HSV值获取

HSV值获取
在计算机视觉中，颜色提取是一种常用的图像处理技术，其中HSV（色相、饱和度、明度）是一种常见的颜色空间，用于描述和提取图像中的颜色信息。

HSV颜色空间将颜色表示为三个分量：色相（H）、饱和度（S）和明度（V）。

• 色相（Hue）： 色相是颜色的类型或类别，描述了颜色在光谱中的位置。在HSV模型中，色相表示为一个角度值，通常在0到360度之间，将整个颜色光谱分为不同的颜色区域，如红、橙、黄、绿、蓝、紫等。
• 饱和度（Saturation）： 饱和度表示颜色的纯度或强度，即颜色的深浅程度。饱和度为0时，颜色变为灰阶；饱和度为最大值时，颜色呈现出最鲜艳的状态。饱和度的取值范围通常在0到1之间，也可以表示为0%到100%。
• 明度（Value）： 明度表示颜色的明亮度，即颜色的亮度和深度。明度为0时，颜色为黑色；明度为最大值时，颜色为白色。明度的取值范围通常在0到1之间，也可以表示为0%到100%。

通过这三个参数的组合，可以在HSV模型中精确地描述各种颜色，使得调整和理解颜色更加直观和容易。在图像处理中，HSV模型常用于调整图像的颜色平衡、色调和亮度等方面。

硬件环境
操作环境及软硬件配置如下：

• OriginEye 智能相机
• PC：Ubuntu (≥20.04) + ROS2 (≥Foxy)

代码

    import cv2    import numpy as np    import rclpy    from rclpy.node import Node    from sensor_msgs.msg import Image    from cv_bridge import CvBridge    from collections import deque    import textwrap    class GetHsv(Node):        def __init__(self):            super().__init__('get_hsv')            self.get_logger().info("Start get HSV")            self.bridge = CvBridge()            self.image_sub = self.create_subscription(Image, '/image_raw', self.image_callback, 10)            self.pub = self.create_publisher(Image, '/camera/process_image', 10)            self.count = 0            self.box_width = 60            self.collect_times = 300            self.HSV_value = deque(maxlen=self.collect_times)            self.H_range, self.S_range, self.V_range = 10, 80, 80            self.lower_HSV = None            self.upper_HSV = None        def image_callback(self, msg):            image = self.bridge.imgmsg_to_cv2(msg, 'bgr8')            if self.count < self.collect_times:                self.draw_rectangle(image)            elif self.count < self.collect_times + self.collect_times:                self.collect_hsv_value(image)            else:                self.save_hsv_value(image)            self.count += 1            self.pub.publish(self.bridge.cv2_to_imgmsg(image, 'bgr8'))        def draw_rectangle(self, image):            text = 'please put the color being tested in the rectangle box!'            self.add_text(image, text)            rect_x = (image.shape[1] - self.box_width) // 2            rect_y = (image.shape[0] - self.box_width) // 2            cv2.rectangle(image, (rect_x, rect_y), (                    rect_x + self.box_width, rect_y + self.box_width), (0, 255, 0), 3)        def collect_hsv_value(self, image):            text = 'HSV_value is collecting!'            self.add_text(image, text)            frame_x = (image.shape[1] - self.box_width) // 2            frame_y = (image.shape[0] - self.box_width) // 2            frame = image[frame_y:frame_y + self.box_width, frame_x:frame_x + self.box_width]            self.HSV_value.append(self.calculate_mean_hsv(frame))        def save_hsv_value(self, image):            text = 'HSV_value is collected!'            self.add_text(image,text)            mean_HSV = np.mean(self.HSV_value, axis=0)            self.lower_HSV, self.upper_HSV = self.calculate_hsv_range(mean_HSV)            self.write_hsv_to_file(self.lower_HSV, self.upper_HSV)        def calculate_mean_hsv(self, img):            hsv_image = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)            return np.mean(hsv_image, axis=(0, 1))        def calculate_hsv_range(self, HSV_value):            lower_H = np.clip(int(HSV_value[0] - self.H_range), 0, 180)            upper_H = np.clip(int(HSV_value[0] + self.H_range), 0, 180)            lower_S = np.clip(int(HSV_value[1] - self.S_range), 40, 255)            upper_S = np.clip(int(HSV_value[1] + self.S_range), 40, 255)            lower_V = np.clip(int(HSV_value[2] - self.V_range), 40, 255)            upper_V = np.clip(int(HSV_value[2] + self.V_range), 40, 255)            return np.array([lower_H, lower_S, lower_V]), np.array([upper_H, upper_S, upper_V])        def write_hsv_to_file(self, lower_HSV, upper_HSV):            content = f"block_HSV is : {lower_HSV[0]},                {lower_HSV[1]},{lower_HSV[2]} {upper_HSV[0]},{upper_HSV[1]},{upper_HSV[2]}\n"            filename = "/userdata/dev_ws/color_block_HSV.txt"            with open(filename, "w+") as f:                f.write(content)            self.get_logger().info(f"HSV value has been saved in {filename}")            self.get_logger().info(content)        def add_text(self, image, text):            text = textwrap.wrap(text, width = 80)            text_y = image.shape[0] // 2 - 30            for line in text:                text_size, _ = cv2.getTextSize(line, cv2.FONT_HERSHEY_SIMPLEX, 1.2, 2)                text_x = (image.shape[1] - text_size[0]) // 2                cv2.putText(image, line, (text_x, text_y),                     cv2.FONT_HERSHEY_SIMPLEX, 1.2, (0, 255, 0), 2, cv2.LINE_AA)    def main(args=None):        rclpy.init(args=args)        get_hsv = GetHsv()        rclpy.spin(get_hsv)        get_hsv.destroy_node()        rclpy.shutdown()    if __name__ == '__main__':        main()

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