Python+OpenCV实战（识别颜色和形态）---18年比赛

# -*- coding: utf-8 -*-

#width = 256, 192
#YSU1100W fast-straight
#YSU1000W fast-left
#YSU0100W fast-right
#YSU1101W slow-s
#YSU1001W s-l
#YSU0101W s-r
#YSU0010W find


import numpy as np     
import cv2 
import serial
import time
 


#设定红色阈值，HSV空间  
redLower = np.array([0, 0, 230])  
redUpper = np.array([10, 255, 237])  
#初始化质心
center = 0
#初始化串口
ser = serial.Serial("/dev/ttyUSB0",9600)
# s = 0
#打开摄像头 
camera = cv2.VideoCapture(0) 
camera.set(3, 320)
camera.set(4, 240)    
#遍历每一帧，检测信标灯  
while True:
    # s = ser.read(8)
    # # 如果读到单片机传过来的信号，倒车
    # if s:
    #     ser.write("YSU0000W".encode())
    #     print("back")
    #     time.sleep(3)
    #     s = 0  
    #读取帧  
    (ret, frame) = camera.read()  
    #判断是否成功打开摄像头  
    if not ret:  
        # print ('No Camera') 
        break  
    #转到HSV空间  
    hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)  
    #根据阈值构建掩膜 黑白 亮的为阈值内区域 
    mask = cv2.inRange(hsv, redLower, redUpper)  
    #腐蚀操作  iterations：迭代次数
    mask = cv2.erode(mask, None, iterations=1)  
    #膨胀操作，其实先腐蚀再膨胀的效果是开运算，去除噪点  
    mask = cv2.dilate(mask, None, iterations=14)  
    
    #根据灰度值化为二值图
    # GrayImage=cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)  
    # ret, gray=cv2.threshold(GrayImage, 230, 255, cv2.THRESH_BINARY) 
    #把红色分的二值图和灰度二值图叠加
    # andout = cv2.bitwise_and(mask, gray)

    #检测寻找轮廓 cv2.RETR_EXTERNAL 只得到最外面的轮廓  
    #cv2.findContours()  opencv3会返回三个值,分别是img, countours, hierarchy
    cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]  
    #初始化圆形轮廓质心  
    center = None  
    #如果存在轮廓  
    if len(cnts) > 0:  
        #找到面积最大的轮廓  
        c = max(cnts, key = cv2.contourArea)  
        #确定面积最大的轮廓的最小外接圆  
        ((x, y), radius) = cv2.minEnclosingCircle(c)  
        #计算轮廓的矩  
        M = cv2.moments(c)  
        #计算质心
        try:  
            center = (int(M["m10"]/M["m00"]), int(M["m01"]/M["m00"]))   
        except:
            continue
        #只有当半径大于1时，才执行  
        if radius >= 1: 
            #画轮廓圆：img,center,radius,color 厚度：负值就是实心 
            cv2.circle(frame, (int(x), int(y)), int(radius), (0, 255, 255), 1)  
            #在质心中间画半径为5的点
            cv2.circle(frame, center, 5, (0, 0, 255), -1)  
            #最关键的值pos，相对于画面中心的x方向像素差  
            pos = center[0]-160
            # print("x=%s"%pos)
            # print(radius) 
            
            try:
                #通过x坐标控制串口
                # if radius >= 60:
                #     t = 0
                #     while True:
                #         t += 0.05
                #         if t >= 0.4:
                #             break
                #         ser.write("YSU1101W".encode())
                #         time.sleep(0.05)
                #减速 拐角大
                if radius >= 100:
                    #向左转
                    if pos < -50:
                        ser.write("YSU1001W".encode())
                    #直线
                    elif -50 <= pos <= 50:
                        ser.write("YSU1101W".encode())
                    #向右转
                    else:
                        ser.write("YSU0101W".encode())

                # 正常速度，拐角大
                elif 50 <= radius < 100:
                    if pos < -45:
                        ser.write("YSU0001W".encode())
                    elif -45 <= pos <= 45:
                        ser.write("YSU1100W".encode())
                    else:
                        ser.write("YSU0110W".encode())
                   
                #正常速度,拐角小
                else:
                     #向左转
                    if pos < -30:
                        ser.write("YSU1000W".encode())
                    #直线
                    elif - 30<= pos <= 30:
                        ser.write("YSU1100W".encode())
                    #向右转
                    else:
                        ser.write("YSU0100W".encode())
            except:
                continue
        else:
           ser.write("YSU0010W".encode()) 

    else:
        ser.write("YSU0010W".encode())
   

    #cv2.imshow('Frame', frame)  
    #键盘检测，检测到esc键退出  
    k = cv2.waitKey(1)&0xFF  
    if k == 27:  
        break  
  
#摄像头释放  
camera.release()  
#销毁所有窗口  
# cv2.destroyAllWindows()


#关闭串口
ser.close()