大象机器人 人工智能套装 Ai Kit 横向测评

# detect cube color
def color_detect(self, img):
	# set the arrangement of color'HSV
	x = y = 0
	gs_img = cv2.GaussianBlur(img, (3, 3), 0) # Gaussian blur
	# transfrom the img to model of gray
	hsv = cv2.cvtColor(gs_img, cv2.COLOR_BGR2HSV)

	for mycolor, item in self.HSV.items():
		redLower = np.array(item[0])
		redUpper = np.array(item[1])
		# wipe off all color expect color in range
		mask = cv2.inRange(hsv, item[0], item[1])
		# a etching operation on a picture to remove edge roughness
		erosion = cv2.erode(mask, np.ones((1, 1), np.uint8), iterations=2)
		# the image for expansion operation, its role is to deepen the color depth in the picture
		dilation = cv2.dilate(erosion, np.ones(
			(1, 1), np.uint8), iterations=2)


		# adds pixels to the image
		target = cv2.bitwise_and(img, img, mask=dilation)
		# the filtered image is transformed into a binary image and placed in binary
		ret, binary = cv2.threshold(dilation, 127, 255, cv2.THRESH_BINARY)
		# get the contour coordinates of the image, where contours is the coordinate value, here only the contour is detected
		contours, hierarchy = cv2.findContours(
			dilation, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)

		if len(contours) > 0:
			# do something about misidentification
			boxes = [
				box
			for box in [cv2.boundingRect(c) for c in contours]
			if min(img.shape[0], img.shape[1]) / 10
			< min(box[2], box[3])
			< min(img.shape[0], img.shape[1]) / 1
			]
			if boxes:
				for box in boxes:
					x, y, w, h = box
				# find the largest object that fits the requirements
				c = max(contours, key=cv2.contourArea)
				# get the lower left and upper right points of the positioning object
				x, y, w, h = cv2.boundingRect(c)
				# locate the target by drawing rectangle
				cv2.rectangle(img, (x, y), (x+w, y+h), (153, 153, 0), 2)
				# calculate the rectangle center
				x, y = (x*2+w)/2, (y*2+h)/2
				# calculate the real coordinates of mycobot relative to the target
				if mycolor == "red":
					self.color = 0

				elif mycolor == "green":
					self.color = 1

				elif mycolor == "cyan" or mycolor == "blue":
					self.color = 2

				else:
					self.color = 3


		if abs(x) + abs(y) > 0:
			return x, y
		else:
			return None

    while cv2.waitKey(1) < 0:
       # read camera
        _, frame = cap.read()
        # deal img
        frame = detect.transform_frame(frame)
        if _init_ > 0:
            _init_ -= 1
            continue
        # calculate the parameters of camera clipping
        if init_num < 20:
            if detect.get_calculate_params(frame) is None:
                cv2.imshow("figure", frame)
                continue
            else:
                x1, x2, y1, y2 = detect.get_calculate_params(frame)
                detect.draw_marker(frame, x1, y1)
                detect.draw_marker(frame, x2, y2)
                detect.sum_x1 += x1
                detect.sum_x2 += x2
                detect.sum_y1 += y1
                detect.sum_y2 += y2
                init_num += 1
                continue
        elif init_num == 20:
            detect.set_cut_params(
                (detect.sum_x1)/20.0,
                (detect.sum_y1)/20.0,
                (detect.sum_x2)/20.0,
                (detect.sum_y2)/20.0,
            )
            detect.sum_x1 = detect.sum_x2 = detect.sum_y1 = detect.sum_y2 = 0
            init_num += 1
            continue

        # calculate params of the coords between cube and mycobot
        if nparams < 10:
            if detect.get_calculate_params(frame) is None:
                cv2.imshow("figure", frame)
                continue
            else:
                x1, x2, y1, y2 = detect.get_calculate_params(frame)
                detect.draw_marker(frame, x1, y1)
                detect.draw_marker(frame, x2, y2)
                detect.sum_x1 += x1
                detect.sum_x2 += x2
                detect.sum_y1 += y1
                detect.sum_y2 += y2
                nparams += 1
                continue
        elif nparams == 10:
            nparams += 1
            # calculate and set params of calculating real coord between cube and mycobot
            detect.set_params(
                (detect.sum_x1+detect.sum_x2)/20.0,
                (detect.sum_y1+detect.sum_y2)/20.0,
                abs(detect.sum_x1-detect.sum_x2)/10.0 +
                abs(detect.sum_y1-detect.sum_y2)/10.0
            )
            print ("ok")
            continue

        # get detect result
        detect_result = detect.color_detect(frame)
        if detect_result is None:
            cv2.imshow("figure", frame)
            continue
        else:
            x, y = detect_result
            # calculate real coord between cube and mycobot
            real_x, real_y = detect.get_position(x, y)
            if num == 20:
                detect.pub_marker(real_sx/20.0/1000.0, real_sy/20.0/1000.0)
                detect.decide_move(real_sx/20.0, real_sy/20.0, detect.color)
                num = real_sx = real_sy = 0

            else:
                num += 1
                real_sy += real_y
                real_sx += real_x