def display(page, x, y, k, save):
global img_cnt
global red_ch
clock.tick()
img = sensor.snapshot()
if save:
img.save("img\\img%02d.jpg"%img_cnt)
img_cnt += 1
global colorxy
blobs = img.find_blobs([red_threshold[red_ch]], roi = roi_red, x_stride=5, y_stride=10, pixels_threshold=200)
if blobs:
road = find_max(blobs)
img.draw_rectangle(road.rect())
blobs = img.find_blobs([blue_threshold, black_threshold], roi = roi_blue[2], x_stride=3, y_stride=6, pixels_threshold=64)
if blobs:
road = find_max(blobs)
img.draw_rectangle(road.rect())
blobs = img.find_blobs([white_threshold], roi = roi_white[chioce], pixels_threshold=9)
if blobs:
road = find_max(blobs)
img.draw_rectangle(road.rect())
print(clock.fps())
if x == 3 and y == 0:
img.binary([white_threshold], zero = True)
else:
if y < 2:
img.binary([red_threshold[red_ch]], zero = True)
else:
img.binary([blue_threshold], zero = True)
img.draw_string(0,0, str(red_threshold[red_ch][0]),color = my_cmp(colorxy, 0),x_spacing = -2)
img.draw_string(0,10, str(red_threshold[red_ch][1]),color = my_cmp(colorxy, 1),x_spacing = -2)
img.draw_string(40,0, str(red_threshold[red_ch][2]),color = my_cmp(colorxy, 2),x_spacing = -2)
img.draw_string(40,10,str(red_threshold[red_ch][3]),color = my_cmp(colorxy, 3),x_spacing = -2)
img.draw_string(80,0, str(red_threshold[red_ch][4]),color = my_cmp(colorxy, 4),x_spacing = -2)
img.draw_string(80,10,str(red_threshold[red_ch][5]),color = my_cmp(colorxy, 5),x_spacing = -2)
img.draw_string(0, 20,"red", color = (255,255,255), x_spacing = -2)
img.draw_string(120,0,"wt:", color = my_cmp(colorxy, 6),x_spacing = -2)
img.draw_string(140,0,str(white_threshold[0]),color = my_cmp(colorxy, 6),x_spacing = -2)
img.draw_string(120,10,str(red_ch), color = (255,255,0), x_spacing = -2)
img.draw_string(0,90, "blue", color = (255,255,255), x_spacing = -2)
img.draw_string(0,100, str(blue_threshold[0]),color = my_cmp(colorxy, 8),x_spacing = -2)
img.draw_string(0,110, str(blue_threshold[1]),color = my_cmp(colorxy, 9),x_spacing = -2)
img.draw_string(40,100,str(blue_threshold[2]),color = my_cmp(colorxy, 10),x_spacing = -2)
img.draw_string(40,110,str(blue_threshold[3]),color = my_cmp(colorxy, 11),x_spacing = -2)
img.draw_string(80,100,str(blue_threshold[4]),color = my_cmp(colorxy, 12),x_spacing = -2)
img.draw_string(80,110,str(blue_threshold[5]),color = my_cmp(colorxy, 13),x_spacing = -2)
img.draw_string(120,110, "blk", color = my_cmp(colorxy, 14),x_spacing = -2)
img.draw_string(140,110,str(black_threshold[1]),color = my_cmp(colorxy, 14),x_spacing = -2)
if page == 0:
my_ips.display_QQVGA(0, 0, img)
if x == 0:
if y == 0:
red_threshold[red_ch][0] += k
colorxy = 0
elif y == 1:
red_threshold[red_ch][1] += k
colorxy = 1
elif y == 2:
blue_threshold[0] += k
colorxy = 8+0
elif y == 3:
blue_threshold[1] += k
colorxy = 8+1
elif x == 1:
if y == 0:
red_threshold[red_ch][2] += k
colorxy = 2
elif y == 1:
red_threshold[red_ch][3] += k
colorxy = 3
elif y == 2:
blue_threshold[2] += k
colorxy = 8+2
elif y == 3:
blue_threshold[3] += k
colorxy = 8+3
elif x == 2:
if y == 0:
red_threshold[red_ch][4] += k
colorxy = 4
elif y == 1:
red_threshold[red_ch][5] += k
colorxy = 5
elif y == 2:
blue_threshold[4] += k
colorxy = 8+4
elif y == 3:
blue_threshold[5] += k
colorxy = 8+5
elif x == 3:
if y == 0:
white_threshold[0] += k
colorxy = 6
elif y == 1:
red_ch += k
colorxy = 7
elif y == 3:
black_threshold[1] += k
colorxy = 8+6
def display(page, x, y, k, save):
global img_cnt
img = sensor.snapshot()
if save:
img.save("img\\img%02d.jpg" % img_cnt)
img_cnt += 1
global colorxy
blobs = img.find_blobs([red_threshold],
roi=(47, 25, 103, 70),
x_stride=10,
y_stride=5,
pixels_threshold=200)
if blobs:
obstacle = find_max(blobs)
img.draw_rectangle(obstacle.rect())
blobs = img.find_blobs([blue_threshold, black_threshold],
roi=roiblue[0],
x_stride=6,
y_stride=3,
pixels_threshold=64)
if blobs:
road = find_max(blobs)
img.draw_rectangle(road.rect())
blobs = img.find_blobs([blue_threshold, black_threshold],
roi=roiblue[2],
x_stride=6,
y_stride=3,
pixels_threshold=36)
if blobs:
road = find_max(blobs)
img.draw_rectangle(road.rect())
if y < 2:
img.binary([red_threshold], zero=True)
else:
img.binary([blue_threshold], zero=True)
img.draw_string(0,
0,
str(red_threshold[0]),
color=my_cmp(colorxy, 0),
x_spacing=-2)
img.draw_string(0,
10,
str(red_threshold[1]),
color=my_cmp(colorxy, 1),
x_spacing=-2)
img.draw_string(40,
0,
str(red_threshold[2]),
color=my_cmp(colorxy, 2),
x_spacing=-2)
img.draw_string(40,
10,
str(red_threshold[3]),
color=my_cmp(colorxy, 3),
x_spacing=-2)
img.draw_string(80,
0,
str(red_threshold[4]),
color=my_cmp(colorxy, 4),
x_spacing=-2)
img.draw_string(80,
10,
str(red_threshold[5]),
color=my_cmp(colorxy, 5),
x_spacing=-2)
img.draw_string(0,
100,
str(blue_threshold[0]),
color=my_cmp(colorxy, 6),
x_spacing=-2)
img.draw_string(0,
110,
str(blue_threshold[1]),
color=my_cmp(colorxy, 7),
x_spacing=-2)
img.draw_string(40,
100,
str(blue_threshold[2]),
color=my_cmp(colorxy, 8),
x_spacing=-2)
img.draw_string(40,
110,
str(blue_threshold[3]),
color=my_cmp(colorxy, 9),
x_spacing=-2)
img.draw_string(80,
100,
str(blue_threshold[4]),
color=my_cmp(colorxy, 10),
x_spacing=-2)
img.draw_string(80,
110,
str(blue_threshold[5]),
color=my_cmp(colorxy, 11),
x_spacing=-2)
img.draw_string(120,
100,
str(black_threshold[0]),
color=my_cmp(colorxy, 12),
x_spacing=-2)
img.draw_string(120,
110,
str(black_threshold[1]),
color=my_cmp(colorxy, 13),
x_spacing=-2)
if page == 0:
my_ips.display_QQVGA(0, 0, img)
if x == 0:
if y == 0:
red_threshold[0] += k
colorxy = 0
elif y == 1:
red_threshold[1] += k
colorxy = 1
elif y == 2:
blue_threshold[0] += k
colorxy = 6 + 0
elif y == 3:
blue_threshold[1] += k
colorxy = 6 + 1
elif x == 1:
if y == 0:
red_threshold[2] += k
colorxy = 2
elif y == 1:
red_threshold[3] += k
colorxy = 3
elif y == 2:
blue_threshold[2] += k
colorxy = 6 + 2
elif y == 3:
blue_threshold[3] += k
colorxy = 6 + 3
elif x == 2:
if y == 0:
red_threshold[4] += k
colorxy = 4
elif y == 1:
red_threshold[5] += k
colorxy = 5
elif y == 2:
blue_threshold[4] += k
colorxy = 6 + 4
elif y == 3:
blue_threshold[5] += k
colorxy = 6 + 5
elif x == 3:
if y == 2:
black_threshold[0] += k
colorxy = 6 + 6
elif y == 3:
black_threshold[1] += k
colorxy = 6 + 7