2.zip_openMV识别数字_openmv 识别直线_openmv 黑色直线_openmv巡线_识别直线

# Find Lines Example # # This example shows off how to find lines in the image. For each line object # found in the image a line object is returned which includes the line's rotation. # Note: Line detection is done by using the Hough Transform: # http://en.wikipedia.org/wiki/Hough_transform # Please read about it above for more information on what `theta` and `rho` are. # find_lines() finds infinite length lines. Use find_line_segments() to find non-infinite lines. enable_lens_corr = False # turn on for straighter lines... import sensor, image, time,pyb from pyb import LED sensor.reset() sensor.set_pixformat(sensor.RGB565) # grayscale is faster sensor.set_framesize(sensor.QQVGA) sensor.skip_frames(time = 2000) clock = time.clock() # All line objects have a `theta()` method to get their rotation angle in degrees. # You can filter lines based on their rotation angle. red_led = LED(1) green_led = LED(2) blue_led = LED(3) ir_led = LED(4) def led_control(x): if (x&1)==0: red_led.off() elif (x&1)==1: red_led.on() if (x&2)==0: green_led.off() elif (x&2)==2: green_led.on() if (x&4)==0: blue_led.off() elif (x&4)==4: blue_led.on() if (x&8)==0: ir_led.off() elif (x&8)==8: ir_led.on() min_degree = 80 max_degree = 100 # All lines also have `x1()`, `y1()`, `x2()`, and `y2()` methods to get their end-points # and a `line()` method to get all the above as one 4 value tuple for `draw_line()`. while(True): clock.tick() img = sensor.snapshot() if enable_lens_corr: img.lens_corr(1.8) # for 2.8mm lens... # `threshold` controls how many lines in the image are found. Only lines with # edge difference magnitude sums greater than `threshold` are detected... # More about `threshold` - each pixel in the image contributes a magnitude value # to a line. The sum of all contributions is the magintude for that line. Then # when lines are merged their magnitudes are added togheter. Note that `threshold` # filters out lines with low magnitudes before merging. To see the magnitude of # un-merged lines set `theta_margin` and `rho_margin` to 0... # `theta_margin` and `rho_margin` control merging similar lines. If two lines # theta and rho value differences are less than the margins then they are merged. for l in img.find_lines(threshold = 1000, theta_margin = 25, rho_margin = 25): if (min_degree <= l.theta()) and (l.theta() <= max_degree): img.draw_line(l.line(), color = (255, 0, 0)) # print(l) if (min_degree <= l.theta()) and (l.theta() <= max_degree): led_control(3) p = pyb.Pin("P0", pyb.Pin.OUT_PP) p.high() # or p.value(1) to make the pin high (3.3V) time.sleep(500); p.low(); else: led_control(1); p = pyb.Pin("P0", pyb.Pin.OUT_PP) p.low() # or p.value(1) to make the pin high (3.3V) # Red LED = 1, Green LED = 2, Blue LED = 3, IR LEDs = 4. print("FPS %f" % clock.fps()) # About negative rho values: # # A [theta+0:-rho] tuple is the same as [theta+180:+rho].