dn42 发布的帖子

dn42

学习slam可以用openmv吗？

dn42

这是arduino的代码

#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() {
  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];
    }
  }
}

dn42

OPENMV代码：

import sensor, image, time
import json
from pyb import UART
# For color tracking to work really well you should ideally be in a very, very,
# very, controlled enviroment where the lighting is constant...
yellow_threshold   = ( 46,  100,  -68,   72,   58,   92)
# You may need to tweak the above settings for tracking green things...
# Select an area in the Framebuffer to copy the color settings.

sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # 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.

uart = UART(3, 115200)

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() # Track elapsed milliseconds between snapshots().
    img = sensor.snapshot() # Take a picture and return the image.

    blobs = img.find_blobs([yellow_threshold],area_threshold=3000)
    if blobs:
        data=[]
        max_blob = find_max(blobs)


        img.draw_rectangle(max_blob[0:4])
        img.draw_cross(max_blob[5], max_blob[6]) # cx, cy
        data.append((max_blob[5], max_blob[6],max_blob[2],max_blob[3]))

        #{(1,22),(-3,33),(22222,0),(9999,12),(0,0)}
        data_out = json.dumps(set(data))
        uart.write(data_out +'\n')
        print('you send:',data_out)
    else:
        print("not found!")

ARDUINNO代码

#include <SoftwareSerial.h>

SoftwareSerial softSerial(10, 11); // RX, TX

typedef struct
{
  int data[50][3] = {{0,0,0}};
  int len = 0;
}List;
List list;

void setup() {
  // put your setup code here, to run once:
  softSerial.begin(115200);
  Serial.begin(115200);
}

void loop() {
  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.print('\n');
      Serial.println(list.data[i][2]);
      Serial.print('\t');
      Serial.println(list.data[i][3]);
    }
    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();
      list.data[list.len][1] = numStr.toInt();
      list.data[list.len][2] = numStr.toInt();
      numStr = "";
    }
    else if(s[i]==')'){
      list.data[list.len][3] = numStr.toInt();
      numStr = "";
      list.len++;
    }
    else{
      numStr += s[i];
    }
  }
}

dn42

特征识别，这个比匹配要好

dn42

import sensor, image, time

import pyb , ustruct

yellow_threshold = ( 46, 100, -68, 72, 58, 92)

sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # 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.

while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.
blobs = img.find_blobs([yellow_threshold], area_threshold = 2000)
if blobs:
#print('sum : %d'% len(blobs))

    text=[]

    for b in blobs:

        # Draw a rect around the blob.

        img.draw_rectangle(b.rect()) # rect

        img.draw_cross(b.cx(), b.cy()) # cx, cy

        text = "int(b.cx()), int(b.cy())"

    data = ustruct.pack("<%ds" % len(text), text)

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...")

请注意，为了正常同步工作，OpenMV Cam必须在Arduino轮询数据之前运行此脚本。

否则，I2C字节帧会变得乱七八糟。所以，保持Arduino在reset状态，

直到OpenMV显示“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

dn42

import sensor, image, time

For color tracking to work really well you should ideally be in a very, very,

very, controlled enviroment where the lighting is constant...

yellow_threshold = ( 56, 83, 5, 57, 63, 80)

You may need to tweak the above settings for tracking green things...

Select an area in the Framebuffer to copy the color settings.

sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # 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.

K=5000#the value should be measured

while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.

blobs = img.find_blobs([yellow_threshold])
if len(blobs) == 1:
    # Draw a rect around the blob.
    b = blobs[0]
    img.draw_rectangle(b[0:4]) # rect
    img.draw_cross(b[5], b[6]) # cx, cy
    Lm = (b[2]+b[3])/2
    length = K/Lm
    print(length)

dn42

openmv连不上串口助手

dn42

我想识别一种不同位置的相同颜色块，并且把把颜色块的坐标输出来传给arduino，需要怎么搞？