02 地图的激光点检测定位

# -*- coding:utf-8 -*-

import cv2
import os


images = 'D:\sunway-AI\Video_Frame\'
if not os.path.exists(images):
    os.mkdir(images)

cap = cv2.VideoCapture("D:\sunway-AI\地图定位\Video\demo_01.mp4")
c=0

kernel = cv2.getStructuringElement(cv2.MORPH_RECT,(3,3))

writer = None

fourcc = cv2.VideoWriter_fourcc(*'MJPG')
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

while(1):

    # 读取视频帧
    success, frame = cap.read()

    if success:
        if c==0:
            pre_frame = frame.copy()
            c = c+1
            continue
       
        frameDelta = cv2.absdiff(frame, pre_frame)
        pre_frame = frame.copy()

        frame_gray = cv2.cvtColor(frameDelta, cv2.COLOR_BGR2GRAY)
        frame_thresh = cv2.threshold(frame_gray, 40, 255, cv2.THRESH_BINARY)[1]
        # frame_opened = cv2.morphologyEx(thresh, cv2.MORPH_OPEN, kernel)
        
        binary, cnts, hierarchy = cv2.findContours(frame_thresh.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
        
        for cc in cnts:
            
            if cv2.contourArea(cc) > 50:
                continue

            (x, y, w, h) = cv2.boundingRect(cc)

            if w<=0 | h<=0:
                continue

            frame_roi = frame[x:x+w+1, y:y+h+1]

            H, W, C = frame_roi.shape

            # isPoint = False
            # for hy in range(H):
            #     for wx in range(W):
            #         B = frame_roi[hy][wx][0]
            #         G = frame_roi[hy][wx][1]
            #         R = frame_roi[hy][wx][2]
                    
            #         # print("B=",B," G=",G," R=",R)

            #         if(B>200):
            #             # print("*****************")
            #             isPoint = True
            #             break

            # if(isPoint):
            cv2.rectangle(frame, (x, y), (x+w, y+h), (0, 255, 0), 2)
        

        # 显示视频帧
        cv2.imshow("capture", frame)
        # cv2.imwrite(images + str(c) + '.bmp', frame)

        videoWriter.write(frame)

        c=c+1
    else:
        break
    #等候50ms,播放下一帧，或者按q键退出

    if cv2.waitKey(50) &0xFF ==ord('q'):
        break

#释放视频流
videoWriter.release()
cap.release()

#关闭所有窗口

cv2.destroyAllWindows()