启动后亮度不一致,而且串口打印的白平衡也与设定的不一致
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import sensor, image, time,car from pyb import LED from pid import PID sensor.reset() sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QQVGA) sensor.set_vflip(True) sensor.set_hmirror(True) sensor.set_auto_gain(False,gain_db=6.02) #sensor.set_auto_whitebal(False,rgb_gain_db=(63.4416, 60.2071, 63.7403))#H7 PLUS sensor.set_auto_whitebal(False,rgb_gain_db=(-5,-6,-3))#H7 '''sensor.set_saturation(3)#饱和度 sensor.set_contrast(3)#对比度 sensor.set_brightness(3)#亮度''' sensor.skip_frames(time = 2000) clock = time.clock() # 跟踪FPS帧率 rho_pid = PID(p=0.6, i=0) theta_pid = PID(p=0.001, i=0) THRESHOLD= (32, 69, -12, 22, -13, 15) BLACK=((100,100),[250,255]) while(True): clock.tick() img = sensor.snapshot().lens_corr(strength = 1.8, zoom = 1.0).mean(2).binary([THRESHOLD]) line = img.get_regression([BLACK[0]],roi=(0,sensor.height()-40,sensor.width(),40),x_stride=2,y_stride=2,pixels_threshold=1,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(),theta_err) #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(30+output, 30-output) else: car.run(20,-20) pass print(clock.fps(),sensor.get_gain_db())
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启动后亮度不一致,是因为没有手动设置曝光。参考这里面的代码
https://forum.singtown.com/topic/7098/openmv4plus的图像为什么这么偏暗偏绿/7
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你串口打印的不是白平衡,是增益get_gain_db, 白平衡用get_rgb_gain_db