颜色识别

颜色识别
计算机视觉中的颜色识别是指计算机系统能够自动识别图像或视频中的不同颜色，以便进行分析、分类、跟踪和其他视觉任务。

颜色是物体的一个重要属性，它提供了有关对象的重要信息。

颜色识别在各种应用中都有重要作用，包括工业自动化、机器人技术、医学影像处理、安全监控、自动驾驶汽车、农业和许多其他领域。

硬件环境
操作环境及软硬件配置如下：

• OriginBot 机器人
• PC：Ubuntu (≥20.04) + ROS2 (≥Foxy)

代码

    #!/usr/bin/env python3    # -*- coding: utf-8 -*-    import rclpy    import cv2    import cv_bridge    import numpy as np    from rclpy.node import Node    from sensor_msgs.msg import Image    class ColorDetection(Node):        def __init__(self):            super().__init__('color_detection')            self.bridge = cv_bridge.CvBridge()            self.image_sub = self.create_subscription(Image, '/image_raw', self.image_callback, 10)            self.pub = self.create_publisher(Image, '/camera/process_image', 10)            self.load_hsv_values()            self.area_max = 5        def load_hsv_values(self):            try:                with open("/userdata/dev_ws/color_block_HSV.txt", "r") as file:                    content = file.read()                    import re                    match = re.search(r'(\d+,\d+,\d+) (\d+,\d+,\d+)', content)                    if match:                        lower_hsv, upper_hsv = match.group(1).split(','), match.group(2).split(',')                        self.hsv_lower = np.array([int(val) for val in lower_hsv], dtype=np.uint8)                        self.hsv_upper = np.array([int(val) for val in upper_hsv], dtype=np.uint8)                    else:                        self.get_logger().error("Invalid format in HSV values file. Using default values.")                        self.hsv_lower = np.array([2, 40, 40], dtype=np.uint8)                        self.hsv_upper = np.array([22, 168, 190], dtype=np.uint8)            except FileNotFoundError:                self.get_logger().error("HSV values file not found. Using default values.")                self.hsv_lower = np.array([2, 40, 40], dtype=np.uint8)                self.hsv_upper = np.array([22, 168, 190], dtype=np.uint8)        def image_callback(self, msg):            image = self.bridge.imgmsg_to_cv2(msg, 'bgr8')            hsv_img = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)            mask = cv2.inRange(hsv_img, self.hsv_lower, self.hsv_upper)            kernel = np.ones((5, 5), np.uint8)            mask = cv2.erode(mask, kernel)            mask = cv2.dilate(mask, kernel)            contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)            contours = self.take_biggest_contours(contours)            contours = self.agglomerative_cluster(contours)            for cnt in contours:                x, y, w, h = cv2.boundingRect(cnt)                if w < 20 and h < 20:                    continue                cv2.rectangle(image, (x, y), (x + w, y + h), (0, 0, 255), 2)                area = w * h                if area > self.area_max:                    self.area_max = area                    cv2.imwrite("test.jpg", image)                    self.get_logger().info("Image saved.")            self.pub.publish(self.bridge.cv2_to_imgmsg(image, 'bgr8'))        def take_biggest_contours(self, contours, max_number=20):            sorted_contours = sorted(contours, key=lambda x: cv2.contourArea(x), reverse=True)            return sorted_contours[:max_number]        def calculate_contour_distance(self, contour1, contour2):            x1, y1, w1, h1 = cv2.boundingRect(contour1)            c_x1, c_y1 = x1 + w1 / 2, y1 + h1 / 2            x2, y2, w2, h2 = cv2.boundingRect(contour2)            c_x2, c_y2 = x2 + w2 / 2, y2 + h2 / 2            return max(abs(c_x1 - c_x2) - (w1 + w2) / 2, abs(c_y1 - c_y2) - (h1 + h2) / 2)        def agglomerative_cluster(self, contours, threshold_distance=100.0):            current_contours = contours            while len(current_contours) > 1:                min_distance = None                min_coordinate = None                for x in range(len(current_contours) - 1):                    for y in range(x + 1, len(current_contours)):                        distance = self.calculate_contour_distance(                                current_contours[x], current_contours[y])                        if min_distance is None or distance < min_distance:                            min_distance = distance                            min_coordinate = (x, y)                if min_distance is not None and min_distance < threshold_distance:                    index1, index2 = min_coordinate                    current_contours[index1] = np.concatenate(                            [current_contours[index1], current_contours[index2]])                    del current_contours[index2]                else:                    break            return current_contours    def main(args=None):        rclpy.init(args=args)        color_detection = ColorDetection()        rclpy.spin(color_detection)        color_detection.destroy_node()        rclpy.shutdown()    if __name__ == '__main__':        main()

简要说明
本节内容为上一篇文章HSV值获取的后续，通过之前采集的HSV值便可以直接进行颜色识别了。

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