自己仅仅改了巡线小车例程代码中的阈值那块，然后整体代码运行无错误，但得到的线性回归结果不对。（要拟合的黑线如图二所示）

[mdzv]

THRESHOLD = (27, 74, -128, 127, -128, 127) # Grayscale threshold for dark things...
import sensor, image, time
from pyb import LED
import car
from pid import PID
rho_pid = PID(p=0.4, i=0)
theta_pid = PID(p=0.001, i=0)

LED(1).on()
LED(2).on()
LED(3).on()

sensor.reset()
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
#sensor.set_windowing([0,20,80,40])
sensor.skip_frames(time = 2000)     # WARNING: If you use QQVGA it may take seconds
clock = time.clock()                # to process a frame sometimes.

while(True):
    clock.tick()
    img = sensor.snapshot().binary([THRESHOLD])
    line = img.get_regression([(100,100)], 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(),rho_err)
        if line.magnitude()>8:
            #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(50+output, 50-output)
        else:
            car.run(0,0)
    else:
        car.run(50,-50)
        pass
    #print(clock.fps())

[kidswong999]

你的阈值明显不对。阈值是找白色的。

[mdzv]

@kidswong999 可是我通过帧缓冲区调节LAB阈值，只能调出黑线是黑色像素，背景是白色像素的情况啊

[kidswong999]

那你第25行，改成（0,0），或者 （0,1），别用100就行。