#?Blob?Detection?Example
#
#?This?example?shows?off?how?to?use?the?find_blobs?function?to?find?color
#?blobs?in?the?image.?This?example?in?particular?looks?for?dark?green?objects.

import?sensor?image?time

#?For?color?tracking?to?work?really?well?you?should?ideally?be?in?a?very?very
#?very?controlled?enviroment?where?the?lighting?is?constant...
red_threshold_01?=?（120?160?0?40?0?40）

#設置紅色的閾值，括號里面的數(shù)值分別是L?A?B?的最大值和最小值（minL?maxL?minA
#?maxA?minB?maxB），LAB的值在圖像左側三個坐標圖中選取。如果是灰度圖，則只需
#設置（min?max）兩個數(shù)字即可。

#?You?may?need?to?tweak?the?above?settings?for?tracking?green?things...
#?Select?an?area?in?the?framebuffer?to?copy?the?color?settings.

sensor.reset（）?#?Initialize?the?camera?sensor.
sensor.set_pixformat（sensor.RGB565）?#?use?RGB565.
sensor.set_framesize（sensor.QQVGA）?#?use?QVGA?for?quailtiy?use?QQVGA?for?speed.
sensor.skip_frames（10）?#?Let?new?settings?take?affect.
sensor.set_auto_whitebal（False）
#關閉白平衡。白平衡是默認開啟的，在顏色識別中，需要關閉白平衡。
clock?=?time.clock（）?#?Tracks?FPS.

‘‘‘
??擴寬roi
‘‘‘
def?expand_roi（roi）:
????#?set?for?QQVGA?160*120
????extra?=?5
????win_size?=?（160?120）
????（x?y?width?height）?=?roi
????new_roi?=?[x-extra?y-extra?width+2*extra?height+2*extra]

????if?new_roi[0]?????????new_roi[0]?=?0
????if?new_roi[1]?????????new_roi[1]?=?0
????if?new_roi[2]?>?win_size[0]:
????????new_roi[2]?=?win_size[0]
????if?new_roi[3]?>?win_size[1]:
????????new_roi[3]?=?win_size[1]

????return?tuple（new_roi）

while（True）:
????clo