基于opencv得到某一颜色物体的位置

#include <opencv2/imgcodecs.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <iostream>
#include "WzSerialPort.h" 
#define mid 320

using namespace cv;
using namespace std;

Mat img;
VideoCapture cap(0);
// COLOR VALUES 
// hmin, smin, vmin hmax, smax, vmax
vector<vector<int>> myColors{ {0, 154, 159, 5, 255, 255}, // Red
								/*{91, 12, 33, 124, 255, 229}// Blue*/ };

int getContours(Mat image) {

	vector<vector<Point>> contours;
	vector<Vec4i> hierarchy;
	findContours(image, contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
	vector<vector<Point>> conPoly(contours.size());
	vector<Rect> boundRect(contours.size());
	vector<int> gap;
	vector<int> absgap;
	double gapmin;
	Point gmin;
	Point myPoint(0, 0);
	int j = 0;
	for (int i = 0; i < contours.size(); i++)
	{
		int area = contourArea(contours[i]);
		if (area > 10000)
		{
			float peri = arcLength(contours[i], true);
			approxPolyDP(contours[i], conPoly[i], 0.02 * peri, true);
			//cout << conPoly[i].size() << endl;
			boundRect[i] = boundingRect(conPoly[i]);
			myPoint.x = boundRect[i].x + boundRect[i].width / 2;
			myPoint.y = boundRect[i].y;
			drawContours(img, conPoly, i, Scalar(255, 0, 255), 2);
			rectangle(img, boundRect[i].tl(), boundRect[i].br(), Scalar(0, 255, 0), 5);
			circle(img, Point(myPoint.x, myPoint.y), 7, Scalar(66,66,66), FILLED);
			gap.push_back(mid - myPoint.x);
			absgap.push_back(abs(gap[j]));
			cout << gap[j] <<",";
			j++;
		}
	}
	if (myPoint.x != 0)
	{
		for (int i = 0; i < absgap.size(); i++) cout << absgap[i] << " ";
		minMaxLoc(absgap, &gapmin, NULL, &gmin, NULL);
		cout << endl << "min is" << gapmin << endl << "gmin is" << gmin << endl;
		return gap[gmin.x];
	}
	else return 0;
}

int findColor(Mat img)
{
	Mat imgHSV;
	cvtColor(img, imgHSV, COLOR_BGR2HSV);
	for (int i = 0; i < myColors.size(); i++)
	{
		Scalar lower(myColors[i][0], myColors[i][1], myColors[i][2]);
		Scalar upper(myColors[i][3], myColors[i][4], myColors[i][5]);
		Mat mask;
		inRange(imgHSV, lower, upper, mask);
		return getContours(mask);
	}
}
/// //串口通讯部分/

void senddis(int dis)
{	
	WzSerialPort w;
	if (w.open("COM7", 115200, 0, 8, 1))
	{
		char temp[10];
		sprintf_s(temp,"%d",dis);

		w.send(temp, 10);
		cout << "send  finished...";
		w.close();
	}
	else
	{
		cout << "open serial port failed...";
	}
}

void receivedis()
{
	WzSerialPort w;
	if (w.open("COM6", 9600, 0, 8, 1))
	{
		char buf[1024];
		while (true)
		{
			memset(buf, 0, 1024);
			w.receive(buf, 1024);
			cout << buf;
		}
	}
}

void main() {

	while (true) {

		cap.read(img);
		int dis = findColor(img);
		if (dis != 0) 
		{ 
			cout << "位置是" << dis << endl;
			senddis(dis);
		}
		line(img, Point(mid, 0), Point(mid, 480), Scalar(0, 0, 255), 1);//在中间画线
		imshow("Image", img);
	waitKey(1);
	}
}

本次代码是用于对某一特定物体进行识别并且得到位置坐标。颜色的识别可以参考我之前的一篇https://blog.csdn.net/m0_52430942/article/details/118655479?spm=1001.2014.3001.5501
由于个人的需要我还加上了串口通讯，串口通讯部分将会在下一篇进行讲解。
以下是纯识别部分

#include <opencv2/imgcodecs.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <iostream>
#define mid 320

using namespace cv;
using namespace std;

Mat img;
VideoCapture cap(0);
/ COLOR VALUES 
// hmin, smin, vmin hmax, smax, vmax
vector<vector<int>> myColors{ {0, 154, 159, 5, 255, 255}, // Red
								/*{91, 12, 33, 124, 255, 229}// Blue*/ };

int getContours(Mat image) {

	vector<vector<Point>> contours;
	vector<Vec4i> hierarchy;
	findContours(image, contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
	vector<vector<Point>> conPoly(contours.size());
	vector<Rect> boundRect(contours.size());
	vector<int> gap;
	vector<int> absgap;
	double gapmin;
	Point gmin;
	Point myPoint(0, 0);
	int j = 0;
	for (int i = 0; i < contours.size(); i++)
	{
		int area = contourArea(contours[i]);
		if (area > 10000)
		{
			float peri = arcLength(contours[i], true);
			approxPolyDP(contours[i], conPoly[i], 0.02 * peri, true);
			//cout << conPoly[i].size() << endl;
			boundRect[i] = boundingRect(conPoly[i]);
			myPoint.x = boundRect[i].x + boundRect[i].width / 2;
			myPoint.y = boundRect[i].y;
			drawContours(img, conPoly, i, Scalar(255, 0, 255), 2);
			rectangle(img, boundRect[i].tl(), boundRect[i].br(), Scalar(0, 255, 0), 5);
			circle(img, Point(myPoint.x, myPoint.y), 7, Scalar(66,66,66), FILLED);
			gap.push_back(mid - myPoint.x);
			absgap.push_back(abs(gap[j]));
			cout << gap[j] <<",";
			j++;
		}
	}
	if (myPoint.x != 0)
	{
		for (int i = 0; i < absgap.size(); i++) cout << absgap[i] << " ";
		minMaxLoc(absgap, &gapmin, NULL, &gmin, NULL);
		cout << endl << "min is" << gapmin << endl << "gmin is" << gmin << endl;
		return gap[gmin.x];
	}
	else return 0;
}

int findColor(Mat img)
{
	Mat imgHSV;
	cvtColor(img, imgHSV, COLOR_BGR2HSV);
	for (int i = 0; i < myColors.size(); i++)
	{
		Scalar lower(myColors[i][0], myColors[i][1], myColors[i][2]);
		Scalar upper(myColors[i][3], myColors[i][4], myColors[i][5]);
		Mat mask;
		inRange(imgHSV, lower, upper, mask);
		return getContours(mask);
	}
}
void main() {

	while (true) {

		cap.read(img);
		int dis = findColor(img);
		if (dis != 0) 
		{ 
			cout << "位置是" << dis << endl;
			senddis(dis);
		}
		line(img, Point(mid, 0), Point(mid, 480), Scalar(0, 0, 255), 1);//在中间画线
		imshow("Image", img);
	waitKey(1);
	}
}

vector<vector<int>> myColors{ {0, 154, 159, 5, 255, 255}, // Red
								/*{91, 12, 33, 124, 255, 229}// Blue*/ };

这一小部分就是我们指定物体的hsv阈值，修改就好。

Scalar lower(myColors[i][0], myColors[i][1], myColors[i][2]);
		Scalar upper(myColors[i][3], myColors[i][4], myColors[i][5]);

这里是矩阵的位置坐标不用修改。

if (area > 10000)
		{
			float peri = arcLength(contours[i], true);
			approxPolyDP(contours[i], conPoly[i], 0.02 * peri, true);
			//cout << conPoly[i].size() << endl;
			boundRect[i] = boundingRect(conPoly[i]);
			myPoint.x = boundRect[i].x + boundRect[i].width / 2;
			myPoint.y = boundRect[i].y;
			drawContours(img, conPoly, i, Scalar(255, 0, 255), 2);
			rectangle(img, boundRect[i].tl(), boundRect[i].br(), Scalar(0, 255, 0), 5);
			circle(img, Point(myPoint.x, myPoint.y), 7, Scalar(66,66,66), FILLED);
			gap.push_back(mid - myPoint.x);
			absgap.push_back(abs(gap[j]));
			cout << gap[j] <<",";
			j++;
		}

这里是框选出我们物体的轮廓并且是大于某个值才能选择 if (area > 10000)