电赛E题，识别“黑色矩形边框”例程(find_rects)修改而来，但是修改后"黑色矩形边框"识别率低，甚至误识别
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import time, sensor from pyb import UART THRESHOLD_R = [(87, 99, -26, 80, -55, 37)] THRESHOLD_G = [(57, 100, -45, 18, -45, 43)] THRESHOLD = 125 DIV_TASK_2 = 10 DIV_TASK_3 = 20 ROI = (10, 10, 90, 90) def sending_data(dx, dy): global uart flx = 0 fly = 0 if dx < 0: dx = -dx flx = 1 if dy < 0: dy = -dy fly = 1 FH = bytearray([0xA1, 0x02, flx, dx, fly, dy, 0x1A]) uart.write(FH) uart = UART(3,115200) uart.init(115200, bits=8, parity=None, stop=1) sensor.reset() sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QQVGA) sensor.set_windowing((120, 120)) sensor.set_auto_whitebal(True) sensor.skip_frames(time = 20) sensor.set_hmirror(False) sensor.set_vflip(True) sensor.set_auto_exposure(False,1000) #lcd.init() clock = time.clock() cnt_find_rect = 0 p_array = [] flgstart = 0 flgend = 0 flgend3 = 0 cnt = 0 err_dx = 0 err_dy = 0 task = b'0' goal_task2 = 0 goal_task3 = 0 goal_task4 = 0 cx_screen = 60 cy_screen = 60 p0 = (97, 19) p1 = (19, 22) p2 = (20, 98) p3 = (98, 98) d0 = (93, 21) d1 = (51, 22) d2 = (52, 51) d3 = (93, 50) point_temp = [] while True: img = sensor.snapshot() if uart.any(): task = uart.read(1) FH = bytearray([0xA1,0x33,0X1A]) uart.write(FH) blobs = img.find_blobs(THRESHOLD_R, pixels_threshold = 1, area_threshold = 1) blob = [] for b in blobs: img.draw_rectangle(b.rect(), color = (0, 255, 0), scale = 1, thickness = 1) max_size=0 for b in blobs: if b.pixels() > max_size: blob = b max_size = b.pixels() if blob: cx = blob[0] + int(blob[2] / 2) cy = blob[1] + int(blob[3] / 2) if task == b'1': img.draw_string(0, 0, "task:1") img.draw_cross(point_temp[0][0], point_temp[0][1]) if blob: err_dx = cx - point_temp[0][0] err_dy = cy - point_temp[0][1] if abs(err_dx) < 1 and abs(err_dy) < 1: task = b'0' FH = bytearray([0xA1, 0x11, 0x1A]) uart.write(FH) print('1') sending_data(err_dx, err_dy) elif task == b'2': img.draw_string(0, 0, "task:2") points = (point_temp[1], point_temp[2], point_temp[3], point_temp[4]) if blob: err_dx = cx - points[goal_task2][0] err_dy = cy - points[goal_task2][1] if goal_task2 == 1: err_dy = 0 elif goal_task2 == 2: err_dx = 0 elif goal_task2 == 3: err_dy = 0 elif goal_task2 == 0 and flgend == 1: err_dx = 0 print(err_dx, err_dy) if abs(err_dx) < 2 and abs(err_dy) < 2: goal_task2 = goal_task2 + 1 if goal_task2 == 4: flgend = 1 goal_task2 = 0 elif flgend == 1: task = b'0' goal_task2 = 0 FH = bytearray([0xA1, 0x11, 0x1A]) uart.write(FH) print("OK") flgend = 0 sending_data(err_dx, err_dy) elif task == b'4' or task == b'3': if cnt_find_rect > 10 and flgstart == 0: flgstart = 1 corner_cx = int((corner[3][0] + corner[2][0] + corner[1][0] + corner[0][0]) / 4) corner_cy = int((corner[3][1] + corner[2][1] + corner[1][1] + corner[0][1]) / 4) corner_temp = [] for i in range(4): dx = corner_cx - corner[i][0] dy = corner_cy - corner[i][1] x = corner[i][0] + int(dx * 0.06) y = corner[i][1] + int(dy * 0.08) corner_temp.append((x, y)) corner = corner_temp p_array.append(corner[0]) for i in range(4): next = i + 1 if i == 3: next = 0 dy = (corner[next][1] - corner[i][1]) / DIV_TASK_3 dx = (corner[next][0] - corner[i][0]) / DIV_TASK_3 for j in range(DIV_TASK_3): pointx = int(corner[i][0] + dx * (j + 1)) pointy = int(corner[i][1] + dy * (j + 1)) p_array.append((pointx, pointy)) print(len(p_array)) for p in p_array: img.draw_circle(p[0], p[1], 1) elif flgstart == 0: rects = img.find_rects(threshold = 200) #ROI=(80, 60, 80, 60) for r in rects: rect = r.rect() if (rect[0] > 15 and rect[1] > 15 and rect[2] < 60 and rect[3] < 60 and (rect[0] + rect[2]) < 100 and (rect[1] + rect[3]) < 100 and (rect[0] + rect[2]) > 25 and (rect[1] + rect[3]) > 25): cnt_find_rect = cnt_find_rect + 1 img.draw_rectangle(rect, color = (255, 0, 0)) corner = r.corners() for point in r.corners(): img.draw_circle(point[0], point[1], 5, color = (0, 255, 0)) break print(len(p_array)) if blob and flgstart == 1: print(goal_task4) err_dx = cx - p_array[goal_task4][0] err_dy = cy - p_array[goal_task4][1] if abs(err_dx) < 2 and abs(err_dy) < 2: goal_task4 = goal_task4 + 1 if goal_task4 == len(p_array): task = b'0' goal_task4 = 0 FH = bytearray([0xA1, 0x11, 0x1A]) uart.write(FH) print("OK") flgstart = 0 p_array = [] cnt_find_rect = 0 if flgstart == 1: sending_data(err_dx, err_dy) elif task == b'9': point_temp.append((cx, cy)) img.draw_string(0, 0, "task:5") for p in point_temp: img.draw_circle(p[0], p[1], 1) FH = bytearray([0xA1, 0x44, 0x1A]) uart.write(FH) task = b'0' elif task == b'6': img.draw_string(0, 0, "task:6") #lcd.display(img)
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你的代码我没办法测试，你把串口的部分删掉，只留需要的部分。
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这个是识别黑色矩形边框部分，我的程序只是识别黑色矩形边框时，识别不出来。但是这个程序需要外部串口通信来触发这个任务3，去识别黑色边框
rects = img.find_rects(threshold = 200) #ROI=(80, 60, 80, 60)
for r in rects:
rect = r.rect()
if (rect[0] > 15 and rect[1] > 15
and rect[2] < 60 and rect[3] < 60
and (rect[0] + rect[2]) < 100
and (rect[1] + rect[3]) < 100
and (rect[0] + rect[2]) > 25
and (rect[1] + rect[3]) > 25):
cnt_find_rect = cnt_find_rect + 1
img.draw_rectangle(rect, color = (255, 0, 0))
corner = r.corners()
for point in r.corners():
img.draw_circle(point[0], point[1], 5, color = (0, 255, 0))
break
print(len(p_array))
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你把程序删减好，改成能够直接运行的。
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if (rect[0] > 15 and rect[1] > 15
and rect[2] < 60 and rect[3] < 60
and (rect[0] + rect[2]) < 100
and (rect[1] + rect[3]) < 100
and (rect[0] + rect[2]) > 25
and (rect[1] + rect[3]) > 25):这句话的作用是什么？是不是这一堆判断写错了，把它删掉看看。
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import time, sensor from pyb import UART sensor.reset() sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QQVGA) sensor.set_windowing((120, 120)) sensor.set_auto_whitebal(True) sensor.skip_frames(time = 20) sensor.set_hmirror(False) sensor.set_vflip(True) while True: img = sensor.snapshot() rects = img.find_rects(threshold = 200) #ROI=(80, 60, 80, 60) for r in rects: rect = r.rect() # if (rect[0] > 15 and rect[1] > 15 # and rect[2] < 60 and rect[3] < 60 # and (rect[0] + rect[2]) < 100 # and (rect[1] + rect[3]) < 100 # and (rect[0] + rect[2]) > 25 # and (rect[1] + rect[3]) > 25): img.draw_rectangle(rect, color = (255, 0, 0)) corner = r.corners() for point in r.corners(): img.draw_circle(point[0], point[1], 5, color = (0, 255, 0))
