63e5 发布的帖子

谁来救救孩子！！！急

import sensor, image, time, math,display
from pyb import UART

#相关变量的初始化
GRAYSCALE_THRESHOLD = [(0, 40)]
ROIS = [
        (0, 100, 160, 20, 0.8),
        (0, 050, 160, 20, 0.3),
        (0, 000, 160, 20, 0.1)
       ]
weight_sum = 0
for r in ROIS: weight_sum += r[4]

#滤波相关变量初始化
direction_history=[]
filter_size=20

#相机初始化
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(30)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
sensor.set_vflip(True)
sensor.set_hmirror(True)
clock = time.clock()
uart=UART(3,115200)
uart.init(115200,bits=8,parity=None,stop=1)

#lcdc初始化
lcd = display.SPIDisplay()

while(True):
    sensor.set_vflip(True)
    clock.tick()
    img = sensor.snapshot()
    centroid_sum = 0
    #首先寻找对应颜色阈值的色块
    for r in ROIS:
        blobs = img.find_blobs(GRAYSCALE_THRESHOLD, roi=r[0:4], merge=True)
        if blobs:
            most_pixels = 0
            largest_blob = 0
            #找到色块后遍历该色块，以找到其中像素最多的一个点，作为绘制线框的中心点
            for i in range(len(blobs)):
                if blobs[i].pixels() > most_pixels:
                    most_pixels = blobs[i].pixels()
                    largest_blob = i
            #绘制矩形线框
            img.draw_rectangle(blobs[largest_blob].rect())
            img.draw_cross(blobs[largest_blob].cx(),
                           blobs[largest_blob].cy())
            centroid_sum += blobs[largest_blob].cx() * r[4]
    center_pos = (centroid_sum / weight_sum)
    #lcd初始化
    lcd.write(sensor.snapshot())

    #角度相关计算
    deflection_angle = 0
    direction_send = 0
    direction_judge = 0
    #计算偏离中心的角度，对其求反正切即可得到偏转角
    deflection_angle = -math.atan((center_pos-80)/60)
    deflection_angle = math.degrees(deflection_angle)

    #角度滤波
    direction_history.append(deflection_angle)
    if len(direction_history)>filter_size:
        direction_history.pop(0)

    #偏转角和偏转方向相关计算
    avg_deflection_angle=sum(direction_history)/len(direction_history)
    direction_judge=avg_deflection_angle
    deflection_angle=abs(avg_deflection_angle)

    #判断偏转方向
    if direction_judge > 10:
        direction_send=1
    elif direction_judge< -10:
        direction_send=2
    else:
        direction_send=0

    #串口发送和打印相关变量
    send_data=bytearray([0x2C,0x12,direction_send,int(deflection_angle),0x5B])
    uart.write(send_data)
    print("Turn Angle:",int(deflection_angle) ,"Direction:",direction_send)
    print(clock.fps())

添加了senor.set_vflip(True)也没有反应。
目前屏幕在lcd上也不是竖屏显示，而是横屏显示。