数字图像处理（DIP）实验4 目标颜色识别

数字图像处理（DIP）实验4 目标颜色识别

---

数字图像处理课程相关文章 传送门

https://blog.csdn.net/qq_46164507/article/details/122503851

---

博文说明

本文所使用代码或多或少参考了以往博文的同类or相似文章的代码，并非纯原创
本文仅用于记录并提供一种代码思路，供大家参考

---

---

要求

代码

运行环境：Ubuntu16.04 LTS + OpenCV 3.0.4 + ROS-kinetic-full

代码语言：c++

#include <stdlib.h>
#include <iostream>
#include <algorithm>
#include <string>
#include <cv.h>
#include <highgui.h>
#include <opencv2/opencv.hpp>
#include <opencv2/core/core.hpp>
#include "ros/ros.h"
#include <boost/thread.hpp>
#include <geometry_msgs/Twist.h>

using namespace cv;
using namespace std;

Mat BlurforRGB(Mat input)
{
    vector <Mat> bgr;
    if (input.channels() > 1)
    {
        split(input, bgr);
    }
    for (int i = 0; i <= 2; ++i)
    {
        medianBlur(bgr[i], bgr[i], 3);
        blur(bgr[i], bgr[i], Size(3, 3));
    }
    Mat output;
    merge(bgr, output);
    return output;
}
Mat RGB2HSV(Mat input)
{
    int row = input.rows;
    int col = input.cols;

    Mat output;
    output = input.clone();
    for (int i = 0; i < row; ++i)
    {
        for (int j = 0; j < col; ++j)
        {
            Vec3b pix = input.at<Vec3b>(i, j);//012:BGR
            float b = 1.0 * pix[0] / 255;
            float g = 1.0 * pix[1] / 255;
            float r = 1.0 * pix[2] / 255;
            float maxrgb = max(r, max(g, b));
            float minrgb = min(r, min(g, b));
            float diff = maxrgb - minrgb;
            float v = maxrgb;
            float s = (diff / v);
            float h;
            if (maxrgb - minrgb < 1e-5)h = 0;
            else if (maxrgb == r) h = 60 * (g - b) / diff;
            else if (maxrgb == g) h = 60 * (b - r) / diff + 120;
            else if (maxrgb == b) h = 60 * (r - g) / diff + 240;
            if (h < 0)h += 360;
            else if (h > 359)h -= 360;
            output.at<Vec3b>(i, j)[0] = (int)(h * 180 / 360);
            output.at<Vec3b>(i, j)[1] = (int)(s * 255);
            output.at<Vec3b>(i, j)[2] = (int)(v * 255);
        }
    }
    return output;
}
Mat RGB2HSI(Mat input)
{
    int row = input.rows;
    int col = input.cols;

    Mat output;
    output = input.clone();

    for (int i = 0; i < row; ++i)
    {
        for (int j = 0; j < col; ++j)
        {
            int B = input.at<Vec3b>(i, j)[0];
            int G = input.at<Vec3b>(i, j)[1];
            int R = input.at<Vec3b>(i, j)[2];
            int minRGB = min(min(R, G), B);

            int I = (R + G + B) / 3;
            int S = int(1 - 3 * minRGB / (R + G + B)) * 255;
            int H = int(acos((R - G + R - B) / 2 / (sqrt((R - G) * (R - G) + (R - B) * (R - B))))) * 255;

            output.at<Vec3b>(i, j)[0] = H;
            output.at<Vec3b>(i, j)[1] = S;
            output.at<Vec3b>(i, j)[2] = I;
        }
    }
    return output;
}

int H_min = 35, H_max = 77, S_min = 43, S_max = 255, V_min = 46, V_max = 255;
Mat HSVThresholdPro(Mat input, int hmin, int hmax, int smin, int smax, int vmin, int vmax)
{
    Mat output = input.clone();
    int row = input.rows;
    int col = input.cols;
    for (int i = 0; i < row; ++i)
    {
        for (int j = 0; j < col; ++j)
        {
            int H = input.at<Vec3b>(i, j)[0];
            int S = input.at<Vec3b>(i, j)[1];
            int V = input.at<Vec3b>(i, j)[2];
            if (H > hmin && H < hmax && S > smin && S < smax && V > vmin && V < vmax)
            {
                output.at<Vec3b>(i, j)[0] = 255;
                output.at<Vec3b>(i, j)[1] = 255;
                output.at<Vec3b>(i, j)[2] = 255;
            }
            else
            {
                output.at<Vec3b>(i, j)[0] = 0;
                output.at<Vec3b>(i, j)[1] = 0;
                output.at<Vec3b>(i, j)[2] = 0;
            }
        }
    }
    cvtColor(output, output, COLOR_BGR2GRAY);
    return output;
}




int main(int argc,char **argv)
{
    VideoCapture capture;
    capture.open(1);
    ROS_WARN("*****START*****");
    ros::init(argc,argv,"ColorMove");//初始化 ROS 节点
    ros::NodeHandle n;
    ros::Publisher cmd_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 5);//定义速度发布器
    geometry_msgs::Twist twist;
    if(!capture.isOpened())
    {
        printf("the camera can't work normally");
        return 0;
    }
    waitKey(100);
    
    Mat srcImage;
    
    int key = -1;
    
    int Thresholds[5][6] = {0, 10, 43, 255, 46, 255,//红1
                            156, 180, 43, 255, 46, 255,//红2
                            26, 34, 43, 255, 46, 255,//黄
                            35, 77, 43, 255, 46, 255,//绿
                            100, 124, 43, 255, 46, 255};//蓝
    while(key != 27)
    {
int redN = -1;
        capture.read(srcImage);
    int rows = srcImage.rows;
    int cols = srcImage.cols;
        if(srcImage.empty()) 
        { 
            break; 
        } 
        srcImage = BlurforRGB(srcImage);
        imshow("src", srcImage);
        Mat outputHSV = RGB2HSV(srcImage);
    
        int maxcol_area = 0;
        int maxcol_col = -1;Rect maxA;
        for(int c = 0; c < 5; ++c)
        {
          Mat Threnew = HSVThresholdPro(outputHSV, Thresholds[c][0], Thresholds[c][1], 
                        Thresholds[c][2], Thresholds[c][3], Thresholds[c][4], Thresholds[c][5]);
        
                    
         /*对阈值截取处理过的二值图寻找轮廓*/
            Mat dst = Mat::zeros(Threnew.rows, Threnew.cols, CV_8UC3);
            vector<vector<Point> > contours;
            vector<Vec4i> hierarchy;
            findContours(Threnew, contours, hierarchy,
            RETR_CCOMP, CHAIN_APPROX_SIMPLE);
        
            /*找到的轮廓的矩形边界*/
            Mat rectImage = srcImage.clone();
            
            int idx = 0;
            for (; idx >= 0 && !contours.empty(); idx = hierarchy[idx][0])/*遍历轮廓*/
            {
                Rect A = boundingRect(contours[idx]);
                rectangle(rectImage, A, Scalar(0, 0, 255), 2);
                if (idx == 0)/*记录最大的矩形*/
                {
                    maxA = A;
                }
                else if(A.area() > maxA.area())
                {
                    maxA = A;
                }
                if (hierarchy[idx][0] <= 0)break;
            }
rectangle(srcImage, maxA, Scalar(0, 0, 255), 3);
if(c == 0 || c==1)imshow("red", srcImage);
        
            if(maxA.area() > rows * cols / 16)
            {
                if(maxA.area() > maxcol_area)
                 {
                    maxcol_area = maxA.area();
                     maxcol_col = c;
                 }
            }
            else
            {
                continue;
            }
        }
        if(maxcol_area)
        {
            redN = maxcol_col;
        }
        else
        {
          redN = -1;//没有有效颜色
        }
        cout<<maxA.area()<<endl<<rows * cols / 4<<endl;
        if( redN == 1) 
        {
            //redN 图像程序输出的值
            twist.linear.x = 0.3;//线速度
            twist.linear.y = 0;
            twist.linear.z = 0;
            twist.angular.x = 0;
            twist.angular.y = 0;
            twist.angular.z = 0;//角速度
            ROS_WARN("****red****");//调试使用,打印输出(可以看程序执行到哪里)
            cmd_pub.publish(twist);//发布消息
        cout<<"red";
        }
        else if(redN == 2)
        {
            //redN 图像程序输出的值
            twist.linear.x = 0;//线速度
            twist.linear.y = 0;
            twist.linear.z = 0;
            twist.angular.x = 0;
            twist.angular.y = 0;
            twist.angular.z = -0.7;//角速度
            ROS_WARN("*****cmd");//调试使用,打印输出(可以看程序执行到哪里)
            cmd_pub.publish(twist);//发布消息
        cout<<"yellow";
        }
        else if(redN == 3)
        {
            //redN 图像程序输出的值
            twist.linear.x = -0.3;//线速度
            twist.linear.y = 0;
            twist.linear.z = 0;
            twist.angular.x = 0;
            twist.angular.y = 0;
            twist.angular.z = 0;//角速度
            ROS_WARN("*****cmd");//调试使用,打印输出(可以看程序执行到哪里)
            cmd_pub.publish(twist);//发布消息
        cout<<"green";
        }
        else if(redN == 4)
        {
            //redN 图像程序输出的值
            twist.linear.x = 0;//线速度
            twist.linear.y = 0;
            twist.linear.z = 0;
            twist.angular.x = 0;
            twist.angular.y = 0;
            twist.angular.z = 0.7;//角速度
            ROS_WARN("*****cmd");//调试使用,打印输出(可以看程序执行到哪里)
            cmd_pub.publish(twist);//发布消息
        cout<<"blue";
        }
        else
        {
            //redN 图像程序输出的值
            twist.linear.x = 0;//线速度
            twist.linear.y = 0;
            twist.linear.z = 0;
            twist.angular.x = 0;
            twist.angular.y = 0;
            twist.angular.z = 0;//角速度
            ROS_WARN("*****cmd");//调试使用,打印输出(可以看程序执行到哪里)
            cmd_pub.publish(twist);//发布消息
        cout<<"Null";
        }
        ros::spinOnce(); 
        key = waitKey(1);
        
    }
    return 0;

    
}

结果

略