基于opencv提取物体边框，用于机械臂抓取

将这张图读取边框

 读取图片

import cv2
import numpy as np

img_name = r"E:\new-learning\learn-porject\learn_opencv_tiqubiankuan_smarttrash\image\3.jpg"


img = cv2.imread(img_name)

new_size = (500, 600)
img = cv2.resize(img, new_size)

cv2.imshow('first', img)
# 等待用户按下任意键
cv2.waitKey(0)
# 关闭图像窗口
cv2.destroyAllWindows()

彩色图像灰度化

gray_img = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
cv2.imshow('gray', gray_img)
# 等待用户按下任意键
cv2.waitKey(0)
# 关闭图像窗口
cv2.destroyAllWindows()

二值化，均值滤波，OTSU分割法，之后画边框

# _, binary_image = cv2.threshold(gray_img, 0, 255, cv2.THRESH_BINARY + cv2.THRESH_OTSU)

# threshold_value = img.mean()
# print(threshold_value)
cv2.imshow('gray', gray_img)

# 均值滤波
blurred_img = cv2.blur(gray_img, (5, 5))  # 可调整内核大小
cv2.imshow('blurred', blurred_img)

# threshold_value = 247

_, binary_image = cv2.threshold(blurred_img, threshold_value, 255, cv2.THRESH_BINARY + cv2.THRESH_OTSU)
cv2.imshow('binary', binary_image)
contours, _ = cv2.findContours(binary_image, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)

image_with_contours = img.copy()
cv2.drawContours(image_with_contours, contours, -1, (0, 255, 0), 2)

cv2.imshow('Image with Contours', image_with_contours)
cv2.waitKey(0)
cv2.destroyAllWindows()

结果：

灰度：

均值滤波：

otsu分割法：

画边框：

缺点：物体白色的部分和背景相像，有什么好的办法能画边框不？