如果面积判断设置太小的话,调试的时候会有各种颜色的物体被识别出来,包括不是红色的物体,请问是不是距离太远,亮度变了,导致摄像头识别不出来呢,如果是,如何进行改动呢?
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1iht
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RE: openmv颜色,形状识别出问题。
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openmv颜色,形状识别出问题。
openmv通过图片进行颜色阈值设置后, 加上舵机,只能识别近距离的物体,远距离的物体识别不到,是什么问题呢?
如果是光度的影响,该如何调整代码呢?import sensor, image, time, math from pyb import UART import json import ustruct sensor.reset() sensor.set_framesize(sensor.QQVGA) sensor.set_pixformat(sensor.RGB565) 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 #sensor.set_auto_exposure(False,2000); #控制曝光时间,单位为us #sensor.set_windowing((22,7,110,105)); clock = time.clock() uart = UART(3,115200) #定义串口3变量 P4 TX<-->PA10 P5 RX<-->PA9 uart.init(115200, bits=8, parity=None, stop=1) # init with given parameters #binary_threshold = (0, 156) find_threshold = (20, 48, 28, 60, -5, 44) K = 12800; #自己选取一个合适的校准值 def find_max(blobs): #定义寻找色块面积最大的函数 blobs.sort(key=lambda x:x.pixels(),reverse=True); max_blob={} #默认为空字典 length=len(blobs); if length>0: max_blob=blobs[0]; return max_blob; def sending_data(cx_max,cy_max): global uart; #frame=[0x2C,18,cx%0xff,int(cx/0xff),cy%0xff,int(cy/0xff),0x5B]; #data = bytearray(frame) data = ustruct.pack("<bbhhb", #格式为俩个字符俩个短整型(2字节) 0x2C, #帧头1 0x12, #帧头2 int(cx_max), # up sample by 4 #数据1 int(cy_max), # up sample by 4 #数据2LCD_ShowStringLCD_ShowString 0x5B); uart.write(data); #必须要传入一个字节数组 while(True): clock.tick() img = sensor.snapshot()#.lens_corr(1.45); #img.binary([binary_threshold], invert = 1) blobs = img.find_blobs([find_threshold],area_threshold=100) if blobs: max_blob=find_max(blobs) img.draw_rectangle(max_blob.rect(),color=(0,0,255)) img.draw_cross(max_blob.cx(), max_blob.cy(),color=(0,0,255)) img.draw_cross(160, 120,color=(0,0,255)) # 在中心点画标记 img.draw_line((160,120,max_blob.cx(),max_blob.cy()), color=(0,0,255)); phi = (max_blob.w() + max_blob.h())/2; length = K/phi; #获得距标靶距离 #print('position:',max_blob.cx(),max_blob.cy()) if(max_blob.pixels()>100): sending_data(max_blob.cx(), max_blob.cy()); #发送点位坐标 #print(max_blob.pixels()) print("Length=",length); else: sending_data(10000,10000); #print(clock.fps())
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串口通信输出乱码,波特率,串口都没错,请问是哪里出错了呢?
import sensor, image, time,math import json import ustruct from pid import PID from pyb import Servo from pyb import UART pan_servo=Servo(1) tilt_servo=Servo(2) pan_servo.calibration(500,2500,500) tilt_servo.calibration(500,2500,500) green_threshold = (52, 98, -13, -25, -26, 5) pan_pid = PID(p=0.07, i=0, imax=90) #脱机运行或者禁用图像传输,使用这个PID tilt_pid = PID(p=0.05, i=0, imax=90) #脱机运行或者禁用图像传输,使用这个PID #pan_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID #tilt_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID sensor.reset() # Initialize the camera sensor. sensor.set_pixformat(sensor.RGB565) # use RGB565. sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed. sensor.skip_frames(10) # Let new settings take affect. sensor.set_auto_gain(False) # must be turned off for color tracking sensor.set_auto_whitebal(False) # turn this off. clock = time.clock() # Tracks FPS. def find_max(blobs): max_size=0 for blob in blobs: if blob[2]*blob[3] > max_size: max_blob=blob max_size = blob[2]*blob[3] return max_blob def sending_data(cx,cy): global uart; #frame=[0x2C,18,cx%0xff,int(cx/0xff),cy%0xff,int(cy/0xff),0x5B]; #data = bytearray(frame) data = ustruct.pack("<bbhhb", #格式为俩个字符俩个短整型(2字节) 0x2C, #帧头1 0x12, #帧头2 int(cx), # up sample by 4 #数据1 int(cy), # up sample by 4 #数据2 0x5B) uart.write(data); #必须要传入一个字节数组 def recive_data(): global uart if uart.any(): tmp_data = uart.readline(); print(tmp_data) uart = UART(3, 115200) uart.init(115200, bits=8, parity=None, stop=1) #8位数据位,无校验位,1位停止位 while(True): clock.tick() # Track elapsed milliseconds between snapshots(). img = sensor.snapshot() # Take a picture and return the image. blobs = img.find_blobs([green_threshold], area_threshold=150); if blobs: #如果找到了目标颜色 max_b = find_max(blobs); # Draw a rect around the blob. img.draw_rectangle(max_b[0:4]) # rect #用矩形标记出目标颜色区域 img.draw_cross(max_b[5], max_b[6]) # cx, cy img.draw_cross(160, 120) # 在中心点画标记 #在目标颜色区域的中心画十字形标记 cx=max_b[5]; cy=max_b[6]; img.draw_line((160,120,cx,cy), color=(127)); #img.draw_string(160,120, "(%d, %d)"%(160,120), color=(127)); img.draw_string(cx, cy, "(%d, %d)"%(cx,cy), color=(127)); sending_data(cx,cy); #发送点位坐标 recive_data(); pan_output=pan_pid.get_pid(pan_error,1)/2 tilt_output=tilt_pid.get_pid(tilt_error,1) pan_servo.angle(pan_servo.angle()+pan_output) tilt_servo.angle(tilt_servo.angle()-tilt_output)
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openmv连舵机时动不了
舵机需要5v-8.4v,我给舵机和openmv接5v电压,连接后舵机里面一直抖动,不进行颜色识别,有时一直按一个方向一直动,openmv 有时闪白灯,请问这是怎么回事?
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摄像头使用配来的绿色扩展板,自己另外买了(4.8-8.4V)的舵机,请问应该如何给摄像头和舵机接线呢?
摄像头使用配来的绿色扩展板,自己另外买了(4.8-8.4V)的舵机,请问应该如何给摄像头和舵机接线呢?