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# Multi Color Blob Tracking Example
#
# This example shows off multi color blob tracking using the OpenMV Cam.

import sensor, image, time, math
from pyb import LED
from pyb import UART
uart = UART(3, 9600)
uart.init(9600, bits=8, parity=None, stop=1)
# Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
# The below thresholds track in general red/green things. You may wish to tune them...
thresholds = [(0, 100, 35, 105, -36, 122), # generic_red_thresholds
              (36, 93, -32, 39, 31, 90), # generic_yellow_thresholds
              (0, 95, 18, 105, -102, -47),# generic_blue_thresholds
              (0, 35, -128, 127, -128, 127),# generic_black_thresholds
              (46, 91, -54, 9, -48, -8)] #generic_white_thresholds

#LED(1).on()
#LED(2).on()
#LED(3).on()
# You may pass up to 16 thresholds above. However, it's not really possible to segment any
# scene with 16 thresholds before color thresholds start to overlap heavily.

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQQVGA)
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
left_roi = [0,0,50,20]
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. Don't set "merge=True" becuase that will merge blobs which we don't want here.

while(True):
    clock.tick()
    img = sensor.snapshot()
    for blob in img.find_blobs(thresholds,roi=left_roi,pixels_threshold=100, area_threshold=100):
        # These values depend on the blob not being circular - otherwise they will be shaky.
        #if blob.elongation() > 0.5:
            #img.draw_edges(blob.min_corners(), color=(255,0,0))
            #img.draw_line(blob.major_axis_line(), color=(0,255,0))
            #img.draw_line(blob.minor_axis_line(), color=(0,0,255))
        # These values are stable all the time.
        img.draw_rectangle(blob.rect())
        img.draw_cross(blob.cx(), blob.cy())
        # Note - the blob rotation is unique to 0-180 only.
        #img.draw_keypoints([(blob.cx(), blob.cy(), int(math.degrees(blob.rotation())))], size=20)
    #print(clock.fps())
    print(blob.code())
    #uart.write("%x" %(blob.code()))
    X=int(blob.code())
    data = bytearray([0xa5,X,0x00,0x00,X,0x5a])
    uart.write(data)
    #usrt.write(output_shuju'\r\n')改为uart.write("output_shuju\r\n")
    #只识别物块，通过blob中roi值的定义即可完成定义

# Multi Color Blob Tracking Example
#
# This example shows off multi color blob tracking using the OpenMV Cam.

import sensor, image, time, math

from pyb import UART
uart = UART(3, 9600)
uart.init(9600, bits=8, parity=None, stop=1)
# Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
# The below thresholds track in general red/green things. You may wish to tune them...
thresholds = [(0, 100, 45, 127, -128, 127), # generic_red_thresholds
              (59, 100, -79, 38, 33, 82), # generic_green_thresholds
              (4, 68, -19, 103, -109, 127),# generic_blue_thresholds
              (0, 14, -44, 8, -59, 29),# generic_black_thresholds
              (60, 100, 0, -93, 8, -82)] #generic_white_thresholds


# You may pass up to 16 thresholds above. However, it's not really possible to segment any
# scene with 16 thresholds before color thresholds start to overlap heavily.

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. Don't set "merge=True" becuase that will merge blobs which we don't want here.

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

    for blob in img.find_blobs(thresholds, pixels_threshold=200, area_threshold=200):
        # These values depend on the blob not being circular - otherwise they will be shaky.
        #if blob.elongation() > 0.5:
            #img.draw_edges(blob.min_corners(), color=(255,0,0))
            #img.draw_line(blob.major_axis_line(), color=(0,255,0))
            #img.draw_line(blob.minor_axis_line(), color=(0,0,255))
        # These values are stable all the time.
        img.draw_rectangle(blob.rect())
        img.draw_cross(blob.cx(), blob.cy())
        # Note - the blob rotation is unique to 0-180 only.
        #img.draw_keypoints([(blob.cx(), blob.cy(), int(math.degrees(blob.rotation())))], size=20)
    #print(clock.fps())
    print(blob.code())
    #uart.write("%x" %(blob.code()))
    X=int(blob.code())
    data = bytearray([0xa5,X,0x00,0x00,X,0x5a])
    uart.write(data)