地图的激光点检测定位

 1 # -*- coding:utf-8 -*-
 2 
 3 import cv2
 4 import os
 5 
 6 
 7 images = ‘D:\\sunway-AI\\Video_Frame\\‘
 8 if not os.path.exists(images):
 9     os.mkdir(images)
10 
11 cap = cv2.VideoCapture("D:\\sunway-AI\\地图定位\\Video\\demo_01.mp4")
12 c=0
13 
14 kernel = cv2.getStructuringElement(cv2.MORPH_RECT,(3,3))
15 
16 writer = None
17 
18 fourcc = cv2.VideoWriter_fourcc(*‘MJPG‘)
19 videoWriter = cv2.VideoWriter("F:\\sunway-AI\\Video_Frame\\OUT_02.avi", fourcc, 24,(640,480))#最后一个是保存图片的尺寸
20 
21 while(1):
22 
23     # 读取视频帧
24     success, frame = cap.read()
25 
26     if success:
27         if c==0:
28             pre_frame = frame.copy()
29             c = c+1
30             continue
31        
32         frameDelta = cv2.absdiff(frame, pre_frame)
33         pre_frame = frame.copy()
34 
35         frame_gray = cv2.cvtColor(frameDelta, cv2.COLOR_BGR2GRAY)
36         frame_thresh = cv2.threshold(frame_gray, 40, 255, cv2.THRESH_BINARY)[1]
37         # frame_opened = cv2.morphologyEx(thresh, cv2.MORPH_OPEN, kernel)
38         
39         binary, cnts, hierarchy = cv2.findContours(frame_thresh.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
40         
41         for cc in cnts:
42             
43             if cv2.contourArea(cc) > 50:
44                 continue
45 
46             (x, y, w, h) = cv2.boundingRect(cc)
47 
48             if w<=0 | h<=0:
49                 continue
50 
51             frame_roi = frame[x:x+w+1, y:y+h+1]
52 
53             H, W, C = frame_roi.shape
54 
55             # isPoint = False
56             # for hy in range(H):
57             #     for wx in range(W):
58             #         B = frame_roi[hy][wx][0]
59             #         G = frame_roi[hy][wx][1]
60             #         R = frame_roi[hy][wx][2]
61                     
62             #         # print("B=",B," G=",G," R=",R)
63 
64             #         if(B>200):
65             #             # print("*****************")
66             #             isPoint = True
67             #             break
68 
69             # if(isPoint):
70             cv2.rectangle(frame, (x, y), (x+w, y+h), (0, 255, 0), 2)
71         
72 
73         # 显示视频帧
74         cv2.imshow("capture", frame)
75         # cv2.imwrite(images + str(c) + ‘.bmp‘, frame)
76 
77         videoWriter.write(frame)
78 
79         c=c+1
80     else:
81         break
82     #等候50ms,播放下一帧，或者按q键退出
83 
84     if cv2.waitKey(50) &0xFF ==ord(‘q‘):
85         break
86 
87 #释放视频流
88 videoWriter.release()
89 cap.release()
90 
91 #关闭所有窗口
92 
93 cv2.destroyAllWindows()