shuc 发布的帖子

@shuc 在 求问如何将这种坐标值来传输进32单片机里面进行通信？不使用字典 中说：

这里面也要咋去修改呀，换成列表list吗

这里面也要咋去修改呀

from machine import Pin
from pyb import UART
import sensor, image, time,math,pyb
#import seekfree, pyb
import pyb

import json
import ustruct

laser_light=Pin("P9", Pin.OUT)
laser_light.value(1)

#lcd = seekfree.LCD180(3)

sensor.reset()
sensor.set_pixformat(sensor.RGB565) # 设置图像色彩格式为RGB565格式
sensor.set_framesize(sensor.QQVGA) # 设置图像大小为160*120
sensor.set_auto_whitebal(True) # 设置自动白平衡
sensor.set_brightness(3000) # 设置亮度为3000
sensor.skip_frames(time = 20) # 跳过帧
sensor.set_auto_gain(False)

clock = time.clock()
corner = 0

uart = UART(3,115200)
uart.init(115200, bits=8, parity=None, stop=1)

def sending_data(corner1_str,corner2_str,corner3_str,corner4_str):
global uart;
data = ustruct.pack("<bbhhhhb",
0x2C,
0x12,
str(corner1_str),
str(corner2_str),
str(corner3_str),
str(corner4_str),
0x5B)
uart.write(data);

while(True):
clock.tick()
img = sensor.snapshot()

# 在图像中寻找矩形
for r in img.find_rects(threshold = 10000):
    # 判断矩形边长是否符合要求
    if r.w() > 20 and r.h() > 20:
        # 在屏幕上框出矩形
        img.draw_rectangle(r.rect(), color = (255, 0, 0), scale = 4)
        # 获取矩形角点位置
        corner = r.corners()
        # 在屏幕上圈出矩形角点
        img.draw_circle(corner[0][0], corner[0][1], 5, color = (0, 0, 255), thickness = 2, fill = False)
        img.draw_circle(corner[1][0], corner[1][1], 5, color = (0, 0, 255), thickness = 2, fill = False)
        img.draw_circle(corner[2][0], corner[2][1], 5, color = (0, 0, 255), thickness = 2, fill = False)
        img.draw_circle(corner[3][0], corner[3][1], 5, color = (0, 0, 255), thickness = 2, fill = False)

        corner4_str = f"corner4 = ({corner[0][0]},{corner[0][1]})"
        corner3_str = f"corner3 = ({corner[1][0]},{corner[1][1]})"
        corner2_str = f"corner2 = ({corner[2][0]},{corner[2][1]})"
        corner1_str = f"corner1 = ({corner[3][0]},{corner[3][1]})"


        data = bytearray([0x2C,0x12,corner1_str,corner2_str,corner3_str,corner4_str,0x5B])
        uart.write(data)
        print(corner1_str + "\n" + corner2_str + "\n" + corner3_str + "\n" + corner4_str)
      

# 设置激光颜色阈值
red_td = [(56, 100, 45, 127, -128, 127)]
# 根据阈值找到色块
for b in img.find_blobs(red_td,pixels_threshold=2, area_threshold=15, merge=True,invert = 0):
    # 在屏幕上画出色块
    img.draw_rectangle(b.rect(), color = (0, 255, 0), scale = 2, thickness = 2)
    print(f"rect = {b.x() + b.w()/2},{b.y() + b.h()/2}")

import sensor, image, time

from pid import PID
from pyb import Servo

pan_servo=Servo(1)
tilt_servo=Servo(2)

pan_servo.calibration(500,2500,500)
tilt_servo.calibration(500,2500,500)

red_threshold  = (13, 49, 18, 61, 6, 47)

pan_pid = PID(p=0.07, i=0, imax=90) #脱机运行或者禁用图像传输，使用这个PID
tilt_pid = PID(p=0.05, i=0, imax=90) #脱机运行或者禁用图像传输，使用这个PID
#pan_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID
#tilt_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID

sensor.reset() # Initialize the camera sensor.
sensor.set_auto_gain(False)
sensor.set_pixformat(sensor.GRAYSCALE) # or sensor.RGB565
sensor.set_framesize(sensor.  QVGA) # or sensor.QVGA (or others)
sensor.skip_frames(time=900) # Let new settings take affect.
sensor.set_auto_exposure(False, 1000)#在这里调节曝光度，调节完可以比较清晰地看清激光点
sensor.set_auto_whitebal(False) # turn this off.
sensor.set_auto_gain(False) # 关闭增益（色块识别时必须要关）


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(threshold,x_stride=1, y_stride=1, area_threshold=0, pixels_threshold=0,merge=False,margin=1)

    if len(blobs)>=1 :#有色块
        # Draw a rect around the blob.
        b = blobs[0]
        #img.draw_rectangle(b[0:4]) # rect
        cx = b[5]
        cy = b[6]
        for i in range(len(blobs)-1):
            #img.draw_rectangle(b[0:4]) # rect
            cx = blobs[i][5]+cx
            cy = blobs[i][6]+cy
        cx=int(cx/len(blobs))
        cy=int(cy/len(blobs))
        #img.draw_cross(cx, cy) # cx, cy
        print(cx,cy)
        return int(cx), int(cy)
    return -1, -1 #表示没有找到

import sensor, image, time,math,pyb

from pid import PID
from pyb import Servo
from pyb import UART,LED
import json
import ustruct

pan_servo=Servo(1) #定义两个舵机
tilt_servo=Servo(2)

pan_servo.calibration(500,2500,500)
tilt_servo.calibration(500,2500,500)

red_threshold_01 = ((14, 88, 24, 116, -18, 106));
bule_threshold_01 = ((16, 65, -20, 35, -64, -21));
yello_threshold_01 = ((53, 71, -14, 0, -7, 22));


pan_pid = PID(p=0.07, i=0, imax=90) #脱机运行或者禁用图像传输，使用这个PID
tilt_pid = PID(p=0.05, i=0, imax=90) #脱机运行或者禁用图像传输，使用这个PID
#pan_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID
#tilt_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID

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_gain(False) # 关闭自动增益
sensor.set_auto_whitebal(False) # turn this off.关闭白平衡
#sensor.set_vflip(True)#垂直方向翻转
clock = time.clock() # Tracks FPS.

uart = UART(3,115200)
uart.init(115200, bits=8, parity=None, stop=1)

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

def sending_data(flag):
    global uart;
    data = ustruct.pack("<bbhb",
                   0x2C,
                   0x12,
                   int(flag),
                   0x5B)
    uart.write(data);

while(True):

        flag = None
        clock.tick()
        img = sensor.snapshot()
        blobs = img.find_blobs([red_threshold_01], pixels_threshold=100, area_threshold=100, merge=True, margin=10);      #红色物块
        blobs1 = img.find_blobs([bule_threshold_01], pixels_threshold=100, area_threshold=100, merge=True, margin=10); #绿色物块
        blobs2 = img.find_blobs([yello_threshold_01], pixels_threshold=100, area_threshold=100, merge=True, margin=10);   #黄色物块

        if blobs:
            max_blob = find_max(blobs)#判断最大的色块为哪一个
            #如果找到了目标颜色
            print("red")
            flag = 1
            for b in blobs:
            #迭代找到的目标颜色区域
                # Draw a rect around the blob.
                img.draw_rectangle(max_blob.rect())#img.draw_rectangle(b[0:4]) # rect
                #用矩形标记出目标颜色区域
                img.draw_cross(max_blob.cx(), max_blob.cy())#img.draw_cross(b[5], b[6]) # cx, cy
                #在目标颜色区域的中心画十字形标记
                data = bytearray([0x2C,0x12,flag,0x5B])
                uart.write(data)

            pan_error = max_blob.cx()-img.width()/2
            tilt_error = max_blob.cy()-img.height()/2

            print("pan_error: ", pan_error)

           # img.draw_rectangle(max_blob.rect()) # rect，框选起来
           # img.draw_cross(max_blob.cx(), max_blob.cy()) # cx, cy，框选起来

            pan_output=pan_pid.get_pid(pan_error,1)/2
            tilt_output=tilt_pid.get_pid(tilt_error,1)
            print("pan_output",pan_output)
            pan_servo.angle(pan_servo.angle()+pan_output)#控制舵机转动的角度
            tilt_servo.angle(tilt_servo.angle()-tilt_output)
        elif blobs1:
            max_blob = find_max(blobs)#判断最大的色块为哪一个
            #如果找到了目标颜色
            print("bule")
            flag = 2
            for b in blobs1:
            #迭代找到的目标颜色区域
                # Draw a rect around the blob.
                img.draw_rectangle(max_blob.rect())#img.draw_rectangle(b[0:4]) # rect
                #用矩形标记出目标颜色区域
                img.draw_cross(max_blob.cx(), max_blob.cy())#img.draw_cross(b[5], b[6]) # cx, cy
                #在目标颜色区域的中心画十字形标记
                data = bytearray([0x2C,0x12,flag,0x5B])
                uart.write(data)

            pan_error = max_blob.cx()-img.width()/2
            tilt_error = max_blob.cy()-img.height()/2

            print("pan_error: ", pan_error)

           # img.draw_rectangle(max_blob.rect()) # rect，框选起来
           # img.draw_cross(max_blob.cx(), max_blob.cy()) # cx, cy，框选起来

            pan_output=pan_pid.get_pid(pan_error,1)/2
            tilt_output=tilt_pid.get_pid(tilt_error,1)
            print("pan_output",pan_output)
            pan_servo.angle(pan_servo.angle()+pan_output)#控制舵机转动的角度
            tilt_servo.angle(tilt_servo.angle()-tilt_output)
        elif blobs2:
            max_blob = find_max(blobs)#判断最大的色块为哪一个
            #如果找到了目标颜色
            print("yello")
            flag = 1
            for b in blobs2:
            #迭代找到的目标颜色区域
                # Draw a rect around the blob.
                img.draw_rectangle(max_blob.rect())#img.draw_rectangle(b[0:4]) # rect
                #用矩形标记出目标颜色区域
                img.draw_cross(max_blob.cx(), max_blob.cy())#img.draw_cross(b[5], b[6]) # cx, cy
                #在目标颜色区域的中心画十字形标记
                data = bytearray([0x2C,0x12,flag,0x5B])
                uart.write(data)

            pan_error = max_blob.cx()-img.width()/2
            tilt_error = max_blob.cy()-img.height()/2

            print("pan_error: ", pan_error)

           # img.draw_rectangle(max_blob.rect()) # rect，框选起来
           # img.draw_cross(max_blob.cx(), max_blob.cy()) # cx, cy，框选起来

            pan_output=pan_pid.get_pid(pan_error,1)/2
            tilt_output=tilt_pid.get_pid(tilt_error,1)
            print("pan_output",pan_output)
            pan_servo.angle(pan_servo.angle()+pan_output)#控制舵机转动的角度
            tilt_servo.angle(tilt_servo.angle()-tilt_output)

@kidswong999 openmv与stm32通信识别到色块之后发送red这个字符串

@kidswong999 l佬，我的想法是发送出去这个red字符串，那该去怎么改呀？

import sensor, image, time,math,pyb
from pyb import UART,LED
import json
import ustruct

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)

red_threshold_01=(10, 100, 127, 32, -43, 67)

clock = time.clock()

uart = UART(3,115200)
uart.init(115200, bits=8, parity=None, stop=1)

def find_max(blobs):
    max_size=0
    for blob in blobs:
        if blob.pixels() > max_size:
            max_blob=blob
            max_size = blob.pixels()
    return max_blob

def sending_data(flag):
    global uart;
    data = ustruct.pack("<bbhb",
                   0x2C,
                   0x12,
                   str(flag),
                   0x5B)
    uart.write(data);

while(True):
    flag = 0
    clock.tick()
    img = sensor.snapshot()
    blobs = img.find_blobs([red_threshold_01])
    cx=0;cy=0;
    if blobs:
            max_b = find_max(blobs)
           
            cx=max_b[5]
            cy=max_b[6]
            cw=max_b[2]
            ch=max_b[3]
            flag = "red"
            
            img.draw_rectangle(max_b[0:4])
            img.draw_cross(max_b[5], max_b[6])
            FH = bytearray([0x2C,0x12,str(flag),0x5B])
            uart.write(FH)
            print(flag)