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？

[ylvc]

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

[kidswong999]

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

[ylvc]

@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？

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)