怎样在指定区域内识别apriltag码？
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ya3l 发布的帖子
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RE: Nameerror: local variable referenced before assignment?发布在 OpenMV Cam
import sensor, image, time, math import os, nncu import pyb from machine import UART uart = UART(1, baudrate=115200) # 初始化串口 波特率设置为115200 TX是B12 RX是B13 sensor.reset() sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QQVGA) sensor.set_brightness(2000) # 设置图像亮度 越大越亮 sensor.skip_frames(time = 200) sensor.set_auto_gain(False) sensor.set_auto_whitebal(False) clock = time.clock() m = 0 flag_tag = 0 flag_OK = 0 flag_num = 0 flag_ani = 0 flag_shoot = 0 animal_fruit = 0 center_x = 0 center_y = 0 num = 0 cnt = 0 get = b'\x05' flag_5 = 0 def find_max(rects): max_size = 0 min_w = 20 max_w = 40 min_h = 20 max_h = 40 abs_x = 5 for rect in rects: if( rect.h() > 5 and rect.w() > min_w): # and rect.w() < max_w and rect.h() > min_h and rect.h() < max_h and abs(rect.w()-rect.h()) < abs_x ): max_rect = rect max_size = rect.magnitude() return max_rect def family_name(tag): if(tag.family() == image.TAG16H5): return "TAG16H5" if(tag.family() == image.TAG25H7): return "TAG25H7" if(tag.family() == image.TAG25H9): return "TAG25H9" if(tag.family() == image.TAG36H10): return "TAG36H10" if(tag.family() == image.TAG36H11): return "TAG36H11" if(tag.family() == image.ARTOOLKIT): return "ARTOOLKIT" while(True): clock.tick() img = sensor.snapshot() #get = uart.read(1) img.draw_rectangle(((15,20,126,70)), color = (0, 0, 255)) if(get==b'\x01'): rects = img.find_rects(roi=(10,30,140,80),threshold = 20000) #roi=(30,50,100,) for tag in img.find_apriltags(families=image.TAG25H9): # 指定apriltag类型为TAG25H9 #img.draw_rectangle(tag.rect(), color = (255, 0, 0))# 找到apriltag后绘制矩形框，将apriltag框起来 #img.draw_cross(tag.cx(), tag.cy(), color = (0, 255, 0))# 在apriltag中间绘制十字 #print_args = (family_name(tag), tag.id(), (180 * tag.rotation()) / math.pi) # 打印apriltag的类型、ID、旋转角度 #print("Tag Family %s, Tag ID %d, rotation %f (degrees)" % print_args) flag_tag = 1 elif(get == b'\x04'): flag_shoot = 0 flag_OK = 0 elif(get == b'\x05'): rects = img.find_rects(roi=(15,30,126,70),threshold = 2000) if(rects): max_rect = find_max(rects) if(max_rect.w() >25 and ((max_rect.w()-max_rect.h() < 5 and max_rect.w()-max_rect.h() > 0) or (max_rect.w()-max_rect.h() > -5 and max_rect.w()-max_rect.h() < 0)) and max_rect.h() > 20 and max_rect.h() < 40): img.draw_rectangle(max_rect.rect(), color = (255, 0, 0)) # 绘制矩形外框，便于在IDE上查看识别到的矩形位置 flag_ani = 1 animal_fruit = 'apple' if(flag_tag == 1 and (tag.id() ==0 or tag.id() ==2 or tag.id() ==4 or tag.id() ==6 or tag.id() ==8)): uart.write("M") uart.writechar(2) elif(flag_tag == 1 and (tag.id() == 1 or tag.id() == 3 or tag.id() == 5 or tag.id() == 7 or tag.id() == 9)): uart.write("M") uart.writechar(1) elif(flag_num == 1 and (num == '1' or num == '3' or num == '5' or num == '7' or num == '9')): uart.write("M") uart.writechar(3) #print(num) elif(flag_num == 1 and (num == '2' or num == '4' or num == '6' or num == '8' or num == '0')): uart.write("M") uart.writechar(4) #print(num) elif(flag_ani == 1 and (animal_fruit == 'cat' or animal_fruit == 'dog' or animal_fruit == 'horse' or animal_fruit == 'pig' or animal_fruit == 'castle')): uart.write("M") uart.writechar(5) #print("是个动物") elif(flag_ani == 1 and (animal_fruit == 'apple' or animal_fruit == 'banana' or animal_fruit == 'orange' or animal_fruit == 'durian' or animal_fruit == 'grape')): if(flag_5 == 0): uart.write("M") uart.writechar(6) # print("是个水果") flag_shoot = 1 else : if(flag_OK == 0): #print("没找到了") uart.write("M") uart.writechar(0) if(flag_shoot == 1): uart.write("X") uart.writechar((int)(center_x)) #uart.write("Y") #uart.writechar((int)(center_y)) #print("正在打靶子") #print(center_x) #print(center_y) if((center_x - 80 < 5 and center_x -80>0) or (center_x - 80 > -5 and center_x - 80 <0)): flag_OK = 1 #print("打靶完成") #uart.write("M") #uart.writechar(7) m = 0 flag_tag = 0 flag_num = 0 flag_ani = 0 flag_5 = 0 num = 0 #print( "横坐标") #print(center_x) #print("纵坐标") #print(clock.fps()) -
RE: Nameerror: local variable referenced before assignment?发布在 OpenMV Cam
其实就是在定义找最大的矩形框函数里面加一个对框宽度和其他条件的限定，一加就报错
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RE: Nameerror: local variable referenced before assignment?发布在 OpenMV Cam
import sensor, image, time, math import os, nncu import pyb from machine import UART uart = UART(1, baudrate=115200) # 初始化串口 波特率设置为115200 TX是B12 RX是B13 sensor.reset() sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QQVGA) sensor.set_brightness(2000) # 设置图像亮度 越大越亮 sensor.skip_frames(time = 200) sensor.set_auto_gain(False) sensor.set_auto_whitebal(False) clock = time.clock() flag_tag = 0 flag_OK = 0 flag_num = 0 flag_ani = 0 flag_shoot = 0 animal_fruit = 0 center_x = 0 center_y = 0 num = 0 cnt = 0 get = b'\x03' net_path = "model1.nncu" # 定义模型的路径 labels = [line.rstrip() for line in open("/sd/labels_number.txt")] # 加载标签 net = nncu.load(net_path, load_to_fb=True) # 加载模型 net_path2 = "78animal_fruit.nncu" # _qm_model_18_0.7524_4033 # 定义模型的路径 labels2 = [line.rstrip() for line in open("/sd/labels_animal_fruits.txt")] # 加载标签 net2 = nncu.load(net_path2, load_to_fb=True) def family_name(tag): if(tag.family() == image.TAG16H5): return "TAG16H5" if(tag.family() == image.TAG25H7): return "TAG25H7" if(tag.family() == image.TAG25H9): return "TAG25H9" if(tag.family() == image.TAG36H10): return "TAG36H10" if(tag.family() == image.TAG36H11): return "TAG36H11" if(tag.family() == image.ARTOOLKIT): return "ARTOOLKIT" def find_max_ani(rects): max_size = 0 min_w = 20 max_w = 40 min_h = 20 max_h = 40 abs_x = 5 for rect in rects: if( rect.h() > 5 ): #and rect.w() > min_w and rect.w() < max_w and rect.h() > min_h and rect.h() < max_h and abs(rect.w()-rect.h()) < abs_x ): max_rect = rect max_size = rect.magnitude() return max_rect def find_max_num(rects): max_size = 0 min_w = 0 max_w = 0 min_h = 0 max_h = 0 abs_x = 0 for rect in rects: if (rect.magnitude() > max_size and rect.w() > min_w and rect.w() < max_w and rect.h() > min_h and rect.h() < max_h and abs(rect.w()-rect.h()) < abs_x ): max_rect = rect max_size = rect.magnitude() return max_rect while(True): clock.tick() img = sensor.snapshot() #get = uart.read(1) img.draw_rectangle(((15,20,126,70)), color = (0, 0, 255)) if(get==b'\x01'): rects = img.find_rects(roi=(10,30,140,80),threshold = 20000) #roi=(30,50,100,) for tag in img.find_apriltags(families=image.TAG25H9): # 指定apriltag类型为TAG25H9 img.draw_rectangle(tag.rect(), color = (255, 0, 0))# 找到apriltag后绘制矩形框，将apriltag框起来 img.draw_cross(tag.cx(), tag.cy(), color = (0, 255, 0))# 在apriltag中间绘制十字 print_args = (family_name(tag), tag.id(), (180 * tag.rotation()) / math.pi) # 打印apriltag的类型、ID、旋转角度 print("Tag Family %s, Tag ID %d, rotation %f (degrees)" % print_args) flag_tag = 1 elif(get==b'\x02'): rects = img.find_rects(roi=(35,30,100,60),threshold = 2000) #roi=(20,30,130,80) threshold = 5000 if(rects): max_rect = find_max_num(rects) if( max_rect.w() >10 and max_rect.w() < 50 and max_rect.h() < 73 and ((max_rect.w()-max_rect.h() < 6 and max_rect.w()-max_rect.h() > 0) or (max_rect.w()-max_rect.h() > -6 and max_rect.w()-max_rect.h() < 0)) ): img.draw_rectangle(max_rect.rect(), color = (255, 0, 0)) # 绘制矩形外框，便于在IDE上查看识别到的矩形位置 img1 = img.copy(max_rect.rect()) # 拷贝矩形框内的图像 for obj in nncu.classify(net , img1, min_scale=1.0, scale_mul=0.5, x_overlap=0.0, y_overlap=0.0): #print("**********\nTop 1 Detections at [x=%d,y=%d,w=%d,h=%d]" % obj.rect()) sorted_list = sorted(zip(labels, obj.output()), key = lambda x: x[1], reverse = True) # 打印准确率最高的结果 for i in range(1): #print("%s = %f" % (sorted_list[i][0], sorted_list[i][1])) flag_num = 1 num = sorted_list[i][0] elif(get == b'\x03'): rects = img.find_rects(roi=(15,20,126,70),threshold = 2000) if(rects): max_rect = find_max_ani(rects) img.draw_rectangle(max_rect.rect(), color = (255, 0, 0)) # 绘制矩形外框，便于在IDE上查看识别到的矩形位置 img2 = img.copy(max_rect.rect()) # 拷贝矩形框内的图像 for obj in nncu.classify(net2 , img2, min_scale=1.0, scale_mul=0.5, x_overlap=0.0, y_overlap=0.0): #print("**********\nTop 1 Detections at [x=%d,y=%d,w=%d,h=%d]" % obj.rect()) sorted_list = sorted(zip(labels2, obj.output()), key = lambda x: x[1], reverse = True) # 打印准确率最高的结果 for i in range(1): #print("%s = %f" % (sorted_list[i][0], sorted_list[i][1])) flag_ani = 1 animal_fruit = sorted_list[i][0] elif(get == b'\x04'): flag_shoot = 0 flag_OK = 0 elif(get == b'\x05'): rects = img.find_rects(roi=(15,30,126,70),threshold = 2000) if(rects): max_rect = find_max(rects) if(max_rect.w() >25 and ((max_rect.w()-max_rect.h() < 5 and max_rect.w()-max_rect.h() > 0) or (max_rect.w()-max_rect.h() > -5 and max_rect.w()-max_rect.h() < 0)) and max_rect.h() > 20 and max_rect.h() < 40): img.draw_rectangle(max_rect.rect(), color = (255, 0, 0)) # 绘制矩形外框，便于在IDE上查看识别到的矩形位置 flag_ani = 1 animal_fruit = 'apple' if(flag_tag == 1 and (tag.id() ==0 or tag.id() ==2 or tag.id() ==4 or tag.id() ==6 or tag.id() ==8)): uart.write("M") uart.writechar(2) elif(flag_tag == 1 and (tag.id() == 1 or tag.id() == 3 or tag.id() == 5 or tag.id() == 7 or tag.id() == 9)): uart.write("M") uart.writechar(1) elif(flag_num == 1 and (num == '1' or num == '3' or num == '5' or num == '7' or num == '9')): center_x = max_rect.x() + max_rect.w()/2 center_y = max_rect.y() + max_rect.h()/2 uart.write("M") uart.writechar(3) uart.write("W") uart.writechar((int)(center_x)) uart.write("H") uart.writechar((int)(center_x)) print(num) elif(flag_num == 1 and (num == '2' or num == '4' or num == '6' or num == '8' or num == '0')): uart.write("M") uart.writechar(4) print(num) elif(flag_ani == 1 and (animal_fruit == 'cat' or animal_fruit == 'dog' or animal_fruit == 'horse' or animal_fruit == 'pig' or animal_fruit == 'castle')): uart.write("M") uart.writechar(5) print("是个动物") elif(flag_ani == 1 and flag_OK == 0 and (animal_fruit == 'apple' or animal_fruit == 'banana' or animal_fruit == 'orange' or animal_fruit == 'durian' or animal_fruit == 'grape')): uart.write("M") uart.writechar(6) print("是个水果") flag_shoot = 1 else : if(flag_OK == 0): print("没找到了") uart.write("M") uart.writechar(0) if(flag_shoot == 1): center_x = max_rect.x() + max_rect.w()/2 center_y = max_rect.y() + max_rect.h()/2 uart.write("X") uart.writechar((int)(center_x)) #uart.write("Y") #uart.writechar((int)(center_y)) #print("正在打靶子") #print(center_x) #print(center_y) if((center_x - 80 < 5 and center_x -80>0) or (center_x - 80 > -5 and center_x - 80 <0)): flag_OK = 1 #print("打靶完成") #uart.write("M") #uart.writechar(7) flag_tag = 0 flag_num = 0 flag_ani = 0 num = 0 #print( "横坐标") #print(center_x) #print("纵坐标") #print(clock.fps())
