kidswong999 发布的帖子

升级必须要连着bootloader都升级才行，IDE升级有提示的。

我测试了，没问题。

固件升级到最新版本4.7.0

'/1 .pgm'改为'1.pgm'注意斜杠和空格。

@mgfn 不需要自己回收内存，会自动回收。

对于H7， net = ml.Model("trained.tflite", load_to_fb=uos.stat('trained.tflite')[6] > (gc.mem_free() - (64*1024)))

改为 net = ml.Model("trained.tflite", load_to_fb=True)，因为这个代码不是给H7用的，是给H7 Plus用的。

https://book.openmv.cc/image/mulity-template-match.html

/2.pgm 改为 2.pgm

检查一下摄像头模组有没有松。

就是阈值不对，https://singtown.com/cn/learn/49993
你把阈值助手的截图发一下

用这个代码

# Edge Impulse - OpenMV FOMO Object Detection Example
#
# This work is licensed under the MIT license.
# Copyright (c) 2013-2024 OpenMV LLC. All rights reserved.
# https://github.com/openmv/openmv/blob/master/LICENSE

import sensor, image, time, ml, math, uos, gc

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.

net = None
labels = None
min_confidence = 0.5


# load the model, alloc the model file on the heap if we have at least 64K free after loading
net = ml.Model("trained.tflite", load_to_fb=True)
labels = [line.rstrip('\n') for line in open("labels.txt")]

colors = [ # Add more colors if you are detecting more than 7 types of classes at once.
    (255,   0,   0),
    (  0, 255,   0),
    (255, 255,   0),
    (  0,   0, 255),
    (255,   0, 255),
    (  0, 255, 255),
    (255, 255, 255),
]

threshold_list = [(math.ceil(min_confidence * 255), 255)]

def fomo_post_process(model, inputs, outputs):
    ob, oh, ow, oc = model.output_shape[0]

    x_scale = inputs[0].roi[2] / ow
    y_scale = inputs[0].roi[3] / oh

    scale = min(x_scale, y_scale)

    x_offset = ((inputs[0].roi[2] - (ow * scale)) / 2) + inputs[0].roi[0]
    y_offset = ((inputs[0].roi[3] - (ow * scale)) / 2) + inputs[0].roi[1]

    l = [[] for i in range(oc)]

    for i in range(oc):
        img = image.Image(outputs[0][0, :, :, i] * 255)
        blobs = img.find_blobs(
            threshold_list, x_stride=1, y_stride=1, area_threshold=1, pixels_threshold=1
        )
        for b in blobs:
            rect = b.rect()
            x, y, w, h = rect
            score = (
                img.get_statistics(thresholds=threshold_list, roi=rect).l_mean() / 255.0
            )
            x = int((x * scale) + x_offset)
            y = int((y * scale) + y_offset)
            w = int(w * scale)
            h = int(h * scale)
            l[i].append((x, y, w, h, score))
    return l

clock = time.clock()
while(True):
    clock.tick()

    img = sensor.snapshot()

    for i, detection_list in enumerate(net.predict([img], callback=fomo_post_process)):
        if i == 0: continue  # background class
        if len(detection_list) == 0: continue  # no detections for this class?
    
        print("********** %s **********" % labels[i])
        for x, y, w, h, score in detection_list:
            center_x = math.floor(x + (w / 2))
            center_y = math.floor(y + (h / 2))
            print(f"x {center_x}\ty {center_y}\tscore {score}")
            img.draw_circle((center_x, center_y, 12), color=colors[i])

    print(clock.fps(), "fps", end="\n\n")

https://singtown.com/cn/learn/50001

看上去是USB数据线松了，检查一下OpenMV的插头松了，还是电脑的插头松了。

你没有考虑到没有找到色块的情况。redmax_blob就是None，然后就没有中心点了。

应该是固件烧录错了，
按照这个连接烧录固件，https://singtown.com/cn/learn/50903
如果还不行，那就直接联系售后寄回维修。

1. 不要用try catch把主程序包起来，出错你都看不到。
2. 没有import image, sensor

具体要做什么？

sd卡是磁盘，不是内存。一般内存指的是ram，磁盘指的是flash

@2e1s 要么是OpenMV Cam插针没焊接好，基本是硬件问题。你可以直接找售后检查维修。

单独写一个uart.write的程序，然后用示波器看波形，然后在stm32上看有没有收到

THRESHOLD = (1, 28, -21, 5, -20, 35)
import sensor,image,time,gc
from pyb import LED
from pid import PID
from pyb import UART
uart = UART(3,115200,bits=8, parity=None, stop=1,  timeout_char=2000, read_buf_len=1024)
def sending_data(data1):
    global uart
    data = bytearray([0x23, data1, 0x40])
    uart.write(data);
rho_pid = PID(p=0.6, i=0, d=0.15)
theta_pid = PID(p=0.003, i=0, d=0.002)
LED(1).on()
LED(2).on()
LED(3).on()
sensor.reset()
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQQVGA)
sensor.skip_frames(time = 2000)
clock = time.clock()
while(True):
    clock.tick()
    img = sensor.snapshot().binary([THRESHOLD])
    line = img.get_regression([(100,100)], robust = True)
    if (line):
        rho_err = abs(line.rho())-img.width()/2
        if line.theta()>90:
            theta_err = line.theta()-180
        else:
            theta_err = line.theta()
        img.draw_line(line.line(), color = 127)
        if line.magnitude()>8:
            rho_output = rho_pid.get_pid(rho_err,1)
            theta_output = theta_pid.get_pid(theta_err,1)
            output = rho_output+theta_output
            sending_data(int(output))
            print(int(output))
        pass
    gc.collect()