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  • 为啥更改阈值之后就会报错



    • import sensor, image, time,pyb
      from pyb import UART
      import json
      from pyb import LED
      
      led1 = pyb.LED(2)
      led2 = pyb.LED(3)
      
      red_threshold   =  (20, 59, 39, 127, 125, -73)
      #green_threshold = (23, 35, -23, -39, 10, 25)
      #blue_threshold  = (36, 12, 22, -41, -52, -11)
      
      
      
      G_X=0
      G_Y=0
      R_X=0
      R_Y=0
      Y_X=0
      Y_Y=0
      G_data=0
      R_data=0
      Y_data = 0
      add_data=0
      data=0
      sensor.reset() # Initialize the camera sensor.
      sensor.set_pixformat(sensor.RGB565) # use RGB565.
      sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed.
      sensor.skip_frames(10) # Let new settings take affect.
      sensor.set_auto_whitebal(False) # turn this off.
      clock = time.clock() # Tracks FPS.
      K=5000#the value should be measured
      uart = UART(3, 115200)
      uart.init(115200, bits=8, parity=None, stop=1)  #8位数据位,无校验位,1位停止位
      
      def find_max(blobs):
          max_size=0
          for blob in blobs:
              if blob[2]*blob[3] > max_size:
                  max_blob=blob
                  max_size = blob[2]*blob[3]
          return max_blob
      
      while(True):
          clock.tick() # Track elapsed milliseconds between snapshots().
          img = sensor.snapshot() # Take a picture and return the image.
          blobs = img.find_blobs([red_threshold],x_stride =15,y_stride = 15)
      
          if len(blobs) == 1:
              # Draw a rect around the blob.
              b = blobs[0]
              img.draw_rectangle(b[0:4]) # rect
              img.draw_cross(b[5], b[6]) # cx, cy
              Lm = (b[2]+b[3])/2
              length = K/Lm
      
          if blobs:
             max_blob = find_max(blobs)
             #img.draw_cross(max_blob.cx(),max_blob.cy())   #绘制圆外框
             img.draw_rectangle(max_blob.rect())#绘制矩形
             img.draw_cross(max_blob.cx(), max_blob.cy())#绘制十字
             #img.draw_circle(max_blob.cx(),max_blob.cy(),max_blob.cx()-max_blob.x(), color = (168, 11, 133))
      
             R_X =int(max_blob.cx())
             R_Y =int(max_blob.cy())
             d=int(length)
             data=bytearray([0xb3,0xb3,R_X,R_Y,d,1,0x5b])
             uart.write(data)    #打印XY轴的偏移坐标
             print("RX轴偏移坐标 : ",R_X)
             print("RY轴偏移坐标 : ",R_Y)
             print("距离坐标:",d)
      
             #led1.on()
             #led2.on()
      
          else:
             print("NO FIND")
             data=bytearray([0xb3,0xb3,0,0,0,0x5b])
             uart.write(data)    #打印XY轴的偏移坐标
             #led1.off()
             #led2.off()
      
      
      

      这是我更改阈值之前的代码,即使找不到需要的颜色也只是会输出no find,
      0_1678876535672_5ffef24b-5186-41e6-a47f-3f377e009c4a-1678876531160.jpg
      但是只要更改一下阈值

      import sensor, image, time,pyb
      from pyb import UART
      import json
      from pyb import LED
      
      led1 = pyb.LED(2)
      led2 = pyb.LED(3)
      
      red_threshold   =  (39, 6, -56, -10, 41, 10)
      #green_threshold = (23, 35, -23, -39, 10, 25)
      #blue_threshold  = (36, 12, 22, -41, -52, -11)
      
      
      
      G_X=0
      G_Y=0
      R_X=0
      R_Y=0
      Y_X=0
      Y_Y=0
      G_data=0
      R_data=0
      Y_data = 0
      add_data=0
      data=0
      sensor.reset() # Initialize the camera sensor.
      sensor.set_pixformat(sensor.RGB565) # use RGB565.
      sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed.
      sensor.skip_frames(10) # Let new settings take affect.
      sensor.set_auto_whitebal(False) # turn this off.
      clock = time.clock() # Tracks FPS.
      K=5000#the value should be measured
      uart = UART(3, 115200)
      uart.init(115200, bits=8, parity=None, stop=1)  #8位数据位,无校验位,1位停止位
      
      def find_max(blobs):
          max_size=0
          for blob in blobs:
              if blob[2]*blob[3] > max_size:
                  max_blob=blob
                  max_size = blob[2]*blob[3]
          return max_blob
      
      while(True):
          clock.tick() # Track elapsed milliseconds between snapshots().
          img = sensor.snapshot() # Take a picture and return the image.
          blobs = img.find_blobs([red_threshold],x_stride =15,y_stride = 15)
      
          if len(blobs) == 1:
              # Draw a rect around the blob.
              b = blobs[0]
              img.draw_rectangle(b[0:4]) # rect
              img.draw_cross(b[5], b[6]) # cx, cy
              Lm = (b[2]+b[3])/2
              length = K/Lm
      
          if blobs:
             max_blob = find_max(blobs)
             #img.draw_cross(max_blob.cx(),max_blob.cy())   #绘制圆外框
             img.draw_rectangle(max_blob.rect())#绘制矩形
             img.draw_cross(max_blob.cx(), max_blob.cy())#绘制十字
             #img.draw_circle(max_blob.cx(),max_blob.cy(),max_blob.cx()-max_blob.x(), color = (168, 11, 133))
      
             R_X =int(max_blob.cx())
             R_Y =int(max_blob.cy())
             d=int(length)
             data=bytearray([0xb3,0xb3,R_X,R_Y,d,1,0x5b])
             uart.write(data)    #打印XY轴的偏移坐标
             print("RX轴偏移坐标 : ",R_X)
             print("RY轴偏移坐标 : ",R_Y)
             print("距离坐标:",d)
      
             #led1.on()
             #led2.on()
      
          else:
             print("NO FIND")
             data=bytearray([0xb3,0xb3,0,0,0,0x5b])
             uart.write(data)    #打印XY轴的偏移坐标
             #led1.off()
             #led2.off()
      
      
      

      就会出现这个0_1678876661423_50e34b50-3e4c-46e3-9ead-330cda91924d-image.png



    • 报错很明显了,就是length没定义。为啥没定义呢?当49行的判断为假的时候,就不会执行第55行的。

      解决办法:48行添加一行 length=0