#https://space.bilibili.com/438224522
#b站up主 洛基的魔方
DIV_TIME=15 #细分多少次
light=(25, 100, -126, -13, -128, 127) #绿色激光点阈值
import sensor
import time
import image
import pyb
from machine import UART
#只能用于openmv H7Plus 更便宜的版本会报堆栈溢出
#openmv需放在距离矩形90cm-100cm处运行效果最佳
#若距离无法满足要求 手动修改下面两个不同位置的判断
#if r.magnitude()>50000: 中50000的数值
#该数值对应的是寻找的矩形的最小面积
def find_max(blobs):
max_size=0
for blob in blobs:
if blob.pixels() > max_size:
max_blob=blob
max_size = blob.pixels()
return max_blob
def draw_rect(rect,color):
img.draw_line(rect[0][0], rect[0][1], rect[1][0], rect[1][1], color)
img.draw_line(rect[1][0], rect[1][1], rect[2][0], rect[2][1], color)
img.draw_line(rect[2][0], rect[2][1], rect[3][0], rect[3][1], color)
img.draw_line(rect[3][0], rect[3][1], rect[0][0], rect[0][1], color)
return
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.set_framesize(sensor.QVGA)
sensor.set_brightness(-3)
sensor.set_contrast(3)
sensor.set_auto_exposure(False,exposure_us=120000)
clock = time.clock()
flag=0 #goto作用
first_rect_corners=[]
outside_rect_corners=[]
temp_size=0
min_id = 0
while flag ==0:
clock.tick()
img = sensor.snapshot()
corner=[]
if True:
rect_time=0
for r in img.find_rects(threshold=100):
if r.magnitude()>50000:
first_rect_corners=r.corners()
#img.draw_rectangle(r.rect(), color=(255, 255, 255))
temp_size=r.magnitude()
print(r.magnitude())
for p in r.corners():
#img.draw_circle(p[0], p[1], 5, color=(255, 255, 255))
corner.append(p[0])
corner.append(p[1])
print(corner)
flag=1
break
flag=0
corner=[]
while flag==0:
img = sensor.snapshot()
for r in img.find_rects(threshold=100):
if r.magnitude()>50000:
temp_corner=r.corners()
min_value = 1000
for i in range(4):
#寻找第二个矩形框 两个分别来自不同矩形的点 距离最小值有限定
#以免寻找到同一个矩形上
temp = abs(temp_corner[0][0] - first_rect_corners[i][0])
if temp < min_value:
min_id = i
min_value = temp
if min_value>2:
outside_rect_corners=r.corners()
print(r.magnitude())
for p in r.corners():
corner.append(p[0])
corner.append(p[1])
print(corner)
flag=1
break
#由于寻找矩形返回的两个矩形点集可能顺序不一样 在此矫正
if True:
mid_corner=[]
for i in range(4):
temp=i+min_id
if temp>3:
temp-=4
temp1=[]
for j in range(2):
temp1.append(int((first_rect_corners[temp][j]+outside_rect_corners[i][j])/2))
mid_corner.append(temp1)
print(mid_corner)
sensor.set_pixformat(sensor.RGB565)
#mid_corner=[[86,144],[147,172],[184,87],[126,63]]
dif=[]
flag=0
mid_pos = [[[0 for _ in range(2)] for _ in range(DIV_TIME)] for _ in range(4)]
for xy in range(2):
dif = [0] * 4
dif[0] = mid_corner[1][xy] - mid_corner[0][xy]
dif[1] = mid_corner[2][xy] - mid_corner[1][xy]
dif[2] = mid_corner[3][xy] - mid_corner[2][xy]
dif[3] = mid_corner[0][xy] - mid_corner[3][xy]
if dif[0]>dif[1]:
flag=1
temp = DIV_TIME
for num in range(DIV_TIME):
for id in range(4):
temp = DIV_TIME
if flag==1:
if id%2==0:
temp = DIV_TIME-5
div=dif[id]/temp
if num >=temp:
mid_pos[id][num][xy] = -1
elif num == 0:
mid_pos[id][num][xy] = int(mid_corner[id][xy])
else:
mid_pos[id][num][xy] = int(mid_corner[id][xy] + div * (num))
id=0
num=0
error=5
while True:
img = sensor.snapshot()
draw_rect(first_rect_corners,(255,0,0))
draw_rect(outside_rect_corners,(0,255,100))
blobs = img.find_blobs([light],merge=True)
max_blob=[]
if blobs:
max_blob=find_max(blobs)
img.draw_cross(max_blob[5], max_blob[6],[0,0,255])
if(abs(mid_pos[id][num][0]-max_blob[5])<error and abs(mid_pos[id][num][1]-max_blob[6])<error):
num+=1
if num >DIV_TIME-1 or mid_pos[id][num][0]==-1 :
id+=1
num=0
if id==4:
id=0
#uart.write(str(mid_pos[id][num][0]-max_blob[5])+" "+str(mid_pos[id][num][1]-max_blob[6])+"#\n")
#draw_rect(mid_corner,(255,0,0))
#上方代码是画出去中值的矩形 可删去注释
for i in mid_pos:
for dot in i:
if dot[0]==-1:
continue
#下面的代码是画出细分的点 可以删掉注释
#img.draw_circle(int(dot[0]), int(dot[1]), 1, color=(255, 255, 255))
img.draw_circle(mid_pos[id][num][0], mid_pos[id][num][1], 3, color=(0,255,255))
请帮我对OPENMV上写的代码进行详细的注释
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