‘int’ obiect isn‘t subscriptable怎么回事啊？
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# Blob Detection Example # # This example shows off how to use the find_blobs function to find color # blobs in the image. This example in particular looks for dark green objects. import sensor, image, time import car from pid import PID from image import SEARCH_EX, SEARCH_DS # You may need to tweak the above settings for tracking green things... # Select an area in the Framebuffer to copy the color settings. sensor.reset() # Initialize the camera sensor. sensor.set_pixformat(sensor.GRAYSCALE) # use RGB565. sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed. sensor.skip_frames(10) # Let new settings take affect. sensor.set_auto_whitebal(False) # turn this off. clock = time.clock() # Tracks FPS. # For color tracking to work really well you should ideally be in a very, very, # very, controlled enviroment where the lighting is constant... green_threshold = (7, 58, -54, -20, -4, 40) size_threshold = 20000 x_pid = PID(p=0.5, i=1, imax=100) h_pid = PID(p=0.05, i=0.1, imax=50) template = image.Image("/1.pgm") def find_max(blobs): max_size=0 for blob in blobs: if blob[2]*blob[3] > max_size: max_blob=blob max_size = blob[2]*blob[3] return max_blob while(True): clock.tick() # Track elapsed milliseconds between snapshots(). img = sensor.snapshot() # Take a picture and return the image. blobs = img.find_template(template, 0.70, step=4, search=SEARCH_EX) if blobs: max_blob = find_max(blobs) x_error = max_blob[0]+max_blob[2]/2-img.width()/2 h_error = max_blob[2]*max_blob[3]-size_threshold print("x error: ", x_error) ''' for b in blobs: # Draw a rect around the blob. img.draw_rectangle(b[0:4]) # rect img.draw_cross(b[5], b[6]) # cx, cy ''' img.draw_rectangle(max_blob[0:4]) # rect img.draw_cross(int(max_blob[0]+max_blob[2]/2),int(max_blob[1]+max_blob[3]/2)) # cx, cy x_output=x_pid.get_pid(x_error,1) h_output=h_pid.get_pid(h_error,1) print("h_output",h_output) car.run(-h_output-x_output,-h_output+x_output) else: car.run(18,-18)
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原因：find_template只会返回一个矩形，而不是多个。
import sensor, image, time import car from pid import PID from image import SEARCH_EX, SEARCH_DS # You may need to tweak the above settings for tracking green things... # Select an area in the Framebuffer to copy the color settings. sensor.reset() # Initialize the camera sensor. sensor.set_pixformat(sensor.GRAYSCALE) # use RGB565. sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed. sensor.skip_frames(10) # Let new settings take affect. sensor.set_auto_whitebal(False) # turn this off. clock = time.clock() # Tracks FPS. # For color tracking to work really well you should ideally be in a very, very, # very, controlled enviroment where the lighting is constant... green_threshold = (7, 58, -54, -20, -4, 40) size_threshold = 20000 x_pid = PID(p=0.5, i=1, imax=100) h_pid = PID(p=0.05, i=0.1, imax=50) template = image.Image("/1.pgm") def find_max(blobs): max_size=0 for blob in blobs: if blob[2]*blob[3] > max_size: max_blob=blob max_size = blob[2]*blob[3] return max_blob while(True): clock.tick() # Track elapsed milliseconds between snapshots(). img = sensor.snapshot() # Take a picture and return the image. max_blob = img.find_template(template, 0.70, step=4, search=SEARCH_EX) if max_blob: x_error = max_blob[0]+max_blob[2]/2-img.width()/2 h_error = max_blob[2]*max_blob[3]-size_threshold print("x error: ", x_error) ''' for b in blobs: # Draw a rect around the blob. img.draw_rectangle(b[0:4]) # rect img.draw_cross(b[5], b[6]) # cx, cy ''' img.draw_rectangle(max_blob[0:4]) # rect img.draw_cross(int(max_blob[0]+max_blob[2]/2),int(max_blob[1]+max_blob[3]/2)) # cx, cy x_output=x_pid.get_pid(x_error,1) h_output=h_pid.get_pid(h_error,1) print("h_output",h_output) car.run(-h_output-x_output,-h_output+x_output) else: pass car.run(18,-18)
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@kidswong999 该怎么修改呢 find_template用其他的函数替代还是用一个循环？
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@nbio_1647004161 我上面就是修改后的代码