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  • 在颜色追踪例程中加入圆形识别,但是没有效果。



    • 在多颜色追踪例程中加入了圆形识别,然后以识别的圆形的外接矩形作为roi区域进行颜色追踪,但是没有效果。只能实现对颜色块的追踪,不能识别圆形。是写的代码有问题吗,求指教

      # Single Color RGB565 Blob Tracking Example
      #
      # This example shows off single color RGB565 tracking using the OpenMV Cam.
      
      import sensor, image, time, math
      
      threshold_index = 0 # 0 for red, 1 for green, 2 for blue
      
      # Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
      # The below thresholds track in general red/green/blue things. You may wish to tune them...
      thresholds = [(1, 100, 13, 120, -7, 120), # generic_red_thresholds
                    (30, 100, -64, -8, -32, 32), # generic_green_thresholds
                    (0, 30, 0, 64, -128, 0)] # generic_blue_thresholds
      
      sensor.reset()
      sensor.set_pixformat(sensor.RGB565)
      sensor.set_framesize(sensor.QQVGA)
      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" merges all overlapping blobs in the image.
      
      while(True):
          clock.tick()
          img = sensor.snapshot()
          for c in img.find_circles(threshold = 300, x_margin = 10, y_margin = 10, r_margin = 10,
                  r_min = 2, r_max = 100, r_step = 2):
              area = (c.x()-c.r(), c.y()-c.r(), 2*c.r(), 2*c.r())
              for blob in img.find_blobs([thresholds[threshold_index]], roi=area, pixels_threshold=200, area_threshold=200, merge=True):#在这里将roi设置为圆形的外接矩形
              # These values depend on the blob not being circular - otherwise they will be shaky.
                  if blob.elongation() > 0.5:
                      img.draw_edges(blob.min_corners(), color=(255,0,0))
                      img.draw_line(blob.major_axis_line(), color=(0,255,0))
                      img.draw_line(blob.minor_axis_line(), color=(0,0,255))
              # These values are stable all the time.
                  img.draw_rectangle(blob.rect())
                  img.draw_cross(blob.cx(), blob.cy())
              # Note - the blob rotation is unique to 0-180 only.
                  img.draw_keypoints([(blob.cx(), blob.cy(), int(math.degrees(blob.rotation())))], size=20)
          print(clock.fps())
      
      

      0_1652533389948_圆形识别.png





    • @kidswong999 颜色形状识别例程中没有对颜色块进行追踪。但是颜色追踪例程里用CAMSHIFT算法对颜色块进行了追踪。我想的时如何把它们结合起来,能够追踪圆形的颜色块



    • @5cxy 你提供一下你说的CAMSHIFT算法的代码。