import sensor, image, time, math
from pyb import UART
uart = UART(3,4800, timeout_char=1000) # i使用给定波特率初始化
uart.init(4800, bits=8, parity=None, stop=1, timeout_char=1000) # 使用给定参数初始化
GRAYSCALE_THRESHOLD = [(0, 64)]
ROIS = [ # [ROI, weight]
(0, 0, 1, 1, 1), # You'll need to tweak the weights for your app
(0, 50, 320, 30, 1), # depending on how your robot is setup.
(0, 0, 1, 1, 1)
]
weight_sum = 0
for r in ROIS: weight_sum += r[4]
sensor.reset() # Initialize the camera sensor.
sensor.set_contrast(3)
sensor.set_gainceiling(16)
sensor.set_pixformat(sensor.GRAYSCALE) # use grayscale.
sensor.set_framesize(sensor.VGA) # use QQVGA for speed.
sensor.set_windowing((320, 240))
sensor.skip_frames(time = 2000) # Let new settings take affect.
sensor.set_auto_gain(False,value=100) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock() # Tracks FPS.
a=0
def draw_keypoints(img, kpts):
if kpts:
print(kpts)
img.draw_keypoints(kpts)
img = sensor.snapshot()
time.sleep(1000)
kpts1 = image.load_descriptor("/desc.orb")
img = sensor.snapshot()
def high(x):
x=x>>8
return x
def low(x):
x=x&0xff
return x
while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.
print(1)
if uart.any():
a=int(uart.readchar())
print(a)
请在这里粘贴代码