我对Arduino编码很新，所以我需要一些帮助。我希望我的视觉工作室向我的Arduino uno发送消息，以便电机在收到消息时移动。我尝试过使用字符，ascii代码和数字，但不发送消息。任何人都可以帮我弄清楚我的问题是什么？谢谢。
这是我的代码:(使用头文件更新）
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/videoio.hpp>
#include <opencv2/objdetect.hpp>
#include <opencv2/imgproc.hpp>
#include <iostream>
#include <stdio.h>
#include <tchar.h>
#include <thread>
#include <chrono>
#include <tserial.h>
using namespace cv;
using namespace std;
void detectAndDisplay(Mat img);
/** Global variables */ //Declaring
//-- Note, either copy these two files from opencv/data/haarscascades to your current folder, or change these locations
String face_cascade_name = "haarcascade_frontalface_alt.xml";
String eyes_cascade_name = "haarcascade_eye_tree_eyeglasses.xml";
CascadeClassifier face_cascade;
CascadeClassifier eyes_cascade;
string window_name = "Capture - Face detection ";
// Serial to Arduino global declarations
int arduino_command;
Tserial *arduino_com;
short MSBLSB = 0;
unsigned char MSB = 0;
unsigned char LSB = 0;
// Serial to Arduino global declarations
//main program
int main(int argc, char** argv)
{
int nb = 0;
//my own code don't need to care
// capture from web camera init
VideoCapture cap(0);
cap.open(0);
Mat img;
Mat pic;
Mat frame_gray;
// serial to Arduino setup
arduino_com = new Tserial();
if (arduino_com != 0) {
status = arduino_com->connect("COM13", 9600, spNONE);
printf("Connecting...");
}
// serial to Arduino setup
// Initialize the inbuilt Harr Cascade frontal face detection
// Below mention the path of where your haarcascade_frontalface_alt2.xml file is located
CascadeClassifier face_cascade;
face_cascade.load("C:/OpenCV/sources/data/haarcascades/haarcascade_frontalface_alt2.xml");
// i tried changing this line to match my folder in C Drive
for (;;)
{
// Image from camera to Mat
cap >> img;
cap >> pic;
// Just resize input image if you want
resize(img, img, Size(640, 480));
resize(pic, pic, Size(640, 480));
// Container of faces
vector<Rect> faces;
cvtColor(img, frame_gray, CV_BGR2GRAY);
equalizeHist(frame_gray, frame_gray);
// Detect faces
face_cascade.detectMultiScale(img, faces, 1.1, 2, 0 | CV_HAAR_SCALE_IMAGE, Size(140, 140));
//Show the results
// Draw circles on the detected faces
for (int i = 0; i < faces.size(); i++)
{
Point center(faces[i].x + faces[i].width*0.5, faces[i].y + faces[i].height*0.5); //center position of face
ellipse(img, center, Size(faces[i].width*0.5, faces[i].height*0.5), 0, 0, 360, Scalar(255, 0, 255), 4, 8, 0);
LSB = faces[i].x & 0xff;
// read next significant byte
MSB = (faces[i].x >> 8) & 0xff;
arduino_com->sendChar(MSB);
arduino_com->sendChar(LSB); //send a message to arduino
// Send Y axis
LSB = faces[i].y & 0xff;
MSB = (faces[i].y >> 8) & 0xff;
arduino_com->sendChar(MSB);
arduino_com->sendChar(LSB);
/*if (arduino_com = )
{
printf("sent"); // check whether message is being sent
}*/
// serial com port send
//arduino_com->sendChar(0x4F);
//arduino_com->sendChar('P');
//arduino_com->sendChar('E');
//arduino_com->sendChar('N');
//arduino_com->sendChar(0x0A);
Mat faceROI = frame_gray(faces[i]);
std::vector<Rect> eyes;
}
//if (int i ) { // add if statement, if can detect face, take picture.
//std::this_thread::sleep_for(5s); // time delay by 5 seconds
//either this
//imwrite("123.jpg", img); // captures only 1 picture with same name and changes the img when taken again
//or this
//imwrite(format("MyImage%d.png", nb++), img); // captures img and give random name
//}
imshow("live", pic);
imshow("capture", img);
// To draw rectangles around detected faces
/* for (unsigned i = 0; i<faces.size(); i++)
rectangle(img,faces[i], Scalar(255, 0, 0), 2, 1);*/
int key2 = waitKey(20);
}
if (int i = 1) {
// Serial to Arduino - shutdown
arduino_com->disconnect();
delete arduino_com;
arduino_com = 0;
printf("Arduino disconnected!!");
// Serial to Arduino - shutdown
}
return 0;
}
Arduino代码：
#define servomaxx 180 // max degree servo horizontal (x) can turn
#define servomaxy 180 // max degree servo vertical (y) can turn
#define screenmaxx 320 // max screen horizontal (x)resolution
#define screenmaxy 240 // max screen vertical (y) resolution
#define servocenterx 90 // center po#define of x servo
#define servocentery 90 // center po#define of y servo
#define servopinx 8 // digital pin for servo x
#define servopiny 9 // digital servo for pin y
#define baudrate 9600 // com port speed. Must match your C++ setting MAKE SURE ITS 9600 C++ CODE MAKE SURE ITS THE SAME
#define distancex 1 // x servo rotation steps
#define distancey 1 // y servo rotation steps
String inputString = "";
String strOpen="O";
boolean stringComplete = false;
void setup() {
// put your setup code here, to run once:
Serial.begin(baudrate); // connect to the serial port
Serial.println("Starting Cam-servo Face tracker");
pinMode(servopinx, OUTPUT); // declare the LED's pin as output
pinMode(servopiny, OUTPUT); // declare the LED's pin as output
digitalWrite(8, LOW);
digitalWrite(9, LOW);
}
void loop() {
while (Serial.available()) {
digitalWrite(8, HIGH);
digitalWrite(9, HIGH); //i just want it to get a message for it to move
}
}
void serialEvent() {
while (Serial.available()) {
// get the new byte:
char inChar = (char)Serial.read();
// add it to the inputString:
inputString += inChar;
// if the incoming character is a newline, set a flag
// so the main loop can do something about it:
//if (inChar == '\n') {
stringComplete = true;
//}
}
}