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  • 小智智,为什么在main函数里定义了好几个函数,编译起来帧率这么低,图像捕捉直接卡住了?



    • 0_1550803838895_main.py - OpenMV IDE 2019_2_22 10_49_44.png

      我之前用从三个模块里导入方法的方法帧率也才0.001的量级😂



    • 如果涉及代码,需要报错提示与全部代码文本,请注意不要贴代码图片



    • @kidswong999 编译似乎没有错,就是想知道有什么改进的方法提高我的帧数?0_1550888720337_捕获.PNG

      main.py

      # Untitled - By: Lee - 周六 1月 26 2019
      # 收开始命令 扫码  找色块 测距 发距离
      import sensor, image, time
      from pyb import UART
      import json
      from sending import receive_data
      from sending import sending_data
      import Sao_Ma
      import Measure
      
      sensor.reset()
      sensor.set_pixformat(sensor.RGB565)
      sensor.set_framesize(sensor.QQVGA)
      sensor.skip_frames(time = 2000)
      clock = time.clock()
      uart = UART(3, 19200)
      L = 0
      while True:
          order = receive_data()
          if order != 0:              #开始执行命令
              fan_kui = Sao_Ma.ma()          #扫码
              uart.write('fan_kui')     #反馈扫码的数字(整数)
              time.sleep(1000)
              N = receive_data()
              if N == 1:
                  L = Measure.measure_distance(N)
                  print(L)
                  uart.write('L')       #返回距离大小
              elif N == 2:
                  L = Measure.measure_distance(N)
                  print(L)
                  uart.write('L')
              else:
                      L = Measure.measure_distance(N)
                      print(L)
                      uart.write('L')
          print(clock.fps())
      
      

      Measure.py

      # Untitled - By: Lee - 周五 2月 22 2019
      
      # Single Color RGB565 Blob Tracking Example
      #
      # This example shows off single color RGB565 tracking using the OpenMV Cam.
      
      import sensor,image,math,time
      import sending
      threshold_index = 0 # 0 for red, 1 for green, 2 for blue
      
      # Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
      # The below thresholds track in general red/green/blue things. You may wish to tune them...
      red_thresholds = (36, 66, 14, 72, -6, 60) # generic_red_thresholds     #只有红色
      green_thresholds = (70, 100, -10, 7, 0, 35) # generic_green_thresholds   #只有绿色
      blue_thresholds = (34, 50, -17, 22, -40, -10) # generic_blue_thresholds        #只有蓝色
      
      #while (True):
      #    View_Color()
      
      
      # Measure the distance
      #
      # This example shows off how to measure the distance through the size in imgage
      # This example in particular looks for yellow pingpong ball.
      
      
      # For color tracking to work really well you should ideally be in a very, very,
      # very, controlled enviroment where the lighting is constant...
      
      #yellow_threshold   = ( 56,   83,    5,   57,   63,   80)
      
      # 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.RGB565) # 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.
      
      i = sending.receive_data()
      K=5000 #the value should be measured  需根据要识别物体来确定初始化比例大小
      #实际大小=K*宽的像素
      
      # Single Color RGB565 Blob Tracking Example
      #
      # This example shows off single color RGB565 tracking using the OpenMV Cam.
      
      #分别给i赋值1,2,3
      
      def R_G_B(j):   #寻找最大色块的坐标
          if j <= 3:
              max_size=0
              clock.tick()
              img = sensor.snapshot()
              if j == 1:
                  blob = img.find_blobs([red_thresholds])      #色块中心的
              elif j ==2:
                  blob = img.find_blobs([green_thresholds])
              else:
                  blob = img.find_blobs([blue_thresholds])
              #if blob.pixels() > max_size:
                  #max_blob = blob
                  #max_size = blob.pixels()
                  #img.draw_rectangle(blob.rect())
                  #img.draw_cross(blob.cx(), blob.cy())
                  #return max_blob
                  #print('sum :', len(blob))
              #else:
                  #return 0
              return blob
          print(clock.fps())
      
      
      def R_G_B_center(k):
          m = R_G_B(j)
          x = blob.cx()
          y = blob.cy()
          return x,y
      #while True:
      #    R_G_B(1)
      
      
      def measure_distance(i):
          m = i
          clock.tick() # Track elapsed milliseconds between snapshots().
          img = sensor.snapshot() # Take a picture and return the image.
          blobs = R_G_B(m)
          length = 0
          if len(blobs) == 1:
                  # Draw a rect around the blob.
              b = blobs[0]
              img.draw_rectangle(b[0:4]) # rect
              img.draw_cross(b[5], b[6]) # cx, cy
              if abs(b[2]-b[3])>2:    #判断是否为球、正方体或其他立方体
                  Lm = b[3]
              else:
                  Lm = (b[2]+b[3])/2
              length = K/Lm               #距离 = k/直径的像素
              print(length)
              return length
          #print(b[2])
      
      #while True:
      #    ff = measure_distance(1)
      #   print(clock.fps()) # Note: Your OpenMV Cam runs about half as fast while
          # connected to your computer. The FPS should increase once disconnected.
      
      Sao_Ma.py
      

      import sensor, image,time

      sensor.reset()
      sensor.set_pixformat(sensor.RGB565)
      sensor.set_framesize(sensor.QQVGA) # can be QVGA on M7...
      sensor.skip_frames(30)
      sensor.set_auto_gain(False) # must turn this off to prevent image washout...
      clock = time.clock()

      def ma():
      clock.tick()
      img = sensor.snapshot()
      img.lens_corr(1.8) # strength of 1.8 is good for the 2.8mm lens.
      for code in img.find_qrcodes():
      img.draw_rectangle(code.rect(),color = (0,0,0))
      numbers = code.payload()
      if code.payload() >= '0':
      numbers = list(map(int, numbers))
      number = numbers[0]*100+numbers[1]*10+numbers[2]
      return nunmer
      #print(number)
      break

      sending.py

      # Untitled - By: Lee - 周日 2月 3 2019
      
      import time
      from pyb import UART
      
      uart = UART(3, 115200)
      uart.init(115200, bits=8, parity=None, stop=1) # init with given parameters
      
      def sending_data(jj):
          global uart
          j = jj
          print(j)
          uart.write('j')     #反馈字符串
      
      def receive_data():
          global uart
          if uart.any():
              tmp_data = uart.readline()
              uart.write("RECIVED : %s\n"%tmp_data)
              print(tmp_data)
              return tmp_data
          else:
              return 1
      
      #while(True):
      #    sending_data(1)
      #   receive_data()
      #    time.sleep(1000)