运输对抗组（智能车）视觉部分记录

任务要求：

图像识别说明：需要识别的实物共6个：50mm*50mm红色小正方体(10分)、黄色小
正方体（10分）、绿色小正方体(10分)、罐装雪碧(绿 15分)、罐装可乐(红 15
分)、罐装可乐(蓝 15分)。如未完成识别实物就抓取放入仓库则每个只得5分。

实现思路：

通过传统视觉实现颜色识别，几何形状的识别，可以将立方体看作正方形，易拉罐看作椭圆形，颜色识别可以通过将摄像头的RGB值转化为HSV值识别。

以下为python代码：

import numpy as np
import cv2



class ShapeAnalysis:
    def __init__(self):
        self.shapes = {'triangle': 0, 'rectangle': 0, 'polygons': 0, 'circles': 0}

    def analysis(self, frame):
        h, w, ch = frame.shape
        result = np.zeros((h, w, ch), dtype=np.uint8)
        # 二值化图像
        print("start to detect lines...\n")
        gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
        ret, binary = cv2.threshold(gray, 0, 255, cv2.THRESH_BINARY_INV | cv2.THRESH_OTSU)
        # cv.imshow("input image", frame)

        contours, hierarchy = cv2.findContours(binary, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
        for cnt in range(len(contours)):
            # 提取与绘制轮廓
            cv2.drawContours(result, contours, cnt, (0, 255, 0), 2)

            # 轮廓逼近
            epsilon = 0.01 * cv2.arcLength(contours[cnt], True)
            approx = cv2.approxPolyDP(contours[cnt], epsilon, True)

            # 分析几何形状
            corners = len(approx)
            shape_type = ""
            # if corners == 3:
            #     count = self.shapes['triangle']
            #     count = count+1
            #     self.shapes['triangle'] = count
            #     shape_type = "三角形"
            if corners == 4:
                count = self.shapes['rectangle']
                count = count + 1
                self.shapes['rectangle'] = count
                shape_type = "立方体"
            if corners >= 10:
                count = self.shapes['circles']
                count = count + 1
                self.shapes['circles'] = count
                shape_type = "易拉罐"
            if 4 < corners < 10:
                count = self.shapes['polygons']
                count = count + 1
                self.shapes['polygons'] = count
                shape_type = "易拉罐"


            # 求解中心位置
            mm = cv2.moments(contours[cnt])
            cx = int(mm['m10'] / mm['m00'])
            cy = int(mm['m01'] / mm['m00'])
            cv2.circle(result, (cx, cy), 3, (0, 0, 255), -1)

            # 颜色分析
            color = frame[cy][cx]
            color_str = "(" + str(color[0]) + ", " + str(color[1]) + ", " + str(color[2]) + ")"


            # 计算面积与周长
            p = cv2.arcLength(contours[cnt], True)
            area = cv2.contourArea(contours[cnt])
            print("颜色: %s 形状: %s "% (color_str, shape_type))
# print("周长: %.3f, 面积: %.3f 颜色: %s 形状: %s "% (p, area, color_str, shape_type))

font = cv2.FONT_HERSHEY_SIMPLEX
lower_green = np.array([35, 110, 106])  # 绿色范围低阈值
upper_green = np.array([77, 255, 255])  # 绿色范围高阈值
lower_red = np.array([0, 127, 128])  # 红色范围低阈值
upper_red = np.array([10, 255, 255])  # 红色范围高阈值
kernel = np.ones((5, 5), np.uint8)  # 卷积核

# cap = cv2.VideoCapture('1.mp4')  # 打开视频文件
cap = cv2.VideoCapture(0)  # 打开USB摄像头
if (cap.isOpened()):  # 视频打开成功
    flag = 1
else:
    flag = 0
num = 0
if (flag):
    while (True):
        ret, frame = cap.read()  # 读取一帧
        ld = ShapeAnalysis()
        ld.analysis(frame)
        if ret == False:  # 读取帧失败
            break
        hsv_img = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
        mask_green = cv2.inRange(hsv_img, lower_green, upper_green)  # 根据颜色范围删选
        mask_red = cv2.inRange(hsv_img, lower_red, upper_red)
        # 根据颜色范围删选
        mask_green = cv2.medianBlur(mask_green, 7)  # 中值滤波
        mask_red = cv2.medianBlur(mask_red, 7)  # 中值滤波
        mask = cv2.bitwise_or(mask_green, mask_red)
        contours, hierarchy = cv2.findContours(mask_green, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE)
        contours2, hierarchy2 = cv2.findContours(mask_red, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE)

        for cnt in contours:
            (x, y, w, h) = cv2.boundingRect(cnt)
            cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 255, 255), 2)
            cv2.putText(frame, "Green", (x, y - 5), font, 0.7, (0, 255, 0), 2)

        for cnt2 in contours2:
            (x2, y2, w2, h2) = cv2.boundingRect(cnt2)
            cv2.rectangle(frame, (x2, y2), (x2 + w2, y2 + h2), (0, 255, 255), 2)
            cv2.putText(frame, "Red", (x2, y2 - 5), font, 0.7, (0, 0, 255), 2)
        num = num + 1
        cv2.imshow("dection", frame)
        if cv2.waitKey(20) & 0xFF == 27:
            break


        # opening = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel)  # 形态学开运算
        # bila = cv2.bilateralFilter(mask, 10, 200, 200)  # 双边滤波消除噪声
        # edges = cv2.Canny(opening, 50, 100)  # 边缘识别
        # # 识别圆形
        # circles = cv2.HoughCircles(
        #     edges, cv2.HOUGH_GRADIENT, 1, 100, param1=100, param2=10, minRadius=10, maxRadius=500)
        # if circles is not None:  # 如果识别出圆
        #     for circle in circles[0]:
        #         #  获取圆的坐标与半径
        #         x = int(circle[0])
        #         y = int(circle[1])
        #         r = int(circle[2])
        #         cv2.circle(frame, (x, y), r, (0, 0, 255), 3)  # 标记圆
        #         cv2.circle(frame, (x, y), 3, (255, 255, 0), -1)  # 标记圆心
        #         text = 'x:  ' + str(x) + ' y:  ' + str(y)
        #         cv2.putText(frame, text, (10, 30), font, 1, (0, 255, 0), 2, cv2.LINE_AA, 0)  # 显示圆心位置
        # else:
        #     # 如果识别不出，显示圆心不存在
        #     cv2.putText(frame, 'x: None y: None', (10, 30), font, 1, (0, 255, 0), 2, cv2.LINE_AA, 0)
        # cv2.imshow('frame', frame)
        # cv2.imshow('mask', mask)
        # cv2.imshow('edges', edges)
        # k = cv2.waitKey(5) & 0xFF
        # if k == 27:
        #     break



cv2.waitKey(0)
cv2.destroyAllWindows()