物品分拣项目记录（一）

物品分拣项目记录（一）

—OPENMV识别色块返回坐标

声明一下我是处于学习阶段的小白一枚，第一次写博客作为学习记录，加深印象，可能写的不对，或者写的不全，欢迎在下评论哈，我会及时更正

1. 正文

OPENMV代码：

import sensor, image, time, math, json
from pyb import UART
from pyb import LED

uart = UART(1, 115200, timeout_char=1000)#串口1 115200 超时时间1s

#存放所要识别的颜色
croci = [(22, 100, 15, 127, -67, 127)]# 桔黄
back = [(32, 100, -128, 127, -128, 127)]#黑色

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)   #320240 Dpi
sensor.skip_frames(time = 2000)     #跳过几帧 初始化
sensor.set_auto_gain(True)          #打开自动增益
sensor.set_auto_whitebal(True)      #打开白平衡
clock = time.clock()

while(True):
    data1=[]  #用于存放坐标
    data2=[]
    clock.tick()
    img = sensor.snapshot().lens_corr(strength = 2.3, zoom = 1.0)     #拍照+畸形矫正（加了超广角镜头）

    #画蓝色线条把敏感区框起来
    img.draw_line(27,50,252,50,(0,0,255),thickness = 2);
    img.draw_line(27,50,27,240,(0,0,255),thickness = 2);
    img.draw_line(252,50,252,105,(0,0,255),thickness = 2);
    img.draw_line(252,105,305,105,(0,0,255),thickness = 2);
    img.draw_line(305,105,305,240,(0,0,255),thickness = 2);


    blobs = img.find_blobs(croci,
                           roi=[27,50,302,232],     #敏感区域
                           pixels_threshold=40,     #所要识别色块的像素大小范围
                           area_threshold=60,
                           merge=False,
                           merge_cb=False)
    if blobs:
       for a in blobs:
            img.draw_cross(a.cx(), a.cy())
            data1.append(str("X"))          #打包数据
            data1.append(str(a.cx()))
            data1.append(str("Y"))
            data1.append(str(a.cy()))
            data1.append(str("A"))


    blobs = img.find_blobs(back,
                           roi=[27,50,280,232],
                           invert=True,
                           pixels_threshold=40,
                           area_threshold=60,
                           merge=False,
                           merge_cb=False)
    if blobs:
        for b in blobs:
            if(b.pixels()<=2000):
                img.draw_cross(b.cx(), b.cy())
                data2.append(str("X"))
                data2.append(str(b.cx()))
                data2.append(str("Y"))
                data2.append(str(b.cy()))
                data2.append(str("B"))

    string = ''.join(data1) + ''.join(data2)
    if len(string):
         uart.write(string)     #串口发送打包好的数据
         print(string)

识别效果图片：

实物图片：