机关公文写作网站,做推广的装修网站,北京seo排名公司,做好对外门户网站建设一、需要准备的硬件
Raspiberry 4b两个SG90 180度舵机#xff08;注意舵机的角度#xff0c;最好是180度且带限位的#xff0c;切勿选360度舵机#xff09;二自由度舵机云台#xff08;如下图#xff09;Raspiberry CSI 摄像头 组装后的效果#xff1a;
二、项目目标…一、需要准备的硬件
Raspiberry 4b两个SG90 180度舵机注意舵机的角度最好是180度且带限位的切勿选360度舵机二自由度舵机云台如下图Raspiberry CSI 摄像头 组装后的效果
二、项目目标
追踪特定颜色的物体 当物体移动时摄像头通过控制两个伺服电机分别是偏航和俯仰把该物体放到视界的中心位置我在这里追踪的是一支红色的铅笔。
三、具体步骤
3.1 获得被追踪对象的颜色参数 提前准备一张图片如下图可以直接用树莓派的CSI摄像头拍摄并保存具体方法可以在我之前的文章里找到 利用下面的代码并通过调整滑块Trackbar获得红色铅笔的HSV颜色参数为接下来的颜色追踪做准备
***color_detection.py***
import cv2
pathtest_full.jpg
cv2.namedWindow(TrackBar)def nothing(x):pass
#创建滑块控件
cv2.createTrackbar(Hue Min,TrackBar,0,179,nothing)
cv2.createTrackbar(Hue Max,TrackBar,179,179,nothing)
cv2.createTrackbar(Sat Min,TrackBar,0,255,nothing)
cv2.createTrackbar(Sat Max,TrackBar,255,255,nothing)
cv2.createTrackbar(Val Min,TrackBar,0,255,nothing)
cv2.createTrackbar(Val Max,TrackBar,255,255,nothing)while True:#读取目标图片imagecv2.imread(path)imagecv2.resize(image,(640,480))imgHSVcv2.cvtColor(image,cv2.COLOR_BGR2HSV)hueLowcv2.getTrackbarPos(Hue Min,TrackBar)hueHighcv2.getTrackbarPos(Hue Max,TrackBar)satLowcv2.getTrackbarPos(Sat Min,TrackBar)satHighcv2.getTrackbarPos(Sat Max,TrackBar)valLowcv2.getTrackbarPos(Val Min,TrackBar)valHighcv2.getTrackbarPos(Val Max,TrackBar)print(hueLow,hueHigh,satLow,satHigh,valLow,valHigh)#创建掩膜maskcv2.inRange(imgHSV,(hueLow,satLow,valLow),(hueHigh,satHigh,valHigh))imagecv2.bitwise_and(image,image,maskmask)#显示图像cv2.imshow(Origial,image)cv2.imshow(HSV,imgHSV)#按q键退出if cv2.waitKey(1)ord(q):break
cv2.destroyAllWindows() 运行color_detection.py并调整滑块TrackBar)如下图当然你的被追踪物体的颜色不同参数也必然不同。 这时你会发现红色铅笔被显示出来其它部分被掩膜遮挡记下Hue Min, Hui Max, Sat Min, Sat Max, Val Min, Val Max这六个数值在接下来的代码中会用到。
3.2 目标追踪代码
输入color_detection.py里得到的六个参数到相应位置注释里已经注明。
***color_tracking.py***
import cv2
from picamera2 import Picamera2
import time
import numpy as np
from servo import Servo
picam2 Picamera2()#偏航伺服电机连接上GPIO19脚俯仰伺服电机信号线连接到GPIO16脚上
panServo(pin19)
tiltServo(pin16)panAngle0
tiltAngle0pan.set_angle(panAngle)
tilt.set_angle(tiltAngle)#初始化pi camera
dispW1280
dispH720
picam2.preview_configuration.main.size (dispW,dispH)
picam2.preview_configuration.main.format RGB888
picam2.preview_configuration.controls.FrameRate30
picam2.preview_configuration.align()
picam2.configure(preview)
picam2.start()
fps0
pos(30,60)
fontcv2.FONT_HERSHEY_SIMPLEX
height1.5
weight3
myColor(0,0,255)def nothing(x):passcv2.namedWindow(myTracker)
#输入color_detection.py里得到的六个参数到xxx位置比如cv2.createTrackbar(Hue Low,myTracker,xxx,179,nothing)
cv2.createTrackbar(Hue Low,myTracker,56,179,nothing)
cv2.createTrackbar(Hue High,myTracker,179,179,nothing)
cv2.createTrackbar(Sat Low,myTracker,165,255,nothing)
cv2.createTrackbar(Sat High,myTracker,255,255,nothing)
cv2.createTrackbar(Val Low,myTracker,77,255,nothing)
cv2.createTrackbar(Val High,myTracker,255,255,nothing)while True:tStarttime.time()#获取取摄像头图片frame picam2.capture_array()framecv2.flip(frame,1)frameHSVcv2.cvtColor(frame,cv2.COLOR_BGR2HSV)cv2.putText(frame,str(int(fps)) FPS,pos,font,height,myColor,weight)hueLowcv2.getTrackbarPos(Hue Low,myTracker)satLowcv2.getTrackbarPos(Sat Low,myTracker)valLowcv2.getTrackbarPos(Val Low,myTracker)hueHighcv2.getTrackbarPos(Hue High,myTracker)satHighcv2.getTrackbarPos(Sat High,myTracker)valHighcv2.getTrackbarPos(Val High,myTracker)lowerBoundnp.array([hueLow,satLow,valLow])upperBoundnp.array([hueHigh,satHigh,valHigh])myMaskcv2.inRange(frameHSV,lowerBound,upperBound)myMaskSmallcv2.resize(myMask,(int(dispW/2),int(dispH/2)))myObjectcv2.bitwise_and(frame,frame, maskmyMask)myObjectSmallcv2.resize(myObject,(int(dispW/2),int(dispH/2)))contours,junkcv2.findContours(myMask,cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)if len(contours)0:contourssorted(contours,keylambda x:cv2.contourArea(x),reverseTrue)#cv2.drawContours(frame,contours,-1,(255,0,0),3)contourcontours[0]x,y,w,hcv2.boundingRect(contour)cv2.rectangle(frame,(x,y),(xw,yh),(0,0,255),3)#偏航电机纠偏X轴方向上的偏差大于30度偏航角度减小小于-30度偏航角度增加errorXdispW/2-(xw/2)if errorX30:panAnglepanAngle-1if panAngle-90:panAngle-90pan.set_angle(panAngle)if errorX-30:panAnglepanAngle1if panAngle90:panAngle90pan.set_angle(panAngle)#俯仰电机纠偏Y轴方向上的偏差大于30度俯仰角度减小小于-30度俯仰角度增加errorYdispH/2-(yh/2)if errorY30:tiltAngletiltAngle-1if tiltAngle-90:tiltAngle-90tilt.set_angle(tiltAngle)if errorY-30:tiltAngletiltAngle1if tiltAngle90:tiltAngle90tilt.set_angle(tiltAngle)cv2.imshow(Camera,frame)cv2.imshow(Mask,myMaskSmall)cv2.imshow(My Object,myObjectSmall)#按q键退出if cv2.waitKey(1)ord(q):pan.stop()tilt.stop()picam2.stop()breaktEndtime.time()loopTimetEnd-tStartfps.9*fps .1*(1/loopTime)
cv2.destroyAllWindows()上述代码中的from servo import Servo导入servo这个库是没有的我们要手动创建这个库在object_tracking.py所在的目录下新建servo.py文件复制下面的代码到文件中
#!/usr/bin/env python3
import pigpio
from time import sleep
# Start the pigpiod daemon
import subprocess
result None
status 1
for x in range(3):p subprocess.Popen(sudo pigpiod, shellTrue, stdoutsubprocess.PIPE, stderrsubprocess.STDOUT)result p.stdout.read().decode(utf-8)status p.poll()if status 0:breaksleep(0.2)
if status ! 0:print(status, result)Use the DMA PWM of the pigpio library to drive the servoMap the servo angle (0 ~ 180 degree) to (-90 ~ 90 degree)class Servo():MAX_PW 1250 # 0.5/20*100MIN_PW 250 # 2.5/20*100_freq 50 # 50 Hz, 20msdef __init__(self, pin, min_angle-90, max_angle90):self.pi pigpio.pi()self.pin pin self.pi.set_PWM_frequency(self.pin, self._freq)self.pi.set_PWM_range(self.pin, 10000) self.angle 0self.max_angle max_angleself.min_angle min_angleself.pi.set_PWM_dutycycle(self.pin, 0)def set_angle(self, angle):if angle self.max_angle:angle self.max_angleelif angle self.min_angle:angle self.min_angleself.angle angleduty self.map(angle, -90, 90, 250, 1250)self.pi.set_PWM_dutycycle(self.pin, duty)def get_angle(self):return self.angledef stop(self):self.pi.set_PWM_dutycycle(self.pin, 0)self.pi.stop()# will be called automatically when the object is deleted# def __del__(self):# passdef map(self, x, in_min, in_max, out_min, out_max):return (x - in_min) * (out_max - out_min) / (in_max - in_min) out_minif __name__ __main__:from vilib import Vilib# Vilib.camera_start(vflipTrue,hflipTrue) # Vilib.display(localTrue,webTrue)pan Servo(pin13, max_angle90, min_angle-90)tilt Servo(pin12, max_angle30, min_angle-90)panAngle 0tiltAngle 0pan.set_angle(panAngle)tilt.set_angle(tiltAngle)sleep(1)while True:for angle in range(0, 90, 1):pan.set_angle(angle)tilt.set_angle(angle)sleep(.01)sleep(.5)for angle in range(90, -90, -1):pan.set_angle(angle)tilt.set_angle(angle)sleep(.01)sleep(.5)for angle in range(-90, 0, 1):pan.set_angle(angle)tilt.set_angle(angle)sleep(.01)sleep(.5)
运行object_tracking.py移动红色铅笔摄像头就会自动追踪该对象
