|
|
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() |
