def init(is_debug, pixformat, delay_time):
#关闭串口，防止初始化过程溢出
uart.deinit()
uart2.deinit()
sensor.reset()
sensor.set_pixformat(sensor.RGB565) #RGB565
sensor.set_framesize(sensor.QVGA) #320*240
sensor.set_gainceiling(128) #增益上限 2,4,8,16,32,64,128
sensor.set_contrast(3) #对比度 -3至3
sensor.set_brightness(0) #亮度。-3至+3
sensor.set_saturation(3) #饱和度。-3至+3
sensor.set_auto_exposure(True) #自动曝光
sensor.skip_frames(time=delay_time)
sensor.set_auto_gain(False) # 在进行颜色追踪时，必须关闭
sensor.set_auto_whitebal(False) # 在进行颜色追踪时，必须关闭
#重新打开串口
uart.init(115200, timeout_char=1000)
uart2.init(115200, timeout_char=1000)
#判断是否debug模式
global CompetitionScene
if is_debug == True:
CompetitionScene = 0
else:
CompetitionScene = 1
def test_color_bars():
sensor.reset()
# Set sensor settings
sensor.set_brightness(0)
sensor.set_saturation(3)
sensor.set_gainceiling(8)
sensor.set_contrast(2)
# Set sensor pixel format
sensor.set_framesize(sensor.QVGA)
sensor.set_pixformat(sensor.RGB565)
# Enable colorbar test mode
sensor.set_colorbar(True)
# Skip a few camera to allow the sensor settle down
for i in range(0, 100):
image = sensor.snapshot()
#color bars thresholds
t = [
lambda r, g, b: r < 70 and g < 70 and b < 70, # Black
lambda r, g, b: r < 70 and g < 70 and b > 200, # Blue
lambda r, g, b: r > 200 and g < 70 and b < 70, # Red
lambda r, g, b: r > 200 and g < 70 and b > 200, # Purple
lambda r, g, b: r < 70 and g > 200 and b < 70, # Green
lambda r, g, b: r < 70 and g > 200 and b > 200, # Aqua
lambda r, g, b: r > 200 and g > 200 and b < 70, # Yellow
lambda r, g, b: r > 200 and g > 200 and b > 200
] # White
# color bars are inverted for OV7725
if (sensor.get_id() == sensor.OV7725):
t = t[::-1]
#320x240 image with 8 color bars each one is approx 40 pixels.
#we start from the center of the frame buffer, and average the
#values of 10 sample pixels from the center of each color bar.
for i in range(0, 8):
avg = (0, 0, 0)
idx = 40 * i + 20 #center of colorbars
for off in range(0, 10): #avg 10 pixels
rgb = image.get_pixel(idx + off, 120)
avg = tuple(map(sum, zip(avg, rgb)))
if not t[i](avg[0] / 10, avg[1] / 10, avg[2] / 10):
raise Exception('COLOR BARS TEST FAILED.'
'BAR#(%d): RGB(%d,%d,%d)' %
(i + 1, avg[0] / 10, avg[1] / 10, avg[2] / 10))
print('COLOR BARS TEST PASSED...')
def init(self, robot_):
self.robot = robot_
if self.robot == self.ROBOT_O: #O_bot
self.thresholds = [
(35, 100, 26, 78, 22, 72), #Ball
(68, 100, -19, 27, 41, 81), #Yellow Goal
(20, 41, -6, 15, -55, -15)
] # Blue Goal
self.window = (59, 18, 184, 181)
elif self.robot == self.ROBOT_P2: #P2_bot
self.thresholds = [
(39, 100, 26, 78, 22, 72), #Ball
(68, 100, -19, 27, 41, 81), #Yellow Goal
(20, 41, -6, 25, -55, -15)
] # Blue Goal
self.window = (71, 4, 193, 191)
# sensor setup
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA) #Resolution
sensor.set_windowing(self.window)
sensor.skip_frames(time=1000)
sensor.set_auto_exposure(False)
sensor.set_auto_whitebal(False)
# Need to let the above settings get in...
sensor.skip_frames(time=250)
# === GAIN ===
curr_gain = sensor.get_gain_db()
sensor.set_auto_gain(False, gain_db=curr_gain)
# === EXPOSURE ===
curr_exposure = sensor.get_exposure_us()
sensor.set_auto_exposure(False, exposure_us=int(curr_exposure * 0.5))
# === WHITE BAL ===
sensor.set_auto_whitebal(
False, rgb_gain_db=(-6.02073, -3.762909,
3.33901)) #Must remain false for blob tracking
sensor.set_brightness(2)
sensor.set_contrast(2)
sensor.set_saturation(2)
sensor.skip_frames(time=500)
def test_color_bars():
sensor.reset()
# Set sensor settings
sensor.set_brightness(0)
sensor.set_saturation(0)
sensor.set_gainceiling(8)
sensor.set_contrast(2)
# Set sensor pixel format
sensor.set_framesize(sensor.QVGA)
sensor.set_pixformat(sensor.RGB565)
# Enable colorbar test mode
sensor.set_colorbar(True)
# Skip a few frames to allow the sensor settle down
# Note: This takes more time when exec from the IDE.
for i in range(0, 100):
image = sensor.snapshot()
# Color bars thresholds
t = [lambda r, g, b: r < 50 and g < 50 and b < 50, # Black
lambda r, g, b: r < 50 and g < 50 and b > 200, # Blue
lambda r, g, b: r > 200 and g < 50 and b < 50, # Red
lambda r, g, b: r > 200 and g < 50 and b > 200, # Purple
lambda r, g, b: r < 50 and g > 200 and b < 50, # Green
lambda r, g, b: r < 50 and g > 200 and b > 200, # Aqua
lambda r, g, b: r > 200 and g > 200 and b < 50, # Yellow
lambda r, g, b: r > 200 and g > 200 and b > 200] # White
# 320x240 image with 8 color bars each one is approx 40 pixels.
# we start from the center of the frame buffer, and average the
# values of 10 sample pixels from the center of each color bar.
for i in range(0, 8):
avg = (0, 0, 0)
idx = 40*i+20 # center of colorbars
for off in range(0, 10): # avg 10 pixels
rgb = image.get_pixel(idx+off, 120)
avg = tuple(map(sum, zip(avg, rgb)))
if not t[i](avg[0]/10, avg[1]/10, avg[2]/10):
raise Exception("COLOR BARS TEST FAILED. "
"BAR#(%d): RGB(%d,%d,%d)"%(i+1, avg[0]/10, avg[1]/10, avg[2]/10))
print("COLOR BARS TEST PASSED...")
def exposure_compensation():
"""
use P control to set the exposure time according to the clamps brightness
"""
P = 2000
pid = P_control(P)
pid.SetPoint = 40
END = 50
expo = sensor.get_exposure_us()
for i in range(1, END):
img = sensor.snapshot()
llist = []
for r in clamp_roi(roi):
lab = lab_median(img, r)
img = img.draw_rectangle(r)
llist.append(lab[0])
l_mean = int(sum(llist) / len(llist))
print("l_mean = ", l_mean)
img = img.draw_rectangle(roi)
if abs(l_mean - pid.SetPoint) <= 1:
sensor.set_saturation(2)
return
pid.update(l_mean)
output = pid.output
expo += int(output)
if expo < 10000:
sensor.set_auto_gain(0)
expo = sensor.get_exposure_us()
sensor.set_auto_exposure(0, expo)
P = P / 2
continue
if sensor.get_exposure_us() >= 120190:
sensor.set_saturation(2)
return # max exposure time
sensor.set_auto_exposure(0, expo)
sensor.skip_frames(n=60)
print("exp time", sensor.get_exposure_us())
def init(is_debug, pixformat, delay_time):
uart.deinit()
sensor.reset()
if pixformat == "GRAY":
sensor.set_pixformat(sensor.GRAYSCALE)
elif pixformat == "RGB":
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.set_gainceiling(128)
sensor.set_contrast(3)
sensor.set_brightness(0)
sensor.set_saturation(3)
sensor.set_auto_exposure(True)
sensor.skip_frames(time=delay_time)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
uart.init(115200, timeout_char=1000)
global CompetitionScene
if is_debug == True:
CompetitionScene = 0
else:
CompetitionScene = 1
def setConfig():
while not uart.uart.any() > 0:
pass
uart.checking = True
data = uart.uart.readline()
data = data.decode('ascii')
data = list(map(int, data.split('_')))
Camera.frame = RES[data[0]]
Camera.mode = CLR[data[1]]
Camera.filter1 = data[2]
Camera.filter2 = data[3]
Camera.postproc = data[4]
Camera.contrast = data[5] / 10
Camera.brightness = data[6] / 10
Camera.saturation = data[7]
sensor.set_gainceiling(2**(data[8] if data[8] > 0 and data[8] < 8 else 3))
Camera.flash = data[9] if data[9] <= 255 and data[9] >= 0 else 0
LED.set_led(0, (Camera.flash, Camera.flash, Camera.flash))
LED.display()
sensor.set_pixformat(Camera.mode)
sensor.set_framesize(Camera.frame)
sensor.set_saturation(Camera.saturation)
uart.checking = False
# Filters are image functions that process a single line at a time.
# Since filters process lines on the fly, they run at sensor speed.
# Note: Only one filter can be enabled at a time.
import time, sensor
# Reset sensor
sensor.reset()
# Set sensor settings
sensor.set_contrast(1)
sensor.set_brightness(3)
sensor.set_saturation(3)
sensor.set_gainceiling(16)
sensor.set_framesize(sensor.QVGA)
sensor.set_pixformat(sensor.GRAYSCALE)
# Enable BW filter
sensor.set_image_filter(sensor.FILTER_BW, lower=200, upper=255)
# Enable SKIN filter (Note doesn't work very well on RGB)
#sensor.set_image_filter(sensor.FILTER_SKIN)
# FPS clock
clock = time.clock()
while (True):
clock.tick()
img = sensor.snapshot()
# Draw FPS
# Note: Actual FPS is higher, the IDE slows down streaming.
img.draw_string(0, 0, "FPS:%.2f"%(clock.fps()))
# Thermopile Shield Demo
#
# Note: To run this example you will need a Thermopile Shield for your OpenMV
# Cam. Also, please disable JPEG mode in the IDE.
#
# The Thermopile Shield allows your OpenMV Cam to see heat!
import sensor, image, time, fir
# Reset sensor
sensor.reset()
# Set sensor settings
sensor.set_contrast(1)
sensor.set_brightness(0)
sensor.set_saturation(2)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
# The following registers fine-tune the image
# sensor window to align it with the FIR sensor.
if (sensor.get_id() == sensor.OV2640):
sensor.__write_reg(0xFF, 0x01) # switch to reg bank
sensor.__write_reg(0x17, 0x19) # set HSTART
sensor.__write_reg(0x18, 0x43) # set HSTOP
# Initialize the thermal sensor
fir.init()
# FPS clock
clock = time.clock()
maxnum = a
else:
maxnum = b
# 再比较maxnum和c
if c > maxnum:
maxnum = c
return maxnum
find_initpoint() #自定义函数 确定电机回到原点
sensor.set_auto_exposure(False, 600) #设置曝光
sensor.skip_frames(time=2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
sensor.set_saturation(1) #设置饱和度
clock = time.clock()
while (True):
clock.tick()
img = sensor.snapshot()
color_value = p_in_7.value(
) # get value, 0 or 1#读入p_in_7引脚的值 抽签确定的球的颜色 0为黑 1为白
judge_value = p_in_8.value() # get value, 0 or 1#读入p_in_8引脚的值 判断是否开始分球
Ready_value = p_in_9.value() # get value, 0 or 1#读入p_in_9引脚的值 射球是否就绪
if color_value == 1:
color_flag = 1 #白球
else:
color_flag = 0 #黑球
# Chrome, Firefox and MJpegViewer App on Android have been tested.
# Connect to OPENMV_AP and use this URL: http://192.168.1.1:8080 to view the stream.
import sensor, image, time, network, usocket, sys
SSID ='OPENMV_AP' # Network SSID
KEY ='1234567890' # Network key (must be 10 chars)
HOST = '' # Use first available interface
PORT = 8080 # Arbitrary non-privileged port
# Reset sensor
sensor.reset()
# Set sensor settings
sensor.set_contrast(1)
sensor.set_brightness(1)
sensor.set_saturation(1)
sensor.set_gainceiling(16)
sensor.set_framesize(sensor.QQVGA)
sensor.set_pixformat(sensor.GRAYSCALE)
# Init wlan module in AP mode.
wlan = network.WINC(mode=network.WINC.MODE_AP)
wlan.start_ap(SSID, key=KEY, security=wlan.WEP, channel=2)
# You can block waiting for client to connect
#print(wlan.wait_for_sta(10000))
def start_streaming(s):
print ('Waiting for connections..')
client, addr = s.accept()
# set client socket timeout to 2s
i = 0
z = 0
for i in range(datalen):
z = z + data[i]*data[i]
return z
#设置摄像头相关参数
sensor.reset()
sensor.set_pixformat(sensor.RGB565) #设置图片格式（彩色/灰度图）
sensor.set_framesize(sensor.QVGA) #设置图像大小
sensor.skip_frames(10) #等待设置生效
sensor.set_auto_whitebal(False) #关闭白平衡
sensor.set_auto_gain(False) #关闭自动亮度调节
sensor.set_contrast(0) #对比度 -3~3 7个调节
sensor.set_brightness(0) #亮度
sensor.set_saturation(0) #饱和度
uart = UART(3,115200) #设置串口
led = pyb.LED(3) #提示灯
clock = time.clock() #初始化时钟
#颜色识别区域的中心坐标
x_distance = y_distance = 0
#路径识别参数
ROIS = [ # [ROI, weight]
#(0, 110, 160, 10),
#(0, 100, 160, 10),
(0, 090, 160, 10),
(0, 080, 160, 10),
(0, 070, 160, 10),
# MicroPython v0.5.0-29-g97fad3a on 2020-03-13; Sipeed_M1 with kendryte-k210
# Importe de librerias
import sensor, image, lcd, time, utime
import KPU as kpu
# Configuración inicial de la pantalla LCD y la camara OV2640
lcd.init() # Inicializa la pantalla
sensor.reset() # Inicializa la camara
sensor.set_pixformat(sensor.RGB565) # Define el formato de color de la imagen
sensor.set_framesize(
sensor.QVGA) # Establece la captura de imagen como QVGA (320x240)
sensor.set_windowing(
(224, 224)) # Establece el tamaño de imagen con el que se entreno la red
sensor.set_vflip(1) # Rotación vertical de la imagen
sensor.set_saturation(-3) # Saturacion
sensor.set_brightness(-3) # brightness
sensor.set_contrast(-3) # contrast
lcd.clear() # Limpia la pantalla y la deja en negro
# Descripción y carga del modelo
labels = ['Acaro', 'Bueno',
'Manchado'] # Etiquetas de la ultima capa de la red
task = kpu.load(
'/sd/3clases.kmodel') # Acá va al ubicación del archivo .kmodel (CARGA)
kpu.set_outputs(task, 0, 1, 1,
3) # Aqúi van las dimensiones de la ultima capa de la red
while (True):
tick1 = utime.ticks_ms()
watchdog_led = False
elif (cmd == b'ctrt+'):
contrast = max(contrast + 1, 3)
sensor.set_contrast(constrast)
elif (cmd == b'ctrt-'):
contrast = min(contrast - 1, -3)
sensor.set_contrast(constrast)
elif (cmd == b'brgt+'):
brightness = max(brightness + 1, 3)
sensor.set_brightness(brightness)
elif (cmd == b'brgt-'):
brightness = min(brightness - 1, -3)
sensor.set_brightness(brightness)
elif (cmd == b'satr+'):
saturation = max(saturation + 1, 3)
sensor.set_saturation(saturation)
elif (cmd == b'satr-'):
saturation = min(saturation - 1, -3)
sensor.set_saturation(saturation)
elif (cmd == b'width'):
usb.send(sensor.width())
elif (cmd == b'heigh'):
usb.send(sensor.height())
elif (cmd == b'q4vga'):
sensor.set_framesize(sensor.QQQQVGA) #40x30
elif (cmd == b'q3vga'):
sensor.set_framesize(sensor.QQQVGA) #80x60
elif (cmd == b'q2vga'):
sensor.set_framesize(sensor.QQVGA) #160x120
elif (cmd == b'q1vga'):
sensor.set_framesize(sensor.QQVGA) #320x240
import sensor
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(
sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)
sensor.skip_frames(time=2000) # Wait for settings take effect.
sensor.set_windowing(30, 30) #Sets the resolution of the camera to a
#sub resolution inside of the current resolution.
sensor.set_contrast(0) #Set the camera image contrast. -3 to +3.
sensor.set_brightness(0) #Set the camera image brightness. -3 to +3.
sensor.set_saturation(0) #Set the camera image saturation. -3 to +3.
sensor.set_auto_gain(
False) #You need to turn off white balance too if you want to
#track colors.
sensor.set_auto_whitebal(
False) #You need to turn off white balance too if you want to
#track colors.
sensor.set_lens_correction(
True) #radi integer radius of pixels to correct (int).
#coef power of correction (int).
while (True):
img = sensor.snapshot() # Take a picture and return the image.
import sensor, mlx, time
# Initialize the MLX module
mlx.init(mlx.IR_REFRESH_64HZ)
# Reset sensor
sensor.reset()
# Set sensor settings
sensor.set_contrast(1)
sensor.set_brightness(0)
sensor.set_saturation(2)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
# The following registers fine-tune the image
# sensor window to align it with the FIR sensor.
if (sensor.get_id() == sensor.OV2640):
sensor.__write_reg(0xFF, 0x01) # switch to reg bank
sensor.__write_reg(0x17, 0x19) # set HSTART
sensor.__write_reg(0x18, 0x43) # set HSTOP
# FPS clock
clock = time.clock()
# Ambient temperature
ta = 0.0
# Minimum object temperature
to_min = 0.0
# Maximum object temperature
to_max = 0.0
gain_db = sensor.get_gain_db()
exposure_us = sensor.get_exposure_us()
rgb_gain_db = sensor.get_rgb_gain_db()
print("gain_db is " + str(gain_db))
print("exposure is " + str(exposure_us))
print("rgb_gain_db is " + str(rgb_gain_db))
# Set the gain and exposure as fixed (not concerned about the values)
sensor.set_auto_gain(False, gain_db)
sensor.set_auto_exposure(False, exposure_us)
sensor.set_auto_whitebal(False, rgb_gain_db)
# Setup contrast, brightness and saturation
sensor.set_contrast(0) # range -3 to +3
sensor.set_brightness(0) # range -3 to +3
sensor.set_saturation(0) # range -3 to +3
# Disable night mode (auto frame rate) and black level calibration (BLC)
sensor.__write_reg(0x0E, 0b00000000) # Disable night mode
sensor.__write_reg(0x3E, 0b00000000) # Disable BLC
sensor.__write_reg(0x13, 0b00000000) # disable automated gain
gain_db = sensor.get_gain_db()
exposure_us = sensor.get_exposure_us()
rgb_gain_db = sensor.get_rgb_gain_db()
print("gain_db is " + str(gain_db))
print("exposure is " + str(exposure_us))
print("rgb_gain_db is " + str(rgb_gain_db))
reg_list = [
import sensor, image, time, math from pyb import LED,UART,Pin sensor.reset() sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QQSIF) sensor.skip_frames(time = 2000) sensor.set_auto_gain(True) sensor.set_auto_whitebal(False) sensor.set_auto_exposure(True) sensor.set_contrast(3) sensor.set_saturation(3) ImageX = 88 ImageY = 60 letter_thresholds = (0, 50) red_thresholds = (30, 70, 30, 100, 30, 100) yellow_thresholds = (70, 100, -10, 30, 60, 100) green_thresholds = (30, 100, -100, -40, 30, 100) uart = UART(3, 9600, timeout_char=10) uart.init(9600) clock = time.clock() blobHcenter = 0 blobHtop = 255 blobHbottom = 255 blobHleft = 0 blobHright = 0 blobHtopleft = 0 blobHtopright = 0 blobHbottomleft = 0 blobHbottomright = 0 blobScenter = 0 blobStop = 0
user_exposure_time = 500 #camera exposure time, feel free to change. 900 is default value for tested setup
sensor.reset() # Initialize the camera sensor
sensor.set_pixformat(
sensor.GRAYSCALE
) # set camera format to grayscale (color not important in this example)
sensor.set_framesize(sensor.QVGA) # set camera resolution to QVGA 320 x 240
sensor.set_auto_whitebal(False) # Turn off white balance
sensor.set_auto_exposure(
False, exposure_us=user_exposure_time
) # set exposure time, user changable (user_exposure_time variable)
#these setting are manually set in order to prevent camera to change it during use (no automatic setting in machine vision!)
sensor.set_brightness(0) #set camera brightness
sensor.set_contrast(2) #set camera contrast
sensor.set_saturation(0) #set camera saturation
# Print out the initial gain for comparison.
print("Initial gain == %f db" % sensor.get_gain_db())
sensor.skip_frames(
time=2000) #small 2 seconds pause, so camera can update its settings
# calculating sensor gain
# user can change GAIN_SCALE factor in order to obtain more bright image
current_gain_in_decibels = sensor.get_gain_db() #current sensor gain
print("Current Gain == %f db" %
current_gain_in_decibels) #reporting current gain
sensor.set_auto_gain(False,
gain_db=current_gain_in_decibels * GAIN_SCALE) #new gain
print("New gain == %f db" % sensor.get_gain_db()) #reporting new sensor gain
sensor.skip_frames(
import sensor, time
sensor.reset()
# Set sensor settings
sensor.set_brightness(0)
sensor.set_saturation(0)
sensor.set_gainceiling(8)
sensor.set_contrast(2)
# Set sensor pixel format
sensor.set_framesize(sensor.QVGA)
sensor.set_pixformat(sensor.RGB565)
# Enable colorbar test mode
sensor.set_colorbar(True)
# Skip a few frames to allow the sensor settle down
for i in range(0, 30):
image = sensor.snapshot()
#color bars thresholds
t = [lambda r, g, b: r < 50 and g < 50 and b < 50, # Black
lambda r, g, b: r < 50 and g < 50 and b > 200, # Blue
lambda r, g, b: r > 200 and g < 50 and b < 50, # Red
lambda r, g, b: r > 200 and g < 50 and b > 200, # Purple
lambda r, g, b: r < 50 and g > 200 and b < 50, # Green
lambda r, g, b: r < 50 and g > 200 and b > 200, # Aqua
lambda r, g, b: r > 200 and g > 200 and b < 50, # Yellow
lambda r, g, b: r > 200 and g > 200 and b > 200] # White
#320x240 image with 8 color bars each one is approx 40 pixels.
# with open("img.jpg", "w") as f:
# f.write(img)
import sensor, image, pin, time, ustruct, pyb
from pyb import USB_VCP
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(
sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)
sensor.set_auto_exposure(False, 5000)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
#sensor.set_contrast( -3 ) #-3 +3
#sensor.set_brightness( +3 ) #-3 +3
sensor.set_saturation(+3) #-3 +3
sensor.skip_frames(time=1000)
DBG = True
pin = Pin('P0', Pin.OUT_OD)
usb = USB_VCP()
imgMs = 0
usbMs = 0
stream = True
while (True):
ticks = time.ticks()
img = sensor.snapshot()
cnt = 0