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    qt4h

    @qt4h

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    qt4h 发布的帖子

    • 为什么我按照视频教程的人脸追踪的代码修改后,一识别人脸摄像头是直接偏移开不再识别人脸而不是进行追踪呢?

      而且看视频教程在给云台上电后没有发生机位重启的现象,我上完电后云台总是回归到固定机位.这又是怎么回事呢
      mport sensor, image, time

      from pid import PID
      from pyb import Servo

      pan_servo=Servo(1)
      tilt_servo=Servo(2)

      pan_servo.calibration(500,2500,500)
      tilt_servo.calibration(500,2500,500)

      #red_threshold = (13, 49, 18, 61, 6, 47)

      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_contrast(3)
      sensor.set_gainceiling(16)
      sensor.set_pixformat(sensor.GRAYSCALE) # use RGB565.
      sensor.set_vflip(True)
      sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed.
      sensor.skip_frames(10) # Let new settings take affect.
      sensor.set_auto_whitebal(False) # turn this off.
      clock = time.clock() # Tracks FPS.

      face_cascade = image.HaarCascade("frontalface", stages=25)

      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

      while(True):
      clock.tick() # Track elapsed milliseconds between snapshots().
      img = sensor.snapshot() # Take a picture and return the image.

      blobs = img.find_features(face_cascade, threshold=0.75, scale=1.35)
      if blobs:
          max_blob = find_max(blobs)
          pan_error = max_blob[0]+max_blob[2]/2-img.width()/2
          tilt_error = max_blob[1]+max_blob[3]/2-img.height()/2
      
          print("pan_error: ", pan_error)
      
          img.draw_rectangle(max_blob) # rect
          img.draw_cross(int(max_blob[0]+max_blob[2]/2), int(max_blob[1]+max_blob[3]/2)) # cx, cy
          pan_output=pan_pid.get_pid(pan_error,1)/2
          tilt_output=tilt_pid.get_pid(tilt_error,1)
          print("pan_output",pan_output)
          pan_servo.angle(pan_servo.angle()+pan_output)
          tilt_servo.angle(tilt_servo.angle()-tilt_output)
      
      发布在 OpenMV Cam
      Q
      qt4h