FieldDetecter.py 文件源码

def get_center_scale(self, calibration_image):
        """

        :param calibration_image: The HSV-image to use for calculation
        :return: Position of center point in image (tuple), ratio px per cm (reproduction scale)
        """
        gray = cv2.cvtColor(calibration_image, cv2.COLOR_HSV2BGR)
        gray = cv2.cvtColor(gray, cv2.COLOR_BGR2GRAY)
        gray = cv2.GaussianBlur(gray, (5, 5), 1)

        circles = cv2.HoughCircles(gray, cv2.HOUGH_GRADIENT, 1, 100, param1=50, param2=30, minRadius=50, maxRadius=300)

        center_circle = (0, 0, 0)
        min_dist = 0xFFFFFFFFFFF
        for circle in circles[0]:
            dist_x = abs(circle[0] - calibration_image.shape[1] / 2)
            dist_y = abs(circle[1] - calibration_image.shape[0] / 2)

            if(dist_x + dist_y) < min_dist:
                min_dist = dist_x + dist_y
                center_circle = circle

        rgb = cv2.cvtColor(calibration_image, cv2.COLOR_HSV2RGB)
        cv2.circle(rgb, (center_circle[0], center_circle[1]), center_circle[2], (0, 255, 0), 1)

        center = center_circle[0], center_circle[1]

        radius = center_circle[2]
        ratio_pxcm = radius / 10.25

        self.center = center
        self.ratio_pxcm = ratio_pxcm

        return [center, ratio_pxcm]