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  • 求助各位大神,颜色识别和特征点检测两种识别方法怎么写在一起啊?



    • 颜色识别和特征点检测两种识别方法怎么写在一起啊



    • 就是用模板上的颜色识别和特征点检测不知道怎么写在一起



    • # Object tracking with keypoints example.
      # Show the camera an object and then run the script. A set of keypoints will be extracted
      # once and then tracked in the following frames. If you want a new set of keypoints re-run
      # the script. NOTE: see the docs for arguments to tune find_keypoints and match_keypoints.
      import sensor, time, image
      
      # Reset sensor
      sensor.reset()
      
      # Sensor settings
      sensor.set_contrast(3)
      sensor.set_gainceiling(16)
      sensor.set_framesize(sensor.VGA)
      sensor.set_windowing((400, 320))
      sensor.set_pixformat(sensor.GRAYSCALE)
      
      sensor.skip_frames(time = 2000)
      sensor.set_auto_gain(False, value=100)
      
      def draw_keypoints(img, kpts):
          if kpts:
              print(kpts)
              img.draw_keypoints(kpts)
              img = sensor.snapshot()
              time.sleep_ms(1000)
      
      #kpts1 = None
      # NOTE: uncomment to load a keypoints descriptor from file
      kpts1 = image.load_descriptor("/telunsu.orb")
      kpts2 = image.load_descriptor("/xuehua.orb")
      kpts3 = image.load_descriptor("/AD.orb")
      kpts4 = image.load_descriptor("/wangqiu.orb")
      kpts5 = image.load_descriptor("/hongniu.orb")
      img = sensor.snapshot()
      #draw_keypoints(img, kpts1)
      
      clock = time.clock()
      while (True):
          clock.tick()
          img = sensor.snapshot()
          sensor.set_framesize(sensor.VGA)
          sensor.set_pixformat(sensor.GRAYSCALE)
          kptsn = img.find_keypoints(max_keypoints=150, threshold=10, normalized=True)
          if kptsn:
              match0 = image.match_descriptor(kpts1, kptsn, threshold=85)
              if (match0.count()>12):
                  img.draw_rectangle(match0.rect())
                  img.draw_cross(match0.cx(), match0.cy(), size=10)
                  print("特仑苏")
                  #break
      
              match1 = image.match_descriptor(kpts2, kptsn, threshold=85)
              if(match1.count()>5):
                  img.draw_rectangle(match1.rect())
                  img.draw_cross(match1.cx(), match1.cy(), size=10)
                  print("雪花")
                  #break
      
              match2=image.match_descriptor(kpts3,kptsn,threshold=85)
              if(match2.count()>10):
                  img.draw_rectangle(match2.rect())
                  img.draw_cross(match2.cx(), match2.cy(), size=10)
                  print("AD钙")
                  #break
      
              match3=image.match_descriptor(kpts4,kptsn,threshold=85)
              if(match3.count()>15):
                  img.draw_rectangle(match3.rect())
                  img.draw_cross(match3.cx(), match3.cy(), size=10)
                  print("网球")
                  #break
      
              match4=image.match_descriptor(kpts5,kptsn,threshold=85)
              if(match4.count()>8):
                  img.draw_rectangle(match4.rect())
                  img.draw_cross(match4.cx(), match4.cy(), size=10)
                  print("红牛")
                  #break
                      
          else:
              sensor.set_pixformat(sensor.RGB565)
              sensor.set_framesize(sensor.QQVGA)
              img = sensor.snapshot().lens_corr(1.8)
              for r in img.find_rects(threshold = 10000):
                  area =r.rect()
                  statistics = img.get_statistics(roi=area)#像素颜色统计
                  print(statistics)
                  if 35<statistics.l_mode()<60 and 40<statistics.a_mode()<85 and 35<statistics.b_mode()<65:#if the circle is red
                      img.draw_rectangle(area, color = (255, 255, 255))#识别到的红色圆形用红色的圆框出来
                      print("red")
                  elif 20<statistics.l_mode()<100 and -70<statistics.a_mode()<-8 and -32<statistics.b_mode()<60:
                      img.draw_rectangle(area, color = (255, 255, 255))#识别到的红色圆形用红色的圆框出来
                      print("green")
                  elif 25<statistics.l_mode()<100 and -20<statistics.a_mode()<50 and -80<statistics.b_mode()<55:
                      img.draw_rectangle(area, color = (255, 255, 255))#识别到的红色圆形用红色的圆框出来
                      print("blue")
                  
                  
                  #print(kpts2, "matched:%d dt:%d"%(match.count(), match.theta()))
                  # NOTE: uncomment if you want to draw the keypoints
                  #img.draw_keypoints(kpts2, size=KEYPOINTS_SIZE, matched=True)
      
          # Draw FPS
          #img.draw_string(0, 0, "FPS:%.2f"%(clock.fps()))
      
      

      这样写对吗