因为edge制作的模型只能判断 摄像头目前画面属于哪个class ，不能把我想要追踪的物体框起来，

模型训练出来的.h5文件怎么用到openmv上

from pyb import Pin, Timer#导入引脚和定时器
inverse_left=False #change it to True to inverse left wheel 初始化
inverse_right=False #change it to True to inverse right wheel 初始化

ain1 = Pin('P0', Pin.OUT_PP)#控制左右两边电机方向
ain2 = Pin('P1', Pin.OUT_PP)
bin1 = Pin('P2', Pin.OUT_PP)
bin2 = Pin('P3', Pin.OUT_PP)
ain1.low()
ain2.low()
bin1.low()
bin2.low()

pwma = Pin('P7')
pwmb = Pin('P8')
tim = Timer(4, freq=1000)#设置定时器4 频率为1000hz
ch1 = tim.channel(1, Timer.PWM, pin=pwma)
ch2 = tim.channel(2, Timer.PWM, pin=pwmb)
ch1.pulse_width_percent(0)
ch2.pulse_width_percent(0)

def run(left_speed, right_speed):
if inverse_left==False: #如果接反了正负 就取反修正
left_speed=(-left_speed)
if inverse_right==True:# 同上
right_speed=(-right_speed)

if left_speed < 0:
    ain1.low()
    ain2.high()
else:
    ain1.high()
    ain2.low()
ch1.pulse_width_percent(int(abs(left_speed)))

if right_speed < 0:
    bin1.low()
    bin2.high()
else:
    bin1.high()
    bin2.low()
ch2.pulse_width_percent(int(abs(right_speed)))

# 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

# 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   = (52, 82, -67, -47, 26, 61)
size_threshold = 1000
x_pid = PID(p=0.5, i=1, imax=100)
h_pid = PID(p=0.01, i=0.1, imax=50)

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.

    blobs = img.find_blobs([green_threshold])
    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
        print("x error: ", x_error)
        '''
        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
        x_output=x_pid.get_pid(x_error,1)
        h_output=h_pid.get_pid(h_error,1)
        print("h_output",h_output)
        car.run((-h_output+x_output)*0.5,(-h_output+x_output)*0.5)
    else:
        car.run(10,-10)

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

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 = (76, 96, -110, -30, 8, 66)
size_threshold = 2000
x_pid = PID(p=3, i=1, imax=100)
h_pid = PID(p=0.22, i=0.1, imax=50)

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.

blobs = img.find_blobs([green_threshold])
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
    print("x error: ", x_error)
    '''
    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
    x_output=x_pid.get_pid(x_error,1)
    h_output=h_pid.get_pid(h_error,1)
    print("h_output",h_output)
    car.run(-h_output-x_output,-h_output+x_output)
else:
    car.run(10,-10)