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我必须编写一个程序来检测3种类型的路标(限速,禁止 parking 和警告)。我知道如何使用HoughCircles来检测圆,但是我有几张图像,并且HoughCircles的参数对于每张图像都是不同的。有一种检测圆形的通用方法,而无需更改每个图像的参数?
此外,我需要检测三角形(警告信号),因此我正在寻找通用的形状检测器。您是否有任何建议/代码可以帮助我完成此任务?
最后,为了检测限速标志上的数字,我想使用SIFT并将图像与一些模板进行比较,以识别标志上的数字。这是一个好方法吗?
谢谢您的回答!
最佳答案
我知道这是一个非常老的问题,但是我曾经遇到过同样的问题,现在向您展示如何解决。
下图显示了opencv程序显示的一些最准确的结果。
在以下图像中,检测到的路标用三种不同的颜色圈出,以区分三种路标(警告,禁止 parking ,限速)。
[![example][1]][1]
[![example][2]][2]
[![example][3]][3]
[![example][4]][4]
inRange(image, Scalar(0, 70, 50), Scalar(10, 255, 255), mask1);
inRange(image, Scalar(170, 70, 50), Scalar(180, 255, 255), mask2);
partition(<#_ForwardIterator __first#>, _ForwardIterator __last, <#_Predicate __pred#>)
Signs.info
包含文件名列表,如下所示,pos/image_name.png 1 0 0 50 45
Bg.txt
包含一个文件名列表,如下所示,一个neg/street15.png
opencv_createsamples -info sign.info -num 100 -w 50 -h 50 -vec signs.vec
opencv_traincascade -data data -vec signs.vec -bg bg.txt -numPos 60 -numNeg 200 -numStages 15 -w 50 -h 50 -featureType LBP
detectMultiScale(<#InputArray image#>, <#std::vector<Rect> &objects#>)
KNearest.find_nearest()
函数查找与我们给出的项目最接近的项目。#include "opencv2/objdetect/objdetect.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
#include <stdio.h>
#include <cmath>
#include <stdlib.h>
#include "opencv2/core/core.hpp"
#include "opencv2/highgui.hpp"
#include <string.h>
#include <opencv2/ml/ml.hpp>
using namespace std;
using namespace cv;
std::vector<cv::Rect> getRedObjects(cv::Mat image);
vector<Mat> detectAndDisplaySpeedLimit( Mat frame );
vector<Mat> detectAndDisplayNoParking( Mat frame );
vector<Mat> detectAndDisplayWarning( Mat frame );
void trainDigitClassifier();
string getDigits(Mat image);
vector<Mat> loadAllImage();
int getSpeedLimit(string speed);
//path of the haar cascade files
String no_parking_signs_cascade = "/Users/giuliopettenuzzo/Desktop/cascade_classifiers/no_parking_cascade.xml";
String speed_signs_cascade = "/Users/giuliopettenuzzo/Desktop/cascade_classifiers/speed_limit_cascade.xml";
String warning_signs_cascade = "/Users/giuliopettenuzzo/Desktop/cascade_classifiers/warning_cascade.xml";
CascadeClassifier speed_limit_cascade;
CascadeClassifier no_parking_cascade;
CascadeClassifier warning_cascade;
int main(int argc, char** argv)
{
//train the classifier for digit recognition, this require a manually train, read the report for more details
trainDigitClassifier();
cv::Mat sceneImage;
vector<Mat> allImages = loadAllImage();
for(int i = 0;i<=allImages.size();i++){
sceneImage = allImages[i];
//load the haar cascade files
if( !speed_limit_cascade.load( speed_signs_cascade ) ){ printf("--(!)Error loading\n"); return -1; };
if( !no_parking_cascade.load( no_parking_signs_cascade ) ){ printf("--(!)Error loading\n"); return -1; };
if( !warning_cascade.load( warning_signs_cascade ) ){ printf("--(!)Error loading\n"); return -1; };
Mat scene = sceneImage.clone();
//detect the red objects
std::vector<cv::Rect> allObj = getRedObjects(scene);
//use the three cascade classifier for each object detected by the getRedObjects() method
for(int j = 0;j<allObj.size();j++){
Mat img = sceneImage(Rect(allObj[j]));
vector<Mat> warningVec = detectAndDisplayWarning(img);
if(warningVec.size()>0){
Rect box = allObj[j];
}
vector<Mat> noParkVec = detectAndDisplayNoParking(img);
if(noParkVec.size()>0){
Rect box = allObj[j];
}
vector<Mat> speedLitmitVec = detectAndDisplaySpeedLimit(img);
if(speedLitmitVec.size()>0){
Rect box = allObj[j];
for(int i = 0; i<speedLitmitVec.size();i++){
//get speed limit and skatch it in the image
int digit = getSpeedLimit(getDigits(speedLitmitVec[i]));
if(digit > 0){
Point point = box.tl();
point.y = point.y + 30;
cv::putText(sceneImage,
"SPEED LIMIT " + to_string(digit),
point,
cv::FONT_HERSHEY_COMPLEX_SMALL,
0.7,
cv::Scalar(0,255,0),
1,
cv::CV__CAP_PROP_LATEST);
}
}
}
}
imshow("currentobj",sceneImage);
waitKey(0);
}
}
/*
* detect the red object in the image given in the param,
* return a vector containing all the Rect of the red objects
*/
std::vector<cv::Rect> getRedObjects(cv::Mat image)
{
Mat3b res = image.clone();
std::vector<cv::Rect> result;
cvtColor(image, image, COLOR_BGR2HSV);
Mat1b mask1, mask2;
//ranges of red color
inRange(image, Scalar(0, 70, 50), Scalar(10, 255, 255), mask1);
inRange(image, Scalar(170, 70, 50), Scalar(180, 255, 255), mask2);
Mat1b mask = mask1 | mask2;
Mat nonZeroCoordinates;
vector<Point> pts;
findNonZero(mask, pts);
for (int i = 0; i < nonZeroCoordinates.total(); i++ ) {
cout << "Zero#" << i << ": " << nonZeroCoordinates.at<Point>(i).x << ", " << nonZeroCoordinates.at<Point>(i).y << endl;
}
int th_distance = 2; // radius tolerance
// Apply partition
// All pixels within the radius tolerance distance will belong to the same class (same label)
vector<int> labels;
// With lambda function (require C++11)
int th2 = th_distance * th_distance;
int n_labels = partition(pts, labels, [th2](const Point& lhs, const Point& rhs) {
return ((lhs.x - rhs.x)*(lhs.x - rhs.x) + (lhs.y - rhs.y)*(lhs.y - rhs.y)) < th2;
});
// You can save all points in the same class in a vector (one for each class), just like findContours
vector<vector<Point>> contours(n_labels);
for (int i = 0; i < pts.size(); ++i){
contours[labels[i]].push_back(pts[i]);
}
// Get bounding boxes
vector<Rect> boxes;
for (int i = 0; i < contours.size(); ++i)
{
Rect box = boundingRect(contours[i]);
if(contours[i].size()>500){//prima era 1000
boxes.push_back(box);
Rect enlarged_box = box + Size(100,100);
enlarged_box -= Point(30,30);
if(enlarged_box.x<0){
enlarged_box.x = 0;
}
if(enlarged_box.y<0){
enlarged_box.y = 0;
}
if(enlarged_box.height + enlarged_box.y > res.rows){
enlarged_box.height = res.rows - enlarged_box.y;
}
if(enlarged_box.width + enlarged_box.x > res.cols){
enlarged_box.width = res.cols - enlarged_box.x;
}
Mat img = res(Rect(enlarged_box));
result.push_back(enlarged_box);
}
}
Rect largest_box = *max_element(boxes.begin(), boxes.end(), [](const Rect& lhs, const Rect& rhs) {
return lhs.area() < rhs.area();
});
//draw the rects in case you want to see them
for(int j=0;j<=boxes.size();j++){
if(boxes[j].area() > largest_box.area()/3){
rectangle(res, boxes[j], Scalar(0, 0, 255));
Rect enlarged_box = boxes[j] + Size(20,20);
enlarged_box -= Point(10,10);
rectangle(res, enlarged_box, Scalar(0, 255, 0));
}
}
rectangle(res, largest_box, Scalar(0, 0, 255));
Rect enlarged_box = largest_box + Size(20,20);
enlarged_box -= Point(10,10);
rectangle(res, enlarged_box, Scalar(0, 255, 0));
return result;
}
/*
* code for detect the speed limit sign , it draws a circle around the speed limit signs
*/
vector<Mat> detectAndDisplaySpeedLimit( Mat frame )
{
std::vector<Rect> signs;
vector<Mat> result;
Mat frame_gray;
cvtColor( frame, frame_gray, CV_BGR2GRAY );
//normalizes the brightness and increases the contrast of the image
equalizeHist( frame_gray, frame_gray );
//-- Detect signs
speed_limit_cascade.detectMultiScale( frame_gray, signs, 1.1, 3, 0|CV_HAAR_SCALE_IMAGE, Size(30, 30) );
cout << speed_limit_cascade.getFeatureType();
for( size_t i = 0; i < signs.size(); i++ )
{
Point center( signs[i].x + signs[i].width*0.5, signs[i].y + signs[i].height*0.5 );
ellipse( frame, center, Size( signs[i].width*0.5, signs[i].height*0.5), 0, 0, 360, Scalar( 255, 0, 255 ), 4, 8, 0 );
Mat resultImage = frame(Rect(center.x - signs[i].width*0.5,center.y - signs[i].height*0.5,signs[i].width,signs[i].height));
result.push_back(resultImage);
}
return result;
}
/*
* code for detect the warning sign , it draws a circle around the warning signs
*/
vector<Mat> detectAndDisplayWarning( Mat frame )
{
std::vector<Rect> signs;
vector<Mat> result;
Mat frame_gray;
cvtColor( frame, frame_gray, CV_BGR2GRAY );
equalizeHist( frame_gray, frame_gray );
//-- Detect signs
warning_cascade.detectMultiScale( frame_gray, signs, 1.1, 3, 0|CV_HAAR_SCALE_IMAGE, Size(30, 30) );
cout << warning_cascade.getFeatureType();
Rect previus;
for( size_t i = 0; i < signs.size(); i++ )
{
Point center( signs[i].x + signs[i].width*0.5, signs[i].y + signs[i].height*0.5 );
Rect newRect = Rect(center.x - signs[i].width*0.5,center.y - signs[i].height*0.5,signs[i].width,signs[i].height);
if((previus & newRect).area()>0){
previus = newRect;
}else{
ellipse( frame, center, Size( signs[i].width*0.5, signs[i].height*0.5), 0, 0, 360, Scalar( 0, 0, 255 ), 4, 8, 0 );
Mat resultImage = frame(newRect);
result.push_back(resultImage);
previus = newRect;
}
}
return result;
}
/*
* code for detect the no parking sign , it draws a circle around the no parking signs
*/
vector<Mat> detectAndDisplayNoParking( Mat frame )
{
std::vector<Rect> signs;
vector<Mat> result;
Mat frame_gray;
cvtColor( frame, frame_gray, CV_BGR2GRAY );
equalizeHist( frame_gray, frame_gray );
//-- Detect signs
no_parking_cascade.detectMultiScale( frame_gray, signs, 1.1, 3, 0|CV_HAAR_SCALE_IMAGE, Size(30, 30) );
cout << no_parking_cascade.getFeatureType();
Rect previus;
for( size_t i = 0; i < signs.size(); i++ )
{
Point center( signs[i].x + signs[i].width*0.5, signs[i].y + signs[i].height*0.5 );
Rect newRect = Rect(center.x - signs[i].width*0.5,center.y - signs[i].height*0.5,signs[i].width,signs[i].height);
if((previus & newRect).area()>0){
previus = newRect;
}else{
ellipse( frame, center, Size( signs[i].width*0.5, signs[i].height*0.5), 0, 0, 360, Scalar( 255, 0, 0 ), 4, 8, 0 );
Mat resultImage = frame(newRect);
result.push_back(resultImage);
previus = newRect;
}
}
return result;
}
/*
* train the classifier for digit recognition, this could be done only one time, this method save the result in a file and
* it can be used in the next executions
* in order to train user must enter manually the corrisponding digit that the program shows, press space if the red box is just a point (false positive)
*/
void trainDigitClassifier(){
Mat thr,gray,con;
Mat src=imread("/Users/giuliopettenuzzo/Desktop/all_numbers.png",1);
cvtColor(src,gray,CV_BGR2GRAY);
threshold(gray,thr,125,255,THRESH_BINARY_INV); //Threshold to find contour
imshow("ci",thr);
waitKey(0);
thr.copyTo(con);
// Create sample and label data
vector< vector <Point> > contours; // Vector for storing contour
vector< Vec4i > hierarchy;
Mat sample;
Mat response_array;
findContours( con, contours, hierarchy,CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE ); //Find contour
for( int i = 0; i< contours.size(); i=hierarchy[i][0] ) // iterate through first hierarchy level contours
{
Rect r= boundingRect(contours[i]); //Find bounding rect for each contour
rectangle(src,Point(r.x,r.y), Point(r.x+r.width,r.y+r.height), Scalar(0,0,255),2,8,0);
Mat ROI = thr(r); //Crop the image
Mat tmp1, tmp2;
resize(ROI,tmp1, Size(10,10), 0,0,INTER_LINEAR ); //resize to 10X10
tmp1.convertTo(tmp2,CV_32FC1); //convert to float
imshow("src",src);
int c=waitKey(0); // Read corresponding label for contour from keyoard
c-=0x30; // Convert ascii to intiger value
response_array.push_back(c); // Store label to a mat
rectangle(src,Point(r.x,r.y), Point(r.x+r.width,r.y+r.height), Scalar(0,255,0),2,8,0);
sample.push_back(tmp2.reshape(1,1)); // Store sample data
}
// Store the data to file
Mat response,tmp;
tmp=response_array.reshape(1,1); //make continuous
tmp.convertTo(response,CV_32FC1); // Convert to float
FileStorage Data("TrainingData.yml",FileStorage::WRITE); // Store the sample data in a file
Data << "data" << sample;
Data.release();
FileStorage Label("LabelData.yml",FileStorage::WRITE); // Store the label data in a file
Label << "label" << response;
Label.release();
cout<<"Training and Label data created successfully....!! "<<endl;
imshow("src",src);
waitKey(0);
}
/*
* get digit from the image given in param, using the classifier trained before
*/
string getDigits(Mat image)
{
Mat thr1,gray1,con1;
Mat src1 = image.clone();
cvtColor(src1,gray1,CV_BGR2GRAY);
threshold(gray1,thr1,125,255,THRESH_BINARY_INV); // Threshold to create input
thr1.copyTo(con1);
// Read stored sample and label for training
Mat sample1;
Mat response1,tmp1;
FileStorage Data1("TrainingData.yml",FileStorage::READ); // Read traing data to a Mat
Data1["data"] >> sample1;
Data1.release();
FileStorage Label1("LabelData.yml",FileStorage::READ); // Read label data to a Mat
Label1["label"] >> response1;
Label1.release();
Ptr<ml::KNearest> knn(ml::KNearest::create());
knn->train(sample1, ml::ROW_SAMPLE,response1); // Train with sample and responses
cout<<"Training compleated.....!!"<<endl;
vector< vector <Point> > contours1; // Vector for storing contour
vector< Vec4i > hierarchy1;
//Create input sample by contour finding and cropping
findContours( con1, contours1, hierarchy1,CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE );
Mat dst1(src1.rows,src1.cols,CV_8UC3,Scalar::all(0));
string result;
for( int i = 0; i< contours1.size(); i=hierarchy1[i][0] ) // iterate through each contour for first hierarchy level .
{
Rect r= boundingRect(contours1[i]);
Mat ROI = thr1(r);
Mat tmp1, tmp2;
resize(ROI,tmp1, Size(10,10), 0,0,INTER_LINEAR );
tmp1.convertTo(tmp2,CV_32FC1);
Mat bestLabels;
float p=knn -> findNearest(tmp2.reshape(1,1),4, bestLabels);
char name[4];
sprintf(name,"%d",(int)p);
cout << "num = " << (int)p;
result = result + to_string((int)p);
putText( dst1,name,Point(r.x,r.y+r.height) ,0,1, Scalar(0, 255, 0), 2, 8 );
}
imwrite("dest.jpg",dst1);
return result ;
}
/*
* from the digits detected, it returns a speed limit if it is detected correctly, -1 otherwise
*/
int getSpeedLimit(string numbers){
if ((numbers.find("30") != std::string::npos) || (numbers.find("03") != std::string::npos)) {
return 30;
}
if ((numbers.find("50") != std::string::npos) || (numbers.find("05") != std::string::npos)) {
return 50;
}
if ((numbers.find("80") != std::string::npos) || (numbers.find("08") != std::string::npos)) {
return 80;
}
if ((numbers.find("70") != std::string::npos) || (numbers.find("07") != std::string::npos)) {
return 70;
}
if ((numbers.find("90") != std::string::npos) || (numbers.find("09") != std::string::npos)) {
return 90;
}
if ((numbers.find("100") != std::string::npos) || (numbers.find("001") != std::string::npos)) {
return 100;
}
if ((numbers.find("130") != std::string::npos) || (numbers.find("031") != std::string::npos)) {
return 130;
}
return -1;
}
/*
* load all the image in the file with the path hard coded below
*/
vector<Mat> loadAllImage(){
vector<cv::String> fn;
glob("/Users/giuliopettenuzzo/Desktop/T1/dataset/*.jpg", fn, false);
vector<Mat> images;
size_t count = fn.size(); //number of png files in images folder
for (size_t i=0; i<count; i++)
images.push_back(imread(fn[i]));
return images;
}
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