1 使用东山派k230板子（MicroPython v1.1 on 2024-11-20; k230_canmv_dongshanpi with K230），csi0和csi2都是gc2093的摄像头，打算分别跑颜色识别和二维码识别的python（CanMV IDE）程序
2 单独只使用一个摄像头的时候帧率接近50
3 可是只要使用两个摄像头，sensor1.run()后帧率只有11帧左右了,不应该影响那么大吧？什么算法都没有跑呢
4 还有就是一个摄像头很稳定，两个摄像头同时跑容易出现snapshot fail，加了sleep好点，但是时间一长还是会出现，电源应该没有问题
5 另外二维码识别比AprilTag识别速度快，但同样环境识别成功率低?
代码（以下是屏蔽了一个摄像头的，打开帧率就下降为之前的1/4左右了）：
import time, os, gc, sys, math
from machine import UART
from machine import FPIOA
from media.sensor import *
from media.display import *
from media.media import *
tag_families = 0
#tag_families |= image.TAG16H5 # comment out to disable this family
#tag_families |= image.TAG25H7 # comment out to disable this family
#tag_families |= image.TAG25H9 # comment out to disable this family
#tag_families |= image.TAG36H10 # comment out to disable this family
tag_families |= image.TAG36H11 # comment out to disable this family (default family)
tag_families |= image.ARTOOLKIT # comment out to disable this family
def family_name(tag):
if(tag.family() == image.TAG16H5):
return "TAG16H5"
if(tag.family() == image.TAG25H7):
return "TAG25H7"
if(tag.family() == image.TAG25H9):
return "TAG25H9"
if(tag.family() == image.TAG36H10):
return "TAG36H10"
if(tag.family() == image.TAG36H11):
return "TAG36H11"
if(tag.family() == image.ARTOOLKIT):
return "ARTOOLKIT"
fpioa = FPIOA()
#pin3 设置为串口2发送管脚
fpioa.set_function(44, fpioa.UART2_TXD)
#设置pin4为串口2接收管脚
fpioa.set_function(45, fpioa.UART2_RXD)
#UART: baudrate 115200, 8bits, parity none, one stopbits
uart = UART(UART.UART2, baudrate=9600, bits=UART.EIGHTBITS, parity=UART.PARITY_NONE, stop=UART.STOPBITS_ONE)
#打印串口配置
print(uart)
# UART write
r = uart.write("UART test wwwwwwwwwwwww")
print(r)
# UART read
r = uart.read()
print(r)
# UART readline
r = uart.readline()
print(r)
# UART readinto
b = bytearray(8)
r = uart.readinto(b)
print(r)
count = 0
DETECT_WIDTH1 = 640#640
DETECT_HEIGHT1 = 480#480
DETECT_WIDTH2 = 320#320
DETECT_HEIGHT2 = 240#240
GRAYSCALE_THRESHOLD = [(0, 100)]
ROIS = [ # [ROI, weight]
(0, 50, 240, 20, 0.1), #0,100 You'll need to tweak the weights for your app
(0, 100, 240, 20, 0.3), #0,50 depending on how your robot is setup.
(0, 150, 240, 20, 0.7) #0,0
]
weight_sum = 0
for r in ROIS: weight_sum += r[4] # r[4] is the roi weight.
sensor1 = None
sensor2 = None
try:
# sensor1 = Sensor(id=2,width = DETECT_WIDTH1, height = DETECT_HEIGHT1)
# sensor1.reset()
sensor2 = Sensor(id=0,width = DETECT_WIDTH2, height = DETECT_HEIGHT2)
sensor2.reset()
# sensor1.set_framesize(width = DETECT_WIDTH1, height = DETECT_HEIGHT1)
sensor2.set_framesize(width = DETECT_WIDTH2, height = DETECT_HEIGHT2)
# sensor1.set_pixformat(Sensor.GRAYSCALE)
sensor2.set_pixformat(Sensor.GRAYSCALE)
#sensor2.set_pixformat(Sensor.RGB565)#二维码
Display.init(Display.VIRT, width = DETECT_WIDTH1, height = DETECT_HEIGHT1, fps = 100)
MediaManager.init()
# sensor1.run()
sensor2.run() #只需要一次run
fps = time.clock()
while True:
fps.tick()
# check if should exit.
os.exitpoint()
# time.sleep(0.001)
# img1 = sensor1.snapshot()
time.sleep(0.001)
img2 = sensor2.snapshot()
count=0
centroid_sum = 0
for r in ROIS:
blobs = img2.find_blobs(GRAYSCALE_THRESHOLD, roi=r[0:4], merge=True) # r[0:4] is roi tuple.
if blobs:
# Find the blob with the most pixels.
largest_blob = max(blobs, key=lambda b: b.pixels())
# Draw a rect around the blob.
#if largest_blob.w()>200:
if largest_blob.w()<40 :
count = count+1
img2.draw_rectangle([v for v in largest_blob.rect()])
img2.draw_cross(largest_blob.cx(), largest_blob.cy())
centroid_sum += largest_blob.cx() * r[4] # r[4] is the roi weight.
center_pos = (centroid_sum / weight_sum) # Determine center of line.
deflection_angle = 0
deflection_angle = -math.atan((center_pos-80)/60)
deflection_angle = math.degrees(deflection_angle)
center_pos=int(center_pos)
if count<3:
center_pos=0
print("Turn Angle: %f" % center_pos) #deflection_angle
# for code in img2.find_qrcodes():
# rect = code.rect()
# img2.draw_rectangle([v for v in rect], color=(255, 0, 0), thickness = 5)
# img2.draw_string_advanced(rect[0], rect[1], 32, code.payload())
# print(code)
for tag in img2.find_apriltags(families=tag_families):
img2.draw_rectangle([v for v in tag.rect()], color=(255, 0, 0))
img2.draw_cross(tag.cx(), tag.cy(), color=(0, 255, 0))
print_args = (family_name(tag), tag.id(), (180 * tag.rotation()) / math.pi)
print("Tag Family %s, Tag ID %d, rotation %f (degrees)" % print_args)
#uart.write("i={0:0>3}\r\n".format(center_pos)) #deflection_angle
# draw result to screen
Display.show_image(img2)
gc.collect()
print(int(fps.fps()))
except KeyboardInterrupt as e:
print(f"user stop")
except BaseException as e:
print(f"Exception '{e}'")
finally:
# sensor stop run
if isinstance(sensor1, Sensor):
sensor1.stop()
if isinstance(sensor2, Sensor):
sensor2.stop()
# deinit display
Display.deinit()
os.exitpoint(os.EXITPOINT_ENABLE_SLEEP)
time.sleep_ms(100)
# release media buffer
MediaManager.deinit()
