红绿灯识别是一个比较复杂的
功能，需要涉及到图像处理、机器学习等技术。以下是一个简单的基于
ROS的
红绿灯识别功能代码：
1. 安装必要的软件包
```
sudo apt-get install
ros-kinetic-
image-transport
sudo apt-get install
ros-kinetic-cv-bridge
sudo apt-get install
ros-kinetic-vision-
opencv
```
2. 创建
ROS节点
```
roscore
```
3.
订阅摄像头图像
```
rosrun
image_transport republish compressed in:=/camera/
image_
raw raw out:=/camera/
image_
raw
```
4. 使用
OpenCV进行图像处理
```
python
#!/usr/bin/env
python
import
rospy
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import
Image
import cv2
class TrafficLightDetector:
def __init__(self):
self.bridge = CvBridge()
self.
image_sub =
rospy.Subscriber('/camera/
image_
raw',
Image, self.callback)
def callback(self, data):
try:
cv_
image = self.bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
print(e)
# 在这里添加你的
红绿灯识别代码
if __name__ == '__main__':
rospy.init_node('traffic_light_detector')
detector = TrafficLightDetector()
rospy.spin()
```
5. 添加
红绿灯识别代码
```
python
#!/usr/bin/env
python
import
rospy
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import
Image
import cv2
class TrafficLightDetector:
def __init__(self):
self.bridge = CvBridge()
self.
image_sub =
rospy.Subscriber('/camera/
image_
raw',
Image, self.callback)
def callback(self, data):
try:
cv_
image = self.bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
print(e)
# 将图像转换为灰度图像
gray = cv2.cvtColor(cv_
image, cv2.COLOR_BGR2GRAY)
# 将灰度图像
进行二值化
ret, thresh = cv2.threshold(gray, 127, 255, cv2.THRESH_BINARY)
# 找出所有的轮廓
contours, hierarchy = cv2.findContours(thresh, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
# 遍历所有的轮廓
for cnt in contours:
# 计算轮廓的面积
area = cv2.contourArea(cnt)
# 如果面积小于一定值，则忽略该轮廓
if area < 1000:
continue
# 计算轮廓的周长
perimeter = cv2.arcLength(cnt, True)
# 使用近似多边形来拟合轮廓
approx = cv2.approxPolyDP(cnt, 0.03 * perimeter, True)
# 如果
检测到4个点，则认为是
红绿灯
if len(approx) == 4:
cv2.d
rawContours(cv_
image, [approx], 0, (0, 255, 0), 2)
cv2.imshow("Traffic Light Detector", cv_
image)
cv2.waitKey(1)
if __name__ == '__main__':
rospy.init_node('traffic_light_detector')
detector = TrafficLightDetector()
rospy.spin()
```
6. 运行
ROS节点
```
rosrun <package_name> <node_name>
```
其中 `<package_name>` 是你的
ROS包的名称，`<node_name>` 是你的
ROS节点的名称。
参考资料：
- [
ROS OpenCV Tutorial - Traffic Light Detector](https://github.com/
ros-perception/
opencv_tutorials/blob/master/traffic_light_detector/scripts/traffic_light_detector.py)
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