平面测距做不出来了，无奈只好用单目单点测距顶上！感谢mbees大神提供的设备和技术上的支持，有时间大家给大神的博客点个关注吧，谢谢。老规矩，直接贴代码!
#include "stdafx.h" #include <iostream> #include "highgui.h" #include <opencv2\opencv.hpp> #include <opencv/cv.hpp> using namespace cv; using namespace std; Mat src; //原图像存储变量 Mat src_gray; //存灰度图变量 int thresh = 180; //阈值设定 int max_thresh = 255;//最大阈值 int main( int argc, char** argv ) { VideoCapture cam(1);//获取摄像头0 if (!cam.isOpened()) exit(0);//判断是否存在，不存在退出 bool stop = false;//循环使能 while(!stop) { cam >> src;//获取摄像头 cvtColor( src, src_gray, CV_BGR2GRAY );//灰度化 GaussianBlur( src, src, Size(3,3), 0.1, 0, BORDER_DEFAULT ); //线性滤波 blur( src_gray, src_gray, Size(3,3) ); //滤波 namedWindow( "原图像", 0 ); //创建一个窗体 imshow( "原图像", src ); //显示原图 //定义Canny边缘检测图像 Mat canny_output; //定义边缘检测存储变量 vector<Vec4i> hierarchy; Canny( src_gray, canny_output, thresh, thresh*3, 3 ); //利用canny算法检测边缘 namedWindow( "边缘轮廓", 0 ); imshow( "边缘轮廓", canny_output ); vector<vector<Point> > contours; findContours( canny_output, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0) ); //查找轮廓 //计算轮廓矩 vector<Moments> mu(contours.size() ); for( int i = 0; i < contours.size(); i++ ) { mu[i] = moments( contours[i], false ); } //计算轮廓的质心 vector<Point2f> mc( contours.size() ); for( int i = 0; i < contours.size(); i++ ) { mc[i] = Point2d( mu[i].m10/mu[i].m00 , mu[i].m01/mu[i].m00 ); } //画轮廓及其质心并显示 Mat drawing = Mat::zeros( canny_output.size(), CV_8UC3 ); for( int i = 0; i< contours.size(); 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(0,255,0)); double gain = 0.001644074345 ; double offset =0.001607879449 ;//Offset是弧度误差 unsigned int pixels_from_center =320 - mc[i].x; // 算出距离并打印出来 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 ; } const double h_cm = 7.00; // 摄像头和激光头距离cm double range; range = h_cm / tan(pixels_from_center * gain + offset); char tam[100]; sprintf(tam, "(%0.0f,%0.0f,%d,%0.3fcm)",mc[i].x,mc[i].y,pixels_from_center,range); cout<<"距离="<<range<<"cm"<<endl; putText(drawing, tam, Point(mc[i].x, mc[i].y), FONT_HERSHEY_SIMPLEX, 0.4, cvScalar(255,0,255),1); } namedWindow( "激光点参数", 0 ); imshow( "激光点参数", drawing ); char c = cvWaitKey(10); if( c == 27 ) break; } src.release(); src_gray.release(); return 0; }声明：此段代码归mbees大神所有！ 我宣布我的毕设博客到此结束！希望大家都能够完成毕设。
