关于OpenMV IDE运行程序的问题。
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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）
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()
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代码太长了，使用多个文件编程。
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应该怎么把一个程序改写成多个文件？
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