fd2z 发布的帖子

fd2z

..........求助

fd2z

黑白色块分辨时，如果只有黑或只有白时色块识别并没有工作是为何呢
我红绿蓝用的是彩图色块识别，黑白用的是灰度
黑白时总是只能识别其中一种颜色

import sensor,time
import image,math
from pyb import LED



kernel_size = 1 # kernel width = (size*2)+1, kernel height = (size*2)+1
kernel = [-1, -1, -1,\
          -1, +8, -1,\
          -1, -1, -1]
redthresholds = (29, 99, 19, 127, -128, 127)# grayscale thresholds设置阈值
greenthresholds = (30, 100, -64, -8, -32, 32)
bluethresholds = (19, 72, -128, 127, -128, -8)
graythresholds = [(65, 128)]
whitethresholds = (185, 255)
blackthresholds = (0,20)
roi=(60,40,40,40)
red_color_code = 1
blue_color_code = 2

green_color_code = 3
sensor.reset() # 初始化 sensor.
sensor.set_pixformat(sensor.RGB565) # or sensor.RGB565
sensor.set_framesize(sensor.QQVGA) # or sensor.QVGA (or others)
sensor.skip_frames(10) # 让新的设置生效
sensor.set_windowing(roi)
clock = time.clock() # 追踪FPS

while(True):
    clock.tick() # Track elapsed milliseconds between snapshots().
    image = sensor.snapshot() # Take a picture and return the image.
    blobs = image.find_blobs([redthresholds, greenthresholds, bluethresholds], area_threshold=100)
    if blobs:
        print(blobs)
        for blob in blobs:
            x = blob[0]
            y = blob[1] #
            width = blob[2] # 色块矩形的宽度
            height = blob[3] # 色块矩形的高度
            center_x = blob[5] # 色块中心点x值
            center_y = blob[6] # 色块中心点y值
            color_code = blob[8]

            if color_code == red_color_code:
                image.draw_rectangle(blob.rect())
                #image.draw_rectangle(0, 0, 20, 20,color=greenthresholds,thickness=1,fill=False)
                image.draw_cross(center_x, center_y)
                output_str="[%d,%d]" % (blob.cx(),blob.cy()) #方式1
                print(output_str)
            elif color_code == green_color_code:
                image.draw_rectangle(blob.rect())
                image.draw_cross(center_x, center_y)
                output_str="[%d,%d]" % (blob.cx(),blob.cy()) #方式1
                print(output_str)
            elif color_code == blue_color_code:
                image.draw_rectangle(blob.rect())
                image.draw_cross(center_x, center_y)
                output_str="[%d,%d]" % (blob.cx(),blob.cy()) #方式1
                print(output_str)

    else :
        img = sensor.snapshot()

        img.to_grayscale()

        img.binary(graythresholds)

        blob = img.find_blobs([whitethresholds], pixels_threshold=10, area_threshold=10, merge=True)

        if blob:

            print('4')
        else :
            print('5')

fd2z

@kidswong999

fd2z

@kidswong999 麻烦您解释详细一些，我没听太懂，谢谢qwq

fd2z

有办法吗。。。。

fd2z

但是打开白平衡和自动增益扫十字效果（我的用法和色块识别类似）特别不好



THRESHOLD = [(0,100)]

BINARY_VISIBLE = True

import sensor, image, time, math, utime
from pyb import UART
from pyb import LED
import json
roi=(0,60,160,60)
roi_1 = [(20, 0, 120, 20),         #  北
            (20, 100, 120, 20),     # 南
            (0, 0, 20, 120),        #  西
            (140, 0, 20, 120),      #  东
            (60,40,40,40)]          #   中

#LED(1).on()
#LED(2).on()
#LED(3).on()
sensor.reset()
sensor.set_vflip(False)
sensor.set_hmirror(False)
sensor.set_pixformat(sensor.GRAYSCALE)

sensor.set_framesize(sensor.QQVGA)
sensor.set_auto_whitebal(False) # turn this off.
sensor.set_auto_gain(False)
sensor.skip_frames(time = 2000)

clock = time.clock()
buf =[0 for i in range(5)]
low_threshold = (0, 40                         )
uart = UART(3, 115200)
while(True):
    m = -1
    isten = 0
    #img = sensor.snapshot()
    sensor.set_auto_whitebal(False) # turn this off.
    sensor.set_auto_gain(False)
    utime.sleep_us(90)
    img = sensor.snapshot().lens_corr(strength = 1.8, zoom = 1.0)
    img.binary([low_threshold],invert = 1)
    for r in roi_1:
        m += 1
        blobs = img.find_blobs(THRESHOLD, roi=r[0:4],pixels_threshold=100, area_threshold=100, merge=True)
        #img.draw_rectangle(r[0:4], color=(255,0,0))
        if blobs:
            most_pixels = 0
            largest_blob = 0
            for i in range(len(blobs)):
            #目标区域找到的颜色块（线段块）可能不止一个，找到最大的一个，作为本区域内的目标直线
                if blobs[i].pixels() > most_pixels:
                   most_pixels = blobs[i].pixels()
                    #merged_blobs[i][4]是这个颜色块的像素总数，如果此颜色块像素总数大于
                   largest_blob = i
            # Draw a rect around the blob.
            img.draw_rectangle(blobs[largest_blob].rect())
            #将此区域的像素数最大的颜色块画矩形和十字形标记出来
            img.draw_cross(blobs[largest_blob].cx(),
                           blobs[largest_blob].cy())
            buf[m] = 1
        else:
            buf[m] = 0


    utime.sleep_us(90)
    sensor.set_auto_whitebal(True) # turn this off.    
    sensor.set_auto_gain(True)
    utime.sleep_us(90)
    clock.tick()
    img = sensor.snapshot().binary(THRESHOLD) if BINARY_VISIBLE else sensor.snapshot()
    line = img.get_regression([(255,255) if BINARY_VISIBLE else THRESHOLD],roi=(0,60,160,60))

    if (line):
          rho_err = abs(line.rho())-img.width()//2+256
          img.draw_line(line.line(), color = 127)

    print("theta %f, rho = %f " % (line.theta(), line.rho()) if (line) else "N/A")
    output_str="%d" %rho_err
    print(output_str)

    if buf[0]==1 and buf[1] ==1 and buf[2] ==1 and buf[3] ==1 and buf[4] ==1:
           isten = 1
    print(isten)
    out_str="[%d" %isten
    uart.write(out_str )

fd2z

我的颜色识别和二值化巡线算法的白平衡和自动增益设置是相反的
这两算法单独时都能用但是放在一起总是不能完美使用
我就是在while(true)里两次设置白平衡和自动增益
但是画面会屏闪，前一帧的画面很正常，下一帧的画面就。。。不正常

fd2z

巡线没有问题但是扫十字的结果很偶然
很少成功

fd2z



THRESHOLD = [(0,100)]

BINARY_VISIBLE = True

import sensor, image, time, math, utime
from pyb import UART
from pyb import LED
import json
roi=(0,60,160,60)
roi_1 = [(20, 0, 120, 20),         #  北
            (20, 100, 120, 20),     # 南
            (0, 0, 20, 120),        #  西
            (140, 0, 20, 120),      #  东
            (60,40,40,40)]          #   中

#LED(1).on()
#LED(2).on()
#LED(3).on()
sensor.reset()
sensor.set_vflip(False)
sensor.set_hmirror(False)
sensor.set_pixformat(sensor.GRAYSCALE)

sensor.set_framesize(sensor.QQVGA)
sensor.set_auto_whitebal(False) # turn this off.
sensor.set_auto_gain(False)
sensor.skip_frames(time = 2000)

clock = time.clock()
buf =[0 for i in range(5)]
low_threshold = (0, 40                         )
uart = UART(3, 115200)
while(True):
    m = -1
    isten = 0
    #img = sensor.snapshot()
    sensor.set_auto_whitebal(False) # turn this off.
    sensor.set_auto_gain(False)
    utime.sleep_us(90)
    img = sensor.snapshot().lens_corr(strength = 1.8, zoom = 1.0)
    img.binary([low_threshold],invert = 1)
    for r in roi_1:
        m += 1
        blobs = img.find_blobs(THRESHOLD, roi=r[0:4],pixels_threshold=100, area_threshold=100, merge=True)
        #img.draw_rectangle(r[0:4], color=(255,0,0))
        if blobs:
            most_pixels = 0
            largest_blob = 0
            for i in range(len(blobs)):
            #目标区域找到的颜色块（线段块）可能不止一个，找到最大的一个，作为本区域内的目标直线
                if blobs[i].pixels() > most_pixels:
                   most_pixels = blobs[i].pixels()
                    #merged_blobs[i][4]是这个颜色块的像素总数，如果此颜色块像素总数大于
                   largest_blob = i
            # Draw a rect around the blob.
            img.draw_rectangle(blobs[largest_blob].rect())
            #将此区域的像素数最大的颜色块画矩形和十字形标记出来
            img.draw_cross(blobs[largest_blob].cx(),
                           blobs[largest_blob].cy())
            buf[m] = 1
        else:
            buf[m] = 0


    utime.sleep_us(90)
    sensor.set_auto_whitebal(True) # turn this off.    
    sensor.set_auto_gain(True)
    utime.sleep_us(90)
    clock.tick()
    img = sensor.snapshot().binary(THRESHOLD) if BINARY_VISIBLE else sensor.snapshot()
    line = img.get_regression([(255,255) if BINARY_VISIBLE else THRESHOLD],roi=(0,60,160,60))

    if (line):
          rho_err = abs(line.rho())-img.width()//2+256
          img.draw_line(line.line(), color = 127)

    print("theta %f, rho = %f " % (line.theta(), line.rho()) if (line) else "N/A")
    output_str="%d" %rho_err
    print(output_str)

    if buf[0]==1 and buf[1] ==1 and buf[2] ==1 and buf[3] ==1 and buf[4] ==1:
           isten = 1
    print(isten)
    out_str="[%d" %isten
    uart.write(out_str )

这是我的代码

fd2z

但是误差还是很大
我加了偏振镜来减弱反光影响

fd2z

@lumc 形状不规则啊

fd2z

我用二值化线性回归并划分四个感兴趣区区分T路口十字路口
但是误差太大，因为图比较复杂，有一点黑色比如黑色数字

fd2z

mayday mayday

fd2z

有什么好办法吗？？？？？？

fd2z

有什么好办法吗？？

fd2z

fd2z

任务是将1位置有白色物块放在中间的白色圈内!

fd2z

有什么好方法识别图中的交叉口吗？T字米字路口？

fd2z

OpenMV可以固定帧率采图吗？？

fd2z

那像气球一样的非标准圆呢