• 星瞳AI VISION软件内测!可以离线标注,训练,并生成OpenMV的模型。可以替代edge impulse https://forum.singtown.com/topic/8206
  • 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。
  • 如果有产品硬件故障问题,比如无法开机,论坛很难解决。可以直接找售后维修
  • 发帖子之前,请确认看过所有的视频教程,https://singtown.com/learn/ 和所有的上手教程http://book.openmv.cc/
  • 每一个新的提问,单独发一个新帖子
  • 帖子需要目的,你要做什么?
  • 如果涉及代码,需要报错提示全部代码文本,请注意不要贴代码图片
  • 必看:玩转星瞳论坛了解一下图片上传,代码格式等问题。
  • 为什么当标志位变化时,准备运行下一个if语句时,openmv就会自动断开连接?



    • import sensor, image, time
      from pyb import UART
      from image import SEARCH_EX, SEARCH_DS
      thresholds = [(30, 100, 15, 127, 15, 127)]  #red
      sensor.reset()                      # Reset and initialize the sensor.
      sensor.set_pixformat(sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
      sensor.set_framesize(sensor.QQVGA)   # Set frame size to QVGA (320x240)
      sensor.skip_frames(time = 2000)     # Wait for settings take effect.
      sensor.set_auto_gain(False)
      sensor.set_auto_whitebal(False)     #关掉白平衡和自动增益
      uart = UART(3, 9600)
      templates1 = ["/11.pgm","/12.pgm","/13.pgm"]
      templates2 = ["/21.pgm","/22.pgm","/23.pgm"] #保存多个模板
      templates3 = ["/31.pgm","/32.pgm","/33.pgm"]
      templates4 = ["/41.pgm","/42.pgm","/43.pgm"]
      templates5 = ["/51.pgm","/52.pgm","/53.pgm"]
      templates6 = ["/61.pgm","/62.pgm","/63.pgm"]
      templates7 = ["/71.pgm","/72.pgm","/73.pgm"]
      templates8 = ["/81.pgm","/82.pgm","/83.pgm"]
      clock = time.clock()
      while(True):
          p1=p2=p3=0
          flag=1
          clock.tick()                    # Update the FPS clock.
          img = sensor.snapshot()         # Take a picture and return the image.
         #img.draw_rectangle((150,100, 50,50), color=(0,0,255))  #中
          img.draw_rectangle((70,30,30,35), color=(0,0,255))  #上
          img.draw_rectangle((40,50,30,40), color=(0,0,255))  #左
          img.draw_rectangle((100,50,30,40), color=(0,0,255))  #右
         #img.draw_rectangle((150,160, 50,50), color=(0,0,255))  #下
         #上 左 右(73,55,20,15)  (50,70,25,15)  (91,70,25,15)
          if flag==1:
              for blob in img.find_blobs([thresholds[0]],roi=(70,30,30,35),pixels_threshold=15,area_threshold=15):
                  img.draw_cross(blob.cx(),blob.cy())
                  p1=1
              for blob in img.find_blobs([thresholds[0]],roi=(40,50,30,40),pixels_threshold=15,area_threshold=15):
                  img.draw_cross(blob.cx(),blob.cy())
                  p2=1
              for blob in img.find_blobs([thresholds[0]],roi=(100,50,30,40),pixels_threshold=15,area_threshold=15):
                  img.draw_cross(blob.cx(),blob.cy())
                  p3=1
              if p1==1 and p2==0 and p3==0 :
                 uart.write("A") #前进
              elif p1==1 and p2==1 and p3==0:
                 uart.write("B") #左转
              elif p1==0 and p2==1 and p3==0:
                 uart.write("BB") #左转
              elif p1==1 and p2==0 and p3==1:
                 uart.write("C") #右转
              elif p1==0 and p2==0 and p3==1:
                 uart.write("CC") #右转
              elif p1==1 and p2==1 and p3==1:
                 uart.write("D")   #路口1,2
                 flag=2
                 break
              elif p1==0 and p2==1 and p3==1:
                 uart.write("E")   #路口3
                 flag=2
                 break
              else:
                 uart.write("E")
      
          elif flag==2:
              img = img.to_grayscale() #转化为灰度图
              for t in templates1:
                  img = sensor.snapshot()
                  template = image.Image(t)
                  r1 = img.find_template(template, 0.70, step=4, search=SEARCH_EX)
              for t in templates2:
                  img = sensor.snapshot()
                  template = image.Image(t)
                  r2 = img.find_template(template, 0.70, step=4, search=SEARCH_EX)
              for t in templates3:
                  img = sensor.snapshot()
                  template = image.Image(t)
                  r3 = img.find_template(template, 0.70, step=4, search=SEARCH_EX)
              for t in templates4:
                  img = sensor.snapshot()
                  template = image.Image(t)
                  r4 = img.find_template(template, 0.70, step=4, search=SEARCH_EX)
              for t in templates5:
                  img = sensor.snapshot()
                  template = image.Image(t)
                  r5 = img.find_template(template, 0.70, step=4, search=SEARCH_EX)
              for t in templates6:
                  img = sensor.snapshot()
                  template = image.Image(t)
                  r6 = img.find_template(template, 0.70, step=4, search=SEARCH_EX)
              for t in templates7:
                  img = sensor.snapshot()
                  template = image.Image(t)
                  r7 = img.find_template(template, 0.70, step=4, search=SEARCH_EX)
              for t in templates8:
                  img = sensor.snapshot()
                  template = image.Image(t)
                  r8 = img.find_template(template, 0.70, step=4, search=SEARCH_EX)
                  if r1:
                     uart.write("1")
                  if r2:
                     uart.write("2")
                  if r3:
                     uart.write("3")
                  if r4:
                     uart.write("4")
                  if r5:
                     uart.write("5")
                  if r6:
                     uart.write("6")
                  if r7:
                     uart.write("7")
                  if r8:
                     uart.write("8")
                  flag=1
                 
      


    • 第66行,70行,74行,78行,82行,86行,90行,94行,重新采集了,img又变成RGB

      你用的是什么硬件?是OpenMV4 Plus吗?



    • @kidswong999 openmv-h7 R1



    • @kidswong999 那如果想寻找色块和模板匹配一起使用,应该怎么弄(模板匹配需要每一个采集一次,不然延迟很高)?图像的img应该怎么弄?



    • @pwtg 第66行,70行,74行,78行,82行,86行,90行,94行下面都添加img.to_grayscale()



    • 另外你最好用OpenMV4 h7 plus,否则你这么多模板,内存容易不够。