69 lines
2.3 KiB
Python
69 lines
2.3 KiB
Python
# -*- coding: utf-8 -*-
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import cv2
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import numpy as np
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class GreenLaserDetector:
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def __init__(self):
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"""初始化绿色激光检测器"""
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# 针对短曝光激光点优化：降低最小识别面积
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self.min_area = 50
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self.max_area = 5000
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# 默认HSV参数
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self.h_low = 35
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self.h_high = 85
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self.s_low = 80
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self.s_high = 255
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self.v_low = 80
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self.v_high = 255
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def set_hsv_range(self, h_low, h_high, s_low, s_high, v_low, v_high):
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"""设置HSV颜色范围"""
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self.h_low = h_low
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self.h_high = h_high
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self.s_low = s_low
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self.s_high = s_high
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self.v_low = v_low
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self.v_high = v_high
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def detect(self, frame):
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"""
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检测绿色激光点
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Args:
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frame: BGR格式的图像
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Returns:
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results: 检测结果列表，每个元素为(cx, cy, w, h, area, circularity)
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mask: 二值掩码图像
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"""
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# 转HSV
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hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
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# 绿色范围（需根据实际激光调整）
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lower_green = np.array([self.h_low, self.s_low, self.v_low])
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upper_green = np.array([self.h_high, self.s_high, self.v_high])
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mask = cv2.inRange(hsv, lower_green, upper_green)
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# 形态学去噪
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kernel = np.ones((5,5), np.uint8)
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mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel)
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mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernel)
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# 查找轮廓
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contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
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results = []
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for cnt in contours:
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area = cv2.contourArea(cnt)
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if self.min_area < area < self.max_area:
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# 圆形度检测
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perimeter = cv2.arcLength(cnt, True)
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if perimeter > 0:
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circularity = 4 * np.pi * area / (perimeter ** 2)
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if circularity > 0.7: # 圆度阈值
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x, y, w, h = cv2.boundingRect(cnt)
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cx, cy = x + w//2, y + h//2
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results.append((cx, cy, w, h, area, circularity))
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return results, mask
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