Mat hsv; cvtColor(transmat,hsv,COLOR_BGR2HSV); Scalar lower_white (0,0,0); Scalar upper_white (180,255,180); Mat mask_white; inRange(hsv,lower_white,upper_white,mask_white); Mat gray = mask_white; threshold(gray,gray,100,255,THRESH_OTSU + THRESH_BINARY); // cvtColor(transmat, src_gray, COLOR_BGR2GRAY); // src_gray = Scalar::all(255) - src_gray; // // blur(src_gray, src_gray, Size(3, 3)); // equalizeHist(src_gray, src_gray); // imshow("滤波后", src_gray); // imwrite("/home/leoxae/KeekoRobot/TestPic/blur2_2.png",src_gray); // waitKey();