EmguCV实现颜色物体识别与追踪（CvInvoke.InRange()函数）
转载：https://blog.csdn.net/hellohake/article/details/104881189
说明
1、在HSV颜色空间下进行颜色追踪，RGB颜色空间每个通道分量受亮度影响大，HSV颜色空间受亮度影响较小；
2、EmguCV与OpenCV的HSV取值： H：0-180 ; S: 0-255; V: 0-255（注意取值范围）;
3、常用的HSV参考值：
4、使用Inrange()函数在HSV空间中寻找HSV在某一范围内的值，输出掩膜，作为寻找结果。
Code
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Emgu.CV;
using Emgu.CV.Util;
using Emgu.CV.Structure;
using Emgu.CV.CvEnum;
using Emgu.Util;
using System.Drawing;
namespace lesson28_console
{
class Program
{
static void Main(string[] args)
{
///图片颜色识别
//Mat srcImg = CvInvoke.Imread(@"C:\Users\hello\Desktop\EmguCVDemo\lesson28\lesson28_console\bin\Debug\opencv-logo-white.png");
//CvInvoke.Imshow("input", srcImg);
//Mat hsvImg = new Mat();
//Mat mask = new Mat();
//double h_min = 0, s_min = 43, v_min = 46;
//double h_max = 10, s_max = 255, v_max = 255;
//ScalarArray hsv_min = new ScalarArray(new MCvScalar(h_min, s_min, v_min));
//ScalarArray hsv_max = new ScalarArray(new MCvScalar(h_max, s_max, v_max));
//CvInvoke.CvtColor(srcImg, hsvImg, ColorConversion.Bgr2Hsv);
//CvInvoke.InRange(hsvImg, hsv_min, hsv_max, mask); //输出为符合要求的图像掩膜
//CvInvoke.MedianBlur(mask, mask, 5);
//CvInvoke.Imshow("mask", mask);
//VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint();
//VectorOfRect hierarchy = new VectorOfRect();
发现轮廓
//CvInvoke.FindContours(mask, contours,hierarchy, RetrType.External, ChainApproxMethod.ChainApproxNone);
//VectorOfVectorOfPoint contours_approx = new VectorOfVectorOfPoint(contours.Size);
//Rectangle rect = new Rectangle();
//for (int i =0; i < contours.Size;i++)
//{
// CvInvoke.ApproxPolyDP(contours[i], contours_approx[i], 3, true);
// CvInvoke.DrawContours(srcImg, contours_approx, i, new MCvScalar(255, 0, 0), 1, LineType.EightConnected, hierarchy, 0);
// CvInvoke.Imshow("red", srcImg);
// rect = CvInvoke.BoundingRectangle(contours_approx[i]);
// CvInvoke.Rectangle(srcImg, rect, new MCvScalar(0, 0, 255), 1);
// CvInvoke.PutText(srcImg, "red", new Point(rect.X, rect.Y), FontFace.HersheyComplexSmall, 1.2, new MCvScalar(0, 255, 0));
//}
//CvInvoke.WaitKey(0);
///视频绿色物体追踪
//VideoCapture cap = new VideoCapture("1.mp4");
//if(!cap.IsOpened) //打开文件失败
//{
// Console.WriteLine("Open video failed!");
// return;
//}
//Mat frame = new Mat();
//while(true)
//{
// //frame = cap.QueryFrame();
// cap.Read(frame);
// if(frame.IsEmpty)
// {
// Console.WriteLine("frame is empty...");
// break;
// }
// Mat hsvimg = new Mat();
// Mat mask = new Mat();
// double h_min = 35, s_min = 110, v_min = 106;
// double h_max = 77, s_max = 255, v_max = 255;
// ScalarArray hsv_min = new ScalarArray(new MCvScalar(h_min, s_min, v_min));
// ScalarArray hsv_max = new ScalarArray(new MCvScalar(h_max, s_max, v_max));
// CvInvoke.CvtColor(frame, hsvimg, ColorConversion.Bgr2Hsv);
// CvInvoke.InRange(hsvimg, hsv_min, hsv_max, mask);
// CvInvoke.MedianBlur(mask, mask, 5);
// CvInvoke.Imshow("mask", mask);
// VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint();
// VectorOfRect hierachy = new VectorOfRect();
// CvInvoke.FindContours(mask, contours, hierachy, RetrType.External, ChainApproxMethod.ChainApproxNone);
// for(int i = 0; i< contours.Size; i++)
// {
// Rectangle rect = CvInvoke.BoundingRectangle(contours[i]);
// if (rect.Width < 10 || rect.Height < 10) //对于太小的外接矩形，删除掉
// continue;
// CvInvoke.Rectangle(frame, rect, new MCvScalar(255, 0, 0), 1);
// CvInvoke.PutText(frame, "green", new Point(rect.X, rect.Y - 5), FontFace.HersheyComplexSmall, 1.2, new MCvScalar(0, 255, 0));
// }
// CvInvoke.Imshow("hsv_track", frame);
// if(CvInvoke.WaitKey(30) == 27)
// {
// break;
// }
//}
///蓝色物体追踪
//VideoCapture cap = new VideoCapture("1.mp4");
//if (!cap.IsOpened) //打开文件失败
//{
// Console.WriteLine("Open video failed!");
// return;
//}
//Mat frame = new Mat();
//while (true)
//{
// //frame = cap.QueryFrame(); //实验读取到最后一帧有异常
// cap.Read(frame);
// if (frame.IsEmpty)
// {
// Console.WriteLine("frame is empty...");
// break;
// }
// Mat hsvimg = new Mat();
// Mat mask = new Mat();
// double h_min = 81, s_min = 77, v_min = 93;
// double h_max = 125, s_max = 255, v_max = 255;
// ScalarArray hsv_min = new ScalarArray(new MCvScalar(h_min, s_min, v_min));
// ScalarArray hsv_max = new ScalarArray(new MCvScalar(h_max, s_max, v_max));
// //!!!因为图像某一部分存在干扰，所以设置感兴趣区域,只追踪在规定范围内的颜色物体
// Mat frameROI = new Mat(frame, new Rectangle(0, 0, 350, 353)); //将干扰区域切除
// CvInvoke.CvtColor(frameROI, hsvimg, ColorConversion.Bgr2Hsv);
// CvInvoke.InRange(hsvimg, hsv_min, hsv_max, mask);
// CvInvoke.MedianBlur(mask, mask, 5);
// CvInvoke.Imshow("mask", mask);
// VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint();
// VectorOfRect hierachy = new VectorOfRect();
// CvInvoke.FindContours(mask, contours, hierachy, RetrType.External, ChainApproxMethod.ChainApproxNone);
// for (int i = 0; i < contours.Size; i++)
// {
// Rectangle rect = CvInvoke.BoundingRectangle(contours[i]);
// if (rect.Width < 10 || rect.Height < 10) //对于太小的外接矩形，删除掉
// continue;
// CvInvoke.Rectangle(frame, rect, new MCvScalar(255, 0, 0), 1);
// CvInvoke.PutText(frame, "blue", new Point(rect.X, rect.Y - 5), FontFace.HersheyComplexSmall, 1.2, new MCvScalar(0, 255, 0));
// }
// CvInvoke.Imshow("hsv_track", frame);
// if (CvInvoke.WaitKey(30) == 27)
// {
// break;
// }
//}
///红色绿色同时追踪
//VideoCapture cap = new VideoCapture("1.mp4");
//if (!cap.IsOpened) //打开文件失败
//{
// Console.WriteLine("Open video failed!");
// return;
//}
//Mat frame = new Mat();
//while (true)
//{
// //frame = cap.QueryFrame(); //实验读取到最后一帧有异常
// cap.Read(frame);
// if (frame.IsEmpty)
// {
// Console.WriteLine("frame is empty...");
// break;
// }
// Mat hsvimg = new Mat();
// Mat mask_red = new Mat();
// Mat mask_green = new Mat();
// double h_min_red = 0, s_min_red = 127, v_min_red = 128;
// double h_max_red = 10, s_max_red = 255, v_max_red = 255;
// double h_min_green = 35, s_min_green = 110, v_min_green = 106;
// double h_max_green = 77, s_max_green = 255, v_max_green = 255;
// ScalarArray hsv_min_red = new ScalarArray(new MCvScalar(h_min_red, s_min_red, v_min_red));
// ScalarArray hsv_max_red = new ScalarArray(new MCvScalar(h_max_red, s_max_red, v_max_red));
// ScalarArray hsv_min_green = new ScalarArray(new MCvScalar(h_min_green, s_min_green, v_min_green));
// ScalarArray hsv_max_green = new ScalarArray(new MCvScalar(h_max_green, s_max_green, v_max_green));
// CvInvoke.CvtColor(frame, hsvimg, ColorConversion.Bgr2Hsv);
// CvInvoke.InRange(hsvimg, hsv_min_red, hsv_max_red, mask_red);
// CvInvoke.InRange(hsvimg, hsv_min_green, hsv_max_green, mask_green);
// CvInvoke.MedianBlur(mask_red, mask_red, 5);
// CvInvoke.MedianBlur(mask_green, mask_green, 5);
// Mat mask = new Mat();
// CvInvoke.Add(mask_red, mask_green, mask); //掩膜相加
// CvInvoke.Imshow("mask", mask); //显示合在一起的掩膜
// VectorOfVectorOfPoint contours_red = new VectorOfVectorOfPoint();
// VectorOfRect hierachy_red = new VectorOfRect();
// CvInvoke.FindContours(mask_red, contours_red, hierachy_red, RetrType.External, ChainApproxMethod.ChainApproxNone);
// for (int i = 0; i < contours_red.Size; i++)
// {
// Rectangle rect = CvInvoke.BoundingRectangle(contours_red[i]);
// if (rect.Width < 10 || rect.Height < 10) //对于太小的外接矩形，删除掉
// continue;
// CvInvoke.Rectangle(frame, rect, new MCvScalar(255, 0, 0), 1);
// CvInvoke.PutText(frame, "red", new Point(rect.X, rect.Y - 5), FontFace.HersheyComplexSmall, 1.2, new MCvScalar(0, 255, 0));
// }
// VectorOfVectorOfPoint contours_green = new VectorOfVectorOfPoint();
// VectorOfRect hierachy_green = new VectorOfRect();
// CvInvoke.FindContours(mask_green, contours_green, hierachy_green, RetrType.External, ChainApproxMethod.ChainApproxNone);
// for (int i = 0; i < contours_green.Size; i++)
// {
// Rectangle rect = CvInvoke.BoundingRectangle(contours_green[i]);
// if (rect.Width < 10 || rect.Height < 10) //对于太小的外接矩形，删除掉
// continue;
// CvInvoke.Rectangle(frame, rect, new MCvScalar(255, 0, 0), 1);
// CvInvoke.PutText(frame, "green", new Point(rect.X, rect.Y - 5), FontFace.HersheyComplexSmall, 1.2, new MCvScalar(0, 255, 0));
// }
// CvInvoke.Imshow("hsv_track", frame);
// if (CvInvoke.WaitKey(30) == 27)
// {
// break;
// }
//}
///手掌肤色提取
Mat src = CvInvoke.Imread("2.bmp");
double h_min = 0, s_min = 70, v_min = 70; //手的HSV颜色分布
double h_max = 15, s_max = 255, v_max = 255;
ScalarArray hsv_min = new ScalarArray(new MCvScalar(h_min, s_min, v_min));
ScalarArray hsv_max = new ScalarArray(new MCvScalar(h_max, s_max, v_max));
Mat hsvimg = new Mat();
Mat mask = new Mat();
CvInvoke.CvtColor(src, hsvimg, ColorConversion.Bgr2Hsv);
CvInvoke.InRange(hsvimg, hsv_min, hsv_max, mask);
CvInvoke.MedianBlur(mask, mask, 5);
VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint();
VectorOfRect hierarchy = new VectorOfRect();
//发现轮廓
CvInvoke.FindContours(mask, contours, hierarchy, RetrType.External, ChainApproxMethod.ChainApproxNone);
for(int i = 0; i< contours.Size;i++)
{
Rectangle rect = CvInvoke.BoundingRectangle(contours[i]);
if (rect.Width < 10 || rect.Height < 10)
continue;
CvInvoke.Rectangle(src, rect, new MCvScalar(255, 0, 0));
CvInvoke.PutText(src, "hand", new Point(rect.X, rect.Y - 5), FontFace.HersheyComplexSmall, 1.2, new MCvScalar(0, 0, 255));
}
CvInvoke.Imshow("hsv_track", src);
CvInvoke.WaitKey(0);
}
}
}
效果
1、寻找图像红色部分：
掩膜：
2、寻找红色部分：
3、寻找视频中的绿色部分：
4、寻找视频中红色与绿色物体：
5、根据手的HSV特征寻找手：
