樹莓車攝相機程式

- 6月 12, 2017

我們首先針對「電腦視覺」領域去做一些相關應用演算程式設計

1.顏色偵測、膚色偵測

2.霍夫找圓、霍夫找直線

3.人臉偵測 (Haar偵測)

顏色偵測

第一階段. 開攝影機鏡頭

#!/usr/bin/env python
import cv2
# http://docs.opencv.org/2.4.8/modules/highgui/doc/reading_and_writing_images_and_video.html
cap = cv2.VideoCapture(0)
cap.set(3,320)#Sets a property in the VideoCapture---FRAME_WIDTH
cap.set(4,240)#Sets a property in the VideoCapture---FRAME_HEIGHT
while(cap.isOpened()):
    ret , frame = cap.read()
    if ret == True:
        cv2.imshow("preview",frame)
        if cv2.waitKey(1) & 0xFF == ord('q'):
            break
    else:
        break
cap.release()
cv2.destroyAllWindows()

第二階段.顏色門檻值遮罩顯示

import cv2
import numpy as np
cap = cv2.VideoCapture(0)
cap.set(3,640)#Sets a property in the VideoCapture---FRAME_WIDTH
cap.set(4,480)#Sets a property in the VideoCapture---FRAME_HEIGHT
while(cap.isOpened()):
    #Step1.Take each frame
    ret , frame = cap.read()
    #Step2.Color Space transform
    hsv = cv2.cvtColor(frame,cv2.COLOR_BGR2HSV)
    #Step3.define Range of blue color in HSV
    lower_blue = np.array([110,50,50])
    upper_blue = np.array([130,255,255])
    #Step4.Threshold the HSV image to get only blue color
    imgMask = cv2.inRange(hsv , lower_blue , upper_blue)


  
    cv2.imshow('frame' , frame)
    cv2.imshow('mask' , imgMask)

    k = cv2.waitKey(5) & 0xFF
    if k==27:
        break
cv2.destroyAllWindows()

第三階段.顏色門檻值遮罩圖去和原先彩色圖做bit運算位元取AND

import cv2
import numpy as np
cap = cv2.VideoCapture(0)
cap.set(3,320)#Sets a property in the VideoCapture---FRAME_WIDTH
cap.set(4,240)#Sets a property in the VideoCapture---FRAME_HEIGHT
while(cap.isOpened()):
    #Step1.Take each frame
    ret , frame = cap.read()
    #Step2.Color Space transform
    hsv = cv2.cvtColor(frame,cv2.COLOR_BGR2HSV)
    #Step3.define Range of blue color in HSV
    lower_blue = np.array([110,50,50])
    upper_blue = np.array([130,255,255])
    #Step4.Threshold the HSV image to get only blue color
    imgMask = cv2.inRange(hsv , lower_blue , upper_blue)
    #Step5.Bitwise AND  mask and original image
    res = cv2.bitwise_and(frame , frame , mask=imgMask)
   
    cv2.imshow('frame' , frame)
    cv2.imshow('mask' , imgMask)
    cv2.imshow('res' , res)

    k = cv2.waitKey(5) & 0xFF
    if k==27:
        break
cv2.destroyAllWindows()

import RPi.GPIO as GPIO
import time
#import readchar ---> can't not import

Motor_R1_Pin = 16
Motor_R2_Pin = 18
Motor_L1_Pin = 11
Motor_L2_Pin = 13
t = 5

GPIO.setmode(GPIO.BOARD)
GPIO.setup(Motor_R1_Pin, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(Motor_R2_Pin, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(Motor_L1_Pin, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(Motor_L2_Pin, GPIO.OUT, initial=GPIO.LOW)

def stop():
GPIO.output(Motor_R1_Pin, False)
GPIO.output(Motor_R2_Pin, False)
GPIO.output(Motor_L1_Pin, False)
GPIO.output(Motor_L2_Pin, False)

def forward():
GPIO.output(Motor_R1_Pin, True)
GPIO.output(Motor_R2_Pin, False)
GPIO.output(Motor_L1_Pin, True)
GPIO.output(Motor_L2_Pin, False)
time.sleep(t)
stop()

def backward():
GPIO.output(Motor_R1_Pin, False)
GPIO.output(Motor_R2_Pin, True)
GPIO.output(Motor_L1_Pin, False)
GPIO.output(Motor_L2_Pin, True)
time.sleep(t)
stop()

def turnRight():
GPIO.output(Motor_R1_Pin, True)
GPIO.output(Motor_R2_Pin, False)
GPIO.output(Motor_L1_Pin, False)
GPIO.output(Motor_L2_Pin, False)
time.sleep(t)
stop()

def turnLeft():
GPIO.output(Motor_R1_Pin, False)
GPIO.output(Motor_R2_Pin, False)
GPIO.output(Motor_L1_Pin, True)
GPIO.output(Motor_L2_Pin, False)
time.sleep(t)
stop()

if __name__ == "__main__":

print ("Press 'q' to quit...")
print ("Press 'w' to forward...")
print ("Press 's' to backward...")
print ("Press 'a' to turnLeft...")
print ("Press 'd' to turnRight...")

while True:
#ch = readchar.readkey()
ch = raw_input('Press a key and the Enter:')
#ch = input('Press a key and the Enter:')

if ch == 'w':
forward()

elif ch == 's':
backward()

elif ch == 'd':
turnRight()

elif ch == 'a':
turnLeft()

elif ch == 'q':
print ("\nQuit")
GPIO.cleanup()
quit()

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樹莓車攝相機程式

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