2022电赛泊车openmv代码

2022电赛泊车openmv代码

• 仅作为比赛参考，具体数值请自己调整
• 注释写的很清楚了

import sensor, image, time, math,pyb
from pyb import Pin, Timer,UART# 串口通信
uart = pyb.UART(1,115200,timeout_char = 1000)#串口初始化# 跟踪黑色线条（阈值依据实验条件进行更改）
thresholds = (0, 40)# 五块感性区域
ROIS = [                            #[ROI, weight]越近，权重越大，在这里权值暂时不考虑(30, 90,   100, 30, 0), #下面1(40, 40,   80, 40, 0), #中间2(30, 0,    100, 30, 0), #上面3  160 *120(0, 20,    30, 100, 0), #左边4(130,20 ,   30, 100, 0)  #右边5]
weight_sum = 0
for r in ROIS: weight_sum += r[4] # r[4] is the roi weight.#---------------------------------------摄像头初始化-----------------------------------------#
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)  # 灰度图做巡线
sensor.set_framesize(sensor.QQVGA) # 像素160*120
sensor.skip_frames(time=2000)
sensor.set_auto_gain(False)                         # 颜色追踪关闭自动增益
sensor.set_auto_whitebal(False)                     # 颜色追踪关闭白平衡#---------------------------------------标志位和变量-----------------------------------------#
flag = 0
i = 0  #记录第几行数据
led=pyb.LED(3)#必要的时候进行红外补光center_flag1 = 0 #区域标志
center_flag2 = 0
center_flag3 = 0
center_flag4 = 0
center_flag5 = 0
mid_num = 0# 串口输出变量
out_str1 = ''
count_RT = 0
RT_tag = 0
T_tag = 0clock = time.clock()
#定义一个定时发送数据的函数
def tick(timer):#we will receive the timer object when being calledglobal flagflag=1tim = Timer(4,freq=100)            # create a timer object using timer 4 - trigger at 1Hz
tim.callback(tick)                # set the callback to our tick function
#--------------------------------------while循环开始-----------------------------------------#
while(True):pyb.LED(1).on()if(flag==1):img=sensor.snapshot()img.lens_corr(1.5) # for 2.8mm lens...摄像头畸变纠正#--------------------------------------色块的位置(此段代码别动)--------------------------------------##检测黑色色块位置for r in ROIS:i=i+1;blobs=img.find_blobs([thresholds], roi=r[0:4], merge=True,pixels_area=10) # r[0:4] is roi tuple.if blobs:#如果找到了颜色块# Find the blob with the most pixels.largest_blob = max(blobs, key=lambda b: b.pixels())if(i==1):#下面矩形if(largest_blob[2]>=5):#排除瑕疵点if(largest_blob[3]>=5):center_flag1=1;#下面的矩形找到的标志img.draw_rectangle(largest_blob.rect())img.draw_cross(largest_blob.cx(),largest_blob.cy(),2)elif(i==2):#中间矩形if(largest_blob[2]>=5):if(largest_blob[3]>=5):center_flag2=1;img.draw_rectangle(largest_blob.rect())img.draw_cross(largest_blob.cx(),largest_blob.cy(),2)elif(i==3):#上面的矩形if(largest_blob[2]>=5):if(largest_blob[3]>=5):center_flag3=1;img.draw_rectangle(largest_blob.rect())img.draw_cross(largest_blob.cx(),largest_blob.cy(),2)elif(i==4):#左边的矩形找到了if(largest_blob[2]>=5):if(largest_blob[3]>=5):center_flag4=1;img.draw_rectangle(largest_blob.rect())img.draw_cross(largest_blob.cx(),largest_blob.cy(),2)elif(i==5):#右边的矩形找到了if(largest_blob[2]>=5):if(largest_blob[3]>=5):center_flag5=1;img.draw_rectangle(largest_blob.rect())img.draw_cross(largest_blob.cx(),largest_blob.cy(),2)#--------------------------------------“|-”型T型路口--------------------------------------#if(center_flag1>0 and center_flag3>0 and center_flag5>0):RT_tag = 1pass#--------------------------------------“T”型T型路口--------------------------------------#if(center_flag1>0 and center_flag4>0 and center_flag5>0):T_tag = 1pass#--------------------------------------走到空白路段“|-”型路口计数清除--------------------------------------#if (center_flag1 == 0 and center_flag2 == 0 and center_flag3 == 0 and center_flag4 == 0 and center_flag5 == 0):count_RT = 0pass#--------------------------------------“|-”型路口计数--------------------------------------#if(RT_tag > 0):mid_num += 1# 识别路口,mid_num变量即控制计数时间，不能过大也不能过小，依据小车速度和环境决定if(mid_num > 20):count_RT += 1mid_num = 0if(mid_num < 0 ):mid_num = 0# 串口发送的字符串: 按照位的顺序out_str1 += '%.d' % int(RT_tag);  # 1.检测到“|-”型T型路口out_str1 += '%.d' % int(T_tag);  # 2.检测到“T”型T型路口out_str1 += '%.d' % int(count_RT);  # 3.“|-”型T型路口计数# 以s开头#结尾的串口字符串发送,可以去掉s和#uart.write('s'+out_str1+'#')print(out_str1)# 清零标志center_flag1 = 0    # 区域标志center_flag2 = 0center_flag3 = 0center_flag4 = 0center_flag5 = 0i = 0flag = 0RT_tag = 0T_tag = 0# 串口数组清零out_str1 = ''    # 清除之前的数据#-----------------------------------串口打印数据-----------------------------------------#

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