from cv_bridge import CvBridge
时间: 2023-09-26 16:08:36 浏览: 35
这行代码是导入cv_bridge模块中的CvBridge类。cv_bridge是ROS中用于将OpenCV图像数据转换为ROS图像消息(sensor_msgs/Image)格式的模块。CvBridge类提供了一些方法,可以将OpenCV的图像数据转换为ROS中的图像消息格式,以及将ROS中的图像消息格式转换为OpenCV的图像数据。
相关问题
#!/usr/bin/env python # -*- coding: utf-8 -*- import cv2 import numpy as np import rospy from sensor_msgs.msg import Image from cv_bridge import CvBridge, CvBridgeError # 定义要识别的颜色范围 lower_color = np.array([19, 78, 44]) upper_color = np.array([74, 202, 129]) # 初始化cv_bridge bridge = CvBridge() # 定义回调函数,处理订阅到的图像 def image_callback(msg): # 将ROS图像格式转换为OpenCV图像格式 try: cv_image = bridge.imgmsg_to_cv2(msg, 'bgr8') except CvBridgeError as e: print(e) return # 转换颜色空间 hsv = cv2.cvtColor(cv_image, cv2.COLOR_BGR2HSV) # 根据颜色范围进行二值化 mask = cv2.inRange(hsv, lower_color, upper_color) # 寻找轮廓 _, contours, _ = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE) # 遍历轮廓 for contour in contours: # 计算轮廓面积 area = cv2.contourArea(contour) # 忽略面积较小的轮廓 if area < 100: continue # 计算轮廓的外接矩形 x, y, w, h = cv2.boundingRect(contour) # 在原图上绘制外接矩形 cv2.rectangle(cv_image, (x, y), (x + w, y + h), (0, 255, 0), 2) # 显示图像 cv2.imshow('frame', cv_image) cv2.waitKey(1) # 初始化节点 rospy.init_node('color_detection') # 订阅摄像头图像 image_sub = rospy.Subscriber('/usb_cam/image_raw', Image, image_callback) # 进入循环 rospy.spin() # 关闭窗口 cv2.destroyAllWindows() 帮我改成检测多种色值的
好的,以下是修改后的代码:
```python
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import cv2
import numpy as np
import rospy
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
# 定义要识别的颜色范围
colors = {
'red': ([0, 50, 50], [10, 255, 255]),
'green': ([36, 25, 25], [86, 255, 255]),
'blue': ([100, 50, 50], [130, 255, 255])
}
# 初始化cv_bridge
bridge = CvBridge()
# 定义回调函数,处理订阅到的图像
def image_callback(msg):
# 将ROS图像格式转换为OpenCV图像格式
try:
cv_image = bridge.imgmsg_to_cv2(msg, 'bgr8')
except CvBridgeError as e:
print(e)
return
# 转换颜色空间
hsv = cv2.cvtColor(cv_image, cv2.COLOR_BGR2HSV)
# 遍历所有颜色范围,进行二值化和轮廓检测
for color_name, color_range in colors.items():
lower_color = np.array(color_range[0])
upper_color = np.array(color_range[1])
mask = cv2.inRange(hsv, lower_color, upper_color)
_, contours, _ = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
# 遍历轮廓,绘制外接矩形
for contour in contours:
area = cv2.contourArea(contour)
if area < 100:
continue
x, y, w, h = cv2.boundingRect(contour)
cv2.rectangle(cv_image, (x, y), (x + w, y + h), (0, 255, 0), 2)
# 显示图像
cv2.imshow('frame', cv_image)
cv2.waitKey(1)
# 初始化节点
rospy.init_node('color_detection')
# 订阅摄像头图像
image_sub = rospy.Subscriber('/usb_cam/image_raw', Image, image_callback)
# 进入循环
rospy.spin()
# 关闭窗口
cv2.destroyAllWindows()
```
在上述代码中,我们定义了一个字典 `colors`,其中包含要识别的多种颜色的范围。然后我们遍历所有颜色范围,进行二值化和轮廓检测,并在原图上绘制外接矩形。
#!/usr/bin/env python2.7 # -*- coding: UTF-8 -*- import rospy from sensor_msgs.msg import Image from cv_bridge import CvBridge import cv2 import os from pyzbar import pyzbar def image_callback(msg): # 将ROS图像消息转换为OpenCV图像 bridge = CvBridge() frame = bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8') # 执行生成文本的逻辑 image_folder_path = '/root/Pictures' output_file_name = '/root/Pictures/qr_codes_found.txt' main(image_folder_path, output_file_name) def main(image_folder_path, output_file_name): img_files = [f for f in os.listdir(image_folder_path) if f.endswith('.png')] qr_codes_found = [] print("Image files:") for img_file in img_files: print(img_file) for img_file in img_files: img_path = os.path.join(image_folder_path, img_file) img = cv2.imread(img_path) barcodes = pyzbar.decode(img) for barcode in barcodes: if barcode.type == 'QRCODE': qr_data = barcode.data.decode("utf-8") qr_codes_found.append((img_file, qr_data)) unique_qr_codes = [] for file_name, qr_content in qr_codes_found: if qr_content not in unique_qr_codes: unique_qr_codes.append(qr_content) with open(output_file_name, 'w') as f: for qr_content in unique_qr_codes: f.write("{}\n".format(qr_content)) if __name__ == '__main__': rospy.init_node('text_generation_node') # 创建一个订阅器订阅图像消息 rospy.Subscriber('processed_image', Image, image_callback) rospy.spin() 如何让这个代码生成的文本变为excel文件
要将生成的文本内容保存为 Excel 文件,您可以使用 Python 的 openpyxl 库来实现。下面是修改后的代码,可将生成的文本保存为 Excel 文件:
```python
#!/usr/bin/env python2.7
# -*- coding: UTF-8 -*-
import rospy
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
import cv2
import os
from pyzbar import pyzbar
from openpyxl import Workbook
def image_callback(msg):
# 将ROS图像消息转换为OpenCV图像
bridge = CvBridge()
frame = bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
# 执行生成文本的逻辑
image_folder_path = '/root/Pictures'
output_file_name = '/root/Pictures/qr_codes_found.xlsx'
main(image_folder_path, output_file_name)
def main(image_folder_path, output_file_name):
img_files = [f for f in os.listdir(image_folder_path) if f.endswith('.png')]
qr_codes_found = []
print("Image files:")
for img_file in img_files:
print(img_file)
for img_file in img_files:
img_path = os.path.join(image_folder_path, img_file)
img = cv2.imread(img_path)
barcodes = pyzbar.decode(img)
for barcode in barcodes:
if barcode.type == 'QRCODE':
qr_data = barcode.data.decode("utf-8")
qr_codes_found.append((img_file, qr_data))
unique_qr_codes = []
for file_name, qr_content in qr_codes_found:
if qr_content not in unique_qr_codes:
unique_qr_codes.append(qr_content)
# 创建一个新的工作簿
wb = Workbook()
# 获取默认的工作表
sheet = wb.active
# 将数据写入工作表
for i, qr_content in enumerate(unique_qr_codes, start=1):
sheet.cell(row=i, column=1).value = qr_content
# 保存工作簿为Excel文件
wb.save(output_file_name)
if __name__ == '__main__':
rospy.init_node('text_generation_node')
# 创建一个订阅器订阅图像消息
rospy.Subscriber('processed_image', Image, image_callback)
rospy.spin()
```
在上面的代码中,我们使用 openpyxl 库来创建一个新的工作簿,并将数据写入工作表中。最后,我们使用 save() 方法将工作簿保存为 Excel 文件。
请确保已安装 openpyxl 库,可以使用以下命令进行安装:
```
pip install openpyxl
```
请根据您的需求修改文件路径和其他部分。