0603

工程/Area_tracking.py

@@ -1,7 +1,23 @@
 import cv2
 import numpy as np
 
+kf = cv2.KalmanFilter(4, 2)
+kf.measurementMatrix = np.array([[1, 0, 0, 0],
+                                      [0, 1, 0, 0]], np.float32)
+kf.transitionMatrix = np.array([[1, 0, 1, 0],
+                                    [0, 1, 0, 1],
+                                    [0, 0, 1, 0],
+                                    [0, 0, 0, 1]], np.float32)
+kf.processNoiseCov = np.array([[1, 0, 0, 0],
+                                   [0, 1, 0, 0],
+                                   [0, 0, 1, 0],
+                                   [0, 0, 0, 1]], np.float32) * 0.03
+
+# 用于初始化卡尔曼滤波器的变量
+initial_measurement = None
+
 def main():
+    global initial_measurement, kf
     # 初始化摄像头
     cap = cv2.VideoCapture(0)
 
@@ -31,8 +47,6 @@ def main():
                     color_mean = np.mean(roi_hsv, axis=(0, 1))
                     color_mean = np.uint8(color_mean)
 
-                    # 创建颜色范围
-                    # color_range = 10
                     color_lower = np.array(
                         [max(color_mean[0] - 30, 0), max(color_mean[1] - 60, 0), max(color_mean[2] - 55, 0)])
                     color_upper = np.array(
@@ -65,7 +79,19 @@ def main():
                 if cv2.contourArea(contour) > 300:
                     x, y, w, h = cv2.boundingRect(contour)
                     cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 255, 0), 2)
-            print(color_lower, color_upper)
+
+                    # 初始化卡尔曼滤波器的测量值
+                    if initial_measurement is None:
+                        initial_measurement = np.array([[x], [y]], np.float32)
+                        kf.statePost = initial_measurement
+                    else:
+                        # 更新卡尔曼滤波器
+                        measurement = np.array([[x], [y]], np.float32)
+                        kf.correct(measurement)
+                        prediction = kf.predict()
+                        cv2.rectangle(frame, (int(prediction[0]), int(prediction[1])),
+                                      (int(prediction[0] + w), int(prediction[1] + h)),
+                                      (255, 0, 0), 2)
 
             # 显示原图和结果图像
             cv2.imshow('Original', frame)
@@ -81,4 +107,3 @@ def main():
 
 if __name__ == '__main__':
     main()
-

工程/Color_tracking.py

@@ -27,6 +27,7 @@ running = False
 kf = None
 cap = None
 root = None
+stop_thread = False
 def initialize_kalman_filter():
     """初始化卡尔曼滤波器"""
     global kf
@@ -45,8 +46,8 @@ def initialize_kalman_filter():
 # 用于初始化卡尔曼滤波器的变量
 initial_measurement = None
 
+#初始化摄像头
 def initialize_camera():
-    """初始化摄像头"""
     global cap
     cap = cv2.VideoCapture(0)
 
@@ -54,19 +55,34 @@ def choose_color():
     global selected_color
     # 显示颜色选择对话框
     color_options = list(color_hsv_ranges.keys())
-    selected_color = simpledialog.askstring("Choose Color", "Enter the color (blue, green, red, custom):",
+    selected_color = simpledialog.askstring("选择颜色", "输入颜色 (blue, green, red, custom):",
                                             initialvalue=selected_color, parent=root)
     # 检查颜色选择是否有效，更新阈值
     if selected_color in color_options:
         update_color_threshold(selected_color)
     else:
-        messagebox.showerror("Error", "Invalid color selection.")
+        messagebox.showerror("错误", "颜色选择无效")
+
+def rgb_to_hsv(rgba):
+    """将RGB颜色转换为HSV颜色"""
+    rgb = rgba[:3]  # 忽略alpha通道
+    hsv = cv2.cvtColor(np.uint8([[rgb]]), cv2.COLOR_RGB2HSV)[0][0]
+    return hsv
 
 def choose_custom_color():
-    color_code = colorchooser.askcolor(title="Choose Custom Color")
+    color_code = colorchooser.askcolor(title="选择自定义颜色")
     if color_code[0] is not None:
-        lower = np.array([color_code[0][0] / 2, color_code[0][1] / 2, color_code[0][2] / 2])
+        hsv_color = rgb_to_hsv(color_code[0])
-        upper = np.array([color_code[0][0], color_code[0][1], color_code[0][2]])
+
+        # 计算HSV的下限和上限
+        lower = np.array([hsv_color[0] - 35, hsv_color[1] * 0.5, hsv_color[2] * 0.65])
+        upper = np.array([hsv_color[0] + 10, hsv_color[1] * 1.2, hsv_color[2] * 1.2])
+
+        # 确保HSV值在有效范围内
+        lower = np.clip(lower, 0, 180)
+        upper = np.clip(upper, 0, 255)
+
+        # 更新自定义颜色的HSV阈值
         update_custom_hsv(lower, upper)
 
 def update_custom_hsv(lower, upper):
@@ -76,17 +92,19 @@ def update_custom_hsv(lower, upper):
     update_color_threshold('custom')
 
 def exit_app():
-    global running, cap
+    global running, cap, stop_thread
     running = False
+    stop_thread = True
+    root.quit()
     cap.release()
     cv2.destroyAllWindows()
-    root.quit()
+
 
 def initialize_gui():
     """初始化GUI界面"""
     global root
     root = tk.Tk()
-    root.title("Color Tracker")
+    root.title("颜色追踪")
     # 开始/停止摄像头按钮
     start_button = tk.Button(root, text="开始/停止", command=start_camera)
     start_button.pack()
@@ -111,37 +129,37 @@ def initialize_gui():
         )
 
     # 自定义颜色HSV滑块
-    lower_h_scale = Scale(root, from_=0, to=180, orient=HORIZONTAL, label="Hue Min",
+    lower_h_scale = Scale(root, from_=0, to=180, orient=HORIZONTAL, label="色调 Min",
                           command=lambda v: set_custom_hsv(v, lower_s_scale.get(), lower_v_scale.get(),
                                                            upper_h_scale.get(),
                                                            upper_s_scale.get(), upper_v_scale.get()))
     lower_h_scale.pack()
 
-    lower_s_scale = Scale(root, from_=0, to=255, orient=HORIZONTAL, label="Saturation Min",
+    lower_s_scale = Scale(root, from_=0, to=255, orient=HORIZONTAL, label="饱和度 Min",
                           command=lambda v: set_custom_hsv(lower_h_scale.get(), v, lower_v_scale.get(),
                                                            upper_h_scale.get(),
                                                            upper_s_scale.get(), upper_v_scale.get()))
     lower_s_scale.pack()
 
-    lower_v_scale = Scale(root, from_=0, to=255, orient=HORIZONTAL, label="Value Min",
+    lower_v_scale = Scale(root, from_=0, to=255, orient=HORIZONTAL, label="亮度 Min",
                           command=lambda v: set_custom_hsv(lower_h_scale.get(), lower_s_scale.get(), v,
                                                            upper_h_scale.get(),
                                                            upper_s_scale.get(), upper_v_scale.get()))
     lower_v_scale.pack()
 
-    upper_h_scale = Scale(root, from_=0, to=180, orient=HORIZONTAL, label="Hue Max",
+    upper_h_scale = Scale(root, from_=0, to=180, orient=HORIZONTAL, label="色调 Max",
                           command=lambda v: set_custom_hsv(lower_h_scale.get(), lower_s_scale.get(),
                                                            lower_v_scale.get(), v,
                                                            upper_s_scale.get(), upper_v_scale.get()))
     upper_h_scale.pack()
 
-    upper_s_scale = Scale(root, from_=0, to=255, orient=HORIZONTAL, label="Saturation Max",
+    upper_s_scale = Scale(root, from_=0, to=255, orient=HORIZONTAL, label="饱和度 Max",
                           command=lambda v: set_custom_hsv(lower_h_scale.get(), lower_s_scale.get(),
                                                            lower_v_scale.get(),
                                                            upper_h_scale.get(), v, upper_v_scale.get()))
     upper_s_scale.pack()
 
-    upper_v_scale = Scale(root, from_=0, to=255, orient=HORIZONTAL, label="Value Max",
+    upper_v_scale = Scale(root, from_=0, to=255, orient=HORIZONTAL, label="亮度 Max",
                           command=lambda v: set_custom_hsv(lower_h_scale.get(), lower_s_scale.get(),
                                                            lower_v_scale.get(),
                                                            upper_h_scale.get(), upper_s_scale.get(), v))
@@ -167,8 +185,8 @@ def start_camera():
 
 def camera_thread():
     """摄像头处理线程函数"""
-    global running, initial_measurement, lower_hsv, upper_hsv
+    global running, initial_measurement, lower_hsv, upper_hsv, stop_thread
-    while running:
+    while running and not stop_thread:
         ret, frame = cap.read()
         if not ret:
             messagebox.showerror("Error", "Failed to read frame from camera.")
@@ -192,7 +210,7 @@ def camera_thread():
 
         # 遍历轮廓，画出边界框
         for contour in contours:
-            if cv2.contourArea(contour) > 100:
+            if cv2.contourArea(contour) > 300:
                 x, y, w, h = cv2.boundingRect(contour)
                 cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 255, 0), 2)
 
@@ -209,6 +227,9 @@ def camera_thread():
                                   (int(prediction[0] + w), int(prediction[1] + h)),
                                   (255, 0, 0), 2)
 
+
+        print(lower_hsv, upper_hsv)
+
         cv2.imshow('Frame', frame)
         cv2.imshow('Mask', mask)
 

工程/invoke.py

@@ -26,9 +26,11 @@ button2.move(50, 100)
 button2.clicked.connect(Area_tracking.main)
 
 quit_button = QPushButton('退出', widget)
-quit_button.move(150, 50)
+quit_button.move(200, 50)
 quit_button.clicked.connect(quit_app)
 
+
+
 widget.show()
 
 sys.exit(app.exec())