110 lines
3.8 KiB
Python
110 lines
3.8 KiB
Python
|
# -*- coding: utf-8 -*-
|
|||
|
|
# @Time : 2024/7/6 下午12:23
|
|||
|
|
# @Author : len
|
|||
|
|
# @File : 红绿灯模型.py
|
|||
|
|
# @Software: PyCharm
|
|||
|
|
# @Comment :
|
|||
|
|
|
|||
|
|
import math
|
|||
|
|
import sensor, image, time, lcd
|
|||
|
|
import KPU as kpu
|
|||
|
|
import gc, sys
|
|||
|
|
import binascii
|
|||
|
|
from Maix import GPIO
|
|||
|
|
from machine import Timer, PWM, UART, Timer
|
|||
|
|
from fpioa_manager import fm
|
|||
|
|
|
|||
|
|
input_size = (224, 224)
|
|||
|
|
labels = ['green', 'yellow', 'red']
|
|||
|
|
anchors = [1.25, 1.19, 1.41, 1.31, 1.12, 1.09, 1.47, 1.47, 1.62, 1.5]
|
|||
|
|
QR_num = 0
|
|||
|
|
QR_Flag = False
|
|||
|
|
JTD_num = 0
|
|||
|
|
JTD_Flag = False
|
|||
|
|
# model_addr="/sd/model-JTD.kmodel"
|
|||
|
|
model_addr="0x500000"
|
|||
|
|
|
|||
|
|
#映射串口引脚
|
|||
|
|
fm.register(6, fm.fpioa.UART1_RX, force=True)
|
|||
|
|
fm.register(7, fm.fpioa.UART1_TX, force=True)
|
|||
|
|
|
|||
|
|
#初始化串口
|
|||
|
|
uart = UART(UART.UART1, 115200, read_buf_len=4096)
|
|||
|
|
|
|||
|
|
DISTORTION_FACTOR = 1.5 # 设定畸变系数
|
|||
|
|
def init_sensor():
|
|||
|
|
'''
|
|||
|
|
初始化感光芯片
|
|||
|
|
'''
|
|||
|
|
lcd.init(freq=15000000) #初始化LCD
|
|||
|
|
sensor.reset() #复位和初始化摄像头，执行sensor.run(0)停止。
|
|||
|
|
sensor.set_vflip(1) #将摄像头设置成后置方式（所见即所得）
|
|||
|
|
sensor.set_pixformat(sensor.RGB565) # 设置像素格式为彩色 RGB565
|
|||
|
|
#sensor.set_pixformat(sensor.GRAYSCALE) # 设置像素格式为灰色
|
|||
|
|
sensor.set_framesize(sensor.QVGA) # 设置帧大小为 QVGA (320x240)
|
|||
|
|
sensor.set_windowing(input_size)
|
|||
|
|
sensor.set_vflip(1) # 打开垂直翻转 如果是 01Studio 的 K210 不开启会导致画面方向与运动方向相反
|
|||
|
|
sensor.set_hmirror(1) # 打开水平镜像 如果是 01Studio 的 K210 不开启会导致画面方向与运动方向相反
|
|||
|
|
sensor.skip_frames(time = 2000) # 等待设置生效.
|
|||
|
|
clock = time.clock() # 创建一个时钟来追踪 FPS（每秒拍摄帧数）
|
|||
|
|
|
|||
|
|
init_sensor()
|
|||
|
|
|
|||
|
|
JTD_Flag = True
|
|||
|
|
|
|||
|
|
def JTD_Check():
|
|||
|
|
'''
|
|||
|
|
红绿灯函数
|
|||
|
|
'''
|
|||
|
|
global JTD_Flag
|
|||
|
|
list1 = bytearray([0x55,0x02,0x92,0x00,0x00,0x00,0x00,0xBB])
|
|||
|
|
if JTD_Flag:
|
|||
|
|
print("正在识别")
|
|||
|
|
try:
|
|||
|
|
task = None
|
|||
|
|
print("正在加载模型")
|
|||
|
|
task = kpu.load(model_addr)
|
|||
|
|
print("加载完成")
|
|||
|
|
kpu.init_yolo2(task, 0.85, 0.25, 5, anchors) # 初始化 YOLOv2 模型
|
|||
|
|
while JTD_Flag:
|
|||
|
|
img = sensor.snapshot()
|
|||
|
|
objects = kpu.run_yolo2(task, img)
|
|||
|
|
if objects:
|
|||
|
|
for obj in objects:
|
|||
|
|
pos = obj.rect()
|
|||
|
|
img.draw_rectangle(pos)
|
|||
|
|
img.draw_string(pos[0], pos[1], "%s : %.2f" %(labels[obj.classid()], obj.value()), scale=2, color=(255, 0, 0))
|
|||
|
|
print( labels[obj.classid()], obj.value() )
|
|||
|
|
if( labels[obj.classid()] == 'green'):
|
|||
|
|
list1[3] = 0x06
|
|||
|
|
uart.write(list1)
|
|||
|
|
print(list1)
|
|||
|
|
print("绿灯")
|
|||
|
|
JTD_Flag = False
|
|||
|
|
elif( labels[obj.classid()] == 'yellow' ):
|
|||
|
|
list1[3] = 0x07
|
|||
|
|
uart.write(list1)
|
|||
|
|
print(list1)
|
|||
|
|
print("黄灯")
|
|||
|
|
JTD_Flag = False
|
|||
|
|
elif( labels[obj.classid()] == 'red' ):
|
|||
|
|
list1[3] = 0x05
|
|||
|
|
uart.write(list1)
|
|||
|
|
print(list1)
|
|||
|
|
print("红灯")
|
|||
|
|
JTD_Flag = False
|
|||
|
|
else:
|
|||
|
|
list1[3] = 0x05
|
|||
|
|
uart.write(list1)
|
|||
|
|
JTD_Flag = False
|
|||
|
|
lcd.display(img)
|
|||
|
|
except Exception as e:
|
|||
|
|
raise e
|
|||
|
|
finally:
|
|||
|
|
if not task is None:
|
|||
|
|
kpu.deinit(task)
|
|||
|
|
|
|||
|
|
while True:
|
|||
|
|
JTD_Flag = True
|
|||
|
|
# 交通灯识别
|
|||
|
|
JTD_Check()
|