import sensor
import image
import time
import math
# 初始化摄像头
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time=2000)
# 设置颜色阈值，以下是一个黄色的示例
yellow_threshold = (30, 100, -10, 50, -30, 50) # H: 30-100, S: 10-50, V: 30-50
# 创建一个时钟对象以计算FPS
clock = time.clock()
def draw_rotated_rect(img, center, angle, width, height, color=(255, 0, 0)):
""" 绘制旋转矩形 """
# 计算矩形四个角的坐标
half_width = width / 2
half_height = height / 2
# 旋转矩形的四个角
points = [
(-half_width, -half_height),
(half_width, -half_height),
(half_width, half_height),
(-half_width, half_height)
]
# 进行旋转
rotated_points = []
for point in points:
x = point[0] * math.cos(angle) - point[1] * math.sin(angle)
y = point[0] * math.sin(angle) + point[1] * math.cos(angle)
rotated_points.append((x + center[0], y + center[1]))
# 绘制旋转后的矩形
img.draw_line(int(rotated_points[0][0]), int(rotated_points[0][1]), int(rotated_points[1][0]), int(rotated_points[1][1]), color=color)
img.draw_line(int(rotated_points[1][0]), int(rotated_points[1][1]), int(rotated_points[2][0]), int(rotated_points[2][1]), color=color)
img.draw_line(int(rotated_points[2][0]), int(rotated_points[2][1]), int(rotated_points[3][0]), int(rotated_points[3][1]), color=color)
img.draw_line(int(rotated_points[3][0]), int(rotated_points[3][1]), int(rotated_points[0][0]), int(rotated_points[0][1]), color=color)
while True:
clock.tick()
img = sensor.snapshot()
# 查找黄色色块
blobs = img.find_blobs([yellow_threshold], pixels_threshold=200, area_threshold=200, merge=True)
# 检测到的小框的角度和中心点
centers = []
angles = []
rects = []
# 遍历找到的色块
for blob in blobs:
# 过滤掉小的噪声
if blob.area() > 100:
# 获取色块的矩形框
rect = blob.rect()
rects.append(rect)
# 判断是否为正方形
if abs(rect[2] - rect[3]) < 10: # 允许宽高差异小于10像素
# 计算中心点和旋转角度
center = (blob.cx(), blob.cy())
angle = math.atan2(rect[3], rect[2]) # 计算旋转角度
centers.append(center)
angles.append(angle)
# 绘制九宫格小框
img.draw_rectangle(rect)
# 如果检测到了九个小框
if len(centers) == 9:
# 计算九个小框的外接矩形
min_x = min([rect[0] for rect in rects])
min_y = min([rect[1] for rect in rects])
max_x = max([rect[0] + rect[2] for rect in rects])
max_y = max([rect[1] + rect[3] for rect in rects])
# 计算大矩形的中心点和角度
center_x = (min_x + max_x) // 2
center_y = (min_y + max_y) // 2
avg_angle = sum(angles) / len(angles)
# 计算大矩形的宽度和高度
width = max_x - min_x
height = max_y - min_y
# 绘制旋转后的大矩形
draw_rotated_rect(img, (center_x, center_y), avg_angle, width, height, color=(0, 255, 0))
print("FPS: {}".format(clock.fps()))
请在这里粘贴代码