opecv-python---API汇总

世界坐标系转为像素坐标系

point3d = np.array([-55.0, 15.0, -5.0])
point3d = np.mat(1000 * point3d)
point2d, _ = cv2.projectPoints(point3d, param['rotate_vec'], param['trans_vec'], param['in_param'], param['dist_vec'])

根据相机外参的旋转向量得到旋转矩阵

rvec = np.array([[1.755126, 0.9954, -0.773907]])
rot_mat, _ = cv2.Rodrigues(rvec)

图像减法

# 两张图相减，小于0的像素默认为0
sub = cv2.subtract(fg_masked, bg_masked)
# 计算两幅图的差的绝对值
sub = cv2.absdiff(bg, fg)

图像平滑（去噪）：高斯滤波，中值滤波，双边滤波，均值滤波

thresh = cv2.GaussianBlur(img, (5, 5), 0)
thresh = cv2.medianBlur(img, 5)
thresh = cv2.bilateralFilter(img, 9, 75, 75)
thresh = cv2.blur(img, (5, 5))

开运算（先腐蚀，后膨胀）

thresh = cv2.erode(thresh, (50,50), iterations=1)
thresh = cv2.dilate(thresh, (5,5), iterations=1)
# 形态学开运算
opening = cv2.morphologyEx(threshold,cv2.MORPH_OPEN,kernel)
# 闭运算
closing = cv2.morphologyEx(threshold,cv2.MORPH_CLOSE,kernel)

图像二值化

ret, thresh = cv2.threshold(mask_img, 0, 255, 0)

提取轮廓，画出轮廓

im, contours, hierarchy = cv2.findContours(thresh, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
frame = cv2.drawContours(frame, contours, -1, (0, 255, 255), 3)

计算轮廓面积，定位轮廓质心位置

for contour in contours:
    area = cv2.contourArea(contour)
    mu = cv2.moments(contour, False)
    mc = [mu['m10'] / mu['m00'], mu['m01'] / mu['m00']]

轮廓凸包，轮廓外接矩形，最小外接矩形

hull = cv2.convexHull(contour)
x, y, w, h = cv2.boundingRect(contour)
min_rect = cv2.minAreaRect(contour)

判断一点是否在轮廓内

flag = cv2.pointPolygonTest(occu_point, center, False)

图像mask操作

fg = cv2.imread(img_path)
rectangle = np.zeros(fg.shape[:2], dtype="uint8")
txtp = os.path.join(txt_dir, img.split('.')[0]+'.txt')
with open(txtp, 'r') as f:
    res1 = [[float(j) for j in x.split()] for x in f.read().splitlines()]
    for obj in res1:
        cls, cx, cy, cw, ch = obj
        xmin = int((cx - 0.5 * cw) * 1920)
        ymin = int((cy - 0.5 * ch) * 1080)
        xmax = int((cx + 0.5 * cw) * 1920)
        ymax = int((cy + 0.5 * ch) * 1080)
        cv2.rectangle(rectangle, (xmin, ymin), (xmax, ymax), 255, -1)
fg_masked = cv2.bitwise_and(fg, fg, mask=rectangle)
cv2.imshow('img', fg_masked)

画直线，多边形，矩形，圆

cv2.line(frame, corners[1], corners[5], (255, 0, 0), 1)
cv2.polylines(frame, [hull], True, (0, 255, 0), 2)
cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 255, 0), 2)
cv2.circle(frame, (int(mc[0]), int(mc[1])), 7, (0, 255, 0), -1)

多边形填充

# 填充任意多边形
cv2.fillPoly(frame, [area1], (255, 0, 0))
# 填充凸多边形
cv2.fillConvexPoly(frame, area4, (255, 255, 255))

图片缩放

# 等比例
frame = cv2.resize(frame, None, fx=0.5, fy=0.5)
# 固定尺寸
mask_img = cv2.resize(mask_img, (1920, 1080))