跟踪 raspberry pi 汽车运动

Question

此程序用于使用摄像头跟踪移动的Raspberry Pi 汽车。我收到一条错误消息：

’position_x’ is not defined

但不确定如何准确定义它。另外，我没有使用 raspberry pi 摄像头，而是使用 Logitech c270 网络摄像头。这会影响代码的工作方式吗？提前感谢您的帮助！

from picamera.array import PiRGBArray

from picamera import PiCamera

import cv2

import serial

import syslog

import time

import numpy as np

import RPi.GPIO as GPIO

# 定義捕捉的畫面尺寸

width = 320

height = 240

tracking_width = 40

tracking_height = 40

auto_mode = 0

#如下定義小車前後左右的功能函數

def t_stop():

    GPIO.output(11, False)

    GPIO.output(12, False)

    GPIO.output(15, False)

    GPIO.output(16, False)

def t_up():

    GPIO.output(11, True)

    GPIO.output(12, False)

    GPIO.output(15, True)

    GPIO.output(16, False)

    time.sleep(0.05)

    GPIO.output(11, False)

    GPIO.output(12, False)
    
    GPIO.output(15, False)

    GPIO.output(16, False)

    time.sleep(0.3)

def t_down():

    GPIO.output(11, False)

    GPIO.output(12, True)

    GPIO.output(15, False)

    GPIO.output(16, True)

def t_left():

    GPIO.output(11, False)

    GPIO.output(12, True)

    GPIO.output(15, True)

    GPIO.output(16, False)

    time.sleep(0.05)

    GPIO.output(11, False)

    GPIO.output(12, False)

    GPIO.output(15, False)

    GPIO.output(16, False)
    
    time.sleep(0.3)

def t_right():

    GPIO.output(11, True)

    GPIO.output(12, False)

    GPIO.output(15, False)

    GPIO.output(16, True)

    time.sleep(0.05)
    
    GPIO.output(11, False)

    GPIO.output(12, False)

    GPIO.output(15, False)

    GPIO.output(16, False)

    time.sleep(0.3)

def t_open():

    GPIO.setup(22,GPIO.OUT)

    GPIO.output(22,GPIO.LOW)

def t_close():

    GPIO.setup(22,GPIO.IN)

def check_for_direction(position_x):

    GPIO.setmode(GPIO.BOARD)

    GPIO.setwarnings(False)

    GPIO.setup(11,GPIO.OUT)

    GPIO.setup(12,GPIO.OUT)

    GPIO.setup(15,GPIO.OUT)

    GPIO.setup(16,GPIO.OUT)

    GPIO.setup(38,GPIO.OUT)

if position_x == 0 or position_x == width:

    print( 'out of bound')

    t_stop()

if position_x <= ((width-tracking_width)/2 - tracking_width):

    print ('move right!')

    t_right()

elif position_x >= ((width-tracking_width)/2 + tracking_width):

    print('move left!')

    t_left()

else:

# print 'move front'

    t_up()

# initialize the camera and grab a reference to the raw camera capture

    camera = PiCamera()


 

camera.resolution = (width, height)

camera.framerate = 32

rawCapture = PiRGBArray(camera, size=(width, height))

rawCapture2 = PiRGBArray(camera, size=(width, height))

# allow the camera to warmup

time.sleep(0.1)

# set the ROI (Region of Interest)

c,r,w,h = (width/2 - tracking_width/2), (height/2 - tracking_height/2), tracking_width, tracking_height

track_window = (c,r,w,h)

# capture single frame of tracking image

camera.capture(rawCapture2, format='bgr')

# create mask and normalized histogram

roi = rawCapture2.array[r:r+h, c:c+w]

hsv_roi = cv2.cvtColor(roi, cv2.COLOR_BGR2HSV)

mask = cv2.inRange(hsv_roi, np.array([0,30,32]), np.array([180,255,255]))

roi_hist = cv2.calcHist([hsv_roi], [0], mask, [180], [0,180])

cv2.normalize(roi_hist, roi_hist, 0, 255, cv2.NORM_MINMAX)

term_crit = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 80, 1)

# capture frames from the camera

for frame in camera.capture_continuous(rawCapture, format='bgr', use_video_port=True):

# grab the raw NumPy array representing the image, then initialize the timestamp

# and occupied/unoccupied text

    image = frame.array

# filtering for tracking algorithm

    hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)

    dst = cv2.calcBackProject([hsv], [0], roi_hist, [0,180], 1)

    ret, track_window = cv2.meanShift(dst, track_window, term_crit)

    x,y,w,h = track_window

    cv2.rectangle(image, (x,y), (x+w,y+h), 255, 2)

    cv2.putText(image, 'Tracked', (x-25, y-10), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2)

# show the frame

    cv2.imshow("Raspberry Pi RC Car", image)

    key = cv2.waitKey(1) & 0xFF

    check_for_direction(x)

    time.sleep(0.01)

# clear the stream in preparation for the next frame

    rawCapture.truncate(0)

Answer 1

您需要正确定义 check_for_direction 功能。那里缺少很多缩进。应该是这样的：

def check_for_direction(pos_x):
    if condition:
        # do smth here
    elif (condition):
        # do smth else
    else (condition):
        # do else thing

跟踪 raspberry pi 汽车运动

Tracking raspberry pi car movement

python

raspberry-pi