edge.cpp

属于智能规划里面的一个简单的机器人道路识别问题,代码使用c++语言实现

#include <math.h>
#include <iostream>
#include <fstream>
#include <windows.h>
#include <string.h>


using namespace std;



int main()
{
	string  infilename("004.bmp" );
	ifstream infile( infilename.c_str() ,ios::binary );
	ofstream outfile("BinPro.bmp" ,  ios::binary);
	ofstream edgefile( "edge.bmp" ,  ios::binary);
    if( ! edgefile )
		cout<<"edgefile create failed!"<<endl;
	if( ! infile  )
		cout<<"file open failed!"<<endl;
	if( ! outfile )
		cout<<"out create failed!"<<endl;

	BITMAPFILEHEADER filehdr;
	BITMAPINFOHEADER infohdr;
    infile.read( (char * ) &filehdr , sizeof(filehdr) );
	infile.read( (char * ) &infohdr , sizeof(infohdr) );

	outfile.write( (char * ) &filehdr , sizeof(filehdr) );   cout<<"filehdr"<<sizeof(filehdr)<<endl;
	outfile.write( (char * ) &infohdr , sizeof(infohdr) );   cout<<"infohdr"<<sizeof(infohdr)<<endl;

	edgefile.write( (char * ) &filehdr , sizeof(filehdr) );
	edgefile.write( (char * ) &infohdr , sizeof(infohdr) );

	cout<<filehdr.bfSize<<endl;
	cout<<filehdr.bfOffBits<<endl;
	cout<<"width="<<infohdr.biWidth<<endl;
	cout<<"height="<<infohdr.biHeight<<endl;
	cout<<"biBitCount="<<infohdr.biBitCount<<endl;
	cout<<"biClrUsed="<<infohdr.biClrUsed<<endl;
	cout<<"biSizeImage="<<infohdr.biSizeImage<<endl;

	if( infohdr.biBitCount != 24 )                //不是标准的24位位图
	{
		cout<<" 不是标准的24位位图！ 无法打开！"<<endl;
		return -1;
	}


	BYTE  byte;
	int  Threshold = 128*3;
	BYTE  B0 = 0;
	BYTE  B255 = 255;	
	int   temp = 0;
	//创建0 1 矩阵存放二值化的图,用一维数组表示矩阵
	BYTE * Pixel = new BYTE[infohdr.biWidth * infohdr.biHeight ];
	BYTE * EdgePixel = new BYTE[ infohdr.biWidth * infohdr.biHeight];
	BYTE * PixelHdr = Pixel;
	BYTE * EdgePixelHdr = EdgePixel;
	for(int i=0;   i<infohdr.biSizeImage && !infile.eof()  ;  i++)
	{
		infile.read( (char * ) &byte, sizeof(byte) );
		temp += (int)byte;
		if( (i+1) % 3 == 0 )
        {  
			if( temp >= Threshold )
			{
				outfile.write( (char *) &B255 , sizeof(BYTE) );
				outfile.write( (char *) &B255 , sizeof(BYTE) );
				outfile.write( (char *) &B255 , sizeof(BYTE) );
				(* EdgePixel)= (* Pixel) = 1;       // 标记浅色区域为白色
			}
			else
			{
				outfile.write( (char *) &B0 , sizeof(BYTE) );
				outfile.write( (char *) &B0 , sizeof(BYTE) );
				outfile.write( (char *) &B0 , sizeof(BYTE) );
				(* EdgePixel)= (* Pixel) = 0; // 标记深色区域为黑色
			}
           
			Pixel++;
			EdgePixel++;
			temp = 0;
		}
	}
    cout<<"i="<<i<<endl;
	//下面对二值化的Pixel矩阵进行轮廓提取运算，轮廓保存在EdgePixel数组中,图像保存在bmp文件outfile中
	Pixel = PixelHdr;
	EdgePixel = EdgePixelHdr;
	for( i=1; i<infohdr.biHeight-1; i++)
	{
		for(int j=1; j<infohdr.biWidth-1; j++)
		{
			BYTE * CurrentPixel = PixelHdr+infohdr.biWidth*i+j;
			if( (* CurrentPixel) == 0 )
			{
				BYTE nw	= * (CurrentPixel+infohdr.biWidth-1);
				BYTE n	= * (CurrentPixel+infohdr.biWidth);
				BYTE ne	= * (CurrentPixel+infohdr.biWidth+1);
				BYTE e  = * (CurrentPixel+1);
				BYTE se	= * (CurrentPixel-infohdr.biWidth+1);
				BYTE s	= * (CurrentPixel-infohdr.biWidth);
				BYTE sw	= * (CurrentPixel-infohdr.biWidth-1);
				BYTE w	= * (CurrentPixel-1);
				if( nw+n+ne+e+se+s+sw+w ==  0 )
					*(EdgePixel+infohdr.biWidth*i+j) = 1;
			}                                    // 黑色区域内部点标记为白色
		}
	}

	for(i=0; i<infohdr.biHeight; i++)
	{
		for(int j=0; j<infohdr.biWidth; j++)
		{

			if( *(EdgePixel+infohdr.biWidth*i+j) == 0 )
			{
				edgefile.write( (char *) &B0 , sizeof(BYTE) );
				edgefile.write( (char *) &B0 , sizeof(BYTE) );
				edgefile.write( (char *) &B0 , sizeof(BYTE) );
			}                        //把剩下标记为黑色区域的点置为黑色，即是边界      
			else
			{
				edgefile.write( (char *) &B255 , sizeof(BYTE) );
				edgefile.write( (char *) &B255 , sizeof(BYTE) );
				edgefile.write( (char *) &B255 , sizeof(BYTE) );
			}                    //标记为白色区域的点置为白色
		}
	}




	return 0;
}