星瞳实验室APP,快速收到回复
  • 我们只解决官方正版的OpenMV的问题(STM32),其他的分支有很多兼容问题,我们无法解决。
  • 如果有产品硬件故障问题,比如无法开机,论坛很难解决。可以直接找售后维修
  • 发帖子之前,请确认看过所有的视频教程,https://singtown.com/learn/ 和所有的上手教程http://book.openmv.cc/
  • 每一个新的提问,单独发一个新帖子
  • 帖子需要目的,你要做什么?
  • 如果涉及代码,需要报错提示全部代码文本,请注意不要贴代码图片
  • 必看:玩转星瞳论坛了解一下图片上传,代码格式等问题。
  • 为什么二值化本来弄成了是黑白图,重置之后烧同样的程序变成了黑灰图,原来白色的地方变成了灰色,求助



    • THRESHOLD = (32, 0, -20, 14, -20, 20)# Grayscale threshold for dark things... 用阈值编辑器找出阈值
      import sensor, image, time
      from pyb import LED
      #import car
      from pid import PID
      rho_pid = PID(p=0.4, i=0)##y=ax+b  为b截距  控制线在视野中的位置
      theta_pid = PID(p=0.001, i=0)  ##斜率   最终目的是要使直线在我们视野中央
      
      LED(1).on()
      LED(2).on()
      LED(3).on()#打开openmv自带的补光灯
      
      sensor.reset()##初始化
      #sensor.set_vflip(True)##垂直反转
      #sensor.set_hmirror(True)##设置镜像 水平翻转
      sensor.set_pixformat(sensor.RGB565)##设置彩图
      sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.分辨率
      #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])   ##binary([THRESHOLD]二值化
          line = img.get_regression([(0,100,0,0,0,0)],area_threshold=10,robust = True)##线性回归  (l_lo,l_hi,a_lo,a_hi,b_lo,b_hi)
          if (line):
              rho_err = abs(line.rho())-img.width()/2
              if line.theta()>90:
                  theta_err = line.theta()-180
              else:
                  theta_err = line.theta()##调整坐标
              img.draw_line(line.line(), color = 127)##画出直线
              print(rho_err,line.magnitude(),line.theta())##theta代表返回线段的角度, rho代表偏移的距离  rho更重要一些,如果不用theta,只用rho也是可以的。
              if line.magnitude()>8:              ##magnitude值越大证明线性回归越好
                  #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())
      
      
      from pyb import millis
      from math import pi, isnan
      
      class PID:
          _kp = _ki = _kd = _integrator = _imax = 0
          _last_error = _last_derivative = _last_t = 0
          _RC = 1/(2 * pi * 20)
          def __init__(self, p=0, i=0, d=0, imax=0):
              self._kp = float(p)
              self._ki = float(i)
              self._kd = float(d)
              self._imax = abs(imax)
              self._last_derivative = float('nan')
      
          def get_pid(self, error, scaler):
              tnow = millis()
              dt = tnow - self._last_t
              output = 0
              if self._last_t == 0 or dt > 1000:
                  dt = 0
                  self.reset_I()
              self._last_t = tnow
              delta_time = float(dt) / float(1000)
              output += error * self._kp
              if abs(self._kd) > 0 and dt > 0:
                  if isnan(self._last_derivative):
                      derivative = 0
                      self._last_derivative = 0
                  else:
                      derivative = (error - self._last_error) / delta_time
                  derivative = self._last_derivative + \
                                           ((delta_time / (self._RC + delta_time)) * \
                                              (derivative - self._last_derivative))
                  self._last_error = error
                  self._last_derivative = derivative
                  output += self._kd * derivative
              output *= scaler
              if abs(self._ki) > 0 and dt > 0:
                  self._integrator += (error * self._ki) * scaler * delta_time
                  if self._integrator < -self._imax: self._integrator = -self._imax
                  elif self._integrator > self._imax: self._integrator = self._imax
                  output += self._integrator
              return output
          def reset_I(self):
              self._integrator = 0
              self._last_derivative = float('nan')
      
      


    • https://singtown.com/openmv-download/

      下载最新的IDE,更新到最新的固件就没问题了。



    • @kidswong999 好的,谢谢