德仓创机器人 Dechuang Robot 7.羽毛球机器人视觉软件系统 特征提取与目标识别 羽毛球识别与特征提取 体前后两帧图像的帧差*/ DynThreshold(ho_ImageLBuffbufCount%MAX_SEQ BUFFERS =0?MAX_SEQ_BUFFERS-1:bufCount%MAX_SEQ BUFFERS-1],ho ImageLBuffbufCount%MAX_SEQ BUFFERS], &ho RegionDynThreshCLBuflbufCount%2],myObj->value dyn thresh,"not equal") DynThreshold(ho_ImageRBuffbufCount%MAX_SEQ_BUFFERS ==0?MAX_SEQ_BUFFERS-1:bufCount%MAX_SEQ_BUFFERS-I],ho_ImageRBuffbufCount%MAX_SEQ_BUFFERS], &ho RegionDynThreshCRBuf bufCount%2],myobj->value dyn thresh,"not equal"), /体r心gion求交集，三帧差核心/ Intersection(ho RegionDynThreshCLBuflbufCount%2],ho RegionDynThreshCLBufl(bufCount+1)%2,&ho_RegionDynThreshCL); Intersection(ho RegionDynThreshCRBuf]bufCount %2],ho RegionDynThreshCRBufl(bufCount +1)%2],&ho RegionDynThreshCR): /*在原图中裁取交集*/ ReduceDomain(ho_ImageLBuf[bufCount%MAX_SEQ_BUFFERS ==0?MAX_SEQ_BUFFERS-I bufCount%MAX_SEQ_BUFFERS-1],ho_RegionDynThreshCL,&ho_ImageReduceL); ReduceDomain(ho_ImageRBuffbufCount %MAX_SEQ_BUFFERS==0?MAX_SEQ_BUFFERS-1:bufCount%MAX_SEQ_BUFFERS-1],ho_RegionDynThreshCR,&ho_ImageReduceR); /体筛选白色区域*/二值化 Threshold(ho_ImageReduceL,&ho_RegionDynThreshCL,20,255); Threshold(ho_ImageReduceR,&ho_RegionDynThreshCR,20,255); /*闭操作*/形态学处理 ClosingCircle(ho_RegionDynThreshCL,&ho_RegionDynThreshCL,5); ClosingCircle(ho_RegionDynThreshCR,&ho_RegionDynThreshCR,5); /体合并连通区域region*∥/形态学处理 Connection(ho RegionDynThreshCL,&ho ConnectedRegionsCL): Connection(ho RegionDynThreshCR,&ho ConnectedRegionsCR);7.羽毛球机器人视觉软件系统 1 0 特征提取与目标识别 • 羽毛球识别与特征提取 /*前后两帧图像的帧差*/ DynThreshold(ho_ImageLBuf[bufCount % MAX_SEQ_BUFFERS == 0 ? MAX_SEQ_BUFFERS - 1 : bufCount % MAX_SEQ_BUFFERS - 1],ho_ImageLBuf[bufCount % MAX_SEQ_BUFFERS], &ho_RegionDynThreshCLBuf[bufCount % 2], myObj->value_dyn_thresh, "not_equal"); DynThreshold(ho_ImageRBuf[bufCount % MAX_SEQ_BUFFERS == 0 ? MAX_SEQ_BUFFERS - 1 : bufCount % MAX_SEQ_BUFFERS - 1],ho_ImageRBuf[bufCount % MAX_SEQ_BUFFERS], &ho_RegionDynThreshCRBuf[bufCount % 2], myObj->value_dyn_thresh, "not_equal"); /*region求交集 ,三帧差核心*/ Intersection(ho_RegionDynThreshCLBuf[bufCount % 2], ho_RegionDynThreshCLBuf[(bufCount + 1) % 2], &ho_RegionDynThreshCL); Intersection(ho_RegionDynThreshCRBuf[bufCount % 2], ho_RegionDynThreshCRBuf[(bufCount + 1) % 2], &ho_RegionDynThreshCR); /*在原图中裁取交集*/ ReduceDomain(ho_ImageLBuf[bufCount % MAX_SEQ_BUFFERS == 0 ? MAX_SEQ_BUFFERS - 1 : bufCount % MAX_SEQ_BUFFERS - 1],ho_RegionDynThreshCL, &ho_ImageReduceL); ReduceDomain(ho_ImageRBuf[bufCount % MAX_SEQ_BUFFERS == 0 ? MAX_SEQ_BUFFERS - 1 : bufCount % MAX_SEQ_BUFFERS - 1],ho_RegionDynThreshCR, &ho_ImageReduceR); /*筛选白色区域*///二值化 Threshold(ho_ImageReduceL, &ho_RegionDynThreshCL, 20, 255); Threshold(ho_ImageReduceR, &ho_RegionDynThreshCR, 20, 255); /*闭操作*///形态学处理 ClosingCircle(ho_RegionDynThreshCL, &ho_RegionDynThreshCL, 5); ClosingCircle(ho_RegionDynThreshCR, &ho_RegionDynThreshCR, 5); /*合并连通区域region*///形态学处理 Connection(ho_RegionDynThreshCL, &ho_ConnectedRegionsCL); Connection(ho_RegionDynThreshCR, &ho_ConnectedRegionsCR);