[高分无人机]：OpenCV对图像的处理，HSV滤波，findcontours，boundingbox，

对于一些图像的基本操作，总是需要百度，用一个完整的例程记录一下这些基本操作。

#include <opencv2/core/core.hpp>
#include <opencv2/ml/ml.hpp>  
#include <opencv2/highgui/highgui.hpp>  
#include <opencv2/opencv.hpp>  
#include <opencv2/aruco.hpp>
#include <opencv2/imgproc/imgproc.hpp>  
void detect(cv::Mat &_img){
	//Mat imgHSV;
	//cvtColor(_img, imgHSV, COLOR_BGR2HSV);

	cv::Mat imgThresholded, imgThresholded1, imgThresholded2;
	cv::Mat binaImg;
	
	//转成灰度图像，再进行二值化滤波
	cv::imshow("imgThresholded1", B);
	cv::threshold(binaImg, _img, THRESH_BINARY);
	cv::threshold(binaImg, _img, 200, 255, THRESH_BINARY_INV);
	cv::imshow("binaImg", _img);

	//HSV滤波 过滤白色  ParamPrep是整个项目的一个结构体，就是一个参数模块化的作用
	ParamPrep paramPrep1 = ParamPrep(ParamHSV(Scalar(0, 0, 199), Scalar(35, 6, 255)), ParamMorph(2));
	ParamPrep paramPrep2 = ParamPrep(ParamHSV(Scalar(0, 0, 199), Scalar(35, 6, 255)), ParamMorph(5));
	cvtColor(A, imgThresholded1, COLOR_BGR2HSV); //Convert the captured frame from BGR to HSV  
	cv::inRange(imgThresholded1, paramPrep2.pHSV.scalarL, paramPrep2.pHSV.scalarH, imgThresholded2); //Threshold the image 把imgThresholded1二值化为imgThresholded2
	//cv::imshow("imgThresholded1", imgThresholded1);
	//cv::waitKey(0);
	
	//形态学处理，开闭运算，开运算去除噪声，闭运算填补小洞
	if (paramPrep2.usingMorph == true) {
		int _size1 = paramPrep1.pMorph.opSize;
		int _size2 = paramPrep2.pMorph.clSzie;
		Mat element1 = getStructuringElement(paramPrep2.pMorph.shape, Size(_size1, _size1));
		Mat element2 = getStructuringElement(paramPrep2.pMorph.shape, Size(_size2, _size2));
		//开闭运算提供不同的核
		if (paramPrep2.pMorph.openOp)
			morphologyEx(imgThresholded2, imgThresholded2, MORPH_OPEN, element1);
		if (paramPrep2.pMorph.closeOp)
			morphologyEx(imgThresholded2, imgThresholded2, MORPH_CLOSE, element2);
	}
	cv::imshow("imgThresholded2", imgThresholded2);
	//cv::waitKey(0);
	//imgThresholded = imgThresholded1 | imgThresholded2;
	//Mat =操作浅拷贝
	//深拷贝 1) img.copyTo(img1) 2) img1=img.clone()
	imgThresholded = imgThresholded2;
	//找contour，这个一个点集合
	std::vector<std::vector<cv::Point>> contours;
	std::vector<cv::Vec4i> hierarchy;
	findContours(imgThresholded, contours, hierarchy, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE, cv::Point());
	//外接矩形
	cv::Rect fRect = cv::Rect(0, 0, 0, 0);
	cv::Rect rect = cv::Rect(0, 0, 0, 0);
	cv::Mat imageContours = cv::Mat::zeros(imgThresholded.size(), CV_32FC3); //最小外接矩形画布
	for (int i = 0; i < contours.size(); i++)
	{
		cv::Rect tRect = cv::Rect(0, 0, 0, 0);
		//cv::Rect lRect = cv::Rect(0, 0, 0, 0);
		int tarea;
		int farea;
		//获取boundingbox
		tRect = cv::boundingRect(contours[i]);
		tarea = tRect.area();
		//判断面积
		if (tarea < 2000) continue;
		//合并矩形
		rect = fRect | tRect;
		fRect = cv::Rect(rect);
		//把矩形画出来看看
		cv::rectangle(imageContours, rect, Scalar(0, 0, 255), 2, 8, 0);
	}
	//在原图上画，和在画布上面看
	cv::rectangle(imageContours, rect, Scalar(0, 255, 0), 2, 8, 0);
	cv::rectangle(_img, rect, Scalar(0, 255, 0), 2, 8, 0);
	cv::imshow("contours", imageContours);
	//把获取的二维码区域裁剪出来进行二次滤波，为了获取boungidngbox
	cv::Mat secondImg = imgThresholded1(rect);
	ParamPrep paramPrep3 = ParamPrep(ParamHSV(Scalar(0, 0, 0), Scalar(61, 255, 141)), ParamMorph(2));
	cv::inRange(secondImg, paramPrep3.pHSV.scalarL, paramPrep3.pHSV.scalarH, secondImg); //Threshold the image 
	//cv::imshow("secondImg", secondImg);
	//cv::imshow("secondImg2", secondImg);
	std::vector<std::vector<cv::Point>> contours1;
	std::vector<cv::Vec4i> hierarchy1;
	findContours(secondImg, contours1, hierarchy1, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE, cv::Point());
	//外接矩形
	//cv::Rect wantRect;
	cv::Rect sRect = cv::Rect(0, 0, 0, 0);
	cv::Rect sfRect = cv::Rect(0, 0, 0, 0);
	cv::Mat imageContours1 = cv::Mat::zeros(secondImg.size(), CV_32FC3); //最小外接矩形画布
	cout <<" contours1.size()"<< contours1.size() << endl;
	//遍历contours
	for (int i = 0; i < contours1.size(); i++)
	{	
		cv::Rect stRect = cv::Rect(0, 0, 0, 0);
		int sfarea;
		stRect = cv::boundingRect(contours1[i]);
		if (stRect.area() < 2000) continue;
		sRect = sfRect | stRect;
		sfRect = cv::Rect(sRect);
		cv::rectangle(imageContours1, sRect, Scalar(0, 0, 255), 2, 8, 0);
		cv::imshow("imageContours1", imageContours1);
	}
	cout << "zzzzz" << sRect.x+rect.x << "	" << sRect.y+ rect.y << endl;
	//在二值化图像上画图，一个量就够了
	cv::rectangle(secondImg, sRect, 200, 2, 8, 0);
	cv::imshow("secondImg", secondImg);
}