This is a simple ice detect script using opencv, mainly used for UAV auto landing at seasonal ice area

iceDetect.py

import cv2
import numpy as np 
    


# img = cv2.imread('./data/ice1.jpeg')
# img = cv2.imread('./data/ice3.jpg')

cap = cv2.VideoCapture(1)

# cap.set(3,1920)
# cap.set(4,1080)
img_width = cap.get(3)
img_height = cap.get(4)


def target_estimate(img, img_width, img_height):
    target = img[round(img_height/2-50):round(img_height/2+50), round(img_width/2-50):round(img_width/2+50)]
    average_color_row = np.average(target, axis=0)
    average_color = np.average(average_color_row, axis=0)
    # print(average_color)
    return average_color == 0

def hud(img, img_width, img_height, is_target):
    line_color = (244, 150, 5)
    cv2.rectangle(img, (round(img_width/2-50), round(img_height/2-50)), (round(img_width/2+50), round(img_height/2+50)), line_color, 2)
    cv2.line(img, (0, 0), (round(img_width/2-50), round(img_height/2-50)), line_color, 1)
    cv2.line(img, (round(img_width/2+50), round(img_height/2+50)), (round(img_width), round(img_height)), line_color, 1)
    cv2.line(img, (0, round(img_height)), (round(img_width/2-50), round(img_height/2+50)), line_color, 1)
    cv2.line(img, (round(img_width/2+50), round(img_height/2-50)), (round(img_width), 0), line_color, 1)
    if is_target:
        cv2.putText(img, 'REACHABLE', (round(img_width/2-50), round(img_height/2-50)), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
    else:
        cv2.putText(img, 'X STOP', (round(img_width/2-50), round(img_height/2-50)), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)

while True:
    img = cap.read()[1]
    # cv2.imshow('image', img)

    # 设定颜色HSV范围，假定为红色
    Lower = np.array([0, 0, 100])
    Upper = np.array([180, 100, 255])


    # 将图像转化为HSV格式
    hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)

    # 去除颜色范围外的其余颜色
    mask = cv2.inRange(hsv, Lower, Upper)


    # cv2.imshow('image1', mask)
    # 二值化操作
    ret, binary = cv2.threshold(mask, 0, 255, cv2.THRESH_BINARY)


    # 获取图像轮廓坐标，其中contours为坐标值，此处只检测外形轮廓
    contours, hierarchy = cv2.findContours(binary, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)

    aim_box = (0, 0, 0, 0)
    if len(contours) > 0:
        # cv2.boundingRect()返回轮廓矩阵的坐标值，四个值为x, y, w, h， 其中x, y为左上角坐标，w,h为矩阵的宽和高
        boxes = [cv2.boundingRect(c) for c in contours]
        for box in boxes:
            x, y, w, h = box
            fin_x, fin_y, fin_w, fin_h = aim_box
            if fin_x * fin_y < x * y:
                fin_x = x
                fin_y = y
            # cv2.rectangle(img, (x, y), (x + w, y + h), (9, 212, 241), -1)
            # cv2.line(img, (x, y), (x + w, y + h), (32, 53, 210), 2)
            # cv2.line(img, (x, y + h), (x + w, y), (32, 53, 210), 2)
        # cv2.putText(img, 'CANNOT LAND', (fin_x, fin_y), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2)
        # print(boxes)
    is_target = target_estimate(binary, img_width, img_height)
    hud(img, img_width, img_height, is_target)
    print(target_estimate(binary, img_width, img_height))

    
    cv2.imshow('image2', img)
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break

cv2.waitKey(0)
cv2.destroyAllWindows()