@kidswong999 但是为什么识别一下卡那不会动半天出来线性回归不是一直动的

为什么摄像头对这黑线后卡住一会才出来线性回归线而且不是实时的

BLACK_THRESHOLD = (34, 100, -61, 77, -76, 116)#(100, 55, -35, 22, 22, 82)#(3, 41, -3, 77, 12, 70)#(0, 95, 1, 34, 36, 80) #(5, 89, 35, 75, -8, 50)# Grayscale threshold for dark things...
import sensor, image, time , math ,struct
from pyb import UART
from struct import pack, unpack
import json
sensor.reset()
#sensor.set_vflip(True)
#sensor.set_hmirror(True)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
#sensor.set_auto_whitebal(False) # must be turned off for color tracking
#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.
uart = UART(3, 115200)
while(True):
    clock.tick()
    img = sensor.snapshot().binary([BLACK_THRESHOLD])
    line = img.get_regression([(100,100)], robust = True)
    if (line):
        rho_err = abs(line.rho())-img.width()/2 #计算一条直线与图像中央的距离

        #坐标变换  xy轴的角度
        if line.theta()>90:
            theta_err = line.theta()-180
        else:
            theta_err = line.theta()

        img.draw_line(line.line(), color = 255)#127
        output_str = "%f"%(theta_err)

        sumA = 0
        sumB = 0
        data = bytearray([0x41,0x43])
        uart.write(data)

        data = bytearray([0x02,8])
        for b in data:
            sumB = sumB + b
            sumA = sumA + sumB
        uart.write(data)

        float_value = theta_err
        float_bytes = pack('f', float_value)
        for b in float_bytes:
            sumB = sumB + b
            sumA = sumA + sumB
        uart.write(float_bytes)

        float_value = rho_err*0.1
        float_bytes = pack('f', float_value)
        for b in float_bytes:
            sumB = sumB + b
            sumA = sumA + sumB
        uart.write(float_bytes)

        data = bytearray([sumB, sumA])
        uart.write(data)

        print(float_value,theta_err)
        #print(rho_err*0.1)
    else:
        sumA = 0
        sumB = 0
        data = bytearray([0x41,0x43])
        uart.write(data)

        data = bytearray([0x02,8])
        for b in data:
            sumB = sumB + b
            sumA = sumA + sumB
        uart.write(data)

        float_value = 200
        float_bytes = pack('f', float_value)
        for b in float_bytes:
            sumB = sumB + b
            sumA = sumA + sumB
        uart.write(float_bytes)

        float_value = 0
        float_bytes = pack('f', float_value)
        for b in float_bytes:
            sumB = sumB + b
            sumA = sumA + sumB
        uart.write(float_bytes)

        data = bytearray([sumB, sumA])
        uart.write(data)

        #print(theta_err)
        print(float_value)

@kidswong999 语法解决啦，但是该如何第一次识别到拍照一次保存命名为1的照片识别第二次保存命名为2的照片 ，我的是识别后直接拍三张

@kidswong999 是一次运行自动保存多张照片

我这个只能保存命名为1的图片，我想保存3张分别命名为1，2 ，3

循环拍照并保存怎么保存不同的名字?

import sensor, image, time, time, pyb
from pyb import UART
import json

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False)                # must be turned off for color tracking
sensor.set_auto_whitebal(False)            # must be turned off for color tracking
clock = time.clock()
uart = UART(3, 115200)

while(True):
    clock.tick()
    img = sensor.snapshot().lens_corr(1.8)
    for r in img.find_rects(threshold=3500):     #find_circles(threshold = 3500, x_margin = 10, y_margin = 10, r_margin = 10, r_min = 2, r_max = 100, r_step = 2).find_rects([roi=Auto, threshold=3500])
        area = (r.rect())       #(c.x()-c.r(), c.y()-c.r(), 2*c.r(), 2*c.r())                  #area为识别到的圆的区域，即圆的外接矩形框
        statistics = img.get_statistics(roi=area)                            #像素颜色统计
        print(statistics)
        #(0,100,0,120,0,120)是红色的阈值，所以当区域内的众数（也就是最多的颜色），范围在这个阈值内，就说明是红色的圆。
        #l_mode()，a_mode()，b_mode()是L通道，A通道，B通道的众数。
        if 0<statistics.l_mode()<100 and 0<statistics.a_mode()<120 and 0<statistics.b_mode()<120:      #if the circle is red
            img.draw_rectangle(area,color=(255, 0, 0))
            print("I am find ")                                               #(c.x(), c.y(), c.r(), color = (255, 0, 0))        #识别到的红色区域用红色的圆框出来
            r=200
            uart.write(str(r))                                                                 #200回传到飞控  再m35模式里设置飞机悬停 也就是锁定xyz轴等待几秒运行下图拍照。
            
            time.sleep_ms(10000)


            RED_LED_PIN = 1
            BLUE_LED_PIN = 3

            pyb.LED(RED_LED_PIN).on()
            time.sleep_ms(2000)                              # 给用户一个时间来准备
            pyb.LED(RED_LED_PIN).off()
            time.sleep_ms(2000)

            pyb.LED(BLUE_LED_PIN).on()
            print("You're on camera!")
            img = sensor.snapshot()

            if  n=1 n<4:
                n=n+0
                print(n)

                img.morph(1, [+2, +1, +0,\
                              +1, +1, -1,\
                              +0, -1, -2])                        # 浮雕图像
                img.save("%d.jpg"%n)                              # or "example.bmp" (or others)
                pyb.LED(BLUE_LED_PIN).off()
                print("Done! Reset the camera to see the saved image.")
            else:
                print("Don't find")
        else:
            print("Don't find image.")

怎样保存多张拍摄的照片到SD卡

就是识别出形状和颜色然后拍照，然后回到识别形状和颜色在拍照。