我正在做什么:我有一个机器人手臂,我想在一张纸上找到对象的x,y坐标。
我能找到一张纸的轮廓并得到它的尺寸(h,w)。我想要左上角的坐标,所以当我将物体放在我的纸上时,我可以获得相对于该点的图像坐标。从那里我将这些像素坐标转换为cm,我能够将x,y坐标返回到我的机器人手臂。
问题:我发现轮廓的中心,我认为左上角会是......
中心x坐标 - (宽度/ 2),中心y坐标 - (高度/ 2)
但是,我从一张纸的边界得到了一个坐标。有没有更简单的方法来找到我的左上坐标?
码
class Boundary(object):
def __init__(self, image):
self.frame = image
self.DefineBounds()
def DefineBounds(self):
# convert the image to grayscale, blur it, and detect edges
# other options are four point detection, white color detection to search for the board?
gray = cv2.cvtColor(self.frame, cv2.COLOR_BGR2GRAY)
gray = cv2.GaussianBlur(gray, (5, 5), 0)
edged = cv2.Canny(gray, 35, 125)
# find the contours in the edged image and keep the largest one;
# we'll assume that this is our piece of paper in the image
# (cnts, _) = cv2.findContours(edged.copy(), cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
th, contours, hierarchy = cv2.findContours(edged.copy(), cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)
c = max(contours, key=cv2.contourArea)
# compute the bounding box of the of the paper region and return it
cv2.drawContours(self.frame, c, -1, (0, 255, 0), 3)
cv2.imshow("B and W", edged)
cv2.imshow("capture", self.frame)
cv2.waitKey(0)
# minAreaRect returns (center (x,y), (width, height), angle of rotation )
# width = approx 338 (x-direction
# height = 288.6 (y-direction)
self.CenterBoundBox = cv2.minAreaRect(c)[0]
print("Center location of bounding box is {}".format(self.CenterBoundBox))
CxBBox = cv2.minAreaRect(c)[0][1]
CyBBox = cv2.minAreaRect(c)[0][0]
# prints picture resolution
self.OGImageHeight, self.OGImageWidth = self.frame.shape[:2]
#print("OG width {} and height {}".format(self.OGImageWidth, self.OGImageHeight))
print(cv2.minAreaRect(c))
BboxWidth = cv2.minAreaRect(c)[1][1]
BboxHeight = cv2.minAreaRect(c)[1][0]
self.Px2CmWidth = BboxWidth / 21.5 # 1cm = x many pixels
self.Px2CmHeight = BboxHeight / 18 # 1cm = x many pixels
print("Bbox diemensions {} x {}".format(BboxHeight, BboxWidth))
print("Conversion values Px2Cm width {}, Px2Cm height {}".format(self.Px2CmWidth, self.Px2CmHeight))
self.TopLeftCoords = (abs(CxBBox - BboxWidth/2), abs(CyBBox - BboxHeight/2))
x = int(round(self.TopLeftCoords[0]))
y = int(round(self.TopLeftCoords[1]))
print("X AND Y COORDINATES")
print(x)
print(y)
cv2.rectangle(self.frame, (x, y), (x+10, y+10), (0, 255, 0), 3)
print(self.TopLeftCoords)
cv2.imshow("BOX",self.frame)
cv2.waitKey(0)
答案 0 :(得分:1)
查找包围输入2D点集的最小区域的旋转矩形。
来自:OpenCV docs
所以问题的原因是显而易见的,你的计数有一点倾斜,所以包围整个轮廓的最小矩形将超出下边界。
由于
contours
只保存一个点向量(这里谈论C ++接口),通过搜索最大轮廓中具有最低x和最高y值的点,可以很容易地找到左上角。