diff --git a/工程/Color_tracking.py b/工程/Color_tracking.py new file mode 100644 index 0000000..07cc876 --- /dev/null +++ b/工程/Color_tracking.py @@ -0,0 +1,229 @@ +import cv2 +import numpy as np +import tkinter as tk +from tkinter import colorchooser, simpledialog, Scale, HORIZONTAL, messagebox +from threading import Thread + +# 颜色的HSV阈值 +color_hsv_ranges = { + 'blue': {'lower': np.array([100, 150, 50], dtype=np.uint8), + 'upper': np.array([140, 255, 255], dtype=np.uint8)}, + 'green': {'lower': np.array([35, 46, 120], dtype=np.uint8), + 'upper': np.array([60, 255, 255], dtype=np.uint8)}, + 'red': {'lower': np.array([0, 94, 161], dtype=np.uint8), + 'upper': np.array([180, 255, 255], dtype=np.uint8)}, + 'custom': {'lower': np.array([0, 0, 0], dtype=np.uint8), + 'upper': np.array([180, 255, 255], dtype=np.uint8)} +} + +# 初始化选择的颜色 +selected_color = 'green' +#获取初始颜色HSV阈值 +lower_hsv, upper_hsv = (color_hsv_ranges[selected_color]['lower'], + color_hsv_ranges[selected_color]['upper']) + +# 全局变量 +running = False + +# 初始化卡尔曼滤波器 +# 卡尔曼滤波器用于预测物体的位置 +kf = cv2.KalmanFilter(4, 2) # 4状态，2测量 +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 + +# 更新颜色阈值的函数 +def update_color_threshold(color_name): + global lower_hsv, upper_hsv + # 根据选择的颜色更新颜色阈值 + lower_hsv = color_hsv_ranges[color_name]['lower'] + upper_hsv = color_hsv_ranges[color_name]['upper'] + + +# 开始摄像头处理线程 +def start_camera(): + global running + if not running: + running = True + thread = Thread(target=camera_thread) + thread.start() + start_button.config(text="Stop Camera") + else: + running = False + start_button.config(text="Start Camera") + + +# 摄像头处理线程函数 +def camera_thread(): + global running, initial_measurement + while running: + ret, frame = cap.read() + if not ret: + messagebox.showerror("Error", "Failed to read frame from camera.") + running = False + break + + + # 将BGR图像转换为HSV + hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) + mask = cv2.inRange(hsv, lower_hsv, upper_hsv) + + + # 应用开运算和闭运算去除噪声 + kernel = np.ones((5, 5), np.uint8) + mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel) + mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernel) + + # 查找轮廓 + contours, _ = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) + + # 遍历轮廓，画出边界框 + for contour in contours: + if cv2.contourArea(contour) > 100: + x, y, w, h = cv2.boundingRect(contour) + cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 255, 0), 2) + + # 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) + + cv2.imshow('Frame', frame) + cv2.imshow('Mask', mask) + + if cv2.waitKey(1) & 0xFF == ord('q'): + running = False + + cv2.destroyAllWindows() + + +# 选择颜色 +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):", + 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.") + + +# 选择自定义颜色 +def choose_custom_color(): + color_code = colorchooser.askcolor(title="Choose Custom Color") + 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]) + upper = np.array([color_code[0][0], color_code[0][1], color_code[0][2]]) + update_custom_hsv(lower, upper) + + +# 更新自定义颜色的HSV阈值 +def update_custom_hsv(lower, upper): + global color_hsv_ranges + color_hsv_ranges['custom']['lower'] = lower.astype(np.uint8) + color_hsv_ranges['custom']['upper'] = upper.astype(np.uint8) + update_color_threshold('custom') + + +# 退出程序 +def exit_app(): + global running, cap + running = False + cap.release() + root.quit() + + +# 创建主窗口 +root = tk.Tk() +root.title("Color Tracker") + +# 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() + +# 颜色选择按钮 +choose_color_button = tk.Button(root, text="选择颜色", command=choose_color) +choose_color_button.pack() + +# 自定义颜色按钮 +custom_color_button = tk.Button(root, text="自定义颜色", command=choose_custom_color) +custom_color_button.pack() + +# 退出按钮 +exit_button = tk.Button(root, text="退出", command=exit_app) +exit_button.pack() + + +# 自定义颜色HSV滑块 +def set_custom_hsv(lower_h, lower_s, lower_v, upper_h, upper_s, upper_v): + update_custom_hsv( + np.array([lower_h, lower_s, lower_v]), + np.array([upper_h, upper_s, upper_v]) + ) + + +# 自定义颜色HSV滑块 +lower_h_scale = Scale(root, from_=0, to=180, orient=HORIZONTAL, label="Hue 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", + 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", + 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", + 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", + 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", + 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)) +upper_v_scale.pack() + +# 初始化滑块值 +lower_h_scale.set(color_hsv_ranges['custom']['lower'][0]) +lower_s_scale.set(color_hsv_ranges['custom']['lower'][1]) +lower_v_scale.set(color_hsv_ranges['custom']['lower'][2]) +upper_h_scale.set(color_hsv_ranges['custom']['upper'][0]) +upper_s_scale.set(color_hsv_ranges['custom']['upper'][1]) +upper_v_scale.set(color_hsv_ranges['custom']['upper'][2]) + +# 初始化摄像头 +cap = cv2.VideoCapture(0) + +# 启动GUI主循环 +root.mainloop() \ No newline at end of file