【Openmv】多颜色识别常用初始化_自用

最新推荐文章于 2024-08-11 10:13:43 发布

云敬山

最新推荐文章于 2024-08-11 10:13:43 发布

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分类专栏：机械自动化技术第一 python openmv

本文链接：https://blog.csdn.net/qq_42807924/article/details/85159448

版权

# 多颜色跟踪示例
#
# 这个例子显示了使用OpenMV的多色跟踪。

import sensor, image, time

# 颜色跟踪阈值(L Min, L Max, A Min, A Max, B Min, B Max)
# 下面的阈值跟踪一般红色/绿色的东西。你不妨调整他们...
thresholds = [(47, 68, 55, 103, 25, 63), # red_thresholds
              (60, 75, -80, -40, 30, 50), # green_thresholds
              (29, 49, -5, 25, -63, -35)] # blue_thresholds

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
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_vflip(True)
sensor.set_hmirror(True)
clock = time.clock()

# 只有比“pixel_threshold”多的像素和多于“area_threshold”的区域才被
# 下面的“find_blobs”返回。 如果更改相机分辨率，
# 请更改“pixels_threshold”和“area_threshold”。 “merge = True”合并图像中所有重叠的色块。

while(True):
    clock.tick()
    img = sensor.snapshot().lens_corr(1.8) 
    for blob in img.find_blobs(thresholds, pixels_threshold=200, area_threshold=200):
        img.draw_rectangle(blob.rect())
        img.draw_cross(blob.cx(), blob.cy())
    print(clock.fps())

测距



import sensor, image, time

yellow_threshold   = ( 56,   83,    5,   57,   63,   80)

sensor.reset()
sensor.set_pixformat(sensor.RGB565) 
sensor.set_framesize(sensor.QQVGA) 
sensor.skip_frames(10)
sensor.set_auto_whitebal(False)
sensor.set_vflip(True)
sensor.set_hmirror(True)
clock = time.clock() 

K=5000

while(True):
    clock.tick() 
    img = sensor.snapshot().lens_corr(1.8) 

    blobs = img.find_blobs([yellow_threshold])
    if len(blobs) == 1:     
        b = blobs[0]
        img.draw_rectangle(b[0:4]) # rect
        img.draw_cross(b[5], b[6]) # cx, cy
        Lm = (b[2]+b[3])/2
        length = K/Lm
        print(length)

在这里插入图片描述
11点30分，2018年12月21日



import sensor, image
import time, math
from servo import Servos
from machine import I2C, Pin
i2c = I2C(sda=Pin('P5'), scl=Pin('P4'))
servo = Servos(i2c, address=0x40, freq=50, min_us=650, max_us=2800, degrees=180)

red_threshold     =   (47, 68, 55, 103, 25, 63)
green_threshold   =   (45, 70, -60, -40, 20, 60)
blue_threshold    =   (29, 49, -5, 25, -63,