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前一段是单独巡线，后一段是模板识别加巡线，只能识别寻不了线，求求大佬帮忙看一下

# Untitled - By: 26306 - Fri May 23 2025

import sensor
import time
import image
from pyb import UART



uart = UART(3,115200)

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQQVGA)#图像缩小，线性回归算法要求，降低时间
sensor.skip_frames(time=500)

clock = time.clock()

THRESHOLD =(0,20,-10,10,-10,10)#黑色线的阈值
last_error_bottom = 0#增加给底部坐标和倾斜角度积分和微分的全局变量
integral_bottom = 0
last_error_theta = 0#增加给底部坐标和倾斜角度积分和微分的全局变量
integral_theta = 0
def pid_control(error,last_error,integral,Kp,Ki,Kd):
    proportional = Kp * error
    integral += error#积分，刷新率高，加法就是积分
    integral = integral * Ki

    derivative = Kd * (error - last_error)

    output = proportional + integral + derivative
    last_error = error
    return output, last_error,integral
def get_endpoint(line):
    (x1,y1,x2,y2) = line.line()#直线的上下两个端点，底部y值大
    if y1>y2:
         return (x1,y1)
    else :
         return (x2,y2)#那么下一步查找直线倾斜角度
def theta_change(theta):
    if theta > 90:
        theta = theta -180
        return theta
    else :
        return theta

while True:
    clock.tick()
    img = sensor.snapshot()
    img.binary([THRESHOLD])#二值化
    img.open(1)#消除噪点
    img.gaussian(1)#边缘光滑，下面就可以计算了
    line = img.get_regression([(100,100)],robust = True) #下面判断是否真的找到直线
    if line and line.magnitude() >8:#直线的置信度，
        img.draw_line(line.line(),color = (255,0,0), thickness = 2)
        bottom_x,bottom_y = get_endpoint(line)
        error_x =  bottom_x-img.width()//2 #变量为直线的底部端点和画布中心的误差
        theta = theta_change(line.theta())#  error_x和 theta>0都是小车要往右走

        output_bottom,last_error_bottom,integral_bottom = pid_control(error_x,last_error_bottom,integral_bottom,0.7,0,0.17)
        output_theta,last_error_theta,integral_theta = pid_control(theta,last_error_theta,integral_theta,0.8,0,0.2)

        output = output_bottom + output_theta
        if(output >100):
          output = 100
        elif(output<-100):
          output=-100
        output = int(output)#强制类型转化


        send_value = 128 + output
        print("Send Value:", send_value)  # 输出十进制值
        result = "@%03d#" % send_value  # 用 %03d 格式化，保证三位数
        uart.write(result)
    else :
       result = "@%03d#" %0
       uart.write(result)
       print("Send Value:",  result)  # 输出十进制值
    #print(clock.fps())
#########以上是单独巡线的代码，是正常的，下面是巡线和模板结合的代码，无法巡线了





# OpenMV 多功能视觉处理 - 模板匹配 + PID巡线
# By: 26306
# Date: 2025-05-23

import sensor, image, time, math
from image import SEARCH_EX, SEARCH_DS
from pyb import LED, UART

# 初始化UART
uart = UART(3, 115200)

# 初始化摄像头
sensor.reset()
sensor.set_contrast(1)
sensor.set_gainceiling(16)
sensor.set_framesize(sensor.QQVGA)  # 80x60分辨率
sensor.set_pixformat(sensor.GRAYSCALE)  # 灰度图模式
sensor.skip_frames(time=500)  # 等待设置生效

# 加载模板图像
template2 = image.Image("4.pgm")

# PID控制参数
THRESHOLD = (0, 20, -10, 10, -10, 10)  # 黑色线的阈值
last_error_bottom = 0
integral_bottom = 0
last_error_theta = 0
integral_theta = 0

clock = time.clock()

def get_endpoint(line):
    """获取直线的底部端点"""
    (x1, y1, x2, y2) = line.line()
    return (x1, y1) if y1 > y2 else (x2, y2)

def theta_change(theta):
    """角度归一化到[-90,90]"""
    return theta - 180 if theta > 90 else theta

def pid_control(error, last_error, integral, Kp, Ki, Kd):
    """PID控制器"""
    proportional = Kp * error
    integral += error
    integral *= Ki
    derivative = Kd * (error - last_error)
    output = proportional + integral + derivative
    return output, error, integral

while True:
    clock.tick()
    img = sensor.snapshot()  # 获取原始图像

    # ========== 1. 模板匹配部分 ==========
    r = img.find_template(template2, 0.70, step=4, search=SEARCH_EX)
    if r:
        print("A")
        img.draw_rectangle(r)

    
    
    # ========== 2. 巡线部分 ==========
    img2 = img.copy()  # 创建独立副本用于巡线处理
    img2.binary([THRESHOLD])  # 二值化
    img2.open(1)  # 开运算去噪
    img2.gaussian(1)  # 高斯滤波

    line = img2.get_regression([(100, 100)], robust=True)

    if line and line.magnitude() > 8:
        # 绘制检测到的线
        img.draw_line(line.line(), color=(255, 0, 0), thickness=2)

        # 计算控制参数
        bottom_x, bottom_y = get_endpoint(line)
        error_x = bottom_x - img.width() // 2
        theta = theta_change(line.theta())

        # PID计算
        output_bottom, last_error_bottom, integral_bottom = pid_control(
            error_x, last_error_bottom, integral_bottom, 0.7, 0, 0.17)

        output_theta, last_error_theta, integral_theta = pid_control(
            theta, last_error_theta, integral_theta, 0.8, 0, 0.2)

        # 综合输出
        output = output_bottom + output_theta
        output = max(-100, min(100, output))  # 限制在[-100,100]范围
        output = int(output)

        # 串口发送控制指令
        send_value = 128 + output  # 转换为128±100的范围
        print("Send Value:", send_value)
        result = "@%03d#" % send_value  # 格式化输出
        uart.write(result)
    else:
        # 未检测到线时发送中性值
        result = "@128#"
        uart.write(result)
        print("No line detected")

    # 显示帧率(调试用)
    # print(clock.fps())