18229941233 发布的帖子

色块跟踪实验为什么要关掉白平衡？

@kidswong999 在两个MV之间通信怎么清空接收方UART.ANY（）里的数据从而重新查询。中说：

uart.read(timeout_char=0)

0_1525671065372_5.7.jpg
但是报错了大佬。


import sensor, image, time
from pyb import UART
from pyb import Servo
import cpufreq
import pyb
threshold_index = 0 # 0 for red, 1 for green, 2 for blue

# Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
# The below thresholds track in general red/green/blue things. You may wish to tune them...
thresholds = [(58, 88, 57, -4, 20, 70)] # generic_red_thresholds
                                            # generic_green_thresholds
                                            # generic_blue_thresholds
threshold2 = [(30, 47, -39, 19, 20, 42)]
avg=[0,0,0,0,0,0,0,0,0,0,0,0]
sort2_servo=Servo(1)
led = pyb.LED(3)
#cpufreq.set_frequency(cpufreq.CPUFREQ_216MHZ)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock()

# Only blobs that with more pixels than "pixel_threshold" and more area than "area_threshold" are
# returned by "find_blobs" below. Change "pixels_threshold" and "area_threshold" if you change the
# camera resolution. "merge=True" merges all overlapping blobs in the image.

uart=UART(3,115200)

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

ROI=(0,0,1,1)

while(True):
    data = 0
    clock.tick()
    img = sensor.snapshot()
    sort2_servo.angle(-900)
    time.sleep(20)
    #time.sleep(10)
    blobs = img.find_blobs([thresholds[0]], pixels_threshold=80, area_threshold=850, merge=True)
    if blobs:
              max_blob = find_max(blobs)
              ROI = max_blob.rect()
              xc = max_blob.cx()
              yc = max_blob.cy()
              x = max_blob.x()
              y = max_blob.y()
              xn = int(xc-(xc-x)*7/10)
              yn = int(yc-(yc-y)*7/10)
              wn = (xc-xn)*2
              hn = (yc-yn)*2
              ROI = (xn, yn, wn, hn)
              img.binary(thresholds)
              #Bimg.erode(2)
              #img.dilate(1)
              statistics=img.get_statistics(roi=ROI)
              avg = statistics.mean()
              print(avg)
              if(uart.any()):
                   data = uart.readline()
                   
              if ( data!=0):#avg>=50 and avg<=95 or
                  print("bad")
                  print(data)
                  print(uart.any())
                  #led.on()
                  #time.sleep(150)
                  #ed.off()
                  sort2_servo.angle(0)       #添加时期2018.4.20
                  time.sleep(1000)        #添加时期2018.4.20
                  sort2_servo.angle(-900)           #添加时期2018.4.20
                  time.sleep(1000)        #添加时期2018.4.20
                  data = 0
              elif (avg>95):
                  sort2_servo.angle(-900)           #添加时期2018.4.20
                  time.sleep(100)
                  print("good")
                  print(uart.any())
    #print(clock.fps())
    #print(cpufreq.get_frequency())

我想把xn,yn变成Int型怎么做？我试了一下int(xn)得到的还是浮点数

# Single Color RGB565 Blob Tracking Example
#
# This example shows off single color RGB565 tracking using the OpenMV Cam.

import sensor, image, time

threshold_index = 0 # 0 for red, 1 for green, 2 for blue

# Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
# The below thresholds track in general red/green/blue things. You may wish to tune them...
thresholds = [(100, 37, -40, 127, 12, 127)] # generic_red_thresholds
                                            # generic_green_thresholds
                                            # generic_blue_thresholds
threshold2 = [(30, 47, -39, 19, 20, 42)]
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock()

# Only blobs that with more pixels than "pixel_threshold" and more area than "area_threshold" are
# returned by "find_blobs" below. Change "pixels_threshold" and "area_threshold" if you change the
# camera resolution. "merge=True" merges all overlapping blobs in the image.

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

ROI=(0,0,1,1)

while(True):
    clock.tick()
    img = sensor.snapshot()
    blobs = img.find_blobs([thresholds[0]], pixels_threshold=800, area_threshold=800, merge=False)
    if blobs:
              max_blob = find_max(blobs)  
              print(max_blob.rect())
             #img.draw_rectangle(max_blob.rect())
             #img.draw_cross(max_blob.cx(), max_blob.cy())
              ROI = max_blob.rect()
              xc = max_blob.cx()
              yc = max_blob.cy()
              x = max_blob.x()
              y = max_blob.y()
              xn = xc-(xc-x)*8/10
              int(xn)
              yn = yc-(yc-y)*8/10
              int(yn)
              wn = (xc-xn)*2
              int(wn)
              hn = (yc-yn)*2
              int(hn)
              ROI = (xn, yn, wn, hn)
    img.binary(thresholds)
    img.dilate(2, threshold = 10)
    statistics=img.get_statistics(roi=ROI)
    avg = statistics.mean()
    print(avg)
    print(clock.fps())

openmv接两个大舵机，舵机转动工作的时候抖动地厉害，我怀疑是细分的不好，不知道大伙怎么看，可不可以进到函数里面赶下舵机的精度？

可不可以先整理出超声波的。。。(^~^)!!!，或者在群里发一下？在网上找得例程感觉崩了。。。。55555

我在星瞳的教程上发现了这个网址https://github.com/SingTown/OpenMV-lib
教程上说这个网址里有各个模块库的例程，但我没看到，是跑到哪里去了？

大佬mv做超声波搞好了吗？可以分享下嘛？我的搞不出来。。。

@yuan
超声波测距print出来的全部是0，就算没加屏幕显示都不对，这是啥原因呢？

@kidswong999
从网上找得资料，做的一个超声波测距，但是print的全是0，这是怎么回事，可以帮忙看下吗？还有上面的网站打不开
#openmv利用超声波测距
import time,utime,pyb
from pyb import Pin

wave_echo_pin = Pin('P7', Pin.IN, Pin.PULL_NONE)
wave_trig_pin = Pin('P8', Pin.OUT_PP, Pin.PULL_DOWN)

wave_distance = 0
tim_counter = 0
flag_wave = 0

#超声波启动
def wave_start():
wave_trig_pin.value(1)
utime.sleep_us(15)
wave_trig_pin.value(0)

#超声波距离计算
def wave_distance_calculation():
#全局变量声明
global tim_counter
#频率f为0.2MHZ 高电平时间t=计数值1/f
wave_distance = tim_counter5*0.017
#输出最终的测量距离（单位cm）
print('wave_distance',wave_distance)

#超声波数据处理
def wave_distance_process():
global flag_wave
if(flag_wave == 0):
wave_start()
if(flag_wave == 2):
wave_distance_calculation()
flag_wave = 0

#配置定时器
tim =pyb.Timer(1, prescaler=720, period=65535) #相当于freq=0.2M

#外部中断配置
def callback(line):
global flag_wave,tim_counter
#上升沿触发处理
if(wave_echo_pin.value()):
tim.init(prescaler=720, period=65535)
flag_wave = 1
#下降沿
else:
tim.deinit()
tim_counter = tim.counter()
tim.counter(0)
extint.disable()
flag_wave = 2
#中断配置
extint = pyb.ExtInt(wave_echo_pin, pyb.ExtInt.IRQ_RISING_FALLING, pyb.Pin.PULL_DOWN, callback)

while(True):
wave_distance_process()
time.sleep(100)
print('wave_distance',wave_distance)
如果要在图像上显示，总是提示pix format错误，要怎么解决呢？

openmv怎么用超声波测距？

import pyb, sensor, image, math, time, utimesensor.reset()#openmv初始化sensor.set_framesize(sensor.QVGA)#设置图像大小sensor.set_pixformat(sensor.GRAYSCALE)from pyb import Pinwave_echo_pin = Pin('P7', Pin.IN , Pin.PULL_NONE)wave_trig_pin = Pin('P8', Pin.OUT_PP, Pin.PULL_DOWN)wave_distance = 0tim_counter = 0flag_wave = 0#超声波启动def wave_start(): wave_trig_pin.value(1) utime.sleep_us(15) wave_trig_pin.value(0)#超声波距离计算def wave_distance_calculation(): #全局变量声明 global tim_counter #频率f为0.2MHZ 高电平时间t=计数值1/f wave_distance = tim_counter5*0.017 #输出最终的测量距离（单位cm） print('wave_distance',wave_distance)#超声波数据处理def wave_distance_process(): global flag_wave if(flag_wave == 0): wave_start() if(flag_wave == 2): wave_distance_calculation() flag_wave = 0#配置定时器tim =pyb.Timer(1, prescaler=720, period=65535) #相当于freq=0.2M#外部中断配置def callback(line): global flag_wave,tim_counter #上升沿触发处理 if(wave_echo_pin.value()): tim.init(prescaler=720, period=65535) flag_wave = 1 #下降沿 else: tim.deinit() tim_counter = tim.counter() tim.counter(0) extint.disable() flag_wave = 2#中断配置extint = pyb.ExtInt(wave_echo_pin, pyb.ExtInt.IRQ_RISING_FALLING, pyb.Pin.PULL_DOWN, callback)while(True): wave_distance_process() time.sleep(100) for i in range(10): img = sensor.snapshot() for j in range(100): img.draw_string(50, 0, "space:",color=[255,0,0]) img.draw_string(50, 10, str(wave_distance),color=[255,0,0]) img.draw_string(100, 10, "CM",color=[255,0,0])

@kidswong999
我用直流电源提供了5V，负端接GND，正极接VIN。通电的时候，MV闪了一下白灯，是一闪而过的那种闪。不像USB口供电那样，MV闪俩下绿灯，然后晾一下白灯。咋回事

谢谢你，我以后会常来这提问。谢谢。

@kidswong999

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

uart = UART(3, 1382400) #设置串口波特率
uart.init(1382400,timeout_char=100)

green_threshold   = ((42, 78, 34, 82, 0, 63))#目标颜色

# Reset sensor
sensor.reset()

# Set sensor settings
sensor.set_contrast(1)
sensor.set_brightness(1)
sensor.set_saturation(1)
sensor.set_gainceiling(16)
sensor.set_framesize(sensor.QQVGA)
sensor.set_pixformat(sensor.RGB565)
sensor.skip_frames(10)
sensor.set_auto_whitebal(False) # turn this off.
#sensor.set_auto_gain(False)
clock = time.clock()

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

#等待接收客服端连接成功
while(uart.readchar()!=43):
    print("connect...")
#连接成功LED显示
LED(1).on()
time.sleep(2000)
uart.write("HTTP/1.1 200 OK!\r\n" \
            "Server: OpenMV\r\n" \
            "Content-Type: multipart/x-mixed-replace;boundary=openmv\r\n" \
            "Cache-Control: no-cache\r\n" \
            "Pragma: no-cache\r\n\r\nend")
# FPS clock
time.sleep(4000)
# Start streaming images
# NOTE: Disable IDE preview to increase streaming FPS.



while (True):
    clock.tick() # Track elapsed milliseconds between snapshots().
    img = sensor.snapshot()

    cframe = img.compressed(quality=35)

    header = "\r\n--openmv\r\n" \
             "Content-Type: image/jpeg\r\n"\
             "Content-Length:"+str(cframe.size())+"\r\n\r\n"
    blobs = img.find_blobs([green_threshold])
    if blobs:
        max_blob = find_max(blobs)
        pan_error = max_blob.cx()-img.width()/2
        tilt_error = max_blob.cy()-img.height()/2
        print("pan_error: ", pan_error)
        img.draw_rectangle(max_blob.rect()) # rect
        img.draw_cross(max_blob.cx(), max_blob.cy()) # cx, cy
    uart.write(header)
    uart.write(cframe)
    uart.write("end")

手机上看不到把色块框起来的框框

怎么用杜邦线向OPENMV提供5V电源？谢谢。