模拟小车识别改进版

import cv2
import sys
 
import serial
import time
 
import numpy as np
from PyQt5.QtWidgets import QLabel,QApplication
from PyQt5.QtGui import QPixmap
green_val = 90
 
ser = serial.Serial("/dev/ttyAMA0",9600)  # 位置1
ser.flushInput()  # 位置2
#ser.write("begin".encode("utf-8"))  # 位置3
 
 
#标签初始化
app = QApplication(sys.argv)
label = QLabel()
label.setPixmap(QPixmap("123.jpg"))
label.show()
#label.showFullScreen()
label.setScaledContents(True)  # 让图片自适应label大
#cv2.waitKey(10000)

def shibie():
    #cap = cv2.VideoCapture(0)
    lanse_jiance()
    

    
def lanse_jiance():
    cap = cv2.VideoCapture(0)
    ret, frame = cap.read()
    # get a frame
    #frame = cv2.imread("home\pi\lanse.jpg")
    cv2.imshow("haha",frame)
    cv2.waitKey(2000)
    hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
    blue_lower = np.array([green_val - 10, 100, 100])
    blue_upper = np.array([green_val + 10, 255, 255])
 
    blue_mask = cv2.inRange(hsv, blue_lower, blue_upper)
    blue_res = cv2.bitwise_and(frame, frame, mask=blue_mask)
    kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (3, 3))
    blue_closing = cv2.morphologyEx(blue_res, cv2.MORPH_CLOSE, kernel)
 
    blue_gray = cv2.cvtColor(blue_closing, cv2.COLOR_BGR2GRAY)
    (thresh2, blue_bw) = cv2.threshold(blue_gray, 128, 255, cv2.THRESH_BINARY | cv2.THRESH_OTSU)
 
    blue_black = cv2.countNonZero(blue_bw)
 
    cv2.imshow("hahaa",blue_bw)
    cv2.waitKey(2000)
    print(blue_black)
    
    if blue_black > 121000:#判断二值化像素点个数
 
        print("视频中有蓝色像素")
        ser.write("1".encode("utf-8"))#如果没有颜色则发送1
        #如果有蓝色像素则显示蓝色图片
        label.setPixmap(QPixmap("lanse.jpg"))
        label.show()
        #label.showFullScreen()
        label.setScaledContents(True)  # 让图片自适应label大小
 
        
        #if a==0xff:#如果有新的拍照指令则退出，继续循环
            #break
 
    else:
        print("无蓝色")
        ser.write("2".encode("utf-8"))#如果没有颜色则发送2
        #没有蓝色则显示原始图像
        label.setPixmap(QPixmap("123.jpg"))
        label.show()
        #label.showFullScreen()
        label.setScaledContents(True)  # 让图片自适应label大小
        
        # 完成所有操作后，释放捕获
    cap.release()

 
    # show a frame
    #cv2.imshow("capture", frame)
    #cv2.imwrite("home\pi\lanse.jpg", frame)
    #a = cv2.imread("home\pi\lanse.jpg")
 
    #cv2.imshow("duqu",a)
if __name__ == "__main__":
    while(True):
        count = ser.inWaiting()  # 位置4		读取返回值
        print(count)
 
        if count != 0:
 
            recv = ser.read(count)  # 位置5
            #如果接受到01则开始识别
            if recv == b"\x01":
                print(recv)
                shibie()
 
            #ser.write("Recv some data is : ".encode("utf-8"))  # 位置6
 
            #ser.write(recv)  # 位置7
 
            ser.flushInput()
 
            time.sleep(0.1)  # 位置8
        
        #shibie()
    cv2.destroyAllWindows()