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資源簡介

圓點攝像頭激光測距源代碼---本人親自測試過：具體教程：http://blog.csdn.net/mbees/article/details/70138725

資源截圖

代碼片段和文件信息 

/************************************************
?技術(shù)支持：個人qq：2424607185
?論壇:www.wh-robot.com
?淘寶店鋪：https://shop129437807.taobao.com/index.htm?spm=2013.1.w5002-12008333349.2.OTokUy
?博客：http://blog.csdn.net/mbees?viewmode=contents
?原理說明：http://blog.csdn.net/mbees/article/details/70138725
?手機助手：從應(yīng)用寶中心下載：小蜜蜂機器人
?維航機器人配件店?
?作者：mbees
************************************************/
#include?“stdafx.h“
#include?
#include?“highgui.h“
#include?
#include?
#include??
using?namespace?cv;
using?namespace?std;
Mat?src;???//原圖像存儲變量
Mat?src_gray;???//存灰度圖變量
int?thresh?=?180;???//閾值設(shè)定
int?max_thresh?=?255;//最大閾值
int?main（?int?argc?char**?argv?）?{
	VideoCapture?cam（0）;//獲取攝像頭0
	if?（!cam.isOpened（））?exit（0）;//判斷是否存在，不存在退出
	bool?stop?=?false;//循環(huán)使能
	while（!stop）
	{
		cam?>>?src;//獲取攝像頭
	????cvtColor（?src?src_gray?CV_BGR2GRAY?）;//灰度化??????
		GaussianBlur（?src?src?Size（33）?0.1?0?BORDER_DEFAULT?）;?//線性濾波
		blur（?src_gray?src_gray?Size（33）?）;?//濾波???????
		namedWindow（?“image“?CV_WINDOW_AUTOSIZE?）;???//創(chuàng)建一個窗體????
		imshow（?“image“?src?）;???????//顯示原圖
		moveWindow（“image“020）;????//移動窗體使得均勻分布
		//定義Canny邊緣檢測圖像???????
		Mat?canny_output;??//定義邊緣檢測存儲變量???
		vector?hierarchy;????
		Canny（?src_gray?canny_output?thresh?thresh*3?3?）;?//利用canny算法檢測邊緣??????
		namedWindow（?“canny“?CV_WINDOW_AUTOSIZE?）;???????
		imshow（?“canny“?canny_output?）;??????
		moveWindow（“canny“50020）;??????
	???vector?>?contours;??
		findContours（?canny_output?contours?hierarchy?CV_RETR_TREE?CV_CHAIN_APPROX_SIMPLE?Point（0?0）?）;?//查找輪廓???????
		//計算輪廓矩???????
		vector?mu（contours.size（）?）;???????
		for（?int?i?=?0;?i?		{???
			mu[i]?=?moments（?contours[i]?false?）;???
		}?????
		//計算輪廓的質(zhì)心?????
		vector?mc（?contours.size（）?）;??????
		for（?int?i?=?0;?i?		{???
			mc[i]?=?Point2d（?mu[i].m10/mu[i].m00??mu[i].m01/mu[i].m00?）;???
		}?????
		//畫輪廓及其質(zhì)心并顯示??????
		Mat?drawing?=?Mat::zeros（?canny_output.size（）?CV_8UC3?）;?????????
		for（?int?i?=?0;?i		{?????????
			if?（mc[i].y>260||mc[i].y<200）
			{
				continue;
			}
			Scalar?color?=?Scalar（?255?0?0）;????????
			drawContours（?drawing?contours?i?color?2?8?hierarchy?0?Point（）?）;?????????
			circle（?drawing?mc[i]?5?Scalar（?0?0?255）?-1?8?0?）;????????????????
			rectangle（drawing?boundingRect（contours.at（i））?cvScalar（02550））;??
			double????gain?=?0.001644074345?;
????????????double????offset?=0.001607879449?;
			unsigned?int?pixels_from_center?=320?-?mc[i].x;
????????????//?算出距離并打印出來
			if（pixels_from_center>140）
			{
				gain?=?0.001513280086??;
				offset?=0.017372721230??;
			}else?if（pixels_from_center>104）
			{
				gain?=?0.001635044755??;
				offset?=0.003201011964??;
			}else
			{
				gain?=?0.001644074345?;
				offset?=0.001607879449?;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-05-04?11:47??圓點激光測距源代碼\
?????目錄???????????0??2017-05-04?11:45??圓點激光測距源代碼\laser01\
?????目錄???????????0??2017-05-03?17:49??圓點激光測距源代碼\laser01\ConsoleApplication5\
?????文件????????3912??2017-05-04?11:45??圓點激光測距源代碼\laser01\ConsoleApplication5\ConsoleApplication5.cpp
?????文件????????4702??2017-03-29?18:10??圓點激光測距源代碼\laser01\ConsoleApplication5\ConsoleApplication5.vcxproj
?????文件????????1323??2017-03-13?21:06??圓點激光測距源代碼\laser01\ConsoleApplication5\ConsoleApplication5.vcxproj.filters
?????文件?????????164??2017-03-11?21:20??圓點激光測距源代碼\laser01\ConsoleApplication5\ConsoleApplication5.vcxproj.user
?????目錄???????????0??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\
?????文件???????63512??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\CL.read.1.tlog
?????文件????????4798??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\CL.write.1.tlog
?????文件?????????105??2017-03-12?17:16??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\ConsoleApplication5.lastbuildstate
?????文件????????3393??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\ConsoleApplication5.log
?????文件??????579874??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\ConsoleApplication5.obj
?????文件?????1179648??2017-03-12?00:31??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\ConsoleApplication5.pch
?????文件??????????84??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\Laser01.lastbuildstate
?????文件?????1179648??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\Laser01.pch
?????文件????????7640??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\cl.command.1.tlog
?????文件???????????2??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\link-cvtres.read.1.tlog
?????文件???????????2??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\link-cvtres.write.1.tlog
?????文件???????????2??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\link-rc.read.1.tlog
?????文件???????????2??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\link-rc.write.1.tlog
?????文件???????????2??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\link.10516-cvtres.read.1.tlog
?????文件???????????2??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\link.10516-cvtres.write.1.tlog
?????文件???????????2??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\link.10516-rc.read.1.tlog
?????文件???????????2??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\link.10516-rc.write.1.tlog
?????文件???????????2??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\link.10516.read.1.tlog
?????文件???????????2??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\link.10516.write.1.tlog
?????文件???????????2??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\link.10796-cvtres.read.1.tlog
?????文件???????????2??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\link.10796-cvtres.write.1.tlog
?????文件???????????2??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\link.10796-rc.read.1.tlog
?????文件???????????2??2017-05-04?11:40??圓點激光測距源代碼\laser01\ConsoleApplication5\Debug\link.10796-rc.write.1.tlog
............此處省略253個文件信息

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