117 lines
4.6 KiB
Python
117 lines
4.6 KiB
Python
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import cv2
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import numpy as np
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def detect_bar_top_distance(image, observe=False, delay=800):
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"""
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识别图片中灰色栏杆到图像顶部的距离（像素）
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:param image: 输入BGR格式图片
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:param observe: 是否显示中间处理结果
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:param delay: 显示结果的延迟时间(ms)
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:return: 距离（像素），未检测到返回None
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"""
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# 转为HSV，便于分离灰色
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hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
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# 调整灰色范围 - 更精确地针对多种灰色
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lower_gray = np.array([0, 0, 30]) # 降低亮度下限以捕获更暗的灰色
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upper_gray = np.array([180, 40, 120]) # 增加饱和度和亮度上限以捕获更多灰色变体
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# 创建掩码
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mask = cv2.inRange(hsv, lower_gray, upper_gray)
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# 尝试使用边缘检测作为辅助方法
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gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
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edges = cv2.Canny(gray, 50, 150)
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# 仅保留图像上半部分的边缘，因为栏杆通常在上部
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height = edges.shape[0]
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edges[int(height*0.6):, :] = 0
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# 使用霍夫变换检测水平线条
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lines = cv2.HoughLinesP(edges, 1, np.pi/180, threshold=50, minLineLength=100, maxLineGap=20)
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# 如果找到线条，创建线条掩码
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line_mask = np.zeros_like(gray)
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if lines is not None:
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for line in lines:
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x1, y1, x2, y2 = line[0]
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# 仅保留接近水平的线条
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if abs(y2 - y1) < 20: # 水平线的y差异很小
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cv2.line(line_mask, (x1, y1), (x2, y2), 255, 5)
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# 合并HSV掩码和线条掩码
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combined_mask = cv2.bitwise_or(mask, line_mask)
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# 增强形态学操作以更好地提取横杆
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# 先进行闭操作连接相近区域
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kernel_close = np.ones((5, 30), np.uint8)
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combined_mask = cv2.morphologyEx(combined_mask, cv2.MORPH_CLOSE, kernel_close)
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# 使用开操作去除小噪点
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kernel_open = np.ones((3, 3), np.uint8)
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combined_mask = cv2.morphologyEx(combined_mask, cv2.MORPH_OPEN, kernel_open)
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# 再次进行水平方向的膨胀，增强横杆连通性
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kernel_dilate = np.ones((1, 20), np.uint8)
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combined_mask = cv2.dilate(combined_mask, kernel_dilate, iterations=1)
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if observe:
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cv2.imshow("HSV Mask", mask)
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cv2.imshow("Edge Detection", edges)
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cv2.imshow("Combined Mask", combined_mask)
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cv2.waitKey(delay)
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# 查找轮廓
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contours, _ = cv2.findContours(combined_mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
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if not contours:
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# 如果没有在组合掩码中找到轮廓，尝试在原始掩码中查找
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contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
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if not contours:
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return None
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# 按面积排序找到最大的几个轮廓
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contours = sorted(contours, key=cv2.contourArea, reverse=True)
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# 从最大的轮廓中筛选出形状类似横杆的轮廓
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for contour in contours[:5]: # 只检查最大的5个轮廓
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x, y, w, h = cv2.boundingRect(contour)
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# 横杆特征：宽度远大于高度，且宽度占据图像较大比例
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aspect_ratio = float(w) / h if h > 0 else 0
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width_ratio = float(w) / image.shape[1]
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# 放宽轮廓筛选条件
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if aspect_ratio > 3 and width_ratio > 0.2 and h < image.shape[0] * 0.3:
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if observe:
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debug_img = image.copy()
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cv2.rectangle(debug_img, (x, y), (x+w, y+h), (0, 255, 0), 2)
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cv2.imshow("Detected Bar", debug_img)
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cv2.waitKey(delay)
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# 返回栏杆顶部到图像顶部的距离
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return y
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# 如果基于轮廓没有找到合适的栏杆，尝试使用霍夫线检测结果
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if lines is not None:
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horizontal_lines = []
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for line in lines:
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x1, y1, x2, y2 = line[0]
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# 筛选水平线条
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if abs(y2 - y1) < 10 and abs(x2 - x1) > image.shape[1] * 0.3:
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horizontal_lines.append((min(y1, y2), abs(x2 - x1)))
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# 按线条长度排序
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horizontal_lines.sort(key=lambda x: x[1], reverse=True)
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if horizontal_lines and len(horizontal_lines) > 0:
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# 返回最长的水平线的y坐标
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if observe:
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debug_img = image.copy()
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y = horizontal_lines[0][0]
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cv2.line(debug_img, (0, y), (image.shape[1], y), (0, 255, 0), 2)
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cv2.imshow("Detected Bar (Hough)", debug_img)
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cv2.waitKey(delay)
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return horizontal_lines[0][0]
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return None
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