23年电赛e题--＞自动追踪系统openmv代码（讲解+视觉完整代码）

                openmv很常用了，会有几个很明显的问题，看不见，找不到红色激光。

                第四问找到的矩形，的四个点顺序不对，应该怎么描点（细分多少份好一点）。

这个就是问题了。

现在一个一个解决。

1.关于看不见的问题

sensor.set_brightness(-3)
sensor.set_contrast(-3)

调试这两个函数。

2.关于找到四个矩形框，四个点不是顺时针问题。

先是找矩形框：

for i in range(10):
    img = sensor.snapshot().lens_corr(strength = 1.5, zoom = 1)
    #img.binary(heikuang)#.erode(1)
    for r in img.find_rects(threshold = 10000,roi=(75,5,191,203)):
         #img.draw_rectangle(r.rect(), color = (255, 0, 0))
         for p in r.corners():
            a+=1
            img.draw_circle(p[0], p[1], 5, color = (0, 255, 0))
            #print(p)
            if a<=4:
                dian.add(p)

我找10次就好了，然后画出来。

看找的对不对。

这块的代码就是对点进行排序。（思路是，x最小为第一个点，x最大为第三个点，y最大为第四个，y最小为第二个。）

完美解决！！！ 

3.细分多少份。

我这里有绝妙的方法，我细分了无数份。---》我上面求出了矩形的四个点，并且·对他进行排序了。然后我就可以求出这，四条边的直线了，然后让直线·向内收缩，收缩到中心位置。

我的细分点为，目标点，红色点为当前值。我用当前值+1个像素，作为目标点的x，再把x代直线求y。就是完美的细分。

具体代码：

1. 给点求直线。 

2.求出直线并向内收缩

（我这里等分了，这个不用管，我在下面将这几个点画出来，看我找的对不对！！！）

 

 3.细分（我这里求目标点和现在点的差值，来进行换点！！！）

其实具体代码思路就那样，具体代码要靠自己去写。 

完整代码：

# Untitled - By: 24882 - Tue Jun 25 2024
heikuang =[(0, 107)]
roi1=[(79,32,165,163),(81,12,401,404)]
bai_se=0
red = [(0, 60, 2, 68, 53, -24)]
green=[(59, 85, -78, 23, -11, 60)]

import sensor, image, time,pyb
from pyb import Pin, ExtInt
from pyb import LED
from pyb import UART
from pid import PID
from machine import UART
sensor.reset()
sensor.set_pixformat(sensor.RGB565)

sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 20)
sensor.set_hmirror(True)
sensor.set_vflip(True)
clock = time.clock()
uart = UART(3, 115200)
uart1 = UART(1, 115200)
dian=set()
a=0
b=()
c=()
d=()
e=0
dian1=[]
dian2=[]
dian3=[]
dian4=[]
zuobiao=[]
zhongjian=()
def sending_data3(a1,a2,a3,a4,a5,a6,a7,a8):
    FH= bytearray([0x01,a1,a2,a3,a4,a5,a6,a7,a8,0x64])
    uart.write(FH)
def sending_data1(a1,a2,a3,a4,a5,a6,a7,a8):
    FH= bytearray([0x01,a1,a2,a3,a4,a5,a6,a7,a8,0x64])
    uart1.write(FH)
for i in range(10):
    img = sensor.snapshot().lens_corr(strength = 1.5, zoom = 1)
    #img.binary(heikuang)#.erode(1)
    for r in img.find_rects(threshold = 10000,roi=(75,5,191,203)):
         #img.draw_rectangle(r.rect(), color = (255, 0, 0))
         for p in r.corners():
            a+=1
            img.draw_circle(p[0], p[1], 5, color = (0, 255, 0))
            #print(p)
            if a<=4:
                dian.add(p)
ge=0
diyi=0
def takeSecond(elem):
    return elem[0]
sensor.set_pixformat(sensor.RGB565)
z1x=0
z1y=0
z2x=0
z2y=0
z3x=0
z3y=0
z4x=0
z4y=0
k1=0
b1=0
k2=0
b2=0
k2=0
b2=0
k3=0
b3=0
k4=0
b4=0
def zhixianwai1(ax,ay,bx,by):
    global k1,b1
    k1=(ay-by)/(ax-bx)
    b1=ay-k1*ax
def zhixianwai2(ax,ay,bx,by):
    global k2,b2
    k2=(ay-by)/(ax-bx)
    b2=ay-k2*ax
def zhixianwai3(ax,ay,bx,by):
    global k3,b3
    k3=(ay-by)/(ax-bx)
    b3=ay-k3*ax
def zhixianwai4(ax,ay,bx,by):
    global k4,b4
    k4=(ay-by)/(ax-bx)
    b4=ay-k4*ax
def find_max(blobs):
    max_blob = 0
    max_size = 0
    for blob in blobs:
        if blob[4]>max_size:
            max_blob = blob
            max_size = blob[4]
    return max_blob
i=0
flaghuan=0
countflag=0
dian1x=0
dian1y=0
dian2x=0
dian2y=0
sensor.set_pixformat(sensor.RGB565)
sensor.set_brightness(-3)
sensor.set_contrast(-3)

mode=0
while(True):
    mode=2
    dian1=list(dian)
    dian1.sort(key=takeSecond)
    #print(dian1)
    img = sensor.snapshot().lens_corr(strength = 1.5, zoom = 1)*
    sorted_indices = sorted(enumerate(dian1), key=lambda x: x[1][0])
    sorted_matrix = [dian1[idx] for idx, _ in sorted_indices]

    z1x=sorted_matrix[0][0]
    z1y=sorted_matrix[0][1]
    z3x=sorted_matrix[3][0]
    z3y=sorted_matrix[3][1]

    sorted_indices2 = sorted(enumerate(dian1), key=lambda y: y[1][1])
    sorted_matrix2 = [dian1[idy] for idy, _ in sorted_indices2]
    z2x=sorted_matrix2[0][0]
    z2y=sorted_matrix2[0][1]
    z4x=sorted_matrix2[3][0]
    z4y=sorted_matrix2[3][1]

    zhixianwai1(z1x,z1y,z2x,z2y)
    dengfen1=abs(z2x-z1x)/3
    mubiao1x=z1x+dengfen1
    mubiao1y=mubiao1x*k1+b1+5

    mubiao2x=z1x+dengfen1*2
    mubiao2y=mubiao2x*k1+b1+5

    zhixianwai2(z2x,z2y,z3x,z3y)
    dengfen2=abs(z3x-z2x)/3
    mubiao3x=z2x+dengfen2
    mubiao3y=mubiao3x*k2+b2+5

    mubiao4x=z2x+dengfen2*2
    mubiao4y=mubiao4x*k2+b2+5

    zhixianwai3(z4x,z4y,z3x,z3y)
    dengfen3=abs(z2x-z1x)/3
    mubiao6x=z4x+dengfen3
    mubiao6y=mubiao6x*k3+b3-5

    mubiao5x=z4x+dengfen3*2
    mubiao5y=mubiao5x*k3+b3-5

    zhixianwai4(z1x,z1y,z4x,z4y)
    dengfen4=abs(z1x-z4x)/3
    mubiao8x=z1x+dengfen4
    mubiao8y=b4+mubiao8x*k4-5

    mubiao7x=z1x+dengfen4*2
    mubiao7y=b4+mubiao7x*k4-5
    img.draw_cross(int(mubiao1x),int(mubiao1y), size=1, color=(255,0,0))
    img.draw_cross(int(mubiao2x),int(mubiao2y), size=1, color=(255,0,0))
    img.draw_cross(int(mubiao3x),int(mubiao3y), size=1, color=(255,0,0))
    img.draw_cross(int(mubiao4x),int(mubiao4y), size=1, color=(255,0,0))
    img.draw_cross(int(mubiao5x),int(mubiao5y), size=1, color=(255,0,0))
    img.draw_cross(int(mubiao6x),int(mubiao6y), size=1, color=(255,0,0))
    img.draw_cross(int(mubiao7x),int(mubiao7y), size=1, color=(255,0,0))
    img.draw_cross(int(mubiao8x),int(mubiao8y), size=1, color=(255,0,0))


    #print(i)
    if (i==0):
           mubx=z1x
           muby=z1y
    are1 = img.find_blobs(green,roi=(0,0,317,237),merge=True)
    are0 = img.find_blobs(red,roi=(93,4,202,216),merge=True)
    blobs1 = find_max(are1)
    blobs0 = find_max(are0)
    if(blobs0):
        img.draw_rectangle(blobs0.rect(),color=(255,255,0))
        print(flaghuan)
        sending_data3(blobs0.cx(),blobs0.cy(),abs(int(mubx)),abs(int(muby)),0,0,0,0)

        if(abs(blobs0.cx()-z3x)<=10):
            flaghuan=1
        if(abs(blobs0.cy()-z4y)<=5):
            flaghuan=2
        if(abs(blobs0.cx()-z1x)<=5):
            flaghuan=0

        if((abs(blobs0.cx()-mubx)<=3) and(abs(blobs0.cy()-muby)<=3)):
            i=i+1
            if((blobs0.cx()>z1x)and(blobs0.cx()<z2x-5)and(flaghuan==0)):
                mubx=mubx+1
                muby=mubx*k1+b1+5

            if((blobs0.cx()>z2x-5)and(blobs0.cx()<z3x)and(flaghuan==0)):
                mubx=mubx+1
                muby=mubx*k2+b2+5
                
            if((blobs0.cy()<=z4y+1)and(blobs0.cy()>=z3y-10)and(flaghuan==1)):
 
                mubx=mubx-1
                muby=mubx*k3+b3-5

            if((blobs0.cy()<z4y+5)and(blobs0.cy()>z1y)and(flaghuan==2)):
    
                mubx=mubx-1
                muby=mubx*k4+b4-5
        dian2x=blobs0.cx()
        dian2y=blobs0.cy()
    else :
        dian2x=0
        dian2y=0
    if(blobs1):
        img.draw_rectangle(blobs1.rect(),color=(255,255,0))
        dian1x=blobs1.cx()
        dian1y=blobs1.cy()
        sending_data1(dian1x,dian1y,dian2x,dian2y,0,0,0,0)
        print(dian1x,dian1y,dian2x,dian2y,0,0,0,0)
    else:
        dian2x=0
        dian2y=0