我刚刚尝试了信标追踪和红色物块识别，距离近都能识别的到，但远了就不行啦，，，

@lq16 同问

其实还有代码的，这是主函数，sensor初始化在主函数里，我在主函数里，还是一样的错误

import sensor, image, time, math, struct
import json
from pyb import LED,Timer
from struct import pack, unpack
import Message,LineFollowing,DotFollowing,find_circle
#初始化镜头
sensor.reset()
sensor.set_pixformat(sensor.RGB565)#设置相机模块的像素模式
sensor.set_framesize(sensor.QQVGA)#设置相机分辨率160*120
sensor.skip_frames(time=3000)#时钟
sensor.set_auto_whitebal(False)#若想追踪颜色则关闭白平衡
clock = time.clock()#初始化时钟

#主循环
while(True):
    clock.tick()#时钟初始化
    #接收串口数据
    Message.UartReadBuffer()
    if Message.Ctr.WorkMode==1:#点检测
        DotFollowing.DotCheck()
    elif (Message.Ctr.WorkMode==2):#线检测
        LineFollowing.LineCheck()
    elif (Message.Ctr.WorkMode==3):#圆检测
        find_circle.CircleCheck()
    elif(Message.Ctr.WorkMode==4):#Led检测
    #用户数据发送
    #Message.UartSendData(Message.UserDataPack(127,127,32767,32767,65536,65536,65536,65536,65536,65536))
    #计算程序运行频率
    if Message.Ctr.IsDebug == 1:
        fps=int(clock.fps())
        Message.Ctr.T_ms = (int)(1000/fps)
        print('fps',fps,'T_ms',Message.Ctr.T_ms)

#************************************ (C) COPYRIGHT 2019 ANO ***********************************#

@kidswong999 apriltag怎么用来识别灯呢？？？

就这个错误
Traceback (most recent call last):
File "", line 25, in
OSError: Invalid ROI dimensions!
MicroPython v1.9.4-4553-gb4eccdfe3 on 2019-05-02; OPENMV4 with STM32H743
Type "help()" for more information.

from pyb import LED,Timer
import sensor, image, time, math, struct
import Message
class yuan(object):
    flag = 0
    r = 0
    x = 0
    y = 0
yuan=yuan()

circles=[]

def find_max_circle(circles):
    max_r=0
    for c in circles:
        if c.r()>max_r:
            max_circle=c
            max_r=c.r()
            return max_circle

while(True):
#def CircleCheck():
    img = sensor.snapshot().lens_corr(1.8)
    circles.clear()
    all_circles=img.find_circles(x_stride=1,y_stride=1,threshold = 2000,
    x_margin = 10, y_margin = 10, r_margin = 10,
    r_min = 2, r_max = 100)
    for c in all_circles:
        if c.r()<22:
            circles.append(c)
    if circles:
        max_circle = find_max_circle(circles)
        img.draw_circle(max_circle.x(),max_circle.y(),max_circle.r())
        img.draw_cross(max_circle.x(), max_circle.y())
        yuan.x = max_circle.x()-80
        yuan.y = max_circle.y()-60
        yuan.flag = 1
        LED(3).toggle()
        LED(2).toggle()
    else:
        yuan.flag = 0
        LED(2).off()
        LED(3).off()
    Message.UartSendData(Message.DotDataPack(yuan.flag,yuan.x,yuan.y,max_circle.x(), max_circle.y()))