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roi大小更改+自动阈值.py
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roi大小更改+自动阈值.py
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# 作者：你大爹
# 用意：OpenMV阈值
#OpenMV坐标系
#需连接按键
#按键 openmv
# 1 P0
# 2 P1
# 3 P2
# 4 P3
# 5 P7
# 6 P8
# 7 P9
#4. ①3,4按键一起按：roi框位置大小调节模型 1-4分别为x,y,w,h的增加按键
# ②roi模式下，6，7一起按切换“--”模式，再次6,7一起按切换回“++”模式
#5.按键7切换为自动阈值模式，按键8为二值化图像预览
# 颜色追踪时需要控制环境光线稳定，避免识别标志物的色彩阈值发生改变
import sensor, image, time,math,pyb,time
import ustruct
from pyb import UART, LED
from pyb import Pin
#yellow_threshold = (54, 78, -3, 44, 33, 127)#设置黄色阈值（原数据）
#yellow_threshold = (25, 80, 64, -24, 47, 108)#设置黄色阈值（改后）、
baoguang = 80000
roi_change_step = 2#roi变化步长
roi_jiajian_flag = 0#roi加减模式切换标志位
roi_set_one_flag= 1#roi初始化一次标志位
auto_thresholds_roi_num= [73,61,6,7]
auto_thresholds_roi = (int(auto_thresholds_roi_num[0]),int(auto_thresholds_roi_num[1]),int(auto_thresholds_roi_num[2]),int(auto_thresholds_roi_num[3]))#自动阈值roi
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QQVGA) # Set frame size to QQVGA2 (128×160)
sensor.skip_frames(n=2000) #在更改设置后，跳过n张照片，等待感光元件变稳定
sensor.set_auto_exposure(False,baoguang) # Create a clock object to track the FPS.
sensor.set_auto_gain(False) #使用颜色识别时需要关闭自动自动增益
sensor.set_auto_whitebal(False)#使用颜色识别时需要关闭自动自动白平衡
clock = time.clock() #追踪帧率
uart = UART(3,115200) #设置串口波特率，与stm32一致
uart.init(115200, bits=8, parity=None, stop=1 )
def find_max_blobs(blobs, img):
if not blobs:
print("没有找到任何 blobs")
return None
try:
red_blob = max(blobs, key=lambda b: b.pixels())
#print("x:%d,y:%d,w:%d,h:%d" % (red_blob.cx(), red_blob.cy(), red_blob.w(), red_blob.h()))
img.draw_cross(red_blob.cx(),red_blob.cy())
img.draw_rectangle(red_blob.rect())
print("色块像素数量：%d" % red_blob.pixels())
return red_blob
except Exception as e:
print("发生错误: ", e)
return None
pin_value = [1,1,1,1,1,1,1,1] # 0 1 0 1 高低电平
pin_num = [0,1,2,3,6,7,8,9] #pin口选择
jia_jian_flag = 0#手动阈值加减模式切换标志位，包含roi模式切换标志位
red_thresholds_num = [0, 100, 38, 77, 5, 69]
#初始阈值
red_thresholds = (red_thresholds_num[0], red_thresholds_num[1], red_thresholds_num[2], red_thresholds_num[3], red_thresholds_num[4], red_thresholds_num[5])
def handle_buttons(image):#传入画面
#红色阈值，roi，阈值加减模式标志位，roi加减模式标志位，roi步长
global red_thresholds_num,red_thresholds,auto_thresholds_roi_num,auto_thresholds_roi,jia_jian_flag,roi_jiajian,roi_jiajian_flag,roi_change_step
img.draw_rectangle(int(auto_thresholds_roi_num[0]),int(auto_thresholds_roi_num[1]),int(auto_thresholds_roi_num[2]),int(auto_thresholds_roi_num[3]), color=(255,255,255))
#默认roi++模式 6,7按键同时按下为切换
if roi_jiajian_flag == 0:
img.draw_string(80,0,"roi++", color=(0,0,255))
if pin_value[5] == 0 and pin_value[6] == 0:
roi_jiajian_flag = 1
pyb.delay(500)
if pin_value[0] == 0:
auto_thresholds_roi_num[0] += roi_change_step
if auto_thresholds_roi_num[0] >= image.width():
auto_thresholds_roi_num[0] = 0
pyb.delay(100)#消除按键抖动
if pin_value[1] == 0:
auto_thresholds_roi_num[1] += roi_change_step
if auto_thresholds_roi_num[1] >= image.height():
auto_thresholds_roi_num[1] = 0
pyb.delay(200)
if pin_value[2] == 0:
auto_thresholds_roi_num[2] += roi_change_step
if auto_thresholds_roi_num[2] >= image.width()-auto_thresholds_roi_num[0]:
auto_thresholds_roi_num[2] = roi_change_step
pyb.delay(200)
if pin_value[3] == 0:
auto_thresholds_roi_num[3] += 5
if auto_thresholds_roi_num[3] >=image.height()-auto_thresholds_roi_num[1]:
auto_thresholds_roi_num[3] = roi_change_step
pyb.delay(200) #有问题找延时
if pin_value[6] == 0:
img.draw_rectangle((int(auto_thresholds_roi_num[0]),int(auto_thresholds_roi_num[1]),int(auto_thresholds_roi_num[2]),int(auto_thresholds_roi_num[3])), color = (255,255,255))
statistics_Data = img.get_statistics(roi = (int(auto_thresholds_roi_num[0]),int(auto_thresholds_roi_num[1]),int(auto_thresholds_roi_num[2]),int(auto_thresholds_roi_num[3])) )
color_L_median = statistics_Data.l_median() #分别赋值LAB的众数
color_A_median = statistics_Data.a_median()
color_B_median = statistics_Data.b_median()
#计算颜色阈值，这样写的话，颜色阈值是实时变化的，后续想要什么效果可以自己修改
red_thresholds_num[0] = color_L_median-20
red_thresholds_num[1] = color_L_median+20
red_thresholds_num[2] = color_A_median-20
red_thresholds_num[3] = color_A_median+20
red_thresholds_num[4] = color_B_median-20
red_thresholds_num[5] = color_B_median+20
red_thresholds = (red_thresholds_num[0],red_thresholds_num[1],red_thresholds_num[2],red_thresholds_num[3],red_thresholds_num[4],red_thresholds_num[5])
img.binary([red_thresholds]) #二值化看图像效果
pyb.delay(200) #有问题找延时
if pin_value[7] == 0:
img.binary([red_thresholds]) #二值化看图像效果
#roi模式下1,2同时按切换成roi--模式
elif roi_jiajian_flag ==1:
img.draw_string(80,0,"roi--", color=(0,0,255))
if pin_value[5] == 0 and pin_value[6] == 0::
roi_jiajian_flag = 0
pyb.delay(500)
if pin_value[0] == 0:
auto_thresholds_roi_num[0] -= roi_change_step
if auto_thresholds_roi_num[0] <= 0:
auto_thresholds_roi_num[0] = image.width()
pyb.delay(100)#消除按键抖动
if pin_value[1] == 0:
auto_thresholds_roi_num[1] -= roi_change_step
if auto_thresholds_roi_num[1] <= 0:
auto_thresholds_roi_num[1] = image.height()
pyb.delay(200)
if pin_value[2] == 0:
auto_thresholds_roi_num[2] -= roi_change_step
if auto_thresholds_roi_num[2] <= roi_change_step:
auto_thresholds_roi_num[2] = image.width()-auto_thresholds_roi_num[0]
pyb.delay(200)
if pin_value[3] == 0:
auto_thresholds_roi_num[3] -= roi_change_step
if auto_thresholds_roi_num[3] <=roi_change_step:
auto_thresholds_roi_num[3] = image.height()-auto_thresholds_roi_num[1]
pyb.delay(200) #有问题找延时
if pin_value[6] == 0:
img.draw_rectangle((int(auto_thresholds_roi_num[0]),int(auto_thresholds_roi_num[1]),int(auto_thresholds_roi_num[2]),int(auto_thresholds_roi_num[3])), color = (255,255,255))
statistics_Data = img.get_statistics(roi = (int(auto_thresholds_roi_num[0]),int(auto_thresholds_roi_num[1]),int(auto_thresholds_roi_num[2]),int(auto_thresholds_roi_num[3])) )
color_L_median = statistics_Data.l_median() #分别赋值LAB的众数
color_A_median = statistics_Data.a_median()
color_B_median = statistics_Data.b_median()
#计算颜色阈值，这样写的话，颜色阈值是实时变化的，后续想要什么效果可以自己修改
red_thresholds_num[0] = color_L_median-20
red_thresholds_num[1] = color_L_median+20
red_thresholds_num[2] = color_A_median-20
red_thresholds_num[3] = color_A_median+20
red_thresholds_num[4] = color_B_median-20
red_thresholds_num[5] = color_B_median+20
red_thresholds = (red_thresholds_num[0],red_thresholds_num[1],red_thresholds_num[2],red_thresholds_num[3],red_thresholds_num[4],red_thresholds_num[5])
img.binary([red_thresholds]) #二值化看图像效果
pyb.delay(200) #有问题找延时
if pin_value[7] == 0:
img.binary([red_thresholds]) #二值化看图像效果
def pin_IN(pin_num):
for i in range(len(pin_num)):#设置引脚为输入引脚并获取引脚值
p_in = Pin('P'+str(pin_num[i]), Pin.IN, Pin.PULL_UP)
pin_value[i] = p_in.value()
def sending_data(color,cx,cy):
global uart
data = ustruct.pack("<bbbbbb",
0x2c,0x12,int(color),int(cx),int(cy),0x5b)
uart.write(data)
#for i in data:
#print("data的内容是： ",hex(i))
while(True):
img = sensor.snapshot()
red_blobs = img.find_blobs([red_thresholds], x_stride=5, y_stride=5, pixels_threshold=5 )
if red_blobs:
color_status = ord('B')
for r in red_blobs:
img.draw_rectangle((r[0],r[1],r[2],r[3]),color=(255,255,255))
img.draw_cross(r[5], r[6],size=2,color=(255,255,255))
img.draw_string(r[0], (r[1]-10), "red", color=(0,0,255))
print("red_blob:中心X坐标",r[5],"中心Y坐标",r[6],"识别颜色类型","红色")
sending_data(color_status,r[5],r[6])
#只会执行一次 为了设置img的宽和高
if roi_set_one_flag== 1:
auto_thresholds_roi_num= [img.width()/2,img.height()/2,5,5]
auto_thresholds_roi = (auto_thresholds_roi_num[0],auto_thresholds_roi_num[1],auto_thresholds_roi_num[2],auto_thresholds_roi_num[3])#自动阈值roi
roi_set_one_flag= 0
else:
pass
pin_IN(pin_num)#设置GPIO引脚输入
handle_buttons(img)#处理按钮按键响应
img.draw_rectangle((int(auto_thresholds_roi_num[0]),int(auto_thresholds_roi_num[1]),int(auto_thresholds_roi_num[2]),int(auto_thresholds_roi_num[3])), color=(255,255,255))
img.draw_string(0,0,str(red_thresholds_num[0]),color=(0,0,255))
img.draw_string(0,10,str(red_thresholds_num[1]),color=(0,0,255))
img.draw_string(0,20,str(red_thresholds_num[2]),color=(0,0,255))
img.draw_string(0,30,str(red_thresholds_num[3]),color=(0,0,255))
img.draw_string(0,40,str(red_thresholds_num[4]),color=(0,0,255))
img.draw_string(0,50,str(red_thresholds_num[5]),color=(0,0,255))
print('red_thresholds:',red_thresholds)
print(red_thresholds) #打印输出颜色阈值
print("auto_thresholds_roi_num:",auto_thresholds_roi_num)
print("auto_thresholds_roi:",auto_thresholds_roi)