@kidswong999 实在不会了。救救孩子吧

@kidswong999 我刚刚又换了个F7试了下 依然存在若干bug随机出现的问题 再比如还有这个：

刚刚又爆了个错误 但是忘截图了

H7的 固件是3.6.8

调试人脸识别代码时同一条语句不定时出现不同错误。还有其他奇奇怪怪的bug也都不定时出现。运气好时可以连续运行一个小时。运气不好时一打开就崩溃。而且有时不报错直接崩

# Face recognition with LBP descriptors.
# See Timo Ahonen's "Face Recognition with Local Binary Patterns".
#
# Before running the example:
# 1) Download the AT&T faces database http://www.cl.cam.ac.uk/Research/DTG/attarchive/pub/data/att_faces.zip
# 2) Exract and copy the orl_faces directory to the SD card root.


import sensor, time, image, pyb

sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.GRAYSCALE) # or sensor.GRAYSCALE
sensor.set_framesize(sensor.B128X128) # or sensor.QQVGA (or others)
sensor.set_windowing([0,0,127,127])#((92,112))
sensor.skip_frames(10) # Let new settings take affect.
sensor.skip_frames(time = 5000) #等待5s
sensor.set_contrast(1)
sensor.set_gainceiling(16)

face_cascade = image.HaarCascade("frontalface", stages=25)

#SUB = "s1"
NUM_SUBJECTS = 6 #图像库中不同人数，一共6人
NUM_SUBJECTS_IMGS = 20 #每人有20张样本图片

# 拍摄当前人脸。
#img = sensor.snapshot()
##img = image.Image("singtown/%s/1.pgm"%(SUB))
#d0 = img.find_lbp((0, 0, img.width(), img.height()))
#d0为当前人脸的lbp特征
img = None
pmin = 999999
num=0

def min(pmin, a, s):
    global num
    if a<pmin:
        pmin=a
        num=s
    return pmin

def max_face(objects):

    face2=0
    for face1 in objects:
        face2=face1;
        #if i==0:
            #face2=objects[0]
            #i=1;
        #elif face1.w<objects[i].w:
            #face2=objects[i]

    return face2;

face=[0,0,127,127]
dist = 0
while(True):
    img = sensor.snapshot()
    objects = img.find_features(face_cascade, threshold=1.3, scale=1.5)
    #face=max_face(objects);
    if len(objects)==1:

        for face in objects:
            print(objects)
        img.draw_rectangle(face);
        if face[3]<50:
            continue;
        elif face[2]>55:
            continue;
        sensor.set_windowing(face)
        d0 = img.find_lbp(face) #((0, 0, img.width(), img.height()))
        pmin=9999999;
        for s in range(1, NUM_SUBJECTS+1):
            dist = 0
            for i in range(2, NUM_SUBJECTS_IMGS+1):
                img = image.Image("singtown/s%d/%d.pgm"%(s, i))         #pgm
                d1 = img.find_lbp((0, 0, img.width(), img.height()))
                #d1为第s文件夹中的第i张图片的lbp特征
                dist += image.match_descriptor(d0, d1)#计算d0 d1即样本图像与被检测人脸的特征差异度。
            print("Average dist for subject %d: %d"%(s, dist/NUM_SUBJECTS_IMGS))
            pmin = min(pmin, dist/NUM_SUBJECTS_IMGS, s)#特征差异度越小，被检测人脸与此样本更相似更匹配。
            print(pmin)

        print(num) # num为当前最匹配的人的编号。
        sensor.set_windowing([0,0,127,127])#((92,112))
    sensor.skip_frames(time = 200)

@kidswong999 是什么原因导致的呢？

@19805185968
https://singtown.com/learn/49989/
https://dl.singtown.com/openmv/openmv_windows驱动.zip
第一个是视频教程，第二个是下载地址

@kidswong999 谢谢大佬

import sensor, image, time, math
from pyb import LED,Timer
from struct import pack, unpack
from pyb import UART
#import Message,DotFollowing




uart = UART(3,500000)#初始化串口 波特率 500000

class Receive(object):
    uart_buf = []
    _data_len = 0
    _data_cnt = 0
    state = 0
    uart_data=[5,6,7,8,9]
R=Receive()

def UartSendData(Data):
    uart.write(Data)



def jiexi(data):
    if R.state==0:
        if data==0xee :
            R.state+=1
    elif R.state<=5 :
        R.uart_data[R.state-1]=data
        R.state+=1
    else :
        R.state=0
    if R.state>5:
        R.state=0


#读取串口缓存
def UartReadBuffer():
    i = 0
    Buffer_size = uart.any()
    while i<Buffer_size:
        #ReceivePrepare(uart.readchar())
        jiexi(uart.readchar())
        i = i + 1








#点检测数据打包
def DotDataPack(color,flag,x,y,yaw):
    print("found: x=",x,"  y=",y)
    #x=-x
    #y=-y
    pack_data=bytearray([0xAA,0x29,0x05,0x41,0x00,color,flag,x>>8,x,(-y)>>8,(-y),0x00])
    lens = len(pack_data)#数据包大小
    pack_data[4] = 6;#有效数据个数
    i = 0
    sum = 0
    #和校验
    while i<(lens-1):
        sum = sum + pack_data[i]
        i = i+1
    pack_data[lens-1] = sum;
    return pack_data







sensor.reset()
sensor.set_pixformat(sensor.RGB565)
#阈值内数据（白色像素）较多时，QQVGA帧率降到5以下。线较细时可以使用（7·19测试）
#QQQVGA较稳定，帧率保持高速（50以上）
sensor.set_framesize(sensor.QQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
sensor.skip_frames(time = 2000)     # WARNING: If you use QQVGA it may take seconds
clock = time.clock()                # to process a frame sometimes.
sensor.set_hmirror(True)
#水平方向翻转
sensor.set_vflip(True)
#垂直方向翻转
#sensor.set_auto_whitebal(False)
#sensor.set_auto_gain(False)
sensor.skip_frames(n=10)

#Prevention_go_out_up=(0,30,160,30)
#Prevention_go_out_down=(0,60,160,30)
#Prevention_go_out_left=(40,0,40,120)
#Prevention_go_out_right=(80,0,40,120)

#Prevention_go_out_up_flag=0
#Prevention_go_out_down_flag=0
#Prevention_go_out_left_flag=0
#Prevention_go_out_right_flag=0

#roi_find_line_out=(0,0,160,30)


color_red_x=(52, 92, 110, 19, 86, -36)

#red_x_x=0
#red_x_y=0

fly_mode=0

color_red_x_end=0

red_x_time_flag=0

class red_x(object):
    flag = 0
    color = 0
    x = 0
    y = 0

red_X=red_x()

###################################################################
#色块识别函数定红X
#定义函数：找到画面中最大的指定色块
def FindMax(blobs):
    max_size=1
    if blobs:
        max_blob = 0
        for blob in blobs:
            blob_size = blob.w()*blob.h()
            if ( (blob_size > max_size) & (blob_size > 20)   ) :#& (blob.density()<1.2*math.pi/4) & (blob.density()>0.8*math.pi/4)
                if ( math.fabs( blob.w() / blob.h() - 1 ) < 2.0 ) :
                    max_blob=blob
                    max_size = blob.w()*blob.h()
        return max_blob

def LineFilter(src, dst):
  for i in range(0, len(dst), 1):
      dst[i] = src[i<<1]
start_i=0
start=0
delate=0
#点检测
def find_red_x():
    global start_i
    global start
    global delate
    img = sensor.snapshot(line_filter = LineFilter)#拍一张图像
    red_blobs = img.find_blobs([color_red_x], pixels_threshold=3, area_threshold=3, merge=True, margin=5)#识别红色物体
    max_blob=FindMax(red_blobs)#找到最大的那个
    if max_blob:
        img.draw_cross(max_blob.cx(), max_blob.cy())#物体中心画十字
        img.draw_rectangle(max_blob.rect())#画圈
        #获取坐标并转换为+-200
        red_x.x = max_blob.cx()-80
        red_x.y = max_blob.cy()-60
        red_x.flag = 1

        #LED灯闪烁
        LED(3).toggle()
        #LED灯闪烁
        LED(2).toggle()
    else:
        red_x.flag = 0
        LED(2).off()
        LED(3).off()

    #串口发送数据给飞控

####################################################################

'''




def Prevention_go_out(img):
    global Prevention_go_out_up_flag
    global Prevention_go_out_down_flag
    global Prevention_go_out_left_flag
    global Prevention_go_out_right_flag

    Prevention_go_out_up_flag=0
    Prevention_go_out_down_flag=0
    Prevention_go_out_left_flag=0
    Prevention_go_out_right_flag=0

    lines=img.find_lines(Prevention_go_out_up,x_stride=4,y_stride=1,threshold=1000,theta_margin=45,rho_maigin=20)
    if  len(lines)>0 :
        for line in lines:
            if line.theta()>90:
                if abs(line.theta()-180)>35:
                    Prevention_go_out_up_flag=1
            else :
                if line.theta()>35 :
                    Prevention_go_out_up_flag=1

        #Prevention_go_out_up_flag=1
        #line=max(lines,lambda x:x.magnitude())
        #img.draw_line(line.line(), color=(255,0,0))
    else :
        Prevention_go_out_up_flag=0

    lines=img.find_lines(Prevention_go_out_down,x_stride=4,y_stride=1,threshold=1000,theta_margin=45,rho_maigin=20)
    if  len(lines)>0 :
        for line in lines:
            if line.theta()>90:
                if abs(line.theta()-180)>35:
                    Prevention_go_out_down_flag=1
            else :
                if line.theta()>35 :
                    Prevention_go_out_down_flag=1
        #line=max(lines,lambda x:x.magnitude())
        #img.draw_line(line.line(), color=(255,0,0))
    else :
        Prevention_go_out_down_flag=0

    lines=img.find_lines(Prevention_go_out_left,x_stride=1,y_stride=4,threshold=1000,theta_margin=45,rho_maigin=20)
    if  len(lines)>0 :
        for line in lines:
            if line.theta()>90:
                if abs(line.theta()-180)<35:
                    Prevention_go_out_left_flag=1
            else :
                if line.theta()<35 :
                    Prevention_go_out_left_flag=1
        #Prevention_go_out_left_flag=1
        #line=max(lines,lambda x:x.magnitude())
        #img.draw_line(line.line(), color=(255,0,0))
    else :
        Prevention_go_out_left_flag=0

    lines=img.find_lines(Prevention_go_out_right,x_stride=1,y_stride=4,threshold=1000,theta_margin=45,rho_maigin=20)
    if  len(lines)>0 :
        for line in lines:
            if line.theta()>90:
                if 180-line.theta()<35:
                    Prevention_go_out_right_flag=1
            else :
                if line.theta()<35 :
                    Prevention_go_out_right_flag=1
            print(line.theta(),                 line.theta())
            img.draw_line(line.line(), color=(255,0,0))
        #Prevention_go_out_right_flag=1
        #line=max(lines,lambda x:x.magnitude())
        #img.draw_line(line.line(), color=(255,0,0))
    else :
        Prevention_go_out_right_flag=0

'''

#########################################################################



find_color_time_start=0
find_color_time_now=0
find_color_time_flag=0


color_fire=(62, 100, 8, 55, -22, 82)#(77, 100, 7, 45, -8, 79)#(84, 100, 8, 53, -50, 60)#(52, 92, 110, 19, 86, -36)#(33, 90, 7, 59, -60, 74)#(33,100,7,59,-62,74)#(59, 42, -17, 92, 16, 94)#(89, 99, 39, 3, 7, -2) (33, 100, 7, 59, -62, 74)


class find_color_fire(object):
    x=0
    y=0
    flag=0
    daxiao=0

find_color_fire = find_color_fire()


def find_color(img):
    global find_color_time_start
    global find_color_time_now
    global find_color_time_flag
    find_color_fire.x=0
    find_color_fire.y=0
    find_color_fire.flag=0
    find_color_fire.daxiao=0
    #拍一张图像
    red_blobs = img.find_blobs([color_fire], pixels_threshold=10, area_threshold=8 , merge=True, margin=5)#识别红色物体
    max_blob=FindMax(red_blobs)#找到最大的那个
    if max_blob:
        img.draw_cross(max_blob.cx(), max_blob.cy())#物体中心画十字
        img.draw_rectangle(max_blob.rect())#画圈
        #获取坐标并转换为+-200
        find_color_fire.x = max_blob.cx()-80
        find_color_fire.y = max_blob.cy()-60
        find_color_fire.flag = 1
        find_color_fire.daxiao=max_blob.area()

        #LED灯闪烁

        #LED灯闪烁
        LED(2).toggle()
    else:
        #Dot.flag =
        LED(3).off()
        LED(2).off()




def Send_out(color,sta,x,y,yaw):
    send_out_1=int(color)
    send_out_2=int(sta)
    send_out_x=int(x)
    send_out_y=int(y)
    send_out_yaw=int(yaw)
    UartSendData(DotDataPack(send_out_1,send_out_2,send_out_x,send_out_y,send_out_yaw))
'''
fly_mode=0
find_color_mode=0
fly_x=0
fly_y=0
find_color_flag=0

fire_time_start=0
fire_time_now=0
fire_time_flag=0
fire_laser=0
fire_laser_flag=0
jiaoyan=0
back_home=0
while True :
    fire_laser=0
    #fly_mode=2
    UartReadBuffer()
    for i in range(0,5):
        print(R.uart_data[i]      ,   i   ,   "fly_mode=",fly_mode)
    #if fly_mode==0:
    if  R.uart_data[0]==0 or fly_mode==0:
        find_red_x()
        if red_x.flag==1:
            if start_i==0 :
                start = time.ticks()
                start_i=1
            else :
                delate=time.ticks()
        if  delate-start>5000:
            fly_mode=1
            start_i=0
            start=0
            delate=0
        print(delate-start)
        Send_out(0,1,red_x.x,red_x.y)
    else :
       # LED().on()
        if fly_mode==0:
            flymode+=1
        if fly_mode==1:
            #sensor.set_pixformat(sensor.RGB565)
            img = sensor.snapshot()
            #lines=img.find_lines((0,60,160,60),x_stride=40,y_stride=1,threshold=1000,theta_margin=40,rho_margin=20)
            blobs=img.find_blobs([color_fire],roi=(0,0,160,10), pixels_threshold=3, area_threshold=3, merge=True, margin=5)
            if len(blobs):
                fly_mode=2
                sensor.set_pixformat(sensor.RGB565)
            LED(3).toggle()
            Send_out(0,1,0,-30)
        if fly_mode==2 :
            find_color()
            if find_color_fire.daxiao<300 and find_color_fire.flag==1:
                fly_x=find_color_fire.x/2
                fly_y=find_color_fire.y/2
                if abs(find_color_fire.x)<16 and abs(find_color_fire.y<12) :
                    if(fire_time_flag==0):
                        fire_time_start=time.ticks()
                        fire_time_flag=1
                    else :
                        fire_time_now=time.ticks()
                    if fire_laser_flag==0:
                        fire_laser=2
                        fire_laser_flag=1
                        jiaoyan=5
                else :
                    fire_time_start=0
                    fire_time_flag=0
                    fire_time_now=0
                    fire_laser=0
                if fire_time_now-fire_time_start>2000:
                    find_color_flag=1

                print(find_color_flag,"start time is",fire_time_s
                .
                .. tart,"now time is",fire_time_now)
            else :
                fire_laser_flag=0
                fire_time_start=0
                fire_time_flag=0
                fire_time_now=0
                #fly_x=0
                #fly_y=-30
                print("jlkjlskadkkhksdh",find_color_fire.daxiao,find_color_fire.flag,)
            #if find_color_fire.flag==0:
                if find_color_flag==1:
                    find_color_flag=0
                    find_color_mode+=1

                if find_color_mode==0:
                    fly_x=0
                    fly_y=-30
                elif find_color_mode==1:
                    fly_x=0
                    fly_y=-30
                elif find_color_mode==2:
                    fly_x=-30
                    fly_y=0
                elif find_color_mode==3:
                    fly_x=0
                    fly_y=30
                elif find_color_mode==4:
                    fly_x=0
                    fly_y=30
                else:
                    print("ajsjhdalsdlasdljasldjlasjdljalsfhakjshfkahslfdhakjshdkjashdkjahsdkjhasdjggaiuyh")
                if find_color_mode>=4:
                    for line in img.find_lines(roi_find_line_out,x_stride=50,y_stride=2,threshold=2000,theta_margin=30,rho_margin=20):
                        if line.theta()>40:
                            back_home=1
                            fly_mode=3

            Send_out(fire_laser,1,fly_x,fly_y,)
            print("alsdjlashdljassldjalskjd",jiaoyan,find_color_mode)


        if fly_mode==3:
            find_red_x()
            if red_x.flag==1:
                Send_out(1,1,red_x.x,red_x.y)
            else:
                Send_out(1,1,30,0)
            #else:
                    #fly_x=find_color_fire.x
                    #fly_y=find_color_fire.y
                    #find_color_flag=1

            #if find_color_mode==4:
                #for line in find_lines(roi=[(0,0,160,120)],x_stride=20,y_stride=1,threshold=1000,theta_margin=20,rho_maigin=10):
                    #if line.theta()>35 and line.theta()<125:
                        #fly_mode=3
            #Send_out(fire_laser,1,fly_x,fly_y,)
            #print("alsdjlashdljassldjalskjd",jiaoyan)
    #if fly_mode==3 ：
'''
roi_jinchang=(0,60,160,60)
fly_mode=0
qifei=0
jinchang=0
qianjin=0
end_fire=0
find_fire_xun=1
find_fire_xun_will=1
find_fire_xun_rorl=-30

fire_time_start=0
fire_time_now=0
fire_time_flag=0
fire_time_end=0

#fire_end_time_start=0
#fire_end_time_now=0
#fire_end_time_flag=0
class send_data(object):
    color=0
    sta=1
    x=0
    y=0
    yaw=0
send_data=send_data()
while True:
    Send_out(send_data.color,send_data.sta,send_data.x,send_data.y,send_data.yaw)
    send_data.color=0
    send_data.sta=1
    send_data.x=0
    send_data.y=0
    send_data.yaw=0
    UartReadBuffer()
    for i in range(0,5):
        print(R.uart_data[i],i,"fly_mode=",fly_mode)
    if qifei==0:
        find_red_x()
        send_data.x=red_x.x
        send_data.y=red_x.y

    if R.uart_data[0]==1:
        if red_x.flag==1:
            if start_i==0 :
                start = time.ticks()
                start_i=1
            else :
                delate=time.ticks()
        if  delate-start>5000:
            qifei=1

    if qifei==1 and qianjin==0:
        img = sensor.snapshot()
        for line in img.find_lines(roi=roi_jinchang,x_stride=20,y_stride=1,threshold=1500,theta_margin=25,rho_margin=25):
            if line.theta()>40 and line.theta()<120 and line.magnitude()>100:
                qianjin=1
        if qianjin==0:
            send_data.x=0
            send_data.y=-30
    if qianjin==1 and  end_fire<4:
        img = sensor.snapshot(line_filter = LineFilter)
        find_color(img)
        if find_color_fire.flag==1:
            send_data.x=find_color_fire.x
            send_data.y=find_color_fire.y
            if abs(find_color_fire.x)<16 and abs(find_color_fire.y)<12:
                if fire_time_flag==0:
                    fire_time_start = time.ticks()
                    fire_time_flag=1
                else :
                    fire_time_now=time.ticks()

                #fire_end_time_start=0
                #fire_end_time_now=0
                #fire_end_time_flag=0
                start=0
                start_i=0
                delate=0
            else:
                fire_time_start=0
                fire_time_now=0
                fire_time_flag=0
                fire_time_end=0##########################逻辑有待斟酌
            if  fire_time_now-fire_time_start>5000:
                fire_time_end=1
        else:
            if fire_time_end==1:
                if start_i==0:#if fire_end_time_flag==0:
                    start=time.ticks()#fire_end_time_start=time.ticks()
                else :
                    delate=time.ticks()#fire_end_time_now=time.ticks()
                if  delate-start>5000:#fire_end_time_now-fire_end_time_start>1000:
                    end_fire+=1
                    fire_time_end=0
                send_data.x=0
                send_data.y=0
            else:
                fire_time_start=0
                fire_time_now=0
                fire_time_flag=0

                #fire_end_time_start=0
                #fire_end_time_now=0
                #fire_end_time_flag=0
                start=0
                stare_i=0
                delate=0
                #Prevention_go_out(img):
                if find_fire_xun==1:
                    for line in img.find_lines(roi=(0,0,160,30),x_stride=20,y_stride=1,threshold=1000,theta_margin=30,rho_maigin=10):
                        if line.theta()<120 and line.theta()>40 and line.magnitude()>100:
                            for i in range(0,40):
                                img = sensor.snapshot()
                                Send_out(0,1,find_fire_xun_rorl,1,0)
                                find_fire_xun_will=2
                                if find_fire_xun_rorl==-30:
                                    for l in img.find_lines(roi=(80,0,40,120),x_stride=1,y_stride=20,threshold=1500,theta_nargin=30,rho_maigin=100):
                                        if l.theta()<30 or l.theta()>150:
                                            find_fire_xun_rorl=30
                                elif find_fire_xun_rorl==30:
                                    for l in img.find_lines(roi=(40,0,40,120),x_stride=1,y_stride=20,threshold=1500,theta_nargin=30,rho_maigin=100):
                                        if l.theta()<30 or l.theta()>150:
                                            find_fire_xun_rorl=-30
                            for i in range(0,40):
                                img=sensor.snpshot()
                                Send_out(0,1,0,0,0)
                    find_fire_xun=find_fire_xun_will
                    if find_fire_xun==1:
                        send_data.x=-find_fire_xun_rorl/30
                        send_data.y=-30
                    #if Prevention_go_up_flag==1:
                        #find_fire_xun_will=1
                if find_fire_xun==2:
                    for line in img.find_lines(roi=(0,90,160,30),x_stride=20,y_stride=1,threshold=1000,theta_margin=30,rho_maigin=10):
                        if line.theta()<120 and line.theta()>40 and line.magnitude()>100:
                            for i in range(0,40):
                                img = sensor.snapshot()
                                Send_out(0,1,find_fire_xun_rorl,-1,0)
                                find_fire_xun_will=1
                                if find_fire_xun_rorl==-30:
                                    for l in img.find_lines(roi=(80,0,40,120),x_stride=1,y_stride=20,threshold=1500,theta_nargin=30,rho_maigin=100):
                                        if l.theta()<30 or l.theta()>150:
                                            find_fire_xun_rorl=30
                                elif find_fire_xun_rorl==30:
                                    for l in img.find_lines(roi=(40,0,40,120),x_stride=1,y_stride=20,threshold=1500,theta_nargin=30,rho_maigin=100):
                                        if l.theta()<30 or l.theta()>150:
                                            find_fire_xun_rorl=-30
                            
                            for i in range(0,40):
                                img=sensor.snpshot()
                                Send_out(0,1,0,0,0)
                    find_fire_xun=find_fire_xun_will
                    if find_fire_xun==2:
                        send_data.x=-find_fire_xun_rorl/30
                        send_data.y=30
    if end_fire>=4:
        send_data.x=0
        send_data.y=0