【发布时间】：2014-10-08 04:38:23
【问题描述】：
我需要一些项目帮助。它是关于在确定的绿色区域中检测红色物体。我必须躲避物体并到达目标（在本例中为蓝色区域），还必须使用伺服电机和夹具返回收集物体，所有这些都使用带有 OpenCv 和 Irobot 的相机。
到目前为止，我拥有的代码可以识别红色对象，并移动到它们并在它们靠近时停止。也可以左右旋转，我这样做是为了尝试将相机中的物体居中，将屏幕分成3部分，然后我用伺服拾取它。但是我没有想法，当我运行 de python 代码时，过程非常缓慢，并且左右侧的检测非常敏感，我无法将对象聚焦在中心。另外我不知道如何获得物体和 irobot 之间的距离，理论上我可以躲避物体，但不知道如何到达目标，或者如何回到目标。
这是python代码：
import cv2
import numpy as np
import serial
from time import sleep
def serialCom(int):
ser = serial.Serial(port = "/dev/ttyACM0", baudrate=9600)
x = ser.readline()
ser.write(int)
x = ser.readline()
print 'Sending: ', x
# Recognizes how much red is in a given area by the parameters
def areaRed(img, xI, xF, yI, yF):
# counter red pixels
c = 0
red = 255
for i in range(xI, xF):
for j in range(yI, yF):
if img[i][j] == red:
c += 1
return c
def reconoce(lower_re, upper_re, lower_gree, upper_gree, lower_ble, upper_ble):
cap = cv2.VideoCapture(1)
while(1):
_, frame = cap.read()
# Converting BGR to HSV
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
hsv2 = cv2.cvtColor(frame , cv2.COLOR_BGR2HSV)
hsv3 = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
# Threshold the HSV image to get only red,blue and green colors
mask = cv2.inRange(hsv, lower_re, upper_re)
maskBlue = cv2.inRange(hsv2, lower_ble, upper_ble)
maskGreen = cv2.inRange(hsv3, lower_gree, upper_gree)
moments = cv2.moments(mask)
area = moments['m00']
blueMoment = cv2.moments(maskBlue)
blueArea = blueMoment['m00']
greenMoment = cv2.moments(maskGreen)
greenArea = greenMoment['m00']
# Determine the limits of the mask
x = mask.shape[0] - 1
y = mask.shape[1] - 1
# Determine the center point of the image
xC = x / 2
yC = y / 2
x3 = (x/3)/2
y3 = y/2
# Define the variables for the center values of the camera
xI, xF, yI, yF = xC - (xC / 4), xC + (xC / 4), yC - (yC / 4), yC + (yC / 4)
# define the ranges of the mask for the left and right side
right = areaRed(mask, xI + (x/4), xF + (x/4), yI + (x/4), yF + (x/4))
left = areaRed(mask, xI - (x/4), xF - (x/4), yI - (x/4), yF - (x/4))
centro = areaRed(mask, xI, xF, yI, yF)
if right > 700:
serialCom ("4")
print "turning right"
return mask
if left > 700:
serialCom("5")
print "turning left"
return mask
#if there is a red objet
if centro > 5000:
print 'i detect red'
#and in on the a green area
if greenArea > 10000000:
#we stop the irbot
serialCom("1")
print 'I found red and is in the area'
cv2.destroyAllWindows()
return mask
else:
#then we continue moving
serialCom("3")
print ''
else:
print "there is not red objet:v"
cv2.imshow('frame',frame)
cv2.imshow('red',mask)
k = cv2.waitKey(5) & 0xFF
if k == 27:
break
cv2.destroyAllWindows()
# The range of colors are defined for the HSV
lower_red = np.array([170,150,50])
upper_red = np.array([179,255,255])
lower_green = np.array([85,80,150])
upper_green = np.array([95,255,255])
lower_blue = np.array([100,100,100])
upper_blue = np.array([120,255,255])
while True:
img = reconoce(lower_red, upper_red, lower_green, upper_green, lower_blue, upper_blue)
cv2.imshow('Freeze image', img)
cv2.waitKey(10000)
cv2.destroyAllWindows()
这是连接 irobot 和 opencv 的 arduino 代码
#include <Roomba.h>
Roomba roomba(&Serial1);
int p=0;
void init()
{
roomba.driveDirect(-100,100);
roomba.driveDirect(-100,100);
delay(100);
roomba.driveDirect(100,-100);
delay(100);
}
void move()
{
roomba.driveDirect(50,50);
roomba.driveDirect(50,50);
}
void reverse()
{
roomba.driveDirect(-50,-50);
}
void left_rotation()
{
roomba.driveDirect(-30,30);
delay(1000);
}
void right_rotation()
{
roomba.driveDirect(30,-30);
delay(1000);
}
void stop()
{
roomba.driveDirect(0,0);
delay(500);
Serial.println("9");
}
void setup()
{
Serial.begin(9600);
roomba.start();
roomba.safeMode();
}
void loop()
{
if(Serial.available()>0)
{
p=Serial.read();
if(p == 51)
{
Serial.println("1");
move();
}
if(p==50)
{
Serial.println("2");
reverse();
delay(1000);
}
if(p==52)
{
Serial.println("4");
left_rotation();
delay(1000);
stop();
}
if(p==53)
{
Serial.println("5");
right_rotation();
delay(1000);
stop();
}
if(p==49)
{
Serial.println("3");
stop();
delay(1000);
}
}
delay(100);
}
【问题讨论】：