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  • 运行很卡顿,有试过加if uart.any(): uart.readchar()但是没有改善还是掉帧很严重



    • import sensor, image, time, os, tf, math, uos, gc, ustruct, pyb
      from pyb import UART,LED
      from image import SEARCH_EX, SEARCH_DS
      sensor.reset()
      sensor.set_pixformat(sensor.GRAYSCALE)
      sensor.set_framesize(sensor.QQVGA)
      sensor.set_windowing((240,240))
      sensor.skip_frames(time=2000)
      sensor.set_contrast(1)
      sensor.set_gainceiling(16)
      
      led = pyb.LED(4) # Red LED = 1, Green LED = 2, Blue LED = 3, IR LEDs = 4.
      '''
      template1 = image.Image("/1.pgm")
      template2 = image.Image("/2.pgm")
      template3 = image.Image("/3.pgm")
      template4 = image.Image("/4.pgm")
      templates = ["/1.pgm","/2.pgm","/3.pgm","/4.pgm"]
      '''
      rois = [(20,20,100,150),(140,50,90,100)]
      net = None
      labels = None
      min_confidence = 0.5
      try:
      	net = tf.load("trained.tflite", load_to_fb=uos.stat('trained.tflite')[6] > (gc.mem_free() - (64*1024)))
      except Exception as e:
      	raise Exception('Failed to load "trained.tflite", did you copy the .tflite and labels.txt file onto the mass-storage device? (' + str(e) + ')')
      try:
      	labels = [line.rstrip('\n') for line in open("labels.txt")]
      except Exception as e:
      	raise Exception('Failed to load "labels.txt", did you copy the .tflite and labels.txt file onto the mass-storage device? (' + str(e) + ')')
      colors = [
      	(255,   0,   0),
      	(  0, 255,   0),
      	(255, 255,   0),
      	(  0,   0, 255),
      	(255,   0, 255),
      	(  0, 255, 255),
      	(255, 255, 255),
      ]
      uart = UART(3,115200)
      uart.init(9600, bits=8, parity=None, stop=1)
      
      def outuart(num):
      	global uart
      	data = ustruct.pack("<bbhhhhb",
      				   0x2C,
      				   0x12,
      				   int(num),
      				   int(88),
      				   0x5B)
      	uart.write(data)
      	time.sleep_ms(1)
      data = [0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00]
      def UartReceiveDate():
      	global Find_Task
      	global Target_Num
      	global x
      	global data
      	data[0] = uart.readchar()
      	data[1] = uart.readchar()
      	Target_Num=int(data[0]-48)*10+int(data[1]-48)
      	outuart(Target_Num)
      clock = time.clock()
      flag = 0
      num = 0
      temp_num = 0
      
      
      while(True):
      	clock.tick()
      	img = sensor.snapshot()
      	UartReceiveDate()
      	
      	if(num == 0):
      		sensor.set_windowing(1,1,100,100)
      		sensor.set_windowing(10,20,50,60)
      	if(num == 1):
      		sensor.set_windowing(60,40,180,180)
      		sensor.set_windowing(90,40,50,60)
      		
      	for i, detection_list in enumerate(net.detect(img, thresholds=[(math.ceil(min_confidence * 255), 255)])):
      		if (i == 0): continue
      		if (len(detection_list) == 0): continue
      		print(" %s " % labels[i])
      		tem = labels[i]
      		templatei ="/"+str(labels[i])+".pgm"
      		print(templatei)
      		outuart(tem)
      		num = num + 1
      		for d in detection_list:
      			[x, y, w, h] = d.rect()
      			center_x = math.floor(x + (w / 2))
      			center_y = math.floor(y + (h / 2))
      			print('x %d\ty %d' % (center_x, center_y))
      			sensor.set_windowing(240,240)
      
      			if(num == 1):
      				temp_num=int(tem)*10
      				print(temp_num)
      			elif(num == 2):
      				temp_num+=int(tem)
      				print(temp_num)
      				outuart(temp_num)
                     
      				
      	if(num==2):
      		break
      		led.on()
              time.sleep_ms(150)
              led.off()
              time.sleep_ms(100)
              led.on()
              time.sleep_ms(150)
              led.off()
              time.sleep_ms(600)
      				
      				
      '''	else:
      		print(temp_num)
      		temp_num = 0
      if (Target_Num == temp_num):		 #发送回去
      	print("ok")
      	outuart("ok")
      	#print(clock.fps(), "fps", end="\n\n")'''
      


    • 第170行到116行,你加了sleep,当然帧率就慢了。