@kidswong999 感觉帧率没有找线快

这个想通过找直角来记录矩形的四个顶点求平均，来找矩形的中心，但是我像通过找最低的两个直角顶点来求平均 ，以此确定整个矩形最低边的中心，但是不知道如何实现，请问大佬能指点一下吗？

enable_lens_corr = False # turn on for straighter lines...
import sensor, image, time
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE) # grayscale is faster
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
clock = time.clock()
right_angle_threshold = (60, 90)
binary_threshold = [(0, 180)]
forget_ratio = 0.8
move_threshold = 5
k=0
x=[0,0,0,0]
y=[0,0,0,0]
def calculate_angle(line1, line2):
    # 利用四边形的角公式， 计算出直线夹角
    angle  = (180 - abs(line1.theta() - line2.theta()))
    if angle > 90:
        angle = 180 - angle
    return angle


def is_right_angle(line1, line2):
    global right_angle_threshold
    # 判断两个直线之间的夹角是否为直角
    angle = calculate_angle(line1, line2)
    if angle >= right_angle_threshold[0] and angle <=  right_angle_threshold[1]:
        # 判断在阈值范围内
        return True
    return False

def find_verticle_lines(lines):
    line_num = len(lines)
    for i in range(line_num -1):
        for j in range(i, line_num):
            if is_right_angle(lines[i], lines[j]):
                return (lines[i], lines[j])
    return (None, None)


def calculate_intersection(line1, line2):
    # 计算两条线的交点
    a1 = line1.y2() - line1.y1()
    b1 = line1.x1() - line1.x2()
    c1 = line1.x2()*line1.y1() - line1.x1()*line1.y2()

    a2 = line2.y2() - line2.y1()
    b2 = line2.x1() - line2.x2()
    c2 = line2.x2() * line2.y1() - line2.x1()*line2.y2()

    if (a1 * b2 - a2 * b1) != 0 and (a2 * b1 - a1 * b2) != 0:
        cross_x = int((b1*c2-b2*c1)/(a1*b2-a2*b1))
        cross_y = int((c1*a2-c2*a1)/(a1*b2-a2*b1))
        return (cross_x, cross_y)
    return (-1, -1)


def draw_cross_point(cross_x, cross_y):
    img.draw_cross(cross_x, cross_y)
    img.draw_circle(cross_x, cross_y, 5)
    img.draw_circle(cross_x, cross_y, 10)

old_cross_x = 0
old_cross_y = 0

while(True):
    clock.tick()
    img = sensor.snapshot()
    #img.binary(binary_threshold)
    lines =  img.find_lines(threshold = 2000, theta_margin = 20, rho_margin = 20, roi=(0, 0, 320,200))
    for line in lines:
        pass
       # img.draw_line(line.line(), color = (255, 0, 0))
    # 如果画面中有两条直线
    if len(lines) >= 2:
        (line1, line2) = find_verticle_lines(lines)
        if (line1 == None or line2 == None):
            # 没有垂直的直线
            continue
        # 画线
        #img.draw_line(line1.line(), color = (255, 0, 0))
        #img.draw_line(line2.line(), color = (255, 0, 0))

        # 计算交点
        (cross_x, cross_y) = calculate_intersection(line1, line2)
        print("cross_x:  %d, cross_y: %d"%(cross_x, cross_y))

        if cross_x != -1 and cross_y != -1:
                if(k<4):
                    x[k]=cross_x
                    y[k]=cross_y
                    k=k+1
                if(k==4):
                    xz=int((x[0]+x[1]+x[2]+x[3])/4)
                    yz=int((y[0]+y[1]+y[2]+y[3])/4)
                    draw_cross_point(xz, yz)
                    k=0

我现在是记录七个线段的x.y值然后找y1+y2的最小值 然后按y在数组中的位置找x， 但是这样测的很飘 不知道有没有什么好一些的思路

@rm4a

@rm4a

import pyb
from pyb import LED #导入LED
from machine import UART
import sensor, image, time, math, os, tf
uart = UART(1, baudrate=115200)
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QVGA)
sensor.set_auto_exposure(False, 1000)
sensor.__write_reg(0x03,0x04)
sensor.__write_reg(0x04,0x05)
sensor.__write_reg(0xB2,0x40)
sensor.__write_reg(0xB3,0x00)
sensor.__write_reg(0xB4,0x40)
sensor.__write_reg(0xB5,0x00)
sensor.__write_reg(0x03,0x03)
sensor.__write_reg(0x5B,0x60)
sensor.__write_reg(0x03,0x08)
sensor.set_auto_whitebal(False, (0x80,135,0x80))
sensor.set_brightness(500)
sensor.set_auto_gain(False)
sensor.skip_frames(time = 2000)
clock = time.clock()
Large_area=[0,0,320,180]
min_degree = 45
max_degree = 135
i=0
yzb=[0,0]
he=[]
ypj=[]
yjd=[]
lbypj=[]
lbyjd=[]
suibian=[]
red_threshold = (0,150)
def get_pj(point):
    point_1 = point[0]
    point_2 = point[1]
    he = int((point_1+ point_2)/2)
    return he
while(True):
    img = sensor.snapshot()
    img.binary([red_threshold])
    #img.draw_rectangle(Large_area, color = (255, 0, 0))
    for l in img.find_line_segments(roi=Large_area,merge_distance = 10, max_theta_diff = 10):
            #if (min_degree <= l.theta()) and (l.theta() <= max_degree):
                img.draw_line(l.line(), color = (255, 0, 0))
                #print(l.line())
                yzb = [l.y1(),l.y2()]
                #yjd= [l.theta()]
                ypj = get_pj(yzb)
                if(i<5):
                    lbypj.append(ypj)
                    #lbyjd.append(yjd)
                    i=i+1
                if (i==5):
                    #suibian=lbypj
                    ypjmax=max(lbypj)
                    juliy=240-ypjmax
                    img.draw_line([0,ypjmax,320,ypjmax], color = (255, 0, 0))
                    #zuidixian=suibian.index(max(suibian))
                    #outjd =lbyjd[zuidixian]
                    print(juliy)
                    lbypj=[]
                    #lbyjd=[]
                    i=0

谢谢大佬 万分感谢

大佬 请问如果想要find_rect在没有找到矩形时返回字母A 该怎么设置条件？