# 导入必要的模块 Import required modules
import time, os, sys
from media.sensor import *
from media.display import *
from media.media import *
# 图像分辨率设置 Image resolution settings
PICTURE_WIDTH = 400
PICTURE_HEIGHT = 240
# 摄像头配置 Camera configuration
sensor = None
# 显示模式选择 Display mode selection
# 可选: "VIRT", "LCD"
# Options: "VIRT"(Virtual Display), "LCD"
DISPLAY_MODE = "LCD"
# 根据显示模式设置分辨率 Set resolution based on display mode
if DISPLAY_MODE == "VIRT":
DISPLAY_WIDTH = ALIGN_UP(1920, 16)
DISPLAY_HEIGHT = 1080
elif DISPLAY_MODE == "LCD":
DISPLAY_WIDTH = 640
DISPLAY_HEIGHT = 480
else:
raise ValueError("Unknown DISPLAY_MODE, please select 'VIRT', 'LCD'")
# 创建时钟对象用于FPS计算 Create clock object for FPS calculation
clock = time.clock()
try:
# 初始化摄像头 Initialize camera
sensor = Sensor()
sensor.reset()
# 设置图像分辨率和格式 Set image resolution and format
sensor.set_framesize(width=PICTURE_WIDTH, height=PICTURE_HEIGHT, chn=CAM_CHN_ID_0)
sensor.set_pixformat(Sensor.RGB565, chn=CAM_CHN_ID_0)
# 初始化显示器 Initialize display
if DISPLAY_MODE == "VIRT":
Display.init(Display.VIRT, width=DISPLAY_WIDTH, height=DISPLAY_HEIGHT, fps=60)
elif DISPLAY_MODE == "LCD":
Display.init(Display.ST7701, width=DISPLAY_WIDTH, height=DISPLAY_HEIGHT, to_ide=True)
# 初始化媒体管理器 Initialize media manager
MediaManager.init()
sensor.run()
while True:
os.exitpoint()
clock.tick() # 开始计时 Start timing
# 捕获图像 Capture image
img = sensor.snapshot(chn=CAM_CHN_ID_0)
print("【矩形信息 Line Statistics Start】")
for r in img.find_rects(threshold =5000):
img.draw_rectangle(r.rect(), color = (40, 167, 225),thickness=2)
for p in r.corners(): img.draw_circle(p[0], p[1], 8, color = (78, 90, 34))
print(r)
print("【==============================】")
# 显示FPS Display FPS
print(f"FPS: {clock.fps()}")
# 居中显示图像 Display image centered
x = int((DISPLAY_WIDTH - PICTURE_WIDTH) / 2)
y = int((DISPLAY_HEIGHT - PICTURE_HEIGHT) / 2)
Display.show_image(img, x=x, y=y)
except KeyboardInterrupt as e:
print("User Stop: ", e)
except BaseException as e:
print(f"Exception: {e}")
finally:
# 清理资源 Cleanup resources
if isinstance(sensor, Sensor):
sensor.stop()
Display.deinit()
os.exitpoint(os.EXITPOINT_ENABLE_SLEEP)
time.sleep_ms(100)
MediaManager.deinit()
import time, os, sys, gc
from media.sensor import *
from media.display import *
from media.media import *
# 设置图像捕获分辨率 / Set image capture resolution
SENSOR_WIDTH = 1280
SENSOR_HEIGHT = 960
FRAME_WIDTH = 640
FRAME_HEIGHT = 480
# 显示屏分辨率 / Display resolution
DISPLAY_WIDTH = 640
DISPLAY_HEIGHT = 480
def init_sensor():
"""初始化传感器 / Initialize sensor"""
# sensor = Sensor(width=SENSOR_WIDTH, height=SENSOR_HEIGHT) # 4:3分辨率 / 4:3 resolution
sensor = Sensor()
sensor.reset()
sensor.set_framesize(width=FRAME_WIDTH, height=FRAME_HEIGHT) # 设置帧大小 / Set frame size
sensor.set_pixformat(Sensor.GRAYSCALE) # 灰度图像格式 / Grayscale format
return sensor
def init_display():
"""初始化显示器 / Initialize display"""
# 初始化屏幕 / Initialize screen
Display.init(Display.ST7701, to_ide=True)
# 虚拟显示配置（已注释） / Virtual display config (commented)
# Display.init(Display.VIRT, sensor.width(), sensor.height())
def process_image(img):
"""处理图像 / Process image"""
# Canny边缘检测 / Canny edge detection
img.find_edges(image.EDGE_CANNY, threshold=(50, 80))
# 简单边缘检测配置 / Simple edge detection config
# img.find_edges(image.EDGE_SIMPLE, threshold=(100, 255))
def main():
try:
# 初始化设备 / Initialize devices
sensor = init_sensor()
init_display()
MediaManager.init()
sensor.run()
# 初始化时钟 / Initialize clock
clock = time.clock()
# 计算显示偏移量以居中显示 / Calculate display offsets for center alignment
x_offset = round((DISPLAY_WIDTH - FRAME_WIDTH) / 2)
y_offset = round((DISPLAY_HEIGHT - FRAME_HEIGHT) / 2)
while True:
clock.tick() # 更新时钟 / Update clock
# 捕获和处理图像 / Capture and process image
img = sensor.snapshot()
process_image(img)
# 居中显示图像 / Display image in center
Display.show_image(img, x=x_offset, y=y_offset)
# 显示FPS / Display FPS
print(clock.fps())
except KeyboardInterrupt as e:
print("用户中断 / User interrupted: ", e)
except Exception as e:
print(f"发生错误 / Error occurred: {e}")
finally:
# 清理资源 / Cleanup resources
if 'sensor' in locals() and isinstance(sensor, Sensor):
sensor.stop()
Display.deinit()
MediaManager.deinit()
gc.collect() # 垃圾回收 / Garbage collection
if __name__ == "__main__":
main()
import time, os, sys
from media.sensor import *
from media.display import *
from media.media import *
# 设置图像捕获分辨率 / Set picture capture resolution
PICTURE_WIDTH = 400
PICTURE_HEIGHT = 240
# 显示模式："VIRT"用于无屏幕情况，"LCD"用于有屏幕情况
# Display mode: "VIRT" for virtual display, "LCD" for physical screen
DISPLAY_MODE = "LCD"
# 根据显示模式设置显示分辨率 / Set display resolution based on mode
if DISPLAY_MODE == "VIRT":
# 虚拟显示器模式(1920x1080) / Virtual display mode
DISPLAY_WIDTH = ALIGN_UP(1920, 16) # 确保宽度16字节对齐 / Ensure width is 16-byte aligned
DISPLAY_HEIGHT = 1080
elif DISPLAY_MODE == "LCD":
DISPLAY_WIDTH = 640
DISPLAY_HEIGHT = 480
else:
raise ValueError("未知的显示模式，请选择 'VIRT' 或 'LCD' / Unknown display mode, please choose 'VIRT' or 'LCD'")
def init_sensor():
"""初始化传感器 / Initialize sensor"""
sensor = Sensor(id=2)
sensor.reset()
sensor.set_framesize(width=PICTURE_WIDTH, height=PICTURE_HEIGHT, chn=CAM_CHN_ID_0)
sensor.set_pixformat(Sensor.RGB565, chn=CAM_CHN_ID_0)
return sensor
def init_display():
"""初始化显示器 / Initialize display"""
if DISPLAY_MODE == "VIRT":
Display.init(Display.VIRT, width=DISPLAY_WIDTH, height=DISPLAY_HEIGHT, fps=60)
elif DISPLAY_MODE == "LCD":
Display.init(Display.ST7701, width=DISPLAY_WIDTH, height=DISPLAY_HEIGHT, to_ide=True)
def process_circles(img, circles):
"""处理检测到的圆形 / Process detected circles"""
print("【圆形信息 / Circle Statistics Start】")
for i, circle in enumerate(circles):
# 使用蓝色绘制圆形 / Draw circles in blue
img.draw_circle(circle.circle(), color=(40,167,225), thickness=3)
print(f"Circle {i}: {circle}")
print("【==============================】")
def main():
try:
# 初始化设备 / Initialize devices
sensor = init_sensor()
init_display()
MediaManager.init()
sensor.run()
# 计算显示偏移量以居中显示 / Calculate display offsets for center alignment
x_offset = (DISPLAY_WIDTH - PICTURE_WIDTH) // 2
y_offset = (DISPLAY_HEIGHT - PICTURE_HEIGHT) // 2
while True:
os.exitpoint()
# 捕获图像 / Capture image
img = sensor.snapshot(chn=CAM_CHN_ID_0)
# 寻找并处理圆形 / Find and process circles
# threshold: 控制圆形检测的阈值，更高的值会减少检测到的圆形数量
# threshold: Controls circle detection sensitivity, higher values reduce the number of detected circles
circles = img.find_circles(threshold=3500)
process_circles(img, circles)
# 居中显示图像 / Display image in center
Display.show_image(img, x=x_offset, y=y_offset)
except KeyboardInterrupt as e:
print("用户中断 / User interrupted: ", e)
except Exception as e:
print(f"发生错误 / Error occurred: {e}")
finally:
# 清理资源 / Cleanup resources
if 'sensor' in locals() and isinstance(sensor, Sensor):
sensor.stop()
Display.deinit()
os.exitpoint(os.EXITPOINT_ENABLE_SLEEP)
time.sleep_ms(100)
MediaManager.deinit()
if __name__ == "__main__":
main()
根据上面三个程序写识别圆柱的程序
本文针对客户反馈的无人机拍摄垂直物体出现弯曲的问题进行了分析。通过对比静止与飞行状态下的拍摄效果，确认了该现象是由无人机快速抖动造成的。进一步地，通过回顾卷帘快门与全局快门的相关原理，解释了造成这一视觉畸变的原因。
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