@kidswong999 那用51单片机该怎么办呢？

它又占了串口了。。。。。

@kidswong999 代码我把没用的删了，求指导 import sensor, image, time, math from pyb import UART red_threshold=(0, 58, 42, 75, 21, 127) green_threshold=(44, 100, -17, -128, 6, 127) blue_threshold=(0, 37, 5, 33, -63, -17) sensor.reset() sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QVGA) sensor.skip_frames(time = 2000) sensor.set_auto_gain(False) sensor.set_auto_whitebal(False) clock = time.clock() while(True): clock.tick() img = sensor.snapshot().lens_corr(strength = 1.8, zoom = 1.0) for code in img.find_qrcodes(): print(code) for blob in img.find_blobs([red_threshold], pixels_threshold=100, area_threshold=100): if blob.elongation() > 0.5: img.draw_rectangle(blob.rect()) img.draw_cross(blob.cx(), blob.cy()) a=blob.cx() for blob in img.find_blobs([green_threshold], pixels_threshold=100, area_threshold=100): if blob.elongation() > 0.5: img.draw_rectangle(blob.rect()) img.draw_cross(blob.cx(), blob.cy()) b=blob.cx() for blob in img.find_blobs([blue_threshold], pixels_threshold=100, area_threshold=100): if blob.elongation() > 0.5: img.draw_rectangle(blob.rect()) img.draw_cross(blob.cx(), blob.cy()) c=blob.cx() print("红：",a,"绿：",b,"蓝：",c) uart = UART(3, 19200) while(True): uart.write(code.payload()) maxn=max(a,b,c) minn=min(a,b,c) mn=a+b+c-maxn-minn if maxn == a and minn == b: uart.write("123") elif maxn == a and minn == c: uart.write ("132") elif maxn == b and minn == a: uart.write("231") elif maxn == b and minn == c: uart.write ("213") elif maxn == c and minn == a: uart.write("321") elif maxn == c and minn == b: uart.write ("312") time.sleep(1000)

你代码的问题是什么？

你的图片没有上传成功。

我测试数据是正常的。 请提供你的图片。 # AprilTags Example # # This example shows the power of the OpenMV Cam to detect April Tags # on the OpenMV Cam M7. The M4 versions cannot detect April Tags. import sensor, image, time, math sensor.reset() sensor.set_pixformat(sensor.GRAYSCALE) sensor.set_framesize(sensor.QQVGA) # we run out of memory if the resolution is much bigger... sensor.skip_frames(time = 2000) sensor.set_auto_gain(False) # must turn this off to prevent image washout... sensor.set_auto_whitebal(False) # must turn this off to prevent image washout... clock = time.clock() # Note! Unlike find_qrcodes the find_apriltags method does not need lens correction on the image to work. # What's the difference between tag families? Well, for example, the TAG16H5 family is effectively # a 4x4 square tag. So, this means it can be seen at a longer distance than a TAG36H11 tag which # is a 6x6 square tag. However, the lower H value (H5 versus H11) means that the false positve # rate for the 4x4 tag is much, much, much, higher than the 6x6 tag. So, unless you have a # reason to use the other tags families just use TAG36H11 which is the default family. # The AprilTags library outputs the pose information for tags. This is the x/y/z translation and # x/y/z rotation. The x/y/z rotation is in radians and can be converted to degrees. As for # translation the units are dimensionless and you must apply a conversion function. # f_x is the x focal length of the camera. It should be equal to the lens focal length in mm # divided by the x sensor size in mm times the number of pixels in the image. # The below values are for the OV7725 camera with a 2.8 mm lens. # f_y is the y focal length of the camera. It should be equal to the lens focal length in mm # divided by the y sensor size in mm times the number of pixels in the image. # The below values are for the OV7725 camera with a 2.8 mm lens. # c_x is the image x center position in pixels. # c_y is the image y center position in pixels. f_x = (2.8 / 3.984) * 160 # find_apriltags defaults to this if not set f_y = (2.8 / 2.952) * 120 # find_apriltags defaults to this if not set c_x = 160 * 0.5 # find_apriltags defaults to this if not set (the image.w * 0.5) c_y = 120 * 0.5 # find_apriltags defaults to this if not set (the image.h * 0.5) def degrees(radians): return (180 * radians) / math.pi while(True): clock.tick() img = sensor.snapshot() for tag in img.find_apriltags(fx=f_x, fy=f_y, cx=c_x, cy=c_y): # defaults to TAG36H11 img.draw_rectangle(tag.rect(), color = (255, 0, 0)) img.draw_cross(tag.cx(), tag.cy(), color = (0, 255, 0)) # Translation units are unknown. Rotation units are in degrees. img.draw_string(0,0,"Rx %f" % degrees(tag.x_rotation())) img.draw_string(0,10,"Ry %f" % degrees(tag.y_rotation())) img.draw_string(0,20,"Rz %f" % degrees(tag.z_rotation())) img.draw_string(0,90,"Rx %f" % tag.x_translation()) img.draw_string(0,100,"Ry %f" % tag.y_translation()) img.draw_string(0,110,"Rz %f" % tag.z_translation()) #print("Rx %f, Ry %f, Rz %f" % print_args) #print(clock.fps())