOR_BGR2HSV); //Convert the captured frame from BGR to HSV
cv::Mat imgGray;
cv::cvtColor(capturedImage, imgGray, CV_RGB2GRAY);
cv::Mat imgThresholded;
cv::inRange(imgHSV, cv::Scalar(160, 80, 70), cv::Scalar(179, 255, 255), imgThresholded); //Threshold the image
//morphological opening
cv::erode(imgThresholded, imgThresholded, cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(7, 7)) );
cv::dilate( imgThresholded, imgThresholded, cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(7, 7)) );
//morphological closing (removes small holes from the foreground)
cv::dilate( imgThresholded, imgThresholded, cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(7, 7)) );
cv::erode(imgThresholded, imgThresholded, cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(7, 7)) );
namedWindow("imgThresholded", WINDOW_NORMAL);
imshow("imgThresholded", imgThresholded);
/*============================= Phase 2: Fit a coarse ellipse based on red color ======================================================*/
vector<vector<cv::Point> > contours;
cv::findContours(imgThresholded, contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cv::Point(0,0));
size_t index = 0;
size_t largestSize = 0;
for(size_t i = 0; i < contours.size(); i++)
{
if (contours[i].size() > largestSize)
{
largestSize = contours[i].size();
index = i;
}
}
if (contours[index].size() < 6)
{
cout << "Do not have enough points" << endl;
return -1;
}
cv::Mat imgContour;
cv::Mat(contours[index]).convertTo(imgContour, CV_32F);
cv::RotatedRect coarseEllipse = cv::fitEllipse(imgContour);
cv::Mat capturedImageClone = capturedImage.clone();
ellipse(capturedImageClone, coarseEllipse.center, coarseEllipse.size*0.5f, coarseEllipse.angle, 0.0, 360.0, cv::Scalar(0,255,255), 3, CV_AA);
namedWindow("capturedImageClone", CV_WINDOW_NORMAL);
imshow("capturedImageClone", capturedImageClone);
/*============================= Phase 3: Re-fit a final ellipse based on combination of color and edge ===============================*/
double cxc = coarseEllipse.center.x;
double cyc = coarseEllipse.center.y;
double ca = coarseEllipse.size.height/2;
double cb = coarseEllipse.size.width/2;
cv::Mat mask(capturedImage.rows, capturedImage.cols, CV_8UC3, cv::Scalar(0,0,0));
cv::circle(mask, cv::Point(coarseEllipse.center.x, coarseEllipse.center.y), coarseEllipse.size.height/2 + 100, cv::Scalar(255,255,255), -1);
cv::Mat imgMask;
cv::Mat edges;
cv::bitwise_and(capturedImage, mask, imgMask);
namedWindow("imgMask", CV_WINDOW_NORMAL);
imshow("imgMask", imgMask);
cv::GaussianBlur(imgMask, edges, cv::Size(5,5), 0);
cv::Canny(edges, edges, 50, 100);
namedWindow("edges", CV_WINDOW_NORMAL);
imshow("edges", edges);
cv::findContours(edges, contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cv::Point(0,0));
index = -1;
double centerDistance = (numeric_limits<double>::max)();
double abRatio = (numeric_limits<double>::max)();
cv::RotatedRect finalEllipse;
for (size_t i = 0; i < contours.size(); i++)
{
if (contours[i].size() < 500 || i == contours.size() - 1 || i == contours.size() - 2)
continue;
cv::Mat(contours[i]).convertTo(imgContour, CV_32F);
cv::RotatedRect tmpEllipse = cv::fitEllipse(imgContour);
double txc = tmpEllipse.center.x;
double tyc = tmpEllipse.center.y;
double ta = tmpEllipse.size.height/2;
double tb = tmpEllipse.size.width/2;
double tmpDis = (cxc - txc) * (cxc - txc) + (cyc - tyc) * (cyc - tyc);
if (tmpDis < centerDistance && fabs(tb/ta - 1) < abRatio && ta > ca && tb > cb)
{
centerDistance = tmpDis;
abRatio = fabs(tb/ta - 1);
index = i;
finalEllipse = tmpEllipse;
}
}
if (index == -1)
finalEllipse = coarseEllipse;
ellipse(capturedImage, finalEllipse.center, finalEllipse.size*0.5f, finalEllipse.angle, 0.0, 360.0, cv::Scalar(0,255,255), 3, CV_AA);
double xc = finalEllipse.center.x; // center x
double yc = finalEllipse.center.y; // center y
double theta = finalEllipse.angle; // rotation angle theta
double a = finalEllipse.size.height / 2; // semi-major axis: a
double b = finalEllipse.size.width / 2; // semi-minor axis: b
double A = a * a * sin(theta) * sin(theta) + b * b * cos(theta) * cos(theta);
double B = 2 * (b * b - a * a) * sin(theta) * cos(theta);
double C = a * a * cos(theta) * cos(theta) + b * b * sin(theta) * sin(theta);
double D = -2 * A * xc - B * yc;
double E = -B * xc - 2 * C * yc;
double F = A * xc * xc + B * xc * yc + C * yc * yc - a * a * b * b;
A = A/F;
B = B/F;
C = C/F;
D = D/F;
E = E/F;
F = F/F;
double ellipseArray[3][3] = {{A, B/2, D/2},
{B/2, C, E/2},
{D/2, E/2, F}};
cv::Mat ellipseMatrix(3,3,CV_64FC1, ellipseArray);
cout << ellipseMatrix << endl;
namedWindow("capturedImage", CV_WINDOW_NORMAL);
imshow("capturedImage", capturedImage);
imwrite(argv[2],capturedImage);
imwrite(argv[3],edges);
imwrite(argv[4],capturedImageClone);
imwrite(argv[5],imgMask);
waitKey(0);
return 0;
}
于 2015-10-04T08:11:49.217 回答