4. openmv目标点检测并且控制云台进行追踪
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    • openmv目标点检测并且控制云台进行追踪

    • M
       

      while(True):
    clock.tick()

    img = sensor.snapshot()

    # detect() returns all objects found in the image (splitted out per class already)
    # we skip class index 0, as that is the background, and then draw circles of the center
    # of our objects
    result=net.detect(img, thresholds=[(math.ceil(min_confidence * 255), 255)])#检测目标
    print(result)
    if (state==1):
        for i, detection_list in enumerate(result):
            if (i == 0): continue # background class
            if (len(detection_list) == 0): continue # no detections for this class?
            #print("********** %s **********" % labels[i])
            #print(i)
            if (i==2):#识别草莓
            for d in detection_list:
                [x, y, w, h] = d.rect()
                center_x = math.floor(x + (w / 2))#中心坐标的计算
                center_y = math.floor(y + (h / 2))
                img.draw_circle((center_x, center_y, 12), color=colors[i], thickness=2)
                pan_error = center_x
                tilt_error = center_y
                if(center_x>0 and center_y>0)
                    pan_output=pan_pid.get_pid(pan_error,1)/2
                    tilt_output=tilt_pid.get_pid(tilt_error,1)
                    pan_servo.angle(pan_servo.angle()+pan_output)
                    tilt_servo.angle(tilt_servo.angle()-tilt_output)

            else ：#识别南瓜
                for d in detection_list:
                    [x, y, w, h] = d.rect()
                    center_x = math.floor(x + (w / 2))
                    center_y = math.floor(y + (h / 2))
                    #print('x %d\ty %d' % (center_x, center_y))
                    img.draw_circle((center_x, center_y, 12), color=colors[i], thickness=2)
                    if(center_x>0 and center_y>0)
                        pan_output=pan_pid.get_pid(pan_error,1)/2
                        tilt_output=tilt_pid.get_pid(tilt_error,1)
                        print("pan_output",pan_output)
                        pan_servo.angle(pan_servo.angle()+pan_output)
                        tilt_servo.angle(tilt_servo.angle()-tilt_output)

      我这里会报错然后我想问一下我这里哪里错了，还有就是我这种代码思路正确吗，报错的时if（i==2）哪里，然后我先把if（i==2）注释掉之后， pan_output=pan_pid.get_pid(pan_error,1)/2这里也报错了

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