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  • 关于OpenMV IDE运行程序的问题。



    • 在OpenMV IDE运行寻线程序是总会出现以下问题(我在OpenMV上插入了4GB SD卡,SD卡没有问题,运行其他程序可以)0_1562317661656_1562314102(1).png
      程序如下:

      # Untitled - By: 中科浩电 - 周二 2月 26 2019
      
      import sensor, image, time
      import network, usocket, sys
      import sensor, image, time, network, usocket, sys
      import math
      from pyb import UART
      from pyb import LED
      
      WIFI_ENABLE = False
      FIND_APRITAG_ENABLE = True
      
      # LED灯定义
      red_led   = LED(1)
      green_led = LED(2)
      blue_led  = LED(3)
      
      # 宏定义区
      GRAYSCALE_THRESHOLD = [(0, 90)] # 灰度阈值
      MIN_PIXELS = 100 # 最小像素
      width = 80 # 宽度
      height = 60 # 高度
      RectHeight = 10 # 矩形高度
      MAX_PIXEL = 200 # 最大像素
      
      # 直线阈值定义
      Line_Thr = 1000 # 线路宽度
      Line_Theta_margin = 25 # 折线图
      Line_Margin = 25 # 行距
      Line_Min_degree = 0 # 两线最小夹角
      Line_Max_degree = 179 # 两线最大夹角
      
      # 感兴趣区域定义
      Roi_Top = (0, 0, width, RectHeight)
      Roi_Botton = (0, height - RectHeight, width, RectHeight)
      Roi_Left = (0, 0, RectHeight, height)
      Roi_Right = (width - RectHeight, 0, RectHeight, height)
      Rois = [Roi_Top,Roi_Botton,Roi_Left,Roi_Right]
      
      # 直线阈值定义
      right_angle_threshold = (70, 90) # 直角阈值
      Line_Thr = 2000
      Line_Theta_margin = 25
      Line_Margin = 25
      Line_Min_degree = 0
      Line_Max_degree = 179
      
      def find_all_Line(img):
          Line_All = img.find_lines(threshold = Line_Thr, theta_margin = Line_Theta_margin, rho_margin = Line_Margin)
          return Line_All
      
      # From:http://makermare.com:60010//example/feature/right-angle-detection.html
      def calculate_angle(line1, line2):
          # 利用四边形的角公式, 计算出直线夹角
          angle  = (180 - abs(line1.theta() - line2.theta()))
          if angle > 90:
              angle = 180 - angle
          return angle
      
      # From:http://makermare.com:60010//example/feature/right-angle-detection.html
      def is_right_angle(line1, line2):
          global right_angle_threshold
          # 判断两个直线之间的夹角是否为直角
          angle = calculate_angle(line1, line2)
      
          if angle >= right_angle_threshold[0] and angle <=  right_angle_threshold[1]:
              # 判断在阈值范围内
              return True
          return False
      
      # From:http://makermare.com:60010//example/feature/right-angle-detection.html
      def calculate_intersection(line1, line2):
          # 计算两条线的交点
          a1 = line1.y2() - line1.y1()
          b1 = line1.x1() - line1.x2()
          c1 = line1.x2()*line1.y1() - line1.x1()*line1.y2()
      
          a2 = line2.y2() - line2.y1()
          b2 = line2.x1() - line2.x2()
          c2 = line2.x2() * line2.y1() - line2.x1()*line2.y2()
      
          if (a1 * b2 - a2 * b1) != 0 and (a2 * b1 - a1 * b2) != 0:
              cross_x = int((b1*c2-b2*c1)/(a1*b2-a2*b1))
              cross_y = int((c1*a2-c2*a1)/(a1*b2-a2*b1))
              return (cross_x, cross_y)
          return (-1, -1)
      
      # 此函数将所看到的线条整理成一个点或直线信息
      def line_info_process(lines):
          Cross_X = -1
          Cross_Y = -1
          line_info_list = [0,0,0,0,0,0,0]
          line_info_list[0] = -1
      
          # 如果有两条直线,此处不严谨,应该多判定两条直线
          if len(lines) == 2:
              if is_right_angle(lines[0],lines[1]):
                  Cross_X , Cross_Y = calculate_intersection(lines[0],lines[1])
                  line_info_list[0] = 0
                  line_info_list[1] = Cross_X
                  line_info_list[2] = Cross_Y
      
      
          # 如果有一条直线
          if len(lines) == 1:
              if (lines[0].x1() == 0 and lines[0].x2() == 79) or (lines[0].x2() == 0 and lines[0].x1() == 79):
                  # 横线
                  line_info_list[0] = 1
                  line_info_list[1] = lines[0].y1()
                  line_info_list[2] = lines[0].y2()
                  pass
              if (lines[0].y1() == 0 and lines[0].y2() == 59) or (lines[0].y2() == 0 and lines[0].y1() == 59):
                  line_info_list[0] = 2
                  line_info_list[1] = lines[0].x1()
                  line_info_list[2] = lines[0].x2()
                  pass
      
          return line_info_list
      
      def ExceptionVar(var):
          data = []
          data.append(0)
          data.append(0)
      
          if var == -1:
              data[0] = 0
              data[1] = 0
          else:
              data[0] = var & 0xFF
              data[1] = var >> 8
          return data
      
      def ProcessImg(img):
          Blobs = []
      
          TopBlobs = img.find_blobs(GRAYSCALE_THRESHOLD, roi = Roi_Top[0:4], merge=True)
          BottonBlobs = img.find_blobs(GRAYSCALE_THRESHOLD, roi = Roi_Botton[0:4], merge=True)
          LeftBlobs = img.find_blobs(GRAYSCALE_THRESHOLD, roi = Roi_Left[0:4], merge=True)
          RightBlobs = img.find_blobs(GRAYSCALE_THRESHOLD, roi = Roi_Right[0:4], merge=True)
      
      
          Blobs.append(TopBlobs)
          Blobs.append(BottonBlobs)
          Blobs.append(LeftBlobs)
          Blobs.append(RightBlobs)
      
          return Blobs
      
      def CalcVerticalCross(x0,y0,x1,y1,x2,y2):
          if y1 != y0:
              k1 = (y1 - y0)/(x1-x0)
              k2 = -1/k1
              x = (-k1*x0 + y0 +x2*k2 - y2)/(k2 - k1)
              y = k1 * x - k1*x0 + y0
              return x,y
          else:
              return x2,y1
      
      def CalcCross(x0,y0,x1,y1,x2,y2,x3,y3):
          # 计算两条线的交点
          a1 = y1 - y0
          b1 = x0 - x1
          c1 = x1*y0 - x0*y1
      
          a2 = y3 - y2
          b2 = x2 - x3
          c2 = x3 * y2 - x2*y3
      
          if (a1 * b2 - a2 * b1) != 0 and (a2 * b1 - a1 * b2) != 0:
              cross_x = int((b1*c2-b2*c1)/(a1*b2-a2*b1))
              cross_y = int((c1*a2-c2*a1)/(a1*b2-a2*b1))
              return (cross_x, cross_y)
          return (-1, -1)
      
      def FindMaxBlobs(BlobList):
          most_pixels = 0
          largest_blob = 0
          if BlobList:
              for i in range(len(BlobList)):
                  if BlobList[i].pixels() > most_pixels:
                      most_pixels = BlobList[i].pixels()
                      largest_blob = i
              return BlobList[largest_blob]
          return None
      
      def GetRectMoreInfo_V(Rect):
          x0 = Rect.x() + Rect.w()/2
          y0 = Rect.y()
          x1 = Rect.x() + Rect.w()/2
          y1 = Rect.y() + Rect.h()
          return x0,x1,y0,y1
          pass
      
      def GetRectMoreInfo_H(Rect):
          x0 = Rect.x() + Rect.w()/2
          y0 = Rect.y()
          x1 = Rect.x() + Rect.w()/2
          y1 = Rect.y() + Rect.h()
          return x0,x1,y0,y1
          pass
      
      def GetLtype(x0):
      
          pass
      
      BlobLocation = [[0, 0], [0, 0], [0, 0], [0, 0]]
      Blobs = []
      def RecognitionForm(Blobs,img):
          Top = 0
          Botton = 1
          Left = 2
          Right = 3
          cx = 0
          cy = 1
          MAX_WITH = 20
          MIN_WITH = 6
          MIN_HIGH = 6
          MAX_HIGH = 20
      
          FormType = 0xFF
          Loaction0 = 0
          Location1 = 0
      
          TopValid = False
          BottonValid = False
          LeftValid = False
          RightValid = False
      
          TopBlob = FindMaxBlobs(Blobs[0])
          BottonBlob = FindMaxBlobs(Blobs[1])
          LeftBlob = FindMaxBlobs(Blobs[2])
          RightBlob = FindMaxBlobs(Blobs[3])
      
          if TopBlob:
              if TopBlob.w() < MAX_WITH and TopBlob.h() > MIN_HIGH:
                  BlobLocation[Top][cx] = TopBlob.cx()
                  BlobLocation[Top][cy] = TopBlob.cy()
                  img.draw_rectangle(TopBlob.rect())
                  img.draw_cross(BlobLocation[Top][cx],BlobLocation[Top][cy])
              else:
                  TopBlob = None
      
          if BottonBlob:
              if BottonBlob.w() < MAX_WITH and BottonBlob.h() > MIN_HIGH:
                  BlobLocation[Botton][cx] = BottonBlob.cx()
                  BlobLocation[Botton][cy] = BottonBlob.cy()
                  img.draw_rectangle(BottonBlob.rect())
                  img.draw_cross(BlobLocation[Botton][cx],BlobLocation[Botton][cy])
              else:
                  BottonBlob = None
                  pass
      
          if LeftBlob:
              if LeftBlob.w() > MIN_WITH and LeftBlob.h() < MAX_HIGH and LeftBlob.h() > MIN_HIGH:
                  BlobLocation[Left][cx] = LeftBlob.cx()
                  BlobLocation[Left][cy] = LeftBlob.cy()
                  img.draw_rectangle(LeftBlob.rect())
                  img.draw_cross(BlobLocation[Left][cx],BlobLocation[Left][cy])
              else:
                  LeftBlob = None
      
          if RightBlob:
              if RightBlob.w() > MIN_WITH and RightBlob.h() < MAX_HIGH and RightBlob.h() > MIN_HIGH:
      
                  BlobLocation[Right][cx] = RightBlob.cx()
                  BlobLocation[Right][cy] = RightBlob.cy()
                  img.draw_rectangle(RightBlob.rect())
                  img.draw_cross(BlobLocation[Right][cx],BlobLocation[Right][cy])
              else:
                  RightBlob = None
      
          if TopBlob:
              TopValid = True
          if BottonBlob:
              BottonValid = True
          if LeftBlob:
              LeftValid = True
          if RightBlob:
              RightValid = True
      
          # 竖线
          if TopValid and BottonValid and (not LeftValid) and (not RightValid):
              Loaction0 = (BlobLocation[Top][cx] + BlobLocation[Botton][cx])//2
              Location1 = BlobLocation[Botton][cy]//2
              FormType = 0
      
          # 横线
          if (not TopValid) and (not BottonValid) and LeftValid and RightValid:
              Loaction0 = BlobLocation[Right][cx]//2
              Location1 = (BlobLocation[Left][cy] + BlobLocation[Right][cy])//2
              FormType = 1
      
          # 十字
          if TopValid and BottonValid and LeftValid and RightValid:
              (Loaction0,Location1) = CalcCross(BlobLocation[Left][cx],BlobLocation[Left][cy],
                                                BlobLocation[Right][cx],BlobLocation[Right][cy],
                                                BlobLocation[Top][cx],BlobLocation[Top][cy],
                                                BlobLocation[Botton][cx],BlobLocation[Botton][cy])
      
              FormType = 2
      
          # T字型
          if (not TopValid) and BottonValid and LeftValid and RightValid:
              x,y = CalcVerticalCross(BlobLocation[Left][cx],BlobLocation[Left][cy],
                                      BlobLocation[Right][cx],BlobLocation[Right][cy],
                                      BlobLocation[Botton][cx],BlobLocation[Botton][cy])
              # print(BlobLocation[Left][cx],BlobLocation[Right][cx],BlobLocation[Botton][cx])
              Loaction0 = int(x)
              Location1 = int(y)
              FormType = 3
      
          # 倒T字型
          if (TopValid) and (not BottonValid) and LeftValid and RightValid:
              x,y = CalcVerticalCross(BlobLocation[Left][cx],BlobLocation[Left][cy],
                                      BlobLocation[Right][cx],BlobLocation[Right][cy],
                                      BlobLocation[Top][cx],BlobLocation[Top][cy])
              Loaction0 = int(x)
              Location1 = int(y)
      
              FormType = 4
      
          # 粗略的检测,对YAW值要求严格
          # L字形
          if  TopValid and (not BottonValid) and (not LeftValid) and RightValid:
              FormType = 5
              return FormType,BlobLocation[Top][cx],BlobLocation[Right][cy]
      
          #    |
          #    |
          # ___|  字形
          if TopValid and (not BottonValid) and ( LeftValid) and (not RightValid):
              FormType = 6
              return FormType,BlobLocation[Top][cx],BlobLocation[Left][cy]
              pass
      
          #    ____
          #    |
          #    |  字形
          #    |
          if not TopValid and (BottonValid) and (not LeftValid) and (RightValid):
              FormType = 7
              return FormType,BlobLocation[Botton][cx],BlobLocation[Right][cy]
      
      
          #    ____
          #       |
          #       |  字形
          #       |
          if not TopValid and ( BottonValid) and ( LeftValid) and (not RightValid):
              FormType = 8
              return FormType,BlobLocation[Botton][cx],BlobLocation[Left][cy]
              pass
      
          #       |
          #  _____|
          #       |  字形
          #       |
          if ( TopValid) and ( BottonValid) and ( LeftValid) and (not RightValid):
              FormType = 9
              return FormType,BlobLocation[Top][cx],BlobLocation[Botton][cx],BlobLocation[Right][cy]
      
          #  |
          #  |_____
          #  |       字形
          #  |
          if ( TopValid) and ( BottonValid) and (not LeftValid) and ( RightValid):
              FormType = 10
              return FormType,BlobLocation[Top][cx],BlobLocation[Botton][cx]#,BlobLocation[Right][cy]
      
      
          return FormType,Loaction0,Location1
      # 寻找Apriltags
      def Find_Apriltags(img):
          X = -1
          Y = -1
          FormType = 0xff
          for tag in img.find_apriltags(families=image.TAG16H5):
              img.draw_rectangle(tag.rect(), color = (255, 0, 0)) #在图像上绘制一个矩形。
              img.draw_cross(tag.cx(), tag.cy(), color = (0, 255, 0)) #在图像上绘制一个十字
              X = tag.cx() #
              Y = tag.cy() #
              FormType = 100
          return FormType,X,Y
      
      def IS_FindApriTag(img):
          GetApriTag = False
      
          for tag in img.find_apriltags(families=image.TAG16H5):
              GetApriTag = True
      
          return GetApriTag
      
      
      Frame_Cnt = 0
      fCnt_tmp = [0,0]
      # UART_Send(直线类型,负载0,负载1)
      def UART_Send(FormType, Loaction0, Location1):
          global Frame_Cnt
          global fCnt_tmp
          Frame_Head = [170,170]
          Frame_End = [85,85]
          fFormType_tmp = [FormType]
          Frame_Cnt += 1
      
          if Frame_Cnt > 65534 :
              FrameCnt = 0
      
          fHead = bytes(Frame_Head)
      
          fCnt_tmp[0] = Frame_Cnt & 0xFF
          fCnt_tmp[1] = Frame_Cnt >> 8
          fCnt = bytes(fCnt_tmp)
      
          fFormType = bytes(fFormType_tmp)
          fLoaction0 = bytes(ExceptionVar(Loaction0))
          fLoaction1 = bytes(ExceptionVar(Location1))
          fEnd = bytes(Frame_End)
       #### OpenMV串口发送的数据结构 ####
          FrameBuffe = fHead + fCnt + fFormType + fLoaction0 + fLoaction1 + fEnd
          return FrameBuffe
      
      sensor.reset() # 初始化相机传感器Initialize the camera sensor.
      #sensor.set_vflip(True)
      sensor.set_pixformat(sensor.GRAYSCALE) # 使用灰度use grayscale.
      sensor.set_framesize(sensor.QQVGA) # 使用QVGA获得速度use QVGA for speed. 80 * 60
      sensor.skip_frames(30) # 让新设置生效Let new settings take affect.
      sensor.set_auto_gain(False) # 必须关闭才能进行颜色跟踪must be turned off for color tracking
      sensor.set_auto_whitebal(False) # must be turned off for color tracking
      uart = UART(3, 115200, timeout_char = 1000)
      uart.init(115200, bits=8, parity=None, stop=1, timeout_char=1000) # 使用给定参数初始化
      clock = time.clock()
      i = 0
      
      # WIFI调试配置
      SSID ='OPENMV_AP'    # Network SSID网络名称
      KEY  ='1234567890'    # Network key (must be 10 chars)网络密钥(必须是10个字符)
      HOST = ''           # Use first available interface使用第一个可用界面
      PORT = 8080         # Arbitrary non-privileged port任意非特权端口
      
      # Init wlan module in AP mode.在AP模式下初始化wlan模块
      THRESHOLD = (0, 100) # 暗物质的灰度阈值Grayscale threshold for dark things...
      BINARY_VISIBLE = True # Does binary first so you can see what the linear regression is being run on... might lower FPS though.
                   # 首先是二进制,所以你可以看到正在运行的线性回归...可能会降低FPS。
      
      CountDown = 100
      Find_ApriTag_ENABLE = False # 寻找ApriTag
      Find_Line_ENABLE = False # 找线
      while(True):
          CountDown -= 1
          img = sensor.snapshot() # 获取图像
                                  #sensor.snapshot()-使用相机拍摄一张照片,并返回image对象
          (Type,P0,P1) = Find_Apriltags(img)
      
          if Type == 100:
              Find_ApriTag_ENABLE = True
              Find_Line_ENABLE = False
              break
          else:
              Find_Line_ENABLE = True
              Find_ApriTag_ENABLE = False
      
          if CountDown <= 0:
              red_led.off()
              green_led.off()
              break
      
          i+=1
          if i % 5 == 0:
              green_led.on()
              red_led.on()
          if i % 10 == 0:
              green_led.off()
              red_led.off()
          pass
      
      if Find_Line_ENABLE:
          sensor.reset() # Initialize the camera sensor.
          #sensor.set_vflip(True)
          sensor.set_pixformat(sensor.GRAYSCALE) # use grayscale.
          sensor.set_framesize(sensor.QQQVGA) # use QVGA for speed. 80 * 60
          sensor.skip_frames(30) # Let new settings take affect.
          sensor.set_auto_gain(False) # must be turned off for color tracking
          sensor.set_auto_whitebal(False)
      
      while(True):
          img = sensor.snapshot()
      
          if Find_Line_ENABLE:
              All_Line = find_all_Line(img)
              Line_Info = line_info_process(All_Line)
      
              (Type,P0,P1) = RecognitionForm(ProcessImg(img),img)
      
              if Line_Info[0] == 0:
                  img.draw_circle(Line_Info[1],Line_Info[2], 3, color = 200, thickness = 2, fill = False)
              if All_Line:
                  for ii in All_Line:
                      img.draw_line(ii.line())
      
          if Find_ApriTag_ENABLE:
              (Type,P0,P1) = Find_Apriltags(img)
              pass
      
          print(Type,P0,P1)
          uart.write(UART_Send(Type,P0,P1))
      
          i+=1
          if i % 5 == 0:
              if Find_ApriTag_ENABLE:
                  green_led.on()
              else:
                  red_led.on()
          if i % 10 == 0:
              if Find_ApriTag_ENABLE:
                  green_led.off()
              else:
                  red_led.off()
      
      


    • 代码太长了,使用多个文件编程。



    • 应该怎么把一个程序改写成多个文件?