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    • # 红外RGB565跟踪示例
      
      #
      
      # 这个例子展示了使用OpenMV Cam进行红外RGB565跟踪。
      
      
      import sensor, image
      import time
      #from numba import jit
      from pyb import UART
      
      import json
      import utime
      
      import pyb
      
      EXPOSURE_TIME_SCALE = 0.1
      thresholds = (100,100,0,0,0,0) # thresholds for bright white light from IR.
      
      TimeBin = [0,0]
      TimeBox = [0,0]
      
      sensor.reset()
      
      sensor.set_pixformat(sensor.RGB565)
      
      sensor.set_framesize(sensor.QQQVGA)
      
      #sensor.set_windowing((60,80)) #将相机的分辨率设置为当前分辨率的子分辨率
      
      sensor.set_auto_gain(False) # must be turned off for color tracking
      
      sensor.set_auto_whitebal(False) # must be turned off for color tracking
      
      sensor.skip_frames(time = 10)
      sensor.get_exposure_us()
      
      sensor.set_auto_exposure(False[,exposure_us=1000])
      
      
      
      
      #sensor.set_auto_exposure(False, \
         # exposure_us = int(current_exposure_time_in_microseconds* EXPOSURE_TIME_SCALE))
      
      
      clock = time.clock() # Tracks FPS.
      
      uart = UART(3,115200)
      
      
      
      def find_max(blobs):
         max_size=0
         for blob in blobs:
              if blob.pixels() >max_size:
                  max_blob=blob
      #            max_size = blob.pixels()
         return max_blob
      
      
      
      while(True):
          #utime.sleep_ms(50)
          #for i in range(0,6000):
          clock.tick()# Track elapsed milliseconds between snapshots().
      
          img = sensor.snapshot()#binary([thresholds], invert=True, zero=True)
          TimeBox[1]= TimeBox[0]
          TimeBox[0] = utime.ticks_ms()
          deal = utime.ticks_diff(TimeBox[0],TimeBox[1])
          print("deal :",deal)
         # start = utime.ticks_ms()
          blobs=img.find_blobs([thresholds],pixels_threshold=200,area_threshold=250)
      
      
          if blobs:
      
            output_str = json.dumps(blobs)
      
            max_blob=find_max(blobs)
      
            img.draw_rectangle(max_blob.rect(),color=(255,0,0))
      
            output_str="[%d,%d]" % (max_blob.cx(),max_blob.cy())
      
            #print('you send:',output_str)
      
            uart.write(output_str+'\n')
            delta = utime.ticks_diff(utime.ticks_ms(), start)
            TimeBin[1] = TimeBin[0]
            TimeBin[0] = utime.ticks_ms()
            delta= utime.ticks_diff(TimeBin[0], TimeBin[1])
            print('duration:',delta)
      
            print("Initial exposure == %d" % sensor.set_auto_exposure())
      
            #current_exposure_time_in_microseconds=sensor.get_exposure_us()
      
            #sensor.set_auto_exposure(False, \
               # exposure_us = int(sensor.get_exposure_us() * EXPOSURE_TIME_SCALE))
            #print("New exposure == %d" % sensor.get_exposure_us())
      
      
            print("FPS:", clock.fps())
      
                  #img.draw_cross(blob.cx(), blob.cy())
          else:
      
                      print('not found!')
      
      
      
      
      
      ![0_1588524357129_1588524242(1).png](https://fcdn.singtown.com/ba97e81f-b0a6-45ff-abcb-b4d5e66b1456.png) 
      


    • 0_1588524422029_1588524242(1).png



    • sensor.set_auto_exposure(False, exposure_us=1000)