1、舵机连接与控制
2、目标检测(基于颜色的目标检测)
3、目标跟踪思路
将检测生成的检测框中心,检测画面中心
3.1首先要获得显示页面的宽和高
#获得显示页面宽度和高度,用于后面将物体移动到中心点
width = cam.get(cv.CAP_PROP_FRAME_WIDTH)
height = cam.get(cv.CAP_PROP_FRAME_HEIGHT)
print('width:',width,'height',height)
3.2绘制矩形框,找到矩形框中心点
area = cv.contourArea(cnt) # 计算轮廓面积
(x,y,w,h)= cv.boundingRect(cnt)
if area >= 50:
#cv.drawContours(frame, [cnt], -1, (255, 0, 0),3) # 画出图像轮廓
cv.rectangle(frame,(x,y),(x+w,y+h),(255, 0, 0),3) #用矩形框(box)画出轮廓
#获得box中心点
objx = x+w/2
objy = y+h/2
3.3将矩形框中心移到画面中心
这是最直接,最简单、最容易理解的舵机控制方法,但是会出现舵机卡顿、物体超出实现程序崩溃
#计算物体到中心点的距离
errorpan = objx - width/2
errortillt = objy - height/2
#将物体移动到中心点
if errorpan > 0:
pan = pan - 1
if errorpan < 0:
pan = pan + 1
if errortillt > 0:
tilt = tilt - 1
if errortillt < 0:
tilt = tilt + 1
# 控制舵机移动
kit.servo[0].angle = pan
kit.servo[1].angle = tilt
3.4 舵机控制优化
# 计算物体到中心点的距离
errorpan = objx - width / 2
errortillt = objy - height / 2
# 将物体移动到中心点
if abs(errorpan) > 15: # 如果偏差15个像素点,就不调整误差了,免得相机反复横跳
pan = pan - errorpan / 43 # 减小误差
if abs(errortillt) > 15:
tilt = tilt + errortillt / 43
if pan > 180:
pan = 180
print("超出视线范围")
if pan < 0:
pan = 0
print("超出视线范围")
if tilt > 180:
tilt = 180
print("超出视线范围")
if tilt < 0:
tilt = 0
print("超出视线范围")
# 控制舵机移动
kit.servo[0].angle = pan
kit.servo[1].angle = tilt
3.5 全部代码
#控制伺服电机
# -*- coding: utf-8 -*-
import cv2 as cv
import numpy as np
from adafruit_servokit import ServoKit
kit = ServoKit(channels=16)
pan = 90
tilt =45
kit.servo[0].angle =pan
kit.servo[1].angle =tilt
def nothing(x):
pass
cv.namedWindow('trackbars')
cv.resizeWindow('trackbars', 400,500)
cv.createTrackbar('huelower','trackbars',96,179,nothing)
cv.createTrackbar('huehigher','trackbars',120,179,nothing)
#追踪两种颜色
cv.createTrackbar('hue2lower','trackbars',0,179,nothing)
cv.createTrackbar('hue2higher','trackbars',0,179,nothing)
cv.createTrackbar('satlow','trackbars',105,255,nothing)
cv.createTrackbar('sathigh','trackbars',255,255,nothing)
cv.createTrackbar('vallow','trackbars',255,255,nothing)
cv.createTrackbar('valhigh','trackbars',255,255,nothing)
cam = cv.VideoCapture(1)
#获得显示页面宽度和高度,用于后面将物体移动到中心点
width = cam.get(cv.CAP_PROP_FRAME_WIDTH)
height = cam.get(cv.CAP_PROP_FRAME_HEIGHT)
print('width:',width,'height',height)
cam.set(3,400)
#用numpy绘制一个空白画面
blank = np.zeros([480,640,1],np.uint8)
while True:
# 读取视频流
ret, frame = cam.read()
#print(frame.shape)#查看图像大小
#绘制HSV调节框
hsv = cv.cvtColor(frame,cv.COLOR_BGR2HSV)
hl = cv.getTrackbarPos('huelower','trackbars')
hu = cv.getTrackbarPos('huehigher','trackbars')
hl2 = cv.getTrackbarPos('hue2lower', 'trackbars')
hu2 = cv.getTrackbarPos('hue2higher', 'trackbars')
sl = cv.getTrackbarPos('satlow','trackbars')
sh = cv.getTrackbarPos('sathigh','trackbars')
vl = cv.getTrackbarPos('vallow','trackbars')
vh = cv.getTrackbarPos('valhigh','trackbars')
# 选取颜色范围
lower = np.array([hl, sl,vl]) # 转换为一维数组
upper = np.array([hu, sh, vh])
lower2 = np.array([hl2, sl,vl]) # 转换为一维数组
upper2 = np.array([hu2, sh, vh])
FGmask = cv.inRange(hsv,lower,upper) # 设置HSV的阈值
FGmask2 = cv.inRange(hsv,lower2,upper2) #设置HSV的阈值
FGmaskComp=cv.add(FGmask, FGmask2)
cv.imshow('FGmaskComp', FGmaskComp)
#找到颜色外轮廓
_,contours,_ = cv.findContours(FGmaskComp, cv.RETR_EXTERNAL, cv.CHAIN_APPROX_SIMPLE)
contours = sorted(contours, key=lambda x: cv.contourArea(x), reverse=True)
for cnt in contours:
area = cv.contourArea(cnt) # 计算轮廓面积
(x,y,w,h)= cv.boundingRect(cnt)
if area >= 50:
#cv.drawContours(frame, [cnt], -1, (255, 0, 0),3) # 画出图像轮廓
cv.rectangle(frame,(x,y),(x+w,y+h),(255, 0, 0),3) #用矩形框(box)画出轮廓
#获得box中心点
objx = x+w/2
objy = y+h/2
#计算物体到中心点的距离
errorpan = objx - width/2
errortillt = objy - height/2
#将物体移动到中心点
if abs(errorpan) > 15:#如果偏差15个像素点,就不调整误差了,免得相机反复横跳
pan = pan - errorpan/43#减小误差
if abs(errortillt) > 15:
tilt = tilt +errortillt/43
if pan > 180:
pan = 180
print("超出视线范围")
if pan < 0:
pan = 0
print("超出视线范围")
if tilt > 180:
tilt = 180
print("超出视线范围")
if tilt < 0:
tilt = 0
print("超出视线范围")
# 控制舵机移动
kit.servo[0].angle = pan
kit.servo[1].angle = tilt
print('pan',pan)
print('tilt',tilt)
# 显示视频流
cv.imshow('nanocam', frame)
# ESC键退出
keyCode = cv.waitKey(30) & 0xFF
if keyCode == 27:
break
cam.release()
cv.destroyAllWindows()
3.6 颜色追踪效果
追踪效果有点拉,相机像素太差了,有点反光,颜色就对不上了,也可能是我颜色参数没调好,舵机云台也有点拉,一卡一卡的,但流程是这样的,更新下设备就好:【飘空中的人】我的最新作品,快来一睹为快!_哔哩哔哩_bilibili
4、人脸、眼睛检测跟踪
4.1 下载Haar级联检测器预训练模型
opencv/data at 4.x · opencv/opencv · GitHub
里面还有眼睛,猫,微笑很多模型
4.2 代码:
舵机控制思路是一样的,但要调整舵机速度等参数
# -*- coding: utf-8 -*-
import cv2 as cv
from adafruit_servokit import ServoKit
kit = ServoKit(channels=16)
pan = 90
tilt =45
kit.servo[0].angle =pan
kit.servo[1].angle =tilt
cam = cv.VideoCapture(1)
# webcap = cv.VideoCapture('rtsp://admin:qwertyuiop123@192.168.31.103/Streaming/Channels/2')
# 图像宽度
cam.set(3, 600)
# 图像高度
cam.set(4, 500)
#获得显示页面宽度和高度,用于后面将物体移动到中心点
width = cam.get(cv.CAP_PROP_FRAME_WIDTH)
height = cam.get(cv.CAP_PROP_FRAME_HEIGHT)
#读取模型
face_casecade = cv.CascadeClassifier('face.xml')
eye_casecade = cv.CascadeClassifier('eye.xml')
while True:
# 读取视频流
ret, frame = cam.read()
# ret,frame2 = webcap.read()
#print(frame.shape)
# 灰度处理,减小资源调用,方便检测
gray = cv.cvtColor(frame,cv.COLOR_BGR2GRAY)
faces = face_casecade.detectMultiScale(gray,1.3,5)
for (x,y,w,h) in faces:
# 获得box中心点
Xcent = x + w / 2
Ycent = y + h / 2
# 计算物体到中心点的距离
errorpan = Xcent - width / 2
errortillt = Ycent - height / 2
# 将物体移动到中心点
if abs(errorpan) > 15: # 如果偏差15个像素点,就不调整误差了,免得相机反复横跳
pan = pan - errorpan / 43 # 减小误差
if abs(errortillt) > 15:
tilt = tilt + errortillt / 43#我的舵机是反的,这里要根据自己舵机修改
if pan > 180:
pan = 180
print("超出视线范围")
if pan < 0:
pan = 0
print("超出视线范围")
if tilt > 180:
tilt = 180
print("超出视线范围")
if tilt < 0:
tilt = 0
print("超出视线范围")
# 控制舵机移动
kit.servo[0].angle = pan
kit.servo[1].angle = tilt
#绘制脸部矩形框
cv.rectangle(frame, (x, y), (x + w, y + h), (0, 0, 255), 2)
# 将脸部矩形灰度处理
roi_gray = gray[y:y + h, x:x + w]
roi_color = frame[y:y + h, x:x + w]
eyes = eye_casecade.detectMultiScale(roi_gray)
for (xEye, yEye, wEye, hEye) in eyes:
# cv.rectangle(roi_color, (xEye, yEye), (xEye + wEye, yEye + hEye), (255, 0, 0), 2)
# 画圈标记眼睛
cv.circle(roi_color, (int(xEye + wEye / 2), int(yEye + hEye / 2)), 8, (255, 0, 0))
# 显示视频流
cv.imshow('cap1', frame)
#cv.moveWindow('cap1',0,0)
keyCode = cv.waitKey(30) & 0xFF
if keyCode == 27: # ESC键退出
break
cam.release()
cv.destroyAllWindows()