当检测到边界框时，如何向arduino发送命令？

Question

我正在研制一种机器人，它能检测用户并跟踪用户。 我使用来自darkflow repo的YOLOv2作为目标检测模块

现在，我想让Arduino微控制器在检测到机器人时，将机器人向前移动到边界框。没有距离或立体摄像头。如果检测到边界框，则驱动电机前进

这是我的代码检测边界框通过相机。 如果有人能指导我找到正确的途径来获取任何资源或教程，这将是很有帮助的。谢谢你

import cv2
from darkflow.net.build import TFNet
import numpy as np
import time

options = {
    'model': 'cfg/yolov2.cfg',
    'load': 'bin/yolov2.weights',
    'threshold': 0.8,
    'gpu': 0.8
}

tfnet = TFNet(options)
colors = [tuple(255 * np.random.rand(3)) for _ in range(10)]

capture = cv2.VideoCapture(0)
capture.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
capture.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)

while True:
    stime = time.time()
    ret, frame = capture.read()
    if ret:
        results = tfnet.return_predict(frame)
        for color, result in zip(colors, results):
            tl = (result['topleft']['x'], result['topleft']['y'])
            br = (result['bottomright']['x'], result['bottomright']['y'])
            label = result['label']
            confidence = result['confidence']
            text = '{}: {:.0f}%'.format(label, confidence * 100)
            frame = cv2.rectangle(frame, tl, br, color, 5)
            frame = cv2.putText(frame, text, tl, cv2.FONT_HERSHEY_COMPLEX, 1, (0, 0, 0), 2)
        cv2.imshow('frame', frame)
        print('FPS {:.1f}'.format(1 / (time.time() - stime)))
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break

capture.release()
cv2.destroyAllWindows()

Answer 1

It will be helpful if i can get the center position of the bounding box

在边界框的左上角和右下角，中心是两个位置的平均值

How to send commands to arduino?

通过Arduino的虚拟COM端口使用串行通信。 网上有上百万的教程

https://www.arduino.cc/reference/en/language/functions/communication/serial/

https://pyserial.readthedocs.io/en/latest/

https://www.instructables.com/id/Interface-Python-and-Arduino-with-pySerial/