openmv识别红色色块每帧识别到的数据不同正方形框跳动有什么办法可以解决吗

kwqf

import json
from pid import PID
from pyb import UART
from pyb import LED
import display

uart = UART(3, 115200)

red_threshold  = (31, 54, 32, 61, 6, 22)
red_threshold2 = (20, 72, 20, 75, -59, -1)
red_threshold3 = (21, 40, 11, 50, -25, 6)


LED(1).on() #开灯
LED(2).on()
LED(3).on()
#base_pid = PID(p=0.07, i=0, imax=90) #脱机运行或者禁用图像传输，使用这个PID
#rArm_pid = PID(p=0.05, i=0, imax=90) #脱机运行或者禁用图像传输，使用这个PID
#fArm_pid = PID(p=0.05, i=0, imax=90)
base_pid  = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID
rArm_pid= PID(p=0.1, i=0, imax=90)#在线调试使用这个PID
fArm_pid = PID(p=0.05, i=0, imax=90)
cmd='n'


sensor.reset()  # 初始化sensor
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(sensor.QQVGA2) # 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.
lcd = display.SPIDisplay()
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

img = sensor.snapshot() # Take a picture and return the image.
while(True):
    lcd.write(sensor.snapshot())  # 拍照并显示图像。
    clock.tick() # Track elapsed milliseconds between snapshots().

    blobs = img.find_blobs([red_threshold,red_threshold2,red_threshold3],x_stride=100,y_stride=50)
    if blobs:         
        uart.write('f')
        cmd='f'
        print('you send:','find')
        area_target=14000
        data=[]
        max_blob = find_max(blobs)
        base_error = max_blob.cx()-img.width()/2 #base
        rArm_error = max_blob.cy()-img.height()/2 #rArm
        img.draw_rectangle(max_blob.rect()) # rect
        img.draw_cross(max_blob.cx(), max_blob.cy()) # cx, cy
        
        for blob in blobs:
            area = blob.area()

        fArm_error=area_target-area  #fArm

        #print("fArm_error: ", fArm_error)

        fArm_output=fArm_pid.get_pid(fArm_error,1)/200
        base_output=base_pid.get_pid(base_error,1)/2
        rArm_output=rArm_pid.get_pid(rArm_error,1)
        #print("fArm_output",fArm_output)
        #print("tilt_output",tilt_output)
        data.append((base_output,rArm_output,fArm_output))
        #data_out = json.dumps(set(data))
        #uart.write(data_out +'\n')
        #print('you send:',data_out)

        #uart.write(str(pan_output)+'\n') #与上面的output相对应 输出
        #uart.write(str(tilt_output)+'\n') #与上面的output相对应 输出
    else:
        uart.write('n')
        print('you send:','no')

请在这里粘贴代码

kwqf

kidswong999

应该是阈值不对，你为什么有三个红色的阈值？

openmv识别红色色块 每帧识别到的数据不同 正方形框跳动 有什么办法可以解决吗

openmv识别红色色块每帧识别到的数据不同正方形框跳动有什么办法可以解决吗