openMV入门学习（一）

本章主要介绍基本操作及基本的颜色识别部分。

先用openmv入门视觉，openmv教程较多此文章根据下面相关网站学习所记录。

OpenMV | 星瞳科技 (singtown.com)

在星瞳中安装IDE将openmv用安卓数据线与电脑相连（如果供电，注意不能用左侧3V3给openmv供电，供电用右侧的VIN和GND，使用时不能放在电脑上，金属外壳易短接）

在官网安装完成IDE后打开IDE

最右侧那一列居中的箭头点击可以拉出图像，需按左下连接运行才有图像。

将代码14行里的"QVGA"改为“VGA”可以提高摄像头分辨率。

刚使用时需要手动对焦（并不是最里面对焦最好）将摄像头拧出缓慢拧入实时看图像效果，图象最清晰时，将中间的大圈拧紧固定，对焦完成。

脱机运行程序

在tool选择将打开的脚本保存到OpenMV Cam（只能有一个main.py）

供电用右侧的VIN和GND 3.7-3V电压供电（推荐5v）左侧的3V3是openMV给其他模块供电的。

Single Color RGB565 Blob Tracking Example

单颜色彩色识别

thresholds阈值

thresholds = [
    (30, 100, 15, 127, 15, 127),  # generic_red_thresholds
    (30, 100, -64, -8, -32, 32),  # generic_green_thresholds
    (0, 30, 0, 64, -128, 0),
]  # generic_blue_thresholds

tool-机器视觉-阈值编辑器-帧缓冲区，调节LAB获得最佳的LAB阈值copy到阈值

sensor.reset()//重置光感元件（摄像机）
sensor.set_pixformat(sensor.RGB565)//颜色格式设置为RGB565
sensor.set_framesize(sensor.QVGA)//图片大小为QVGA

颜色识别完整示例代码

# This work is licensed under the MIT license.
# Copyright (c) 2013-2023 OpenMV LLC. All rights reserved.
# https://github.com/openmv/openmv/blob/master/LICENSE
#
# Single Color RGB565 Blob Tracking Example
#
# This example shows off single color RGB565 tracking using the OpenMV Cam.

import sensor
import time
import math

threshold_index = 0  # 0 for red, 1 for green, 2 for blue

# Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
# The below thresholds track in general red/green/blue things. You may wish to tune them...
thresholds = [
    (34, 49, -112, -16, -128, 100),  # generic_red_thresholds
    (30, 100, -64, -8, -32, 32),  # generic_green_thresholds
    (0, 30, 0, 64, -128, 0),
]  # generic_blue_thresholds

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
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
clock = time.clock()

# Only blobs that with more pixels than "pixel_threshold" and more area than "area_threshold" are
# returned by "find_blobs" below. Change "pixels_threshold" and "area_threshold" if you change the
# camera resolution. "merge=True" merges all overlapping blobs in the image.

while True:
    clock.tick()
    img = sensor.snapshot()
    for blob in img.find_blobs(
        [thresholds[threshold_index]],
        pixels_threshold=200,
        area_threshold=200,
        merge=True,
    ):
        # These values depend on the blob not being circular - otherwise they will be shaky.
        if blob.elongation() > 0.5:
            img.draw_edges(blob.min_corners(), color=(255, 0, 0))
            img.draw_line(blob.major_axis_line(), color=(0, 255, 0))
            img.draw_line(blob.minor_axis_line(), color=(0, 0, 255))
        # These values are stable all the time.
        img.draw_rectangle(blob.rect())
        img.draw_cross(blob.cx(), blob.cy())
        # Note - the blob rotation is unique to 0-180 only.
        img.draw_keypoints(
            [(blob.cx(), blob.cy(), int(math.degrees(blob.rotation())))], size=20
        )
    print(clock.fps())