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--- wm_wiki:imagerecognition_sensor:manual [2019/07/17 19:48]
juneral [5. 技巧提升]
+++ wm_wiki:imagerecognition_sensor:manual [2020/05/12 15:34] (当前版本)
juneral [3.2. 功能模块及WeeeCode图形化编程指南]
@@ 行 266: / 行 266: @@
   padding:0in 5.4pt 0in 5.4pt;height:79.55pt'>
   <p class=MsoNormal align=center style='text-align:center'><img width=520
-  height=122 id="图片 8" src="https://www.weeemake.com.cn/wiki/lib/exe/fetch.php?media=wm_wiki:imagerecognition_sensor:pasted:20190717-181503.png"></p>
+  height=122 id="图片 8" src="lib/exe/fetch.php?media=wm_wiki:imagerecognition_sensor:pasted:20190717-181503.png"></p>
   </td>
  </tr>
@@ 行 287: / 行 287: @@
   padding:0in 5.4pt 0in 5.4pt;height:79.55pt'>
   <p class=MsoNormal align=center style='text-align:center'><img width=640
-  height=126 id="图片 9" src="https://www.weeemake.com.cn/wiki/lib/exe/fetch.php?media=wm_wiki:imagerecognition_sensor:pasted:20190717-181512.png"></p>
+  height=126 id="图片 9" src="lib/exe/fetch.php?media=wm_wiki:imagerecognition_sensor:pasted:20190717-181512.png"></p>
   </td>
  </tr>
@@ 行 307: / 行 307: @@
   <p class=MsoNormal>&nbsp;</p>
   <p class=MsoNormal align=center style='text-align:center'><img width=456
-  height=50 id="图片 10" src="https://www.weeemake.com.cn/wiki/lib/exe/fetch.php?media=wm_wiki:imagerecognition_sensor:pasted:20190717-181526.png"></p>
+  height=50 id="图片 10" src="lib/exe/fetch.php?media=wm_wiki:imagerecognition_sensor:pasted:20190717-181526.png"></p>
   <p class=MsoNormal>&nbsp;</p>
   </td>
@@ 行 329: / 行 329: @@
   padding:0in 5.4pt 0in 5.4pt;height:79.55pt'>
   <p class=MsoNormal align=center style='text-align:center'><img width=636
-  height=199 id="图片 11" src="https://www.weeemake.com.cn/wiki/lib/exe/fetch.php?media=wm_wiki:imagerecognition_sensor:pasted:20190717-181539.png"></p>
+  height=199 id="图片 11" src="lib/exe/fetch.php?media=wm_wiki:imagerecognition_sensor:pasted:20190717-181539.png"></p>
   </td>
  </tr>
@@ 行 350: / 行 350: @@
   padding:0in 5.4pt 0in 5.4pt;height:79.55pt'>
   <p class=MsoNormal align=center style='text-align:center'><img width=510
-  height=153 id="图片 12" src="https://www.weeemake.com.cn/wiki/lib/exe/fetch.php?media=wm_wiki:imagerecognition_sensor:pasted:20190717-181553.png"></p>
+  height=153 id="图片 12" src="lib/exe/fetch.php?media=wm_wiki:imagerecognition_sensor:pasted:20190717-181553.png"></p>
   </td>
  </tr>
@@ 行 375: / 行 375: @@
 <p class=MsoNormal align=left style='margin-bottom:7.9pt;text-align:left;
-text-indent:.5in;background:white'><span style='font-size:16.0pt;font-family:
+text-indent:.5in;background:white'><b><span style='font-size:16.0pt;font-family:
-宋体;color:#222222'>Arduino-C/C++ API<span lang=ZH-CN>：</span><b><a
+宋体;color:#222222'>Arduino <span lang=ZH-CN>函数库介绍：</span></span></b></p>
-href="https://www.weeemake.com.cn/wiki/doku.php?id=wm_wiki:micropython:api_document"><span
-lang=ZH-CN style='color:#008CBA'>查看相关</span><span style='color:#008CBA'>API</span></a></b></span></p>
-<p class=MsoNormal><span style='font-size:16.0pt;font-family:宋体;color:#222222;
+<p class=MsoNormal align=left style='margin-bottom:7.9pt;text-align:left;
-background:white'>&nbsp;</span></p>
+text-indent:.5in;background:white'><b><span style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>bool getLab(void)</span></b><span
+lang=ZH-CN style='font-size:16.0pt;font-family:宋体;color:black;letter-spacing:
+-.5pt;background:white'>——反馈摄像头前面的</span><span style='font-size:16.0pt;
+font-family:宋体;color:black;letter-spacing:-.5pt;background:white'>LAB<span
+lang=ZH-CN>值。更新后数据为</span>minL, maxL, minA, maxA, minB, maxB<span lang=ZH-CN>，分别为</span>3<span
+lang=ZH-CN>个分量的最大和最小值。此模式具有自动捕捉功能，只有当摄像头中心区域内物体颜色基本一致时，才会锁定输出。用户可以根据反馈的</span>LAB<span
+lang=ZH-CN>范围做适当修改，以满足不同环境下的识别。</span></span></p>
+<p class=MsoNormal align=left style='margin-bottom:7.9pt;text-align:left;
+text-indent:.5in;background:white'><b><span style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>void
+setAutoTrackingMode(void)</span></b><span lang=ZH-CN style='font-size:16.0pt;
+font-family:宋体;color:black;letter-spacing:-.5pt;background:white'>——设置自动获取模式。此模式为先寻找摄像头前中心区域目标物体信息，当目标中心区域颜色基本一致时，锁定，随后跟踪此物体。此模式类似于小狗拾物的方式，先在眼前放置物体，然后寻找，程序简单，控制方便。</span></p>
+<p class=MsoNormal align=left style='margin-bottom:7.9pt;text-align:left;
+text-indent:.5in;background:white'><b><span style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>bool
+getAutoPosition(void)</span></b><span lang=ZH-CN style='font-size:16.0pt;
+font-family:宋体;color:black;letter-spacing:-.5pt;background:white'>——获取自动模式下的物体信息。此函数需在</span><span
+style='font-size:16.0pt;font-family:宋体;color:black;letter-spacing:-.5pt;
+background:white'>setAutoTrackingMode<span lang=ZH-CN>模式下运行，用于获取目标物体在摄像头前的</span>X<span
+lang=ZH-CN>、</span>Y<span lang=ZH-CN>坐标位置以及像素大小。当摄像头捕捉到目标物体后返回</span>1<span
+lang=ZH-CN>，没有捕捉到返回</span>0<span lang=ZH-CN>。</span></span></p>
+<p class=MsoNormal align=left style='margin-bottom:7.9pt;text-align:left;
+text-indent:.5in;background:white'><b><span style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>bool
+getColorPosition(uint8_t mun)</span></b><span lang=ZH-CN style='font-size:16.0pt;
+font-family:宋体;color:black;letter-spacing:-.5pt;background:white'>——获取内置颜色</span><span
+style='font-size:16.0pt;font-family:宋体;color:black;letter-spacing:-.5pt;
+background:white'>mun<span lang=ZH-CN>的物体信息。此函数是捕捉内置</span>5<span lang=ZH-CN>种颜色中的一种，是否出现在摄像头前。</span>Mun<span
+lang=ZH-CN>填写</span>1-5<span lang=ZH-CN>，分别对应</span>1-<span lang=ZH-CN>红、</span>2-<span
+lang=ZH-CN>黄、</span>3-<span lang=ZH-CN>蓝、</span>4-<span lang=ZH-CN>草绿、</span>5-<span
+lang=ZH-CN>深绿。当摄像头捕捉到目标物体后返回</span>1<span lang=ZH-CN>，没有捕捉到返回</span>0<span
+lang=ZH-CN>。当返回</span>1<span lang=ZH-CN>时，会更新物体的</span>X<span lang=ZH-CN>、</span>Y<span
+lang=ZH-CN>坐标位置以及像素大小。</span></span></p>
+<p class=MsoNormal align=left style='margin-bottom:7.9pt;text-align:left;
+text-indent:.5in;background:white'><b><span style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>void setLabColor1(int8_t
+minL, int8_t maxL, int8_t minA, int8_t maxA, int8_t minB, int8_t maxB)</span></b><span
+lang=ZH-CN style='font-size:16.0pt;font-family:宋体;color:black;letter-spacing:
+-.5pt;background:white'>——设置用户指定的颜色信息。采用</span><span style='font-size:16.0pt;
+font-family:宋体;color:black;letter-spacing:-.5pt;background:white'>LAB<span
+lang=ZH-CN>色域，</span>6<span lang=ZH-CN>个值代表一个范围。范围越宽，越容易识别，环境适应性越好，但误判的可能性也提高了。此函数为设置编号</span>1<span
+lang=ZH-CN>的颜色信息，同理，有</span>setLabColor2<span lang=ZH-CN>、</span>setLabColor3<span
+lang=ZH-CN>、</span>setLabColor4<span lang=ZH-CN>分 别对应</span>2<span lang=ZH-CN>、</span>3<span
+lang=ZH-CN>、</span>4<span lang=ZH-CN>的颜色信息。</span></span></p>
+<p class=MsoNormal align=left style='margin-bottom:7.9pt;text-align:left;
+text-indent:.5in;background:white'><b><span style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>bool getAppColorPosition(uint8_t
+mun)</span></b><span lang=ZH-CN style='font-size:16.0pt;font-family:宋体;
+color:black;letter-spacing:-.5pt;background:white'>——获取用户指定颜色</span><span
+style='font-size:16.0pt;font-family:宋体;color:black;letter-spacing:-.5pt;
+background:white'>mun<span lang=ZH-CN>的物体信息。此函数是捕捉用户自定义的颜色，</span>Mun<span
+lang=ZH-CN>填写</span>1-4<span lang=ZH-CN>，对应</span>setLabColorX<span lang=ZH-CN>中的</span>X<span
+lang=ZH-CN>序号。当摄像头捕捉到目标物体后返回</span>1<span lang=ZH-CN>，没有捕捉到返回</span>0<span
+lang=ZH-CN>。当返回</span>1<span lang=ZH-CN>时，会更新物体的</span>X<span lang=ZH-CN>、</span>
+Y<span lang=ZH-CN>坐标位置以及像素大小。</span></span></p>
+<p class=MsoNormal align=left style='margin-bottom:7.9pt;text-align:left;
+text-indent:.5in;background:white'><b><span style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>void
+setLineFollowerMode(void)</span></b><span lang=ZH-CN style='font-size:16.0pt;
+font-family:宋体;color:black;letter-spacing:-.5pt;background:white'>——设置巡线模式。此模式下，摄像头会获取</span><span
+style='font-size:16.0pt;font-family:宋体;color:black;letter-spacing:-.5pt;
+background:white'>160*120<span lang=ZH-CN>像素大小灰度信息，用于分别黑线还白线。</span></span></p>
+<p class=MsoNormal align=left style='margin-bottom:7.9pt;text-align:left;
+text-indent:.5in;background:white'><b><span style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>void setLineFollowerThreshold(uint8_t
+min,uint8_t max)</span></b><span lang=ZH-CN style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>——设置需要捕捉线条的灰度阈值。如果背景是白色，线是黑色，一般取值</span><span
+style='font-size:16.0pt;font-family:宋体;color:black;letter-spacing:-.5pt;
+background:white'>[0<span lang=ZH-CN>，</span>100]<span lang=ZH-CN>，取值最小为</span>0<span
+lang=ZH-CN>，最大为</span>255<span lang=ZH-CN>，纯黑为</span>0<span lang=ZH-CN>，纯白为</span>255<span
+lang=ZH-CN>。</span></span></p>
+<p class=MsoNormal align=left style='margin-bottom:7.9pt;text-align:left;
+text-indent:.5in;background:white'><b><span style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>bool
+getLineFollowerAngle(void)</span></b><span lang=ZH-CN style='font-size:16.0pt;
+font-family:宋体;color:black;letter-spacing:-.5pt;background:white'>——获取巡线角度信息。获取的角度信息是一个正负角度值，根据这个值控制小车左右转，这个值在±</span><span
+style='font-size:16.0pt;font-family:宋体;color:black;letter-spacing:-.5pt;
+background:white'>53<span lang=ZH-CN>°以内。当摄像头捕捉到线条后返回</span>1<span lang=ZH-CN>，没有捕捉到返回</span>0<span
+lang=ZH-CN>。注意此函数需要在</span>setLineFollowerMode<span lang=ZH-CN>函数下使用。</span></span></p>
+<p class=MsoNormal align=left style='margin-bottom:7.9pt;text-align:left;
+text-indent:.5in;background:white'><b><span style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>bool
+getLineFollowerAxis(void)</span></b><span lang=ZH-CN style='font-size:16.0pt;
+font-family:宋体;color:black;letter-spacing:-.5pt;background:white'>——获取巡线区域信息。此函数会更新</span><span
+style='font-size:16.0pt;font-family:宋体;color:black;letter-spacing:-.5pt;
+background:white'>5<span lang=ZH-CN>个值，代表摄像头前从远到近依次排列的</span>5<span lang=ZH-CN>个区域的中心</span>X<span
+lang=ZH-CN>坐标值，这</span>5<span lang=ZH-CN>个区域代表黑线线条区域。当摄像头捕捉到线条后返回</span>1<span
+lang=ZH-CN>，没有捕捉到返回</span>0<span lang=ZH-CN>。注意此函数需要在</span>setLineFollowerMode<span
+lang=ZH-CN>函数下使用。</span></span></p>
+<p class=MsoNormal align=left style='margin-bottom:7.9pt;text-align:left;
+text-indent:.5in;background:white'><b><span style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>void
+setPixelsThreshold(uint8_t mun)</span></b><span lang=ZH-CN style='font-size:
+.0pt;font-family:宋体;color:black;letter-spacing:-.5pt;background:white'>——设置识别物体最小像素数。当识别物体的像素数量超过</span><span
+style='font-size:16.0pt;font-family:宋体;color:black;letter-spacing:-.5pt;
+background:white'>mun<span lang=ZH-CN>时，才会收到反馈信息，否则就当没有识别。此函数可以用于过滤干扰，或者识别较大物体。默认为</span>10<span
+lang=ZH-CN>。</span></span></p>
+<p class=MsoNormal align=left style='margin-bottom:7.9pt;text-align:left;
+text-indent:.5in;background:white'><b><span style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>bool
+getColorAllPosition(uint8_t mun)</span></b><span lang=ZH-CN style='font-size:
+.0pt;font-family:宋体;color:black;letter-spacing:-.5pt;background:white'>——获取内置颜色</span><span
+style='font-size:16.0pt;font-family:宋体;color:black;letter-spacing:-.5pt;
+background:white'>mun<span lang=ZH-CN>物体的所有信息。与</span>getColorPosition<span
+lang=ZH-CN>类似，但信息更多，共包括</span>centerX<span lang=ZH-CN>、</span>centerY<span
+lang=ZH-CN>、</span>pixels<span lang=ZH-CN>、</span>frameX<span lang=ZH-CN>、</span>frameY<span
+lang=ZH-CN>、</span> high<span lang=ZH-CN>、</span>width<span lang=ZH-CN>、</span>rotation<span
+lang=ZH-CN>等</span>8<span lang=ZH-CN>个信息，分别代表物体中心</span>X<span lang=ZH-CN>坐标、中心</span>Y<span
+lang=ZH-CN>坐标、像素个数、物体边框</span>X<span lang=ZH-CN>坐标、边框</span>Y<span lang=ZH-CN>坐标、边框高度、边框宽度、物体旋转角度。由于数据较多，所有识别速率较</span>getColorPosition<span
+lang=ZH-CN>慢。</span></span></p>
+<p class=MsoNormal align=left style='margin-bottom:7.9pt;text-align:left;
+text-indent:.5in;background:white'><b><span style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>bool
+getAppColorAllPosition(uint8_t mun)</span></b><span lang=ZH-CN
+style='font-size:16.0pt;font-family:宋体;color:black;letter-spacing:-.5pt;
+background:white'>——获取用户指定颜色</span><span style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>mun<span lang=ZH-CN>物体的所有信息。与</span>getAppColorPosition<span
+lang=ZH-CN>类似，但信息更多，共包括</span>centerX<span lang=ZH-CN>、</span>centerY<span
+lang=ZH-CN>、</span>pixels<span lang=ZH-CN>、</span>frameX<span lang=ZH-CN>、</span>frameY<span
+lang=ZH-CN>、</span>high<span lang=ZH-CN>、</span>width<span lang=ZH-CN>、</span>rotation<span
+lang=ZH-CN>等</span>8<span lang=ZH-CN>个信息，分别代表物体中心</span>X<span lang=ZH-CN>坐标、中心</span>Y<span
+lang=ZH-CN>坐标、像素个数、物体边框</span>X<span lang=ZH-CN>坐标、边框</span>Y<span lang=ZH-CN>坐标、边框高度、边框宽度、物体旋转角
+度。由于数据较多，所有识别速率较</span>getAppColorPosition<span lang=ZH-CN>慢。</span></span></p>
+<p class=MsoNormal align=left style='margin-bottom:7.9pt;text-align:left;
+text-indent:.5in;background:white'><b><span style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>void
+resetColorMode(uint8_t time)</span></b><span lang=ZH-CN style='font-size:16.0pt;
+font-family:宋体;color:black;letter-spacing:-.5pt;background:white'>——重新初始化物体识别（非巡线）。参数</span><span
+style='font-size:16.0pt;font-family:宋体;color:black;letter-spacing:-.5pt;
+background:white'>time<span lang=ZH-CN>为曝光时间，时间越短，拾取图像越黑，适合高亮度环境，时间越长，拾取图像越亮，适合较暗的环境。</span>Time<span
+lang=ZH-CN>单位为毫秒，默认</span>2000<span lang=ZH-CN>，适合较暗的环境。</span></span></p>
+<p class=MsoNormal align=left style='margin-bottom:7.9pt;text-align:left;
+text-indent:.5in;background:white'><b><span style='font-size:16.0pt;font-family:
+宋体;color:black;letter-spacing:-.5pt;background:white'>bool getFacePositon(void)</span></b><span
+lang=ZH-CN style='font-size:16.0pt;font-family:宋体;color:black;letter-spacing:
+-.5pt;background:white'>——获取人脸位置信息。当摄像头捕捉到人脸后返回</span><span style='font-size:
+.0pt;font-family:宋体;color:black;letter-spacing:-.5pt;background:white'>1<span
+lang=ZH-CN>，没有捕捉到返回</span>0<span lang=ZH-CN>。当返回</span>1<span lang=ZH-CN>时，会更新人脸中心点的</span>X<span
+lang=ZH-CN>、</span>Y<span lang=ZH-CN>坐标值。</span></span></p>
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@@ 行 613: / 行 763: @@
 lang=ZH-CN>、如果开启了人脸识别程序、或者巡线识别程序后，想开启寻找颜色的程序，需要调用</span>resetColorMode<span
 lang=ZH-CN>（）函数，把摄像头由灰度模式返回为彩色模式，当然也可以重启摄像头模块。</span></span></p>
+<p class=MsoTitle><span style='font-size:16.0pt;font-family:宋体'>5<span
+lang=ZH-CN>、如果环境不是特别亮（如在太阳底下），建议模块在较暗处上电，然后再正常使用，这样识别效果更好，同一场景下识别的像素点更多。</span></span></p>
 </body></html>