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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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