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  • 想制作追踪特定id的apriltag码的小车,为什么程序进不了else,感觉循环嵌套有误?



    • # 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, math
      import car
      from pid import PID
      
      # 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.RGB565) # use RGB565.
      sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed.
      sensor.skip_frames(30) # Let new settings take affect.
      sensor.set_auto_gain(False)
      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   = (76, 96, -110, -30, 8, 66)
      size_threshold = 2000
      x_pid = PID(p=0.5, i=1, imax=100)
      h_pid = PID(p=0.05, i=0.1, imax=50)
      
      
      while(True):
          clock.tick() # Track elapsed milliseconds between snapshots().
          img = sensor.snapshot() # Take a picture and return the image.
          for tag in img.find_apriltags():
            if tag.id()==1:
                 x_error = tag[6]-img.width()/2
                 h_error = tag[2]*tag[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(tag[0:4]) # rect
                 img.draw_cross(tag[6], tag[7]) # 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)
      


    • 你的这个else,对应的是for,而不是if。

      解决办法:else再加一个缩进,和if对齐。