import sensor, time, image,pyb
led=pyb.LED(2)

Reset sensor

sensor.reset()

Sensor settings

sensor.set_contrast(3)
sensor.set_gainceiling(16)
sensor.set_framesize(sensor.QQVGA)
sensor.set_windowing((160, 120))
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False, value=100)
kpts=["/0.orb","1.orb","2.orb","3.orb"]
#kpts1 = image.load_descriptor("/desc.orb")

clock = time.clock()
while (True):
clock.tick()
img = sensor.snapshot()
kpts2 = img.find_keypoints(max_keypoints=150, threshold=10, normalized=True)
if (kpts2):
for t in kpts:
kpts=image.load_descriptor(t)
match = image.match_descriptor(kpts, kpts2, threshold=85)
if (match.count()>10):
led.on()
# 匹配度大于10
img.draw_rectangle(match.rect())
img.draw_cross(match.cx(), match.cy(), size=10)
else:
led.off()

        print(kpts2, "matched:%d dt:%d"%(match.count(), match.theta()))
       
img.draw_string(0, 0, "FPS:%.2f"%(clock.fps()))

这个是全部代码了，我只是想在矩形识别的基础上进行像素统计，进行颜色识别
import sensor, image, time
from pyb import UART
import json
sensor.reset()
sensor.set_pixformat(sensor.RGB565) # grayscale is faster (160x120 max on OpenMV-M7)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 2000)
clock = time.clock()

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

# `threshold` below should be set to a high enough value to filter out noise
# rectangles detected in the image which have low edge magnitudes. Rectangles
# have larger edge magnitudes the larger and more contrasty they are...

blos= img.find_rects(threshold = 12000)
if blos:
  print('sum')
  for r in blos:
      area=(r.x(),r.y(),r.w(),r.h())
      img.draw_rectangle(r.rect(), color = (255, 0, 0))
      statistics=img.get_statistics(roi=area)
      for p in r.corners(): img.draw_circle(p[0], p[1], 5, color = (0, 255, 0))
      if 0<statistics.l_mode<127 and 0<statistics.a_mode<127 and 0<statistics.b_mode<127:
          print(r)
          uart.write('red')

TypeError: unsupported types for lt: 'int', 'bound_method'

@kidswong999 那不会影响颜色识别得效果吗？

特征点检测怎么调用保存好的目标特征？

颜色识别和特征点检测同时实现？

多模板匹配内存卡保存的模板数量有限制吗？最多可以保存多少个不同的模板？