uye4 发布的帖子

# 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, pyb,mjpeg
from pyb import UART,Pin,Timer
import utime
import json
uart=pyb.UART(3,115200,timeout_char=1000)
uart.init(115200, bits=8, parity=None, stop=1)

p_out = Pin('P7',Pin.OUT_PP)
p_out.low()

# For color tracking to work really well you should ideally be in a very, very,
# very, controlled enviroment where the lighting is constant...
blue_threshold_01 = (0, 100, -16, 127, -128, -31)

#设置蓝色的阈值，括号里面的数值分别是L A B 的最大值和最小值（minL, maxL, minA,
# maxA, minB, maxB），LAB的值在图像左侧三个坐标图中选取。如果是灰度图，则只需
#设置（min, max）两个数字即可。

# 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.QVGA) # use QVGA for quailtiy ,use QQVGA for speed.
sensor.skip_frames(10) # Let new settings take affect.
sensor.set_auto_whitebal(False)
#关闭白平衡。白平衡是默认开启的，在颜色识别中，需要关闭白平衡。
clock = time.clock() # Tracks FPS.

'''
  扩宽roi
'''
def expand_roi(roi):
    # set for QQVGA 160*120
    extra = 5
    win_size = (160, 120)
    (x, y, width, height) = roi
    new_roi = [x-extra, y-extra, width+2*extra, height+2*extra]

    if new_roi[0] < 0:
        new_roi[0] = 0
    if new_roi[1] < 0:
        new_roi[1] = 0
    if new_roi[2] > win_size[0]:
        new_roi[2] = win_size[0]
    if new_roi[3] > win_size[1]:
        new_roi[3] = win_size[1]

    return tuple(new_roi)





while(True):
    clock.tick() # Track elapsed milliseconds between snapshots().
    img = sensor.snapshot() # Take a picture and return the image.
    #  pixels_threshold=100, area_threshold=100
    blobs = img.find_blobs([blue_threshold_01], area_threshold=150)

    if blobs:
    #如果找到了目标颜色
      # print(blobs)
       for blob in blobs:
       #迭代找到的目标颜色区域
            is_circle = False
            max_circle = None
            max_radius = -1

            new_roi = expand_roi(blob.rect())

            for c in img.find_circles(threshold = 2000, x_margin = 20, y_margin = 20, r_margin = 10, roi=new_roi):
                is_circle = True
                # img.draw_circle(c.x(), c.y(), c.r(), color = (255, 255, 255))
                if c.r() > max_radius:
                    max_radius = c.r()
                    max_circle = c
            if is_circle:
                # 如果有对应颜色的圆形 标记外框
                # Draw a rect around the blob.
                img.draw_rectangle(new_roi) # rect
                img.draw_rectangle(blob.rect()) # rect
                #用矩形标记出目标颜色区域
                img.draw_cross(blob[5], blob[6]) # cx, cy
                img.draw_circle(max_circle.x(), max_circle.y(), max_circle.r(), color = (0, 0, 255))
                img.draw_circle(max_circle.x(), max_circle.y(), max_circle.r() + 1, color = (0, 0, 255))
                print(blob[5], blob[6])
                z=100            
                x_h=(blob[5]>>8)&0xff
                x_l=blob[5]&0xff
                y_h=(blob[6]>>8)&0xff
                y_l=blob[6]&0xff
                z_h=(z>>8)&0xff
                z_l=z&0xff
                data=bytearray([0x02,x_h,x_l,y_h,y_l,z_h,z_l,0x06,0x0D,0X0A])
                print('you send:',data)
                uart.write(data)
            if (sensor.width/2 -10<=blob[5]<=sensor.width/2 +10) and (sensor.height/2 -10<=blob[6]<=sensor.height/2 +10):
                z=50
                x_h=(blob[5]>>8)&0xff
                x_l=blob[5]&0xff
                y_h=(blob[6]>>8)&0xff
                y_l=blob[6]&0xff
                z_h=(z>>8)&0xff
                z_l=z&0xff
                data1=bytearray([0x02,x_h,x_l,y_h,y_l,z_h,z_l,0x06,0x0D,0X0A])
                print('you send:',data1)
                uart.write(data1)
                timesleep(1000)
                timesleep(1000)
                timesleep(1000)
                z=0
                x_h=(blob[5]>>8)&0xff
                x_l=blob[5]&0xff
                y_h=(blob[6]>>8)&0xff
                y_l=blob[6]&0xff
                z_h=(z>>8)&0xff
                z_l=z&0xff
                data2=bytearray([0x02,x_h,x_l,y_h,y_l,z_h,z_l,0x06,0x0D,0X0A])
                print('you send:',data2)
                uart.write(data2)
                #p_out.high()


    print(clock.fps()) # Note: Your OpenMV Cam runs about half as fast while
    # connected to your computer. The FPS should increase once disconnected.!

import sensor, image, time, mjpeg, pyb
RED_LED_PIN = 1
BLUE_LED_PIN = 3
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # or sensor.GRAYSCALE
sensor.set_framesize(sensor.QVGA) # or sensor.QQVGA (or others)
sensor.skip_frames(10) # Let new settings take affect.
clock = time.clock() # Tracks FPS.
pyb.LED(RED_LED_PIN).on()
sensor.skip_frames(30) # Give the user time to get ready.
pyb.LED(RED_LED_PIN).off()
pyb.LED(BLUE_LED_PIN).on()
m = mjpeg.Mjpeg("test1.mjpeg")
#mjpeg.Mjpeg(filename, width=Auto, height=Auto)创建一个mjpeg对象，
#filename为保存mjpeg动图的文件路径
print("You're on camera!")
for i in range(200):
clock.tick()

m.add_frame(sensor.snapshot())

#mjpeg.add_frame(image, quality=50)

#quality为视频压缩质量。

print(clock.fps())
m.close(clock.fps())
pyb.LED(BLUE_LED_PIN).off()
print("Done! Reset the camera to see the saved recording.")
测试的例程，重新上电还是一样0字节

@kidswong999 import sensor, image, time, mjpeg, pyb

RED_LED_PIN = 1

BLUE_LED_PIN = 3

sensor.reset() # Initialize the camera sensor.

sensor.set_pixformat(sensor.RGB565) # or sensor.GRAYSCALE

sensor.set_framesize(sensor.QVGA) # or sensor.QQVGA (or others)

sensor.skip_frames(10) # Let new settings take affect.

clock = time.clock() # Tracks FPS.

pyb.LED(RED_LED_PIN).on()

sensor.skip_frames(30) # Give the user time to get ready.

pyb.LED(RED_LED_PIN).off()

pyb.LED(BLUE_LED_PIN).on()

m = mjpeg.Mjpeg("test1.mjpeg")

#mjpeg.Mjpeg(filename, width=Auto, height=Auto)创建一个mjpeg对象，

#filename为保存mjpeg动图的文件路径

print("You're on camera!")

for i in range(200):

clock.tick()

m.add_frame(sensor.snapshot())

#mjpeg.add_frame(image, quality=50)

#quality为视频压缩质量。

print(clock.fps())

m.close(clock.fps())

pyb.LED(BLUE_LED_PIN).off()

print("Done! Reset the camera to see the saved recording.")
测试的例程，重新上电还是一样0字节

import sensor, image, time, pyb, math
from pyb import UART,Pin,Timer
import utime
import json
uart=pyb.UART(3,115200,timeout_char=1000)


threshold_index = 0 # 0 for red, 1 for green, 2 for blue

# Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
# The below thresholds track in general red/green/blue things. You may wish to tune them...
thresholds = [(30, 100, 15, 127, 15, 127), # generic_red_thresholds
              (30, 100, -64, -8, -32, 32), # generic_green_thresholds
              (0, 100, -16, 127, -128, -31)] # generic_blue_thresholds
#-------------------摄像头初始化-----------------------------
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
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
clock = time.clock()
#start = pyb.millis() # get value of millisecond counter  获取毫秒计数器的值
verify_code=b'\xFF\x00\xAA\xEA\xFF'
# Only blobs that with more pixels than "pixel_threshold" and more area than "area_threshold" are
# returned by "find_blobs" below. Change "pixels_threshold" and "area_threshold" if you change the
# camera resolution. "merge=True" merges all overlapping blobs in the image.
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
   #if(blob[5]==sensor.width/2) and (blob[6]==sensor.height/2):
while(True):
    clock.tick()
    img = sensor.snapshot().lens_corr(strength = 1.8, zoom = 1.0)#摄像头畸变矫正
    blobs = img.find_blobs([thresholds[2]])
    #print(img.width()/2,img.height()/2)

    if blobs:
        max_blob=find_max(blobs)
        #img.draw_rectangle(max_blob.rect())
        img.draw_cross(max_blob.cx(),max_blob.cy())
        print("you're on camera!")
        #sensor.snapshot().save("LHP.jpg")
        #x="[%u]"%(max_blob.cx())
        #y="[%u]"%(max_blob.cy())
        x=hex(max_blob.cx())
        y=hex(max_blob.cy())
        print(x,y)
        x_h=(x>>8)&0xff
        #x_l=hex(x&0xff)
        #y_h=((y>>8)&0x0ff)
        #y_l=(y&0xff)
        #rc=x_h+x_l+y_h+y_l
        #data=bytearray([0x02,x_h,x_l,y_h,y_l,0x00,rc])
       #print('you send:',data)

报错就和上面一样，我就想把坐标数据拆成十六进制的打包发送

试了好几种转换，就是报错。

@gtxp 楼主，解决没

报错了，我想先颜色检测后再霍夫圆，不知道怎么解决你说的for c in img.find_circles的问题

# Single Color RGB565 Blob Tracking Example
#
# This example shows off single color RGB565 tracking using the OpenMV Cam.

import sensor, image, time,pyb,math
from pyb import UART,Pin,Timer
import json
uart=pyb.UART(3,115200,timeout_char=1000)


threshold_index = 0 # 0 for red, 1 for green, 2 for blue

# Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
# The below thresholds track in general red/green/blue things. You may wish to tune them...
thresholds = [(30, 100, 15, 127, 15, 127), # generic_red_thresholds
              (30, 100, -64, -8, -32, 32), # generic_green_thresholds
              (0, 100, -16, 127, -128, -31)] # generic_blue_thresholds
#-------------------摄像头初始化-----------------------------
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
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
clock = time.clock()
#start = pyb.millis() # get value of millisecond counter  获取毫秒计数器的值

# Only blobs that with more pixels than "pixel_threshold" and more area than "area_threshold" are
# returned by "find_blobs" below. Change "pixels_threshold" and "area_threshold" if you change the
# camera resolution. "merge=True" merges all overlapping blobs in the image.
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
   #if(blob[5]==sensor.width/2) and (blob[6]==sensor.height/2):
while(True):
    clock.tick()
    img = sensor.snapshot().lens_corr(strength = 1.8, zoom = 1.0)#摄像头畸变矫正
    for c in img.find_circles(threshold=3500,x_margin=20,y_margin=20,
    r_margin=20,r_min=2,r_max=100,r_step=2):
        area=(c.x()-c.r(),c.y()-c.r(),2*c.r(),2*c.r())
        statistics=img.get_statistics(roi=area)
        #print(statistics)

    blobs = img.find_blobs([thresholds[2]])
    #print(img.width()/2,img.height()/2)

    if blobs:
        img.draw_circle((c.x(),c.y(),c.r()),color=(0,0,255))
        max_blob=find_max(blobs)
        #img.draw_rectangle(max_blob.rect())
        img.draw_cross(max_blob.cx(),max_blob.cy())
        output_str="[%d,%d]"%(max_blob.cx(),max_blob.cy())
        print('you send:',output_str)
        uart.write( output_str+'\r\n')
    else:
         #img.draw_rectangle(area,color=(255,0,0))
         print('not found!')