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# Hello World Example
#
# Welcome to the OpenMV IDE! Click on the green run arrow button below to run the script!
import sensor, image, time
# Color Tracking Thresholds (Grayscale Min, Grayscale Max)
min_rgb = 128
max_rgb = 255
threshold_list = [(min_rgb, max_rgb)]# only bright grey colours will get tracked.
threshold_rgb = [(0, 100, 75, 32, 2, 127)] #only find red
#threshold_rgb = [(18, 78, -8, 127, 24, 127)]
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
#sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)
sensor.skip_frames(time = 2000) # Wait for settings take effect.
clock = time.clock() # Create a clock object to track the FPS.
while(True):
clock.tick() # Update the FPS clock.
img = sensor.snapshot() # Take a picture and return the image.
#lines = img.find_lines()
#for i in lines:
#img.draw_line(i.line(), 255, 8)
#gray = img
#gray.to_grayscale()
#img.find_edges(0)
blobs = img.find_blobs(threshold_rgb)
#blobs.count()
#print(blobs)
##kpts = img.find_keypoints()
for index, b in enumerate(blobs, 1):
convex = b.convexity()
if convex < 0.8:
img.draw_rectangle(b.rect(),int((512+256)*convex),2)
print(b.convexity())
#img.draw_line(12,12,200,200,255,8)
print(clock.fps()) # Note: OpenMV Cam runs about half as fast when connected
# to the IDE. The FPS should increase once disconnected.
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