openmv判断两直线是否相交

[gtf5]

#通过检测两直线是否相交判断十字路口
import sensor, image, time

sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)

line_threshold = (30, 100)
noc = 0   #number of crossroad
while True:
    img = sensor.snapshot().binary([line_threshold])
    # 检测直线
    lines = img.find_lines(threshold = 1000, theta_margin = 25, rho_margin = 25)
    for line in lines:
        img.draw_line(line.line(), color=127)

    # 检测十字
    cross_detected = False
    for i in range(len(lines)):
        for j in range(i+1, len(lines)):
            if abs(lines[i].theta() - lines[j].theta()) < 30:
                continue
            intersection = lines[i].intersection(lines[j])
            if intersection:
                x, y = int(intersection.x()), int(intersection.y())
                img.draw_cross(x, y)
                cross_detected = True
                noc = noc+1
    # 输出是否检测到十字
    print("Cross detected: ", cross_detected)
    print(noc)

提示AttributeError: ‘line’ object has no attribute ‘intersection’
光标位置intersection = lines[i].intersection(lines[j])
openmv里有没有类似intersection()获取交叉点的方法呢

[kidswong999]

目前没有这个函数，需要自己计算。