#openmv的代码
import sensor, image, time
import json
from pyb import UART
# For color tracking to work really well you should ideally be in a very, very,
# very, controlled enviroment where the lighting is constant...
blue_threshold = ( 0, 60, -20, 64, -128, 0)
# You may need to tweak the above settings for tracking green things...
# Select an area in the Framebuffer to copy the color settings.
#p4_10,p5_11,gnd_gnd
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed.
sensor.skip_frames(10) # Let new settings take affect.
sensor.set_auto_whitebal(False) # turn this off.
clock = time.clock() # Tracks FPS.
uart = UART(3, 115200)
'''
扩宽roi
'''
def expand_roi(roi):
# set for QQVGA 160*120
extra = 5
win_size = (160, 120)
(x, y, width, height) = roi
new_roi = [x-extra, y-extra, width+2*extra, height+2*extra]
if new_roi[0] < 0:
new_roi[0] = 0
if new_roi[1] < 0:
new_roi[1] = 0
if new_roi[2] > win_size[0]:
new_roi[2] = win_size[0]
if new_roi[3] > win_size[1]:
new_roi[3] = win_size[1]
return tuple(new_roi)
K=680 #the value should be measured
while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.
blobs = img.find_blobs([blue_threshold], area_threshold=150)
if blobs:
#如果找到了目标颜色
data=[]
#print(blobs)
for blob in blobs:
#迭代找到的目标颜色区域
b = blob[0]
is_circle = False
max_circle = None
max_radius = -1
new_roi = expand_roi(blob.rect())
Lm = (blob[2]+blob[3])/2
length = K/Lm
length = str(length)
length = float(length)
for c in img.find_circles(threshold = 2000, x_margin = 10, y_margin = 10, r_margin = 10, roi=new_roi):
is_circle = True
# img.draw_circle(c.x(), c.y(), c.r(), color = (255, 255, 255))
if c.r() > max_radius:
max_radius = c.r()
max_circle = c
if is_circle:
# 如果有对应颜色的圆形 标记外框
# Draw a rect around the blob.
img.draw_rectangle(new_roi) # rect
img.draw_rectangle(blob.rect()) # rect
#用矩形标记出目标颜色区域
img.draw_cross(blob[5], blob[6]) # cx, cy
img.draw_circle(max_circle.x(), max_circle.y(), max_circle.r(), color = (0, 255, 0))
img.draw_circle(max_circle.x(), max_circle.y(), max_circle.r() + 1, color = (0, 255, 0))
data.append((max_circle.x(),max_circle.y(),length))
#data.append(length)
data_out = json.dumps(set(data))
uart.write(data_out +'\n')
print('you send:',data_out)
else:
print("not found!")
else:
print("not found!")
#print(clock.fps()) # Note: Your OpenMV Cam runs about half as fast while
# connected to your computer. The FPS should increase once disconnected.
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发表于 2018-11-2 15:19
楼主