@kidswong999

@kidswong999

这个是识别黑色矩形边框部分，我的程序只是识别黑色矩形边框时，识别不出来。但是这个程序需要外部串口通信来触发这个任务3，去识别黑色边框

rects = img.find_rects(threshold = 200) #ROI=(80, 60, 80, 60)
for r in rects:
rect = r.rect()
if (rect[0] > 15 and rect[1] > 15
and rect[2] < 60 and rect[3] < 60
and (rect[0] + rect[2]) < 100
and (rect[1] + rect[3]) < 100
and (rect[0] + rect[2]) > 25
and (rect[1] + rect[3]) > 25):
cnt_find_rect = cnt_find_rect + 1
img.draw_rectangle(rect, color = (255, 0, 0))
corner = r.corners()
for point in r.corners():
img.draw_circle(point[0], point[1], 5, color = (0, 255, 0))
break
print(len(p_array))

import time, sensor
from pyb import UART
THRESHOLD_R = [(87, 99, -26, 80, -55, 37)]
THRESHOLD_G = [(57, 100, -45, 18, -45, 43)]
THRESHOLD = 125
DIV_TASK_2 = 10
DIV_TASK_3 = 20
ROI = (10, 10, 90, 90)
def sending_data(dx, dy):
    global uart
    flx = 0
    fly = 0
    if dx < 0:
        dx = -dx
        flx = 1
    if dy < 0:
        dy = -dy
        fly = 1
    FH = bytearray([0xA1, 0x02, flx, dx, fly, dy, 0x1A])
    uart.write(FH)
uart = UART(3,115200)
uart.init(115200, bits=8, parity=None, stop=1)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.set_windowing((120, 120))
sensor.set_auto_whitebal(True)
sensor.skip_frames(time = 20)
sensor.set_hmirror(False)
sensor.set_vflip(True)
sensor.set_auto_exposure(False,1000)
#lcd.init()
clock = time.clock()
cnt_find_rect = 0
p_array = []
flgstart = 0
flgend = 0
flgend3 = 0
cnt = 0
err_dx = 0
err_dy = 0
task = b'0'
goal_task2 = 0
goal_task3 = 0
goal_task4 = 0
cx_screen = 60
cy_screen = 60
p0 = (97, 19)
p1 = (19, 22)
p2 = (20, 98)
p3 = (98, 98)
d0 = (93, 21)
d1 = (51, 22)
d2 = (52, 51)
d3 = (93, 50)
point_temp = []
while True:
    img = sensor.snapshot()
    if uart.any():
        task = uart.read(1)
        FH = bytearray([0xA1,0x33,0X1A])
        uart.write(FH)
    blobs = img.find_blobs(THRESHOLD_R, pixels_threshold = 1, area_threshold = 1)
    blob = []
    for b in blobs:
        img.draw_rectangle(b.rect(), color = (0, 255, 0), scale = 1, thickness = 1)
    max_size=0
    for b in blobs:
        if b.pixels() > max_size:
            blob = b
            max_size = b.pixels()
    if blob:
        cx = blob[0] + int(blob[2] / 2)
        cy = blob[1] + int(blob[3] / 2)
    if task == b'1':
        img.draw_string(0, 0, "task:1")
        img.draw_cross(point_temp[0][0], point_temp[0][1])
        if blob:
            err_dx = cx - point_temp[0][0]
            err_dy = cy - point_temp[0][1]
            if abs(err_dx) < 1 and abs(err_dy) < 1:
                task = b'0'
                FH = bytearray([0xA1, 0x11, 0x1A])
                uart.write(FH)
                print('1')
        sending_data(err_dx, err_dy)
    elif task == b'2':
        img.draw_string(0, 0, "task:2")
        points = (point_temp[1], point_temp[2], point_temp[3], point_temp[4])
        if blob:
            err_dx = cx - points[goal_task2][0]
            err_dy = cy - points[goal_task2][1]
            if goal_task2 == 1:
                err_dy = 0
            elif goal_task2 == 2:
                err_dx = 0
            elif goal_task2 == 3:
                err_dy = 0
            elif goal_task2 == 0 and flgend == 1:
                err_dx = 0
            print(err_dx, err_dy)
            if abs(err_dx) < 2 and abs(err_dy) < 2:
                goal_task2 = goal_task2 + 1
                if goal_task2 == 4:
                    flgend = 1
                    goal_task2 = 0
                elif flgend == 1:
                    task = b'0'
                    goal_task2 = 0
                    FH = bytearray([0xA1, 0x11, 0x1A])
                    uart.write(FH)
                    print("OK")
                    flgend = 0
        sending_data(err_dx, err_dy)
    elif task == b'4' or task == b'3':
        if cnt_find_rect > 10 and flgstart == 0:
            flgstart = 1
            corner_cx = int((corner[3][0] + corner[2][0] + corner[1][0] + corner[0][0]) / 4)
            corner_cy = int((corner[3][1] + corner[2][1] + corner[1][1] + corner[0][1]) / 4)
            corner_temp = []
            for i in range(4):
                dx = corner_cx - corner[i][0]
                dy = corner_cy - corner[i][1]
                x = corner[i][0] + int(dx * 0.06)
                y = corner[i][1] + int(dy * 0.08)
                corner_temp.append((x, y))
            corner = corner_temp
            p_array.append(corner[0])
            for i in range(4):
                next = i + 1
                if i == 3:
                    next = 0
                dy = (corner[next][1] - corner[i][1]) / DIV_TASK_3
                dx = (corner[next][0] - corner[i][0]) / DIV_TASK_3
                for j in range(DIV_TASK_3):
                    pointx = int(corner[i][0] + dx * (j + 1))
                    pointy = int(corner[i][1] + dy * (j + 1))
                    p_array.append((pointx, pointy))
            print(len(p_array))
            for p in p_array:
                img.draw_circle(p[0], p[1], 1)
        elif flgstart == 0:
            rects = img.find_rects(threshold = 200) #ROI=(80, 60, 80, 60)
            for r in rects:
                rect = r.rect()
                if (rect[0] > 15 and rect[1] > 15
                    and rect[2] < 60 and rect[3] < 60
                    and (rect[0] + rect[2]) < 100
                    and (rect[1] + rect[3]) < 100
                    and (rect[0] + rect[2]) > 25
                    and (rect[1] + rect[3]) > 25):
                    cnt_find_rect = cnt_find_rect + 1
                    img.draw_rectangle(rect, color = (255, 0, 0))
                    corner = r.corners()
                    for point in r.corners():
                        img.draw_circle(point[0], point[1], 5, color = (0, 255, 0))
                    break
        print(len(p_array))
        if blob and flgstart == 1:
            print(goal_task4)
            err_dx = cx - p_array[goal_task4][0]
            err_dy = cy - p_array[goal_task4][1]
            if abs(err_dx) < 2 and abs(err_dy) < 2:
                goal_task4 = goal_task4 + 1
                if goal_task4 == len(p_array):
                    task = b'0'
                    goal_task4 = 0
                    FH = bytearray([0xA1, 0x11, 0x1A])
                    uart.write(FH)
                    print("OK")
                    flgstart = 0
                    p_array = []
                    cnt_find_rect = 0
        if flgstart == 1:
            sending_data(err_dx, err_dy)
    elif task == b'9':
        point_temp.append((cx, cy))
        img.draw_string(0, 0, "task:5")
        for p in point_temp:
            img.draw_circle(p[0], p[1], 1)
        FH = bytearray([0xA1, 0x44, 0x1A])
        uart.write(FH)
        task = b'0'
    elif task == b'6':
        img.draw_string(0, 0, "task:6")
    #lcd.display(img)