opencv+hough直线检测+fitline直线拟合

#include <iostream>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>using namespace std;
using namespace cv;/*函数功能：求两条直线交点*/
/*输入：两条Vec4i类型直线*/
/*返回：Point2f类型的点*/
Point2f getCrossPoint(Vec4i LineA, Vec4i LineB)
{double ka, kb;ka = (double)(LineA[3] - LineA[1]) / (double)(LineA[2] - LineA[0]); //求出LineA斜率kb = (double)(LineB[3] - LineB[1]) / (double)(LineB[2] - LineB[0]); //求出LineB斜率Point2f crossPoint;crossPoint.x = (ka*LineA[0] - LineA[1] - kb*LineB[0] + LineB[1]) / (ka - kb);crossPoint.y = (ka*kb*(LineA[0] - LineB[0]) + ka*LineB[1] - kb*LineA[1]) / (ka - kb);return crossPoint;
}//函数功能，直线拟合
Vec4i fitline(vector<cv::Point> points)
{cv::Vec4f line_para;cv::fitLine(points, line_para, CV_DIST_HUBER, 0, 0.01, 0.01);cv::Point point0;point0.x = line_para[2];point0.y = line_para[3];double k = line_para[1] / line_para[0];/*cout << k << endl;*///计算直线的端点(y = k(x - x0) + y0)/*vector<Point2f> Points;*/Vec4i temp;cv::Point point1, point2;if (k < 0){point1.x = 0;point1.y = k * (0 - point0.x) + point0.y;point2.x = 640;point2.y = k * (640 - point0.x) + point0.y;}else {point1.x = 500;point1.y = k * (500-point0.x) + point0.y;point2.x = 1400;point2.y = k * (1400- point0.x) + point0.y;}temp[0] = point1.x;temp[1] = point1.y;temp[2] = point2.x;temp[3] = point2.y;return temp;
}void main()
{Mat img,grayimg,blurimg,dstimg;double vmin, vmax, alpha;img = imread("image4.jpg",1);cvtColor(img,grayimg,CV_BGR2GRAY);GaussianBlur(grayimg, blurimg, Size(3, 3), 0, 0);Canny(blurimg, dstimg, 100, 180, 3);minMaxLoc(img, &vmin, &vmax);alpha = (255.0 / (vmax - vmin))*0.8;img.convertTo(img, CV_8U, alpha, -vmin * alpha);Mat im_color;applyColorMap(img, im_color, COLORMAP_JET);int rho = 1;//距离分辨率vector<Vec4i>lines;//长度等于找到的线段数HoughLinesP(dstimg, lines, rho, CV_PI / 180, 40, 60, 10);//直线检测cout << "the detected lines numbers is: "<<lines.size() << endl;std::vector<cv::Point> pointsL;//std::vector<cv::Point> pointsR;cv::Mat image = cv::Mat::zeros(img.rows, img.cols, CV_8UC3);for (size_t i = 0; i < lines.size(); i++){Vec4i I = lines[i];int dx = I[2] - I[0];int dy = I[3] - I[1];if (dy < 0)//dy>0取的是右边{pointsL.push_back(cv::Point(I[0], I[1]));pointsL.push_back(cv::Point(I[2], I[3]));}else{pointsR.push_back(cv::Point(I[0], I[1]));pointsR.push_back(cv::Point(I[2], I[3]));}line(img, Point(I[0], I[1]), Point(I[2], I[3]), Scalar(0, 0, 255), 2, CV_AA);}for (int i = 0; i < pointsL.size(); i++){cv::circle(image, pointsL[i], 3, cv::Scalar(0, 0, 255), 2, 8, 0);cv::circle(image, pointsR[i], 3, cv::Scalar(0, 255, 255), 2, 8, 0);}Vec4i templ = fitline(pointsL);Vec4i tempr = fitline(pointsR);//cv::line(img, Point(templ[0], templ[1]), Point(templ[2], templ[3]), cv::Scalar(0, 255, 0), 2, 8, 0);//cv::line(img, Point(tempr[0], tempr[1]), Point(tempr[2], tempr[3]), cv::Scalar(0, 255, 255), 2, 8, 0);vector<Point2f> corners;//线的交点存储  cv::Point2f pt = getCrossPoint(templ, tempr);circle(im_color, pt, 3, Scalar(0, 0, 255), 2);cout << "(x,y): (" << pt.x << ","<< pt.y<<")" << endl;imshow("deteceted lines", dstimg);imshow("xxx",im_color);waitKey(0);system("pause");
}

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