4. 在形状被遮挡后识别颜色，环境改变后识别颜色怎么解决
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    • 在形状被遮挡后识别颜色，环境改变后识别颜色怎么解决

    • N
       

      import sensor, image, time, math

# Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
# The below thresholds track in general red/green things. You may wish to tune them...
thresholds = [(0, 20, -18, 127, -8, 22), # generic_red_thresholds -> index is 0 so code == (1 << 0)
              (0, 60, -18, -48, 22, 127),
              (0, 50, 2, 127, 2, 127)]  # generic_green_thresholds -> index is 1 so code == (1 << 1)
# Codes are or'ed together when "merge=True" for "find_blobs".
#roi=(20,20,20,20)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.HQQVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock()
# Only blobs that with more pixels than "pixel_threshold" and more area than "area_threshold" are
# returned by "find_blobs" below. Change "pixels_threshold" and "area_threshold" if you change the
# camera resolution. "merge=True" must be set to merge overlapping color blobs for color codes.
def yanse():
           for blob in img.find_blobs(thresholds, pixels_threshold=100, area_threshold=100, merge=True):
               if blob.code() == 1: # r/g code == (1 << 1) | (1 << 0)
                  print("红色")
                  ys=0
               elif blob.code() == 2: # r/g code == (1 << 1) | (1 << 0)
                  print("绿色")
                  ys=1
               elif blob.code() == 4: # r/g code == (1 << 1) | (1 << 0)
                  print("黑色")
                  ys=2
               else:
                   print("无色")
while(True):
    clock.tick()
    img = sensor.snapshot()
    for r in img.find_rects(threshold = 1000):
        img.draw_rectangle(r.rect(), color = (255, 0, 0))
        roi1=r.rect()
        yanse()
        print("矩形")
        jx=1
        print("FPS %f" % clock.fps())
    for c in img.find_circles(threshold = 3500, x_margin = 10, y_margin = 10, r_margin = 10,r_min = 2, r_max = 100, r_step = 2):
        img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))
        roi1=(c.x(), c.y(), c.r())
        yanse()
        print("圆形")
        yx=2
      0

    • 环境改变了，颜色肯定会变，把颜色阈值调大一些。

      0
    • N

      要求是要加条件，进行判断如果环境改变，输出形状，如果形状被遮挡，输出颜色

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