import time, sensor, image,ustruct
from pyb import UART,LED
from image import SEARCH_EX, SEARCH_DS
sensor.reset()
sensor.set_contrast(1)
sensor.set_gainceiling(16)
sensor.set_framesize(sensor.QQVGA)
sensor.set_pixformat(sensor.GRAYSCALE)
LED(1).on()
LED(2).on()
LED(3).on()
# Load template.
# Template should be a small (eg. 32x32 pixels) grayscale image.
template1 = image.Image("/1.pgm")
template2 = image.Image("/2.pgm")
templates3 = ["/3.pgm","/3_1.pgm","/3_2.pgm","/3_3.pgm","/3_4.pgm","/3_5.pgm","/3_6.pgm","/3_7.pgm","/3_8.pgm"]
templates4 = ["/4.pgm","/4_1.pgm","/4_2.pgm","/4_3.pgm","/4_4.pgm","/4_5.pgm","/4_6.pgm","/4_7.pgm","/4_8.pgm"]
templates5 = ["/5.pgm","/5_1.pgm","/5_2.pgm","/5_3.pgm","/5_4.pgm","/5_5.pgm","/5_6.pgm","/5_7.pgm","/5_8.pgm"]
templates6 = ["/6.pgm","/6_1.pgm","/6_2.pgm","/6_3.pgm","/6_4.pgm","/6_5.pgm","/6_6.pgm","/6_7.pgm","/6_8.pgm"]
templates7 = ["/7.pgm","/7_1.pgm","/7_2.pgm","/7_3.pgm","/7_4.pgm","/7_5.pgm","/7_6.pgm","/7_7.pgm","/7_8.pgm"]
templates8 = ["/8.pgm","/8_1.pgm","/8_2.pgm","/8_3.pgm","/8_4.pgm","/8_5.pgm","/8_6.pgm","/8_7.pgm","/8_8.pgm"]
#加载模板图片
clock = time.clock()
uart = UART(3,115200) #定义串口3变量
uart.init(115200, bits=8, parity=None, stop=1) # init with given parameters
def outuart(x,num):
global uart
data = ustruct.pack("<bbhhhhb", #格式为俩个字符俩个短整型(2字节)
0x2C, #帧头1
0x12, #帧头2
int(x), # up sample by 4 #数据1
int(num), # up sample by 4 #数据2
int(0), # up sample by 4 #数据1
int(0), # up sample by 4 #数据2
0x5B)
for x in range(5):
uart.write(data)#必须要传入一个字节数组
time.sleep_ms(1)
print(num)
# Run template matching
while (True):
clock.tick()
img = sensor.snapshot()
num=0
# find_template(template, threshold, [roi, step, search])
# ROI: The region of interest tuple (x, y, w, h).
# Step: The loop step used (y+=step, x+=step) use a bigger step to make it faster.
# Search is either image.SEARCH_EX for exhaustive search or image.SEARCH_DS for diamond search
#
# Note1: ROI has to be smaller than the image and bigger than the template.
# Note2: In diamond search, step and ROI are both ignored.
r = img.find_template(template1, 0.70, step=5, search=SEARCH_EX) #, roi=(10, 0, 60, 60))
#find_template(template, threshold, [roi, step, search]),threshold中
if r:
print(r)
#img.draw_rectangle(r)
print('1')
num=1
outuart(0,num)
for x in range(5):
LED(1).on()
LED(2).off()
LED(3).off()
time.sleep_ms(100)
LED(1).on()
LED(2).on()
LED(3).on()
time.sleep_ms(100)
r2_0 = img.find_template(template2, 0.70, step=5, search=SEARCH_EX)
if r2_0:
print(r2_0)
#img.draw_rectangle(r1_3)
print('2')
num=2
outuart(0,num)
for x in range(5):
LED(1).on()
LED(2).off()
LED(3).off()
time.sleep_ms(100)
LED(1).on()
LED(2).on()
LED(3).on()
time.sleep_ms(100)
r3_0 = img.find_template(image.Image(templates3[0]), 0.70, step=5, search=SEARCH_EX)
if r3_0:
print(r3_0)
#img.draw_rectangle(r1_1)
print('3')
num=3
outuart(0,num)
for x in range(5):
LED(1).on()
LED(2).off()
LED(3).off()
time.sleep_ms(100)
LED(1).on()
LED(2).on()
LED(3).on()
time.sleep_ms(100)
r4_0 = img.find_template(image.Image(templates4[0]), 0.70, step=5, search=SEARCH_EX)
if r4_0:
print(r4_0)
#img.draw_rectangle(r1_1)
print('4')
num=4
outuart(0,num)
for x in range(5):
LED(1).on()
LED(2).off()
LED(3).off()
time.sleep_ms(100)
LED(1).on()
LED(2).on()
LED(3).on()
time.sleep_ms(100)
r5_0 = img.find_template(image.Image(templates5[0]), 0.70, step=5, search=SEARCH_EX)
if r5_0:
print(r5_0)
#img.draw_rectangle(r1_1)
print('5')
num=5
outuart(0,num)
for x in range(5):
LED(1).on()
LED(2).off()
LED(3).off()
time.sleep_ms(100)
LED(1).on()
LED(2).on()
LED(3).on()
time.sleep_ms(100)
r6_0 = img.find_template(image.Image(templates6[0]), 0.70, step=5, search=SEARCH_EX)
if r6_0:
print(r6_0)
#img.draw_rectangle(r1_1)
print('6')
num=6
outuart(0,num)
for x in range(5):
LED(1).on()
LED(2).off()
LED(3).off()
time.sleep_ms(100)
LED(1).on()
LED(2).on()
LED(3).on()
time.sleep_ms(100)
r7_0 = img.find_template(image.Image(templates7[0]), 0.70, step=5, search=SEARCH_EX)
if r7_0:
print(r7_0)
#img.draw_rectangle(r1_1)
print('7')
num=7
outuart(0,num)
for x in range(5):
LED(1).on()
LED(2).off()
LED(3).off()
time.sleep_ms(100)
LED(1).on()
LED(2).on()
LED(3).on()
time.sleep_ms(100)
r8_0 = img.find_template(image.Image(templates8[0]), 0.70, step=5, search=SEARCH_EX)
if r8_0:
print(r8_0)
#img.draw_rectangle(r1_1)
print('8')
num=8
outuart(0,num)
for x in range(5):
LED(1).on()
LED(2).off()
LED(3).off()
time.sleep_ms(100)
LED(1).on()
LED(2).on()
LED(3).on()
time.sleep_ms(100)
