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如何把程序放进openmv，通电就运行，并上传数据

@yuan 没有收到您发过来的，图片上传不成功

我需要做的就是让openmv识别一条宽为0.5cm的黑线，然后上传数据```
请在这里粘贴代码
import sensor, image, time, pyb
from pyb import UART
import json
import math

black_threshold =(100,59,33,-100,-128,30)
#black_threshold =(100,50,97,-126,-128,93)
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(sensor.QVGA) # 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.

uart = UART(3, 9600)
uart.init(9600, bits=8, parity=None, stop=1)
while(True):
clock.tick()
img = sensor.snapshot()
img.draw_cross(160,120)

    blobs = img.find_blobs([black_threshold])
    if blobs:
        print('sum : %d'% len(blobs))
        out_str = '['
        for b in blobs:
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
            x = b[5]
            y = b[6]
            img.get_pixel(x,y)
            out_str += '(%d,%d)' % (x,y)

        out_str += ']'
        print(out_str)


        if x<160:
           text = "right\n"
        elif x>160:
           text = "left\n"
        else:
           text = "stop\n"
        for b in blobs:
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
            x = b[5]
            y = b[6]
            p1=Point(b[5],b[6])
            p2=Point(160,120)
            l=Getlen(p1,p2)
               #获取两点之间直线的长度

            print(l.getlen())
            img.get_pixel(x,y)
            out_str += '(%d,%d)' % (x,y)

        out_str += ']'
        print(out_str)

        uart.write(out_str+'\r\n')


        uart = UART(3, 9600)
        for i in (0,360):
           if x<160:
               uart.write(string1+'\r\n')
           elif x>160:
               uart.write(string2+'\r\n')
           else:
               uart.write(string5+'\r\n')
           for j in (0,240):
               if x<120:
                   uart.write(string3+'\r\n')
               elif x>120:
                   uart.write(string4+'\r\n')
               else:
                   uart.write(string5+'\r\n')


while(True):
    clock.tick()
    img = sensor.snapshot()

    img.draw_cross(160,120)
    blobs = img.find_blobs([black_threshold])
    if blobs:
        print('sum : %d'% len(blobs))
        out_str = '['
        for b in blobs:
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
            x = b[5]
            y = b[6]
            a=b[0]+b[1]
            c=b[1]+b[3]
            out_str += '(%d,%d)' % (x,y)
        out_str += ']'
        print(out_str)

        if b[2]>b[3]:


           if 160<a:
               uart.write(string1+'\r\n')
           elif 160>a:
               uart.write(string2+'\r\n')
           else:
               uart.write(string5+'\r\n')
        else:

           if 120<c:
               uart.write(string4+'\r\n')
           elif 120>c:
               uart.write(string3+'\r\n')
           else:
               uart.write(string5+'\r\n')

0_1527596035072964%42JWQQTOSLZC.jpg 这个图片是彩色图的黑线识别，但是识别不了

$0_15275962390Q`{QRNDOILS.jpg$
这个图片是您说的那个直线识别的程序跑出来的，openmv图像上标出的直线是乱的

您说的这个，我试过，不管用。只要是直线都识别，也是灰度图，分不出哪条是自己需要的，达不到效果。
彩色图又会特别乱，无法圈出正确的黑色区域

识别黑色，设置阈值，是使用black_threshold =(100,59,33,-100,-128,30)，还是GRAYSCALE_THRESHOLD = [(0, 64)]，如果用灰度图的话，就红色也会当成黑色识别，这个问题怎么解决。同时，如何在不同颜色的干扰下识别指定宽度的黑色直线，如0.5cm的黑色直线

就是先从arduino向openmv发送数据，openmv就收到信号后执行程序，然后上传数据给arduino，我能用的语句都用了，还是出错，就是arduino发出的信号openmv无法接受，请教一下

Untitled - By: xuping - 周日 5月 20 2018

import sensor, image, time, pyb
from pyb import UART
import json
import math

black_threshold =(100,59,33,-100,-128,30)

red_threshold =(0,100,8,127,-128,127)

sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(sensor.QVGA) # 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.

uart = UART(3, 9600)
uart.init(9600, bits=8, parity=None, stop=1)
while(True):

if uart.any():
     #判断是否有数据， 有的话就读入
    tmp_data = uart.readall()
    print(tmp_data)

string1="R"
string2="L"
string3="U"
string5="S"
string4="D"
#定义点的函数
class Point:
def init(self,x=0,y=0):
self.x=x
self.y=y
def getx(self):
return self.x
def gety(self):
return self.y

class Getlen:
def init(self,p1,p2):
self.x=p1.getx()-p2.getx()
self.y=p1.gety()-p2.gety()
#用math.sqrt（）求平方根
self.len= math.sqrt((self.x2)+(self.y2))
#定义得到直线长度的函数
def getlen(self):
return self.len

if tmp_data:
while(True):
clock.tick()
img = sensor.snapshot()
img.draw_cross(160,120)
blobs = img.find_blobs([red_threshold], area_threshold=128)
if blobs:
print('sum : %d'% len(blobs))
out_str = '['
for b in blobs:
img.draw_rectangle(b[0:4]) # rect
img.draw_cross(b[5], b[6]) # cx, cy
x = b[5]
y = b[6]
p1=Point(b[5],b[6])
p2=Point(160,120)
l=Getlen(p1,p2)
#获取两点之间直线的长度

           print(l.getlen())
           img.get_pixel(x,y)
           out_str += '(%d,%d)' % (x,y)

       out_str += ']'
       print(out_str)
       uart.write(out_str+'\r\n')
       uart.write(l.getlen())

       uart = UART(3, 9600)
       for i in (0,360):
          if x<160:
              uart.write(string1+'\r\n')
          elif x>160:
              uart.write(string2+'\r\n')
          else:
              uart.write(string5+'\r\n')
          for j in (0,240):
              if x<120:
                  uart.write(string3+'\r\n')
              elif x>120:
                  uart.write(string4+'\r\n')
              else:
                  uart.write(string5+'\r\n')

else:

while(True):
    clock.tick()
    img = sensor.snapshot()
    img.draw_cross(160,120)

    blobs = img.find_blobs([black_threshold])
    if blobs:
        print('sum : %d'% len(blobs))
        out_str = '['
        for b in blobs:
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
            x = b[5]
            y = b[6]
            img.get_pixel(x,y)
            out_str += '(%d,%d)' % (x,y)

        out_str += ']'
        print(out_str)


        if x<160:
           text = "right\n"
        elif x>160:
           text = "left\n"
        else:
           text = "stop\n"
        for b in blobs:
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
            x = b[5]
            y = b[6]
            p1=Point(b[5],b[6])
            p2=Point(160,120)
            l=Getlen(p1,p2)
               #获取两点之间直线的长度

            print(l.getlen())
            img.get_pixel(x,y)
            out_str += '(%d,%d)' % (x,y)

        out_str += ']'
        print(out_str)

        uart.write(out_str+'\r\n')
        uart.write(l.getlen())

        uart = UART(3, 9600)
        for i in (0,360):
           if x<160:
               uart.write(string1+'\r\n')
           elif x>160:
               uart.write(string2+'\r\n')
           else:
               uart.write(string5+'\r\n')
           for j in (0,240):
               if x<120:
                   uart.write(string3+'\r\n')
               elif x>120:
                   uart.write(string4+'\r\n')
               else:
                   uart.write(string5+'\r\n')


while(True):
    clock.tick()
    img = sensor.snapshot()

    img.draw_cross(160,120)
    blobs = img.find_blobs([black_threshold])
    if blobs:
        print('sum : %d'% len(blobs))
        out_str = '['
        for b in blobs:
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
            x = b[5]
            y = b[6]
            a=b[0]+b[1]
            c=b[1]+b[3]
            out_str += '(%d,%d)' % (x,y)
        out_str += ']'
        print(out_str)

        if b[2]>b[3]:

           if 160<a:
               uart.write(string1+'\r\n')
           elif 160>a:
               uart.write(string2+'\r\n')
           else:
               uart.write(string5+'\r\n')
        else:

           if 120<c:
               uart.write(string4+'\r\n')
           elif 120>c:
               uart.write(string3+'\r\n')
           else:
               uart.write(string5+'\r\n')

#uart.write(out_str+'\r\n')
#uart.write()
#print(out_str)

arduino程序
#include <SoftwareSerial.h>

SoftwareSerial softSerial(10, 11); // RX, TX
typedef struct
{
int data[50][2] = {{0,0}};
int len = 0;
}List;
List list;

void setup() {
// put your setup code here, to run once:
softSerial.begin(9600);
Serial.begin(9600);
}

void loop() {
//Serial.write(45);
// int bytesSent = Serial.write("hello");
if(softSerial.available())
{
getList();
for (int i=0; i<list.len; i++)
{
Serial.print(list.data[i][0]);
Serial.print('\t');
Serial.println(list.data[i][1]);
}
Serial.println("============");
clearList();
}

}

String detectString()
{
while(softSerial.read() != '{');
return(softSerial.readStringUntil('}'));
}
void clearList()
{
memset(list.data, sizeof(list.data),0);
list.len = 0;
}
void getList()
{
String s = detectString();
String numStr = "";
for(int i = 0; i<s.length(); i++)
{
if(s[i]=='('){
numStr = "";
}
else if(s[i] == ','){
list.data[list.len][0] = numStr.toInt();
numStr = "";
}
else if(s[i]==')'){
list.data[list.len][1] = numStr.toInt();
numStr = "";
list.len++;
}
else{
numStr += s[i];
}
}
}

您需要把代码放出来
您可能是b[5],b[6]这两个值没有弄好，所以无法返回

0_15275110980png 就是这个图片

加上了，是可以的但是后面用I2C传送数据，由于程序的问题，出了错误，一直图像不更新，信息无法上传，程序运行的时候出现‘I2C’is not defind.并且运行程序后一直显示waiting for arduino...就走不下去了```
请在这里粘贴代码

Untitled - By: xuping - 周日 5月 27 2018

import sensor, image, time
import pyb
from pyb import I2C
import ustruct

sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(sensor.QVGA) # use QVGA for speed.
sensor.skip_frames(10) # Let new settings take affect.
sensor.set_auto_whitebal(False) # turn this off.
clock = time.clock() # Tracks FPS.

red_threshold =(0,100,8,127,-128,127)
black_threshold =(100,59,33,-100,-128,30)

data = i2c.recv(3) # 建立一个缓存区

#data=1

if data:

while(True):
    clock.tick()
    img = sensor.snapshot()
    img.draw_cross(160,120)
    blobs = img.find_blobs([red_threshold], area_threshold=128)
    if blobs:
        print('sum : %d'% len(blobs))
        out_str = '['
        for b in blobs:
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
            x = b[5]
            y = b[6]
            img.get_pixel(x,y)
            out_str += '(%d,%d)' % (x,y)

        out_str += ']'
        print(out_str)

        if x<160:
           text = "right\n"
        elif x>160:
           text = "left\n"
        else:
           text = "stop\n"
        data = ustruct.pack("<%ds" % len(text), text)
        # OpenMV上的硬件I2C总线都是2
        bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
        bus.deinit() # 完全关闭设备
        bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
        print("Waiting for Arduino...")
        while(True):
            try:
                bus.send(ustruct.pack("<h", len(data)), timeout=10000) # 首先发送长度 (16-bits).
                try:
                    bus.send(data, timeout=10000) # 然后发送数据
                    print("Sent Data!") # 没有遇到错误时，会显示
                except OSError as err:
                    pass # 不用担心遇到错误，会跳过
                    # 请注意，有3个可能的错误。 超时错误（timeout error），
                    # 通用错误（general purpose error）或繁忙错误
                    #（busy error）。 “err.arg[0]”的错误代码分别
                    # 为116,5,16。
            except OSError as err:
                pass
        if y<120:
           text = "up\n"
        if y<120:
           text = "down\n"
        else:
           text = "stop\n"
        data = ustruct.pack("<%ds" % len(text), text)
        # OpenMV上的硬件I2C总线都是2
        bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
        bus.deinit() # 完全关闭设备
        bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
        print("Waiting for Arduino...")
        while(True):
            try:
                bus.send(ustruct.pack("<h", len(data)), timeout=10000) # 首先发送长度 (16-bits).
                try:
                    bus.send(data, timeout=10000) # 然后发送数据
                    print("Sent Data!") # 没有遇到错误时，会显示
                except OSError as err:
                    pass
            except OSError as err:
                pass
print(out_str)

else:
while(True):
clock.tick()
img = sensor.snapshot()

    img.draw_cross(160,120)
    blobs = img.find_blobs(black_threshold)
    if blobs:
        print('sum : %d'% len(blobs))
        out_str = '['
        for b in blobs:
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
            x = b[5]
            y = b[6]
            img.get_pixel(x,y)
            out_str += '(%d,%d)' % (x,y)

        out_str += ']'
        print(out_str)


        if x<160:
           text = "right\n"
        elif x>160:
           text = "left\n"
        else:
           text = "stop\n"

        data = ustruct.pack("<%ds" % len(text), text)
        # OpenMV上的硬件I2C总线都是2
        bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
        bus.deinit() # 完全关闭设备
        bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
        print("Waiting for Arduino...")
        while(True):
            try:
                bus.send(ustruct.pack("<h", len(data)), timeout=10000) # 首先发送长度 (16-bits).
                try:
                    bus.send(data, timeout=10000) # 然后发送数据
                    print("Sent Data!") # 没有遇到错误时，会显示
                except OSError as err:
                    pass
            except OSError as err:
                pass
        if y<120:
           text = "up\n"
        if y>120:
            text = "down\n"
        else:
           text = "stop\n"
        data = ustruct.pack("<%ds" % len(text), text)
        # OpenMV上的硬件I2C总线都是2
        bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
        bus.deinit() # 完全关闭设备
        bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
        print("Waiting for Arduino...")
        while(True):
            try:
                bus.send(ustruct.pack("<h", len(data)), timeout=10000) # 首先发送长度 (16-bits).
                try:
                    bus.send(data, timeout=10000) # 然后发送数据
                    print("Sent Data!") # 没有遇到错误时，会显示
                except OSError as err:
                    pass
            except OSError as err:
                 pass



while(True):
    clock.tick()
    img = sensor.snapshot()

    img.draw_cross(160,120)
    blobs = img.find_blobs([GRAYSCALE_THRESHOLD])
    if blobs:
        print('sum : %d'% len(blobs))
        out_str = '['
        for b in blobs:
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
            x = b[5]
            y = b[6]
            img.get_pixel(x,y)
            out_str += '(%d,%d)' % (x,y)

        out_str += ']'
        print(out_str)
        if b[2]>b[3]:
           a=b[0]+b[1]
           if 160<a:
               text = "right\n"
           elif 160>a:
               text = "left\n"
           else:
               text = "stop\n"
        else:
           c=b[1]+b[3]
           if 120<c:
               text = "down\n"
           elif 120>c:
               text = "up\n"
           else:
               text = "stop\n"

        data = ustruct.pack("<%ds" % len(text), text)
        # OpenMV上的硬件I2C总线都是2
        bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
        bus.deinit() # 完全关闭设备
        bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
        print("Waiting for Arduino...")
        while(True):
            try:
                bus.send(ustruct.pack("<h", len(data)), timeout=10000) # 首先发送长度 (16-bits).
                try:
                    bus.send(data, timeout=10000) # 然后发送数据
                    print("Sent Data!") # 没有遇到错误时，会显示
                except OSError as err:
                    pass
            except OSError as err:
                pass

0_1527510945752_$JHDQWK0YU14B98$X`ZQ_HT.jpg

import sensor, image, time
from pyb import I2C
import ustruct
sensor.reset()
sensor.set_pixformat(sensor.RGB565) # grayscale is faster
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
clock = time.clock()
black_threshold =(100,59,33,-100,-128,30)

while(True):
clock.tick()
img = sensor.snapshot()

img.draw_cross(160,120)
blobs = img.find_blobs([black_threshold])
if blobs:
    print('sum : %d'% len(blobs))
    out_str = '['
    for b in blobs:
        img.draw_rectangle(b[0:4]) # rect
        img.draw_cross(b[5], b[6]) # cx, cy
        x = b[5]
        y = b[6]
        img.get_pixel(x,y)
        out_str += '(%d,%d)' % (x,y)

    out_str += ']'
    print(out_str)


    if x<160:
       text = "right\n"
    elif x>160:
       text = "left\n"
    else:
       text = "stop\n"

    bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
    bus.deinit() # 完全关闭设备
    bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
    print("Waiting for Arduino...")

    while(True):
        try:
            bus.send(ustruct.pack("<h", len(data)), timeout=10000) # 首先发送长度 (16-bits).
            try:
                bus.send(data, timeout=10000) # 然后发送数据
                print("Sent Data!") # 没有遇到错误时，会显示
            except OSError as err:
                pass
        except OSError as err:
            pass
    if y<120:
       text = "up\n"
    if y<120:
       text = "down\n"
    else:
       text = "stop\n"
    data = ustruct.pack("<%ds" % len(text), text)
    # OpenMV上的硬件I2C总线都是2
    bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
    bus.deinit() # 完全关闭设备
    bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
    print("Waiting for Arduino...")
    while(True):
        try:
            bus.send(ustruct.pack("<h", len(data)), timeout=10000) # 首先发送长度 (16-bits).
            try:
                bus.send(data, timeout=10000) # 然后发送数据
                print("Sent Data!") # 没有遇到错误时，会显示
            except OSError as err:
                pass
        except OSError as err:
            pass

while(True):
clock.tick()
img = sensor.snapshot()

img.draw_cross(160,120)
blobs = img.find_blobs([GRAYSCALE_THRESHOLD])
if blobs:
    print('sum : %d'% len(blobs))
    out_str = '['
    for b in blobs:
        img.draw_rectangle(b[0:4]) # rect
        img.draw_cross(b[5], b[6]) # cx, cy
        x = b[5]
        y = b[6]
        img.get_pixel(x,y)
        out_str += '(%d,%d)' % (x,y)

    out_str += ']'
    print(out_str)
    if b[2]>b[3]:
       a=b[0]+b[1]
       if 160<a:
           text = "right\n"
       elif 160>a:
           text = "left\n"
       else:
           text = "stop\n"
    else:
       c=b[1]+b[3]
       if 120<c:
           text = "down\n"
       elif 120>c:
           text = "up\n"
       else:
           text = "stop\n"

    data = ustruct.pack("<%ds" % len(text), text)
    # OpenMV上的硬件I2C总线都是2
    bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
    bus.deinit() # 完全关闭设备
    bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
    print("Waiting for Arduino...")
    while(True):
        try:
            bus.send(ustruct.pack("<h", len(data)), timeout=10000) # 首先发送长度 (16-bits).
            try:
                bus.send(data, timeout=10000) # 然后发送数据
                print("Sent Data!") # 没有遇到错误时，会显示
            except OSError as err:
                pass
        except OSError as err:
            pass

0_1527492133548_621g
请在这里粘贴代码