学习下面的代码，并且跟进对于中心点的坐标的寻找，以及写出输出给STM32的代码。import sensor
import image
import time
import lcd
from machine import UART
from board import board_info
from fpioa_manager import fm
fm.register(6,fm.fpioa.UART2_TX)
fm.register(8,fm.fpioa.UART2_RX)
# 初始化摄像头
lcd.init()
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.run(1)
sensor.skip_frames()
sensor.skip_frames(time = 2000) #跳过不稳定画面
# 初始化串口
uart = UART(UART.UART2, 115200, 8, 0, 0, timeout=1000, read_buf_len=4096)
clock = time.clock()
while(True):
clock.tick()
img = sensor.snapshot()
# 自定义函数：识别矩形
# 在图像中寻找矩形
for r in img.find_rects(threshold = 100000):
# 判断矩形边长是否符合要求
if (10 <= r.h() <= 200) and (10 <= r.w() <= 200):
# 满足条件的处理逻辑
# 在屏幕上框出矩形
img.draw_rectangle(r.rect(), color = (255, 0, 0), scale = 3)
# 获取矩形角点位置
corner = r.corners()
# 在屏幕上圈出矩形角点
img.draw_circle(corner[0][0], corner[0][1], 5, color = (0, 0, 255), thickness = 2, fill = False)
img.draw_circle(corner[1][0], corner[1][1], 5, color = (0, 0, 255), thickness = 2, fill = False)
img.draw_circle(corner[2][0], corner[2][1], 5, color = (0, 0, 255), thickness = 2, fill = False)
img.draw_circle(corner[3][0], corner[3][1], 5, color = (0, 0, 255), thickness = 2, fill = False)
center_x = (corner[0][0] + corner[2][0]) // 2 # 第一条对角线中点x坐标
center_y = (corner[0][1] + corner[2][1]) // 2 # 第一条对角线中点y坐标
img.draw_circle(center_x, center_y, 1, color=(255, 255, 0), thickness=2, fill=True)
# 打印四个角点坐标, 角点1的数组是corner[0], 坐标就是(corner[0][0],corner[0][1])
# 角点检测输出的角点排序每次不一定一致，矩形左上的角点有可能是corner0,1,2,3其中一个
corner1_str = corner[0][0],corner[0][1]
corner2_str = corner[1][0],corner[1][1]
corner3_str = corner[2][0],corner[2][1]
corner4_str = corner[3][0],corner[3][1]
#lcd.draw_string(0, 0, corner1_str, lcd.WHITE, lcd.BLACK)
#lcd.draw_string(0, 20, corner2_str, lcd.WHITE, lcd.BLACK)
#lcd.draw_string(0, 40, corner3_str, lcd.WHITE, lcd.BLACK)
#lcd.draw_string(0, 60, corner4_str, lcd.WHITE, lcd.BLACK)
lcd.display(img)
print(corner1_str, corner2_str, corner3_str, corner4_str)
print(center_x, center_y)
#print(corner2_str)
#print(corner3_str)
#print(corner4_str)
# 显示到屏幕上，此部分会降低帧率
try:
while True:
# send data per 500ms
if time.ticks_ms() - last_time > 500:
last_time = time.ticks_ms()
uart.write(corner1_str,corner2_str,corner3_str,corner4_str)
# read and print data
if uart.any():
read_data = uart.read()
if read_data:
print("read_data = ", read_data)
except:
pass
lcd.display(img)
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