# 颜色识别基础模板 find_blobs
import sensor, image, time, pyb
# 串口初始化 UART1 P4 TX P5 RX
uart = pyb.UART(1, 115200)
# 摄像头初始化
sensor.reset()
sensor.set_pixformat(sensor.RGB565) #彩色图像
sensor.set_framesize(sensor.QVGA) #320×240，速度最快，竞赛首选
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) #关闭自动增益！颜色识别必关
sensor.set_auto_whitebal(False) #关闭自动白平衡！颜色识别必关
clock = time.clock()
# ========== HSV阈值，用IDE阈值编辑器获取 ==========
# (Lmin,Lmax, Amin,Amax,Bmin,Bmax)
red_threshold = (10, 80, 20, 127, 0, 127)
while(True):
 clock.tick()
 img = sensor.snapshot()
 # find_blobs(阈值，像素过滤，合并相邻色块)
 blobs = img.find_blobs([red_threshold], pixels_threshold=20, area_threshold=20, merge=True)
 if blobs:
 #取面积最大色块
 max_blob = max(blobs, key=lambda b: b.pixels())
 #画出色块框和中心十字，方便调试观察
 img.draw_rectangle(max_blob.rect())
 img.draw_cross(max_blob.cx(), max_blob.cy())
 cx = max_blob.cx() #色块中心X坐标 0~319
 cy = max_blob.cy() #色块中心Y坐标 0~239
 w = max_blob.w()
 h = max_blob.h()
 #打印到IDE控制台
 print("cx:%d, cy:%d, w:%d, h:%d"%(cx,cy,w,h))
 #串口发送字符串，单片机解析
 uart.write("%d,%d\r\n"%(cx, cy))
 #print(clock.fps()) #打印帧率

roi = (0,160,320,80) #x起点,y起点,宽,高，只看图片底部
blobs = img.find_blobs([red_threshold], roi=roi, pixels_threshold=20, area_threshold=20, merge=True)

import sensor, image, time, pyb
uart = pyb.UART(1,115200)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(2000)
clock = time.clock()
# 镜头参数，OpenMV4‑H7 R2默认参数，换镜头必须修改
f_x = (2.8 / 3.984) * 160
f_y = (2.8 / 2.952) * 120
c_x = 160 * 0.5
c_y = 120 * 0.5
while(True):
 clock.tick()
 img = sensor.snapshot()
 #apriltag36h11家族
 tags = img.find_apriltags(fx=f_x, fy=f_y, cx=c_x, cy=c_y)
 for tag in tags:
 img.draw_rectangle(tag.rect(), color = (255,0,0))
 img.draw_cross(tag.cx(), tag.cy(), color=(0,255,0))
 tag_id = tag.id()
 tx = tag.x_translation()
 ty = tag.y_translation()
 tz = tag.z_translation()
 rot = tag.rotation()
 print("ID:%d X:%.2f Y:%.2f Z:%.2f Rot:%.2f"%(tag_id,tx,ty,tz,rot))
 uart.write("T:%d,%.2f,%.2f,%.2f\r\n"%(tag_id,tx,ty,tz))
 #print(clock.fps())

import sensor, image, time, pyb
uart = pyb.UART(1,115200)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(2000)
while(True):
 img = sensor.snapshot()
 codes = img.find_qrcodes()
 if codes:
 data = codes[0].payload()
 print(data)
 uart.write(data+"\r\n")
 img.draw_rectangle(codes[0].rect())

#识别不到色块保护示例
if blobs:
 cx = max_blob.cx()
else:
 cx = -1 #识别不到输出‑1，单片机判断‑1代表无目标