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小车AI视觉交互--1.颜色追踪

article 2024/12/1 9:50:51

一、实验准备

        结合硬件，完成摄像头云台颜色追踪，通过对红色对象进行识别，并检测识别颜色的外切圆的圆形的x,y坐标与画面中心的差值，运用PID算法控制舵机运动使识别目标位于画面中心位置。

二、实验源码

#导入Raspbot驱动库 Import the Raspbot library
from Raspbot_Lib import Raspbot
# 创建Rosmaster对象 bot Create the Rosmaster object bot
bot = Raspbot()
import sys
sys.path.append('/home/pi/software/oled_yahboom/')
from yahboom_oled import *
# 创建oled对象 Create an oled object
oled = Yahboom_OLED(debug=False)
import numpy as np
import math
#bgr8转jpeg格式 bgr8 to jpeg format
import enum
import cv2
def bgr8_to_jpeg(value, quality=75):
    return bytes(cv2.imencode('.jpg', value)[1])
#显示摄像头组件 Display camera components
import traitlets
import ipywidgets.widgets as widgets
from IPython.display import display
import time
# 线程功能操作库 Thread function operation library
import threading
import inspect
import ctypes
​
​
image_widget = widgets.Image(format='jpeg', width=640, height=480)
def _async_raise(tid, exctype):
    """raises the exception, performs cleanup if needed"""
    tid = ctypes.c_long(tid)
    if not inspect.isclass(exctype):
        exctype = type(exctype)
    res = ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, ctypes.py_object(exctype))
    if res == 0:
        raise ValueError("invalid thread id")
    elif res != 1:
        # """if it returns a number greater than one, you're in trouble,
        # and you should call it again with exc=NULL to revert the effect"""
        ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, None)
        
def stop_thread(thread):
    _async_raise(thread.ident, SystemExit)
image = cv2.VideoCapture(0)
image.set(3, 640)
image.set(4, 480) 
image.set(5, 30)  #设置帧率 Setting the frame rate
# image.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter.fourcc('M', 'J', 'P', 'G'))
# image.set(cv2.CAP_PROP_BRIGHTNESS, 62) #设置亮度 -64 - 64  0.0 Set Brightness -64 - 64 0.0
# image.set(cv2.CAP_PROP_CONTRAST, 63) #设置对比度 -64 - 64  2.0 Set Contrast -64 - 64 2.0
# image.set(cv2.CAP_PROP_EXPOSURE, 4800) #设置曝光值 1.0 - 5000  156.0 Set the exposure value 1.0 - 5000 156.0
ret, frame = image.read()
​
​
#CSI
# from picamera2 import Picamera2, Preview
# import libcamera
# picam2 = Picamera2()  
# camera_config = picam2.create_preview_configuration(main={"format":'RGB888',"size":(320,240)})
# camera_config["transform"] = libcamera.Transform(hflip=0, vflip=1)
# picam2.configure(camera_config) 
# picam2.start() 
# frame = picam2.capture_array() 
​
image_widget.value = bgr8_to_jpeg(frame)
global g_mode
g_mode = 0
global color_x, color_y, color_radius
color_x = color_y = color_radius = 0
global target_valuex
target_valuex = 1500
global target_valuey
target_valuey = 1500
global color_lower
#color_lower = np.array([0, 43, 46])
global color_upper
#color_upper = np.array([10, 255, 255])
​
color_lower = np.array([0,70,72])
color_upper = np.array([7, 255, 255])
Redbutton = widgets.Button(     
    value=False,     
    description='red',     
    disabled=False,     
    button_style='', # 'success', 'info', 'warning', 'danger' or ''     
    tooltip='Description',     
    icon='uncheck' )
Greenbutton = widgets.Button(     
    value=False,     
    description='green',     
    disabled=False,     
    button_style='', # 'success', 'info', 'warning', 'danger' or ''     
    tooltip='Description',     
    icon='uncheck' )
Bluebutton = widgets.Button(     
    value=False,     
    description='blue',     
    disabled=False,     
    button_style='', # 'success', 'info', 'warning', 'danger' or ''     
    tooltip='Description',     
    icon='uncheck' )
Yellowbutton = widgets.Button(     
    value=False,     
    description='yellow',     
    disabled=False,     
    button_style='', # 'success', 'info', 'warning', 'danger' or ''     
    tooltip='Description',     
    icon='uncheck' )
Orangebutton = widgets.Button(     
    value=False,     
    description='orange',     
    disabled=False,     
    button_style='', # 'success', 'info', 'warning', 'danger' or ''     
    tooltip='Description',     
    icon='uncheck' )
Closebutton = widgets.Button(     
    value=False,     
    description='close',     
    disabled=False,     
    button_style='', # 'success', 'info', 'warning', 'danger' or ''     
    tooltip='Description',     
    icon='uncheck' )
output = widgets.Output()
​
def ALL_Uncheck():
    Redbutton.icon = 'uncheck'
    Greenbutton.icon = 'uncheck'
    Bluebutton.icon = 'uncheck'
    Yellowbutton.icon = 'uncheck'
    Orangebutton.icon = 'uncheck'
    
def on_Redbutton_clicked(b):
    global color_lower, color_upper, g_mode 
    global target_valuex, target_valuey
    ALL_Uncheck()
    b.icon = 'check'
    #color_lower = np.array([0, 43, 46])
    #color_upper = np.array([10, 255, 255])
    color_lower = np.array([0,43,89])
    color_upper = np.array([7, 255, 255])
    g_mode = 1
    with output:
        bot.Ctrl_WQ2812_ALL(1,0)#红色 red
        oled.clear()
        oled.add_line("Color_Tracking", 1)
        oled.add_line("color: red", 3)
        oled.refresh()
        print("RedButton clicked.")
​
def on_Greenbutton_clicked(b):
    global color_lower, color_upper, g_mode 
    global target_valuex, target_valuey
    ALL_Uncheck()
    b.icon = 'check'
    #color_lower = np.array([35, 43, 46])
    #color_upper = np.array([77, 255, 255])
    color_lower = np.array([54,104,64])
    color_upper = np.array([78, 255, 255])
    g_mode = 1
    with output:
        bot.Ctrl_WQ2812_ALL(1,1)#绿色 green
        oled.clear()
        oled.add_line("Color_Tracking", 1)
        oled.add_line("color: green", 3)
        oled.refresh()
        print("GreenButton clicked.")
        
def on_Bluebutton_clicked(b):
    global color_lower, color_upper, g_mode 
    global target_valuex, target_valuey
    ALL_Uncheck()
    b.icon = 'check'
    #color_lower=np.array([100, 43, 46])
    #color_upper = np.array([124, 255, 255])
    color_lower = np.array([92,100,62])
    color_upper = np.array([121, 255, 255])
    g_mode = 1
    with output:
        bot.Ctrl_WQ2812_ALL(1,2)#蓝色 blue
        oled.clear()
        oled.add_line("Color_Tracking", 1)
        oled.add_line("color: blue", 3)
        oled.refresh()
        print("Bluebutton clicked.")   
​
def on_Yellowbutton_clicked(b):
    global color_lower, color_upper, g_mode 
    global target_valuex, target_valuey
    ALL_Uncheck()
    b.icon = 'check'
    #color_lower = np.array([26, 43, 46])
    #color_upper = np.array([34, 255, 255])
    color_lower = np.array([26,100,91])
    color_upper = np.array([32, 255, 255])
    g_mode = 1
    with output:
        bot.Ctrl_WQ2812_ALL(1,3)#黄色 yellow
        oled.clear()
        oled.add_line("Color_Tracking", 1)
        oled.add_line("color: yellow", 3)
        oled.refresh()
        print("Yellowbutton clicked.")
        
def on_Orangebutton_clicked(b):
    global color_lower, color_upper, g_mode 
    global target_valuex, target_valuey
    ALL_Uncheck()
    b.icon = 'check'
    color_lower = np.array([11, 43, 46])
    color_upper = np.array([25, 255, 255])
    g_mode = 1
    with output:
        bot.Ctrl_WQ2812_brightness_ALL(255, 48, 0)
        oled.clear()
        oled.add_line("Color_Tracking", 1)
        oled.add_line("color: orange", 3)
        oled.refresh()
        print("Orangebutton clicked.")
        
def on_Closebutton_clicked(b):  
    global g_mode 
    ALL_Uncheck()
    g_mode = 0
    with output:
        bot.Ctrl_WQ2812_ALL(0,0)
        oled.clear()
        oled.add_line("Color_Tracking", 1)
        oled.add_line("color: none", 3)
        oled.refresh()
        bot.Ctrl_Servo(1,90)
        bot.Ctrl_Servo(2,25)
        print("CloseButton clicked.")
Redbutton.on_click(on_Redbutton_clicked)
Greenbutton.on_click(on_Greenbutton_clicked)
Bluebutton.on_click(on_Bluebutton_clicked)
Yellowbutton.on_click(on_Yellowbutton_clicked)
Orangebutton.on_click(on_Orangebutton_clicked)
Closebutton.on_click(on_Closebutton_clicked)
import PID
​
xservo_pid = PID.PositionalPID(0.8, 0.2, 0.01)#1.1 0.2 0.8
yservo_pid = PID.PositionalPID(0.8, 0.6, 0.01)
# 定义 target_servox 和 target_servoy 在外部 Define target_servox and target_servoy externally
target_servox = 90
target_servoy = 25
def servo_reset():
    bot.Ctrl_Servo(1,90)
    bot.Ctrl_Servo(2,25)
servo_reset()

1. 无死区控制，实时性高，舵机会一直工作,抖动频繁 ;


def Color_Recongnize():
    oled.init_oled_process() #初始化oled进程 Initialize oled process
    global color_lower, color_upper, g_mode, first_read, while_cnt
    global target_valuex, target_valuey, color_x, color_y,target_servox
    t_start = time.time()
    fps = 0
    ret, frame = image.read()#USB摄像头 USB Camera
    # frame = picam2.capture_array() #CSI摄像头 CSI Camera
    #frame = cv2.resize(frame, (300, 300))
    frame = cv2.GaussianBlur(frame,(5,5),0) 
    first_read = 1
    while_cnt = 0
    target_servox_x=0
    time.sleep(1)
    while True:
        ret, frame = image.read()  
        #frame = picam2.capture_array() #CSI摄像头 CSI Camera
        #frame = cv2.resize(frame, (300, 300))
        #frame = cv2.GaussianBlur(frame,(3,3),0)  
        hsv = cv2.cvtColor(frame,cv2.COLOR_BGR2HSV)
        mask = cv2.inRange(hsv,color_lower,color_upper)   
        mask = cv2.erode(mask,None,iterations=2)
        mask = cv2.dilate(mask,None,iterations=2)
        mask = cv2.GaussianBlur(mask,(5,5),0)
        cnts = cv2.findContours(mask.copy(),cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)[-2] 
        if g_mode == 1: # 按钮切换开关 Push button switch
            if len(cnts) > 0:
                cnt = max (cnts, key = cv2.contourArea)
                (color_x,color_y),color_radius = cv2.minEnclosingCircle(cnt)
​
                if color_radius > 10:
                    # 将检测到的颜色用原形线圈标记出来 Mark the detected color with a prototype circle
                    cv2.circle(frame,(int(color_x),int(color_y)),int(color_radius),(255,0,255),2)  
                    xservo_pid.SystemOutput = color_x
                    xservo_pid.SetStepSignal(250)
                    xservo_pid.SetInertiaTime(0.01, 0.1)
                    #print(xservo_pid.SystemOutput)
                    target_valuex = int(1600+xservo_pid.SystemOutput)
                    target_servox = int((target_valuex-500)/10)
                    # if(xservo_pid.SystemOutput<800):
                    target_servox_x = target_servox
                    # print("color_x ", color_x)                         
                    # print("target_servox ", target_servox)   
                    # 将云台转动至PID调校位置 Turn the gimbal to the PID adjustment position
                    if target_servox_x > 180:
                        target_servox_x = 180
                    if target_servox_x < 0:
                        target_servox_x = 0
​
                    # 输入Y轴方向参数PID控制输入 Input Y-axis direction parameter PID control input
                    yservo_pid.SystemOutput = color_y
                    yservo_pid.SetStepSignal(200)
                    yservo_pid.SetInertiaTime(0.01, 0.1)
                    target_valuey = int(1150+yservo_pid.SystemOutput)
                    target_servoy = int((target_valuey-500)/10)  
                    # print("color_y ", color_y) 
                    # print("target_servoy ", target_servoy)  
                    if target_servoy > 110:
                        target_servoy = 110
                    if target_servoy < 0:
                        target_servoy = 0
                    #print(target_servoy)
    
                    bot.Ctrl_Servo(1,target_servox_x)
                    bot.Ctrl_Servo(2,target_servoy)
​
​
        fps = fps + 1
        mfps = fps / (time.time() - t_start)
        """         
        cv2.putText(frame, "FPS " + str(int(mfps)), (40,40), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0,255,255), 3)
        cv2.putText(frame, "x"+str(int(color_x)), (40,80), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0,255,255), 3)
        cv2.putText(frame, "servox"+str(target_servox_x), (40,120), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0,255,255), 3)
        cv2.putText(frame, "SystemOutput"+str(xservo_pid.SystemOutput), (40,160), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0,255,255), 3)
        cv2.putText(frame, "y"+str(int(color_y)), (300,80), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0,255,255), 3)
        cv2.putText(frame, "servoy"+str(target_servoy), (300,120), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0,255,255), 3)
        cv2.putText(frame, "1" , (160,120), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0,255,255), 3) 
        """
        # 实时传回图像数据进行显示 Real-time image data transmission for display
        image_widget.value = bgr8_to_jpeg(frame)
​
​

2. 带死区控制，跟随实时性差一些，舵机在死区范围内不运动，抖动较稳定; 


def Color_Recongnize2():
    oled.init_oled_process() #初始化oled进程 Initialize oled process
    oled.clear(refresh=True)
    global color_lower, color_upper, g_mode, first_read, while_cnt
    global target_valuex, target_valuey, color_x, target_servox
    t_start = time.time()
    fps = 0
    ret, frame = image.read()
    #frame = picam2.capture_array() #CSI摄像头 CSI Camera
    #frame = cv2.resize(frame, (300, 300))
    frame = cv2.GaussianBlur(frame,(5,5),0) 
    first_read = 1
    while_cnt = 0
    time.sleep(1)
    while True:
        ret, frame = image.read() 
        #frame = picam2.capture_array() #CSI摄像头  CSI Camera
        #frame = cv2.resize(frame, (300, 300))
        #frame = cv2.GaussianBlur(frame,(3,3),0)  
        hsv = cv2.cvtColor(frame,cv2.COLOR_BGR2HSV)
        mask = cv2.inRange(hsv,color_lower,color_upper)   
        mask = cv2.erode(mask,None,iterations=2)
        mask = cv2.dilate(mask,None,iterations=2)
        mask = cv2.GaussianBlur(mask,(5,5),0)
        cnts = cv2.findContours(mask.copy(),cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)[-2] 
        if g_mode == 1: # 按钮切换开关 Push button switch
            if len(cnts) > 0:
                cnt = max (cnts, key = cv2.contourArea)
                (color_x,color_y),color_radius = cv2.minEnclosingCircle(cnt)
    
                if color_radius > 10:
                    # 将检测到的颜色用原形线圈标记出来 Mark the detected color with a prototype circle
                    cv2.circle(frame,(int(color_x),int(color_y)),int(color_radius),(255,0,255),2)  
                    if math.fabs(180 - color_x) > 20:#调试方块半径  Debug Block Radius
                        xservo_pid.SystemOutput = color_x
                        xservo_pid.SetStepSignal(250)
                        xservo_pid.SetInertiaTime(0.01, 0.05)
                        target_valuex = int(1600+xservo_pid.SystemOutput)
                        target_servox = int((target_valuex-500)/10) 
                        #print("color_x %f", color_x)                         
                        #print("target_servox %d", target_servox)   
                        # 将云台转动至PID调校位置 Turn the gimbal to the PID adjustment position
                        if target_servox > 180:
                            target_servox = 180
                        if target_servox < 0:
                            target_servox = 0
                        bot.Ctrl_Servo(1,target_servox)
                        
                    if math.fabs(180 - color_y) > 75:#调试方块半径    Debug Block Radius
                        # 输入Y轴方向参数PID控制输入 Input Y-axis direction parameter PID control input
                        yservo_pid.SystemOutput = color_y
                        yservo_pid.SetStepSignal(200)
                        yservo_pid.SetInertiaTime(0.01, 0.1)
                        target_valuey = int(1150+yservo_pid.SystemOutput)
                        target_servoy = int((target_valuey-500)/10) 
                        #print("target_servoy %d", target_servoy)  
                        if target_servoy > 100:
                            target_servoy = 100
                        if target_servoy < 0:
                            target_servoy = 0
                        #print(target_servoy)
                        bot.Ctrl_Servo(2,target_servoy)
​
​
        fps = fps + 1
        mfps = fps / (time.time() - t_start)
        cv2.putText(frame, "FPS " + str(int(mfps)), (40,40), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0,255,255), 3)
        # 实时传回图像数据进行显示 Real-time image data transmission for display
        image_widget.value = bgr8_to_jpeg(frame)
​
​
display(image_widget)
display(Redbutton, Greenbutton, Bluebutton, Yellowbutton, Orangebutton, Closebutton, output)
#thread1 = threading.Thread(target=Color_Recongnize)
thread1 = threading.Thread(target=Color_Recongnize2)
​
thread1.daemon=True
thread1.start()
stop_thread(thread1)
servo_reset()
# 恢复屏幕基础数据显示 Restore basic data display on screen
os.system("python3 /home/pi/software/oled_yahboom/yahboom_oled.py &")
#Release resources
image.release()        
#picam2.stop_preview()#使用完成对象记住释放掉对象，不然下一个程序使用这个对象模块会被占用，导致无法使用
#picam2.close()

        程序中有两个识别函数，Color_Recongnize()是无死区控制，实时性高，舵机会一直工作。Color_Recongnize2是带死区控制，跟随实时性差一些，舵机在死区范围内不运动。使用死区的目的是由于使用的塑料舵机本身的控制精度不高，且可能存在角度波动的情况，例如本来是控制在90°，但是舵机自己会在90°左右跳动。通过设置识别的死区，让识别图像在跟图像中心偏差不大的范围内舵机停止工作来减小这种情况的影响。但是这种方式会导致跟随性差一些，如果需要精度和跟随性等都好的效果，建议采用性能和精度更佳的舵机。两个识别函数的启动可以在代码里修改。不使用的注释掉就可以了。

display(image_widget)
display(Redbutton, Greenbutton, Bluebutton, Yellowbutton, Orangebutton, Closebutton, output)
#thread1 = threading.Thread(target=Color_Recongnize)
thread1 = threading.Thread(target=Color_Recongnize2)
​
thread1.daemon=True
thread1.start()

三、实验现象

        代码块运行后，我们可以通过按钮控制小车的舵机云台追踪不同的颜色，选择后，摄像头会随着带颜色的物体转动。同时RGB灯条也会亮起识别的颜色，oled显示识别的颜色。因摄像头受光线影响较大。若效果不好时，需要调节代码里识别的颜色的hsv值。

 


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