feat: hsv 可视化筛选器及路径框选模块

.gitignore

@@ -4,6 +4,7 @@ __pycache__/
 *.py[cod]
 *$py.class
 
+data/*
 # C extensions
 *.so
 
@@ -158,5 +159,5 @@ cython_debug/
 #  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
 #  and can be added to the global gitignore or merged into this file.  For a more nuclear
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
-#.idea/
+.idea/*
 

main.py

@@ -0,0 +1,67 @@
+import cv2
+import numpy as np
+
+
+def test():
+    raw = cv2.imread("./data/003.png")
+
+    # 设定颜色HSV范围，假定为红色
+    redLower = np.array([30, 0, 0])
+    redUpper = np.array([255, 193, 255])
+
+    img = raw
+
+    # 将图像转化为HSV格式
+    hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+
+    # 去除颜色范围外的其余颜色
+    mask = cv2.inRange(hsv, redLower, redUpper)
+    cv2.imshow("mask", mask)
+
+    # 二值化操作
+    ret, binary = cv2.threshold(mask, 0, 255, cv2.THRESH_BINARY)
+
+    # 膨胀操作，因为是对线条进行提取定位，所以腐蚀可能会造成更大间隔的断点，将线条切断，因此仅做膨胀操作
+    kernel = np.ones((5, 5), np.uint8)
+    dilation = cv2.dilate(binary, kernel, iterations=1)
+    #
+    # img2 = cv2.bitwise_and(img, img, mask=mask)
+    # cv2.imshow('image', mask)
+    # cv2.waitKey(0)
+    # cv2.destroyAllWindows()
+
+    # 获取图像轮廓坐标，其中contours为坐标值，此处只检测外形轮廓
+    contours, hierarchy = cv2.findContours(dilation, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+
+    aim_box = (0, 0, 0, 0)
+    if len(contours) > 0:
+        print('Run!')
+        # cv2.boundingRect()返回轮廓矩阵的坐标值，四个值为x, y, w, h， 其中x, y为左上角坐标，w,h为矩阵的宽和高
+        boxes = [cv2.boundingRect(c) for c in contours]
+        for box in boxes:
+            x, y, w, h = box
+            if box[2] * box[3] > aim_box[2] * aim_box[3]:
+                aim_box = box
+            # print(box)
+    else:
+        pass
+
+    # x, y, w, h = aim_box
+    # gray = cv2.GaussianBlur(raw, (5, 5), 0)
+    # canny = cv2.Canny(gray, 70, 210)
+    # contours, hierarchy = cv2.findContours(canny.copy(), cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
+    # contours = sorted(contours, key=cv2.contourArea, reverse=True)[:3]
+    #
+    # drawed = cv2.drawContours(raw, contours, -1, (0, 0, 255), 2)
+    # print(f"轮廓数量：{len(contours)}")
+    # cv2.imshow("raw", cv2.imread("./data/003.png"))
+    # cv2.imshow("test1", drawed)
+    # cv2.imshow("test", canny)
+    cv2.waitKey(0)
+
+
+# Press the green button in the gutter to run the script.
+if __name__ == '__main__':
+    test()
+
+# See PyCharm help at https://www.jetbrains.com/help/pycharm/

sim_control.py

@@ -0,0 +1,29 @@
+import airsim
+import os
+
+# connect to the AirSim simulator
+client = airsim.MultirotorClient()
+client.confirmConnection()
+# get control
+client.enableApiControl(True)
+# unlock
+client.armDisarm(True)
+# Async methods returns Future. Call join() to wait for task to complete.
+client.takeoffAsync().join()
+
+
+# keep fly in square path until get images
+client.moveByVelocityAsync(0, 0, 0, 1).join()
+# client.moveOnPathAsync([airsim.Vector3r(100, 0, -10)], 0.1, 60, airsim.DrivetrainType.ForwardOnly, airsim.YawMode(False, 0)).join()
+
+# take video from bottom camera and show using cv2
+raw = client.simGetImage("bottom_center", airsim.ImageType.Scene)
+airsim.write_file(os.path.normpath("./data/004.png"), raw)
+
+
+client.landAsync().join()
+# lock
+client.armDisarm(False)
+
+# release control
+client.enableApiControl(False)

utils/hsv_pick.py

@@ -0,0 +1,159 @@
+import os
+import tkinter as tk
+from tkinter import *
+from tkinter import filedialog
+from PIL import Image, ImageTk
+
+
+os.chdir('D:\Documents\Programing\PycharmProjects\OrionVision\data')
+
+class GUI():
+    def __init__(self, window):
+        self.window = window
+        # title
+        self.window.title("fish fish fish")
+        # siz=800*600,position=(500,200)
+        self.window.geometry('1600x800+500+200')
+        self.window["bg"] = "DimGray"
+        # self.img_src = Image.open("../data/004.png")
+        self.img_src = Image.open(os.getcwd() + "/004.png")
+        self.img_src.load()
+        # icon
+        # self.icon = ImageTk.PhotoImage(file='hsv_icon.ico')
+        # self.window.call('wm','iconphoto',self.window._w,self.icon)
+
+    def choose_file(self):
+        self.imgpath = filedialog.askopenfilename()
+        if self.imgpath:
+            self.img_src = Image.open(self.imgpath)
+            self.img_src.load()
+            self.hmin_scale.set(1)
+            self.hmin_scale.set(0)
+            self.smin_scale.set(0)
+            self.vmin_scale.set(0)
+            self.hmax_scale.set(255)
+            self.smax_scale.set(255)
+            self.vmax_scale.set(255)
+
+    def start_mark(self, event):
+        img_block = self.img_src.copy().convert("HSV")
+
+        t = list(img_block.getdata())
+
+        t2 = []
+        # print(len(t))
+        hmin = self.hmin_scale.get()
+        hmax = self.hmax_scale.get()
+        smin = self.smin_scale.get()
+        smax = self.smax_scale.get()
+        vmin = self.vmin_scale.get()
+        vmax = self.vmax_scale.get()
+        for i in range(0, len(t)):
+            h = t[i][0]
+            s = t[i][1]
+            v = t[i][2]
+            if (h >= hmin) and (h <= hmax) and (s >= smin) and (s <= smax) and (v >= vmin) and (v < vmax):
+                t2.append((h, s, v))
+            else:
+                t2.append((0, 0, 0))
+            # t2.append((max(t[i][0]-50,20),t[i][1],t[i][2]))
+        img_block.putdata(t2)
+        self.img = img_block.convert("RGB")
+        self.img = self.img.resize((1200, 675))
+        self.img = ImageTk.PhotoImage(self.img)
+        BOARD_HEIGHT = 675
+        BOARD_WIDTH = 1200
+        self.canvas.create_image(BOARD_WIDTH / 2 + 1, BOARD_HEIGHT / 2 + 1, image=self.img)
+        # self.canvas.create_image(0,0,image=self.img)
+        # my_window.update()
+
+    def create_widgets(self):
+
+        # scale
+        self.hmin_label = Label(self.window, text='色调下限', fg='WhiteSmoke', bg="DimGray")
+        self.hmin_scale = Scale(self.window, orient=HORIZONTAL, from_=0, to=255, resolution=1, command=self.start_mark,
+                                tickinterval=50, length=200, width=7, fg='WhiteSmoke', bg="DimGray")
+        self.hmax_label = Label(self.window, text='色调上限', fg='WhiteSmoke', bg="DimGray")
+        self.hmax_scale = Scale(self.window, orient=HORIZONTAL, from_=0, to=255, resolution=1, command=self.start_mark,
+                                tickinterval=50, length=200, width=7, fg='WhiteSmoke', bg="DimGray")
+        self.smin_label = Label(self.window, text='饱和度下限', fg='WhiteSmoke', bg="DimGray")
+        self.smin_scale = Scale(self.window, orient=HORIZONTAL, from_=0, to=255, resolution=1, command=self.start_mark,
+                                tickinterval=50, length=200, width=7, fg='WhiteSmoke', bg="DimGray")
+        self.smax_label = Label(self.window, text='饱和度上限', fg='WhiteSmoke', bg="DimGray")
+        self.smax_scale = Scale(self.window, orient=HORIZONTAL, from_=0, to=255, resolution=1, command=self.start_mark,
+                                tickinterval=50, length=200, width=7, fg='WhiteSmoke', bg="DimGray")
+        self.vmin_label = Label(self.window, text='明度下限', fg='WhiteSmoke', bg="DimGray")
+        self.vmin_scale = Scale(self.window, orient=HORIZONTAL, from_=0, to=255, resolution=1, command=self.start_mark,
+                                tickinterval=50, length=200, width=7, fg='WhiteSmoke', bg="DimGray")
+        self.vmax_label = Label(self.window, text='明度上限', fg='WhiteSmoke', bg="DimGray")
+        self.vmax_scale = Scale(self.window, orient=HORIZONTAL, from_=0, to=255, resolution=1, command=self.start_mark,
+                                tickinterval=50, length=200, width=7, fg='WhiteSmoke', bg="DimGray")
+
+        self.hmax_scale.set(255)
+        self.smax_scale.set(255)
+        self.vmax_scale.set(255)
+        # scale position
+        self.hmin_label.grid(row=0, column=0, padx=15)
+        self.hmin_scale.grid(row=0, column=1, pady=2)
+        self.hmax_label.grid(row=1, column=0)
+        self.hmax_scale.grid(row=1, column=1, pady=2)
+        self.smin_label.grid(row=2, column=0)
+        self.smin_scale.grid(row=2, column=1, pady=2)
+        self.smax_label.grid(row=3, column=0)
+        self.smax_scale.grid(row=3, column=1, pady=2)
+        self.vmin_label.grid(row=4, column=0)
+        self.vmin_scale.grid(row=4, column=1, pady=2)
+        self.vmax_label.grid(row=5, column=0)
+        self.vmax_scale.grid(row=5, column=1, pady=2)
+
+        # img
+        self.img = Image.open(os.getcwd() + "/004.png")
+        self.img = self.img.resize((1200, 675))
+        self.img = ImageTk.PhotoImage(self.img)
+
+        self.canvas = Canvas(my_window, width=1200, height=675)
+        BOARD_HEIGHT = 675
+        BOARD_WIDTH = 1200
+        self.canvas.create_image(BOARD_WIDTH / 2 + 1, BOARD_HEIGHT / 2 + 1, image=self.img)
+        self.canvas.place(x=320, y=30)
+        # self.canvas.pack()
+        # self.orign = Label(self.window,image=self.img,width=1200,height=675)
+        # self.work = Label(self.window,image=self.img,width=800,height=450)
+        # img position
+        # self.orign.place(x=320, y=30)
+        # self.work.place(x=650,y=30)
+
+        self.refresh_button = Button(self.window, text='选图', font=('宋体', 12), command=self.choose_file, height=2,
+                                     width=15, fg='blue', bg="BurlyWood")
+        self.refresh_button.place(x=18, y=380)
+
+        '''
+        #Button
+
+        self.import_button = Button(self.window, text='导入原图',font=('隶书',45), height=2, width=9,fg='WhiteSmoke',bg="BurlyWood")
+        self.clear_button = Button(self.window, text='删除所有',font=('隶书',12), height=2, width=15,fg='WhiteSmoke',bg="BurlyWood")
+        self.delete_button = Button(self.window, text='删除当前',font=('隶书',12), height=2, width=15,fg='WhiteSmoke',bg="BurlyWood")
+        self.switch_button = Button(self.window,text='区域切换',font=('隶书',12), height=2, width=15,fg='WhiteSmoke',bg="BurlyWood")
+        self.save_button = Button(self.window, text='区域暂存',font=('隶书',12), height=2, width=15,fg='WhiteSmoke',bg="BurlyWood")
+        self.merge_button = Button(self.window, text='合并区域',font=('隶书',12), height=2, width=15,fg='WhiteSmoke',bg="BurlyWood")
+        self.picture_button = Button(self.window, text='生成图片',font=('隶书',12), height=2, width=15,fg='WhiteSmoke',bg="BurlyWood")
+
+        #button position
+        self.import_button.place(x=18,y=400)
+        self.clear_button.place(x=370,y=420)
+        self.delete_button.place(x=570,y=420)
+        self.switch_button.place(x=770,y=420)
+        self.save_button.place(x=370,y=500)
+        self.merge_button.place(x=570,y=500)
+        self.picture_button.place(x=770,y=500)
+        '''
+
+    def gui_start():
+        global my_window
+        my_window = Tk()
+        my_gui = GUI(my_window)
+        my_gui.create_widgets()
+        my_window.mainloop()
+
+
+GUI.gui_start()

utils/path_detect.py

@@ -0,0 +1,37 @@
+import cv2
+import numpy as np
+
+
+# https://www.cnblogs.com/meikaiyuan/p/16805539.html
+
+def read_image(path):
+    raw = cv2.imread(path)
+    # 设定颜色HSV范围，假定为红色
+    color_lower = np.array([0, 0, 150])
+    color_upper = np.array([255, 255, 209])
+
+    # 将图像转化为HSV格式
+    hsv = cv2.cvtColor(raw, cv2.COLOR_BGR2HSV)
+
+    # 去除颜色范围外的其余颜色
+    mask = cv2.inRange(hsv, color_lower, color_upper)
+    cv2.imshow("mask", mask)
+
+    # 二值化操作
+    ret, binary = cv2.threshold(mask, 0, 255, cv2.THRESH_BINARY)
+
+    # 膨胀操作，因为是对线条进行提取定位，所以腐蚀可能会造成更大间隔的断点，将线条切断，因此仅做膨胀操作
+    kernel = np.ones((5, 5), np.uint8)
+    dilation = cv2.dilate(binary, kernel, iterations=1)
+    #
+    # img2 = cv2.bitwise_and(img, img, mask=mask)
+    # cv2.imshow('image', mask)
+    cv2.waitKey(0)
+    cv2.destroyAllWindows()
+
+    # 获取图像轮廓坐标，其中contours为坐标值，此处只检测外形轮廓
+    contours, hierarchy = cv2.findContours(dilation, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+
+
+if __name__ == '__main__':
+    read_image("../data/004.png")