4.1 Color Recognition

4.1.1 Algorithm

It will specify one or more recognition areas, whose positions and sizes can be set as needed, and then it will return the color label of this area as well as the red component value R, green component value G and blue component value B.

4.1.2 Color Label

Sengo1 defines 7 colors of labels:

Label value	Meaning	Label value	Meaning
1	Black	2	White
3	Red	4	Green
5	Blue	6	Yellow
0	Unknown

Note: Common colors not listed in the table, such as purple, cyan(blue-green), orange, and gray, have relatively low color discrimination and are easily misidentified as the colors in the table. Therefore, they are classified as unknown ones. If you need to recognize the above colors, you can make your own judgment based on the returned RGB values.

Sample 1:

The serial port outputs the label values: (the recognition box outputs 3, corresponding to the label values in the table.)

Sample 2:

The serial port outputs the label values: (The output label values correspond to that in the color label table.)

4.1.3 Configuration Parameters

Users can set the coordinates of the recognition area and the size of the recognition box. If no new parameters are specified, it will run with the default values that are defined as follows:

Parameter	Definition	Default
param.x_value	Central coordinate x of the recognition area	50
param.y_value	Central coordinate y of the recognition area	50
param.width	Width w of the recognition area	20
param.height	Height h of the recognition area	20

Code:

  sentry_object_t param;  // Parametric structure
  Serial.println("Sengo begin Success.");
  //Set the x-coordinate of the detection area
  param.x_value = 50;
  //Set the y-coordinate of the detection area
  param.y_value = 50;
  //Set the width of the detection area
  param.width = 20;
  //Set the height of the detection area
  param.height = 20;
  //Write the parameters into the sensor
  err = sengo.SetParam(VISION_TYPE, &param);

4.1.4 Returned Values

When the main controller acquires the detection results, the algorithm will return the followings:

Formal parameter	Definition
kRValue	red component value R, with a range of 0-255
kGValue	green component value G, with a range of 0-255
kBValue	blue component value B, with a range of 0-255
kLabel	color label value

Code:

      // Obtain the label (color ID) of the object
      int label = sengo.GetValue(VISION_TYPE, kLabel, 1);

sengo.GetValue(VISION_TYPE, kLabel, 1); returns the color label value. If I replaced it with “kRValue”: sengo.GetValue(VISION_TYPE, kRValue, 1);, it will return the red component value R(0-255).

4.1.5 Tips of Color Recognition Algorithm

When the recognition area is relatively small, such as 2x2, although the recognition speed is fast, there will be an impact on results due to the small number of pixels, thus with low credibility. It is only suitable for scenarios with a single controllable background.
When the recognition area is large, such as 20x20 with the large number of pixels, the interference of variegated colors will be filtered out, resulting in a relatively high credibility, but the recognition speed is slow.
Within the recognition area, when the areas occupied by different colors are approximately the same, the results may repeatedly change.

4.1.7 Test Code

#include <Arduino.h>
#include <Sentry.h>  // Import the Sentry vision sensor library

typedef Sengo1 Sengo;  // Create an alias Sengo for the Sengo1 type to simplify subsequent usage

// Select the communication method (enable one by uncommenting)
#define SENGO_I2C  // I2C communication is currently enabled
// #define SENGO_UART   // Alternative option: UART serial communication

#ifdef SENGO_I2C
#include <Wire.h>  // Libraries required for I2C communication
#endif

#ifdef SENGO_UART
#include <SoftwareSerial.h>               // Soft serial port library (for non-hardware serial ports)
#define TX_PIN 11                         // Customize the TX pin
#define RX_PIN 10                         // Customize the RX pin
SoftwareSerial mySerial(RX_PIN, TX_PIN);  // Create a soft serial port object
#endif

#define VISION_TYPE Sengo::kVisionColor  // Define the type of visual algorithm (color recognition)
Sengo sengo;                             // Create a Sengo sensor object

void setup() {
  sentry_err_t err = SENTRY_OK;  // Error status variable

  Serial.begin(9600);  // Initialize the serial port for debugging the output
  Serial.println("Waiting for sengo initialize...");

  // Initialize the sensor according to the selected communication method
#ifdef SENGO_I2C
  Wire.begin();  // Initialize I2C bus
  // Keep trying to connect until done
  while (SENTRY_OK != sengo.begin(&Wire)) {
    yield();  // Allow other tasks to run while waiting
  }
#endif

#ifdef SENGO_UART
  mySerial.begin(9600);  // Initialize the soft serial port
  while (SENTRY_OK != sengo.begin(&mySerial)) {
    yield();
  }
#endif

  sentry_object_t param;  // Parametric structure
  Serial.println("Sengo begin Success.");
  //Set the x-coordinate of the detection area
  param.x_value = 50;
  //Set the y-coordinate of the detection area
  param.y_value = 50;
  //Set the width of the detection area
  param.width = 20;
  //Set the height of the detection area
  param.height = 20;
  //Write the parameters into the sensor
  err = sengo.SetParam(VISION_TYPE, &param);
  //Error handling
  if (err) {
    Serial.print("sengo.SetParam ");
    if (err) {
      Serial.print("Error: 0x");
    } else {
      Serial.print("Success: 0x");
    }
    Serial.println(err, HEX);  // Print hexadecimal error code
    for (;;)
      ;  // Infinite loop blocking (manual restart required)
  }

  // Enable the visual recognition algorithm
  err = sengo.VisionBegin(VISION_TYPE);
  Serial.print("sengo.VisionBegin(kVisionColor) ");
  if (err) {
    Serial.print("Error: 0x");
  } else {
    Serial.print("Success: 0x");
  }
  Serial.println(err, HEX);  // Output the initialization result
}

void loop() {
  // Read the number of detected objects (kStatus is the acquisition status)
  int obj_num = sengo.GetValue(VISION_TYPE, kStatus);

  if (obj_num > 0) {  // If an object is detected
    Serial.print("Totally ");
    Serial.print(obj_num);
    Serial.println(" objects");
    // Obtain the label (color ID) of the object
    int label = sengo.GetValue(VISION_TYPE, kLabel, 1);
    Serial.print('|');
    Serial.print(label);    // Output label (such as |1|3|5|)
    Serial.println("|");  // End mark
  }
  delay(500);  // Delay 500ms to reduce the refresh rate
}

4.1.8 Test Result

After uploading the code, align the recognition box on the module with the color to be recognized, and the it will change to the same color as the recognized one. Then, the label value corresponding to the color will be printed on the serial monitor.