opencv_RoboMaster激活大能量机关

import cv2
import numpy as np
import matplotlib.pyplot as plt

# 给角点排序
def order_points(pts):
    # 创建全是0的矩阵, 来接收等下找出来的4个角的坐标.
    rect = np.zeros((4, 2), dtype='float32')
    
    s = pts.sum(axis=1)
    # 左上的坐标一定是x,y加起来最小的坐标. 右下的坐标一定是x,y加起来最大的坐标.
    rect[0] = pts[np.argmin(s)]
    rect[2] = pts[np.argmax(s)]
    
    # 右上角的x,y相减的差值一定是最小的. 
    # 左下角的x,y相减的差值, 一定是最大.
    diff = np.diff(pts, axis=1)
    rect[1] = pts[np.argmin(diff)]
    rect[3] = pts[np.argmax(diff)]
    
    return rect

# 求出圆心
def cpoint(box):
    
    a = []
    a.append(box[0])
    a.append(box[1])
    a.append(box[2])
    a.append(box[3])
    pt1 = np.array(a).mean(axis=0)

    y = int(4/3 * (pt1[1] - 242) + 242)
    x = int(4/3 * (pt1[0] - 247) + 247)
    return x,y

cap = cv2.VideoCapture('./movie.mp4')

ret, frame = cap.read()
plt.imshow(frame)

while cap.isOpened():
    # 读一帧数据, 返回标记和这一帧数据. True表示读到了数据, False表示没读到数据.
    ret, frame = cap.read()

    # 可以根据ret做个判断
    if not ret:
        # 没读到数据, 直接退出
        break

    f = frame.copy()
    frame = frame[200:650, 700:1200]

    # 二值化
    dst = cv2.inRange(frame, (70, 150, 50), (120, 255, 255))

    kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (5, 5))
    dst = cv2.dilate(dst, kernel, iterations=3)

    canny = cv2.Canny(dst, 100, 200)

    contours, hierarchy = cv2.findContours(
        dst, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
    contours = list(contours)
    
    contours2 = []
    for c in contours:
        if cv2.contourArea(c) >= 3000:
            contours2.append(c)
    
    contours = sorted(contours2, key=lambda x: cv2.contourArea(x), reverse=True)
    

    if len(contours) >= 4:
        c = contours[3]
    else:
        c = contours[-1]
        
    # rect是一个Rotated Rect 旋转的矩形, 矩形的起始坐标(x,y), 矩形的长宽(w, h), 矩形旋转角度
    rect = cv2.minAreaRect(c)
    
    # cv2.boxPoints其实就是帮我们把旋转矩形的4个坐标点计算出来了.
    box = cv2.boxPoints(rect)
    
    # 注意坐标必须是整数的, 所以需要转化一下
    # 四舍五入
    box = np.round(box).astype('int64')
    
    # 绘制最小外接矩形
    cv2.drawContours(frame, [box], 0, (255, 0, 0), 2)
    
    # 给角点排序
    box = order_points(box)

    # 圆心
    cv2.circle(frame, cpoint(box), 5, (0, 255, 0), -1)
   
    
    # 绘制轮廓
    cv2.drawContours(canny, contours, -1, (255, 0, 0), 2)

    f[200:650, 700:1200] = frame
    # 显示数据
    cv2.imshow('video', f)

    # 假如一个视频是30帧, 那么每张图之间要间隔多少毫秒
    # 只能是整数
    key = cv2.waitKey(1000 // 30)
    if key & 0xFF == ord('q'):
        break

# 别忘了释放资源
cap.release()
cv2.destroyAllWindows()
cv2.waitKey(1)

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激活大能量机关