• 免费好用的星瞳AI云服务上线!简单标注,云端训练,支持OpenMV H7和OpenMV H7 Plus。可以替代edge impulse。 https://forum.singtown.com/topic/9519
  • 我们只解决官方正版的OpenMV的问题(STM32),其他的分支有很多兼容问题,我们无法解决。
  • 如果有产品硬件故障问题,比如无法开机,论坛很难解决。可以直接找售后维修
  • 发帖子之前,请确认看过所有的视频教程,https://singtown.com/learn/ 和所有的上手教程http://book.openmv.cc/
  • 每一个新的提问,单独发一个新帖子
  • 帖子需要目的,你要做什么?
  • 如果涉及代码,需要报错提示全部代码文本,请注意不要贴代码图片
  • 必看:玩转星瞳论坛了解一下图片上传,代码格式等问题。
  • ‘int’ obiect isn‘t subscriptable怎么回事啊?



    • # Blob Detection Example
      #
      # This example shows off how to use the find_blobs function to find color
      # blobs in the image. This example in particular looks for dark green objects.
      
      import sensor, image, time
      import car
      from pid import PID
      from image import SEARCH_EX, SEARCH_DS
      
      # You may need to tweak the above settings for tracking green things...
      # Select an area in the Framebuffer to copy the color settings.
      
      sensor.reset() # Initialize the camera sensor.
      sensor.set_pixformat(sensor.GRAYSCALE) # 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.
      
      # For color tracking to work really well you should ideally be in a very, very,
      # very, controlled enviroment where the lighting is constant...
      green_threshold   = (7, 58, -54, -20, -4, 40)
      size_threshold = 20000
      x_pid = PID(p=0.5, i=1, imax=100)
      h_pid = PID(p=0.05, i=0.1, imax=50)
      
      template = image.Image("/1.pgm")
      
      def find_max(blobs):
          max_size=0
          for blob in blobs:
              if blob[2]*blob[3] > max_size:
                  max_blob=blob
                  max_size = blob[2]*blob[3]
          return max_blob
      
      while(True):
          clock.tick() # Track elapsed milliseconds between snapshots().
          img = sensor.snapshot() # Take a picture and return the image.
      
          blobs = img.find_template(template, 0.70, step=4, search=SEARCH_EX)
          if blobs:
              max_blob = find_max(blobs)
              x_error = max_blob[0]+max_blob[2]/2-img.width()/2
              h_error = max_blob[2]*max_blob[3]-size_threshold
              print("x error: ", x_error)
              '''
              for b in blobs:
                  # Draw a rect around the blob.
                  img.draw_rectangle(b[0:4]) # rect
                  img.draw_cross(b[5], b[6]) # cx, cy
              '''
              img.draw_rectangle(max_blob[0:4]) # rect
              img.draw_cross(int(max_blob[0]+max_blob[2]/2),int(max_blob[1]+max_blob[3]/2)) # cx, cy
              x_output=x_pid.get_pid(x_error,1)
              h_output=h_pid.get_pid(h_error,1)
              print("h_output",h_output)
              car.run(-h_output-x_output,-h_output+x_output)
          else:
              car.run(18,-18)
      
      

      0_1647953585492_1647953564(1).jpg



    • 0_1647953734349_1647953564(1).jpg



    • 原因:find_template只会返回一个矩形,而不是多个。

      
      import sensor, image, time
      import car
      from pid import PID
      from image import SEARCH_EX, SEARCH_DS
      
      # You may need to tweak the above settings for tracking green things...
      # Select an area in the Framebuffer to copy the color settings.
      
      sensor.reset() # Initialize the camera sensor.
      sensor.set_pixformat(sensor.GRAYSCALE) # 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.
      
      # For color tracking to work really well you should ideally be in a very, very,
      # very, controlled enviroment where the lighting is constant...
      green_threshold   = (7, 58, -54, -20, -4, 40)
      size_threshold = 20000
      x_pid = PID(p=0.5, i=1, imax=100)
      h_pid = PID(p=0.05, i=0.1, imax=50)
      
      template = image.Image("/1.pgm")
      
      def find_max(blobs):
          max_size=0
          for blob in blobs:
              if blob[2]*blob[3] > max_size:
                  max_blob=blob
                  max_size = blob[2]*blob[3]
          return max_blob
      
      while(True):
          clock.tick() # Track elapsed milliseconds between snapshots().
          img = sensor.snapshot() # Take a picture and return the image.
      
          max_blob = img.find_template(template, 0.70, step=4, search=SEARCH_EX)
          if max_blob:
              x_error = max_blob[0]+max_blob[2]/2-img.width()/2
              h_error = max_blob[2]*max_blob[3]-size_threshold
              print("x error: ", x_error)
              '''
              for b in blobs:
                  # Draw a rect around the blob.
                  img.draw_rectangle(b[0:4]) # rect
                  img.draw_cross(b[5], b[6]) # cx, cy
              '''
              img.draw_rectangle(max_blob[0:4]) # rect
              img.draw_cross(int(max_blob[0]+max_blob[2]/2),int(max_blob[1]+max_blob[3]/2)) # cx, cy
              x_output=x_pid.get_pid(x_error,1)
              h_output=h_pid.get_pid(h_error,1)
              print("h_output",h_output)
              car.run(-h_output-x_output,-h_output+x_output)
          else:
              pass
              car.run(18,-18)
      


    • @kidswong999 该怎么修改呢 find_template用其他的函数替代还是用一个循环?



    • @nbio_1647004161 我上面就是修改后的代码