启动后亮度不一致，而且串口打印的白平衡也与设定的不一致

[syxh]

import sensor, image, time,car
from pyb import LED
from pid import PID
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.set_auto_gain(False,gain_db=6.02)
#sensor.set_auto_whitebal(False,rgb_gain_db=(63.4416, 60.2071, 63.7403))#H7 PLUS
sensor.set_auto_whitebal(False,rgb_gain_db=(-5,-6,-3))#H7
'''sensor.set_saturation(3)#饱和度
sensor.set_contrast(3)#对比度
sensor.set_brightness(3)#亮度'''
sensor.skip_frames(time = 2000)
clock = time.clock() # 跟踪FPS帧率

rho_pid = PID(p=0.6, i=0)
theta_pid = PID(p=0.001, i=0)
THRESHOLD= (32, 69, -12, 22, -13, 15)
BLACK=((100,100),[250,255])
while(True):
    clock.tick()
    img = sensor.snapshot().lens_corr(strength = 1.8, zoom = 1.0).mean(2).binary([THRESHOLD])

    line = img.get_regression([BLACK[0]],roi=(0,sensor.height()-40,sensor.width(),40),x_stride=2,y_stride=2,pixels_threshold=1,robust = True)
    if (line):
        rho_err = abs(line.rho())-img.width()/2
        if line.theta()>90:
            theta_err = line.theta()-180
        else:
            theta_err = line.theta()
        img.draw_line(line.line(), color = 127)
        print(rho_err,line.magnitude(),theta_err)
        #if -40<b_err<40 and -30<t_err<30:
        rho_output = rho_pid.get_pid(rho_err,1)
        theta_output = theta_pid.get_pid(theta_err,1)
        output = rho_output+theta_output
        car.run(30+output, 30-output)
    else:
        car.run(20,-20)
        pass
    print(clock.fps(),sensor.get_gain_db())

[kidswong999]

启动后亮度不一致，是因为没有手动设置曝光。参考这里面的代码
https://forum.singtown.com/topic/7098/openmv4plus的图像为什么这么偏暗偏绿/7

[kidswong999]

你串口打印的不是白平衡，是增益get_gain_db， 白平衡用get_rgb_gain_db