工程训练题，OPEMMV 识别红黄蓝三种颜色的物块并串口返回物块坐标

工程训练题，OPEMMV 识别红黄蓝三种颜色的物块并串口返回物块坐标

话不多说，直接看代码吧

// An highlighted block
var foo = 'bar';import sensor, image, time
from pyb import UART
import json
# 颜色追踪的例子，一定要控制环境的光，保持光线是稳定的。
green_threshold   = (   50,   70,  -70,   -10,   -20,   30)
red_threshold = ( 45, 70, 60, 80, 0, 60)
yellow_threshold   = (   65,   100,  -30,   10,   20,   80)
blue_threshold   = (   45,  75,  -40,   0,   -50,   -30)
uart = UART(3, 9600)
RX = 0
RY = 0
GX = 0
GY = 0
BX = 0
BY = 0
sensor.reset() # 初始化摄像头
sensor.set_pixformat(sensor.RGB565) # 格式为 RGB565.
sensor.set_framesize(sensor.QQVGA) # 使用 QQVGA 速度快一些
sensor.skip_frames(time = 2000) # 跳过2000s，使新设置生效,并自动调节白平衡
sensor.set_auto_gain(False) # 关闭自动自动增益。默认开启的，在颜色识别中，一定要关闭白平衡。
sensor.set_auto_whitebal(False)
#关闭白平衡。白平衡是默认开启的，在颜色识别中，一定要关闭白平衡。
clock = time.clock() # 追踪帧率

while(True):
    clock.tick() # Track elapsed milliseconds between snapshots().
    img = sensor.snapshot() # 从感光芯片获得一张图像
    green_blobs = img.find_blobs([green_threshold],area_threshold=600)
    if green_blobs:
        for b in green_blobs:
            img.draw_rectangle(b[0:4],color=(0,255,0))
            img.draw_cross(b[5], b[6],color=(0,255,0))
            GX = b.cx()
            GY = b.cy()


    red_blobs = img.find_blobs([red_threshold],area_threshold=600)
    if red_blobs:
        for b in red_blobs:
            img.draw_rectangle(b[0:4],color=(255,0,0))
            img.draw_cross(b[5], b[6],color=(255,0,0))
            RX = b.cx()
            RY = b.cy()

    blue_blobs = img.find_blobs([blue_threshold],area_threshold=600)
    if blue_blobs:
        for b in blue_blobs:
            img.draw_rectangle(b[0:4],color=(0,0,255))
            img.draw_cross(b[5], b[6],color=(0,0,255))
            BX = b.cx()
            BY = b.cy()

    print('RX:',RX,'RY:',RY ,'GX:',GX ,'GY:',GY ,'BX:',BX ,'BY:',BY )