#openmv的代码

import sensor, image, time

import json

from pyb import UART

# 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   = ( 0, 60, -20, 64, -128, 0)

# You may need to tweak the above settings for tracking green things...

# Select an area in the Framebuffer to copy the color settings.

#p4_10,p5_11,gnd_gnd

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_whitebal(False) # turn this off.

clock = time.clock() # Tracks FPS.

uart = UART(3, 115200)

'''

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)

K=680 #the value should be measured

while(True):

clock.tick() # Track elapsed milliseconds between snapshots().

img = sensor.snapshot() # Take a picture and return the image.

blobs = img.find_blobs([blue_threshold], area_threshold=150)

if blobs:

#如果找到了目标颜色

data=[]

#print(blobs)

for blob in blobs:

#迭代找到的目标颜色区域

b = blob[0]

is_circle = False

max_circle = None

max_radius = -1

new_roi = expand_roi(blob.rect())

Lm = (blob[2]+blob[3])/2

length = K/Lm

length = str(length)

length = float(length)

for c in img.find_circles(threshold = 2000, x_margin = 10, y_margin = 10, 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, 255, 0))

img.draw_circle(max_circle.x(), max_circle.y(), max_circle.r() + 1, color = (0, 255, 0))

data.append((max_circle.x(),max_circle.y(),length))

#data.append(length)

data_out = json.dumps(set(data))

uart.write(data_out +'\n')

print('you send:',data_out)

else:

print("not found!")

else:

print("not found!")

#print(clock.fps()) # Note: Your OpenMV Cam runs about half as fast while

# connected to your computer. The FPS should increase once disconnected.