# Blob Detection and uart transport
import sensor, image, time
#from pyb import UART
from machine import UART
import json
# For color tracking to work really well you should ideally be in a very, very,
# very, controlled enviroment where the lighting is constant...
threshold = (200, 255)
# You may need to tweak the above settings for tracking green things...
# Select an area in the Framebuffer to copy the color settings.
roi = (15, 0, 130, 120)
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.GRAYSCALE) # 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.
# OpenMV4 H7 Plus, OpenMV4 H7, OpenMV3 M7, OpenMV2 M4 的UART(3)是P4-TX P5-RX
uart = UART(3, 9600) #OpenMV RT 注释掉这一行，用下一行UART(1)
#uart = UART(1, 115200) #OpenMV RT 用UART(1)这行，注释掉上一行UART(3)
# OpenMV RT 只有串口UART(1)，对应P4-TX P5-RX; OpenMV4 H7 Plus, OpenMV4 H7, OpenMV3 M7 的UART(1)是P0-RX P1-TX
def find_max(blobs):
max_size=0
for blob in blobs:
if blob.pixels() > max_size:
max_blob=blob
max_size = blob.pixels()
return max_blob
while(True):
clock.tick()
img = sensor.snapshot().lens_corr(1.8)
img.draw_rectangle(roi, color=(255, 255, 255))
blobs = img.find_blobs([threshold],roi=roi)
if blobs:
#如果找到了目标颜色
for b in blobs:
#迭代找到的目标颜色区域
# Draw a rect around the blob.
img.draw_rectangle(b[0:4],color=(0,0,0)) # rect
#用矩形标记出目标颜色区域
#print('point：',b[5], b[6])
'''if blobs:
max_blob=find_max(blobs)'''
'''img.draw_rectangle(max_blob.rect(),color=(0,0,0))
img.draw_cross(max_blob.cx(), max_blob.cy())'''
print('sum :', len(blobs))
output_str="[%d,%d]" % (b[5],b[6]) #方式1
#output_str=json.dumps([max_blob.cx(),max_blob.cy()]) #方式2
print('you send:',output_str)
uart.write(output_str+'\r\n')
else:
print('not found!')
