写出openmv实现迷宫图像信息提取并输出二维数组的代码

以下是OpenMV实现迷宫图像信息提取并输出二维数组的代码示例：

import sensor, image, time, math, pyb

# 设置摄像头分辨率和帧率
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_fps(60)

# 迷宫二维数组初始化
maze = [[0 for j in range(16)] for i in range(16)]

# 定义迷宫路径颜色的阈值范围
path_threshold = [(0, 50, -30, 30, -30, 30)]

# 定义迷宫墙壁颜色的阈值范围
wall_threshold = [(0, 50, -30, 30, -30, 30)]

# 定义迷宫起点和终点颜色的阈值范围
start_end_threshold = [(0, 50, -30, 30, -30, 30)]

# 定义迷宫路径跟踪的颜色
path_color = (255, 0, 0)

# 定义串口对象
uart = pyb.UART(3, 115200, timeout_char=1000)

# 定义传输二维数组的方法
def send_maze_data(maze):
    for row in maze:
        for val in row:
            uart.writechar(val)

# 主循环
while(True):
    # 获取图像
    img = sensor.snapshot()

    # 检测迷宫起点和终点
    start_blob = img.find_blobs(start_end_threshold, pixels_threshold=200, area_threshold=200, merge=True)
    if start_blob:
        start_point = (start_blob[0].cx(), start_blob[0].cy())
        img.draw_rectangle(start_blob[0].rect())
        img.draw_cross(start_point[0], start_point[1])

        # 将起点坐标写入迷宫数组
        maze[int(start_point[1]/20)][int(start_point[0]/20)] = 2

    end_blob = img.find_blobs(start_end_threshold, pixels_threshold=200, area_threshold=200, merge=True, invert=True)
    if end_blob:
        end_point = (end_blob[0].cx(), end_blob[0].cy())
        img.draw_rectangle(end_blob[0].rect())
        img.draw_cross(end_point[0], end_point[1])

        # 将终点坐标写入迷宫数组
        maze[int(end_point[1]/20)][int(end_point[0]/20)] = 3

    # 检测迷宫路径
    path_blobs = img.find_blobs(path_threshold, pixels_threshold=200, area_threshold=200, merge=True)
    for blob in path_blobs:
        img.draw_rectangle(blob.rect())
        img.draw_cross(blob.cx(), blob.cy(), color=path_color)

        # 将路径坐标写入迷宫数组
        maze[int(blob.cy()/20)][int(blob.cx()/20)] = 4

    # 检测迷宫墙壁
    wall_blobs = img.find_blobs(wall_threshold, pixels_threshold=200, area_threshold=200, merge=True, invert=True)
    for blob in wall_blobs:
        img.draw_rectangle(blob.rect())

        # 将墙壁坐标写入迷宫数组
        maze[int(blob.cy()/20)][int(blob.cx()/20)] = 1

    # 将迷宫数组传输到控制器
    send_maze_data(maze)

    # 等待一段时间
    time.sleep(100)

上述代码将使用OpenMV的机器视觉功能来识别迷宫中的关键点和路径，并将信息输出为二维数组，以便在控制器中使用。在检测到路径、墙壁、起点和终点时，将相应的坐标写入迷宫数组中，并使用串口将迷宫数组传输到控制器中。