capture failed:-4

[hmwy]

import sensor
import image
import time
import network
import usocket
import sys
import sensor
import image
import time
import network
import usocket
import sys
import math
import pyb
from pyb import UART
from pyb import LED

# 变量分配区
# 绿色追踪
threshold = [53, 238]
Frame_Cnt = 0
fCnt_tmp = [0, 0]
count = 0
rangefinder = 0

# 局部函数定义区

red_led = LED(1)
green_led = LED(2)
blue_led = LED(3)
ir_led = LED(4)


def get_rangefinder(uart_line):
    try:
        if (len(uart_line) < 8):
            return 0xFF
        if(uart_line[0] != 0x59):
            return 0xFF
        if(uart_line[1] != 0x59):
            return 0xFF
        if(uart_line[2] != None and uart_line[3] != None):
            return uart_line[3] * 256 | uart_line[2]
    except:
        return 20
        pass


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

# 串口3 P4 P5 = TX RX
# 串口1 P1 P2 = TX RX


def UART_Send(FormType, Loaction0, Location1, range_finder=0):
    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] = range_finder & 0xFF
    fCnt_tmp[1] = range_finder >> 8
    # if(range_finder != 0):
    #     fCnt_tmp[1] = range_finder
    fCnt = bytes(fCnt_tmp)

    fFormType = bytes(fFormType_tmp)
    fLoaction0 = bytes(ExceptionVar(Loaction0))
    fLoaction1 = bytes(ExceptionVar(Location1))
    fEnd = bytes(Frame_End)
    FrameBuffe = fHead + fCnt + fFormType + fLoaction0 + fLoaction1 + fEnd
    return FrameBuffe




# main函数区
sensor.set_contrast(3)
sensor.set_gainceiling(16)
sensor.set_framesize(sensor.VGA)
sensor.set_windowing((320, 240))
sensor.set_pixformat(sensor.GRAYSCALE)
#sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False, value=100)

clock = time.clock()
uart = UART(3, 115200)
uart_Rangefinder = UART(1, 115200)

#文件导入特征点
kpts1 = image.load_descriptor("/desc.orb")
#img = sensor.snapshot()

start = pyb.millis()
while pyb.elapsed_millis(start)<10000:
    clock.tick()
    img = sensor.snapshot()
    kpts2 = img.find_keypoints(max_keypoints=150, threshold=10, normalized=False)
    if kpts2:
        match = image.match_descriptor(kpts1, kpts2, threshold=85)
        if(match.count()>10):
            img.draw_rectangle(match.rect())
            img.draw_cross(match.cx(), match.cy(), size=10)
        P0 = match.x()
        P1 = match.y()
        Type = 306
        print(Type,P0,P1)

    else:
        print("no find kpts")
        green_led.off()
        Type = 0xFF
        P0 = -1
        P1 = -1

    uart.write(UART_Send(Type, P0, P1))


while(True):
    clock.tick()
    img = sensor.snapshot()
    circles = img.find_circles(threshold=4000, x_margin=100,
                           y_margin=100, r_margin=10, r_min=2, r_max=100, r_step=2)

    if circles:
        green_led.on()
        for circle_ in circles:
            img.draw_circle(circle_.x(), circle_.y(),
                        circle_.r(), color=(255, 0, 0))
            img.draw_cross(circle_.x(), circle_.y())
            P0 = circle_.x()
            P1 = circle_.y()
            Type = 202
            print(Type, P0, P1)
        # uart.write(UART_Send(Type, P0, P1, rangefinder))

    else:
        print("no find circle")
        green_led.off()
        Type = 0xFF
        P0 = -1
        P1 = -1

[kidswong999]

你的代码没有sensor.reset()

运行hello world有没有问题？

[hmwy]

可以运行，但是一个程序可以像上面那样用两个while吗

[kidswong999]

@hmwy 可以，但是下面的死循环永远不会运行。