怎么写呀不太懂 怎么历遍

第一个openmv

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
 while(True):#抓  6无 1234垃圾分类  7  8起  dat接收的数据 datat发送的数据
                    if uart.any():
                        dat = uart.readline().decode().strip()
                    if int(dat)==5:
                        break
                    elif int(dat)==1 or int(dat)==2 or int(dat)==3 or int(dat)==4:
                        while(True):        #寻找终点



第二个openmv!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
# Edge Impulse - OpenMV Image Classification Example

import sensor, image, time, os, tf
import pwm
from pyb import UART
from pyb import Servo
from pyb import LED

pan_servo=Servo(1)
tilt_servo=Servo(2)
pan_servo.calibration(500,2500,500)
tilt_servo.calibration(500,2500,500)

sensor.reset()                         # Reset and initialize the sensor.
sensor.set_pixformat(sensor.RGB565)    # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QVGA)      # Set frame size to QVGA (320x240)
sensor.set_windowing((240, 240))       # Set 240x240 window.
sensor.skip_frames(time=2000)          # Let the camera adjust.
uart = UART(3, 115200)
dat=0
what=0
number=0
LED(1).on()
LED(2).on()
LED(3).on()
net = "trained.tflite"
labels = [line.rstrip('\n') for line in open("labels.txt")]

clock = time.clock()
while(True):
    clock.tick()
    img = sensor.snapshot()
    if uart.any():
        dat = uart.readline().decode().strip()
    if int(dat)==6:
        pan_servo.angle(85,300)
        tilt_servo.angle(120,300)
        time.sleep(1.5)
        pwm.pw(3)#爪子
        time.sleep(1.5)
        dat=0
    if int(dat)==5:
        while(True):
            clock.tick()
            img = sensor.snapshot()
            for obj in tf.classify(net, img, min_scale=1.0, scale_mul=0.8, x_overlap=0.5, y_overlap=0.5):
                #print("**********\nPredictions at [x=%d,y=%d,w=%d,h=%d]" % obj.rect())
                img.draw_rectangle(obj.rect())
                if obj.output()[0]>=0.7 :  #电池
                    if what!=3:
                        number=0
                    else :
                        number=number+1
                    what=3 #红色
                elif obj.output()[1]>=0.7 : #瓶子
                    if what!=1:
                        number=0
                    else :
                        number=number+1
                    what=1 #蓝色
                elif obj.output()[2]>=0.7 : #杯子
                    if what!=4:
                        number=0
                    else :
                        number=number+1
                    what=4 #黑灰色
                elif obj.output()[3]>=0.7 : #没有
                    if what!=5:
                        number=0
                    else :
                        number=number+1
                    what=5 #没有识别到东西
                elif obj.output()[4]>=0.7 : #橘子
                    if what!=2:
                        number=0
                    else :
                        number=number+1
                    what=2 #绿色
                elif obj.output()[5]>=0.7 : #纸团
                    if what!=1:
                        number=0
                    else :
                        number=number+1
                    what=1 #蓝色
            if number>=2:
                number=0
                break
                #predictions_list = list(zip(labels, obj.output()))
                '''
                for i in range(len(predictions_list)):
                    print("%s = %f" % (predictions_list[i][0], predictions_list[i][1]))
                    print(obj.output()[1])
                '''
        if what!=0:
            dat=10
            pan_servo.angle(69,500)
            tilt_servo.angle(148,500)
            time.sleep(0.7)
            pwm.pw(9)#爪子
            time.sleep(1.5)
            pan_servo.angle(160,300)
            tilt_servo.angle(100,300)
    if int(dat)==10:
        pan_servo.angle(160,300)
        tilt_servo.angle(120,300)
        pwm.pw(9)#爪子
        uart.write(str(what)+'\r\n')

    else:
        pwm.pw(3)#爪子
        time.sleep(1.5)
        pan_servo.angle(148,300)
        tilt_servo.angle(80)

    print(dat)
    print(what)

就是先检测到a小车往a走 快走到了 却将目标转移到了b 怎么让他锁定一个目标

怎么锁定一个物体，让他检测到别的符合物体仍然锁定先前物体

就是先检测到a小车往a走 快走到了 却将目标转移到了b 怎么让他锁定一个目标

怎么查找到一个物体a就追踪过去 中途如果识别到别的物体b 他仍然继续追踪原来的物体a

例如这个和矿泉水瓶

# Blob Detection Example
#
# This example shows off how to use the find_blobs function to find color
# blobs in the image. This example in particular looks for dark green objects.

import sensor, image, time
import car
from pid import PID
from pyb import UART

# 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.

# For color tracking to work really well you should ideally be in a very, very,
# very, controlled enviroment where the lighting is constant...
green_threshold   = (99, 100, 127, 127, 127, 127)
size_threshold = 2000
x_pid = PID(p=0.5, i=1, imax=100)
h_pid = PID(p=0.05, i=0.1, imax=50)
a=0
datx=0
daty=0
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.

    #for blob in img.find_blobs(green_threshold,invert=True,merge=True):

    blobs = img.find_blobs([green_threshold],invert=False,merge=True)
    if uart.any():
        dat = uart.readline().decode().strip().split(',')
        datx=int(dat[0])#机械臂x
        daty=int(dat[1])#机械臂y
        print(datx)
        print(daty)
    if blobs:
        max_blob = find_max(blobs)
        x_error = max_blob[5]-img.width()/2
        h_error = max_blob[2]*max_blob[3]-size_threshold
        '''
        for b in blobs:
            # Draw a rect around the blob.
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
        '''

        img.draw_rectangle(max_blob[0:4]) # rect
        img.draw_cross(max_blob[5], max_blob[6]) # cx, cy




        if h_error<-500:
            if h_error<-1500:
                a=1
            if h_error>-1700:
                h_output=(abs(h_error))/100-3
            #print("h_output",h_output)
                if x_error>0:
                    car.run((h_output-2)*10-x_error*2,h_output*10)
                elif x_error<0:
                    car.run(h_output*10,(h_output-2)*10+x_error*2)
                else:
                    car.run(h_output*10,h_output*10)
           # print("h_utput",-h_output-x_output)
            else:
                if x_error>0:
                    car.run(100-x_error*2,100)
                elif x_error<0:
                    car.run(100,100+x_error*2)
                else:
                    car.run(100,100)
        else:
            car.run(0,0)
            time.sleep(0.001)
            if a==1:
                car.run(-99,-99)
                time.sleep(0.1)
                a=0

            if h_error>8000:
                if x_error>0:
                    car.run(-40,-20)
                elif x_error<0:
                    car.run(-20,-40)
                else:
                    car.run(-40,-40)
            elif h_error<3000:
                if x_error>0:
                    car.run(20,40)
                elif x_error<0:
                    car.run(40,20)
                else:
                    car.run(40,40)
            else:
                if x_error>5:
                    car.run(-30,30)
                elif x_error<-5:
                    car.run(30,-30)

    else:
        car.run(50,-50)