LEGO BOOST で大人も遊ぼう！ 〜ラズパイカメラ連携編〜

「札幌で開催！IoT縛りの勉強・発表会！ Vol.05」で発表した資料。

Transcript

1. -&(0#0045Ͱ

   େਓ΋༡΅͏ʂ
   ʙϥζύΠΧϝϥ࿈ܞฤʙ
   

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2. ࣗݾ঺հ
   ීஈ͸ΤϯλʔϓϥΠζܥͷιϑτ΢ΣΞΤϯδχΞ
   ಀආ׆ಈͱͯ͠ϚΠίϯϘʔυܥ΋
   &5ϩϘίϯ๺ւಓ஍۠ɹ࣮ߦҕһ
   1ZUIPOࡳຈཪํ
   

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3. ˞೥݄೔ݱࡏ
   

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4. ̏छྨͷ#0045ϒϩοΫ
   Ϝʔϒϋϒ
   ֎෦Ϟʔλʔ
   Χϥʔˍڑ཭ηϯαʔ
   ಺ଂϞʔλʔY
   ಺ଂνϧτηϯαʔ
   3(#-&%
   

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5. BLE
   ίϚϯυ
   ௨஌
   ϓϩάϥϜ͕ಈ͘
   ͷ͸ΞϓϦ্
   

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6. https://github.com/JorgePe/BOOSTreveng
   #-&ͷ௨৴಺༰͸େํղੳ͞Ε͍ͯΔ
   

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7. https://github.com/JorgePe/pyb00st
   1ZUIPOͷ"1*΋͋Δ QZCTU
   
   ˞ଞʹOPEFKT +BWB4DSJQU
   ͷ"1*΋͋Δ
   

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8. https://qiita.com/sonoisa/items/cf0bc6c0ed4d244407b4
   εϚʔτϩοΫ࣮ݱͨ͠ڧऀ΋͍Δ
   

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9. ΧϝϥϞδϡʔϧ
   3BTQCFSSZ1J;FSP8
   ʢը૾ॲཧɺߦಈ൑ఆʣ
   #-&
   ʢಈ࡞ࢦࣔʣ
   ࠓճ΍ͬͯΈͨ͜ͱ
   ※εΠοναΠΤϯεͰͷՁ֨ʢ2019೥1݄19೔ݱࡏʣ
   ɹRaspberry Pi Zero W 1,296ԁ

   ɹRaspberry Pi ΧϝϥϞδϡʔϧ V2 4,680ԁ
   ɹRaspberry Pi Zero έʔε 648ԁ
   ͍ΘΏΔʮϚγϯϏδϣϯʯͷ·Ͷ͝ͱ

   https://ja.wikipedia.org/wiki/ϚγϯϏδϣϯ
   

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12. ϥζύΠΧϝϥ͔Βͷը૾࿈ଓऔΓࠐΈ
    import picamera
    import picamera.array
    import cv2
    import time
    :
    with picamera.PiCamera() as camera:
    camera.resolution = (160, 120) # 160x120ͷղ૾౓
    time.sleep(2)
    with picamera.array.PiRGBArray(camera) as frame:
    time.sleep(0.1)
    for frame in camera.capture_continuous(frame, 'bgr',
    use_video_port=True):
    image = frame.array
    # ͜͜Ͱ֤ϑϨʔϜͷΠϝʔδΛॲཧʢOpenCV 2Λར༻ʣ
    

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13. roi = image[60:120, 0:160] # ؔ৺ྖҬͷ੾Γग़͠
    ݩͷΠϝʔδ(image)
    

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14. mono = cv2.cvtColor(roi, cv2.COLOR_BGR2GRAY) # ϞϊΫϩԽ
    blur = cv2.GaussianBlur(mono, (9, 9), 0) # ฏ׈Խ
    

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15. ret,thresh = cv2.threshold(blur, 60, 255,cv2.THRESH_BINARY_INV|cv2.THRESH_OTSU) # ೋ஋Խ
    erode_img = cv2.erode(thresh, None, iterations=2) # ऩॖ(Erosion)
    dilate_img = cv2.dilate(erode_img, None, iterations=2) # ๲ு(Dilation)
    

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16. _,contours,hierarchy = cv2.findContours(dilate_img, 1, 

    cv2.CHAIN_APPROX_NONE)# ྠֲݕग़
    c = max(contours, key=cv2.contourArea) # ໘ੵ͕࠷େͷྠֲ
    M = cv2.moments(c) # Ϟʔϝϯτʢॏ৺ʣ
    cx = int(M[‘m10’]/M['m00']) # ॏ৺࠲ඪ x
    cy = int(M[‘m01']/M['m00']) # ॏ৺࠲ඪ y
    

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17. mymovehub = MoveHub(MY_MOVEHUB_ADD, 'BlueZ', MY_BTCTRLR_HCI)
    :
    if cx >= 120: # ӈટճ
    (duty_a, duty_b) = (100, 10)
    elif cx > 50: # ௚ਐ
    (duty_a, duty_b) = (100, 100)
    elif cx > 0: # ࠨટճ
    (duty_a, duty_b) = (10, 100)
    else: # ఀࢭ
    (duty_a, duty_b) = (0, 0)
    mymovehub.run_motors_for_time(MOTOR_AB, 150, duty_a, duty_b)
    

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20. ·ͱΊ
    -&(0#0045ͷ௨৴͸΄΅ղੳࡁΈͰେਓ΋༡΂Δ
    #-&͕࢖͑Ε͹ͲΜͳػث͔ΒͰ΋
    #-&Χϝϥ͕࢖͑ΔػثͱͳΒϚγϯϏδϣϯͰ͖Δ
    %FFQ3BDFSͷϚω͝ͱ͍ͨ͠
    

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