import sensor, lcd, time

lcd.init(freq=15000000)                 # 初始化LCD
sensor.reset()                          # 复位和初始化摄像头
sensor.set_vflip(1)                     # 将摄像头设置成后置方式（所见即所得）
sensor.set_pixformat(sensor.RGB565)     # 设置像素格式为彩色 RGB565
sensor.set_framesize(sensor.QVGA)       # 设置帧大小为 QVGA (320x240)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
sensor.set_auto_gain(0,0)
sensor.skip_frames(time = 200)          # 等待设置生效

# 阈值设置
thresholds = [(35, 100, 6, 127, 0, 127),  # 红色阈值
              (25, 100, -6, 127, 5, 43),  # 黄色阈值
              (87, 100, -59, 127, -10, 127)]  # 绿色阈值

# while True:
img = sensor.snapshot()
max_blobs = []

for threshold in thresholds:
    # 查找每种颜色的色块
    blobs = img.find_blobs([threshold], pixels_threshold=200, area_threshold=200, merge=True)
    if blobs:
        # 找到最大的色块
        max_blob = max(blobs, key=lambda b: b.pixels())
        max_blobs.append(max_blob)

# 绘制每种颜色最大色块的矩形和中心十字
for b in max_blobs:
    img.draw_rectangle(b[0:4])
    img.draw_cross(b[5], b[6])

lcd.display(img)