大佬请问为什么二值化之后找线段在正对矩形的时候找的到 歪了就不行

[rm4a]

import pyb
from pyb import LED #导入LED
from machine import UART
import sensor, image, time, math, os, tf
uart = UART(1, baudrate=115200)
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QVGA)
sensor.set_auto_exposure(False, 1000)
sensor.__write_reg(0x03,0x04)
sensor.__write_reg(0x04,0x05)
sensor.__write_reg(0xB2,0x40)
sensor.__write_reg(0xB3,0x00)
sensor.__write_reg(0xB4,0x40)
sensor.__write_reg(0xB5,0x00)
sensor.__write_reg(0x03,0x03)
sensor.__write_reg(0x5B,0x60)
sensor.__write_reg(0x03,0x08)
sensor.set_auto_whitebal(False, (0x80,135,0x80))
sensor.set_brightness(500)
sensor.set_auto_gain(False)
sensor.skip_frames(time = 2000)
clock = time.clock()
Large_area=[0,0,320,180]
min_degree = 45
max_degree = 135
i=0
yzb=[0,0]
he=[]
ypj=[]
yjd=[]
lbypj=[]
lbyjd=[]
suibian=[]
red_threshold = (0,150)
def get_pj(point):
    point_1 = point[0]
    point_2 = point[1]
    he = int((point_1+ point_2)/2)
    return he
while(True):
    img = sensor.snapshot()
    img.binary([red_threshold])
    #img.draw_rectangle(Large_area, color = (255, 0, 0))
    for l in img.find_line_segments(roi=Large_area,merge_distance = 10, max_theta_diff = 10):
            #if (min_degree <= l.theta()) and (l.theta() <= max_degree):
                img.draw_line(l.line(), color = (255, 0, 0))
                #print(l.line())
                yzb = [l.y1(),l.y2()]
                #yjd= [l.theta()]
                ypj = get_pj(yzb)
                if(i<5):
                    lbypj.append(ypj)
                    #lbyjd.append(yjd)
                    i=i+1
                if (i==5):
                    #suibian=lbypj
                    ypjmax=max(lbypj)
                    juliy=240-ypjmax
                    img.draw_line([0,ypjmax,320,ypjmax], color = (255, 0, 0))
                    #zuidixian=suibian.index(max(suibian))
                    #outjd =lbyjd[zuidixian]
                    print(juliy)
                    lbypj=[]
                    #lbyjd=[]
                    i=0

[rm4a]

@rm4a

[rm4a]

@rm4a

[kidswong999]

你的这个代码，我没办法拍出黑色的矩形。你改成正常的二值化的代码，我再测试。