xd4v 发布的帖子

@kidswong999 重新插拔一下USB接口 ，就正常了

@kidswong999 确实是是按照例程来的，线也接的没问题

@kidswong999 你好 我的也是这个问题，代码一样，OPENMV可以接收到数据但是发不出去，求教

@kidswong999

嗯嗯 刚才忘了加冒号。。。改过之后变成这样了，说帧缓存区空间不够？这是怎么回事啊

import sensor, image, time

sensor.reset()
sensor.set_framesize(sensor.QVGA)
sensor.set_pixformat(sensor.RGB565)


Line_threshold = (60, 100, -18, 32, -33, 56) # L A B

sensor.skip_frames(time = 1000)
clock = time.clock()

min_degree = 0
max_degree = 179
#img_raw = sensor.snapshot().lens_corr(1.8).save('test.bmp')




img_op=image.Image('123.bmp',copy_to_fb=True)


#time.sleep(3000)
img_op.binary([Line_threshold])

#img_op.erode(2)

img_op.dilate(1)
img_op.erode(1)
for l in img_op.find_line_segments(merge_distance=10, max_theta_differance=2):
#if (min_degree <= l.theta()) and (l.theta() <= max_degree):
    img_op.draw_line(l.line(), color = (255, 0, 0))
    print(l.theta())



sensor.flush()

time.sleep(100)

import sensor, image, time

sensor.reset()
sensor.set_framesize(sensor.QVGA)
sensor.set_pixformat(sensor.RGB565)


Line_threshold = (60, 100, -18, 32, -33, 56) # L A B

sensor.skip_frames(time = 1000)
clock = time.clock()

min_degree = 0
max_degree = 179
#img_raw = sensor.snapshot().lens_corr(1.8).save('test.bmp')




img_op=image.Image('123.bmp',copy_to_fb=True)


    #time.sleep(3000)
img_op.binary([Line_threshold])

#img_op.erode(2)

img_op.dilate(1)
img_op.erode(1)
for l in img_op.find_line_segments(merge_distance=2, max_theta_differance=2) #(x_stride=3,y_stride=3,threshold = 1000, theta_margin = 10, rho_margin = 20):
        #if (min_degree <= l.theta()) and (l.theta() <= max_degree):

        img_op.draw_line(l.line(), color = (255, 0, 0))

        print(l.theta())



sensor.flush()

time.sleep(100)

请问这是什么错误呀

哦哦，好滴好滴，另外还有我检测到的直线，很不理想，经常会检测出很多其他的不存在的直线
就像这样的。

图上，黑色的线周围有一些灰色的像素点，不知道是怎么回事0.0......求教

import sensor, image, time

sensor.reset()
sensor.set_framesize(sensor.QVGA)
sensor.set_pixformat(sensor.RGB565)


Line_threshold = (60, 100, -18, 32, -33, 56) # L A B

sensor.skip_frames(time = 1000)
clock = time.clock()

min_degree = 0
max_degree = 179
#img_raw = sensor.snapshot().lens_corr(1.8).save('123.bmp')




img_op=image.Image('123.bmp',copy_to_fb=True)


    #time.sleep(3000)
img_op.binary([Line_threshold])

#img_op.erode(2)

img_op.dilate(1)
img_op.erode(1)
for l in img_op.find_lines (threshold = 3300, theta_margin = 1000, rho_margin = 10):
        if (min_degree <= l.theta()) and (l.theta() <= max_degree):

           # img_op.draw_line(l.line(), color = (255, 0, 0))

            print(l.theta())



sensor.flush()

time.sleep(100)

@kidswong999 谢谢老哥，整好啦！！！

@kidswong999 我的确是从软件里导出的呀。。。

@kidswong999 应该是什么呢？？不是bmp吗？

没有插SD卡，example.bmp和main.py在一个文件夹里。

import sensor, image, time

# 仍然需要初始化 sensor
sensor.reset()
# 设置 sensor
sensor.set_contrast(1)
sensor.set_gainceiling(16)

# 设置sensor的 pixel format
sensor.set_framesize(sensor.QQVGA)
sensor.set_pixformat(sensor.GRAYSCALE)

# 导入 image
img = image.Image("/example.bmp", copy_to_fb=True)

# 添加画线的代码
# img.draw_line(...)

# Flush FB
sensor.flush()

# Add a small delay to allow the IDE to read the flushed image.
time.sleep(100)

@kidswong999 请问怎么让framebuffer显示想要的图像呢？

这是第二个代码，刚刚忘了贴

 # Hello World Example
#
# Welcome to the OpenMV IDE! Click on the green run arrow button below to run the script!

import sensor, image, time, pyb

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)#160X120
sensor.skip_frames(time=100)
clock=time.clock()

while(True):
    
    
    s=sensor.snapshot()
  
    a=s.copy(copy_to_fb=True)
    
    a.to_grayscale()
    

我设了一个变量s=sensor.snapshot（），然后让a=s，但是发现a灰度化后，帧缓冲区显示的是灰度化的图像，等于说显示的是a的图像。但是a不是在堆区存放吗？

 # Hello World Example
#
# Welcome to the OpenMV IDE! Click on the green run arrow button below to run the script!

import sensor, image, time, pyb

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)#160X120
sensor.skip_frames(time=100)
clock=time.clock()

while(True):
    time_start = pyb.millis()
    
    scr_shot=sensor.snapshot()
    #scr_shot.lens_corr(1.8)    
    a=scr_shot
    a.to_grayscale()
    
    duration = pyb.elapsed_millis(time_start)
    print(duration)

不知道怎么才能让想要显示的图像显示在帧缓冲区，求教！！！
另外，这是另一个错误，麻烦帮忙解释一下

@kidswong999 找到原因了：因为我写的是B64x64，应该是B64X64

IDE的固件版本是3.0.0

# MAVLink OpticalFlow Script.
#
# This script sends out OpticalFlow detections using the MAVLink protocol to
# an LIGHT/PixHawk UAV controller for position control using your OpenMV Cam.
#
# P4 = TXD 115200,8,N,1


import sensor, image, time, pyb, struct, math

sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # or sensor.GRAYSCALE
sensor.set_framesize(sensor.B64x64) # or B40x30 or B64x64
clock = time.clock() # Tracks FPS.

old = sensor.snapshot()

uart = pyb.UART(3, 115200, timeout_char = 1000)

def send_optical_flow_packet(x, y, c):
    temp = struct.pack("<bbiii",
                       0xAA,
                       0xAE,
                       int(x * 100000 ), # up sample by 4
                       int(y * 100000 ), # up sample by 4
                       int(c * 100000))
    uart.write(temp)


while(True):
    clock.tick() # 获取时间
    img = sensor.snapshot() # 获取一帧图像
    '''
    find_displacement 这个功能函数使用是是2D FFT算法获得新旧两张图像的相位移动，由于OPenMV上单片机内存的问题，只能计算
    64x64或者64*32的图片（openmv2），如果使用OPenMV3可以计算128*32或者32*128的图片
    '''
    [delta_x, delta_y, response] = old.find_displacement(img) #获取前面一张图像与刚捕获的图像之间的偏移
    old = img.copy()
    #print("%0.6fX   %0.6fY   %0.2fC   %0.2fFPS" % (delta_x, delta_y, response, clock.fps()))
    if (not (math.isnan(delta_x) or math.isnan(delta_y) or math.isnan(response))):
        send_optical_flow_packet(delta_x, delta_y, response)