霍夫圆检测五个球有两个检测不到

3f4p

# Untitled - By: 81245 - 周三 7月 28 2021

import sensor, image, time ,lcd

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 2000)

sensor.set_auto_gain(False) # 颜色跟踪必须关闭自动增益
sensor.set_auto_whitebal(False) # 颜色跟踪必须关闭白平衡
sensor.set_auto_exposure(False)
lcd.init()

'''
红色 (20, 62, 31, 93, 18, 65)
蓝色 (16, 63, -24, 51, -88, -19)
绿色 (34, 72, -55, 28, 24, 59)
黑色 (0, 42, -13, 7, -18, 6)
白色 (56, 78, -9, -1, -20, -3)
'''
thresholds =[(20, 62, 31, 93, 18, 65),
            (16, 63, -24, 51, -88, -19),
            (34, 72, -55, 28, 24, 59),
            (0, 42, -13, 7, -18, 6),
            (56, 78, -9, -1, -20, -3)]

clock = time.clock()

def max_pixel(pixle_num):
    Max_pixel = 0
    Max_num= 0
    for i in range(5) :
        if Max_pixel < pixle_num[i]:
            Max_pixel = pixle_num[i]
            Max_num = i
    return Max_num
yanse = ["红色","蓝色","绿色","黑色","白色"]
while(True):

    clock.tick()
    img = sensor.snapshot().lens_corr(1.3)
    for c in img.find_circles(threshold = 3500, x_margin = 5, y_margin = 5, r_margin = 5,r_min = 5, r_max = 100, r_step = 2):
        pixel_num = [0,0,0,0,0]
        c_rectangle = (c.x()-c.r(),c.y()-c.r(),c.r()*2,c.r()*2)
        print(c_rectangle)
        img.draw_circle(c.x(), c.y(), c.r())
        #img.draw_rectangle(c_rectangle)
        print(c)
        for i in range(5):
            for blob in img.find_blobs([thresholds[i]],roi=c_rectangle,merge = True):
                pixel_num[i] = blob.pixels()
        this_c_color = max_pixel(pixel_num)
        print(yanse[this_c_color])
    lcd.display(img)
    print(clock.fps())

我采用霍夫圆检测，为什么白色和绿色一直检测不到，是因为阴影吗

kidswong999

是因为对比度不够，边缘不够明显。

kidswong999

find_circles里的阈值改一下。

3f4p

@kidswong999 是再加还是减小

霍夫圆检测 五个球有两个检测不到

霍夫圆检测五个球有两个检测不到