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我正在编写一个程序，可以监视拉泽尔的红点并跟踪移动。我想收集激光的x和y运动（偏离稳定点）。有些搜索在git hub上找到了我的代码，我打算修改它并使用它来使用openCV跟踪红点。然而，我很努力从这里获取任何数据。红点跟踪器
我该如何去在excel（或其他有用的方式）中存储激光的x和y坐标？
import sys
import argparse
import cv2
import numpy
class LaserTracker(object):
def __init__(self, cam_width=640, cam_height=480, hue_min=20, hue_max=160,
sat_min=100, sat_max=255, val_min=200, val_max=256,
display_thresholds=False):
"""
* ``cam_width`` x ``cam_height`` -- This should be the size of the
image coming from the camera. Default is 640x480.
HSV color space Threshold values for a RED laser pointer are determined
by:
* ``hue_min``, ``hue_max`` -- Min/Max allowed Hue values
* ``sat_min``, ``sat_max`` -- Min/Max allowed Saturation values
* ``val_min``, ``val_max`` -- Min/Max allowed pixel values
If the dot from the laser pointer doesn't fall within these values, it
will be ignored.
* ``display_thresholds`` -- if True, additional windows will display
values for threshold image channels.
"""
self.cam_width = cam_width
self.cam_height = cam_height
self.hue_min = hue_min
self.hue_max = hue_max
self.sat_min = sat_min
self.sat_max = sat_max
self.val_min = val_min
self.val_max = val_max
self.display_thresholds = display_thresholds
self.capture = None # camera capture device
self.channels = {
'hue': None,
'saturation': None,
'value': None,
'laser': None,
}
self.previous_position = None
self.trail = numpy.zeros((self.cam_height, self.cam_width, 3),
numpy.uint8)
def create_and_position_window(self, name, xpos, ypos):
"""Creates a named widow placing it on the screen at (xpos, ypos)."""
# Create a window
cv2.namedWindow(name)
# Resize it to the size of the camera image
cv2.resizeWindow(name, self.cam_width, self.cam_height)
# Move to (xpos,ypos) on the screen
cv2.moveWindow(name, xpos, ypos)
def setup_camera_capture(self, device_num=0):
"""Perform camera setup for the device number (default device = 0).
Returns a reference to the camera Capture object.
"""
try:
device = int(device_num)
sys.stdout.write("Using Camera Device: {0}\n".format(device))
except (IndexError, ValueError):
# assume we want the 1st device
device = 0
sys.stderr.write("Invalid Device. Using default device 0\n")
# Try to start capturing frames
self.capture = cv2.VideoCapture(device)
if not self.capture.isOpened():
sys.stderr.write("Faled to Open Capture device. Quitting.\n")
sys.exit(1)
# set the wanted image size from the camera
self.capture.set(
cv2.cv.CV_CAP_PROP_FRAME_WIDTH if cv2.__version__.startswith('2') else cv2.CAP_PROP_FRAME_WIDTH,
self.cam_width
)
self.capture.set(
cv2.cv.CV_CAP_PROP_FRAME_HEIGHT if cv2.__version__.startswith('2') else cv2.CAP_PROP_FRAME_HEIGHT,
self.cam_height
)
return self.capture
def handle_quit(self, delay=10):
"""Quit the program if the user presses "Esc" or "q"."""
key = cv2.waitKey(delay)
c = chr(key & 255)
if c in ['c', 'C']:
self.trail = numpy.zeros((self.cam_height, self.cam_width, 3),
numpy.uint8)
if c in ['q', 'Q', chr(27)]:
sys.exit(0)
def threshold_image(self, channel):
if channel == "hue":
minimum = self.hue_min
maximum = self.hue_max
elif channel == "saturation":
minimum = self.sat_min
maximum = self.sat_max
elif channel == "value":
minimum = self.val_min
maximum = self.val_max
(t, tmp) = cv2.threshold(
self.channels[channel], # src
maximum, # threshold value
0, # we dont care because of the selected type
cv2.THRESH_TOZERO_INV # t type
)
(t, self.channels[channel]) = cv2.threshold(
tmp, # src
minimum, # threshold value
255, # maxvalue
cv2.THRESH_BINARY # type
)
if channel == 'hue':
# only works for filtering red color because the range for the hue
# is split
self.channels['hue'] = cv2.bitwise_not(self.channels['hue'])
def track(self, frame, mask):
"""
Track the position of the laser pointer.
Code taken from
http://www.pyimagesearch.com/2015/09/14/ball-tracking-with-opencv/
"""
center = None
countours = cv2.findContours(mask, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[-2]
# only proceed if at least one contour was found
if len(countours) > 0:
# find the largest contour in the mask, then use
# it to compute the minimum enclosing circle and
# centroid
c = max(countours, key=cv2.contourArea)
((x, y), radius) = cv2.minEnclosingCircle(c)
moments = cv2.moments(c)
if moments["m00"] > 0:
center = int(moments["m10"]/moments["m00"]), \
int(moments["m01"]/moments["m00"])
else:
center = int(x), int(y)
# only proceed if the radius meets a minimum size
if radius > 10:
# draw the circle and centroid on the frame,
cv2.circle(frame, (int(x), int(y)), int(radius),
(0, 255, 255), 2)
cv2.circle(frame, center, 5, (0, 0, 255), -1)
# then update the ponter trail
if self.previous_position:
cv2.line(self.trail, self.previous_position, center,
(255, 255, 255), 2)
cv2.add(self.trail, frame, frame)
self.previous_position = center
def detect(self, frame):
hsv_img = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
# split the video frame into color channels
h, s, v = cv2.split(hsv_img)
self.channels['hue'] = h
self.channels['saturation'] = s
self.channels['value'] = v
# Threshold ranges of HSV components; storing the results in place
self.threshold_image("hue")
self.threshold_image("saturation")
self.threshold_image("value")
# Perform an AND on HSV components to identify the laser!
self.channels['laser'] = cv2.bitwise_and(
self.channels['hue'],
self.channels['value']
)
self.channels['laser'] = cv2.bitwise_and(
self.channels['saturation'],
self.channels['laser']
)
# Merge the HSV components back together.
hsv_image = cv2.merge([
self.channels['hue'],
self.channels['saturation'],
self.channels['value'],
])
self.track(frame, self.channels['laser'])
return hsv_image
def display(self, img, frame):
"""Display the combined image and (optionally) all other image channels
NOTE: default color space in OpenCV is BGR.
"""
cv2.imshow('RGB_VideoFrame', frame)
cv2.imshow('LaserPointer', self.channels['laser'])
if self.display_thresholds:
cv2.imshow('Thresholded_HSV_Image', img)
cv2.imshow('Hue', self.channels['hue'])
cv2.imshow('Saturation', self.channels['saturation'])
cv2.imshow('Value', self.channels['value'])
def setup_windows(self):
sys.stdout.write("Using OpenCV version: {0}\n".format(cv2.__version__))
# create output windows
self.create_and_position_window('LaserPointer', 0, 0)
self.create_and_position_window('RGB_VideoFrame',
10 + self.cam_width, 0)
if self.display_thresholds:
self.create_and_position_window('Thresholded_HSV_Image', 10, 10)
self.create_and_position_window('Hue', 20, 20)
self.create_and_position_window('Saturation', 30, 30)
self.create_and_position_window('Value', 40, 40)
def run(self):
# Set up window positions
self.setup_windows()
# Set up the camera capture
self.setup_camera_capture()
while True:
# 1. capture the current image
success, frame = self.capture.read()
if not success: # no image captured... end the processing
sys.stderr.write("Could not read camera frame. Quitting\n")
sys.exit(1)
hsv_image = self.detect(frame)
self.display(hsv_image, frame)
self.handle_quit()
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='Run the Laser Tracker')
parser.add_argument('-W', '--width',
default=640,
type=int,
help='Camera Width')
parser.add_argument('-H', '--height',
default=480,
type=int,
help='Camera Height')
parser.add_argument('-u', '--huemin',
default=20,
type=int,
help='Hue Minimum Threshold')
parser.add_argument('-U', '--huemax',
default=160,
type=int,
help='Hue Maximum Threshold')
parser.add_argument('-s', '--satmin',
default=100,
type=int,
help='Saturation Minimum Threshold')
parser.add_argument('-S', '--satmax',
default=255,
type=int,
help='Saturation Maximum Threshold')
parser.add_argument('-v', '--valmin',
default=200,
type=int,
help='Value Minimum Threshold')
parser.add_argument('-V', '--valmax',
default=255,
type=int,
help='Value Maximum Threshold')
parser.add_argument('-d', '--display',
action='store_true',
help='Display Threshold Windows')
params = parser.parse_args()
tracker = LaserTracker(
cam_width=params.width,
cam_height=params.height,
hue_min=params.huemin,
hue_max=params.huemax,
sat_min=params.satmin,
sat_max=params.satmax,
val_min=params.valmin,
val_max=params.valmax,
display_thresholds=params.display
)
tracker.run()
你好，只是一些建议，问好问题。尽量包含尽可能少的代码。还试图说明你是如何处理这个问题的，你的想法是什么，编写的代码等等。你将得到更多有用的帮助和反馈。 –
嗨，是的，我明白了，但是，在这个案例中，发布代码段在我的眼中并不有用，因为我不知道我需要的特定信息在哪里进行处理。这是由于我没有编码经验。然而，我试图从“轨道”功能提取数据。我会尝试编辑它使其更有用。 –
只有通过这个快速浏览，但它看起来像self.previous_position是包含x和y坐标的元组。 –