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  • 必看:玩转星瞳论坛了解一下图片上传,代码格式等问题。
  • 小车巡线的例程运行后看不到中心的绿线,但是调成灰度图却可以看到解析出来的线,是为什么?



    • 例程原代码

      THRESHOLD = (0, 61, 19, 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([(100,100,0,0,0,0)], 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
      

      0_1616659541415_26e2f13f-ac04-4ed6-b030-4944575dcdf3-image.png

      灰度图代码

      THRESHOLD = (0, 100) # 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.GRAYSCALE)
      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([(255,255)], 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
      

      0_16166604.png



    • This post is deleted!


    • 第一个代码里面,img.get_regression是在binary下面的,所以img已经是二值化的图。
      get_regression的参数也应该是(255,255)。



    • @kidswong999 将img.get_regression的参数改成(255,255)后还是没有效果



    • 不好意思弄错了,应该是100,100,因为图像还是彩色格式的。

      THRESHOLD = (0, 61, 19, 127, -128, 127) # Grayscale threshold for dark things...
      import sensor, image, time
      from pyb import LED
      
      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):
          img = sensor.snapshot().binary([THRESHOLD])
          line = img.get_regression([(100,100)], robust = True)
          if (line):
              img.draw_line(line.line(), color = 127)