用python和opencv来测量目标到相机的距离_毕业课题项目——基于单目摄像头的距离测量...

1 importnumpy as np2 importcv23 #找到目标函数

4 deffind_marker(image):5 #convert the image to grayscale, blur it, and detect edges

6 #将图像转换成灰度、模糊和检测边缘

7 gray =cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)8 gray = cv2.GaussianBlur(gray, (5, 5), 0)9 edged = cv2.Canny(gray, 35, 125)10

11 #find the contours in the edged image and keep the largest one;

12 #在边缘图像中找到轮廓并保持最大的轮廓

13 #we'll assume that this is our piece of paper in the image

14 #我们假设这是我们在图像中的一张纸

15 (_, cnts, _) =cv2.findContours(edged.copy(), cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)16 #求最大面积

17 c = max(cnts, key =cv2.contourArea)18

19 #compute the bounding box of the of the paper region and return it

20 #计算纸张区域的边界框并返回它

21 #cv2.minAreaRect() c代表点集，返回rect[0]是最小外接矩形中心点坐标，

22 #rect[1][0]是width，rect[1][1]是height，rect[2]是角度

23 returncv2.minAreaRect(c)24

25 #距离计算函数

26 defdistance_to_camera(knownWidth, focalLength, perWidth):27 #compute and return the distance from the maker to the camera

28 #计算并返回从目标到相机的距离

29 return (knownWidth * focalLength) /perWidth30

31 #initialize the known distance from the camera to the object, which

32 #in this case is 24 inches

33 #初始化已知距离从相机到对象，在这种情况下是24英寸

34 KNOWN_DISTANCE = 24.0

35

36 #initialize the known object width, which in this case, the piece of

37 #paper is 11 inches wide

38 #初始化已知的物体宽度，在这种情况下，纸是11英寸宽。

39 #A4纸的长和宽(单位:inches)

40 KNOWN_WIDTH = 11.69

41 KNOWN_HEIGHT = 8.27

42

43 #initialize the list of images that we'll be using

44 #初始化我们将要使用的图像列表

45 IMAGE_PATHS = ["Picture1.jpg", "Picture2.jpg", "Picture3.jpg"]46

47 #load the furst image that contains an object that is KNOWN TO BE 2 feet

48 #from our camera, then find the paper marker in the image, and initialize

49 #the focal length

50 #加载包含一个距离我们相机2英尺的物体的第一张图像，然后找到图像中的纸张标记，并初始化焦距

51 #读入第一张图，通过已知距离计算相机焦距

52 image = cv2.imread("E:\\lena.jpg") #应使用摄像头拍的图

53 marker =find_marker(image)54 focalLength = (marker[1][0] * KNOWN_DISTANCE) / KNOWN_WIDTH #D’ = (W x F) / P

55

56 #通过摄像头标定获取的像素焦距

57 #focalLength = 811.82

58 print('focalLength =',focalLength)59

60 #打开摄像头

61 camera =cv2.VideoCapture(0)62

63 whilecamera.isOpened():64 #get a frame

65 (grabbed, frame) =camera.read()66 marker =find_marker(frame)67 if marker ==0:68 print(marker)69 continue

70 inches = distance_to_camera(KNOWN_WIDTH, focalLength, marker[1][0])71

72 #draw a bounding box around the image and display it

73 #在图像周围绘制一个边界框并显示它

74 box =cv2.boxPoints(marker)75 box =np.int0(box)76 cv2.drawContours(frame, [box], -1, (0, 255, 0), 2)77

78 #inches 转换为 cm

79 cv2.putText(frame, "%.2fcm" % (inches *30.48/ 12),80 (frame.shape[1] - 200, frame.shape[0] - 20), cv2.FONT_HERSHEY_SIMPLEX,81 2.0, (0, 255, 0), 3)82

83 #show a frame

84 cv2.imshow("capture", frame)85 if cv2.waitKey(1) & 0xFF == ord('q'):86 break

87 camera.release()88 cv2.destroyAllWindows()