2022电赛泊车openmv代码

2022电赛泊车openmv代码

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 = 0


clock = 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 called
       global flag
       flag=1

tim = 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 = 1
            pass
        #--------------------------------------“T”型T型路口--------------------------------------#
        if(center_flag1>0 and center_flag4>0 and center_flag5>0):
            T_tag = 1
            pass
        #--------------------------------------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 = 0
            pass
        #--------------------------------------“|-”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 += 1
                mid_num = 0
        if(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 = 0
        center_flag3 = 0
        center_flag4 = 0
        center_flag5 = 0
        i = 0
        flag = 0
        RT_tag = 0
        T_tag = 0

        # 串口数组清零
        out_str1 = ''    # 清除之前的数据
        #-----------------------------------串口打印数据-----------------------------------------#