基于v831的颜色识别和色环识别
——————基于maxipy3开发
1.功能概述：
①基础颜色识别（红\绿\蓝）
②色环识别（识别区域内的圆形并加上颜色进行霍夫圆拟合）
③利用串口通讯将颜色和坐标数据以数据包形式发送
2.功能代码：
①基础颜色识别（红\绿\蓝）：
# 定义一个函数，用于检测摄像头图像上的颜色区域
def color_area(img):
detected_color_areas = [] # 创建一个空列表来存储检测到的颜色区域信息
x_center = 0
y_center = 0
color_name = 0
set_LAB = [
[(0, 58, 34, 82, -45, 70)], # red
[(0, 69, -4, 28, -61, -14)], # blue
[(7, 66, -98, -13, -35, 121)] # green
]
for j in range(3):
blobs = img.find_blobs(set_LAB[j])
if blobs:
for i in blobs:
size = i["w"] * i["h"]
if size > 3000:
x_start = i["x"]
x_end = i["x"] + i["w"]
x_center = int((x_start + x_end) / 2)
y_start = i["y"]
y_end = i["y"] + i["h"]
y_center = int((y_start + y_end) / 2)
# 计算中心点的坐标
m = max((x_center - i["w"] * 0.3), 0)
n = max((y_center - i["h"] * 0.3), 0)
m = min((x_center - i["w"] * 0.3), 240)
n = min((y_center - i["h"] * 0.3), 240)
mk = [int(m), int(n), 20, 20]
if (mk[0] + 20) < 220 and (mk[1] + 20) < 220:
git_color = img.get_blob_color(mk, 0, 0)
#color = (int(git_color[0]), int(git_color[1]), int(git_color[2]))
if j == 0:
color_name = 1
elif j == 1:
color_name = 3
elif j == 2:
color_name = 2
# 将检测到的颜色区域信息添加到列表中
detected_color_areas.append((x_center, y_center, color_name))
return detected_color_areas②色环识别（识别区域内的圆形并加上颜色进行霍夫圆拟合）：
# 定义一个函数，用于检测摄像头图像上的圆和颜色
def detect_circles_and_colors(img):
detected_circles = []
# 定义不同颜色的阈值范围
red_thresh = [(10, 59, 9, 43, -21, 34)]
green_thresh = [(5, 53, -37, 0, -51, 4)]
blue_thresh = [(0, 56, -1, 24, -42, -14)]
# 使用阈值检测红、绿和蓝色块
red_blobs = img.find_blobs(red_thresh, merge=True)
green_blobs = img.find_blobs(green_thresh, merge=True)
blue_blobs = img.find_blobs(blue_thresh, merge=True)
# 在图像中查找圆形
circles = img.find_circles(
threshold=3500, # 用于检测圆形的阈值
x_margin=2, # x轴误差允许值
y_margin=2, # y轴误差允许值
r_margin=2, # 半径误差允许值
r_min=35, # 最小半径
r_max=37, # 最大半径
r_step=1 # 半径步进值
)
if circles:
for c in circles:
center_x, center_y = c[0], c[1]
closest_color = None
closest_distance = float('inf') # 初始化最小距离为正无穷大
# 寻找最接近的颜色块
for color_blobs in [red_blobs, green_blobs, blue_blobs]:
if color_blobs:
for blob in color_blobs:
blob_center_x = blob['x'] + blob['w'] // 2
blob_center_y = blob['y'] + blob['h'] // 2
distance = (center_x - blob_center_x)**2 + (center_y - blob_center_y)**2
if distance < closest_distance:
closest_color = color_blobs
closest_distance = distance
if closest_color:
# 设置绘制颜色
if closest_color == red_blobs:
color = 1 # 红色
elif closest_color == green_blobs:
color = 2 # 绿色
elif closest_color == blue_blobs:
color = 3 # 蓝色
detected_circles.append((center_x, center_y, color))
return detected_circles
③串口通信：
# 初始化串口通信，用于发送数据
ser = serial.Serial("/dev/ttyS1", 57600, timeout=0.03)
# 创建一个空列表，用于存储16进制字符
hex_chars = []
code = '00'
# 定义一个函数，用于发送数据包
def send_data_packet(data):
for x, y, color in data:
data_packet = bytes([0x4A, 0x4B, x // 100, (x // 10) % 10, x % 10, y // 100, (y // 10) % 10, y % 10, color, 0x4C])
ser.write(data_packet)3.完整代码：
# 导入所需的模块
from pickle import NONE
from maix import image, camera, display
import serial, struct, time, struct
# 初始化串口通信，用于发送数据
ser = serial.Serial("/dev/ttyS1", 57600, timeout=0.03)
# 创建一个空列表，用于存储16进制字符
hex_chars = []
code = '00'
# 定义一个函数，用于检测摄像头图像上的圆和颜色
def detect_circles_and_colors(img):
detected_circles = []
# 定义不同颜色的阈值范围
red_thresh = [(10, 59, 9, 43, -21, 34)]
green_thresh = [(5, 53, -37, 0, -51, 4)]
blue_thresh = [(0, 56, -1, 24, -42, -14)]
# 使用阈值检测红、绿和蓝色块
red_blobs = img.find_blobs(red_thresh, merge=True)
green_blobs = img.find_blobs(green_thresh, merge=True)
blue_blobs = img.find_blobs(blue_thresh, merge=True)
# 在图像中查找圆形
circles = img.find_circles(
threshold=3500, # 用于检测圆形的阈值
x_margin=2, # x轴误差允许值
y_margin=2, # y轴误差允许值
r_margin=2, # 半径误差允许值
r_min=35, # 最小半径
r_max=37, # 最大半径
r_step=1 # 半径步进值
)
if circles:
for c in circles:
center_x, center_y = c[0], c[1]
closest_color = None
closest_distance = float('inf') # 初始化最小距离为正无穷大
# 寻找最接近的颜色块
for color_blobs in [red_blobs, green_blobs, blue_blobs]:
if color_blobs:
for blob in color_blobs:
blob_center_x = blob['x'] + blob['w'] // 2
blob_center_y = blob['y'] + blob['h'] // 2
distance = (center_x - blob_center_x)**2 + (center_y - blob_center_y)**2
if distance < closest_distance:
closest_color = color_blobs
closest_distance = distance
if closest_color:
# 设置绘制颜色
if closest_color == red_blobs:
color = 1 # 红色
elif closest_color == green_blobs:
color = 2 # 绿色
elif closest_color == blue_blobs:
color = 3 # 蓝色
detected_circles.append((center_x, center_y, color))
return detected_circles
# 定义一个函数，用于检测摄像头图像上的颜色区域
def color_area(img):
detected_color_areas = [] # 创建一个空列表来存储检测到的颜色区域信息
x_center = 0
y_center = 0
color_name = 0
set_LAB = [
[(0, 58, 34, 82, -45, 70)], # red
[(0, 69, -4, 28, -61, -14)], # blue
[(7, 66, -98, -13, -35, 121)] # green
]
for j in range(3):
blobs = img.find_blobs(set_LAB[j])
if blobs:
for i in blobs:
size = i["w"] * i["h"]
if size > 3000:
x_start = i["x"]
x_end = i["x"] + i["w"]
x_center = int((x_start + x_end) / 2)
y_start = i["y"]
y_end = i["y"] + i["h"]
y_center = int((y_start + y_end) / 2)
# 计算中心点的坐标
m = max((x_center - i["w"] * 0.3), 0)
n = max((y_center - i["h"] * 0.3), 0)
m = min((x_center - i["w"] * 0.3), 240)
n = min((y_center - i["h"] * 0.3), 240)
mk = [int(m), int(n), 20, 20]
if (mk[0] + 20) < 220 and (mk[1] + 20) < 220:
git_color = img.get_blob_color(mk, 0, 0)
#color = (int(git_color[0]), int(git_color[1]), int(git_color[2]))
if j == 0:
color_name = 1
elif j == 1:
color_name = 3
elif j == 2:
color_name = 2
# 将检测到的颜色区域信息添加到列表中
detected_color_areas.append((x_center, y_center, color_name))
return detected_color_areas
# 定义一个函数，用于发送数据包
def send_data_packet(data):
for x, y, color in data:
data_packet = bytes([0x4A, 0x4B, x // 100, (x // 10) % 10, x % 10, y // 100, (y // 10) % 10, y % 10, color, 0x4C])
ser.write(data_packet)
# 主循环
while True:
img = camera.capture() # 拍摄图像
if ser.in_waiting > 0:
data = ser.read(4)
hex_chars = []
for byte in data:
hex_chars.append('%02x' % byte)
# 如果接收到特定的字符序列（'3a3b' + code + '3c'），则解析code值
以上代码仅仅作为参考，在实际使用中还需您结合实际情况进行修改，如有错误望指正！！！
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