星瞳实验室APP,快速收到回复
  • 我们只解决官方正版的OpenMV的问题(STM32),其他的分支有很多兼容问题,我们无法解决。
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  • 每次运行都显示内存分配错误,能解决么?



    • 0_1564384522972_cc4f5942-ef04-43a0-a050-28f1b143e863-image.png
      (删除一些东西就好了,但又不太想删,有不删东西的解决办法么)



    • 既然你用的是OpenMV3,那么你换成OpenMV4,应该就没问题。



    • 请提供你的代码。我会测试一下。



    • import sensor, image, time, math
      from pyb import LED,Timer
      from struct import pack, unpack
      from pyb import UART
      #import Message,DotFollowing
      
      
      
      
      uart = UART(3,500000)#初始化串口 波特率 500000
      
      class Receive(object):
          uart_buf = []
          _data_len = 0
          _data_cnt = 0
          state = 0
          uart_data=[5,6,7,8,9]
      R=Receive()
      
      def UartSendData(Data):
          uart.write(Data)
      
      
      
      def jiexi(data):
          if R.state==0:
              if data==0xee :
                  R.state+=1
          elif R.state<=5 :
              R.uart_data[R.state-1]=data
              R.state+=1
          else :
              R.state=0
          if R.state>5:
              R.state=0
      
      
      #读取串口缓存
      def UartReadBuffer():
          i = 0
          Buffer_size = uart.any()
          while i<Buffer_size:
              #ReceivePrepare(uart.readchar())
              jiexi(uart.readchar())
              i = i + 1
      
      
      
      
      
      
      
      
      #点检测数据打包
      def DotDataPack(color,flag,x,y,yaw):
          print("found: x=",x,"  y=",y)
          #x=-x
          #y=-y
          pack_data=bytearray([0xAA,0x29,0x05,0x41,0x00,color,flag,x>>8,x,(-y)>>8,(-y),0x00])
          lens = len(pack_data)#数据包大小
          pack_data[4] = 6;#有效数据个数
          i = 0
          sum = 0
          #和校验
          while i<(lens-1):
              sum = sum + pack_data[i]
              i = i+1
          pack_data[lens-1] = sum;
          return pack_data
      
      
      
      
      
      
      
      sensor.reset()
      sensor.set_pixformat(sensor.RGB565)
      #阈值内数据(白色像素)较多时,QQVGA帧率降到5以下。线较细时可以使用(7·19测试)
      #QQQVGA较稳定,帧率保持高速(50以上)
      sensor.set_framesize(sensor.QQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
      sensor.skip_frames(time = 2000)     # WARNING: If you use QQVGA it may take seconds
      clock = time.clock()                # to process a frame sometimes.
      sensor.set_hmirror(True)
      #水平方向翻转
      sensor.set_vflip(True)
      #垂直方向翻转
      #sensor.set_auto_whitebal(False)
      #sensor.set_auto_gain(False)
      sensor.skip_frames(n=10)
      
      #Prevention_go_out_up=(0,30,160,30)
      #Prevention_go_out_down=(0,60,160,30)
      #Prevention_go_out_left=(40,0,40,120)
      #Prevention_go_out_right=(80,0,40,120)
      
      #Prevention_go_out_up_flag=0
      #Prevention_go_out_down_flag=0
      #Prevention_go_out_left_flag=0
      #Prevention_go_out_right_flag=0
      
      #roi_find_line_out=(0,0,160,30)
      
      
      color_red_x=(52, 92, 110, 19, 86, -36)
      
      #red_x_x=0
      #red_x_y=0
      
      fly_mode=0
      
      color_red_x_end=0
      
      red_x_time_flag=0
      
      class red_x(object):
          flag = 0
          color = 0
          x = 0
          y = 0
      
      red_X=red_x()
      
      ###################################################################
      #色块识别函数定红X
      #定义函数:找到画面中最大的指定色块
      def FindMax(blobs):
          max_size=1
          if blobs:
              max_blob = 0
              for blob in blobs:
                  blob_size = blob.w()*blob.h()
                  if ( (blob_size > max_size) & (blob_size > 20)   ) :#& (blob.density()<1.2*math.pi/4) & (blob.density()>0.8*math.pi/4)
                      if ( math.fabs( blob.w() / blob.h() - 1 ) < 2.0 ) :
                          max_blob=blob
                          max_size = blob.w()*blob.h()
              return max_blob
      
      def LineFilter(src, dst):
        for i in range(0, len(dst), 1):
            dst[i] = src[i<<1]
      start_i=0
      start=0
      delate=0
      #点检测
      def find_red_x():
          global start_i
          global start
          global delate
          img = sensor.snapshot(line_filter = LineFilter)#拍一张图像
          red_blobs = img.find_blobs([color_red_x], pixels_threshold=3, area_threshold=3, merge=True, margin=5)#识别红色物体
          max_blob=FindMax(red_blobs)#找到最大的那个
          if max_blob:
              img.draw_cross(max_blob.cx(), max_blob.cy())#物体中心画十字
              img.draw_rectangle(max_blob.rect())#画圈
              #获取坐标并转换为+-200
              red_x.x = max_blob.cx()-80
              red_x.y = max_blob.cy()-60
              red_x.flag = 1
      
              #LED灯闪烁
              LED(3).toggle()
              #LED灯闪烁
              LED(2).toggle()
          else:
              red_x.flag = 0
              LED(2).off()
              LED(3).off()
      
          #串口发送数据给飞控
      
      ####################################################################
      
      '''
      
      
      
      
      def Prevention_go_out(img):
          global Prevention_go_out_up_flag
          global Prevention_go_out_down_flag
          global Prevention_go_out_left_flag
          global Prevention_go_out_right_flag
      
          Prevention_go_out_up_flag=0
          Prevention_go_out_down_flag=0
          Prevention_go_out_left_flag=0
          Prevention_go_out_right_flag=0
      
          lines=img.find_lines(Prevention_go_out_up,x_stride=4,y_stride=1,threshold=1000,theta_margin=45,rho_maigin=20)
          if  len(lines)>0 :
              for line in lines:
                  if line.theta()>90:
                      if abs(line.theta()-180)>35:
                          Prevention_go_out_up_flag=1
                  else :
                      if line.theta()>35 :
                          Prevention_go_out_up_flag=1
      
              #Prevention_go_out_up_flag=1
              #line=max(lines,lambda x:x.magnitude())
              #img.draw_line(line.line(), color=(255,0,0))
          else :
              Prevention_go_out_up_flag=0
      
          lines=img.find_lines(Prevention_go_out_down,x_stride=4,y_stride=1,threshold=1000,theta_margin=45,rho_maigin=20)
          if  len(lines)>0 :
              for line in lines:
                  if line.theta()>90:
                      if abs(line.theta()-180)>35:
                          Prevention_go_out_down_flag=1
                  else :
                      if line.theta()>35 :
                          Prevention_go_out_down_flag=1
              #line=max(lines,lambda x:x.magnitude())
              #img.draw_line(line.line(), color=(255,0,0))
          else :
              Prevention_go_out_down_flag=0
      
          lines=img.find_lines(Prevention_go_out_left,x_stride=1,y_stride=4,threshold=1000,theta_margin=45,rho_maigin=20)
          if  len(lines)>0 :
              for line in lines:
                  if line.theta()>90:
                      if abs(line.theta()-180)<35:
                          Prevention_go_out_left_flag=1
                  else :
                      if line.theta()<35 :
                          Prevention_go_out_left_flag=1
              #Prevention_go_out_left_flag=1
              #line=max(lines,lambda x:x.magnitude())
              #img.draw_line(line.line(), color=(255,0,0))
          else :
              Prevention_go_out_left_flag=0
      
          lines=img.find_lines(Prevention_go_out_right,x_stride=1,y_stride=4,threshold=1000,theta_margin=45,rho_maigin=20)
          if  len(lines)>0 :
              for line in lines:
                  if line.theta()>90:
                      if 180-line.theta()<35:
                          Prevention_go_out_right_flag=1
                  else :
                      if line.theta()<35 :
                          Prevention_go_out_right_flag=1
                  print(line.theta(),                 line.theta())
                  img.draw_line(line.line(), color=(255,0,0))
              #Prevention_go_out_right_flag=1
              #line=max(lines,lambda x:x.magnitude())
              #img.draw_line(line.line(), color=(255,0,0))
          else :
              Prevention_go_out_right_flag=0
      
      '''
      
      #########################################################################
      
      
      
      find_color_time_start=0
      find_color_time_now=0
      find_color_time_flag=0
      
      
      color_fire=(62, 100, 8, 55, -22, 82)#(77, 100, 7, 45, -8, 79)#(84, 100, 8, 53, -50, 60)#(52, 92, 110, 19, 86, -36)#(33, 90, 7, 59, -60, 74)#(33,100,7,59,-62,74)#(59, 42, -17, 92, 16, 94)#(89, 99, 39, 3, 7, -2) (33, 100, 7, 59, -62, 74)
      
      
      class find_color_fire(object):
          x=0
          y=0
          flag=0
          daxiao=0
      
      find_color_fire = find_color_fire()
      
      
      def find_color(img):
          global find_color_time_start
          global find_color_time_now
          global find_color_time_flag
          find_color_fire.x=0
          find_color_fire.y=0
          find_color_fire.flag=0
          find_color_fire.daxiao=0
          #拍一张图像
          red_blobs = img.find_blobs([color_fire], pixels_threshold=10, area_threshold=8 , merge=True, margin=5)#识别红色物体
          max_blob=FindMax(red_blobs)#找到最大的那个
          if max_blob:
              img.draw_cross(max_blob.cx(), max_blob.cy())#物体中心画十字
              img.draw_rectangle(max_blob.rect())#画圈
              #获取坐标并转换为+-200
              find_color_fire.x = max_blob.cx()-80
              find_color_fire.y = max_blob.cy()-60
              find_color_fire.flag = 1
              find_color_fire.daxiao=max_blob.area()
      
              #LED灯闪烁
      
              #LED灯闪烁
              LED(2).toggle()
          else:
              #Dot.flag =
              LED(3).off()
              LED(2).off()
      
      
      
      
      def Send_out(color,sta,x,y,yaw):
          send_out_1=int(color)
          send_out_2=int(sta)
          send_out_x=int(x)
          send_out_y=int(y)
          send_out_yaw=int(yaw)
          UartSendData(DotDataPack(send_out_1,send_out_2,send_out_x,send_out_y,send_out_yaw))
      '''
      fly_mode=0
      find_color_mode=0
      fly_x=0
      fly_y=0
      find_color_flag=0
      
      fire_time_start=0
      fire_time_now=0
      fire_time_flag=0
      fire_laser=0
      fire_laser_flag=0
      jiaoyan=0
      back_home=0
      while True :
          fire_laser=0
          #fly_mode=2
          UartReadBuffer()
          for i in range(0,5):
              print(R.uart_data[i]      ,   i   ,   "fly_mode=",fly_mode)
          #if fly_mode==0:
          if  R.uart_data[0]==0 or fly_mode==0:
              find_red_x()
              if red_x.flag==1:
                  if start_i==0 :
                      start = time.ticks()
                      start_i=1
                  else :
                      delate=time.ticks()
              if  delate-start>5000:
                  fly_mode=1
                  start_i=0
                  start=0
                  delate=0
              print(delate-start)
              Send_out(0,1,red_x.x,red_x.y)
          else :
             # LED().on()
              if fly_mode==0:
                  flymode+=1
              if fly_mode==1:
                  #sensor.set_pixformat(sensor.RGB565)
                  img = sensor.snapshot()
                  #lines=img.find_lines((0,60,160,60),x_stride=40,y_stride=1,threshold=1000,theta_margin=40,rho_margin=20)
                  blobs=img.find_blobs([color_fire],roi=(0,0,160,10), pixels_threshold=3, area_threshold=3, merge=True, margin=5)
                  if len(blobs):
                      fly_mode=2
                      sensor.set_pixformat(sensor.RGB565)
                  LED(3).toggle()
                  Send_out(0,1,0,-30)
              if fly_mode==2 :
                  find_color()
                  if find_color_fire.daxiao<300 and find_color_fire.flag==1:
                      fly_x=find_color_fire.x/2
                      fly_y=find_color_fire.y/2
                      if abs(find_color_fire.x)<16 and abs(find_color_fire.y<12) :
                          if(fire_time_flag==0):
                              fire_time_start=time.ticks()
                              fire_time_flag=1
                          else :
                              fire_time_now=time.ticks()
                          if fire_laser_flag==0:
                              fire_laser=2
                              fire_laser_flag=1
                              jiaoyan=5
                      else :
                          fire_time_start=0
                          fire_time_flag=0
                          fire_time_now=0
                          fire_laser=0
                      if fire_time_now-fire_time_start>2000:
                          find_color_flag=1
      
                      print(find_color_flag,"start time is",fire_time_s
                      .
                      .. tart,"now time is",fire_time_now)
                  else :
                      fire_laser_flag=0
                      fire_time_start=0
                      fire_time_flag=0
                      fire_time_now=0
                      #fly_x=0
                      #fly_y=-30
                      print("jlkjlskadkkhksdh",find_color_fire.daxiao,find_color_fire.flag,)
                  #if find_color_fire.flag==0:
                      if find_color_flag==1:
                          find_color_flag=0
                          find_color_mode+=1
      
                      if find_color_mode==0:
                          fly_x=0
                          fly_y=-30
                      elif find_color_mode==1:
                          fly_x=0
                          fly_y=-30
                      elif find_color_mode==2:
                          fly_x=-30
                          fly_y=0
                      elif find_color_mode==3:
                          fly_x=0
                          fly_y=30
                      elif find_color_mode==4:
                          fly_x=0
                          fly_y=30
                      else:
                          print("ajsjhdalsdlasdljasldjlasjdljalsfhakjshfkahslfdhakjshdkjashdkjahsdkjhasdjggaiuyh")
                      if find_color_mode>=4:
                          for line in img.find_lines(roi_find_line_out,x_stride=50,y_stride=2,threshold=2000,theta_margin=30,rho_margin=20):
                              if line.theta()>40:
                                  back_home=1
                                  fly_mode=3
      
                  Send_out(fire_laser,1,fly_x,fly_y,)
                  print("alsdjlashdljassldjalskjd",jiaoyan,find_color_mode)
      
      
              if fly_mode==3:
                  find_red_x()
                  if red_x.flag==1:
                      Send_out(1,1,red_x.x,red_x.y)
                  else:
                      Send_out(1,1,30,0)
                  #else:
                          #fly_x=find_color_fire.x
                          #fly_y=find_color_fire.y
                          #find_color_flag=1
      
                  #if find_color_mode==4:
                      #for line in find_lines(roi=[(0,0,160,120)],x_stride=20,y_stride=1,threshold=1000,theta_margin=20,rho_maigin=10):
                          #if line.theta()>35 and line.theta()<125:
                              #fly_mode=3
                  #Send_out(fire_laser,1,fly_x,fly_y,)
                  #print("alsdjlashdljassldjalskjd",jiaoyan)
          #if fly_mode==3 :
      '''
      roi_jinchang=(0,60,160,60)
      fly_mode=0
      qifei=0
      jinchang=0
      qianjin=0
      end_fire=0
      find_fire_xun=1
      find_fire_xun_will=1
      find_fire_xun_rorl=-30
      
      fire_time_start=0
      fire_time_now=0
      fire_time_flag=0
      fire_time_end=0
      
      #fire_end_time_start=0
      #fire_end_time_now=0
      #fire_end_time_flag=0
      class send_data(object):
          color=0
          sta=1
          x=0
          y=0
          yaw=0
      send_data=send_data()
      while True:
          Send_out(send_data.color,send_data.sta,send_data.x,send_data.y,send_data.yaw)
          send_data.color=0
          send_data.sta=1
          send_data.x=0
          send_data.y=0
          send_data.yaw=0
          UartReadBuffer()
          for i in range(0,5):
              print(R.uart_data[i],i,"fly_mode=",fly_mode)
          if qifei==0:
              find_red_x()
              send_data.x=red_x.x
              send_data.y=red_x.y
      
          if R.uart_data[0]==1:
              if red_x.flag==1:
                  if start_i==0 :
                      start = time.ticks()
                      start_i=1
                  else :
                      delate=time.ticks()
              if  delate-start>5000:
                  qifei=1
      
          if qifei==1 and qianjin==0:
              img = sensor.snapshot()
              for line in img.find_lines(roi=roi_jinchang,x_stride=20,y_stride=1,threshold=1500,theta_margin=25,rho_margin=25):
                  if line.theta()>40 and line.theta()<120 and line.magnitude()>100:
                      qianjin=1
              if qianjin==0:
                  send_data.x=0
                  send_data.y=-30
          if qianjin==1 and  end_fire<4:
              img = sensor.snapshot(line_filter = LineFilter)
              find_color(img)
              if find_color_fire.flag==1:
                  send_data.x=find_color_fire.x
                  send_data.y=find_color_fire.y
                  if abs(find_color_fire.x)<16 and abs(find_color_fire.y)<12:
                      if fire_time_flag==0:
                          fire_time_start = time.ticks()
                          fire_time_flag=1
                      else :
                          fire_time_now=time.ticks()
      
                      #fire_end_time_start=0
                      #fire_end_time_now=0
                      #fire_end_time_flag=0
                      start=0
                      start_i=0
                      delate=0
                  else:
                      fire_time_start=0
                      fire_time_now=0
                      fire_time_flag=0
                      fire_time_end=0##########################逻辑有待斟酌
                  if  fire_time_now-fire_time_start>5000:
                      fire_time_end=1
              else:
                  if fire_time_end==1:
                      if start_i==0:#if fire_end_time_flag==0:
                          start=time.ticks()#fire_end_time_start=time.ticks()
                      else :
                          delate=time.ticks()#fire_end_time_now=time.ticks()
                      if  delate-start>5000:#fire_end_time_now-fire_end_time_start>1000:
                          end_fire+=1
                          fire_time_end=0
                      send_data.x=0
                      send_data.y=0
                  else:
                      fire_time_start=0
                      fire_time_now=0
                      fire_time_flag=0
      
                      #fire_end_time_start=0
                      #fire_end_time_now=0
                      #fire_end_time_flag=0
                      start=0
                      stare_i=0
                      delate=0
                      #Prevention_go_out(img):
                      if find_fire_xun==1:
                          for line in img.find_lines(roi=(0,0,160,30),x_stride=20,y_stride=1,threshold=1000,theta_margin=30,rho_maigin=10):
                              if line.theta()<120 and line.theta()>40 and line.magnitude()>100:
                                  for i in range(0,40):
                                      img = sensor.snapshot()
                                      Send_out(0,1,find_fire_xun_rorl,1,0)
                                      find_fire_xun_will=2
                                      if find_fire_xun_rorl==-30:
                                          for l in img.find_lines(roi=(80,0,40,120),x_stride=1,y_stride=20,threshold=1500,theta_nargin=30,rho_maigin=100):
                                              if l.theta()<30 or l.theta()>150:
                                                  find_fire_xun_rorl=30
                                      elif find_fire_xun_rorl==30:
                                          for l in img.find_lines(roi=(40,0,40,120),x_stride=1,y_stride=20,threshold=1500,theta_nargin=30,rho_maigin=100):
                                              if l.theta()<30 or l.theta()>150:
                                                  find_fire_xun_rorl=-30
                                  for i in range(0,40):
                                      img=sensor.snpshot()
                                      Send_out(0,1,0,0,0)
                          find_fire_xun=find_fire_xun_will
                          if find_fire_xun==1:
                              send_data.x=-find_fire_xun_rorl/30
                              send_data.y=-30
                          #if Prevention_go_up_flag==1:
                              #find_fire_xun_will=1
                      if find_fire_xun==2:
                          for line in img.find_lines(roi=(0,90,160,30),x_stride=20,y_stride=1,threshold=1000,theta_margin=30,rho_maigin=10):
                              if line.theta()<120 and line.theta()>40 and line.magnitude()>100:
                                  for i in range(0,40):
                                      img = sensor.snapshot()
                                      Send_out(0,1,find_fire_xun_rorl,-1,0)
                                      find_fire_xun_will=1
                                      if find_fire_xun_rorl==-30:
                                          for l in img.find_lines(roi=(80,0,40,120),x_stride=1,y_stride=20,threshold=1500,theta_nargin=30,rho_maigin=100):
                                              if l.theta()<30 or l.theta()>150:
                                                  find_fire_xun_rorl=30
                                      elif find_fire_xun_rorl==30:
                                          for l in img.find_lines(roi=(40,0,40,120),x_stride=1,y_stride=20,threshold=1500,theta_nargin=30,rho_maigin=100):
                                              if l.theta()<30 or l.theta()>150:
                                                  find_fire_xun_rorl=-30
                                  
                                  for i in range(0,40):
                                      img=sensor.snpshot()
                                      Send_out(0,1,0,0,0)
                          find_fire_xun=find_fire_xun_will
                          if find_fire_xun==2:
                              send_data.x=-find_fire_xun_rorl/30
                              send_data.y=30
          if end_fire>=4:
              send_data.x=0
              send_data.y=0
      
      


    • @kidswong999 谢谢大佬



    • 我测试了,用OpenMV4可以运行,OpenMV3不能运行。



    • @kidswong999 是什么原因导致的呢?



    • This post is deleted!


    • 因为OpenMV4的RAM更大。