ZWO AM5自动跟踪红色滑块

track.py

import zwoasi
import cv2
import numpy as np
from simple_pid import PID
from alpaca import Telescope

def initializeCamera():
    zwoasi.init('./ASICamera2.dll')
    camera = zwoasi.Camera(0)
    controls = camera.get_controls()
    camera.set_image_type(zwoasi.ASI_IMG_RGB24)
    camera.start_video_capture()
    camera.set_control_value(zwoasi.ASI_GAIN, 200)
    camera.set_control_value(zwoasi.ASI_EXPOSURE, 25000)
    return camera

def localizeObject(camera):
    img = camera.capture_video_frame(timeout=1000)
    hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
    hue = hsv[:, :, 0]
    sat = hsv[:, :, 1]
    val = hsv[:, :, 2]
    mask = (hue < 15) & (sat > 200) & (val > 50)
    xv, yv = np.meshgrid(np.arange(img.shape[1]), np.arange(img.shape[0]))
    xc = xv[mask].mean()
    yc = yv[mask].mean()
    return xc, yc, img

if __name__ == '__main__':
    camera = initializeCamera()
    T = Telescope('127.0.0.1:11111', 0) # Local Omni Simulator
    pid = PID(2, 0.001, 0, setpoint=1920/2)
    pid.sample_time = 0.1
    oldtime = time()
    try:
        while True:
            xc, yc, img = localizeObject(camera)
            axis0 = pid(xc)
            if not isnan(axis0) and abs(axis0) > 50:
                T.moveaxis(1, -axis0 / 1000)
            else:
                T.abortslew()
            oldtime = time()
    except KeyboardInterrupt as e:
        T.abortslew()