import sensor, image, time

sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(sensor.QQVGA) # use QVGA for quailtiy ,use QQVGA for speed.
sensor.skip_frames(10) # Let new settings take affect.
sensor.set_auto_whitebal(False)
#关闭白平衡。白平衡是默认开启的，在颜色识别中，需要关闭白平衡。
clock = time.clock() # Tracks FPS.

weed_threshold_01 = ((31, 100, -128, -12, 0, 127))
'''
  扩宽roi
'''
def expand_roi(roi):
    # set for QQVGA 160*120
    extra = 5
    win_size = (160, 120)
    (x, y, width, height) = roi
    new_roi = [x-extra, y-extra, width+2*extra, height+2*extra]

    if new_roi[0] < 0:
        new_roi[0] = 0
    if new_roi[1] < 0:
        new_roi[1] = 0
    if new_roi[2] > win_size[0]:
        new_roi[2] = win_size[0]
    if new_roi[3] > win_size[1]:
        new_roi[3] = win_size[1]

    return tuple(new_roi)

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

    blobs = img.find_blobs([weed_threshold_01], area_threshold=150)
    if blobs:
    #如果找到了目标颜色
      #  print(blobs)
        for blob in blobs:
        #迭代找到的目标颜色区域
            is_rect = False
            max_area = 0

            new_roi = expand_roi(blob.rect())
            rects=img.find_rects(roi=new_roi,threshold = 10000)
            if rects:
                is_rect=True
                for rect in rects:
                    print(rects)
                    if rect.w()*rect.h() > max_area:
                        max_area = rect.w()*rect.h()
                        max_circle = rect
                    img.draw_rectangle(max_circle.x(),max_circle.y(),max_circle.w(),max_circle.h())
    print(clock.fps())

求问LAB这三个通道的数值对于识别色块各有什么影响？
比如说对于识别一个色块，阈值调好了，然后如果稍微改变L的值，对其有什么影响吗？

Keypoints descriptor example.

This example shows how to save a keypoints descriptor to file. Show the camera an object

and then run the script. The script will extract and save a keypoints descriptor and the image.

You can use the keypoints_editor.py util to remove unwanted keypoints.

NOTE: Please reset the camera after running this script to see the new file.

import sensor, time, image

Reset sensor

sensor.reset()

Sensor settings

sensor.set_contrast(3)
sensor.set_gainceiling(16)
sensor.set_framesize(sensor.VGA)
sensor.set_windowing((320, 240))
sensor.set_pixformat(sensor.GRAYSCALE)

sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False, value=100)

FILE_NAME = "alphabet_A2"
img = sensor.snapshot()

NOTE: See the docs for other arguments

NOTE: By default find_keypoints returns multi-scale keypoints extracted from an image pyramid.

A= img.find_keypoints(max_keypoints=150, threshold=10, scale_factor=1.2)

if (A == None):
raise(Exception("Couldn't find any keypoints!"))

image.save_descriptor(A, "/%s.orb"%(FILE_NAME))
img.save("/%s.pgm"%(FILE_NAME))

img.draw_keypoints(A)
sensor.snapshot()
time.sleep(1000)
raise(Exception("Done! Please reset the camera"))

image对象中没有find_number吗？

# LetNet Example
import sensor, image, time

sensor.reset()                      # Reset and initialize the sensor.
sensor.set_contrast(3)
sensor.set_pixformat(sensor.GRAYSCALE) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QVGA)   # Set frame size to QVGA (320x240)
sensor.set_windowing((28, 28))

sensor.skip_frames(time = 2000)     # Wait for settings take effect.
sensor.set_auto_gain(False)
sensor.set_auto_exposure(False)

clock = time.clock()                # Create a clock object to track the FPS.

while(True):
    clock.tick()                    # Update the FPS clock.
    img = sensor.snapshot()         # Take a picture and return the image.
    out = img.invert().find_number()
    if out[1] > 3.0:
        print(out[0])
    #print(clock.fps())             # Note: OpenMV Cam runs about half as fast when connected
                                    # to the IDE. The FPS should increase once disconnected.

import pyb
VL51L1X_DEFAULT_CONFIGURATION = bytes([
0x00,
0x00,
0x00,
0x01,
0x02,
0x00,
0x02,
0x08,
0x00,
0x08,
0x10,
0x01,
0x01,
0x00,
0x00,
0x00,
0x00,
0xff,
0x00,
0x0F,
0x00,
0x00,
0x00,
0x00,
0x00,
0x20,
0x0b,
0x00,
0x00,
0x02,
0x0a,
0x21,
0x00,
0x00,
0x05,
0x00,
0x00,
0x00,
0x00,
0xc8,
0x00,
0x00,
0x38,
0xff,
0x01,
0x00,
0x08,
0x00,
0x00,
0x01,
0xdb,
0x0f,
0x01,
0xf1,
0x0d,
0x01,
0x68,
0x00,
0x80,
0x08,
0xb8,
0x00,
0x00,
0x00,
0x00,
0x0f,
0x89,
0x00,
0x00,
0x00,
0x00,
0x00,
0x00,
0x00,
0x01,
0x0f,
0x0d,
0x0e,
0x0e,
0x00,
0x00,
0x02,
0xc7,
0xff,
0x9B,
0x00,
0x00,
0x00,
0x01,
0x01,
0x40
])
class VL53L1X:
def init(self,i2c, address=0x29):
self.i2c = i2c
self.address = address
self.reset()
pyb.delay(1)
if self.read_model_id() != 0xEACC:
raise RuntimeError('Failed to find expected ID register values. Check wiring!')
self.i2c.writeto_mem(self.address, 0x2D, VL51L1X_DEFAULT_CONFIGURATION, addrsize=16)
self.writeReg16Bit(0x001E, self.readReg16Bit(0x0022) * 4)
pyb.delay(200)
def writeReg(self, reg, value):
return self.i2c.writeto_mem(self.address, reg, bytes([value]), addrsize=16)
def writeReg16Bit(self, reg, value):
return self.i2c.writeto_mem(self.address, reg, bytes([(value >> & 0xFF, value & 0xFF]), addrsize=16)
def readReg(self, reg):
return self.i2c.readfrom_mem(self.address, reg, 1, addrsize=16)[0]
def readReg16Bit(self, reg):
data = self.i2c.readfrom_mem(self.address, reg, 2, addrsize=16)
return (data[0]<<8) + data[1]
def read_model_id(self):
return self.readReg16Bit(0x010F)
def reset(self):
self.writeReg(0x0000, 0x00)
pyb.delay(100)
self.writeReg(0x0000, 0x01)
def read(self):
data = self.i2c.readfrom_mem(self.address, 0x0089, 17, addrsize=16)
range_status = data[0]
stream_count = data[2]
dss_actual_effective_spads_sd0 = (data[3]<<8) + data[4]
ambient_count_rate_mcps_sd0 = (data[7]<<8) + data[8]
final_crosstalk_corrected_range_mm_sd0 = (data[13]<<8) + data[14]
peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = (data[15]<<8) + data[16]
return final_crosstalk_corrected_range_mm_sd0

@kidswong999 在 OPENMV定时器发送数据报错 中说：

output_str = ''

感谢大佬，受教了！

import sensor, image, time
from pyb import UART
from pyb import millis
from math import pi, isnan
import time
from pyb import Pin, Timer
#from pid import PID
#若优化在cricket_test.py修改 cricket_control.py为最终函数

def tick(timer):
    #print("Timer callback")
     output_str="[%d,%d]" % (x_now,y_now)
     uart.write(output_str+'\r\n')
     print(max_blob.cx(),max_blob.cy())                     #2个

tim = Timer(4, freq=1)
tim.callback(tick)

sensor.reset()
sensor.set_framesize(sensor.QVGA)
sensor.set_pixformat(sensor.RGB565)
sensor.skip_frames(time = 2000)
clock = time.clock()

uart = UART(3, 115200)

red_threshold = ((34, 63, 27, 80, 3, 127))
x_now=y_now=0

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()
        img = sensor.snapshot()
        blobs = img.find_blobs([red_threshold],roi=(55,14,225,218),pixels_threshold=2, area_threshold=2)
        if blobs:
             max_blob = find_max(blobs)
             img.draw_rectangle(max_blob.rect())
             img.draw_cross(max_blob.cx(), max_blob.cy(),color=0)
             x_now=max_blob.cx()                                    #x_now:x方向上现在的色块中心坐标位置
             y_now=max_blob.cy()                                    #y_now:y方向上现在的色块中心坐标位置![0_1563168383679_QQ图片20190715132608.png](https://fcdn.singtown.com/8931770b-b870-4152-9aef-abf70e2a2918.png) 

@kidswong999 好的！本来是想固定时间进行PID的，那您说的是利用millis()在死循环刷吗？（到达一定时间后再进行判断操作执行PID）

@kidswong999 可是我想固定时间发送一个数据怎么办惹？