基于openmv的單個(gè)色環(huán)閾值分割python代碼

ID:447468 · 發(fā)表于 2019-7-10 15:20

基于openmv閾值分割的代碼

import sensor, image, time, lcd, math,ujson, pyb ,json
from pyb import UART
from pyb import LED
obj = [[12,0],[10,12],[22,10],[99,11]] #json
threshold_index = 0 # 0 for red, 1 for green, 2 for blue
objthresholds = [(51, 76, 8, 77, 7, 23), # generic_red_thresholds
(37, 60, -32, 33, 0, 67), # generic_green_thresholds
(37, 60, -5, 33, -60, 67)] # generic_blue_thresholds
graythreshold=[(100,255)]
red_led = LED(1)
green_led = LED(2)
blue_led = LED(3)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
uart = UART(3, 115200)
red_led.off()
green_led.off()
blue_led.off()
def compareBlob(blob1, blob2):
tmp = blob1.pixels() - blob2.pixels()
if tmp == 0:
return 0;
elif tmp > 0:
return 1;
else:
return -1;
A=6
while(True):
img = sensor.snapshot()
#img.lens_corr(1.0)
#accepet
if(uart.any()):
r = uart.readline()
if r == b'R':
A=6
elif r == b'G' :
A=7
elif r == b'B':
A=8
else:
A=0
if(A==6):
img.binary([objthresholds[0]])
img.dilate(2)
blobs=img.find_blobs(graythreshold, pixels_threshold=2025, area_threshold=1600, merge=True)
if len(blobs) == 0:
continue
bigBlob = blobs[0]
for blob in blobs:
if compareBlob(bigBlob, blob) == -1:
bigBlob = blob
img.draw_rectangle(bigBlob.rect())
print(bigBlob.cx(), bigBlob.cy())
#output_str=json.dumps([bigBlob.cx(),bigBlob.cy()])
data_out = 'O'
red_led.on()
green_led.off()
blue_led.off()
uart.write(data_out)
print(data_out)
if(A==7):
img.binary([objthresholds[1]])
img.dilate(4)
blobs=img.find_blobs(graythreshold, pixels_threshold=2025, area_threshold=1600, merge=True)
if len(blobs) == 0:
continue
bigBlob = blobs[0]
for blob in blobs:
if compareBlob(bigBlob, blob) == -1:
bigBlob = blob
img.draw_rectangle(bigBlob.rect())
print(bigBlob.cx(), bigBlob.cy())
#output_str=json.dumps([bigBlob.cx(),bigBlob.cy()])
data_out ='P'
red_led.off()
green_led.on()
blue_led.off()
uart.write(data_out)
print(data_out)
if(A==8):
img.binary([objthresholds[2]])
img.dilate(4)
blobs=img.find_blobs(graythreshold, pixels_threshold=900, area_threshold=900, merge=True)
if len(blobs) == 0:
continue
bigBlob = blobs[0]
for blob in blobs:
if compareBlob(bigBlob, blob) == -1:
bigBlob = blob
img.draw_rectangle(bigBlob.rect())
print(bigBlob.cx(), bigBlob.cy())
data_out ='Q'
red_led.off()
green_led.off()
blue_led.on()
uart.write(data_out)
print(data_out)
if(A==0):
red_led.on()
time.sleep(50)
red_led.off()

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下載:

單個(gè)色環(huán)識(shí)別uart.zip (1.05 KB, 下載次數(shù): 23)

ID:362900 · 發(fā)表于 2019-7-13 22:51

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基于openmv的單個(gè)色環(huán)閾值分割python代碼