将图像转换为占用网格

时间:2019-05-21 08:02:35

标签: c++ opencv

我刚刚开始学习OpenCV,我想知道如何转换这样的图像:

enter image description here

进入占领网格,就像这样:

int grid[ROW][COL] = 
    { 
        { 1, 0, 1, 1, 1, 1, 0, 1, 1, 1 }, 
        { 1, 1, 1, 0, 1, 1, 1, 0, 1, 1 }, 
        { 1, 1, 1, 0, 1, 1, 0, 1, 0, 1 }, 
        { 0, 0, 1, 0, 1, 0, 0, 0, 0, 1 }, 
        { 1, 1, 1, 0, 1, 1, 1, 0, 1, 0 }, 
        { 1, 0, 1, 1, 1, 1, 0, 1, 0, 0 }, 
        { 1, 0, 0, 0, 0, 1, 0, 0, 0, 1 }, 
        { 1, 0, 1, 1, 1, 1, 0, 1, 1, 1 }, 
        { 1, 1, 1, 0, 0, 0, 1, 0, 0, 1 } 
    }; 

1: cell is not blocked (white pixel).
0: cell is blocked (black pixel).

我不会完全使用该图片。我将使用只有墙壁的图片:没有文字,没有家具,没有窗户和没有门的符号。只有带有“洞”的墙壁才能显示门。

我想读取图像并在像素为白色时返回1,在像素为黑色时返回0。只有那样。

如何使用OpenCV做到这一点?

我会将矩阵存储到文本文件中,但是我知道该怎么做。

不用担心我将要处理该矩阵。我不是问这个。

1 个答案:

答案 0 :(得分:2)

Mat在OpenCV中就像您提到的网格一样。 .pgm是机器人操作系统中用于存储“占用网格”地图的格式。任何图像格式都适合表示。

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <iostream>

using namespace cv;
using namespace std;

int main( int argc, char** argv )
{   
   //read input image as gray
   Mat image_gray = imread("input.jpg", CV_LOAD_IMAGE_GRAYSCALE);   

   // convert gray image to binary image 
   // After threshold, all values are either (0 or 200)
   Mat imgage_bw;
   cv::threshold(image_gray, imgage_bw, 200, 255.0, THRESH_BINARY);

   // if you really want images with 0 for blocked cell and 1 for free cell
    Mat image_grid = imgage_bw/255;  

    // save to disk
    imwrite("output.pgm", image_grid);

//write result to text file
FileStorage file("ouput.yaml", cv::FileStorage::WRITE);    
file <<"grid " <<image_grid;
file.release(); 

    return 0;
}

ouput.yaml

%YAML:1.0
grid : !!opencv-matrix
   rows: 400
   cols: 800
   dt: u
   data: [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
       0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
       1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
       0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
       1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0,
       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
       0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
       1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, ....]