串口通信，opencv3.0
窗口大小可调
编译
cmake ../
make
./color
正常光线下运行比较稳定，找圆比较准确。程序设置了圆的半径区间以及圆心最小间距，以满足产品的需求，可自行修改调试。
历程如下
#define USE_SERIAL 0 // 1:use serial 0:not use serial //用串口调试时置1，不用串口时一定要置0，否则会报错
#include <iostream>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <opencv2/core/core.hpp>
#include <opencv2/opencv.hpp>
#if USE_SERIAL
#include <boost/asio.hpp>
#include <boost/bind.hpp>
using namespace boost::asio;
#endif
using namespace cv;
using namespace std;
int g_nThresh = 135;
Mat canny_output;
Mat imgOriginal;
Mat imgHSV;
Mat imgThresholded;//二值化后的图像数组
Mat bf;//对灰度图像进行双边滤波
Mat element = getStructuringElement(MORPH_RECT, Size(5, 5));
Mat dstImage;
int x,y,r;
int iLowH = 9;
int iHighH = 37;
int iLowS = 135;
int iHighS = 255;
int iLowV = 175;
int iHighV = 255;
int main(int argc, char** argv)
{
size_t i = 0;
int fd;
#if USE_SERIAL
char serial_buff[100]={0};
io_service iosev;
//节点文件
/* fd = open("/dev/ttyUSB0",O_RDWR);
if( -1 == fd );
{
cout << "Error: Cannot open the serial port" << endl;
cout << endl;
return -1;
}
close(fd);
*/
serial_port serial(iosev, "/dev/ttyUSB0");
// 设置参数
serial.set_option(serial_port::baud_rate(115200));
serial.set_option(serial_port::flow_control(serial_port::flow_control::none));
serial.set_option(serial_port::parity(serial_port::parity::none));
serial.set_option(serial_port::stop_bits(serial_port::stop_bits::one));
serial.set_option(serial_port::character_size(8));
//write(serial, buffer("Test!\r\n", sizeof("Test!\r\n")));
#endif
VideoCapture cap(-1); //capture the video from web cam
if (!cap.isOpened()) // if not success, exit program
{
cout << "Error: Cannot open the web cam" << endl;
cout << endl;
return -1;
}
#if USE_SERIAL
write(serial, buffer("Test!\r\n", sizeof("Test!\r\n")));
#endif
// namedWindow("imgThresholded", 0); //Image can adjust size
while (true)
{
bool bSuccess = cap.read(imgOriginal); // read a new frame from video
if (!bSuccess) //if not success, break loop
{
cout << "Cannot read a frame from video stream" << endl;
break;
}
//区分颜色*****************************************************************************************************
vector<Mat> hsvSplit;//cevtor 容器
cvtColor(imgOriginal, imgHSV, COLOR_BGR2HSV); //Convert the captured frame from BGR to HSV
//因为我们读取的是彩色图，直方图均衡化需要在HSV空间做
split(imgHSV, hsvSplit);//(多通道数组-》容器)
equalizeHist(hsvSplit[2], hsvSplit[2]);
merge(hsvSplit, imgHSV);
inRange(imgHSV, Scalar(iLowH, iLowS, iLowV), Scalar(iHighH, iHighS, iHighV), imgThresholded); //Threshold the image
//开操作 (去除一些噪点)
morphologyEx(imgThresholded, imgThresholded, MORPH_OPEN, element);
//闭操作 (连接一些连通域)
morphologyEx(imgThresholded, imgThresholded, MORPH_CLOSE, element);
//addWeighted(imgThresholded, 1, canny_output, 1, 0., dstImage);
//morphologyEx(dstImage, dstImage, MORPH_CLOSE, element);
//找圆************************************************************************************************************
blur(imgThresholded, bf, Size(3, 3));
//用Canny算子检测边缘
Canny(bf, canny_output, g_nThresh, g_nThresh * 2, 3);
vector<Vec3f> circles;//声明一个向量，保存检测出的圆的圆心坐标和半径
HoughCircles(canny_output, circles, CV_HOUGH_GRADIENT, 1, 70, 250, 10, 5, 70);//霍夫变换检测圆1.5, 5, 150, 80, 1, 50
for ( i = 0; i < circles.size(); i++)//把霍夫变换检测出的圆画出来
{
Point center(cvRound(circles[i][0]), cvRound(circles[i][1]));
int radius = cvRound(circles[i][2]);
circle(imgOriginal, center, radius, Scalar(255, 255, 255), 3,8, 0);
// cout << "x="<<cvRound(circles[i][0]) << "\t" << "y="<< cvRound(circles[i][1]) << "\t"
// << "z="<< cvRound(circles[i][2]) << endl;//在控制台输出圆心坐标和半径
x=cvRound(circles[i][0]);
y=cvRound(circles[i][1]);
r=cvRound(circles[i][2]);
#if USE_SERIAL
sprintf( serial_buff,"A%03d%03d%03d%03dB",i,cvRound(circles[i][0])/8,cvRound(circles[i][1])/8,cvRound(circles[i][2]));
write(serial, buffer(serial_buff, 14 ));
//write(serial, buffer("AB", 2));
#endif
}
#if USE_SERIAL
if( i!=0 )
write(serial, buffer("\r\n", strlen("\r\n")));
#endif
//~~~~~~~~~~~~~~~~~~~~~~~~
imshow("imgThresholded", imgThresholded);//滤过颜色
cvResizeWindow("imgThresholded",640,480);//Image can adjust size
imshow("imgOriginal", imgOriginal);//寻找边沿
cvResizeWindow("imgOriginal",640,480);//Image can adjust size
//imshow("canny_output", canny_output);//原图显示找出的圆
char key = (char)waitKey(20);
if (key == 27)
break;
}
return 0;
}
