目前问题是识别到颜色的时候，不是对应的灯亮

import time, sensor, image
from pyb import LED
from pyb import UART
from image import SEARCH_EX, SEARCH_DS
thresholds1 = [(30, 100, 15, 127, 15, 127)]# generic_yeliow_thresholds识别到黄线
# Reset sensor
sensor.reset()

# Set sensor settings
sensor.set_contrast(1)
sensor.set_gainceiling(16)
# Max resolution for template matching with SEARCH_EX is QQVGA
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
# You can set windowing to reduce the search image.
#sensor.set_windowing(((640-80)//2, (480-60)//2, 80, 60))
sensor.set_pixformat(sensor.GRAYSCALE)

# Load template.
# Template should be a small (eg. 32x32 pixels) grayscale image.
template8 = image.Image("/pgm_8.pgm")
template9 = image.Image("/pgm_9.pgm")
template10 = image.Image("/pgm_10.pgm")
template11 = image.Image("/pgm_11.pgm")
template12 = image.Image("/pgm_12.pgm")
template13 = image.Image("/pgm_13.pgm")
red_led   = LED(1)
green_led = LED(2)
blue_led  = LED(3)
ir_led    = LED(4)
clock = time.clock()

# Run template matching
while (True):
    clock.tick()
    img = sensor.snapshot()
   
    # find_template(template, threshold, [roi, step, search])
    # ROI: The region of interest tuple (x, y, w, h).
    # Step: The loop step used (y+=step, x+=step) use a bigger step to make it faster.
    # Search is either image.SEARCH_EX for exhaustive search or image.SEARCH_DS for diamond search
    #
    # Note1: ROI has to be smaller than the image and bigger than the template.
    # Note2: In diamond search, step and ROI are both ignored.
    r8 = img.find_template(template8, 0.70, step=4, search=SEARCH_EX) #, roi=(10, 0, 60, 60))
    if r8:
        blue_led.on()
        time.sleep(500)
        blue_led.off()
        #img.draw_rectangle(r8)

    r9 = img.find_template(template9, 0.70, step=4, search=SEARCH_EX) #, roi=(10, 0, 60, 60))
    if r9:
        green_led.on()
        time.sleep(500)
        green_led.off()
        #img.draw_rectangle(r9)

    r10 = img.find_template(template10, 0.70, step=4, search=SEARCH_EX) #, roi=(10, 0, 60, 60))
    if  r10:
         ir_led.on()
         time.sleep(500)
         ir_led.off()
        #img.draw_rectangle(r10)
    r13  = img.find_template(template13, 0.70, step=4, search=SEARCH_EX) #, roi=(10, 0, 60, 60))
    if   r13:
        green_led.on()
        time.sleep(500)
        green_led.off()
        
    img=img.to_rgb565()
    blob = img.find_blobs([thresholds1[0]], pixels_threshold=200, area_threshold=200, merge=True)
    if blob:
        red_led.on()
        time.sleep(500)
        red_led.off()

        # img.draw_rectangle(r13)


   
print(clock.fps())