# Untitled - By: Administrator - 周五 十一月 6 2020
# Single Color RGB565 Blob Tracking Example
#
# This example shows off single color RGB565 tracking using the OpenMV Cam.
import sensor, image, time, math
from pyb import UART
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 = [(92, 100, -83, 127, -128, 127), # generic_red_thresholds
(30, 100, -64, -8, -32, 32), # generic_green_thresholds
(0, 30, 0, 64, -128, 0)] # generic_blue_thresholds
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()
while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.
uart = UART(3,9600)
A=0
for blob in img.find_blobs([thresholds[threshold_index]], pixels_threshold=20, area_threshold=20 ):
# These values depend on the blob not being circular - otherwise they will be shaky.
A=blob.perimeter()
# 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("perimeter: %d" % int (A))
if A >0:
a=1
else:
a=2
b=uart.write(str(a))
print(b)
print(a)
print(clock.fps())
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