基于OpenCV实现特定颜色目标的跟踪

python : 3.7.0
OpenCV : 4.5.2.54
System : Mac OS 12.0.1
SerialNumber : 20220224

• 源码

  import cv2
  import numpy as np
    
    
  class CVTrack(object):
    
      def __init__(self, obj_img_path, color_extend=5):
    
          self.obj_image = cv2.imread(obj_img_path)
          self.color_extend = color_extend
    
      def track_point(self, image: np.array, color_l:np.array, color_h:np.array):
    
          height, width = image.shape[:2]
          hsv = cv2.cvtColor(image, cv2.COLOR_RGB2HSV)
          mask = cv2.inRange(hsv, color_l, color_h)
          # img_res = cv2.bitwise_and(image, image, mask=mask)
    
          m = cv2.moments(mask, False)
          try:
              cx, cy = m['m10'] / m['m00'], m['m01'] / m['m00']
          except ZeroDivisionError:
              cx, cy = width / 2, height / 2
          cx, cy = [int(x) for x in [cx, cy]]
    
          return cx, cy, hsv, mask
    
      def obj_hsv_color(self):
    
          hsv = cv2.cvtColor(self.obj_image, cv2.COLOR_RGB2HSV)
    
          h_list = []
          s_list = []
          v_list = []
          for line1 in hsv:
              for line2 in line1:
                  h_list.append(line2[0])
                  s_list.append(line2[1])
                  v_list.append(line2[2])
    
          color_l = [abs(min(x) - self.color_extend) for x in [h_list, s_list, v_list]]
          color_h = [max(x) + self.color_extend for x in [h_list, s_list, v_list]]
    
          return np.array(color_l), np.array(color_h)
    
      def display(self):
    
          cap = cv2.VideoCapture(0)
          color_l, color_h = self.obj_hsv_color()
    
          while True:
              ret, frame = cap.read()
              if ret:
                  p_x, p_y, hsv, mask = self.track_point(frame, color_l, color_h)
    
                  cv2.circle(frame, (p_x, p_y), 5, (0, 0, 255), 5, 0)
                  cv2.imshow('', frame)
                  # cv2.imshow('hsv', hsv)
                  cv2.imshow('mask', mask)
    
              if cv2.waitKey(1) == ord('q'):
                  break
    
    
  if __name__ == '__main__':
    
      obj_img_path = 'Snip20220224_2.png'
    
      color_track = CVTrack(obj_img_path, 10)
      color_track.display()
  

• 常用HSV颜色表

  	黑	灰	白	红		橙	黄	绿	青	蓝	紫
  H_min	0	0	0	0	156	11	26	35	78	100	125
  H_max	180	180	180	10	180	25	34	77	99	124	155
  S_min	0	0	0	43		43	43	43	43	43	43
  S_max	255	43	30	255		255	255	255	255	255	255
  V_min	0	46	221	46		46	46	46	46	46	46
  V_max	46	220	255	255		255	255	255	255	255	255