Minimap.py 文件源码

def find_self():
    low_white = np.array([0,0,255])
    upper_white = np.array([1,255,255])

    mask,mmx, mmy = get_mini_map_mask(low_white,upper_white)

    _, contours, _ = cv2.findContours(mask.copy(), 1,2)

    for cnt in contours:
        M = cv2.moments(cnt)
        print(cv2.contourArea(cnt))
        if cv2.contourArea(cnt) == 4:
            #centroid from img moments
            cx = int(M['m10']/M['m00'])
            cy = int(M['m01']/M['m00'])
            print(cx,cy)

    cv2.imshow('img', mask)
    cv2.waitKey(0)