誠(chéng)信聲明本人聲明1、本人所呈交的誠(chéng)信聲明本人聲明1、本人所呈交的畢業(yè)設(shè)計(jì)（論文）是在老師指導(dǎo)下進(jìn)行的研工作及取得的研究成果2、據(jù)查證，除了文中特別加以標(biāo)注和致謝的地方外，畢業(yè)設(shè)（論文）中不包含其他人已經(jīng)公開發(fā)表過(guò)的研究成果，也不包含為得其他教育機(jī)構(gòu)的學(xué)位而使用過(guò)的材料3我承諾本人提交的畢業(yè)設(shè)（論文中的所有內(nèi)容均真實(shí)可信作者簽名日期年月日鐳射鍵盤、mini全向輪移動(dòng)小車等等），敬請(qǐng)關(guān)注！鐳射鍵盤、mini全向輪移動(dòng)小車等等），敬請(qǐng)關(guān)注！關(guān)注回復(fù)關(guān)鍵詞【自動(dòng)跟隨】：獲取自動(dòng)跟隨機(jī)器人的資料教程技術(shù)交流學(xué)習(xí)請(qǐng)加微信備注【進(jìn)群】拉你進(jìn)交流群目錄摘 第目錄摘 第1章緒 OpenCV背景和現(xiàn) OpenCV發(fā)展?fàn)?OpenCV應(yīng)用簡(jiǎn) Studio簡(jiǎn) CameraCalibrationToolbox簡(jiǎn) 硬件簡(jiǎn) 紅外激光簡(jiǎn) 攝像頭簡(jiǎn) 1.4課題設(shè)計(jì)要 23總體設(shè)計(jì)方案構(gòu) 基本原理介 軟件介 硬件系統(tǒng)設(shè) 攝像 紅外激 鍵盤投影激 電源轉(zhuǎn)換電 第4章軟件設(shè) 開發(fā)環(huán)境介 4.1.2OpenCV視覺(jué)庫(kù)的使 攝像頭的標(biāo) 上位機(jī)程 程序流程圖設(shè) 第5章整機(jī)調(diào) 系統(tǒng)總 按鍵測(cè) 按鍵容錯(cuò)測(cè) 總致 參考文參考文 附 TheThevirtualkeyboardbasedonlaserprojectionAbstract:ThelaserprojectionvirtualkeyboarddesignedinthisthesisisbasedonOpenCVcombinewithimagecamera,980nmlinearlaser,980nminfraredfilterandKeyboardprojectionlaser,theimagecameradetectionusedwith980nminfraredfilteriscausedbyshieldingfingertomake980nmlinearlaserdiffusereflectionthelight.Bydetectingandlocatingthecenterpositionofthelightoutlinetodiscernanddetectthepositionoffingerandthenmaptokeyboardpositiontoachieverelativekeyboardkeyevents.WithOpenCVvisionlibrary,itisfasttofindthefingeroutlinewhichisgetbyimagecamera,thepositionoffingerlocationandrevisetheimagesurfacedistortionwhichiscausedbyimagecamera.ByusingOpenCV,thebottomhardwaredrivecodewrittencanbereduced,andinvokebuilt-infunctioncandirectlyfacetohardwarewritecodetofastenthedifficultandspeedofprogramdevelopment.Byexperimentandtest,thisvirtualkeyboardcancorrectlyandaccuratelylocateanddetectthefingerposition,ontheotherhand,thiskeyboardalsohavefault-toleranttreatment,andfinallyrealizethefunctionofkeyinput.KeyWords:OpenCV；C++；imageprocessing；VisualStudio2010；laser11.1OpenCVOpenCV1.1.1OpenCV發(fā)展?fàn)頞penCVOpenSourceComputerVisionLibrary19991.1.2OpenCV應(yīng)用簡(jiǎn)OpenCV可以應(yīng)用于人機(jī)交互領(lǐng)域可以通過(guò)識(shí)別人手在空間的位置以及手勢(shì)從而可1.1.3VisualStudio簡(jiǎn)Visual 在第一代VisualStudio是1997年推出的，它基本上已經(jīng)包含了絕大部分的微軟的自帶不斷的出現(xiàn)更新版而使得成為了最受歡迎的編譯環(huán)境，用它所編輯的代碼使用于Windows平臺(tái)包括MicrosoftWindowsWindowsMobileWindowsCE、.NETFramework、.NETCompactFrameworkMicrosoftSilverlight及WindowsPhone，同時(shí)1.2CameraCalibrationToolboxMATLAB1.2CameraCalibrationToolboxMATLABMathWorks公司出品的商業(yè)數(shù)學(xué)軟件，數(shù)據(jù)可視化、用于算法開Simulink兩大部分，在世界編程語(yǔ)言排行榜2014年3Matlab排名第16位并且使MatlabJAVA，C，C++FORTRANMatlab軟件里直接Matlab中直接調(diào)用，在自帶的庫(kù)函數(shù)中包含了基本上所有的工Matlab中除了擁有基本的數(shù)百個(gè)內(nèi)部函數(shù)之外還包含了三十幾種不同用途的工MATLABMatlab里的一個(gè)工具箱主要用于攝像機(jī)內(nèi)部參數(shù)標(biāo)定，利用這個(gè)工具箱就可以得1.31.3.1紅外激光簡(jiǎn)LASER，意思是“受激輻射的光放大”紅外激光也是激光的一種只是它的發(fā)光波長(zhǎng)是760nm~1mm是波長(zhǎng)比紅光長(zhǎng)的非可1.3.2攝像頭簡(jiǎn)CCD(電荷耦合器件)1.4以及了解OpenCV視覺(jué)庫(kù)的使用和移植。2980nm2980nm2.12.22.2OpenCVC33.133.1頭的鏡頭的視角是90°的所以檢測(cè)到的面積很小這樣就會(huì)導(dǎo)致攝像頭固定的高度會(huì)很150h2而的視角是90°同樣為了檢測(cè)所有的鍵盤投影范圍所需要安裝的高度需是CameraCamera1h1Camera1的視角小于Camera2所有必需得提高安裝高度才能檢測(cè)到同樣的面積范圍，為了縮小整個(gè)硬件系統(tǒng)故選擇了視角為150°鏡頭的攝像頭。2所示左邊的鏡頭是市面上攝像頭的鏡頭在鏡頭后面加了一層紅外光濾光片這個(gè)濾光片980nm2所示左邊的鏡頭是市面上攝像頭的鏡頭在鏡頭后面加了一層紅外光濾光片這個(gè)濾光片980nm980nm的980nm980nm以下的光線而3.2未濾可見光效濾除可見光效3.33.230mW980nm30mWB類型激光只有不要 120°只有調(diào)節(jié)好投影鍵盤的位置一字激光可以完全覆蓋到所有的鍵盤范圍3.3鍵盤投影激123432 120°只有調(diào)節(jié)好投影鍵盤的位置一字激光可以完全覆蓋到所有的鍵盤范圍3.3鍵盤投影激1234321213253.53.6PCB5V供電而鍵盤投影激光是要3.3V供電使用需要一個(gè)3.3V5V3.3V144.144.1StudioWindowsOpenCV4.24.24.24.2150所拍攝出的圖片是會(huì)有失真的所以在實(shí)際操作中必須要把失真的圖片校正不然在后面MatlabCameraCalibrationoolbox。MatlabCameraCalibrationToolboxGUI界面（4.3-1）4.3CameraCalibrationToolbox4.44.5單張標(biāo)定照片標(biāo)定4.6標(biāo)定誤差分析4.6標(biāo)定誤差分析標(biāo)定圖片在4.8標(biāo)定鏡頭畸變向量圖4.8標(biāo)定鏡頭畸變向量圖4.9標(biāo)定輸出參數(shù)4.10xmlMatlab校正校正4.11校正后的圖片比較4.2-校正校正4.11校正后的圖片比較4.2-4.3上位機(jī)程使用VisualStudio通過(guò)OpenCV原始圖 cvThreshold對(duì)單通道圖片數(shù)據(jù)應(yīng)用固定閾值操作4.134.13得到二值化圖像后接下來(lái)要做的就是查找所有興趣點(diǎn)的輪廓，OpenCV里的findContours是輪廓檢測(cè)函數(shù)之一這個(gè)函數(shù)可以使用多邊形來(lái)近似表示一個(gè)輪廓其次，函數(shù)對(duì)該多邊形曲線做適當(dāng)近似，如果要畫出查找到的輪廓的話就可以配合使用drawContoursboundingRect，還可以得到輪廓的外包絡(luò)矩形。定位包絡(luò)4.14查找輪廓后的圖片4.15鍵盤映射后的圖片4.15鍵盤映射后的圖片4.1655.155.1系統(tǒng)總5.1整機(jī)總成5.2按鍵5.2按鍵測(cè)比較豐富所以該系統(tǒng)在檢測(cè)的時(shí)候可能會(huì)受到影響，因?yàn)楸鞠到y(tǒng)中使用的是980nm濾光片而自然界的光也包含了這一波長(zhǎng)的光以及這波長(zhǎng)附件的光而濾光片不能完完全5.2按鍵測(cè)試5.35.3上位機(jī)按鍵檢測(cè)5.3按鍵容錯(cuò)測(cè)5.4多鍵按下容錯(cuò)測(cè)試5.4多鍵按下容錯(cuò)測(cè)試5.5多鍵按下軟件容錯(cuò)測(cè)試5.6兩鍵按下容錯(cuò)測(cè)試U5.6兩鍵按下容錯(cuò)測(cè)試U5.7兩鍵按下軟件容錯(cuò)測(cè)試PCMatlab、AltiumDesigner等設(shè)計(jì)工具完成設(shè)計(jì)。OpenCVVisualStudio設(shè)計(jì)比較系統(tǒng)的東西，以前VC++6.0VisualStudioOpenCVOpenCV視孫鑫VC++深入詳解[M].電子工業(yè)出版社,BradskiG.OpenCV(中文版)[M].清華大學(xué)出版社孫鑫VC++深入詳解[M].電子工業(yè)出版社,BradskiG.OpenCV(中文版)[M].清華大學(xué)出版社張德豐MATLAB數(shù)字圖像處理[M].機(jī)械工業(yè)出版社（美）StanleyB.LippmanBarbaraE.Moo,JoséeLaJoie.CPrimer[M].人民郵電出版社嚴(yán)蔚敏.C語(yǔ)言版[M].清華大學(xué)出版社[6]HCormenT,ELeisersonC.算法導(dǎo)論[M].機(jī)械工業(yè)出版社出版（第二版）〔加〕RobertLaganiereOpenCV2計(jì)算機(jī)視覺(jué)編程手冊(cè)[M].科學(xué)出版社陳勝勇,劉盛.OpenCV的計(jì)算機(jī)視覺(jué)技術(shù)實(shí)現(xiàn)[M].科學(xué)出版社（美）StanleyB.LippmanBarbaraE.Moo,JoséeLaJoie.CPrimer[M].人民郵電出版社[10].OpenCVTutorialsRelease[CP/OL].[2010-3-2].[11].OpenCV2.4CheatSheet(C++)[CP/OL].[2010-3-4].[12].OpenCVReferenceManualRelease[CP/OL].[2010-4-6].[13].OpenCVManagerManualRelease[CP/OL].[2010-5-12].[14].OpenCVUserGuideRelease[CP/OL].[2010-5-24].[17]ZhangZ.AFlexibleNewTechniqueforCameraCalibration[EB/OL].[2010-6-4].#include<cv.h>#include"opencv2/highgui/highgui.hpp"#include<iostream>#include<stdio.h>#include<stdlib.h>usingnamespacecv;usingnamespaceMatsrc;Matsrc_gray;intthresh=intmax_thresh=255;RNGrng(12345);char{{,,,,, ,,,,,,,,, ,,,,,,#include<cv.h>#include"opencv2/highgui/highgui.hpp"#include<iostream>#include<stdio.h>#include<stdlib.h>usingnamespacecv;usingnamespaceMatsrc;Matsrc_gray;intthresh=intmax_thresh=255;RNGrng(12345);char{{,,,,, ,,,,,,,,, ,,,,,,,,,,,{VK_CAPITAL,VK_TAB,,,,,,,,,,,VK_RETURN,,,,,,,,, ,, ,{VK_CONTROL,VK_MENU,VK_LWINVK_SPACE,VK_SPACE,VK_SPACE,,, ,VK_SPACE,VK_SPACE,,,,VK_DELETEUINTNEW_FLAG_ROW4=0;UCHARRead_key_count=///voidthresh_callback(int,void*);voidGet_Form(int,void*);intmain(int///voidthresh_callback(int,void*);voidGet_Form(int,void*);intmain(intargc,char**argv{CvCapture*capture=cvCaptureFromCAM(0)return-intpressKey;IplImage*frame=NULL;IplImage*Undistor_Image=IplImage*CvMat*intrinsic=(CvMat*)cvLoad("Intrinsics.xml");intflag={frame=if{///載入原圖像,3Undistor_Image=cvCloneImage(frame);src=img;g_pGrayImage= cvCvtColor(frame,g_pGrayImage,CV_BGR2GRAY);IPL_DEPTH_8U,1);=/////blur(/////blur(src_gray,src_gray,Size(2,2)///char*source_window=imshow(source_window,src);thresh_callback);"thresh_callback(0,0);}{std::cout<< flag=1;}pressKey=cvWaitKey(50);{}elseif(pressKey=={}}}elseif(pressKey=={}}return0;}void{Read_key_count=++Read_key_count;Read_key_count=Read_key_count%2;Matbin_mimage_output(bin_mimage);IplImage*key_draw=cvLoadImage("keyNull.bmp",-Matdraw_key_point(key_draw);廓是一個(gè)Pointvector釋intPoint_count=unsignedcharRow_count=0;intKey_Press_Posion=NULL;intsubkeypress;intlinewhith=-//findContours/////contourspoint類型的vector//hiararchycontours[i]對(duì)應(yīng)4個(gè)hierarchyhierarchy[i][0]~hierarchy[i][3CV_RETR_TREE,CV_CHAIN_APPROX_SIMPLE,Point(10,10)///+vector<vector<Point>>contours_poly(bin_mimage_contours.size()CV_RETR_TREE,CV_CHAIN_APPROX_SIMPLE,Point(10,10)///+vector<vector<Point>>contours_poly(bin_mimage_contours.size()for(inti=0;i<bin_mimage_contours.size();i++{approxPolyDP(Mat(bin_mimage_contours[i]),contours_poly[i],3,trueboundRect[i]=boundingRect(Mat(contours_poly[i])minEnclosingCircle(contours_poly[i],center[i],radius[i]}///+Matdrawing=Mat::zeros(bin_mimage_output.size(),CV_8UC3for(inti=0;i<bin_mimage_contours.size();i++{if(((boundRect[i].br().x -boundRect[i].tl().x)>10)||((boundRect[i].br().yboundRect[i].tl().y)>10)){stringintNum_Count=- rng.uniform(0,255)drawContours(drawing,contours_poly,i,color,1,8,0,Point()rectangle(drawing,boundRect[i].tl(),boundRect[i].br(),color,0,Point()rectangle(drawing,boundRect[i].tl(),boundRect[i].br(),color,2,8,0//畫矩形，tl矩形左上角，br==Row_start_point.y= +boundRect[i].tl().y)/=line(drawing,Row_start_point,==Col_start_point.x=+boundRect[i].tl().x)/=line(drawing,Col_start_point,key_circle_center.x=Col_start_point.x;PointRow_Start_axis=key_circle_center;Row_End_axis=key_circle_center;Row_Start_axis.x=Row_Start_axis.x-10;Row_End_axis.x=Row_End_axis.x+10;Col_Start_axis=key_circle_center;Col_End_axis=key_circle_center;Col_Start_axis.y=Col_Start_axis.y-10;Col_End_axis.y=Col_End_axis.y+Word_point.x=Col_start_point.x;Word_point.y=if((Word_point.y<=377)&&(Word_point.y>{Row_count=Row_count|}elseif((Word_point.y<=332)&&(Word_point.y>{Row_count=Row_count|}elseif((Word_point.y<=286)&&(Word_point.y>{Row_count=Row_count}elseif((Word_point.y<=286)&&(Word_point.y>{Row_count=Row_count|}elseif((Word_point.y<=249)&&(Word_point.y>{Row_count=Row_count|}elseif((Word_point.y<=211)&&(Word_point.y>{Row_count=Row_count|}if{if(Row_count&{><(Word_point.y<=211)&&(Word_point.y>{if(Key_Press_Posion==0){rectangle(draw_key_point,Point(15+*38),265),Point(53+(Key_Press_Posion*38),299),CV_RGB(255,255,255),linewhith,8,0);}elseif((Key_Press_Posion>=1)&&(Key_Press_Posion<={rectangle(draw_key_point,Point(19+*38),265),Point(53+(Key_Press_Posion*38),299),CV_RGB(255,255,255),linewhith,8,0);}elseif((Key_Press_Posion>=10)&&(Key_Press_Posion{+*+*CV_RGB(255,255,255),linewhith,8,0}{CV_RGB(255,255,255),linewhith,8,0);}{}}if(Row_count&{if((Word_point.x>589)&&(Word_point.x<{rectangle(draw_key_point,Point(15}{}}if(Row_count&{if((Word_point.x>589)&&(Word_point.x<{rectangle(draw_key_point,Point(15,227),Point(66CV_RGB(255,255,255),linewhith,8,0format("%C",Keyboard_String_table[1][0]),Point(100,100),FONT_HERSHEY_SIMPLEX,1.5,CV_RGB(0,0,0),0);}elseif((Word_point.x>40)&&(Word_point.x<590)&&(Word_point.y<=249)&&(Word_point.y>211)){Key_Press_Posion=15-(Word_point.xif(Key_Press_Posion=={+*+*CV_RGB(255,255,255),linewhith,8,0}{+*+*CV_RGB(255,255,255),linewhith,8,0}putText(drawing,format("%C",Keyboard_String_table[3][14-CV_RGB(255,255,255),}{}}if(Row_count{}}if(Row_count&{if(((Word_point.x>576)&&(Word_point.x<620))||((Word_point.x>44)&&(Word_point.x<105))&&(Word_point.y<=286)&&(Word_point.y>249)){if(((Word_point.x>576)&&(Word_point.x<{rectangle(draw_key_point,Point(34,189),Point(85CV_RGB(255,255,255),linewhith,8,0format("%C",Keyboard_String_table[1][0]),Point(100,100),FONT_HERSHEY_SIMPLEX,1.5,CV_RGB(255,255,255),0);}elseif((Word_point.x>45)&&(Word_point.x<{CV_RGB(255,255,255),linewhith,8,0);1.5,CV_RGB(255,255,255),0);}{}}elseif((Word_point.x>45)&&(Word_point.x<577)&&(Word_point.y<=286)&&(Word_point.y>249)){Key_Press_Posion=14-(Word_point.xif(Key_Press_Posion>0&&Key_Press_Posion<12{rectangle(draw_key_point,Point(51+*38),189),Point(85+(Key_Press_Posion*38),223),CV_RGB(255,255,255),linewhith,8,0);}-CV_RGB(255,255,255),}{}}if(Row_count&-CV_RGB(255,255,255),}{}}if(Row_count&{if(((Word_point.x>552)&&(Word_point.x<600))||((Word_point.x>65)&&(Word_point.x<110))&&(Word_point.y<=332)&&(Word_point.y>286)){if(((Word_point.x>552)&&(Word_point.x<{CV_RGB(255,255,255),linewhith,8,0format("%C",Keyboard_String_table[1][0]),Point(100,100),FONT_HERSHEY_SIMPLEX,1.5,CV_RGB(255,255,255),0);}elseif((Word_point.x>65)&&(Word_point.x<{CV_RGB(255,255,255),linewhith,8,0);1.5,CV_RGB(255,255,255),0);}{}}elseif((Word_point.x>111)&&(Word_point.x<553)&&(Word_point.y<=332)&&(Word_point.y>286)){Key_Press_Posion=10-(Word_point.x-rectangle(draw_key_point,Point(70+Key_Press_Posion*38,151),Point(104+Key_Press_Posion*38,185),CV_RGB(255,255,255),linewhith,8,0);putText(drawing,format("%C",Keyboard_String_table[1][10-CV_RGB(255,255,255),}{}}if(Row_countCV_RGB(255,255,255),}{}}if(Row_count&{NEW_FLAG_ROW4=if(((Word_point.x>551)&&(Word_point.x<586))||((Word_point.x>77)&&(Word_point.x<116))&&(Word_point.y<=377)&&(Word_point.y>332)){if(((Word_point.x>551)&&(Word_point.x<586))&&(Word_point.y<=377)&&(Word_point.y>332)){CV_RGB(255,255,255),linewhith,8,0NEW_FLAG_ROW4=NEW_FLAG_ROW4|format("%C",Keyboard_String_table[0][0]),Point(100,100),FONT_HERSHEY_SIMPLEX,1.5,CV_RGB(255,255,255),0);}elseif((Word_point.x>77)&&(Word_point.x<116)&&(Word_point.y<=377)&&(Word_point.y>332)){Point(541,147),CV_RGB(255,255,255),linewhith,8,0NEW_FLAG_ROW4=NEW_FLAG_ROW4|1.5,CV_RGB(255,255,255),0);}{}}elseif((Word_point.x>117)&&(Word_point.x<552)&&(Word_point.y<=377)&&(Word_point.y>332)){Key_Press_Posion=10-(Word_point.x-rectangle(draw_key_point,Point(89+Key_Press_Posion38,113),Point(123+Key_Press_Posion*38,147),CV_RGB(255,255,255),linewhith,8,0NEW_FLAG_ROW4=NEW_FLAG_ROW4|(0x00001putText(drawing,format("%C",Keyboard_String_table[0][10-38,113),Point(123+Key_Press_Posion*38,147),CV_RGB(255,255,255),linewhith,8,0NEW_FLAG_ROW4=NEW_FLAG_ROW4|(0x00001putText(drawing,format("%C",Keyboard_String_table[0][10-CV_RGB(255,255,255),}{OLD_FLAG_ROW4=}=&}dis_string=format("x=%d,y=%d",}if(NEW_FLAG_ROW4&&(OLD_FLAG_ROW4!=0xFFFFF)&&(1{if{ = {if((OLD_FLAG_ROW4>>LOOP_COUNT)&{}}}OLD_FLAG_ROW4=}}{NEW_FLAG_ROW4=}}stringdis_point_count=format("Pointcount:%dRow:%d",Point_count,Row_count);putText(drawing,dis_point_count,}}{NEW_FLAG_ROW4=}}stringdis_point_count=format("Pointcount:%dRow:%d",Point_count,Row_count);putText(drawing,dis_point_count,Point(20,30),FONT_HERSHEY_SIMPLEX,CV_RGB(255,0,0),imshow("BinaryWindows_Contours",drawing);imshow("Keyboard", draw_key_point);}voidthresh_callback(int,void*{Matthreshold_output;///Thresholdthreshold(src_gray,threshold_output,thresh,255,THRESH_BINARY/////contourspoint類型的vector//hiararchycontours[i]對(duì)應(yīng)4個(gè)hierarchyhierarchy[/////contourspoint類型的vector//hiararchycontours[i]對(duì)應(yīng)4個(gè)hierarchyhierarchy[i][0]~hierarchy[i][3///+vector<vector<Point>>contours_poly(contours.size()集vector<Rect>boundRect(contours.size()vector<Point2f>center(contours.size()vector<float>radius(contours.size()for(inti=0;i<contours.size();i++{approxPolyDP(Mat(contours[i]),contours_poly[i],3,trueboundRect[i]=boundingRect(Mat(contours_poly[i])minEnclosingCircle(contours_poly[i],center[i],radius[i]}///++Matdrawing=Mat::zeros(threshold_output.size(),CV_8UC3);for(inti=