• 【OpenCV】 红绿灯识别检测

    目录

    一：红绿灯识别检测效果展示

    二：红绿灯识别检测具体步骤 

    1.初始化设置，对亮度设置 视频路径 进行初始化设置

    2.帧处理，调整视频亮度，分解YCrCb的三个成分，拆分红和绿，对这两种颜色进行特征提取

    3.腐蚀膨胀处理，去除其他噪点，提高红绿灯提取特征

    4.红绿灯识别检测，给出识别结果显示

    5.对红灯和绿灯进行轮廓提取

    6.确定两个矩形区域是否相交

    三： 红绿灯识别检测完整代码

    一：红绿灯识别检测效果展示

    使用到了OpenCV轮廓识别

    如上图 轮廓识别 分别检测识别出红灯 绿灯 [检测出来的红灯轮廓和绿灯轮廓如下图所示]

     

    在红绿灯都亮时，可以检测到数值

     

    当红灯不亮 绿灯亮时，红灯没有数值 绿灯显示数值

     

    当拍摄车辆通行，也就是红绿灯都不亮的时候，红灯绿灯都没有数值

     

    二：红绿灯识别检测具体步骤 

    1.初始化设置，对亮度设置 视频路径 进行初始化设置

    1.     int redCount = 0;
    2.     int greenCount = 0;
    3.  
    4.     Mat frame;
    5.     Mat img;
    6.     Mat imgYCrCb;
    7.     Mat imgGreen;
    8.     Mat imgRed;
    9.  
    10.     // 亮度参数
    11.     double a = 0.3;
    12.     double b = (1 - a) * 125;
    13.  
    14.     VideoCapture capture("D:/00000000000003jieduanshipincailliao/123.mp4");//导入视频的路径
    15.     if (!capture.isOpened())
    16.     {
    17.         cout << "Start device failed!\n" << endl;//启动设备失败！
    18.         return -1;
    19.     }

    2.帧处理，调整视频亮度，分解YCrCb的三个成分，拆分红和绿，对这两种颜色进行特征提取

    1.     // 帧处理
    2.     while (1)
    3.     {
    4.         capture >> frame;
    5.         //调整亮度
    6.         frame.convertTo(img, img.type(), a, b);
    7.  
    8.         //转换为YCrCb颜色空间
    9.         cvtColor(img, imgYCrCb, CV_BGR2YCrCb);
    10.  
    11.         imgRed.create(imgYCrCb.rows, imgYCrCb.cols, CV_8UC1);
    12.         imgGreen.create(imgYCrCb.rows, imgYCrCb.cols, CV_8UC1);
    13.  
    14.         //分解YCrCb的三个成分
    15.         vector planes;
    16.         split(imgYCrCb, planes);
    17.         // 遍历以根据Cr分量拆分红色和绿色
    18.         MatIterator_ it_Cr = planes[1].begin(),
    19.                 it_Cr_end = planes[1].end();
    20.         MatIterator_ it_Red = imgRed.begin();
    21.         MatIterator_ it_Green = imgGreen.begin();
    22.  
    23.         for (; it_Cr != it_Cr_end; ++it_Cr, ++it_Red, ++it_Green)
    24.         {
    25.             // RED, 145
    26.             if (*it_Cr > 145 && *it_Cr < 470)
    27.                 *it_Red = 255;
    28.             else
    29.                 *it_Red = 0;
    30.  
    31.             // GREEN 95
    32.             if (*it_Cr > 95 && *it_Cr < 110)
    33.                 *it_Green = 255;
    34.             else
    35.                 *it_Green = 0;
    36.         }

    3.腐蚀膨胀处理，去除其他噪点，提高红绿灯提取特征

    1.         //膨胀和腐蚀
    2.         dilate(imgRed, imgRed, Mat(15, 15, CV_8UC1), Point(-1, -1));
    3.         erode(imgRed, imgRed, Mat(1, 1, CV_8UC1), Point(-1, -1));
    4.         dilate(imgGreen, imgGreen, Mat(15, 15, CV_8UC1), Point(-1, -1));
    5.         erode(imgGreen, imgGreen, Mat(1, 1, CV_8UC1), Point(-1, -1));
    6.  
    7.         redCount = processImgR(imgRed);
    8.         greenCount = processImgG(imgGreen);
    9.         cout << "red:" << redCount << ";  " << "green:" << greenCount << endl;

    4.红绿灯识别检测，给出识别结果显示

    1.         if(redCount == 0 && greenCount == 0)
    2.         {
    3.             cv::putText(frame, "lights out", Point(40, 150), cv::FONT_HERSHEY_SIMPLEX, 2, cv::Scalar(255, 255, 255), 8, 8, 0);
    4.         }else if(redCount > greenCount)
    5.         {
    6.             cv::putText(frame, "red light", Point(40, 150), cv::FONT_HERSHEY_SIMPLEX, 2, cv::Scalar(0, 0, 255), 8, 8, 0);
    7.         }else{
    8.             cv::putText(frame, "green light", Point(40, 150), cv::FONT_HERSHEY_SIMPLEX, 2, cv::Scalar(0, 255, 0), 8, 8, 0);
    9.         }

    5.对红灯和绿灯进行轮廓提取

    1. int processImgR(Mat src)
    2. {
    3.     Mat tmp;
    4.  
    5.     vector> contours;
    6.     vector hierarchy;
    7.     vector hull;
    8.  
    9.     CvPoint2D32f tempNode;
    10.     CvMemStorage* storage = cvCreateMemStorage();
    11.     CvSeq* pointSeq = cvCreateSeq(CV_32FC2, sizeof(CvSeq), sizeof(CvPoint2D32f), storage);
    12.  
    13.     Rect* trackBox;
    14.     Rect* result;
    15.     int resultNum = 0;
    16.  
    17.     int area = 0;
    18.     src.copyTo(tmp);
    19.  
    20.     //提取轮廓
    21.     findContours(tmp, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
    22.  
    23.     if (contours.size() > 0)
    24.     {
    25.         trackBox = new Rect[contours.size()];
    26.         result = new Rect[contours.size()];
    27.  
    28.         //确定要跟踪的区域
    29.         for (int i = 0; i < contours.size(); i++)
    30.         {
    31.             cvClearSeq(pointSeq);
    32.             // 获取凸包的点集
    33.             convexHull(Mat(contours[i]), hull, true);
    34.             int hullcount = (int)hull.size();
    35.             // 凸包的保存点
    36.             for (int j = 0; j < hullcount - 1; j++)
    37.             {
    38.                 tempNode.x = hull[j].x;
    39.                 tempNode.y = hull[j].y;
    40.                 cvSeqPush(pointSeq, &tempNode);
    41.             }
    42.  
    43.             trackBox[i] = cvBoundingRect(pointSeq);
    44.         }
    45.  
    46.         if (isFirstDetectedR)
    47.         {
    48.             lastTrackBoxR = new Rect[contours.size()];
    49.             for (int i = 0; i < contours.size(); i++)
    50.                 lastTrackBoxR[i] = trackBox[i];
    51.             lastTrackNumR = contours.size();
    52.             isFirstDetectedR = false;
    53.         }
    54.         else
    55.         {
    56.             for (int i = 0; i < contours.size(); i++)
    57.             {
    58.                 for (int j = 0; j < lastTrackNumR; j++)
    59.                 {
    60.                     if (isIntersected(trackBox[i], lastTrackBoxR[j]))
    61.                     {
    62.                         result[resultNum] = trackBox[i];
    63.                         break;
    64.                     }
    65.                 }
    66.                 resultNum++;
    67.             }
    68.             delete[] lastTrackBoxR;
    69.             lastTrackBoxR = new Rect[contours.size()];
    70.             for (int i = 0; i < contours.size(); i++)
    71.             {
    72.                 lastTrackBoxR[i] = trackBox[i];
    73.             }
    74.             lastTrackNumR = contours.size();
    75.         }
    76.  
    77.         delete[] trackBox;
    78.     }
    79.     else
    80.     {
    81.         isFirstDetectedR = true;
    82.         result = NULL;
    83.     }
    84.     cvReleaseMemStorage(&storage);
    85.  
    86.     if (result != NULL)
    87.     {
    88.         for (int i = 0; i < resultNum; i++)
    89.         {
    90.             area += result[i].area();
    91.         }
    92.     }
    93.     delete[] result;
    94.  
    95.     return area;
    96. }
    97.  
    98. int processImgG(Mat src)
    99. {
    100.     Mat tmp;
    101.  
    102.     vector > contours;
    103.     vector hierarchy;
    104.     vector< Point > hull;
    105.  
    106.     CvPoint2D32f tempNode;
    107.     CvMemStorage* storage = cvCreateMemStorage();
    108.     CvSeq* pointSeq = cvCreateSeq(CV_32FC2, sizeof(CvSeq), sizeof(CvPoint2D32f), storage);
    109.  
    110.     Rect* trackBox;
    111.     Rect* result;
    112.     int resultNum = 0;
    113.  
    114.     int area = 0;
    115.  
    116.     src.copyTo(tmp);
    117.     //提取轮廓
    118.     findContours(tmp, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
    119.  
    120.     if (contours.size() > 0)
    121.     {
    122.         trackBox = new Rect[contours.size()];
    123.         result = new Rect[contours.size()];
    124.  
    125.         // 确定要跟踪的区域
    126.         for (int i = 0; i < contours.size(); i++)
    127.         {
    128.             cvClearSeq(pointSeq);
    129.             // 获取凸包的点集
    130.             convexHull(Mat(contours[i]), hull, true);
    131.             int hullcount = (int)hull.size();
    132.             // 保存凸包的点
    133.             for (int j = 0; j < hullcount - 1; j++)
    134.             {
    135.                 tempNode.x = hull[j].x;
    136.                 tempNode.y = hull[j].y;
    137.                 cvSeqPush(pointSeq, &tempNode);
    138.             }
    139.  
    140.             trackBox[i] = cvBoundingRect(pointSeq);
    141.         }
    142.  
    143.         if (isFirstDetectedG)
    144.         {
    145.             lastTrackBoxG = new Rect[contours.size()];
    146.             for (int i = 0; i < contours.size(); i++)
    147.                 lastTrackBoxG[i] = trackBox[i];
    148.             lastTrackNumG = contours.size();
    149.             isFirstDetectedG = false;
    150.         }
    151.         else
    152.         {
    153.             for (int i = 0; i < contours.size(); i++)
    154.             {
    155.                 for (int j = 0; j < lastTrackNumG; j++)
    156.                 {
    157.                     if (isIntersected(trackBox[i], lastTrackBoxG[j]))
    158.                     {
    159.                         result[resultNum] = trackBox[i];
    160.                         break;
    161.                     }
    162.                 }
    163.                 resultNum++;
    164.             }
    165.             delete[] lastTrackBoxG;
    166.             lastTrackBoxG = new Rect[contours.size()];
    167.             for (int i = 0; i < contours.size(); i++)
    168.             {
    169.                 lastTrackBoxG[i] = trackBox[i];
    170.             }
    171.             lastTrackNumG = contours.size();
    172.         }
    173.  
    174.         delete[] trackBox;
    175.     }
    176.     else
    177.     {
    178.         isFirstDetectedG = true;
    179.         result = NULL;
    180.     }
    181.     cvReleaseMemStorage(&storage);
    182.  
    183.     if (result != NULL)
    184.     {
    185.         for (int i = 0; i < resultNum; i++)
    186.         {
    187.             area += result[i].area();
    188.         }
    189.     }
    190.     delete[] result;
    191.  
    192.     return area;
    193. }

    6.确定两个矩形区域是否相交

    1. //确定两个矩形区域是否相交
    2. bool isIntersected(Rect r1, Rect r2)
    3. {
    4.     int minX = max(r1.x, r2.x);
    5.     int minY = max(r1.y, r2.y);
    6.     int maxX = min(r1.x + r1.width, r2.x + r2.width);
    7.     int maxY = min(r1.y + r1.height, r2.y + r2.height);
    8.  
    9.     if (minX < maxX && minY < maxY)
    10.         return true;
    11.     else
    12.         return false;
    13. }

    三： 红绿灯识别检测完整代码

    1. #include "opencv2/opencv.hpp"
    2. #include "opencv2/imgproc.hpp"
    3. #include 
    4. #include 
    5.  
    6. using namespace std;
    7. using namespace cv;
    8.  
    9. // Function headers
    10. int processImgR(Mat);
    11. int processImgG(Mat);
    12. bool isIntersected(Rect, Rect);
    13.  
    14. // Global variables
    15. bool isFirstDetectedR = true;
    16. bool isFirstDetectedG = true;
    17. Rect* lastTrackBoxR;
    18. Rect* lastTrackBoxG;
    19. int lastTrackNumR;
    20. int lastTrackNumG;
    21.  
    22. //主函数
    23. int main()
    24. {
    25.     int redCount = 0;
    26.     int greenCount = 0;
    27.  
    28.     Mat frame;
    29.     Mat img;
    30.     Mat imgYCrCb;
    31.     Mat imgGreen;
    32.     Mat imgRed;
    33.  
    34.     // 亮度参数
    35.     double a = 0.3;
    36.     double b = (1 - a) * 125;
    37.  
    38.     VideoCapture capture("D:/00000000000003jieduanshipincailliao/123.mp4");//导入视频的路径
    39.     if (!capture.isOpened())
    40.     {
    41.         cout << "Start device failed!\n" << endl;//启动设备失败！
    42.         return -1;
    43.     }
    44.  
    45.     // 帧处理
    46.     while (1)
    47.     {
    48.         capture >> frame;
    49.         //调整亮度
    50.         frame.convertTo(img, img.type(), a, b);
    51.  
    52.         //转换为YCrCb颜色空间
    53.         cvtColor(img, imgYCrCb, CV_BGR2YCrCb);
    54.  
    55.         imgRed.create(imgYCrCb.rows, imgYCrCb.cols, CV_8UC1);
    56.         imgGreen.create(imgYCrCb.rows, imgYCrCb.cols, CV_8UC1);
    57.  
    58.         //分解YCrCb的三个成分
    59.         vector planes;
    60.         split(imgYCrCb, planes);
    61.         // 遍历以根据Cr分量拆分红色和绿色
    62.         MatIterator_ it_Cr = planes[1].begin(),
    63.                 it_Cr_end = planes[1].end();
    64.         MatIterator_ it_Red = imgRed.begin();
    65.         MatIterator_ it_Green = imgGreen.begin();
    66.  
    67.         for (; it_Cr != it_Cr_end; ++it_Cr, ++it_Red, ++it_Green)
    68.         {
    69.             // RED, 145
    70.             if (*it_Cr > 145 && *it_Cr < 470)
    71.                 *it_Red = 255;
    72.             else
    73.                 *it_Red = 0;
    74.  
    75.             // GREEN 95
    76.             if (*it_Cr > 95 && *it_Cr < 110)
    77.                 *it_Green = 255;
    78.             else
    79.                 *it_Green = 0;
    80.         }
    81.  
    82.         //膨胀和腐蚀
    83.         dilate(imgRed, imgRed, Mat(15, 15, CV_8UC1), Point(-1, -1));
    84.         erode(imgRed, imgRed, Mat(1, 1, CV_8UC1), Point(-1, -1));
    85.         dilate(imgGreen, imgGreen, Mat(15, 15, CV_8UC1), Point(-1, -1));
    86.         erode(imgGreen, imgGreen, Mat(1, 1, CV_8UC1), Point(-1, -1));
    87.  
    88.         redCount = processImgR(imgRed);
    89.         greenCount = processImgG(imgGreen);
    90.         cout << "red:" << redCount << ";  " << "green:" << greenCount << endl;
    91.  
    92.         if(redCount == 0 && greenCount == 0)
    93.         {
    94.             cv::putText(frame, "lights out", Point(40, 150), cv::FONT_HERSHEY_SIMPLEX, 2, cv::Scalar(255, 255, 255), 8, 8, 0);
    95.         }else if(redCount > greenCount)
    96.         {
    97.             cv::putText(frame, "red light", Point(40, 150), cv::FONT_HERSHEY_SIMPLEX, 2, cv::Scalar(0, 0, 255), 8, 8, 0);
    98.         }else{
    99.             cv::putText(frame, "green light", Point(40, 150), cv::FONT_HERSHEY_SIMPLEX, 2, cv::Scalar(0, 255, 0), 8, 8, 0);
    100.         }
    101.  
    102.         imshow("video", frame);
    103.         imshow("Red", imgRed);
    104.         imshow("Green", imgGreen);
    105.  
    106.         // Handle with the keyboard input
    107.         if (cvWaitKey(20) == 'q')
    108.             break;
    109.     }
    110.  
    111.     return 0;
    112. }
    113.  
    114. int processImgR(Mat src)
    115. {
    116.     Mat tmp;
    117.  
    118.     vector> contours;
    119.     vector hierarchy;
    120.     vector hull;
    121.  
    122.     CvPoint2D32f tempNode;
    123.     CvMemStorage* storage = cvCreateMemStorage();
    124.     CvSeq* pointSeq = cvCreateSeq(CV_32FC2, sizeof(CvSeq), sizeof(CvPoint2D32f), storage);
    125.  
    126.     Rect* trackBox;
    127.     Rect* result;
    128.     int resultNum = 0;
    129.  
    130.     int area = 0;
    131.     src.copyTo(tmp);
    132.  
    133.     //提取轮廓
    134.     findContours(tmp, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
    135.  
    136.     if (contours.size() > 0)
    137.     {
    138.         trackBox = new Rect[contours.size()];
    139.         result = new Rect[contours.size()];
    140.  
    141.         //确定要跟踪的区域
    142.         for (int i = 0; i < contours.size(); i++)
    143.         {
    144.             cvClearSeq(pointSeq);
    145.             // 获取凸包的点集
    146.             convexHull(Mat(contours[i]), hull, true);
    147.             int hullcount = (int)hull.size();
    148.             // 凸包的保存点
    149.             for (int j = 0; j < hullcount - 1; j++)
    150.             {
    151.                 tempNode.x = hull[j].x;
    152.                 tempNode.y = hull[j].y;
    153.                 cvSeqPush(pointSeq, &tempNode);
    154.             }
    155.  
    156.             trackBox[i] = cvBoundingRect(pointSeq);
    157.         }
    158.  
    159.         if (isFirstDetectedR)
    160.         {
    161.             lastTrackBoxR = new Rect[contours.size()];
    162.             for (int i = 0; i < contours.size(); i++)
    163.                 lastTrackBoxR[i] = trackBox[i];
    164.             lastTrackNumR = contours.size();
    165.             isFirstDetectedR = false;
    166.         }
    167.         else
    168.         {
    169.             for (int i = 0; i < contours.size(); i++)
    170.             {
    171.                 for (int j = 0; j < lastTrackNumR; j++)
    172.                 {
    173.                     if (isIntersected(trackBox[i], lastTrackBoxR[j]))
    174.                     {
    175.                         result[resultNum] = trackBox[i];
    176.                         break;
    177.                     }
    178.                 }
    179.                 resultNum++;
    180.             }
    181.             delete[] lastTrackBoxR;
    182.             lastTrackBoxR = new Rect[contours.size()];
    183.             for (int i = 0; i < contours.size(); i++)
    184.             {
    185.                 lastTrackBoxR[i] = trackBox[i];
    186.             }
    187.             lastTrackNumR = contours.size();
    188.         }
    189.  
    190.         delete[] trackBox;
    191.     }
    192.     else
    193.     {
    194.         isFirstDetectedR = true;
    195.         result = NULL;
    196.     }
    197.     cvReleaseMemStorage(&storage);
    198.  
    199.     if (result != NULL)
    200.     {
    201.         for (int i = 0; i < resultNum; i++)
    202.         {
    203.             area += result[i].area();
    204.         }
    205.     }
    206.     delete[] result;
    207.  
    208.     return area;
    209. }
    210.  
    211. int processImgG(Mat src)
    212. {
    213.     Mat tmp;
    214.  
    215.     vector > contours;
    216.     vector hierarchy;
    217.     vector< Point > hull;
    218.  
    219.     CvPoint2D32f tempNode;
    220.     CvMemStorage* storage = cvCreateMemStorage();
    221.     CvSeq* pointSeq = cvCreateSeq(CV_32FC2, sizeof(CvSeq), sizeof(CvPoint2D32f), storage);
    222.  
    223.     Rect* trackBox;
    224.     Rect* result;
    225.     int resultNum = 0;
    226.  
    227.     int area = 0;
    228.  
    229.     src.copyTo(tmp);
    230.     //提取轮廓
    231.     findContours(tmp, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
    232.  
    233.     if (contours.size() > 0)
    234.     {
    235.         trackBox = new Rect[contours.size()];
    236.         result = new Rect[contours.size()];
    237.  
    238.         // 确定要跟踪的区域
    239.         for (int i = 0; i < contours.size(); i++)
    240.         {
    241.             cvClearSeq(pointSeq);
    242.             // 获取凸包的点集
    243.             convexHull(Mat(contours[i]), hull, true);
    244.             int hullcount = (int)hull.size();
    245.             // 保存凸包的点
    246.             for (int j = 0; j < hullcount - 1; j++)
    247.             {
    248.                 tempNode.x = hull[j].x;
    249.                 tempNode.y = hull[j].y;
    250.                 cvSeqPush(pointSeq, &tempNode);
    251.             }
    252.  
    253.             trackBox[i] = cvBoundingRect(pointSeq);
    254.         }
    255.  
    256.         if (isFirstDetectedG)
    257.         {
    258.             lastTrackBoxG = new Rect[contours.size()];
    259.             for (int i = 0; i < contours.size(); i++)
    260.                 lastTrackBoxG[i] = trackBox[i];
    261.             lastTrackNumG = contours.size();
    262.             isFirstDetectedG = false;
    263.         }
    264.         else
    265.         {
    266.             for (int i = 0; i < contours.size(); i++)
    267.             {
    268.                 for (int j = 0; j < lastTrackNumG; j++)
    269.                 {
    270.                     if (isIntersected(trackBox[i], lastTrackBoxG[j]))
    271.                     {
    272.                         result[resultNum] = trackBox[i];
    273.                         break;
    274.                     }
    275.                 }
    276.                 resultNum++;
    277.             }
    278.             delete[] lastTrackBoxG;
    279.             lastTrackBoxG = new Rect[contours.size()];
    280.             for (int i = 0; i < contours.size(); i++)
    281.             {
    282.                 lastTrackBoxG[i] = trackBox[i];
    283.             }
    284.             lastTrackNumG = contours.size();
    285.         }
    286.  
    287.         delete[] trackBox;
    288.     }
    289.     else
    290.     {
    291.         isFirstDetectedG = true;
    292.         result = NULL;
    293.     }
    294.     cvReleaseMemStorage(&storage);
    295.  
    296.     if (result != NULL)
    297.     {
    298.         for (int i = 0; i < resultNum; i++)
    299.         {
    300.             area += result[i].area();
    301.         }
    302.     }
    303.     delete[] result;
    304.  
    305.     return area;
    306. }
    307.  
    308. //确定两个矩形区域是否相交
    309. bool isIntersected(Rect r1, Rect r2)
    310. {
    311.     int minX = max(r1.x, r2.x);
    312.     int minY = max(r1.y, r2.y);
    313.     int maxX = min(r1.x + r1.width, r2.x + r2.width);
    314.     int maxY = min(r1.y + r1.height, r2.y + r2.height);
    315.  
    316.     if (minX < maxX && minY < maxY)
    317.         return true;
    318.     else
    319.         return false;
    320. }
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  • 原文地址：https://blog.csdn.net/m0_56051805/article/details/126286905